The 2UZ-FE (4.7L V8) Engines have a "Timing Belt" (which is what I am assuming you are referring to when you say "Cam Belt"), while the 1GR-FE (4.0L V6) engines are equipped with a Timing Chain.
The service interval for the Timing Belt is 9yr/90k according to Toyota and typically it is not a bad idea to replace the water pump when you do it as a preventative measure due to it being buried under the timing cover.