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The ECU for the 2006 Hyundai Tucson is situated behind the glove box on the passenger side. To access it, you'll need to open the glove box and take out the three screws at the top, then close it and remove three more screws at the bottom. Once that's done, reopen the glove box and gently pull it out and down on both sides. Be sure to disconnect the light on the right side before completely removing it. After the glove box is out of the way, you will see the ECU with many wires connected to it. You can either try to remove the two bolts holding the ECU in place for more space to work, or remove it with the bolts in place and then unbolt it to lift it out.
The ECU for the 2006 Hyundai Tucson can be found underneath the center console on the right side for the passenger.