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I was able to fix the door cable on my 2011 Sienna minivan. The total cost for the part was about $25 for part number 85015-08010 (right) or 85016-08010 (left) "Linkage Assembly" from OEM Parts Source. Just be sure to pay attention to if you need the left or right. I know have an extra for when the other one breaks :) I think this will work for the 2011, 2012, 2013, 2014, 2015, 2016, 2017, and 2018.
**UPDATE: Sure enough the cable on the other side broke recently. I've posted another video of that repair which shows much more detail step-by-step.