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If the belt is new then you should be able to tell by looking at it, need to take off the top engine mount too see but it won't show the complete belt.
i bought mine a few months ago on 49k and it had history but no mention of the belt, so i booked it into A P Developments by me, for cambelt / tensioners / aux belt.
i bought the gates kit (as is best for 172 apparently)
went to garage and about 5 hours later, he showed me the old belt and ...... it was a gates one (not renault) so it had been done!
But still, I dont when it was done, so peace of mind. at least you KNOW its done.
I wouldn't say it's a case of when they usually fail, it's when yours will fail I'd worry about, get it changed if there is no receipt of it being done, just to be on the safe side