I used to have a 2006 Sienna as my TV for my 2720 TM and after a year of this combination I felt too concerned to continue this pairing. I did a number of weighings and my loaded TM was nearly 4000 lbs back then. That weighing included water but even subtracting the water would put me in 3600 pound range. I eventually removed the optional cabinets in an effort to get weight down. I also removed two of the middle row seats to lighten load in Sienna. It has been over a year since I upgraded so my memory is fuzzy on the math but I would bet you are hard pressed to keep the TV under its GVWR with 4 passengers and gear plus all of that tongue weight.
Ratings and bookkeeping aside, braking/cornering on hills just didn't feel right to me. To me, the Sienna really felt pushed around by the load behind it.
Your mileage may vary. Happy camping.
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