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The Sienna has self-adjusters--you shouldn't need to adjust anything. Some self adjusters work when you brake while reversing. Others work when you apply the parking/emergency brake. I'm 95% certain the Sienna is the latter, with the adjuster is connected to the parking brake mechanism. Adjust by applying and releasing the parking brake multiple times. If you aren't already, get in the habit of using it every time you park.
You can confirm this by a simple check: if the adjustment hole you found is above the axle centerline on a Toyota, near the hydraulic brake line and the wheel cylinder, it is parking brake-based. If the hole is below the axle, my 95% certainty is wrong and it adjusts when you brake while reversing.
If it is way out, and the parking brake doesn't firm up, you might help it along with a manual adjustment. I believe that "down" will tighten them in the Sienna. But if, after a few clicks, it seems like you are going in the wrong direction, simply reverse it.
It's best if you jack up the wheel while doing this so you can spin it to feel the drag build, and then back it off a click until it is free again. The last thing youwan to do is over-tighten it.
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