To check the timing, you need to access the timing belt. Your first going to want to jack the passenger side of the vehicle off the ground and remove the tire. on the inside of the tire, there will be an access panel held on by two 10mm bolts. Remove those bolts and remove the cover revealing the crankshaft and crankshaft bolt. Now go to the engine bay and remove the torque rod (Dog-bone motor mount), (14MM x2) remove the dogbone bracket (Aluminum) and remove all the upper cover bolts (all 10mm).
If you refer to the links below it shows how to remove everything I listed above. Get to the step where you can see the timing belt. Once there, Remove the #1 spark plug (Closest to the passenger side). Once removed, place a straw into the cylinder making sure to hold it in case the pistons not high enough. Put a ratchet / socket onto the crankshaft bolt and turn the motor Clockwise. Roll the motor until the straw gets to the highest point. If you went to far the straw will travel back down. Don't go counter clockwise. go another rotation and stop once it reaches the top again.
Once you get the straw at the highest position .. this is what you call TOP DEAD CENTER (TDC). There is a small hole on the camshaft that lines up with a groove that's indented in the metal behind the pulley. Use a tooth pick or an angled mirror to view where the indent is.
Check out the following link for clarification
Getting the timing perfect
Easy way to get Gen 3 (3.0-3.5) 5sfe Timing perfect
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Timing Belt Change
Timing Belt Change (#2)
Timing Belt + Water Pump + Oil Seal Change - 5S-FE:
Part 1 -
DIY: GEN3 Timing Belt + Waterpump + Oil Seal Change - Part 1
Part 2 -
DIY: GEN3 Timing Belt + Waterpump + Oil Seal Change - Part 2
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Camry FAQ ------> READ FIRST -----> Comprehensive List of Gen 3/4 INFO and DIY