What do I do if I used the wrong transmission fluid?

My friends mom bought fluid for a Honda, but I drive a Hyundai. The gears are shifting hard and the check engine light came on and it's because of the transmission oil temperature sensor. But how do I fix that besides the sensor? I've probably driven no more than 30 miles on the wrong fluid. Is there a way that can be fixed? Will I be able to drain it and replace the filter and use the right fluid? Because I have a feeling that that's why it's shifting hard. Although at first it was because I was low on fluid. But I don't know what to do. I don't want my car to have permanent damage to it.

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