An intermittent and infrequent squeak from the rear brakes just before a stop. I mentioned this to the dealer on an oil change and they replaced the rear drums on warranty. No squeaks since. Apparently there is a service bulletin out on this issue so mention it to the dealer if you have noticed a squeak from the brakes.
Other than that absolutely no problems.
I was intrigued by some of the negative comments by other owners because our van has been stellar, as has our friend's 2000 model. Also, reviews of quality and reliability have placed it as a top contender.
The 2002 van is covered under the Toyota sludge policy. Be sure to keep all documentation of maintenance. Should your engine fail, Toyota will fix it for free for up to 8 years from original purchase with no mileage limit.