Prior to replacing the automatic transmission fluid (to improve shift quality), make sure that the transmission fluid level is correct. Also, make sure the computer that controls the transmission has the most up-to-date adaptive programming information. When servicing these transmissions be sure to use fluid approved by Hyundai.
2005 Hyundai XG350 Problem Reports
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A defective exhaust gas recirculation (EGR) switching valve may cause an intermittent rough or unstable idle engine.