Would you like to fix the eye sore yourself?
I had the same annoying dent on my Sienna. At that time I was not willing to pay the quoted $200 to get it fixed. With some experiment I discovered a simple method that one can fix the dent at home, with about thirty minutes of one's own labor. No removal of any parts involved.
Here is the method:
For your safety, do this inside a garage. On a relatively warm and dry day, take a good hair dryer and an outside rated extension cord. Clean the air filter of the hair dryer if you have not done this for a while, cause you are going to put it to hard work! Connect the hair dryer to the extension cord and plug it in. Use the hair dryer to directly blow hot air on the dent. Do this until the rubber is soft, or stop for small breaks if you think the hair dryer is overheating. When the rubber around the dent has become soft, put on a pair of thick gloves, stick you fist inside the bumper and push from the inside, right underneath the dent! If you cannot get it to pop, use a tool like a big spoon to push. Repeat until the dent pop back to it's original position.
The finished product will not look 100% perfect, but in my experience it is 99% near the pre-accident look.
I hope this method will work for you as it had worked on mine.