The sensor referenced is the transmission fluid temperature sensor. It is accessible by removing the front pan. You need both the sensor and the harness and you will need a few quarts of SP4m to refill the transaxle when you reseal it. It's not an expensive job.
On RockAuto ( 2013 HYUNDAI ELANTRA 1.8L L4 Parts | RockAuto ) I see a fluid pressure sensor (9475037000) and a fluid temperature sensor (463863B000, 463863B010, 463863B900), and there's also a speed sensor (4262026000, 4262026001).
If the line pressure sensor or turbine shaft sensor goes bad, the car will shift very late and very hard. If they fail outright, the car will stick in 4th gear and not shift. If the output shaft sensor goes bad, the speedometer won't work. The fluid temp sensor will set a code that causes the check engine light to pop on if it goes bad. The symptoms described early on don't point to a bad fluid temp sensor but it is possible. Most often, a bad TFT sensor will make shifting on a cold morning really rough and then it gets back to "normal" when it's warmed up.
How about random deciding to shift down to 5th or even 4th gear when the conditions don't warrant it (based on previous driving on the same route / same speed)? Like sure it's a hill but it's a slight hill where normally the car would hold 6th.
Random downshift to 4th is nothing to worry about as long as it doesn't go to 4th and then not shift anymore until you reboot the car.
It will downshift based on engine load and throttle position. If the car isn't rolling well or the engine is not making the power it should, you end up pressing the pedal too far it it kicks down a gear. Confirm the car rolls well in neutral and doesn't drag like the brake calipers are hung up. Then check and make sure the engine is tuned fairly well - no blocked catalyst or other problems.
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