It's covered on the 5 year/60,000 mile bumper to bumper. The 10 year/100,000 mile is for powertrain only. He may have bought an extended warranty or he bought it used and it was still covered under the used car warranty. I just missed it by 2,000 miles, had 62,000. But it is actually pretty easy if you have the correct tool and an impact wrench. Another hint is not to pull the units out completely, tilt them on their sides and replace the floats so you don't spill any gas. Did it for less than $150, and the OTC 6599 Fuel Pump Tool is only $45 on Amazon. Do a search, there are tons of postings and tips on this.
06 Sonata GLS I-4
07 Santa Fe Limited