Timing marks can be found here: http://www.estima-motoring.co.uk/Forum/index.php?topic=1770.0
Timing belt
What is a Toyota Estima? This car is not sold in the U.S. I cannot find any reference to a 1994 Toyota 2.4 Liter engine on the Gates web site. The only one I can find is a 2.4 Liter Diesel made in 1984-87. It is an interference engine with a cam belt that must be replaced every 100,000 miles. Serious engine damage will occur if it breaks.
The whining noise in a Toyota Estima can often be attributed to issues with the transmission, such as low fluid levels or worn components. It may also arise from the power steering system, indicating low fluid or a failing pump. Additionally, belt-related problems, like a worn or loose serpentine belt, can produce a similar sound. It's advisable to have a qualified mechanic inspect the vehicle to accurately diagnose and resolve the issue.
it is a large housing from aluminium fitted the front of the engine, opposite end to the gearbox. It is quite slimline so looks like part of the engine. the timing belt also runs around the same area.
belt
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timing chain
a 1994 Toyota Celica GT has a timing belt.
Your 2006 Toyota Tacoma has a chain and not a belt. No maintenance is required.