I stopped by the Toyota dealership today to ask (once and for all - lol) if my new to me 2010 Toyota Sienna is able to pull a camper of 3500 lb or less. The service manager says "YES" I am now excited to look a little more closely knowing all I need is a trailer hitch, breaks and wiring. The service manager even suggested I go to U-Haul
to get the hitch installed rather than pay the higher Toyota trailer hitch fees. (the manager's wife is a friend of mine and I should have gone to him to begin with. However I forgot he worked there.)
He said the 2013 models can not pull without the factory trailer hookup, but the others can.
I am much happier with my Sienna now.