2003 Hyundai Santa Fe Question: Transmission slips when shifted into reverse

There is a TSB from Hyundai for the delayed shifting. Take it to a shop and ask them to follow the procedures according to the TSB# below. Here is it:

A/T - Harsh/Delayed Reverse or Drive Engagement

Group: TRANSAXLE

Number: 07-40-009-1

Date: SEPTEMBER 2007
Models:
1999 - SONATA
2001-06 - ELANTRA
2001 - SANTA FE & XG
2003 - TIBURON
2005 - TUCSON
2006 - AZERA
2007 - ENTOURAGE

Subject:
AUTOMATIC TRANSAXLE HARSH AND/OR DELAYED ENGAGEMENT INTO DRIVE OR REVERSE

This bulletin supersedes TSB 07-40-009 to correct OP Time.

DESCRIPTION:

If you are diagnosing an automatic transaxle with a harsh and/or delayed shift into Drive or Reverse, follow the Diagnostic Procedure shown below:

DIAGNOSTIC PROCEDURE:
1. Check the ATF level when the engine is idling in "N" according to TSB 06-40-016. Adjust the ATF level as needed.

2. Perform the adaptive learning by shifting from Neutral to Reverse and Drive, stopping in each gear for 5 seconds. Repeat 10 times.

from here on it needs a diagnostic computer.

Zee