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I'm glad I found this thread!
I had my output speed sensor go bad about 4 years ago the first time in my 2001 Santa Fe 2.7l 4wd. Symptoms were the same as others have mentioned. Would be driving down the highway and the car would slam into 3rd gear, revs would go up, and the CEL light would come on. I could pull over, turn off the key for a moment, turn it back on - and sometimes it would clear and sometimes I would just drive in autostick mode (manually shifting up and down.) When it would experience these symptoms, the only 2 gears you could shift through manually were 2nd and 3rd. Turning it off and back on would bring back 1st and 4th...at least temporarily. So if you are experiencing these symptoms, there's a trick to get by for awhile (though I wouldn't drive like that too long.)
Anyway - I started having the symptoms again about 2 weeks ago. I knew immediately what it was - and went and got the codes read to confirm it. The first time I paid a mechanic to fix it (local) and I think it was around $175 - not too bad for part and labor. This time I wanted to try and do it myself. When I found this thread, I figured I could get to it and give it a shot.
I found the output speed sensor on eBay - a genuine Hyundai OEM part - for about $50 shipped. The part number (from the factory packaging) is 42621 39052. The part bag has both the Hyundai logo and the KIA logo on it - so they might be available through a KIA dealer as well. Using the PDF diagram of the tranny from the post above, I easily located the output speed sensor. I did have to remove my air filter box - but it was right there underneath it. I saw another post somewhere online where the guy said it was back under the #2 cylinder. He said he also had a 2001 Santa Fe - but his must have been different from mine. There was no problem at all getting to it. Took my maybe 10 minutes to do the work - which did fix my problem.
I'm posting this in the hopes that it may help someone else in the future - and I appreciate all your posts as well. Thanks!
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