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Can replacing the serpentine belt damage transmission on a 2002 Ford Taurus?

No, replacing the serpentine belt will not damage the transmission on a 2002 Ford Taurus. The serpentine belt is a drive belt that connects various components in the engine compartment, such as the alternator, power steering pump, and air conditioning compressor. It does not interact with the transmission, which is a separate component responsible for transferring power from the engine to the wheels.