I have 2004 Hyundai Sonada, Transmission light came on, also I can not pass the second gear the vehicle has over 100,000 miles.

This problem is caused by disparity between Vehicle speed and Transmission RPM preset for that speed. Transmission automatically shifts gears smoothly when car reaches a preset speed, set by the manufacturer. If either the shift solenoid is not responding or the Transmission is slipping JERK will be experienced. First check fluid levels and change fluid if it has not been changed in the last 45,000 miles. Since you just bought the car you have no knowledge. Do not do Transmission flush if you have over 100,000 miles. Only do drain and fill with Honda Fluid. Only Drain and fill is recommended so as not to wash away/disturb the friction material by power flushing. During drain and fill add a bottle of Torgue multiplier fluid available in Auto part stores. If this does not work then take it to a Transmission shop for them to diagnose.

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Sounds like a failed transaxle

You drive 20 miles or use a vehicle for days like
that,you ruined it,period,no relearn will fix internal
damage

Not many transaxle's see 100,000 miles or ten years

You're describing a powertrain problem. If you're a 2nd owner & this vehicle has less than 60,000 miles (96,000 km), it's still under warranty. If you are the original owner and the vehicle has less than 100,000 miles (160,000 km), it's still under warranty.

10-YEAR/100,000-MILE POWERTRAIN PROTECTION Covers repair or replacement of powertrain components (i.e., selected engine and transmission/transaxle components), originally manufactured or installed by Hyundai that are defective in material or factory workmanship, under normal use and maintenance. Coverage applies to original owner only, effective with 2004 model year and newer model year vehicles. On 1999-2003 model years, coverage applies to original owner and immediate family members (i.e., wife, husband, daughter, son, stepdaughter, stepson).

Second and/or subsequent owners have powertrain components coverage under the 5-Year/60,000-Mile New Vehicle Limited Warranty. Excludes coverage for vehicles in commercial use (e.g. taxi, route delivery, delivery service, rental, etc.).

5-YEAR/60,000-MILE NEW VEHICLE LIMITED WARRANTY Covers repair or replacement of any component manufactured or originally installed by Hyundai that is defective in material or factory workmanship, under normal use and maintenance.

The following components are covered for time and mileage limits indicated:
• Radio and audio systems (i.e., radio, compact disc player, DVD player, navigation system, and Bluetooth®): 3 years/36,000 miles
• Paint: 3 years/36,000 miles
• Battery: 3 years/unlimited miles (100% covered 2 years/unlimited miles; after 2 years and within 3 years, 25% cost of battery and 100% labor cost covered)
• Air conditioner refrigerant charge: 1 year/unlimited miles
• Adjustments: 1 year/12,000 miles
• Wear items: 1 year/12,000 miles (e.g., belts, brake pads and linings, clutch linings, filters, wiper blades, bulbs, fuses)

No the transmission fluid on these vehicles are good for over 100,000 miles.

10-YEAR/100,000-MILE POWERTRAIN PROTECTION Covers repair or replacement of powertrain components (i.e., selected engine and transmission/transaxle components), originally manufactured or installed by Hyundai that are defective in material or factory workmanship, under normal use and maintenance. Coverage applies to original owner only, effective with 2004 model year and newer model year vehicles. On 1999-2003 model years, coverage applies to original owner and immediate family members (i.e., wife, husband, daughter, son, stepdaughter, stepson).
Second and/or subsequent owners have powertrain components coverage under the 5-Year/60,000-Mile New Vehicle Limited Warranty. Excludes coverage for vehicles in commercial use (e.g. taxi, route delivery, delivery service, rental, etc.).
5-YEAR/60,000-MILE NEW VEHICLE LIMITED WARRANTY Covers repair or replacement of any component manufactured or originally installed by Hyundai that is defective in material or factory workmanship, under normal use and maintenance.
The following components are covered for time and mileage limits indicated:
• Radio and audio systems (i.e., radio, compact disc player, DVD player, navigation system, and Bluetooth®): 3 years/36,000 miles
• Paint: 3 years/36,000 miles
• Battery: 3 years/unlimited miles (100% covered 2 years/unlimited miles; after 2 years and within 3 years, 25% cost of battery and 100% labor cost covered)
• Air conditioner refrigerant charge: 1 year/unlimited miles
• Adjustments: 1 year/12,000 miles
• Wear items: 1 year/12,000 miles (e.g., belts, brake pads and linings, clutch linings, filters, wiper blades, bulbs, fuses)

You may have what is called a syncronizer problem which is basically a transmission rip down and inspection, when the syncros go they create havoc inside the gear box making shifting extremely difficult in these gear ranges.
The other thing that also should be inspected at the same time the transmission is looked at is the clutch assembly, clutches should last long times depending on how each vehicle is driven, generally a clutch can be worn out in as little as 30,000 miles if it is pushed hard as oppossed to a car being babied and lasting 100,000 miles or more.

if it has one, the timing belt should be done, along with a tune up. spark plugs air filter, fuel filter. etc

This is Toyota's scheduled maintenance for the RAV4 at 100,000 miles...

Replace engine oil and oil filter 1
Rotate tires
Replace engine coolant 2
Visually inspect brake linings/drums and brake pads/discs
Applicable Footnotes:
1) Reset the oil replacement reminder (“MAINT REQD”) light after replacing engine oil, if vehicle is equipped with this light.
2) Initial replacement at 100,000 miles/120 months. Replace every 50,000 miles/60 months thereafter. Refer to "Engine Coolant" in the "Explanation of Maintenance Items" section in the back of this guide for more information.

Transmission problem causes are many, i.e. fluid level & condition, electrical wiring, sensors, etc. How many miles on this vehicle? under 100,000 and you're the original owner? If this is so, it's covered under Warranty. If less than 60,000 (and no extended Warranty), it's still covered under Mufacturer's Warranty. If neither of these is true, take vehicle to Hyundai Service Center and have it diagnosed (pay the diag fee). They will give you an estimate of repairs (parts, labor, tax, time-frame, etc.). This way you'll know exactly what's wrong and what's required to fix it.