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I would be "very" surprised if there were "any" problems towing a tent-trailer, especially in a new Sienna.
Some tips:
-load your tent trailer with the majority of the heavy stuff (beer, water, extra propane, etc) behind the wheels....back area of the trailer. This will keep most of the weight off the tongue. -if you want to take extra stuff in the van, put it in the trailer. Keep the back of the van for some clothes, etc. -if you run into "bottoming-out" condition, you can always get an equalizer hitch
I don't think you will run into a problem. A class 2 hitch should work. Give the dealer a phone call. They will be happy to advise you, but they will probably tell you to follow the owners manual. In which case the van is rated to tow it.
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