IMPORTANT!The BIGGEST killer of G-series engines stems from one seemingly logical shortcut people take (even "professional" mechanics) while replacing the timing belt, involves removing the crankshaft accessory pulley.
NEVER EVER remove the crankshaft accessory pulley by removing the large bolt that holds both the accessory pulley and the lower timing belt pulley!
There are 5 (4 on the G13 engines found in Samurais) smaller hard-to-get-to bolts that hold the accessory pulley to the timing belt pulley that should be removed in order to slip the timing belt cover off at the bottom.
Those smaller bolts are there specifically to let you remove the accessory pulley without having to remove the big bolt in the center! While they are harder to get to (you may be forced to remove the radiator fan and possibly the radiator shroud), that process is FAR easier than reaching into your wallet and handing money to a machine shop to replace your crankshaft because the Woodruff key wallowed out from insufficient crankshaft bolt torqueing or you broke the crankshaft bolt trying to remove it!
The Suzuki forums are full of posts about Samurais that have timing problems because the crankshaft accessory pulley is loose and wobbly - somebody took the "big bolt shortcut" during a timing belt change. I bought a $3500 4-door Sidekick JLX for $500 specifically because a "professional mechanic" took the "big bolt shortcut"! ($1800 later, it became my daily driver currently with 26k on the rebuilt engine.) I have seen at least three Samurais in the junkyard or for sale cheap that had floppy crank accessory pulleys.
Did I mention the Big Bolt Shortcut that you should avoid like the plague?
I hope that this helps!