The following shows how to change the spark plugs on the 2.7L V6 Santa Fe in less than one hour.

Start with the engine in a cold condition.

Remove the engine cover by removing the four bolts. You can remove the front plugs at this time. If the plug wires are stuck, rotate them clockwise and counter-clockwise until they are loose. Use dielectic grease on the boots when you replace them. Anti-seize on the plug threads is also recommended. However, be careful not to get it on the electrodes.

Remove back left throttle cable/ground strap small bracket bolt.

Remove front two throttle cable bracket bolts.

Remove electrical connector left of rear throttle cable main bracket.

Remove vacuum hose from left side of vacuum solenoid (don't know what that unit does but it is right below the main throttle cable bracket).

Slip vacuum solenoid off of bracket by pushing it towards the driver's side.

Remove two bolts holding the main throttle cable bracket (note: these bolts also hold a second bracket the holds the vacuum solenoid). You may find it easier to just go ahead and remove the throttle cables from the bracket before doing this step but it isn't necessary.

Remove the three rear plenum tie down bolts. The left one you can see from the left side, the right one is right below the throttle cables about an inch from the right edge of the plenum, and the center one is under the main throttle cable bracket. DO NOT REINSTALL THE CENTER BOLT WHEN REVERSING THE PROCESS. Without the center tie down bolt you MAY be able to skip steps 3-8. I didn't check so this is still unknown.

Unclamp the black rubber intake hose from the throttlebody and push it under the throttle body.

Remove the hose from the the PCV valve at the top right of the front valve cover.

Remove nuts and bolts holding the front of plenum (2 nuts, 2 long bolts, 3 short bolts).

Lift plenum off studs.

Place a rag over the intake manifold so you don't drop anything into your engine. Don't remove the plenum gasket until you are ready to bolt everything back together.

Tilt the plenum up on the passenger side about 45 degrees and brace up with a 6-8" long piece of wood or equivalent and change the rear plugs.
Reverse the process to finish the process. It is advised that you replace the plenum gasket as it is a metal crush gasket. It has an orientation that is defined by a round tab on the left side near the stud hole.