I tow my Seafari 20 with a 96 Toyota T100 extra cab. 3.4L V6 rated @5200 lbs and has a 122" wheelbase. No-posi. It tows fine but I am not very comfortable with the set-up. I slip on the ramps all the time. My trailer is probably 4 or 500 lbs more than yours, being a tandem axle, but that weight is nominal relative to the power available. I have power aplenty but lacking posi is horrible on the ramps. And we have excellent ramps.
I looked into a Sienna and found they were only rated to tow 3500 lbs fully equipped with factory tow package that included transmission cooler and additional oil cooler. They also have an even shorter wheel base and mushier suspension than the T100. I applaud your willingness to reduce your carbon footprint, but I think your life and those around you would be safer with more truck.
I blew a tire on my tandem axle, and I'm pretty sure the other axle is the only thing that kept me from ending up in the ditch. I know you're virtually at sea level, but if you put it to a vote, unless you're a only a couple miles from the ramp via side streets, I'd vote against your proposition and recommend a more appropriate tow vehicle.
Cheers.
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