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I had to take the PS belt off to do the timing belt on my '96 Camry (1MZFE). You might need to remove right front wheel and the plastic cover to access the adjusting bolt, which on mine was tightened down over a slotted piece attached to the pump. The shop instruction says to loosen a pivot bolt as well, but I couldn't figure out which one of the nearly impossible-to-access other bolts it was. I removed the securing bolt in the slot, then used a small bar and hammer to drive the pump upward to loosen the belt. I pounded the end of the slot down to tighten the new belt, which I assume is what is needed to adjust an old one. NOTHING in that area is easy to see, touch, get a wrench or socket on, or loosen/tighten. Have LOTS of patience. OTOH, maybe your 4 cylinder is better designed.
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