At 90,000 miles on my 2002 Sienna, Toyota recommended INSPECTING the water pump when replacing the timing belt, and it was good. At 180,000 miles, they recommended replacing it.
Much will depend upon maintenance. If you have been pumping sludge and acid in your cooling system, your water pump should be replaced. If you have kept good coolant in it, then an inspection by a qualified mechanic who does not have a prejudice that all pumps on all makes must be replaced, will suffice.
That is on Toyota, I make no such claim on other makes.