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It has a timing chain..Can't find any info on mileage to change?? belts are about 60.000 miles, i don't think you have to worry about changing by miles ?? You may call Toyota dealer and ask service manager?? Hope this helped you ?
Yes. It has a belt. Service interval is 90,000 miles. This is an interference engine, so belt failure will result in a scrapped engine. Cost should be around $600-$700. I would recommend replacing the water pump as well, as the timing belt needs to come off to to replace the water pump, and I wouldn't trust the pump to last 180k.
Keep in Mind, on the 2004 4Runners, if you have a V6, there is no timing belt. On the V6, it has a timing chain which are known to last much, much longer. Unless you frequently tow or put an extraordinary amount of strain on your engine, you may not ever need to replace it.