The sensor is of course on the evaporator coil, which is buried inside the front air conditioner assembly: Toyota Sienna Service Manual: Disassembly - Air conditioning unit - Air conditioning
To get that? Well...
I hope I'm wrong, and there's a way to get this that bypasses all this. But looking at where it is...it seems doubtful. And if you need to do what the above service manual links are saying, well. I try to do a lot of my own maintenance. I just swapped my water pump. I don't think I'd do this. I'd live without AC or I'd get a small loan if needed to pay someone to do this. I mean maybe, if I wasn't too busy with other things and the weather allowed me riding my motorcycle for a month. If you choose to do this, I wish you luck. While you're at it, may swap the expansion valve as a PM cause you're pulling it anyway, and do your spark plugs since you've removed the windshield cowling. And make damn sure you've done all the testing you can possibly do to rule out the possibility that it's anything easier to access than that sensor is!
My final tip: I personally like having the factory service manual when I'm doing things. One particular 2nd gen model FSM is what the above links to tsienna.net are to. But it doesn't hurt to pay $20 to get a two day subscription to the real thing in case there's anything different for your particular model. Especially with something that will involve such huge amounts of time and effort as this does. https://techinfo.toyota.com/
To get that? Well...
It's not just removing the dash. It's removing the windshield wipers, windshield cowl (my initial browsing shows this to already be a couple hours both ways, cause it has to come out for the spark plugs which I'm planning). Then you have to remove the dash. Including the passenger air bag assembly, intermediate steering shaft, transmission shift cable...well, everything. You are not just removing the dashboard. You are utterly and completely tearing the entire inside front of your vehicle apart. Oh, and not to mention, you need to remove the refrigerant first, since you're breaking AC lines, and so you'll need a new dryer for your AC system, and you'll either need a vacuum pump or have a shop evacuate and fill the AC system afterwards. Whatever you do, be absolutely sure that the AC system is leak checked and 100% leak free once the unit is back in place before you start piecing your dash back together... Toyota Sienna Service Manual: Removal - Air conditioning unit - Air conditioning
I hope I'm wrong, and there's a way to get this that bypasses all this. But looking at where it is...it seems doubtful. And if you need to do what the above service manual links are saying, well. I try to do a lot of my own maintenance. I just swapped my water pump. I don't think I'd do this. I'd live without AC or I'd get a small loan if needed to pay someone to do this. I mean maybe, if I wasn't too busy with other things and the weather allowed me riding my motorcycle for a month. If you choose to do this, I wish you luck. While you're at it, may swap the expansion valve as a PM cause you're pulling it anyway, and do your spark plugs since you've removed the windshield cowling. And make damn sure you've done all the testing you can possibly do to rule out the possibility that it's anything easier to access than that sensor is!
My final tip: I personally like having the factory service manual when I'm doing things. One particular 2nd gen model FSM is what the above links to tsienna.net are to. But it doesn't hurt to pay $20 to get a two day subscription to the real thing in case there's anything different for your particular model. Especially with something that will involve such huge amounts of time and effort as this does. https://techinfo.toyota.com/