I would agree, change the belt. You may want to price it at an independent mechanic also.
I let mine go to 87K miles and it apparently had enough slack to skip a tooth and it threw a code for the cam position sensor. I have had some experience with timing belts (BMW and Nissan) and decided to change it myself. It was no easy task, and very difficult to get lined up with the exhaust cam on the passenger side being a particular PITA. I pulled it to the local dealer and had their "Master Tech" R&R the belt to confirm timing was correct because it is an interference engine.
Long story shortened - truck still had cam sensor code and wouldn't run, but the story I got was no compression, must be bent valves and we have to pull the engine to diagnose - $900 to diagnose and repair between $2500 - $6000. He asserted that the cam sensor code was meaningless and wouldn't keep it from running even if it were a bad sensor. I bought a new Sorento for my wife to drive (the 08 is MUCH stronger

) and pulled the 04 home, replaced the sensor myself and fixed the truck for 100 bucks.
Soooo - find a mechanic you trust and have the belt changed. Then drive the trtuck for another 50K miles worry free
