You seem to have done your homework. I knew a guy who had 225,000 miles on an '01 Santa Fe four-banger and it was purring like a kitten. No idea how it is now but I can imagine it's still going.
Honestly, I haven't heard much in the realm of bad sensors. A few common failure items are the tailgate lock solenoid (mine is starting to go) and the blower motor switch (so far so good, here). This is the most serious thing that comes to mind and it is serious. Subframe rust seems to be a common issue on 2001 models, especially those that spend time in areas with road salt.
Subframe Rust Thread]
That's about all I can think of at this point. I'll add more if my brain starts running 100% again.