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It seems like it would require a fair amount of force in turning the crank and/or cam by hand to bend a valve via piston contact, so if you'd done it during the cam belt change you'd probably know it.

And if the cam timing was correct before engine start it's not likely there was contact at that point.

Borescope might reveal something but probably better to also run a compression check and leakdown test on each cylinder. That should reveal if there are any valve seating issues.

EDIT: Best to start with the leakdown test since that can be done without cranking the engine on the starter, just in case. If there is excessive leak down in a cylinder try squirting engine oil into it and run the test again, this will help isolate to a valve or piston ring issue.
 
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