Check engine light is on when gas tank is less than 1/4 full and off when fuller on 2006 Kia Sorento

Had light checked at AutoZone and they said is was code P0716 and P0700 - input turbine speed sensor signal malfunction - possible failed input speed senor. I called the Dealer and they can't find the part to give me an estimate. They did say the sensor is inside the transmission and it would have to be pulled to check it out

Asked by for the 2006 Kia Sorento