It will go in reverse fine. But won't go forward in drive

Hello, sorry to say but it sounds like you may have a serious internal transmission concern. Certainly, testing should be performed with a Hyundai GDS diagnostic tool or equivalent to ensure the command for "drive" is being given when you shift. But if the transmission is getting the command and is acting on it, and there's no engagement - there's an internal mechanical concern. Check the fluid level for the transmission and verify it's clean and full. www.repairpal.com/repair-shops