Using the correct fluid is critical and any multi-ATF will be the correct fluid for a SP-IV application (check the product information). If it was my transmission I would:Hyundai SP-IV replaced by Castrol Transmax Dexron VI Mercon LV multi vehicle.
Will not be removing transmission pan. Question still stands in regard to mixing two different fluids. Is a complete transmission flush the answer. Would have though choosing the correct fluid would be extremely important.
- remove the pan for cleaning and add magnets where possible / logical
- drain the ATF cooling lines & valve-body if possible
- fill with appropriate (correct) ATF
- drive 30 minutes or until ATF is up to operating temperature minimum, one month maximum
- drain & fill
- repeat the drive-drain-fill cycle at least once more or until the fluid looks clean / clear
- drop the pan again for inspection after ~ one year
I would use Valvoline Restore and Protect ATF if I could get it, otherwise I would use whatever is convenient & cost effective.