Yes, we all paid a lot for quality and reliable Toyotas but as they age when some computer parts stop working or malfunction, the decision to repair when it's not under warranty comes down to costs of expensive genuine Toyota part and then mechanic to install which in turn there will be only limited warranty like 90 days to one year hoing that no new problem appears or old one does not resurface.
I know I had similar problem with Sienna power vented windows and finally gave up after reviewing costs of Toyota computer part & labor and then managed to properly close both. I have not reopened for fear of how long it might take to close them both properly again.
Sorry I didn't answer your dilemma but as long as Sienna minivan sliding doors function manually and your minivan runs good and you maintain & service the engine, Toyotas are very dependable and can easily run forever well past 200,000 miles.
My rule of thumb is new 2011 Sienna is stylist and beautiful but I will continue to driving my Sienna XLE until I happen to have a continuous series of mechanical problems that my long-time mechanic cannot repair and/or repair dollars start getting out of hand where it might be cheaper to buy brand new Sienna replacement.
Hope the Above Info Helps!
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