Alright so this was super easy...kind of...
I bought my 05 sienna used, and when we bought it the driver's side door already had this issue. I never was too concerned about it though because the passenger's side worked, which is the side the kids get in and out of anyway. Well, we've had the van now for close to 4 years, and the passenger side door just recently stopped working. So I had to do something and this thread was one of the first that popped up. So I did order the motors only which I think were around 6 bucks each plus another 6 or so for shipping. I followed the advice and bought some screws in advance. I also went out and bought a soldering iron.
I'm no mechanic, but I know how to follow directions so I was looking forward to getting this going. I started at about 3 pm following the directions provided in the pdf. I used wood for the window but also some suction cups as a backup, had no issues with that part. The trouble began with the actuator screws. The ones everybody talks about here. I basically stripped them immediately. I spent a few hours grinding, heating, etc etc...nothing seemed to work. I took a trip down to the local lowes and picked up a screw extracter...that didn't work either. I decided to call it a night as I had been working on this for a few hours now.
I woke up the next morning with a fresh mind and fresh coffee and figured out my first problem...the seat. The seat is somewhat in the way making it a little difficult to get some leverage on the screws. I took the seat out of the van and figured I'd try the extractor since it was still in the drill. One minute later, the screws were out and I was able to easily finish the job.
Taking this new knowledge I moved on to door number 2. This time I made sure I removed the seat before starting. Once I got to the actuator, I made sure I had the right bits for the screws. This time, thanks to the leverage because the seat was removed, and having the right bits, the screws came out with no problem whatsoever...no heating, no grinding..nothing! This door took less than an hour because I learned from my mistakes.
So if you skipped my long story just remember these two things:
1: Take the seat out!
2: Have the correct bits.
Take this advice and follow the pdf and anybody could do this job.