Usually its a bad tensioner or idler that throws the belt off. The bearings wear and the pulley ends up out of line with everything else, putting lateral pressure on the belt. You're lucky if its completely missing. Its not uncommon for it to get tied up in all the spinning bits and then its a right pain to un-pick everything.
I would also imagine the front needs to come off, especially on an S8, but at least you can get good access to all the idlers etc and check which, if any, are bad.
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