The idea of 'lifetime" fluids is not new. Just ask a BMW or Audi owner who have had thier $8000 tranny fail just out of warranty or do some searching on the web. Lots of interesting reads there...
Also to be taken into consideration is what the term "lifetime" means to the parties involved. To Hyundai and any other Manufacturer it means "the lifetime of the warranty i provide." To me the owner, it means till the wheels fall off or until i sell it. And most folks i think would agree with the latter definition. Notice the important differences in the views above?
I intend to keep my vehicle well past 100k and to that end i will be doing drain and fills every 30k. Reason why is because of a basic understanding of how transmissions function in general. Clutch material will inevitably be sheared off and end up circulating in the fluid making it akin to liquid sandpaper. The fluid itself will degrade due to time, heat, and the above mentioned contamination from clutch material. Not to mention that the ATF viscosity will change due to shearing which will also eventually affect shift quality. These forces are common to any tranny of this type, and there is no magic fluid that will prevent any of the above from happening. Good lubricants will delay the inevitable, but not prevent it.
To answer the OP's question, the tranny is only 'sealed' to the casual observer. There are indeed drain and fill plugs just like almost every other 'sealed for life' tranny. The procedure on this vehicle is just like on a manual tranny. Drain, refill, warm fluid to proper temp (122-140F, an infrared thermometer works well for this), adjust level based on overflow plug. Nothing really that complicated or mysterious about it as others would make it seem. All else fails, measure exactly how much fluid you drained, and refill with same quantity.