Change the brake pads. I have had good luck with PBR Deluxe and PBR Metalmaster. They are quieter and dust a lot less.
In my 2004 Sienna there was a weld in the door assembly that broke and caused a loud clunking noise when I opened the door. Toyota recently issued a recall for this problem and will fix it free of charge
fix the vacuum leak
The following link has instructions, diagrams and pictures showing how to make this repair easily and inexpensively: http://www.findonefindall.com/toyota-sienna/siennareardoor.htm
To fix a Toyota Sienna driver's side seat belt that is stuck, you might need to pull the entire belt out slowly until it is completely extended. Then, allow the belt to retract slowly.
We have a fix for this problem that anyone can do - includes testimonials! http://www.findonefindall.com/toyota-sienna/index.htm See full details under "How do I replace the passenger side mirror on 2000 Toyota Sienna?
http://www.findonefindall.com/toyota-sienna/siennareardoor.htm Works like a charm. I spent $497.00 getting my 1999 Sienna handle fixed at the dealer, less than 2 yrs later it broke again. This fix took less than 30 mins and cost pennies.
It seems that you need new tires.
How To Fix vsc,trac off and engine light on for 2009 Toyota Sienna
Get a new car................ -___-
You first must be assured that the brake pads and discs are not in need of replacement.
If you need to replace the pads only, it can cost about $20 and more depending on state and city. If you need to replace rotors or/and calipers, it might cost $400 to $500 on average and more.
Replace the hoist assembly with a good used one from a parts cars in a wrecking yard.