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If the factory rails look OK to you, I suggest to get them and install them yourself. I did this on a Mazda MPV and it was a very straightforward process. The factory rails should come with instructions and all necessary hardware. You might need to buy touch-up paint only. Plus, in the Mazda case, they were actually very reasonably priced at something like $120 (including factory cross-bars, which I think the Hyundai does not have). That, after some shopping for a dealer that did not have overinflated prices... Then use the rails to attach Thule or Yakima or whatever cross-bars.
Of course, you can install a custom rail system too - just measure where the factory is drilled so you can drill there too.
If Hyundai offers service similar to what Toyota and Honda offer, you could subscribe to their technical materials distribution web site for something like $10 for a few days druration and download all the detailed manuals and diagrams you want in that period. I did that for my Honda and Toyota vechcles and I can see where the wiring is in the roof, where the curtain airbags are, how the roof is attached and where, etc. - so I can drill "blind" without the need to remove the headliner from the cabin and have a reasonable assurance I won't hit something important or dangerous in doing so...