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I have a 2005 Ford Escape 2.3L FWD and I have a squealing noise when ever the car is at operating temperature and the AC is on(does not happen when ac is off). It only happens when the car is in DRIVE and REVERSE. When it’s in drive it only happens when I’m at a complete stop it’s starts to squeal but when I get moving it goes away. It only happens when it’s at low RPM. I have changed the belt and tensioner and idler pulley but still has that squeaking noise.
 

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2020 Ttanium Hybrid/1978 F-250 Custom
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I have a 2005 Ford Escape 2.3L FWD and I have a squealing noise when ever the car is at operating temperature and the AC is on(does not happen when ac is off). It only happens when the car is in DRIVE and REVERSE. When it’s in drive it only happens when I’m at a complete stop it’s starts to squeal but when I get moving it goes away. It only happens when it’s at low RPM. I have changed the belt and tensioner and idler pulley but still has that squeaking noise.
Welcome to the city, Bean.
Just off hand, without following my ears… I am going to guess your AC compressor clutch is failing.
With the belt off, does the clutch spin freely?
 

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2020 Ttanium Hybrid/1978 F-250 Custom
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Never tried to do that. Do you think that’s what’s causing the squealing noise
Just given the direct relation you have stated to the AC being on, or off

don't replace it, test it first.

you don't have to pull the belt completely off, just release the tension and see if you can spin the forward(side) facing edge of the compressor. It should spin freely with no grit or resistance.

see if you can get it to make the sound with the hood up, and you listening… shifting gears like you mentioned, revving the engine… It should direct you to it

if you do it with a friend, be sure that your emergency brake is set… Maybe even block a tire
 
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