Catalysis of the reaction: tRNA uridine = tRNA pseudouridine. Conversion of uridine in a tRNA molecule to pseudouridine by rotation of the C1'-N-1 glycosidic bond of uridine in RNA to a C1'-C5.
Synonyms:
narrow_synonym:
tRNA-uridine isomerase activity; tRNA-uridine uracilmutase activity; transfer RNA pseudouridine synthetase activity; transfer ribonucleate pseudouridine synthetase activity