Speaking officially, Hyundai bought control of Kia in 1998 and did not share platforms until 2001. The 2001 Sonata engine and transmissions are used in the 2001 Optima. Computer settings and some suspension components were tweaked by Kia. It is possible the drive axel can be found through searching national savage yards for a good used one. I have not been able to verify the drive axel being the same for both models in 2001 but everyone I have spoken with suspect you will have no issues. No implied warranty of course on my part. haha
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