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squealing A/C PS belt

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I have found this issue elsewhere in the forums, but it doesn't appear anyone has turned up a definitive solution.

The AC/power steering belt in my 2004 Santa Fe, 2.4L has intermittently squealed for some time, but lately the squeal has gotten louder. Initially it only happened when the compressor was on, but now it happens when the compressor is off. I have not experienced a loss in steering power but I did notice that the power steering fluid appears to be discolored. I have replaced the belt and re-tensioned it several times hoping this would solve the issue, but it hasn't. I intend to take the belt off again and see if the pulleys all spin freely. When I replaced the belt initially, everything did spin freely. My guess is that the power steering pump may be shot and is putting excessive load on the belt, however, there is no PS pump "whine" and again, no loss of power steering. It looks like I should also check for separated pulleys.
Has anyone else found the ultimate fix for this yet?

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