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My 2009 Sonata had the same problem, my wife returned home from taking our child to school and was unable to shift into reverse or park, also unable to remove her keys from the ignition when she finally left the car parked in neutral.
Solution: Replaced the faulty BRAKE LIGHT SWITCH actuated by depressing the brake pedal, even though the brake lights still functioned the switch controls numerous functions. Parts total $20.00 Dealer's diagnostic fee: $110.00... yes it still hurts, but it's better than the torque converter going out as a previous poster had mentioned.
Take the batteries out and put them back in again. Make sure they are in correctly. Try the immobilizer again. If it still does not work, reverse the batteries and try again. If that doesn't work you may have to contact a Hyundai dealership for help.
There is a switch in the gearbox which operates the reverse lights. If you take the electrical connection off and bridge the two terminals with a paperclip the lights should come on. If the do, the switch is your problem. If not you have a wiring problem but I doubt it.
It is very possible it is the reverse switch that has failed. If you look down between the air filter housing and radiator hoses the reverse switch can be found in the transmission case. The switch has a pink wire that should have 12 volts with the ignition on, and a light green that has 12 volts in reverse only. If the pink wire has power and there is none on the light green in reverse, the switch has failed.
First thing to do is confirm that the low beams are actually on when they are supposed to be, and the same for the high. If they are, it is possible that some time in the past an owner simply reversed the bulb assemblies when they removed them to do a bulb replacement. My son's 2001 Sonata uses the same bulb for both high and low beams. It is possible to put them back reversed if you take them both out at the same time. Just try removing the upper bulb assembly and installing it the lower position and put the one that was in the lower position in the upper. If what you say is true, just reversing the bulbs assemblies should solve your problem providing your sonata model is the same as my son's.