I just received and successfully programmed a second remote for my 2003 Sedona EX. The jump was from the 12 and 16 pin in the diagnostic plug. I programmed the original remote first and then did the new one immediately after. It was quick and worked perfectly. I don't know if it's the same procedure for the other years but from what I can tell 2002-2005 are the same.
Here is what you do.
1. Use a jumper wire, connect the jumper between terminal 12 and terminal 16 of the diagnostic connector.
( It should look like this)
http://www.kia-forums.com/attachment...d=115841508 9
2. Turn the ignition switch to the on position
3. Press the lock button two times.
4. If you have a second remote press the lock button two times.
5. Turn the ignition switch off and pull the key out.
6. Disconnect the jumper wire from the diagnostic connector.
7. Test each remote for function.