We have a 2010 AWD Sienna and a 2011 AWD Hyundai Sante Fe, and just last week(!) got a new 2023 AWD Sienna. 3 miles of dirt one way, 2 miles of dirt with steep hill the other, both fairly well maintained and not the horror stories you see pictures of, but still, rutted mud.

The Hyundai has a 'locking differential' button which makes it a little easier to drive in the mud, but our 2010 Sienna (and our 1994 AWD Chrysler Grand Caravan before that) have done ok. Never been stuck or even close to it.

The 2010 Sienna did not have a 'traction control off' button like newer ones do, so sometimes the 'OMG! You're slipping!' beep noise would make me a bit crazy. The lack of that off button meant it sometimes reduced power to wheels just as I was climbing a muddy hill.

The new 2023 does have a traction control off button, but I haven't tried it yet. The new AWD is hybrid and I believe rear wheel power is run by an electric motor which I think means no transaxle to the back. I'm not worried about the mud. We had an AWD VW Passat station wagon for a while but it was too low to the ground for our road.

I will say that our minivans have been much more comfortable and more generally useful than our SUV. Our 2023 did not come with a spare tire and I think if you don't get it from factory, there's not a place to put one securely. The 2010 could hold a 4x8 sheet of plywood, but I think the new one is a bit narrower than 4' inside which is unfortunate (I need to measure). But be warned, it took us 10 months to get a new one, partly because I wanted something specific which reduced the pool size.

I looked at Chrysler Pacifica's briefly, but after joining a dedicated Pacifica FB group and seeing all the troubles they had, decided to wait for the Toyota.