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Just got done changing mine. Lift and Support the vehicle. Remove plastic shield from under vehicle on passenger side. You will see a small shock absorber assembly slightly to the left of the water pump pulley. It has two 14mm nuts holding it on. The lower nut has a torx (star) stud in the middle. Take a 14mm shallow socket on a 3/8" break over bar and put it on the UPPER nut. Push the bar towards the firewall. This will relieve the tension on the belt. Make sure you draw out the belt routing before you remove it. This is a job more suited for two people. It would help to have one person operating the break over bar and the other helping to guide to the belt on.
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Serpentine belt routing diagram for 2002 Toyota?
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