2010 Hyundai Santa Fe Replace Starter Seems Very Hard Get You Walk Thru

Here is guide that will give you an idea of what you are in for when doing the job.

https://www.2carpros.com/articles/how-to-replace-a-starter-motor

From the book:

Disconnect the battery negative cable.
Disconnect the starter cable (A) from the B terminal (B) on the solenoid (C), then disconnect the connector (D) from the S terminal (E).

Remove the 2 bolts holding the starter, then remove the starter.
Tightening torque :
49.0 - 63.7N.m (5.0 - 6.5kgf.m, 36.2 - 47.0lb-ft)

Installation is the reverse of removal.
Connect the battery negative cable to the battery

You will need to jack the car up safely

https://www.2carpros.com/articles/jack-up-and-lift-your-car-safely

Here are some diagrams for both engines (below)

Please let us know what happens.

Cheers, Ken