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2009 Hyundai Sonata ESC light

esc light on and car will not shift to go in forward or reverse

Is your automatic transmission fluid level correct?

did you spill something into the shifter?

did these problems come on gradually, or from one day to the next?

some auto parts stores will be able to retrieve electronic stability control fault codes for free . . . some have cheapo code readers that only do engine. Can’t hurt to ask your local autozone or O’Reilly, for example

Are your brake lights working?