TCM Learning Procedure

Automatic Transaxle Fluid (ATF) temperature: 40 - 100 ° (104 - 212 °F)
Static learning
Repeat the below shift pattern four times or more with stepping on 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 1 st, 2nd, 3rd, 4th, 5th and 6th gear while holding the throttle steady at the specified Throttle Position Sensor (TPS) value (15 - 25%).