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I had the exact same problem. I took my car to several mechanics and finally ended up at an electrical specialist who finally diagnosed it. It's called a Transmission Control Module. Its located under the gear shift column and it's NOT a cheap fix. I would be driving (even on the freeway) and my car would suddenly downshift to 3rd gear and the check engine light would come on. Even from a stop the car wouldn't shift out of 3rd. If I stopped the car and turned off the ignition for a minute or two, it would reset itself but nothing else besides the Transmission Control Module fixed it. If that's what you need, I would definitely NOT recommend buying it from Hyundai. I shopped around on the internet and ended up saving a lot of money. Good luck!

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Q: Hyundai Sonata auto transmission suddenly lurch while driving and revert to only using 2nd and 3rd gear even from a dead stop and you replaced the input and the output speed sensor but no change?
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