The 2007 Toyota Sienna uses a canister style oil filter. It is possible to get at the canister without lifting the front, although for extra room and maneuverability I jack up the front with a floor jack so the wheels are just barely off of the ground and I put two jack stands under the front for support. Here is where the canister is located:
Remove the drain plug with a 14mm wrench. The plug washer is number 90430-12028.
There is a smaller insert that you can remove. In my case, since I tighten the whole assembly from the insert, the whole filter comes off when I remove the insert. The best way is probably to just use a 65 mm cap wrench to remove the canister. There is a plastic fitting you can use to drain the oil from the canister via the whole beneath the insert. I find it works just as well to put a drain pan beneath the canister, take it off, and dump out the oil.
Here is the inside of the canister:
An oil change shop munged up the canister. Plus, they didn't replace the o-rings and oil leaked, which is why I'm back to changing my own oil again.