Bah, just gas it up and go! My 95.5 rodeo has around 178K miles and is still running like a champ. I've had to redo the clutch twice due to towing a heavy boat and my wife, but the tranny and motor are excellent. I'd just give it a once over, checking vital fluids (have you ever flushed the radiator? At 160K miles like you've got it should have been replaced by now). Carry an extra quart of oil and two gallons of distilled water with you for insurance.

I've driven my Rodeo from Washington to SOCAL more times than I can easily remember right now. Like I said, just gas it up and go.