This isn't an exact science. When I bought a Curt 13105 receiver hitch for my Sienna in 2014, etrailer recommended and sold me a draw bar with what I remember was called a 3 1/2 inch rise for general purpose towing although it appears to measure closer to 3 inches - see the attached photo. This puts the top of the ball at 16 1/2 inches high.
I bought this setup intending to tow a 3,500 pound (gross weight) travel trailer using a weight distribution hitch but I've used it only for towing my 4'x8' utility trailer and a 5'x8' enclosed U-Haul trailer. If my ball height was 18 inches instead of 16 1/2 inches, the back ends of my utility trailer and U-Haul trailers would ride too low - see attached photo.
As jseyfert3 indicated, the correct ball height can vary depending on how much the vehicle sags when the trailer is attached. If the trailer tongue weight is particularly high and/or the Sienna is heavily loaded, the Sienna will sag more and require a higher ball height to keep the trailer level.
What is the total weight of this "small" boat and trailer? Opinions vary but generally say that the best tongue weight is between 5% and 7% of the total trailer weight. For example, a good tongue weight for a 2000 pound trailer would range between 100 pounds and 140 pounds.