how to change power steering belt on 2000 Rav4

I recently changed the drive belt on the Rav4 and it's pretty straight forward as it only connects to the alternator and AC Compressor, but there is a 2nd V belt behind there under the car which only goes to the power steering pump. It doesn't look bad but it's around 4 years old and I'd sleep better if I changed the pair together.

The problem is that there is no tension pulley on there and from the videos of the Corolla that I've seen (which looks similar), it looks like I need to loosen a pivot bolt along with an adjustment bolt. That makes removal of the belt somewhat straight forward, after I jack up the car and remove the tire (hopefully), but how would I put tension back on the new belt? The current one feels like it's got good bit of tension on it so is this possible with just a large screw driver as a pry bar or is there a special tool I need for this?