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TCM learning procedure

Automatic Transaxle Fluid (ATF) temperature: 40 ~ 100°C (104 ~ 212°F)
Static learning
Repeat the below shift pattern four times or more while depressing the brake.

Fig 1: Shift Lever Timing Pattern
Courtesy of HYUNDAI MOTOR AMERICA
Driving learning
Drive the vehicle from a stop in D through all gears 1st, 2nd, 3rd, 4th, 5th and 6th gear while holding the throttle steady at the specified Throttle Position Sensor (TPS) value (15~25%).