Depending on how many miles it has it is probably best to change them. Change them all of you do change them. Only changing the bad ones with new will stress the old ones and you will be taking it apart to do again.
I would say it is your power steering pump. Check fluid level and with the engine running have someone turn the wheel slowly and see if the fluid is circulating. If fluid is gone then you have a hole in one of the lines or in the pump it's self. Not sure if it has rack and pinion steering but if it does that could also be your problem.
You will probably have to remove one end of your air intake hose from the top of engine. There should be a 3/8" drive square hole close to the pulley of the tensioner and pull up or push down, whatever way the belt loosens and remove the belt. (Not sure how right it is in there, you may have to rent a belt tensioner removal tool from Auto Zone) Carefully let the tensioner back to resting position. Then remove the 2 or 3 bolts that secure it to the block. You may want to spray a LIGHT coat of belt conditioner on both sides of your new belt. Read the instructions! You should change your belt since it is off already. Some people do not like to use the conditioner but I do. Then put in your new tensioner and reverse process. Get your belt on all of the pulleys including the tensioner following the diagram probably on your fan shroud, make it to where your not trying to compress the tensioner and put the belt on the tensioner, make it to where the last pulley your putting the belt on is on the other side of the...
Sounds like you have a boot loop problem as I do as well. If you go to YouTube and type in what your device is and boot loop (example- RCA tablet boot loop) you will get videos on how to try and fix it. I did the same but am still having the problem. Maybe you will have better luck than I. Sorry I could not give you an exact answer.