As far as appearance my vote goes to the Sienna.
I've had my 2011 Toyota Sienna XLE Premium for less than a month and LOVE IT. Like other Moms I never expected myself to be a mini-van type but after a trip to Monterey Bay in the back of our GMC Yukon with our 8 month old son, I needed comfort over style. The first week I really mourned the loss of my SUV, but now I don't look back and I definitely don't regret my decision.
Unfortunately since the van is so new and so in demand there aren't any incentives - at the moment. BUT if you can wait, the Honda Odyssey is coming out with their new model this summer so Toyota might have specials/incentives by then. We got an AMAZING deal by going through the Costco fleet connection at the dealership. They don't work off commission and just want to move volume so it cuts out that feeling of trying to bargain with a shady car salesman.
By using the Costco discount, and with our trade in value of our Yukon we were able to get almost 10K off the MSRP of our model. It's not the top of the line Limited Edition, the XLE Premium is just below it and I LOVE THIS VAN, it's pretty chic and luxurious. Geeze did I just say that? LOL
Everything is automatic -doors, trunk, etc. the navigation and phone is all voice activated with touch screen, there are 16 cup holders (can you believe that craziness?) we have the DVD with two screen options, comes with wireless headphones, there are two electrical outlets (your husband can hook up his XBOX or PlayStation or you can plug in electric griddles for camping if you're the type) leather, heated seats, sun/moon roof, the middle windows open like normal windows and each window in the back has a pull up shade for the kids. Ours seats eight and the middle seat in the middle row is removable and has a perfect spot on the side of the trunk area. I'm probably leaving out a ton of the other features, just be sure to visit the Toyota site.
Our dealer also waved the cost of letting us shop around for a better interest rate five days after purchase. Ask for that too - it helps and saves the $100 fee.
It has made my life so much easier and I absolutely love the space. I like the shape of this van over all vans on the market. I reviewed the 2011 Odyssey concept online and I think the Sienna just looks and feels bigger. Plus the Odyssey doesn't seem worth the extra money to me just because it's "popular".
You can get a fully loaded Kia for 32K if you're looking for savings. But I love the Sienna. Look up "Swagger Wagon" on You Tube, pretty funny. They showcase the SE a more basic model.
Have fun shopping and enjoy your new van!!!