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I had this problem on a ford car early model and all I had to do is drop the transmission pan you probably have a reverse piston stuck get a can of chike and carb cleaner and drop selector valve unit clean real good make sure all the pistons slide in and out easily put a little transnsmission fluid on rah one slide in and out so you know that whatever has the reverse piston stuck teplace reinstall unit new filter and transmission fluid clean pan and do the complete service on it me gaskets and filter and transmission oil and see is that don't take care of your problem
Band is blown in your transmission or is going. Eventually you will shift into first and then be like your in neutral when the car looks for the next gear. Smell your transmission fluid it will look off colored or smell burned most cases
could be clogged transmission filter or shift valves in valve body sticking go to auto parts look for transmission additives to help free shift valves and buy transmission fluid for high mileage transmissions the fluid will recondition swell up transmission seal help transmission shift better.
Sounds like you're low on transmission fluid. Let the car warm up and then check the transmission fluid while it is in neutral at idle while it is parked on a level surface (make sure the emergency brake is on of course). If it is low use only dealer fluid. Hyundai takes a special automatic transmission fluid and if mixed with a universal fluid can ruin their transmissions.
It's possible a new filter and fluid may take care of this,check your transmission fluid for color,it should be clear and ruby red with now burnt smell.If its a reddish brown and cloudy definitely time for a transmission filter/fluid service.
You really probably shouldn't be driving this vehicle right now. If it is leaking transmission fluid, and will not go into reverse, it means there is not enough transmission fluid in the vehicle to perform that task. Check the fluid. If there is plenty of fluid inside and it will still not go into reverse, you are looking at a new transmission. Whenever you feel your vehicle try to slip gears as you go down the road, you need to take it in to be looked at immediately to prevent things like having to get a new transmission. You may not have a huge problem yet, they may be able to stop the leak, but if you continue to try and drive it, it will result in a new trans.