how to change crank sensor on a toyota sienna 2010

Hello, no, that's not a good diagnostic theory. Have you checked for fuel pressure? Have you monitored what different sensors and components are reading with a diagnostic tool?

Yes I checked the fuel pressure and installed a new fuel pump. The car still won’t start. The scanner gives a P0354 code

So you have fuel pressure at the fuel rail now then? And yet starting fluid starts the vehicle? Your trouble code relates to the coil for cylinder number 4, not a crankshaft position sensor. And it doesn't even condemn anything, it just gives you clues to test further. Have you swapped coil 4 for coil 5 maybe, and see if the code follows the cylinder? Beyond that, this code may not be at all related to why the vehicle will not start. Have you ensured proper programmed keys are being used? No anti-theft system is in place?