Shortly after we bought this car the transmission died. We replaced it with another sienna tranny, then that died. So we got another one, and by 170,000 miles it was on its way out, refusing to leave 1st gear until 40mph. As other users have stated, the exterior door handles break off. Our interior handles (backseats) died around 170,000 miles, so I rigged up the trunk to open from the inside.
The window motors died by 100,000 miles, and the radio and AC died around the same time.
The engine only had about 4 of the 6 cylinders working when it finally died.
Despite all of these things, the car held up in my family for 13 years and 4 different drivers, and with care, treated us well.
High ground clearance.
The stock speakers actually sounded very good.
Despite the nonstop problems with our van, friends who drove the same car loved theirs and had no where near as many problems.
We just got stuck with a lemon and were too stupid to realize it until much later.
Use body panels that don't dent as easily.
Less cheap-quality door handles and window motors.
We had door handles break off at 160K, the driver's window motor fail at 120K, middle seat belt break at 180K.
The transmission's been acting mildly funny since 130K.
Still, we love the car!
We call her, "Lucky.'