Yes. Also, you will want to get a new bolt to replace the one you remove from the crank shaft. There is a campaign not to reuse it. It can be gotten from the dealer.
I will attach the timing belt replacement procedure when you get back with the year built. Also once the belt is off, do not rotate the cams or crank shaft. Damage will occurs.
Click HERE to open PDF of this Service Campaign
This bulletin provides information related to the 2003~2004 Sorento models produced from 6/30/2002 ~1/28/2004. The Crankshaft Pulley bolt may become loose, especially if it was improperly torqued during routine service. The usual indicator of such loosening is a rattling noise coming from the engine compartment, which can be traced to the Crankshaft Pulley assembly. The Crankshaft pulley bolt and washer should be replaced with the corrosion free bolt and washer (Dacro Coating) which can be identified by its silver color. The crankshaft pulley bolt and washer should never be re-used and should be replaced, if removed. This bulletin describes the proper service procedure for identifying and torquing the Crankshaft Pulley bolt.
Crankshaft Pulley Bolt