Coolant flush, brake fluid flush, transmission drain and fill. I think this van has a timing chain, so no need to worry about that unless Toyota recommends it.
If you want a smoother ride, new shocks, struts, control arms, and sway bar links will make a huge difference. Might cost $2,500–$4,000 if you pay someone to do it.
Get the coolant flushed. My mechanic told me old coolant can cause head gasket problems over time. I don’t work on cars for a living, but I figured it was worth mentioning.
Where are you located? You might want to start prepping for some parts to wear out. Spark plugs, coil packs (the front ones are easy, back ones are a pain), battery, alternator, radiator, and suspension parts are all worth checking. I’d leave the transmission alone, but a coolant flush is a good idea.