Well, I have a 07 HL V6 with 100K miles and a 05 Sienna V6 with 148K miles. They both have the same engine (and tranny?) The setup is very similar to each other once you open the hood. However, my Sienna with more miles actually sound better than my highlander.
My Sienna engine idle much quieter than the HL. Since I drive both car to work, the same road, same time... the Sienna shifts as expected when go up hill at 35mph compares to HL. HL has a lazy shift pattern.
I take care of both car equally but they don't behave the same. It could be the weight of the cars? I don't know. I like to drive the Sienna more often since I want to put as many miles in it as possible
to get my money worth 
My Sienna engine idle much quieter than the HL. Since I drive both car to work, the same road, same time... the Sienna shifts as expected when go up hill at 35mph compares to HL. HL has a lazy shift pattern.
I take care of both car equally but they don't behave the same. It could be the weight of the cars? I don't know. I like to drive the Sienna more often since I want to put as many miles in it as possible