For 2006 Sienna:
Before jacking up the van:
Remove the cover panel on the inside of the wheel well, and the rubber boots to reveal the shock 'hat' nuts at the end of the strut.
Remove the nuts by inserting an allen wrench into the end of the strut to keep it from spinning while turning the nut with a wrench. Remove the rubber washer paying attention to how it was mounted.
Remove the nut/washer from the lower end of the shock.
Jack the car and remove the wheel to allow easier access to the shock. Place a jack stand under the rear swing arm for safety.
Remove the lower end of the shock from the mounting stud.
Remove the dust cover from the old shock and install on the new one.
Mount the lower end of the shock on the stud and place the upper end through the mounting hole. You may have to lower the car with the jack stand under the swing arm to place the shock strut through the mounting hole.
Tighten the top and bottom nuts, replace wheel, and repeat on the other side.
Test drive car to make sure everything is ok.
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