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A mattress cannot be accommodated in a Toyota Sienna due to limited interior space of 33.5 cubic feet, 101 cubic feet with the seats folded down, which is not wide enough. Removing the inner panels might make it possible to fit, but it will still be a tight squeeze.
We managed to fit it perfectly by putting down the rear seats and placing it vertically between the middle seats.
A twin-sized mattress cannot be accommodated in a Toyota Sienna without first taking out the interior panels.