Hyundai Repair: Codes P1529 & P720, hyundai santa fe, shaft speed

Question
I have a 2001 Hyundai Santa fe v-6 AWD. Yesterday I heard a clunk as it shifted into the next gear. After stoping to see if anything had fallen off,I started off again and found it was not shifting to the next gear so I slowly drove it to the nearby auto parts store. The auto Parts store read and gave the codes. The code P720 also read "Output shaft speed sensor circuit." Where is this sensor? Can I fix it Myself with regular tools?  

Answer
P0720 almost always points to a problem with the output speed sensor itself.  The sensor is located on the top of the transmission near the rear.  It's held in place with one 10mm bolt.  You may be able to access with a long extension and a 10mm swivel-socket.  If not, you'll need to remove the air box.  You'll find the sensor semi-hiding under the wiring harness that runs across the rear portion of the top of the transmission.  

P1529 is simply an indicator that the transmission control module (TCM) requested the engine control module (ECM) to turn on the check engine lamp.