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Could be the brake system, but most likely the front tone wheels. Replace both while you are at it = they are prone to failure, and Hyundai will not warrant it beyond 5 years despite it being a common problem.

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Q: I have a 2001 Hyundai Sante Fe and the ABS and the TCS light come on in the dash This is after I have been driving for a bit. Sometimes it stays on and sometimes it doesn't.What could be the problem?
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