It replaced the first generation Previa van in 1997 (for the 1998 model year) with a more conventional front-wheel drive layout and shares a heavily revised platform with the Camry.

[1] Both the Previa and original Sienna were smaller than the other minivans they competed against, but a redesign in 2003 (for the 2004 model year) increased the dimensions to match those of its competitors.

[3][4][5] The Sienna is not available in Japan and Australia as it is not produced in a right-hand drive configuration, and the segment in these countries is already occupied by the Alphard/Vellfire and the HiAce/Granvia respectively.

In 1997, Toyota launched the front-wheel drive 1998 model year Sienna in the North American market as a replacement for the mid-engined, rear-wheel-drive Previa.

This generation was noteworthy for its impressive safety content as one of the few minivans at the time to offer options including front seat-mounted side torso airbags and Vehicle Stability Control.

The Insurance Institute for Highway Safety rated the Sienna "Good" in all six frontal crash test measures, which was far better than the Previa.

On 6 January 2003, the second-generation Sienna was unveiled at the North American International Auto Show in Detroit.

Yokoya and his family drove the previous model over 53,000 miles (85,000 km) throughout North America to find weaknesses from the design.

The most distinguishable difference on the XLE Limited model was the horizontal chrome bar placed above the rear license plate.

Standard features included remote keyless entry, tilt-and-telescopic steering wheel, and high solar energy-absorbing glass (HSEA) on the windshield and front windows.

[15] Options, depending on the trim level, included HID Xenon headlamps, Dynamic Laser Cruise Control, parking sensors, a convex rear view mirror to enable the driver to see the passengers, a voice-activated navigation system (not voice activated for the 2004/2005 model year) which included a backup camera, 10-speaker JBL audio and rear-seat DVD entertainment system with two 110 V outlets.

[16] The redesigned Sienna premiered at the Los Angeles Auto Show in early December 2009 for the 2011 model year.

[24] In November 2011, exports of the XL30 Sienna to South Korea began, making it the first Toyota minivan sold in the country.

Described by AOL Autos as slipping a sports car in a minivan, chief engineer Kazuo Mori (an avid autocrosser) reportedly had to overcome opposition to get the SE equipment package included in the line-up.

This is the first time Toyota has offered a four-cylinder engine in a North American minivan since discontinuation of the Estima/Previa in late 1997.

It was originally intended to be revealed at the 2020 New York International Auto Show in April, but instead was unveiled virtually on 18 May 2020 due to the COVID-19 pandemic.

[43] Despite being hybrid only, Toyota claims that the fourth-generation Sienna can still tow the same 1,600 kg (3,500 lb) capacity as the third-generation model.

Standard and optional family oriented features for the Sienna include 18 cup holders, 7 USB ports (only one of which is data capable), four-zone climate control, onboard Wi-Fi, rear entertainment system, power sliding doors and liftgate, and a voice amplification system for the driver for better communications with passengers seated in the back.

Standard driver-assistance features include adaptive cruise control, blind-spot monitoring, automated emergency braking, and lane-keeping assist.