I, too, agree that a full fluid change is done with an "exchange" machine, not a power flush machine. The T-Tech type exchange machines use the transmission's pump to move new fluid in, and old fluid out. Some services, like BG, add a small can of cleaner to the fluid prior to the exchange.
Regarding full exchange vs. drain and fill? Sadly, you will not get a consensus here. 15 years ago here, the trend of the home DIY full fluid exchange was all the rage (never 100% change, but close). Since then, people here quote the Honda recommendation for drain and fills only, - never do a full exchange. So now the trend here seems to be drain and fills.
Also controversial is using OEM fluid vs. aftermarket "approved for use" fluids. I don't know if your Santa Fe takes SP III or the newer SP IV M. Member CKN has a 2021 thread here that attracted a lot of hearsay posts, if you dare read it. Your 6 speed most likely does not have a serviceable filter (unless you remove and tear down tranny).
I think either method would work, especially with your low mileage, relatively good fluid. To me, I would be tempted to do a complete exchange the first time, then follow up with drain and fills every 30K. Having said that, with my Hyundai tranny, I did my first "full" change at about 50K and do "full" changes every 30K. I have a pro mechanic friend with a machine and he uses aftermarket fluid. Que sera sera.