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I had this same problem, I replaced both idler pulleys on my 2002 H6 sedan, this solved the problem, also the power steering pump onn these cars starts to go out after 80,000 or so. I would look at the belt and the two idler pulleys, if either of them have excessive play(ie-belt looks like it wiggles or moves back and forth at all, while traveling over the idler pulleys-2 on H6, one is a belt tensioner) replace immediatley.
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