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I wanted to post a reply to this because I also have a 2001 2.7l V6 4wd and my output speed sensor was directly underneath the air filter housing/box and NOT "deep behind the transmission" as the poster said above. It was very easy to get to, and took me about 10 minutes to replace. The part number for mine (genuine Hyundai/KIA) is 42621 39052 if that helps. And this is NOT the 02 sensor mentioned in the previous post. What we're talking about here is the Output Speed Sensor on the transmission. You may get a code P0720 from your CEL. You can also download TSB 05-40-011from hmaservice.com for more info and a diagram of the location. Hopefully this might help someone in the future. Good luck!
In 2002 they discontinued the external trans filter. So your vehicle could have the external filter. If you look next to the trans dipstick tube, on top of the trans case you will see the filter or you will see just a spot where the filter use to go before they eliminated it. Yes, the filter does llok like a regular engine oil filter. If the trans does not have the external filter ontop then there is no service to the filter to be done, the only recommendation is to bring vehicle into a shop to have the fluid flushed. By the way, make SURE you use the correct Hyundai SP-III trans fluid (not dexron/mercon). This fluid is specific to the Hyundai and can not be purchased from auto parts stores, only the dealership. Failure to use SP-III will cause premature wear to the internal bands and clutches.