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My online Sonata manual shows these possibilities, but does not identify which applies specifically to 2000 Sonata. Also, when you talk to the dealership parts counter, you'll need to know whether your 2000 Sonata is (a) 4-cylinder 2.4L MFI DOHC engine, or (b) 6-cylinder 2.5L MFI DOHC engine. Its easy to tell - just count your spark plug wires.
-- begine excerpt from 2000 Hyundai Sonata Repair guide --
The crankshaft position sensor is located next to the flywheel. The crankshaft position sensor is located next to the flywheel/torque converter. The camshaft position sensor is located on the engine near the timing belt cover and under the upper radiator hose. The crankshaft position sensor is located on the driver-s side of the vehicle, down by the lower radiator hose. The crankshaft position sensor is located on the engine near the crankshaft pulley. The crankshaft position sensor is located at the front of the engine near the timing belt.
--- end excerpt from 2000 Hyundai Sonata repai guide ---
It uses a filter element and cap, not a cartridge. Look for a black plastic dome on top of the engine, between the cylinder heads. There are a couple of o-rings to be very watchful for as well, so they do not become lost! There are (or were) two different filter elements available, so make sure to obtain the correct one.
Click on the following direct, Free Link. It has several Diagrams including the Timing Belt + Marks for your 2004 Hyundai Sonata 2.4L DOHC In-Line 4-Cylinder Engine (located on the bottom half of the Page on the Link). There are additional Diagrams that will prove to be helpful while you are doing this...
Let me know if this helped, or if you have additional information or questions. Feel Free to contact me at FixYa.com!