If you have not done so already, check the transmission fluid level. If you are low on fluid, there is a chance that adding fluid to the correct level may solve the problem. The fluid level should be checked with the car idling and the shift lever in neutral. There are two sets of Hi/Low marks on the transmission dipstick, one for Cold (car just started) and one for Hot (car running for 20 minutes or more). Use Hyundai recommended SPIII fluid. However, this does seem like a more serious transmission problem. Take the car to a qualified transmission mechanic.
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