Looking at either a pilot or Toyota sienna.. coming from a 4Runner

I have 2 large dogs and a kid on the way, we live out of state from family and are looking for a larger more spacious vehicle. My 4Runner doesn’t have a third row so traveling with 2 dogs and a baby will be really cramped. Has anyone picked the pilot over a sienna? If so, what were your reasonings? We’re a Toyota fam but things aren’t looking great for new Toyotas these days.