We bought a CPO '05 Odyssey two summers ago. Mileage at the time was 36K, we're now at 52K. It's been a good vehicle, the space for both people and cargo is impressive. We bought the Honda Care extended warranty for an extra $1K or so. With all of the electronics on it (and ours is only an EX, not the Touring), it seemed like a no-brainer. The only issue is that the rotors seem to warp quickly, but I'm not sure how many times the fronts have been turned. We had them turned at 40K and they warped again shortly thereafter. I bought EBC rotors and Greenstuff pads as replacements, but haven't had the time to install them yet.
Did the 3X drain/fill on the transmission with Honda's ATF at around 45K. The fluid that came out looked to be in pretty decent shape, but I don't want to take any chances with the transmission. The '05 and up had a better transmission that the earlier models, and I think it was the '07 that got the same transmission as the Ridgeline (a big improvement).
Stability control/traction control is very aggressive in snowy conditions, but we bought a set of steel wheels and Blizzaks for the New England winters and don't have any complaints.
The Siennas we looked at didn't offer comparable options at anything approaching the cost of the Odyssey. Odysseys are equipped pretty much identically for a given trim level, Toyota seems to have more of an a la carte options menu. Finding a base or mid-level trim Sienna with the power sliding doors (my wife's only requirement) was a search that we gave up on after a tremendous amount of searching. I love the hunt for a new vehicle, so when I give up on a search for a car, you know it's bad!