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Look around a bit and you might find a deal on a hitch. I found one on the local craigslist for $60 for my sienna. Make sure you buy a tap and run it through the welded nuts on the van body before installing a hitch. They get rusty and can easily cross-thread which is a big problem.
A lot of sienna owners who tow buy rubber air bladders that go inside the rear springs. They can be pumped up and help with excessive sag when loaded. They are pretty cheap and easy to install and might be worth it for this situation - especially if you go with the hitch route.
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