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William, Have car checked immediately to determine if oil pressure is low, could be a bad oil pump, faulty sending unit, dirty oil, clogged filter, worn bearings, etc. Check links below for more causes and solutions. press the helpful button and follow me on fixya for more tips
Changing the oil in a Hyundai Sonata is an easy task that should be performed every 3,000 miles. Follo the below steps to change the oil on your Hyundai Sonata: 1) Ensure the car is parked on a flat surface. Place a drain pan under the engine. Locate the oil pan directly under the engine. The oil pan will be at the very bottom. Now, unscrew the drain plug at the front of the oil pan with a socket wrench. Allow all the oil to drain out into the oil pan. Tighten the drain plug back into the oil pan with a socket wrench. 2) Locate the oil filter in front of the engine. There will be a cut-out in the protective shield where the oil filter is located. Unscrew the oil filter with a strap wrench. Allow the oil to drain into the oil pan. Place the old filter in with the waste oil. 3) Fill the oil filter with fresh engine oil. Screw the filter on to the filter housing by hand. Do not wrench tighten, which could strip the threads of the filter or filter housing. Open the hood for access to the engine compartment. Unscrew the oil cap on the top of the engine. 4) Pour in three quarts of engine oil. Pull the engine oil dipstick out of the dipstick tube and wipe it clean. Push the dipstick back into the dipstick tube. Pull back out and look at the engine oil level. If the oil on the dipstick does not stop between the two marks on the dipstick, pour in a half quart of oil and check the level again. Do not overfill. 5) Start the car and allow it to run for few minutes. Turn the car off and check the oil level once again. Add another half quart of oil if necessary. Ensure the oil cap is back on the engine and the hood is closed. Hope this helps and if you need any parts for your sonata, this site looks like it has cheap prices, free shipping and great reviews http://www.buyautoparts.com/carmodels/Hyundai/Sonata.html
There are two main causes for sludge, not changing the oil and filter at regular times, and not running the engine long enough to get it hot. You might want to get a second opinion from a shop other than the dealer. The dealer may have a sales promotion on engine flushes this month.