Formation of pseudouridine at positions 27 and 28 in the anticodon stem and loop of transfer RNAs; at positions 34 and 36 of intron-containing precursor tRNA(Ile) and at position 35 in the intron-containing tRNA(Tyr). a uridine in tRNA = a pseudouridine in tRNA Binds 1 zinc ion per subunit. Belongs to the tRNA pseudouridine synthase TruA family.