Replacing at around 60,000 miles isn't a bad idea, however I don't think this is going to address your hesitation problem, unless you use low quality fuel, then maybe. It's not a bad idea to replace it, however I would get the problem diagnosed first.
I checked and Hyundai has a technical service bulletin (TSB) that may be related. What I would do is have the diagnostic trouble codes checked, and have them addressed if there area any. Then make sure the software in the engine control module is up to date per the TSB #04-36-017
TSB Information:
DESCRIPTION:
Some 2003-2004 SANTA FE(SM) 2.7L vehicles may experience intermittent hesitation while driving.
The bulletin provides a procedure for updating the ECM (Engine Control Module)
software with new logic to improve the above condition by using the Hi-Scan Pro.
Repair shops in your area: http://repairpal.com/tucson-auto-repair