hmaservice has some good pics on how to remove the bumper.
it only takes 5 minutes or so to undo the clips and a few bolts.
some adjustable camber bolts would make your camber adjustable and you could correct your out of whack alignment. not sure how a hyundai dealership would feel about using those though. i just end up taking my car to the local tuner shop for aligments because they can set it how i ask them to exactly, its like $85 per alignment though, but it tracks completely straight.
most dealers and shops just get you within the factory specified range, it almost never matches side to side and sometimes the car will pull to one direction, etc...