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I've towed with my Mother's '95 when it was my car.
We have a utility trailer that weighs about 750 pounds. I once pulled it with a load of 55 computers in the trailer which was right at (and probably just over) the car's rated towing capacity. Car still drove just fine, and even took hills on the highway at full speed no problem. It did have a transmission cooler installed.
Since the same engine and transmission was used in the Sienna (2001-2003 anyway) and its towing capacity was 3500, you know the engine and transmission are just fine doing 2000 pounds.
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Toyotas in the family/next of kin:
1982 Corolla Wagon, 1989 Corolla DX, 1991 Previa LE, 1993 Previa LE,
1993 Pickup, 1994 Corolla DX, 1995 Avalon XL, 1996 Camry XLE, 1998 Avalon XL,
1998 Sienna CE, 1999 Camry XL, 2000 Camry XLE, 2002 Tundra, 2003 Tundra,
2003 ES 300, 2004 Camry XLE, 2005 Tacoma
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