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I found this solution online: "behind engine immediately in front of rear transmission mount. Held in place by hairpin clip on wire plug and 10 MM screw". Also, Hyundai commonly places a speed sensor against the driveline out on the passenger front wheel hub. This would be right out near the disc brakes, look for the wire. Good luck!
I wanted to post a reply to this because I also have a 2001 2.7l V6 4wd and my output speed sensor was directly underneath the air filter housing/box and NOT "deep behind the transmission" as the poster said above. It was very easy to get to, and took me about 10 minutes to replace. The part number for mine (genuine Hyundai/KIA) is 42621 39052 if that helps. And this is NOT the 02 sensor mentioned in the previous post. What we're talking about here is the Output Speed Sensor on the transmission. You may get a code P0720 from your CEL. You can also download TSB 05-40-011from hmaservice.com for more info and a diagram of the location. Hopefully this might help someone in the future. Good luck!
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