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Front wheel drive. Changing the rear bearings is easy. The speed sensor should be easy as it can be located on the transmission and changed from the outside in most cases. For both jobs I recommend the Haynes repair manual on your vehicle.
If it's all wheel drive, there is no spare unless the add-on has been
installed. You would find it inside the rear hatch in that case and you
would'nt be asking. If it's front wheel drive, it will be under the
passenger side floor, adjacent to the sliding door.
I don't believe I have enough space to expain it all so the best thing is to get a Sienna manual at your local auto parts store or on line and you can always refer to picturs too. This really helps - I'm a manual junky