Looks like you've been quoted to have the catalytic converters replaced, as well as the rest of the exhaust hardware. If that's indeed the case, that would be in the ballpark for those parts.
Unless you are good at welding and/or working with sheetmetal (or know someone who is), this definitely isn't a DIY repair. If it's all rusted, it's going to have to be cut off the van so there's minimal chance at best of salvaging anything.
Now if your catalytic converters aren't bad (you'd have a couple CEL codes), it's possible to see if you can "find a guy" who will weld up a new exhaust and/or repair the existing system, but that's a dicey approach at best.
I'd be inclined to keep the van, but then again when anyone asks me whether they should keep or sell their Ody, I'm going to tell them to keep it 9 times out of 10. Assuming you replaced the timing belt at 105k or you know that it was (you did do that, didn't you??), and that you have plans to do so again in 20k miles, and you've been keeping on top of transmission fluid "replacement", that van will get you to 250k. Well, the powertrain at least - if the rust is bad enough, especially on the important parts, then the body certainly won't make it.
The question comes down to - do you need a minivan, or is it just nice to have? If you have a genuine need for the van, be it people or cargo or both, then I think that's enough of a reason to keep it. You won't find another clean van worth buying for the money you'd get for this van and you are already aware of its history.
On the flipside, if you can get by with something smaller, you might do well to sell it, disclosing the known issues. There is plenty of demand for minivans right now and someone would likely be willing to put in the work to keep it running.