I think belts are one of those things that tend to far outlive the accepted standards due to modern design and manufacturing.
I've honestly never seen a serpentine belt break all of its own volition. Seen accessories lock up, or have damaged or misaligned pulleys. Seen tensioners fail epicly. Idlers come apart.
But never seen a serpentine belt just snap with no other obvious cause. V-belts, yes. Your common 5 or 6 rib single serpentine belt...nope. And that's also considering I've seen them oil-soaked to the point of having noticeable elasticity. Or so cracked that chunks of the ribbed side of the belt were missing. The nylon and/or polyester part just doesn't seem to break.
That said, it's certainly not a bad idea to change a belt that you know has 90-100k on it. But I disagree with the sentiment that a belt that passes a visual check is some kind of time bomb base purely on mileage. Kind of like saying a quiet, smooth-rolling tensioner/idler pulley could come apart at any time...sure, it could; but it's highly unlikely.
When you say that it's not cracked at all, are you looking at the right spot? You need to examine the ribbed side at a point where it goes around a smooth pulley. That way, any cracks are being pulled open so that they can easily be seen. If you just look at an area that's flat, cracks are not going to be easy to see until the belt is pretty damned bad.