I had about 205,000 miles on my avalon when i traded it in... that had the original timing belt.
I have a 2002 V6. I bought it new and didn't change the original timing belt until 2015 at 181,613 miles. I didn't have a particular REASON to change it then. I just decided I wanted peace of mine that I wouldn't get stranded somewhere. My old one was a little cracked, but who knows how much longer it would've lasted.
My last car was an A4 with AMB engine and the recommended timing belt change interval according to maintenance booklet was at 110K, while at the local dealer they were trying to persuade everyone to change it at 80K. I did one myself at 104K and it was just the right time as I noticed it started to stretch.
I changed my timing belt a month ago and my car had 111250Km and ten years young. First of all, I was amazed by the quality of the old timing belt, it was solid with no cracks at all.
There is no way to know without removing the cylinder head and posting pictures. Best case you can just replace the timing belt and any bent valves.
On my TT, I did it every 50K miles. Had heard of failures and it seemed like cheap insurance ...
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