I replaced mine based on the age and not mileage and as others have indicated, the belt looked as new, even with the original Honda markings on the belt (these were done in late 2017 on the 1994 and 2000 STs)- the 94 had I believe ~ 35K miles on it at the time (2000 with ~ 32K), and everything was smooth in terms of tensioners, etc., so I didn’t bother changing those. I did change the hoses and metal elbows however. It’s always a tough call. I guess I look at it this way…I’m 58 now, maybe not ride past 80 or so years (I hope to continue past this mark, of course), but it’s likely I will never have to do the belt job again on either bike. I guess I did it for peace of mind, but in truth, the belt and hoses looked as new on both bikes. It becomes a personal choice- this will be an unpopular statement- if you don’t change the belt and sometime down the road it does fail (which is quite unlikely), how much is the bike worth at that time and will you elect to fix it or just get another bike?
I recently swapped out the drive belt on the Silverwing scooter (2003) and despite age (mileage was only ~ 5500 miles on the bike), it looked as new (and CVT belts likely do take a lot more abuse than an engine timing belt)- same thing, swapped it out (much easier job, maybe 1/2 hr) and noted the original belt looked as new- I kept that in the event of failure of the belt used as a replacement but it’s likely to never be an issue (those belts get swapped every 16K miles), but on the Silverwing forum, they can go much longer (like 20-25K miles).
Lots of opinions here, no one is wrong and no one is right as predicting the future is a skill most of us don’t have.