It is possible that your clutch and the idling counter wheel is not getting detached. Unless the selected gear are moved into the notch the particular gear will not engage. So in this case we have the gear box as the complaint. I hope the gear oils were changed on time and so there is no scope of wear out. Adjust your clutch for full release if the clutch was not full pedal down. If the fault changes you can continue to use or else it wil require for taking the gear box out for resetting. The cost will be for taking the gear box and putting it back as it may only require the idler selector to be reset or the worn out ones changed. Take a estimate at your Hyundai dealer and decide. Good day
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