There are a couple of companies that convert minivans over to wheelchair vans I'm going to bet it was not an all wheel drive Sienna though.
Lifting these things is really simple put a coil spacer in the rear and a strut spacer up front and you have a lift, you may have to extend the sway bar links, and you may want to find a longer rear shock, but I would probably keep the stock shock to limit the downward travel so as to not to bind the cv
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