Join Date: Sep 2010
Drives 2010 Santa Fe SE V6 AWD
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What? No, you take out the two screws, then the plastic housing pops out easily with a flathead screwdriver. Then you rotate the socket to remove it from the plastic housing and then the bulb just pulls out. As deesperson said, it's a push-in blade kind of bulb.
I've done it myself, so I know first-hand. I don't know what your dealer was thinking, unless maybe they were just trying to get the labor to do it for you. I can't think of any lights that require a whole panel to be removed, except maybe the lights in the bottom corner of the door? Not even sure about that, but the manual says that they're not user-replaceable.