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The 2004 Toyota Sienna is a pretty spacious SUV. It has 43.6 cubic feet of storage space behind the third row. Folding down the second row increases that to 94.5 cubic feet. With all seats folded, you have a whopping 148.9 cubic feet. It can carry seven passengers comfortably, with a total passenger volume of 177.4 cubic feet. They'll have plenty of legroom at least 39.5 inches, and 38.1 inches of headroom (a bit more in the front). Interestingly, you can fit a full-sized mattress in the Sienna. Given the current pandemic and housing costs, this feature can be surprisingly handy.
The 2004 Toyota Sienna Cargo provides a spacious interior with 148.9 cubic feet for cargo. The open space is a generous 68.9 inches tall by 77.4 inches wide at the wheel wells, and 76.8 inches deep.