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I haven't changed a Santa Fe engine , only removed a Hyundai transmission for a clutch change recently. But have removed engines on other cars.
To go out through the bottom I think the whole subframe would have to come out; might be easier with engine hoist out through the top. Pictures and tagging stuff always an excellant idea.
A oil change after running engine to warm up might be a good idea; may have been sitting for a while. As suggested make sure of engine compatibility before starting, make sure CVVT , OCV oil control valve etc all match up. I don't that much about the 2.7 mine is the harder to work on 3.5.
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