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Parents have had their 1st gen Sienna for more than 10 years, 130K+ KM (not much driving) and nothing more than just regular maintenance, timing belt (which is a chain with the current 3.5L 2GR-FE) and replaced the valve cover gasket. Other than that been pretty reliable.
Regardless, can't go wrong with either the Odyssey or Sienna, though the Sienna would have a better reliability track record since Honda had their transmission issues back in the day with their V6s. Also the Sienna comes in the Sport SE trim... even though it's a minivan.
Though I'd have to agree with a number of us in this thread, Leather seats is a MUST with kids as it makes for easy clean up.
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