I HAVE THE FIX!!!!! This was a nightmare for me and after MUCH research, taking my minivan to Toyota Dealer crooks, and 2 independent garages, I got it taken care of. I thought I was going to have to junk the vehicle, but much persistence, I got it fixed.the problem we have been haaving w sienna. over 12 phonecalls and multiple visits to the dealership w full warranty and we are constantly blown off.
It was the rack and pinion bushings were badly worn. Replaced rack and pinion for $625 and all the problems were gone. No more alarm, bucking/braking, loss of acceleration. Sure hopes this helps someone else as it was a horrible experience and I will NEVER buy a Toyota again.
Best of luck to you.