The best way to discover if they work is to follow pages 426 to 436 of the owner manual. It covers registering a second set of sensors and initializing them To display tire pressure. If they work with the Sienna your tire pressure will display.
I bought 4 rims that was used on a RX 350 for winter with TPMS that was working but it did not work on my 2021 Sienna. The system ignore it for about a month or so then it lighted up the TPMS error on the dash. So short answer is no it will not work.
Thank you that’s good to know information. I now know that TPMS sensors need to be specific to the new Sienna and buying resale wheels and tires need to be upgraded. Therefore the old TPMS sensors are worthless.