Has anyone had their timing belt slip?

Two weeks ago my Rodeo lost power whilst on my way to work. I made a soft pop sound and lost power. I was at ~2200 RPM, 65 MPH.

I checked the DTC codes right after it happened and got; bank 2 sensor 2 O2 volts low, multiple cylinder misfire and MAF sensor something. I did this whilst stranded along side the road.

Fortunately I have AAA (got it for my daughter, guess who used it first) so I called them and trailer it to the dealer. Normally I would have taken it home, but I had to go to Brazil for work and wouldn't return for 7 days.

The dealer had a hard time determining the cause, but concluded the drivers side bank cylinders 1,3& 5 (?) jumped out of time. The guy worked 8 hours getting everthing back in time. He said he had to take the valve covers off to align the cam lobes. He checked all the drive pins on the cams to cam gears and said they were good. He also clean my EGR pipe and replaced the valve. It cost $712.

I finally got it back yesterday. It runs good. My concern is will it will it jump time again?