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^^^ To stay on the safe side, I generally replace my serpentine belt at 60K miles. But it really depends on the driving conditions, driving environment, and general maintenance of the car - some belts gets heavily cracked and glazed after as little as 10K-20K miles, some can go as long as 100K miles or more.
The factory service manual goes on the judgement of the person inspecting the belt - part of the periodic visual inspections.
My advice is to carefully inspect the belt, top and bottom - note any significant cracks, shiny spots, any grooves on the backside, etc. - do you notice squealing/chirping sounds on a cold startup, noise when you steer the wheels at low speeds, etc. If it looks bad or makes sound, just replace it. At that mileage - you're probably on borrowed time.
Its one of those - preventitive maintenance items - you don't want to wait for a failure, you want to replace the part before it fails.
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2002 Corolla S, 1.8L 1ZZ-FE VVT-i
2003 Matrix XRS, 1.8L 2ZZ-GE, VVTL-i (RIP)
2009 Matrix XRS, 2.4L 2AZ-FE VVT-i
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