A4 Expensive Timing Belt replacement

Has any one had this same problem with expensive timing belt replacement?
I took my 2002 3.0 litre A4 @ 45000kms for normal service with Audi dealer and was told it needed the timing belt replaced as part of the scheduled service. Bought the vehicle new and was running well. Apparently timing belt neeeds to be replaced every 4 years. The service cost was $1,500 and the timing belt replacement cost $2,900+. Total cost $4,400+. Great car but expensive to keep on the road.