Valve Adjustment on 2006 Acura MDX

My 2006 MDX has 38,000 miles, should it require a valve adjustment

Asked by for the 2006 Acura MDX
The differential fluid should have been changed at 30,000 miles. With Acura the "big service" is 105,000 miles it call for timing belt replacement and adjust valves "if noisy". If a valve is tight and about to burn out it will not be noisy! I would check them at 60 or 90 K.
I took the car because Maint Reqd light stayed on and I said it has been running rough,,he drove car and it needed a valve adjustment for $780..I approved work, then remembered the sales pitch "engine need not be opened for 100,000 miles..searched owners manual and internet..

Thank you so much for helping a damsel in distress!