TOYOTA 2011 Sienna - Manual (Page 773)

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5-2. Steps to take in an emergency
If you lose your keys/wireless remote control transmitter
New genuine keys can be made by your Toyota dealer. For vehicles
with the smart key system, bring the other key and the key number
stamped on the key number plate. For vehicles without the smart key
system, bring a master key and the key number stamped on the key
number plate.