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You didn't specify whether you have the (4) cylinder or the (6) cylinder engine.....
I have a 2004 Hyundai Sonata 2.4L 4 cylinder and I just changed the spark plugs in it. I believe that the 2005 2.4L engine is the same.
To locate and change the (4) spark plugs on a 2004 Hyundai 2.4L 4 cylinder engine:
Remove the (4) 12mm bolts from the decorative plastic engine cover. Remove plastic cover from engine and place it off to the side out of your way.
Standing in front of the car, the (4) spark plugs are located laterally (left to right) in the recessed area underneath where the plastic engine cover was removed.
Note: This engine has (2) coils....They are located above spark plugs number (2) and (3) from left to right.
Starting with the fist spark plug on the left: Remove the spark plug cable by pulling straight up on the insulated connector. Using a spark plug socket, remove the old spark plug and install a new one in it's place.
To access the second spark plug from the left, remove the electrical connector and the spark plug cable wire from coil number (1) and then remove the (2) 12mm bolts that secure the coil to the engine. Spark plug number (2) is located directly under the coil. Lift the coil straight up removing the insulated connector from spark plug number (2). Using a spark plug socket, remove old spark and install a new one in it's place.
Repeat same procedures for spark plugs number (3) and (4).
Note: If you have the (6) cylinder engine, the front (3) sparks pluge are readilly accessible but in order to access the (3) rear spark plugs, you will have to remove the intake manifold