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Toyota brakes have always been bad, I find they are undersized and their commuters typically can only handle one, maybe two high speed stops.
Your experience using them as chase cars shows that, they are really all only great for straight interstate travel.
We had a last gen Town & Country for my bachelor party. For 5 guys just bumbling along the highway, getting food, and bumming around town it was great. Zero need for any performance.
Toyota and Honda has enough experience to make them more performance oriented, but as Toyota has shown with their latest "lifted" model with the Sienna, they know where their market is and it's not performance vans. I think more people would be interested in a Sienna with more ground clearance than one that can go around a corner quicker.
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