You could be low on coolant. Could have a bad thermostat, bad head gasket, etc. Many possibilities but check coolant level with a cold engine first.
Use this link to find a good shop near you.
https://repairpal.com/repair-shops
Alex
RepairPal Certified shops can diagnose and repair your 2009 Toyota Sienna. They provide transparent pricing with a minimum 12-month or 12,000-mile warranty on repairs and services.