I started a new clean and complete thread to help those that will need it in the future. If your shifter is stuck in P or any other gear for that matter first check your brake lights. If they work, then this is most likely your issue.
Step 1: Remove the battery ( 2 nuts )
Tools required: 10MM socket, Ratchet or 10MM wrench
Step 2: Remove Battery tray ( 6 Bolts ). Once tray bolts are loosened you'll need to lift the wiring clips upward and wiggle the tray out.
Tools required: 12MM socket, 10MM socket, Ratchet, Long extension.
Now you'll see this:
Step 3: Unclip inhibitor switch connector ( Press in the clip to release the connector ).
Step 4: Remove shifter cable nut and 2 bolts holding the inhibitor switch. These should be fairly simple to remove. If your cable nut is seized, spray some penetrant and turn her loose. You shouldn't have any issues with these 3.
Tools required: 10MM socket, 12MM socket, extension, ratchet
Step 5: Remove the selector shaft nut and washer. This will be a tedious process. It took me 2 days because I was afraid of snapping this nut. I recommend you use a wire brush to clean around the nut and soak it with a rust penetrant. Let it sit for a while and gingerly Remove the nut.
Tools required: 14MM socket, Ratchet, extension or impact wrench
Step6: Remove the metal selector wing and inhibitor switch. The selector wing will most likely be rusted to the shaft. You'll have to spray pentrant, tap it with a hammer and wiggle it free. You don't want to bend this part. Take your time. The inhibitor switch will just come up without issue.
Now you will see this:
Step7: Now it's time to lubricate the shaft that is most likely super hard to turn. Grab your favorite rust penetrant and the metal selector wing. What I did is wire brushed all around the shaft. Take your time and make sure you clean all the rust and crap out. Put the metal selector wing over the shaft and use it to turn the shaft while spraying penetrant. I'd highly recommend letting it sit over night to really work it's way into the shaft. After you've done this atleast 5 times, the shaft should move easily back and forth. This is what a cleaned up shaft looks like .
I would highly recommend taking the time to clean up the threads of all bolts and nuts at this time. Also, clean the hole in the metal selector wing and selector shaft threads.
Step8: Assembly time. Put your shifter into N ( neutral ). Install the inhibitor switch, metal selector wing, washer and nut. Do not tighten the nut fully. Install the 2 bolts that hold the inhibitor switch. Do not tighten them down fully. Install the shifter cable nut. Do not tighten the nut fully.
Step9: You will need to find a 5MM bolt or a drill bit that will fit through the metal selector wing and the inhibitor switch alignment hole. Install the bolt like pictured below.
Step9: Tighten down the 2 inhibitor switch bolts ( making sure the switch does not move! ). It is very important that the switch doesn't move at all. If it's a touch out of alignment with the selector wing, the car won't start. Plug the inhibitor switch in. Tighten the shifter cable nut. Tighten the selector shaft nut. I'd highly recommend some anti seize on the selector shaft nut.
Step10: Install battery tray and install the battery. Done!
Extra resources:
http://www.hyundai-forums.com/attac...27794d1486946603-possible-inhibitor-switch-issue-inhibitor_switch_procedure.pdf
http://www.hyundai-forums.com/cm-2007-2012-santa-fe/538033-possible-inhibitor-switch-issue.html
http://www.hyundai-forums.com/cm-2007-2012-santa-fe/335114-shifter-gear-select-hard-move.html
http://www.hyundai-forums.com/cm-2007-2012-santa-fe/555505-shifter-stuck-park-sigh.html
Here's a diagram of parts:
Special thanks to: @canderson, @Bobbyg9, @hemant1016, @Mycrossover, @jsvob03, @sbr711
If I missed anyone else, my bad. I tried lol.
Step 1: Remove the battery ( 2 nuts )
Tools required: 10MM socket, Ratchet or 10MM wrench

Step 2: Remove Battery tray ( 6 Bolts ). Once tray bolts are loosened you'll need to lift the wiring clips upward and wiggle the tray out.
Tools required: 12MM socket, 10MM socket, Ratchet, Long extension.

Now you'll see this:

Step 3: Unclip inhibitor switch connector ( Press in the clip to release the connector ).

Step 4: Remove shifter cable nut and 2 bolts holding the inhibitor switch. These should be fairly simple to remove. If your cable nut is seized, spray some penetrant and turn her loose. You shouldn't have any issues with these 3.
Tools required: 10MM socket, 12MM socket, extension, ratchet

Step 5: Remove the selector shaft nut and washer. This will be a tedious process. It took me 2 days because I was afraid of snapping this nut. I recommend you use a wire brush to clean around the nut and soak it with a rust penetrant. Let it sit for a while and gingerly Remove the nut.
Tools required: 14MM socket, Ratchet, extension or impact wrench

Step6: Remove the metal selector wing and inhibitor switch. The selector wing will most likely be rusted to the shaft. You'll have to spray pentrant, tap it with a hammer and wiggle it free. You don't want to bend this part. Take your time. The inhibitor switch will just come up without issue.

Now you will see this:

Step7: Now it's time to lubricate the shaft that is most likely super hard to turn. Grab your favorite rust penetrant and the metal selector wing. What I did is wire brushed all around the shaft. Take your time and make sure you clean all the rust and crap out. Put the metal selector wing over the shaft and use it to turn the shaft while spraying penetrant. I'd highly recommend letting it sit over night to really work it's way into the shaft. After you've done this atleast 5 times, the shaft should move easily back and forth. This is what a cleaned up shaft looks like .

I would highly recommend taking the time to clean up the threads of all bolts and nuts at this time. Also, clean the hole in the metal selector wing and selector shaft threads.
Step8: Assembly time. Put your shifter into N ( neutral ). Install the inhibitor switch, metal selector wing, washer and nut. Do not tighten the nut fully. Install the 2 bolts that hold the inhibitor switch. Do not tighten them down fully. Install the shifter cable nut. Do not tighten the nut fully.
Step9: You will need to find a 5MM bolt or a drill bit that will fit through the metal selector wing and the inhibitor switch alignment hole. Install the bolt like pictured below.

Step9: Tighten down the 2 inhibitor switch bolts ( making sure the switch does not move! ). It is very important that the switch doesn't move at all. If it's a touch out of alignment with the selector wing, the car won't start. Plug the inhibitor switch in. Tighten the shifter cable nut. Tighten the selector shaft nut. I'd highly recommend some anti seize on the selector shaft nut.
Step10: Install battery tray and install the battery. Done!
Extra resources:
http://www.hyundai-forums.com/attac...27794d1486946603-possible-inhibitor-switch-issue-inhibitor_switch_procedure.pdf
http://www.hyundai-forums.com/cm-2007-2012-santa-fe/538033-possible-inhibitor-switch-issue.html
http://www.hyundai-forums.com/cm-2007-2012-santa-fe/335114-shifter-gear-select-hard-move.html
http://www.hyundai-forums.com/cm-2007-2012-santa-fe/555505-shifter-stuck-park-sigh.html
Here's a diagram of parts:

Special thanks to: @canderson, @Bobbyg9, @hemant1016, @Mycrossover, @jsvob03, @sbr711
If I missed anyone else, my bad. I tried lol.