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You are fortunate because the older Hyundai Elantra models, made before 2006, typically had the filter inside the transmission itself, which meant having to separate the case sections to access and replace it. In your situation, you can locate the filter within the plastic valve body cover at the front. You can service it by unclipping the cover and accessing the filter directly. A suitable replacement part for this would be the AutoZone Duralast Transmission Filter TF96, which is priced around $10 in-store. Simply insert this new filter as needed. Don't forget to refill the transmission fluid after replacing the filter to make up for what was soaked up by the old filter.
The transmission filter for the Hyundai Elantra 2006 is located at the top of the transmission case.