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We asked Hyundai for an answer to your question and we were told that it's ok to tow in top gear in your car, but I would advise you use the best gear for the situation you find yourself in. Use top gear on the flat, but instead of waiting for the transmission to change down when you hit a hilly section, anticipate it and pull it back manually to negotiate the inclines. That way the engine won't be labouring and the transmission will be under lower load. Hyundai also told us that they recommend a different service schedule for cars being used for towing, and that you can find out all about it in your service book.
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