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I have a 2012 veloster DCT shifting hard going into 2,4 and 6 also reverse is acting funny. I’m getting a message that pops up telling me to pull over when safe protection mode enabled, only pops up for a brief couple secconds then goes away,
I brought the car to the dealer they said it needed a clutches in the transmission, I bought a transmission and brought it to them, they put that transmission in and it’s still doing the same thing, they said might be the Tcm so they replaced that , still doing the same thing,
they said clutches must be bad in the new transmission, so I brought them a third transmission that has been tested and works perfectly and another Tcm that has also been tested and works perfectly and it’s still doing the same thing,
now there saying the third transmission needs clutches, at this point I don’t think they care about actually fixing the problem the car has been there for 2 months, I have paid them thousands and I am no further ahead than I was 2 months ago.. I am beyond frustrated has anyone had the same issues and may know what is causing this? Any help would be greatly appreciated!
 

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At one point mine also had a code in ABS that said lost communication with Tcm lever and CAN Time-out was another one. I'm wondering if something is grounding out, open or short circuit and causing the Controller Area Network to transfer faulty signals or not transfer the correct signals between all modules in general. I believe this is a communication error between your tcm, ecu, pcm and the dct itself. Test the CAN wiring system leading to every connection on the transmission.
 
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