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Your timing is unbelievable--I did the work yesterday. I used the Toyota Tech Info instructions and had no problems. You need to remove a lot of stuff to get to the belt but most of it is pretty straightforward. The right hand engine mounting bracket is a bit of a challenge to wiggle out and get back in. It's easier if you leave one of the 2 bolts in place; I can't remember which one. There's a yellow dot on the crankshaft gear at the three o'clock position (when the crank is at TDC) that you need to align the dashed mark on the new belt to. All the marks had worn off the old belt so I put my own marks on the new belt but there is no need to do so. The yellow dot isn't big but you should have no problem seeing it if you know to look for it. Also, in order to see the rear camshaft pulley and matching timing mark you'll need a mirror and a small work light. I found it was easier to muscle the engine wire protector assembly (step 18) to the right. That way you can pretty much see the belt mark and the timing mark directly. You don't want to do all this work and be off by a tooth.
I bought a special tool to hold the crankshaft and thought it was well worth the money. Schley makes one (model 64300) and so does Matco (MST6430). I didn't even need a breaker bar with it. When you remove the crankshaft pulley bolt the tool engages a really beefy suspension bracket and when you reinstall the bolt I used a 4 chunk of 2 x 4 between the tool and another suspension member. If you're interested in renting mine just send me a private message.
I changed the belt at 98,000 miles. The belt was in amazing condition. I'm sure it could have gone another few tens of thousands of miles. But I wouldn't recommend waiting that long. I'm sure some engines cause belts to wear faster than others. The Toyota belt is quite a bit wider than the one on my Audi.
I only changed the belt--no idlers, tensioners, or water pump. I called two Toyota dealers and corresponded online with a Toyota master tech and that's what they do. Of course you should check all the rotating components for smooth operation and the water pump for leakage.
You may want to change the spark plugs while you're in there. I believe both the plugs and belt should be changed at 90,000 miles. The plugs had a much higher aggravation factor than the belt. I didn't have the Toyota instructions for this but found a posting on this site for the plugs. There are two bolts up against the firewall you need to remove and there's very little room. I did this by feel, not sight. It was about this time I started talking like a longshoreman. If you can't find the posting just let me know. It took several extra hours for the plugs--you need to remove the intake plenum.
If you've done a few other timing belts I don't think you should have a problem with the Toyota engine. If you have other questions let me know.