On long descents you're supposed to downshift and use engine braking to slow the car. Riding the brakes for a long period of time is always a bad idea. This is in the 2013 Sienna manual (cut and pasted from the electronic PDF copy):
â—ŹUse engine braking (downshift) to maintain a safe speed when driving
down a steep hill.
Using the brakes continuously may cause the brakes to overheat and lose
effectiveness.
When going down Pike's Peak there are all sorts of signs warning you of this and a ranger station half way down so the rangers can check your brakes. I've seen cars there with super hot smoking brakes because the driver was riding the brakes all the way down the mountain. The ranger will tell them to park and wait for them to cool before going down the right way.
On the Sienna, on a long descent, move the shifter to the left (manual mode) to put you in 4th gear. That will give you a lot more engine braking than auto (6th gear). If that isn't giving you enough engine braking, and your RPMs aren't too high because you're not going very fast, you can downshift to an even lower gear.
We have a long, steep, hill to get to work and I always downshift when going down the thing. Riding the brakes down that hill every single day will wear our your brakes prematurely. Plus with brake fade, you'll be hard pressed to stop at the bottom of the hill which is
not safe.