Decision depends on what you care about the most.
The Toyota is a very old design. It was introduced in 2011, but that was basically a reskin. The platform dates from the 2003 model. Pluses: It‘s the most troublefree. Reasonable value. Can get AWD. Downsides: Much poorer crash safety than Pacifica (or Odyssey). Check out iihs.org for info. Heavy seats must be lugged out of the van for cargo use. By far the least attractive outside and inside. Missing some features.
Pacifica Upsides: Good safety ratings. Easy conversion between passengers and cargo. Smoother, quieter, more comfortable. More contemporary features - Android auto, 360 camera, etc. Not too ugly for a minivan. Downsides: Least reliable of the “big three” vans - but perhaps not materially different from the Odyssey In reliability. Mixed: Chrysler is more “a-la-carte” in the options that can be added and mixed. So more confusing to order, but perhaps better suits your desires at a particular price point.
My anecdotal experience - 2018 Touring L purchased new. Now with 20K miles and approaching 2 years of service. No issues of any consequence. Really like the comfort and utility. Two shop visits. Visit 1: Software update for cruise control recall. 45 minutes in the shop. Visit 2 (recently): Two recalls (ground strap, dash trim piece), replace ESS aux battery, update software for sliding doors. 4 hours from drop off to ready. Minor issues Ive had: ESS stopped working, showing “battery charging.” I drove it like this for 13 months with no ill effects. Head unit has been slow to start up a couple of times - 30 seconds versus 5 seconds. Driver side sliding door would very occasionally reverse and reopen. Always closed on 2nd try.