What type of tool would be used to extract or press out these arm bushings?

Which arm bushings ?
You can get a so called universal toyota type I think 17 peice suspention bushing removal set online for about 100 bucks that can do most toyotas and certainly the sienna. Both front and rear all sizes you might have. Hope this helps good luck.

Thats the cheapest and best way is to buy it in a set the value is way better becuase if you buy just a single tool it will be expensive and it wont be able to do all the bushings theres a few different sizes so youl need the set do them all
And it can also repair many other models
Best of luck to you.

I would go over this video to help you see what needs to be done to press control arm bushings out.

https://www.youtube.com/watch?v=g_hj1hRSNgg

Let us know how it goes.