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Possibly have a wheel bearing or differential bearing going bad. You are probably going to need to have a technician diagnois this for you.
Around 2 hours.
I have to disagree with the other responses. Toyota wants you to have low cost of ownership for 100k miles. If they have recommendations to change the fluids before the 100k mark it ups the calculation for that figure. Toyota wants to sell you another car at 100k, not help you to maintain the car for 200k plus miles. I would suggest changing the transmission fluid at 50k, depending on how the vehicle is being used. Change your fluids and keep the car longer, it's a better financial deal in the long run.
We do see many heater cores get plugged in these cars. Disconnect the hoses from the heater core and GENTLY blow air through the core to dislodge some of the sediments. Flush clean water through the core to flush out any loose sediment. Installing a new thermostat is a good idea. It is also possible that the water pump is not circulating the coolant, but that would normally have other (overheating) symptoms.
162 foot pounds
Your main drive wheel is the right front. If you are heavy on the foot, you will wear the right front tire out significantly quicker than the left front.
I wish that we had a magic answer ball that would help you out. We can give some suggestions based upon the information you can give to us, but would you trust an online resource to diagnois a complex medical issue? You really need to develop a relationship with a local service center to take care of you vehicle needs moving forward.
Do you have power to the fan? If so you likely have a problem with the motor itself.
Do all the pulleys spin freely? It's likely one or more have seized and caused the noise and belt to break.
No you do not need to remove the timing belt. You do need to remove the serpentine belt.