My 2005 won't start after driving it 20 to 30 mins.It cranks but won't start.

If the engine cranks normally then it's not your battery. Although after 13 years I'd replace it anyway and send it back to Hyundai as a trophy. This could be an issue with a crank sensor heating up. If when it cools down it restarts then you can start there but first scan it for codes. A good scanner will save you money in the fact that you won't be throwing parts at the problem. You can see if there is an rpm signal with the scanner to rule out the crank sensor first. If you don't work on your own car then use this link to find a good shop near you. https://repairpal.com/repair-shops Alex