It has been my experience over the years that after 80-100K miles of running together (belt & pulleys) they should all be replaced at the same time. If the miles aren't very high you can get away with belt only but you have to clean the pulleys really well with Brake Clean - thoroughly. Bearings wear out and fray edges of brand new belts with wobble/vibration, or the new belt doesn't mate with the running path on the old pulleys and - SNAP. It used to be that V belts would break and fall to the ground and not tear anything up under the hood. Serpentine belts have the potential to take ALOT of expensive stuff out when they go...ask me how I know. My Tacoma V6 has 3 idler and 1 tensioner pulley; just a crazy long belt path...I dusted off a few choice words on that recent belt/pulley job, but I have no worries while on the road.
The old saying goes, "You never have the money or time to do it right the first time, but seem to find the money and time to do it over."