You adjust the ball on the Sienna to match the hitch height on the trailer when the trailer is level front to back. The type of tow vehicle really doesn't matter. Get an adjustable ball mount for your Sienna so you can move it up or down as needed. Your dealer should be able to give you the correct ball height, but ours is somewhere around 19 1/2" if memory serves correctly. A search on this forum should yield some useful results...
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