Hi,
You certainly can replace the battery, but if the old one is good, you really shouldn't need to. If you are questioning the battery, remove it and take it to the parts store and have them charge it and then load test it to see if it is still good.
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As far as the alternator, here is a link that explains in general how one is replaced. You can use this as a guide.
https://www.2carpros.com/articles/how-to-replace-an-alternator
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Here are the directions specific to your vehicle. The attached picture correlates with the directions.
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2002 Hyundai Truck Santa Fe GLS V6-2.7L
Removal and Installation
Vehicle Starting and Charging Charging System Alternator Service and Repair Procedures Removal and Installation
REMOVAL AND INSTALLATION
2.4 L/2.7 L
pic 1
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Let me know if this helps or if you have other questions. Please remember, the battery must be disconnected prior to working on the alternator.
Take care and God Bless,
Joe
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Friday, March 12th, 2021 AT 8:41 PM