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The relay is located behind the radio/HVAC stack. There are two causes possible for this code, one the relay is really stuck on, the other is the harness is frayed in the transmission valve body. There is a TSB regarding this code.
If the fuse is blown for the trans controller (fuse #6) the harness in the trans is likely shorting. Check this first.
The harness rubs through on the detent spring
Let me know if you have questions
The Elantra is a whole different animal.
If you have a relay stuck code (P1723, P0885) and the #1 fuse is good replace the control relay then check the wiring between the transmission and the transmission control module for opens or shorts, fraying or melting.
The relay is next to the TCM and near the brake pedal. The junctions in the fuse block may have intermittant faults, monition the voltage at the relay with a test light to be sure the light does not flicker at any time. The light should turn on and off with the key and steady
This is why I went to the trans harness when you first posted. I have had 20-30 of these in sonotas but it was the harness not the relay. I have had 2 in 10 years that were the relay. The code will set if the TCM does not see the change of state on the two B+ inputs to the TCM when the relay is commanded on. Here is the wiring diagram so you can follow along
The other possibility is the harness in the trans but you should be able to test from the pin #9 and #10 in the trans connector to the case of the trans to see if the harness is shorted there. The joint connector C92 in this picture is a suspect also