If its really "groaning" that is almost for sure something in the P/S system, not the belt. IF the belt was mis-aligned or slipping it would be "squealing".
its your car so you know better than me but something to think about. I seem to remember something about theose TCP racks that maybe the servo groans a bit at low speed load but that is a very vague memory. Generally groaning, besides a plain old worn out pump, can be cause by air bubbles getting introduced into the reservoir, but this is usually an issue with aftermarket style tanks with the return hose coming in above the fluid level or similar. But I think you still have a FoMoCo style OEM pump in which case it would just be something worn out maybe. Just a suggestion as belts are not usually described as groaning and you mentinoed it happens under steering load.
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