Idler pulleys and tensioner pulleys are the same thing.
To use the diagram you linked to before:
The red circles are the two idler pulleys you have. The one on the left is the one you were referring to originally. The green circle is the nut to loosen first. The blue lines represent the long bolts that run along the back of the pulleys (no idea if you would wrench them from the top or bottom). As you turn the long bolt, the pulleys move back and forth (orange arrows), tightening and loosening against the belt.
I did some more searching through the forums, and came across this:
post5931069.html?hilit=idler%20pulley#p5931069
The discussion is about idler pulleys on a 2002-era Pathfinder/QX4, but it should be applicable to you too. Basically, loosen the center nut (the green circle), turn the long bolt (blue line) to loosen the belts, then remove the center nut and pull off the pulley, being careful not to lose any washers and what-have-you that may fall off. Regrease the pulley and reinstall.
I'd give just regreasing it a go since it will save you a chunk of change if it works and you'll only have wasted some time if it doesn't. And you won't have to worry about replacing the entire assembly
