2007 Toyota Pickup timing belt lights on

You didn't list the model, gas or diesel engine, or single or dual overhead camshaft so I can't look up which engine you have. What I can suggest is if there's a warning light for the timing belt, it likely is an interference engine that will incur serious and expensive damage if the timing belt breaks. !50,000 miles is a lot more than any manufacturer's recommended replacement interval. On one end of the spectrum, the timing belt in my '88 Dodge Grand Caravan has well over 200,000 miles on it, but this is not an interference engine, so if it breaks, I just pop a new one on and off I go. I would never own an interference engine in any car. On the other end of the spectrum, Honda used to recommend timing belt replacement every 75,000 miles, and they commonly broke at around 65,000 miles, leading to a lot of expensive repairs and unhappy owners.

At the mileage you listed, if the timing belt has been replaced once already, I wouldn't be too worried about driving a little longer. I don't know what you mean by "long driving", but it's the total miles on the belt that causes the wear, not the length of individual trips.