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The belt tensioner is right in front of your alternator. You will see a big long screw going down in front of the alternator and to the left and underneath the screw you will see a bolt. Loosen the bolt and then loosen the screw and the belt should come off when you loosen it enough. Just did it not long ago on mine, very simple process.

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Q: Where is the tensioner pulley on a 1994 Lexus ES 300 and how do the belts come off?
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