I did my '03 for around $350 in parts and an afternoon. Dealers are typically $700-$1000, so get a few quotes and make sure they include a new water pump and tensioner.
It doesn't make sense that the dealer would "inspect" the belt... I think they're blowing smoke up your ass.
By the time you can SEE the belt, it's only another 5 minutes to actually change it.
And a visual inspection of the belt doesn't mean squat. I've replaced 6 "broken" belts in my life on various engines and not one of them "looked bad" other than the 6 missing teeth that were under the crank pulley.
This is my non-VVTi 2003:
Serpentine belt, intake duct, radiator, and radiator hoses removed.
Alternator swung out of the way and "jigsaw puzzle" of the 3-piece cover assembly removed, camshaft position sensor unplugged. The belt tensioner is just under the smooth idler pulley near the alternator. The trans cooler hard line is pointing right at it.
At this point, removing the belt is a matter of manually turning the engine so the marks on the belts are as shown, unbolting the tensioner, and slipping the belt off once the tensioner is free.
If the water pump is not being replaced, at this point, you're literally 15 minutes away from starting to button it back up.
Belt, water pump, tensioner, and thermostat housing removed.
If reusing the old tensioner, press it down again a wooden block to compress it and slip an allen key through the alignment holes to keep it down. Once reinstalled, pull the key and it will re-tension the belt.