If the automatic transmission does not shift properly and the Check Engine Light illuminates, the speed sensors in the transmission may have failed. The sensors are simple and inexpensive to replace.
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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.