probably at least once, the 5.75 is the oil capacity when changing oil ( I just drop 6qts and be done with it)
I JUST did my timing belt and water pump yesterday, I've owned my Runner since last year, and was never sure it had been done. mine has 161k on it. I'm glad I did it, as once I had it apart I found the tensioner bearing was loose and running dry, could have been a bad thing considering we are about to take a 2500 mile road trip in it pulling a camper.
Changing the belt, water pump,thermostat, hoses and bearings wasn't too bad of a job, best I can tell you source the best parts you can ( mine were Toyota, about $350 with both bearings, belt, WP, t-stat, upper lower hoses and tensioner, the bearings were the expensive parts )
I wasn't planning on the bearings or tensioner, until they showed to be bad after disassembly, otherwise I would only been into it for $170. I almost bought the AISIN belt kit on Rockauto.com (belt, WP, bearings and gaskets, $265 ) , but the time frame for shipping wasn't there.
and in regard to your pic, you're missing the AC belt
do some investigative exploring, these engines use a specific style of spark plug ( dual electrode NON platinum plug, NGK or Nippon Denso, a regular single electrode plug will work, but they don't run as well. DON'T waste money on a platinum plug !
http://www.rockauto.com/catalog/moreinfo.php?pk=33233
Interesting part is, when these engines were new, one bank had NGK, the other had Nippon Denso, a lot of speculation on why that was......
check the MAF, and throttle body, make sure they are clean, also, pull the rear wheels and drums, check for an axle seal leak, they are good for axle bearings and seals, do it now before it does you.
Also check the rear pinion, they tend to be loose after that many miles, mine had been (poorly) rebuilt before I got it, I ended up buying new gear and bearings, not to mention, I didn't verify what gear was supposed to be in the truck, I replaced the 4.10 that was in there, turns out, it came from factory with 3.90 and the front diff is geared 3.90, glad I found that out in the snow ! .