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Where is the sound the loudest? Does it sound like it is coming from a wheel or from under the car? Does it happen under different weather and temperature conditions - dry, wet, cold, hot?
Sounds likely to be a worn serpentine belt tensioner or worn serpentine belt. Quick way to test - spray the belt with a little water and see if the sounds stays there or goes away. If it goes away, it is likely to be the belt, if it stays, it probably a bad pulley or worn belt tensioner.
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2002 Corolla S, 1.8L 1ZZ-FE VVT-i
2003 Matrix XRS, 1.8L 2ZZ-GE, VVTL-i (RIP)
2009 Matrix XRS, 2.4L 2AZ-FE VVT-i
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