Hello and welcome!
1 - Post a picture if you can (might not be possible on your first post).
2 - Take a look here: https://toyota.epc-data.com/regius_ace/lh119v/114894/electric/8103/ but substitute to your van 'frame number', which is the model number on the VIN or build plate. You should be able to get a decent match and
3 - compare against your Toyota dealership. Might be worth getting a price / availability from them.
4 - Recognise you might have to repair. Some are made from unobtainium or might have to be second hand.
HTH
p.s. This is both general and specific parts advice.