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I had an '04 Sienna for three years and now an '07 Odyssey. When shopping for the Sienna, I also drove the Quest. Reason I picked the Sienna over the Quest at the time was the steering. The Quest (my opinion) had very numb steering, though I liked the fold down middle seats and the center column.
Between the Sienna and the Odyssey, the Sienna is very soft and quiet. The Odyssey on the other hand, is a bit stiffer but louder. Transmission in the Odyssey is definitely not as smooth during downshift as the Sienna. I wanted another Sienna the second time around, but the wife wanted wanted an Odyssey. Can't go wrong with any of them. All pretty reliable. Just your own personal preference. I think Toyota is coming out with a new Sienna soon.
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