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Location: The Frenchie Farm, Where We Grow 'em Big!
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My mom had the same exact problem. She went to the dealer. She told him of what the van was doing after fill-ups. The mechanic smiled, went to the fuel door, opened it and tightened the cap. He then asked her to start the car. It started! So check your gas cap for security! That could be the problem. She hasn't had any problems since! Good Luck!
What year Sienna? And, are you filling up with gas after it is really empty?
If really empty, you may be kicking up some debris at the bottom of the tank during your fill up. Once the debris goes into the pressure line and towards the fuel injectors, it may take a couple of starts to get actual fuel to the engine.
If that is not the case, do you notice it after a quick stop? Say, off to the local convenience store and it is only parked for a minute or two? Then you have two scenarois that come to mind: hot soak of the starter (rare) or a carboned up EGR valve (also rare on Siennas).
Good luck.
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