I believe what you are currently doing complies with the requirements of 1005.10(d). Unless the consumer's authorization includes an ending date, it remains valid until the loan is paid off, the deposit account is closed, the consumer revokes the authorization or something in the authorization (e.g., a provision terminating the authorization if two consecutive transfer attempts fail due to insufficient funds) kills it.
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John S. Burnett
BankersOnline.com
Fighting for Compliance since 1976
Bankers' Threads User #8