Look in your Hyundai owner's manual for required maintenance. Unless you are towing elephants across the Sahara desert, you have not put the kind of "severe service" on your Santa Fe that I do on LA freeways!
Look, I used to live in Illinois, and you're getting the same kind of advice the people in Illinois keep putting into office are giving the country now . . . save your money and (a) find a dealer who is not so hungry; or, (b) get your work done by an honest independent and keep all your documentation. NOWHERE in your warranty information does it say the maintenance work has to be done by the dealer for your warranty to be valid. Your car simply has to be maintained to manufacturer's standards. That means showing you had the appropriate services performed at the appropriate intervals using the appropriate parts and fluids. (That's why you keep all your receipts and documents, and make sure the shop you use specifies - in writing - what fluids and parts they use.)
I know, I use to manage the service departments of some of the largest import dealers in Southern California, and have seen Toyota and Porsche bow, scrape, PAY when presented with the evidence.