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Q: No auto transmission on 2009 Hyundai Tucson

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I have huyndai tucson 2009 and i have a problem with the automatic transmission, i notice that when i drive for a distance and after that i accelerate from a stop, the transmission does not shift to the next higher gear till the rpm meter reaches 5000rpm (for first gear). The car seems to be dragging even though the engine speed increases. i can hear the engine screams louder than usual but the car does not really move smoothly, the transmission stays at the low gear and the car is moving faster than it should in the low gear or first gear thus loud roaring sound can be heard from the engine.for information the car equipped with sport gear (manual transmission) and when this case occur i use this gear with out any problem (i have a problem with auto transmission gear Position D only).
After ispection the DTC was U0001.
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