When you put the car in reverse there is approx 8 - 10 second delay prior to the transmission engaging reverse. This is on the automatic Santa Fe 2006 model.

Does the vehicle jerk or allow u to rev the engine while waiting for the gear to engage? After checking the transmission level u should proceed immediately back to ur Hyundai dealer to have the transmission checked. It sounds like ur transmission is slipping, which could require replacement, hopefully the warranty will cover it if that is the case (10 yr, 100K power train warranty l believe). You could also take it to a transmission specialty shop if the dealer trys telling u there is no problem, just for ur piece of mind.

check fluid level.then back to deler for that''almost forever warrantee'' !!!!!