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2021 Elantra Limited
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These belts aren't very robust, but they should last a lot longer than 30k!  I agree,wait until 60k unless your belts are significantly damaged. 

I think my power steering belt had developed some glazing early on, so it would often slip or squeal and I had contemplated getting the belts done... But I never bothered with it until it was time for my timing belt.
 
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