I have a 2003 Santa Fe. It has around 211K miles on it now. I've done a drain/fill with Hyundai SPIII ATF every 30K miles since I bought it used in 2005. It still shifts perfectly. Some will advise you to switch--and you may have good results. All I can tell you is what has worked for me. The ATF always appears to be in fine shape when I drain it so it seems like it is a decent enough fluid.
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