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Could be a number of things. Magnetic clutch relay is the first culprit - if that doesn't fix it, double check the refrigerant charge. That should be done on both the high pressure and low pressure side, not with the pressure gauge on a DIY kit - as those are not always accurate.
Swapping with a new relay is preferred, as you limit possible issues. Try taking the relay and tapping it against a wood block or similar - sometimes a good tap will "fix" the relay.
If those check out fine - could be an ECM issue (thinks the A/C clutch and engine are running a different speeds) or the compressor is shot. The funny noises that come on when you first start the A/C is what concerns me. It is due to a bad relay, bad magnet clutch, too much/too little refrigerant, or bad compressor - can't tell until you try and narrow the culprits down with some diagnostic work.
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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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