Today I took my car for the fuel injector cleaning service and throttle body cleaning. This wasn't for my Sonata, but rather for a Mazda 3 with 130,000 kms..
The way my mechanic did it was use a valvoline fuel injector cleaning system and hooked it up to the engine and all lines directly. He also added some additive to the fuel tank, but the bulk of this magic was from the machine that was directly connected to the engine system. After the work was done, the car doesn't idle rough, rpms are more free running and the throttle response, power and acceleration was like new again.
So the moral of the story here is to have the injectors properly serviced. Ask them what steps they will take to clean it and what system they use. Also, seafoam doesn't work. They don't recommend seafoam at all and seafoam can cause more harm than good.