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You can locate the special key for the Toyota Sienna wheel locks inside the storage compartment on the passenger side. It can be found behind a panel that can be easily removed by pulling on it. Included with the key are an extension arm, the socket/key, a strap, and an instruction manual. Behind this panel is also where the jack and tire iron are stored. If you happen to misplace the key, your best course of action would be to visit your dealership to obtain a replacement. They possess a master set of wheel lock keys to identify the correct one for you to purchase. It is not recommended to attempt removing the nuts without the key, as this could cause damage.
The wheel lock key for the Toyota Sienna can be found in the trunk along with the spare tire.
The spare tire is located underneath the car, just a heads-up.
I didn't have a manual in my car. The spot in the rear where it should have been was bare. The socket key and extension arms were also missing. I had to purchase a replacement from the dealership, even though it wasn't included when I bought the car brand new.