I tried Walker aftermarket cats when I first got a P0420 code. I bought the y-pipe with the Bank 1 pre-cat, and a main rear cat. This corrected the P0420 code for about 6 months and the code returned. To finally fix my P0420, I updated the ECU with an updated used ECU that I bought for $120. These Walker cats worked with the new ECU for a while. But the code still returned again even with the updated ECU. I'm not sure if they were worn-out, or if I had an exhaust leak at the manifold flanges. When I replaced the Walker cats with my original cats, the P0420 was eliminated for good. The P0420 code may have returned with the Walker cats(and upgraded ECU) because of the exhaust leak. The Walker cats might still be good...who knows. I re-used the exhaust gaskets when I originally installed the Walker cats. This was a mistake. I could see where there was "blow-by" on the gasket. These flange gaskets are "crush" gaskets and they may not seal well a second time. When I re-installed my OEM cats, I used new gaskets.
Aftermarket cats are cheap for a reason. They have much less of the expensive platinum or palladium material. You get what you pay for. However paying for new OEM cats on a 16 year-old cars is not cost effective. Neither is paying for a new OEM ECU from Toyota.
Used upgraded ECUs are somewhat difficult to find. Unless you get an ECU from a Sienna that did not have an immobilizer, you will have to reprogram a tiny chip(93C56) on the motherboard to clear out the transponder codes of the previous Sienna's keys. However, if you can get the original transponder keys, a locksmith can adapt the keys to your lock. There are a lot of variables.