I'd find out what bureaus your local CUs pull, and find out what their tiering is. They are very forthright with this information. I would guess that you'd probably want to wait until around 650 for a good refi with a CU, which would put you in the ~7% range. This would put you 6-12 months out to repair your score, depending on many scenarios. If Toyota is willing to work with you at 2.9% after only 12 months, I say wait for that.
Edit: I didn't realize the Toyota deal meant trading in the van after only 12 months. That's totally up to you, but I'd pay careful attention to how much money you roll over into a new loan.
My CU financed a car for my husband with a TU 643 score at 3.75% with 10% down for 3 years. This payment is also automatically taken out of account at this finance rate. Our CU scores are A+ 720, A 680, B 640, so you would probably fall into c category. They also offer a 1% decrease in interest if you have C credit and take the "Credit where Credits Due Class". According to our CU a C credit would get you a 5.75% interest rate. You may want to check into it. Most CU pull TU and they only pull once, unlike car dealerships. Best Wishes!
Starting Score: TU 573 Exp 523 Lender Pull, Eq 583
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