The 2002 V6 should be the carryover 1MZ-FE
Remove the FR wheel and splash shield off, makes the job easier. There should be two bolts on the P/S pumps, a upper pivot bolt and a lower adjusting bolt. Loosen both bolts (I just loosen the adjusting bolt). To increase tension, placed a pry bar between the base/side of the pump and engine and push to move the pump away from the engine. The belt should get tighter and lock down the bolts before removing the pry bar. Might as well put on a new belt since they are cheap.
This is the best picture I can find.