since it's out of warranty,why not. they (Hyundai) can be VERY picky about what fluid is in the trans, and are lightning fast at denying the claim, if it's not their magic juice.
I used to have a 2000 sonata, and IIRC, it was only specc'd to be flushed/filter changed every 60k mi.(hence mine was done once, @ 60,000.)
though they did have to replace the trans pan gasket @ around 80k.(so i imagine they replaced a good bit of the fluid then too.)
day after the dealer replaced a leaky oil pan gasket, the trans pan gasket(which had NEVER leaked), "suddenly developed" one...
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