I have about 93,000 miles on my 2003 3.0, and just had the timing belt done last week.
My idler pulley for the front serpentine belt was noisy, so they fixed that under the CPO. I complained about oil leaks from the cam seals, noisy water pump, and other noises in case when they went after the timing belt, something could be found and have AudiAssured pay for the disassembly/reassembly.
No such luck. My CPO runs out at 94,000 miles, so I waited until the warranty was almost up to get mine done.
Checking the idler pulley is pretty easy. Pull off the "V6" plastic cover in the front. Take a 19mm open-end wrench and push down on the idler arm. this will loosen the serpentine belt. While the belt is loose, try to spin the pulley on the idler arm. Mine was hard to spin. I'm guessing they should spin freely.
Also, you should be able to go to the dealer and have them print out all the "services" that have been done on your car since it was first sold. Most of them will need a bit of imagination, "removed AC compressor, installed AC compressor" indicates that AC compressor was shot and replaced.
One dealer was only able to print out the service codes, not the descriptions. Find someone who knows how to run a proper report.
I would doubt the timing belt service has been done on the OP's car. I was contemplating selling my car before the CPO ran out; I wouldn't have done the timing belt before unloading it ($2000+ for absolutely no benefit to me).
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