Can I drive on the beach in an AWD minivan?

[Jim in CT]

Every year, my wife and I toy around with the idea of getting the beach driving permit at Burlingame in RI. This year, my SUV kicked the bucket, may she rest in peace...

With a toddler and one on the way, my wife wanted a minivan. We got a Toyota Sienna AWD. It doesn't have much ground clearance though. I don't know squat about cars. Can I take this minivan on the beach? It seems to me I've never seen a minivan out there, just SUV's and pickups.

Thanks.