The 2010 Toyota Sienna is available as a 4-door, 7-seat passenger van. Starting at $24,540, the 2010 Toyota Sienna CE FWD is powered by a 3.5L , 6 -cylinder engine mated to an automatic transmission that returns an EPA estimated 17-mpg in the city and 23-mpg on the highway. The top of the line 2010ToyotaSiennaLimited AWD , priced at $ 37,865 , is powered by a 3.5L , 6 - cylinder engine mated to an automatic transmission that returns an EPA estimated 16-mpg in the city and 21-mpg on the highway.