We had no problems until 65,000 miles. Since then, the transmission busted ($2,300 for a rebuilt trans.) and both sliding door handles have broken (around $330 to fix for both). All tires had to be changed at 15,000 miles and again at 40,000. Definitely some alignment issues. A good car, but quality control seems to be becoming an issue for some Toyotas. That said, I'm considering replacing this with another Toyota (RAV4), so I guess it goes to show I've not given up on Toyota's perceived reliability.
Serves its purpose if you're looking for a minivan.
Extend the warranty to match other car makers - 100,000 miles is a good sales incentive.