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Just an observation. I'm sure you would be well served by either vehicle. The one caveat I would offer is Ford warranty service. In my experience, it has been rather poor compared to any of the other vehicles I've owned.
My folks purchased the Santa Fe Sport new this year. They wanted something decent in gas that they didn't have to crawl down into, and have almost exclusively owned Toyondas the past 20 years, so a Hyundai was a real surprise to me. They have been very pleased with the highway power, but confused by the tech features, but I'd imagine that would be common to either. So far no mechanical issues of any kind. Theirs is dark red (their fave color) but I just saw one this weekend in a darker grey with grey wheels. Looked really good.
What you really might want (if you don't need more than five seatbelts) is the Rav4 V6 (just discontinued recently). I shopped it when I bought my 2006, and it was a ROCKET. If you can find one with really low miles, it will show it's tail lights to almost everything short of a Mustang.
See what kind of response you get from the internet- a lot of opinions and not much fact. Research the Hyundai transmission issues. They're still an issue with over 71% of respondents having issues. That's issues, not necessarily catastrophic failure. The Ford will have the 1.6 Ecoboost. Research it for issues as well. They recalled the early ones for fire. I'm not a fan of any of the EcoBoost engines. Yeah, they make lots of power for the size but ultimately you are going to be the one to have to maintain all of the crapola and a bucket of sensors that makes it work right. If you trade often, it's not an issue. If you keep one over 100,000 miles, I'd keep looking for a non-turboed engine. Far few parts to go wrong. The current issue with most these days is the ethanol fuel gumming up the waste gate causing the engine to stumble- it's common with these engines.The fix is replacement. Trade often or buy smart- it's your choice.
The Santa Fe should have the same 6 speed auto that's used in the Sonata and Elantra. There haven't been any major issues with them to my knowledge. Some of the '11 models had bad range selector switches, but that's about it.
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