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when to change timing belt 92 100S?

I now have 85K on the original timing belt (2.8L V6 engine).  A non dealer
mechanic says it is an inspect and replace only if it looks worn item
according to his book.  What does the Audi factory manual say?  Also, what is
a reasonable price for replacing it, parts and labor? Anything else that
should be done at time of timing belt replacment? oil seals, etc?   Thanks.