I would not worry about mud, it would just get squashed out haha. I just think the derailleur would be too big. Maybe not, if it was a skeletonized type, but... still, think of the width, and how much more you'd have to move it sideways, just to make it change "gears".
Well, in THEORY, maybe if they used a very stiff spring in the derailleur, always pulling towards the back of the bike, so as it swaps "gears"... but it would never work, since it would missalign with the wheel and gears and then you'd have a sloppy/drooping belt....
So yea, you're right. I did know it always needs tension, like the fan or timing belt in a car, but I guess an internal hub derailleur would work.
'Chainline' is somewhat critical on SingleSpeeds... BeltLine is WAY More Critical... No Derailleurs with these belts, (Maybe future, more 'flexible' belts?) Internal Gearbox Transmissions, or Hubs? Yes!!! Dual Belt Ring and Dual Cog? Yes... Climb. Stop. Change. Go...
We here at *BELT Me and Drive Me Crazy* modify bikes with Sliding or Horizontal Dropouts, Eccentric BottomBrackets, and other potentially compatible designs and arrangements, to accommodate Belt Drives... We also make custom bikes to YOUR Measurements or Specifications... Wild 'One-Off' Specials are also available... What are your desires?