The timing belt on my Odyssey 2007 was replaced on 100K and now the car has 216K miles.
It costs about thousands of dollars to replace it. I would like to check whether the belt is in good condition.
"about thousands of dollars"?
I had it done for about $600 by an indy mechanic (former Honda tech) and the job included more than just the belt. Anyone charging you "about thousands of dollars", even
one thousand dollars, is ripping you off.
You might want to check out this site to get a rough estimate of what you might pay for your specific vehicle in your specific zip code.
https://repairpal.com/estimator/results
As for your specific question, the timing belt should be replaced not only based on mileage, but also based on time. As the timing belt ages, it may still look OK, but be weaker due to many factors, not just driving, but temperature changes, etc. At 116K on the current belt, you are beyond the mileage recommendation, but maybe within the age spec. Are you?
In any case, since you have over the recommended 105K miles, it is now time for the standard question: Do you feel lucky?
A busted engine is going to cost you a whole lot more than a timing belt change.