A slight hesitation when depressing the gas pedal. Should I replace the throttle position sensor?

('05 Hyundai Elantra Automatic). The car drives great, but I've noticed when I step on the gas, it has a small hesitation (like 1/2 second) for the engine to power the wheels. Also when I depress fully the gas pedal to downshift, it hesitates also. I've driven other cars and they react pretty fast. I've replaced the O2 sensors, changed all spark plugs, cleaned the MAF sensor, cleaned the PCV valve, changed the oil every 3000 miles, etc. So my conclusion is the throttle position sensor is probably faulty, though there's not trouble codes and no check engine light on the panel. Thanks for the help