Hyundai Repair: 2001 Hyundai XG300, hyundai xg300, hyundai dealer

Question
I was driving home on the frwy, going about 70 mph, when there was a "Klunk" sound, and it felt like the car shifted into low, or cruise-control, or maybe traction-control.  The engine light came on and stayed on, and after about 10 miles, the TCS light came on, too.  This happened about a month ago, and I pulled over and turned the engine off.  After about 15 minutes, I started the engine and the lights went off, and the car ran fine.  This "klunk" was louder, and the lights stayed on.  Can you help?

Answer
Chances are good this is a transmission-related problem.  You'll probably need to take the car to a Hyundai dealer to read the traction control codes, but AutoZone or AAMCO will probably be able to read the engine and transmission codes for you.  I'd recommend starting with trying to determine the engine and transmission codes (by having them read at AAMCO or AutoZone).  It's entirely possible the TCS lamp is related to the problem that caused the clunk and check engine lamp.  The code will tell us the nature of the problem.  

Once you have the trouble code number, follow up here with the code, and I can advise on how to proceed with diagnosis and/or repair.