I had no Hyundai dealer oil plan with my 2017 Sonata 2.4L but engine specific concerns led me to a first oil change at 750 miles , then 2,500 miles and then by 4,000 miles afterwards . In any other healthy engine I’d probably go 2,500 before the first OCI .I bought a new '23 Toyota Venza(in my signature) with a similar hybrid system as your Sienna.
I did my first OCI myself at ~2,500 miles and the 2nd OCI again myself at ~5,000 miles. Then let the dealer do the Toyota FREE service at ~10,000 miles. Again, I have now gone to ~15,000 OCI myself and will later let the dealer do the final FREE 20,000 mile service. I will stay with the 5,000 mile OCI until we get rid of the car.