I agree with Ron on the dealership. It goes a long way to make a good rapport with the dealership guys. The Toyota dealership I worked at was a small dealership and many service writers knew customers on a first name basis and never tried to rip anyone off. On big jobs, Ill take my truck to the dealership over the independent guys any day.
For the service, I would probably look at getting the 100k mile service, or at least completing some of the tasks included in that service on your own. The timing belt is supposed to be done at 90,000 miles so yours should have been done twice by now, but you got a while before the third time.
The 3.4L (assuming thats what you have) is a non-interference motor so if you can't get around to the timing belt, you will only be out the towing bill. Good luck and its nice to see another runner hit 200,000 miles.