I'd like to meet the designer of the 2000 Sienna...

....in a dark alley somewhere. I changed the oil today for the first
time and what a mess it was! The placement of that oil filter is
ridiculous. It's right in between the motor mount and the heat shield.
There's absolutely no room to get any kind of wrench other than a cap
fitting one in there. Even when you get it loose the threads are so
long that by the time you get it off there is oil all over the frame
and motor mount.

How do others get that filter offwithout a mess?

--
No matter what happens someone will find a way to take it too seriously.