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We had a similar problem with our 2002 Hyundai Sonata. It got to the point where it almost seemed possesed. Closing the door with the car still running could make the doors lock. Which was a problem. I simply pulled the fuse from the fuse panel under the dash board for the locks. The locks have to be manually operated now but at least we don't have to worry about "phantom locking".
I had this problem for awhile too, one day the automatic opener just quit working. My friend fixed it for me. Turns out there's a little lever mechanism on the trunk door, right by the license plate where the locking mechanism is (look up when the trunk is open)... try flipping it and see if the opener will work then. It fixed my problem at least.
I have exactly the same problem. Keyfob will unlock the doors, but will only arm the alarm once the doors have been locked manually. Central locking button on driver side door no longer works, but I hear the clicking sound you're referring to. I took it to a mechanic, and he seemed pretty sure it was a bad master window / door lock switch. The price he quoted to replace it was $255 plus tax, and I could never bite the bullet and pay for the work, so I've just been living with the problem. Have you solved your situation yet?
Automatic door locks on the 2001 Sonata doesn't exist. The doors are locked manually (by the driver) or by using the Keless Remote. To answer your question, YES, there is a separate relay for each function .. this means there is a relay which LOCKS the doors, and there is a separate relay which UNLOCKS the doors. They are located side-by-side on the I/P junction box (I/P = Instrument Panel).
They are both labeled "Lock", but one "UNLOCKS" while the other one 'LOCKS'.
Hope this helps.