I have a 2006 Hyundai Santa Fe and the ABS & TCM lights came on. I googled and found out the speed sensors could be the problem. I bought after market sensors one at a time and have replaced them all. The lights went off as I finished the last one (front passenger side) but came right back on. I drove around for a long time and parked it for several weeks. Upon cranking it the TCM light also came on and it is in Limp mode. Could the ABS & TCM issues be causing the TCM (Limp Mode) issue?
This morning I did find out (on this Forum) that the brake switch could be bad or the speed sensor tone ring could be cracked and I will check this out starting with the front passenger side. Does the rear rings usually crack?
Thanks For Your Time and Assistance!!

 

I replied to you in the General Tech Help section