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For normal service, the belts should be changed every 30k (as per what Toyota recommends) the timing belt should be replaced every 92k (if required some are chain driven still). The different belts and everything like that you should replace belts that are frayed, torn, weak, cracked, or broken as needed.
Both the 4 and 6 cyl. engines in this car have belts. The 4's don't last as long because they lack a tensioner and get noisy. Toyotas for the most part do not get hurt when the belt breaks. non interference engines...nice huh?