This mirror and driver's side 955-1534 both fit this generation of Toyota Sienna Van. This mirror has a heating element. However, they come with a 10-pin connector. If your van has memory settings for each set of keys, this mirror will not work plug and play. As the van has an 18 pin connector. Again this is a 10 pin connector with 5 wires. The unheated version has a 10-pin 3-wire connector. I was able to do a little research and hook up some cables (not recommended), but I didn't have $1,000 for mirrors (see below). The motor works so I can adjust the mirrors from the driver's seat using the controls and the heating element also seems to work. I contacted Dorman regarding this and they advised against making aftermarket mirrors for memory settings. In fact, they are not made in many places. In fact, Toyota was the cheapest place to find aftermarket mirrors, and they cost about $459 each. Ebay had some too, but then you run into color issues, does it actually work and so on.
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