Thanks, Sreisiger! I had the same problem in 2008 on my 2001 Sienna, two codes, P0171 and P0174 I think, both reporting "too lean" mixture, plus occasional engine hesitation. Not believing a local mechanic's guess that two sensors could fail simultaneously, I searched for a common root problem.
After seeing what you wrote, plus similar thoughtful discussion on
http://www.aa1car.com/library/ford_lean_codes.htm, I agreed with trying the cheapest solution first: I gently removed the mass air flow with a Philips screwdriver, sprayed the heck out of it with a half-can of "CRC MAF sensor cleaner", put it back, and reset the engine check light by pulling the EFI fuse for a minute. The check light stayed off, and all has been well ever since for over a year ... almost.
Only other problem was an air-fuel ratio sensor that actually did fail some months later. Perhaps just old age, unless I caused it by driving with a bad mixture a little too long.