I went to have an emissions test and I failed.

Have a look on
https://www.engine-codes.com/p0320_kia.html

(P0320 KIA code possible causes

• Faulty Ignition/Distributor engine speed sensor
• Faulty Crankshaft Position sensor
• Ignition/Distributor engine speed sensor harness is open or shorted
• Ignition/Distributor engine speed sensor circuit poor electrical connection
• Low battery charge
• Faulty Engine Control Module (ECM)

and
https://www.youtube.com/watch?v=95pJLzOyU3M

Good luck.

https://www.yourmechanic.com/article/p0320-obd-ii-trouble-code-ignition-distributor-engine-speed-input-circuit-malfunction-by-jamahl-walker

https://www.yourmechanic.com/article/p0715-obd-ii-trouble-code-input-turbine-speed-sensor-circuit-malfunction-by-logan-utsman

code p 0320 refers to crankshaft position(CKP) sensor /engine speed ( RPM) sensor ---circuit malfunction===causes --wiring---CKP/RPM sensor---ECM
code p 04310 refers to warm up catalytic converter, bank 2--efficiency below threshold===causes ---cat converter---wiring---HO2S 2
As it is not passing the smog test I would be replacing the HO2S sensor ( manifold or before the cat on bank 2 of the engine ) or more likely a failed cat converter
you may have had the P 0320 code for a long time and have not noticed a drop in performance but as cat converters have a lot to do with smog control , that is the area I would advise checking first

Here's a link to your code. P0741 OBD II Trouble Code

P0320 KIA - Ignition/Distributor Engine Speed Input Circuit

Possible causes - Faulty Ignition/Distributor engine speed sensor
- Faulty Crankshaft Position sensor
- Ignition/Distributor engine speed sensor harness is open or shorted
- Ignition/Distributor engine speed sensor circuit poor electrical connection
- Low battery charge
- Faulty Engine Control Module (ECM)

P0320 Ignition/Distributor Engine Speed Input Circuit Malfunction. Most likely an ignition module or coil.

Its not picking up the engine speed which i think on this vehicle it reads from the ECU ,so i do feel for this sort of fault you will need the dealer diagnostic software for this and maybe even a new ECU ,best advice clear the fault light and take it to a garage and trade it in quick ,Maybe even a nice VW diesel with 70 MPG or dare i mention it a citreon or a skoda diesel manual gearbox then this sort of fault wouldnt bother a manual gearbox as your in control

P0320 Ignition/Distributor Engine Speed Input Circuit Malfunction Check the connection and wiring to the CKP sensor. Be prepared to replace this sensor

P0320 - Ignition / distributor engine speed circuit malfunction

The ignition engine speed sensor input signal to Powertrain Control Module (PCM) or Electronic Control Module (ECM) is continuously monitored. The test fails when the signal indicates that 2 successive erratic profile ignition pickup (PIP) pulses occurred.

Symptoms:
- Engine Light ON (or Service Engine Soon Warning Light)
- Lack/Loss of Power
- The engine may be harder to start
- The engine may stumble or stall

When is the code detected?
The P0320 code is triggered when 2 successive erratic PIP pulses are detected.

Possible Causes:
- Loose wires/connectors
- Faulty Crank Position Sensors
- Arcing secondary ignition components (coil, wires and plugs)
- Low battery charge
- Powertrain Control Module

Possible Solutions:
- Resecure loose wire or connectors
- If battery charge is low, recharge or replaced battery
- Replaced crank position sensor
- Replaced starter motor


Test it and tell us news.

This is a common problem usually related to the crankshaft position sensor. Before you replace it, disconnect the electrical connector to the CPS sensor and clean it with electrical contact spray and add a dab of dielectrical grease. If the problem continues, replace the CPS sensor. It is easy to replace and is not very expensive. It just bolts to the engine block with one or two bolts. I believe the CPS sensor on the Sedona is behind the timing cover on the front of the engine.