Fuel Flter Replacement on 2002 GMC Sonoma

Dealer recommended a fuel filter replacement. They said they have no record of one being replaced at 20,000. I've only had the tuck since 30,000 and it has 35165 on it now. My trusted mechanic says I can wait another 5,000 miles.

Asked by for the 2002 GMC Sonoma
GMC recommends replacing the filter every 30,000 miles. I would recommend doing it now. When the filter starts restricting flow, it puts extra strain on the fuel pump and can contribute to premature fuel pump failure.
If I replace the fuel filter, what kinds of improvements in driving will I see?