I bought a 2002 SC430 in March 2015. The car has 48,000 miles. The car never had the timing belt changed so, out of an abundance of caution, I changed the belt at my local Lexus dealer. The replaced belt looked brand new and the dealer said it probably would have been fine. My next belt change will be based on mileage and not years.
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Still think you did the right thing though. The consequences if the belt had not been fine would have been catastrophic. I did mine at a good indy shop last year at 70 k miles due to years and not miles. My belt looked ok too but peace of mind is worth it.
Definitely a good approach. Ever wonder why the Xerox machine in the office always needs service but the laser printer on your desk never does even though they're pretty much the same technology? In the copier the parts get replaced when they break. In the laser printer they get replaced with every toner cartridge change (the cartridge includes all the normal things that break in the photocopier). Same thing with airplanes - replace the parts based on hours and you almost never replace a broken or worn part but the plane can fly for 50 years.
One of the problems with replacing parts after they break is they usually do some collateral damage at the same time even if it's only a bunch of extra stress on other parts in the same system. That then helps those other parts break sooner and costs more in the long run.
Jim - 2008 SC430 Matador Red Metallic, 2008 LS600h L fully loaded Obsidian Black