wow, Amsoil is on the ball even, they even got a warning on the page when you select this yr/make/model - regarding the sludge:
http://www.amsoil.com/mygarage/vehiclelookup.aspx?url2=1998+TOYOTA+SIENNA VAN+2
But yea, 20W-50 seems a little too thick for me personally.....when you go that heavy, you're looking into possible "oil starvation" at the oil pump and thru the oil galleries, etc......
I'd shop around for some over the counter slow flushes......many options available......Marvel Mystery Oil at 20% concentration (basically, swap in the quart of MMO for one of the quarts of motor oil).....
Drive the vehicle 3000 miles, then change out the oil, and give it another run with the 1 quart of MMO......never going more than 3000 miles.
In my experience, the MMO will "burn off" over time......as it burns off, supplement the oil with cheap ST 5W-30......or [censored], even a cheap HDEO - like the ST 15W-40...but that 20W-50 is way too thick, IMHO...I'd use a high detergent 15W-40 diesel oil, before I used a cheap 20W-50 mineral oil.....
After 2-3 changes with the MMO in the oil, the engine should be pretty clean.....after that, if you still feel you need a 20W-50 oil, I'd personally look into the "HDEO" line of oils, most of them are API rated "SM" for passenger car usage....even though the auto parts counter-person will bash you all the way out the door for putting a "diesel oil" into a "gasoline car"....
Another option (if you don't like the MMO idea) you could mingle with the AutoRX, Kreen, Kroil, or whatnot....but I honestly thing the MMO is the best way to go at this point in time. MMO is also likely the cheapest way to go....and easiest, comes conviently packaged in a quart bottle, just dump it in, add your other 4 quarts of oil, and off you go
BUT, since you already have this 20W-50 in the engine, leave it in there......no sense wasting good oil and all; go get a bottle of Seafoam, and put about 7-8 oz. (err on the lesser amount), preferably using a funnel and a beaker of some sort.....pouring it out of the can directly into the engine can make a mess, and there are no measurement marks on the can.....so you kinda gotta "guestimate" basically by shaking the can, to figure out the "half full" mark. Then drive the car around as usual for 3-4k miles, and change out the oil.