01 Sienna maint advice (warning light)

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I have an 01 Sienna approaching 100K miles and runs fine but I want to know if the 3.0L V6 engine requires a timing belt change or any other preventative service that might prevent a major repair for a car with this mileage? The CV boots aren't cracked and I've replaced disc pads and changed oil (Mobile1) and there are no leaks. The auto trans seems fine but I haven't serviced it. There is a warning light turned on that looks like a brake symbol or a tire but the disc pads are in good shape. Any idea what this indicates? This car is driven with care but never got the gas mileage I expected from a 3.0 L V6. I had a 3.0L V6 Caravan that got a little better gas mileage, Any advice welcome.
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the warning light could be tire pressure warning light. and for service just look at ur owners manual to see what service is scheduled at ur mileage. or if you service at the toyota dealer they will tell you what service you need at the right milage.