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Hello! the 2002 Santa Fe has optional All Wheel Drive (AWD)...Which is permanent (can not be turned off)...If the option is not on your vehicle then it is Front Wheel Drive (FWD) only...The VIN # will tell you if the option is on your vehicle...
You do not state if it an automatic. If it is, only tow the vehicle a short distance, 20 miles, slowly when in 'neutral'. The main enemy is overheating the transmission fluid by having the wheels drive the gear box impeller causing it to churn the fluid generating heat. If you can feel the transmission casing getting hot stop the tow and leave it to cool before starting again
Manuals should be fine towed in neutral
The Santa Fe AWD (All Wheel Drive) is just that. There are no switches, no levers, it is in All Wheel Drive constantly. It is not really classed as a 4/wheel drive as in "all terrain", it is a road vehicle with the ability to handle various road condtions (mine travels through snow pretty darned good) but it is not an off road thing.
dear friend:if thisis a need for speed situation,i would ask why a four wheel drive vehicle,if its for power to tow i would say,do a dyno test and compare the results with the specs to see if it is up standard