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First you'll need to figure out which belt it is--the Elantra has 3. If it happens with steering, my guess would be the power steering pump belt, which is the easiest to get to, it's the top one. To tighten it you'll need to loosen the 2 bolts on the power steering pump itself, then move the pump out to tighten the belt and tighten the bolts back up.
Yes a spray can temporarily help, but don't go spraying oil or something else on it--which will probably make it slip even more. Get a can of Belt Dressing, which is made specifically for this.
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