A/C( as you already know ) takes away power from your car. If your car is not running at a higher RPM with the A/C on, then the issue can be any number of things- idle is too low, distributor cap needs replacement, alternator is going bad, needs tuneup, etc. Yours is the Supercharged model so have all of your belts checked as well. Have you had the supercharger fluid checked and/or replaced? Engine problems can cause these symptoms as well. Does the car have a rough idle? Take it to a mechanic and have them look at it. It could be something minor. These are great vans and they run darn near forever. I've seen many of these with over half a million on the odometer. Also, here's a good website for your Previa questions:
http://www.toyotavanpeople.com/
If you go to the Forums section, they have a nice Previa section that is very easy to navigate. Tons of info from people who know Previas. Trust me on this one. I currently own two Previas and that sight has taught me stuff that even Toyota techs don't know about Previas.
BTW, to the last answer. Previas are still sold all over the World. The Sienna is a van designed, built and sold in North America only. If you look at the Sienna -even the current model- you can still see a trace of the Previa's styling cues in the rear end design. From my experience, the Previa is a better-built, more reliable van. Sure the Sienna has more power and is more car like but the advantages end there. Find a Sienna owner that used to own a Previa. Most still wished they had kept their Previa.