The 7A-FE engine is a non-interference type - so there is little chance of engine damage occuring, if the belt breaks - but it is usually something that people change "before" they break. Even in a non-interference engine, there are other parts that could be subject to possible damage if the belt breaks.
Given the time and mileage you have on the current belt - you probably have a couple more years/several thousands of miles on the belt.
Usually they shoot for 60K mile intervals (5-10 years usually). You could probably go longer, but keep in mind that the chance for the belt to break goes up very sharply after 60K - 70K miles of use. The can let go with little to no warning, usually not a big deal - if it breaks, the engine will just stop. But if it happens to break while your merging onto a highway infront of a heavily laden semitruck - could be a bad day for many people.