Based on this page, I think that should work fine:
I think that is the part you are looking for, since this other website lists it as axle beam assembly:
toyotaparts.mcgeorgetoyota.com
4211008021 - Toyota Suspension Subframe (Rear). 2 WHEEL DRIVE | Toyota Parts Overstock, Lakeland FL
Genuine Toyota Part # 4211008021 (42110-08021) - Suspension Subframe (Rear). 2 WHEEL DRIVE. ALL WHEEL DRIVE. Sienna. Fits SIENNA. Ships from Toyota Parts Overstock, Lakeland FL
parts.lakelandtoyota.com
I think that is the part you are looking for, since this other website lists it as axle beam assembly:
2004-2010 Toyota Sienna Axle Assembly 42110-08021 | Toyota Parts
Genuine Factory 2004-2010 Toyota Sienna part # 42110-08021 - Axle Assembly. McGeorge Toyota Parts is your choice for Toyota Parts and Toyota accessories. We are a factory authorized Toyota Dealer with Toyota parts and Toyota accessories all at wholesale prices for your Tundra, Tacoma, Camry...