Wow, I cannot imagine how scary that must have been! I'm so glad that you were able to pull over and get the family out of the car safely.
Can you provide more info on your situation? Did any determine the cause of the fire? Was it put out with a fire extinguisher and hose? Did the entire van catch fire?
Is your car being towed to the dealer, since it's so new and under warranty? I'm sure Toyota will need to do a deep investigation on this.
I won't begin to speculate on the cause, but the fact that you got a notification of a hybrid system failure and message to pull over immediately, that should certainly help to pinpoint the possible causes. There are probably programmed events/alarms/faults/parameters that would give those specific alerts to you as the driver. You certainly did the right thing by responding so quickly and pulling over to safety.
Please keep us all posted on what is found. Again, I'm glad you are all safe.