gauges not working

I think you need to find a Hyundai specialist, at least for the readiness tests. It's not easy to satisfy all the readiness criteria sometiimes, and it may need to be done on a rack with the wheels off the ground. Sometimes weather conditions (temperature, for instance) make readiness testing very difficult so being in a shop environment is helpful. You may be able to find an emissons testing specialist if you ask around. Here's a directory link for you: http://repairpal.com/hyundai-repair-in-phoenix-arizona