I started having the vibration around 20k miles. My past experiences tell me that this usually happens after brakes overheat, and the pads leave deposits on the rotors. Took it in under warranty at 25k miles, they said they looked and didn't find anything wrong. No acknowledgement of a TSB. Drove the car another 5k miles, at this point it took a lot of brake pressure to stop the car at all, the pads were getting pretty badly glazed from all the heat. Around 37k miles, now out of warranty, the car started pulling badly to the right under hard braking, and you had to push the pedal halfway to the floor before you got any brake engagement at all.
I looked here and found the TSB. Took it back to the dealer with a copy of the TSB, explained that they ignored it when I brought it under warranty. They looked at it again, found that the passenger side slider pin had seized in the caliper bracket. Now the pads and rotors were also trashed. Their view was that this wasn't the issue that the TSB covered, and they wanted $$$ to fix the situation. Apparently they're smarter than Toyota's own engineers. My view was that the ONLY reason caliper pins seize in new cars is overheating of the calipers, which is exactly what the TSB was about.
After a few choice words with the service manager, I took my van back. I've done many brake jobs and wanted to fix it myself. The slider pin was indeed seized in the caliper bracket, no amount of heat, impact or swearing would break it loose. I needed to buy a new OE caliper bracket and slider pins. I did the air dam mod in the TSB, which took all of 10 minutes. I used new Centric rotors and Hawk HPS pads, which I've used on my Miata with good results for autocross and light track duty, so I know that they hold up to heat well.
Brakes are better than new now. No more overheating, great feel and modulation.
TLDR version: The Sienna brake setup has a design flaw related to overheating that their engineers have acknowledged. In addition to killing pads and rotors, the heat can also cause slider pins to bind which I don't think has been discussed here yet. Car dealers really suck. Eff Marietta Toyota and the horse they rode in on, I'll never set foot in that dealership again. If you know how to do a brake job, do the very easy TSB fix and repair the front brakes with good quality parts and don't worry about it any more.