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The headlamps are adjusted by a wheel which can be operated by aphillips screwdriver. There's a hole in the top of the headlamphousing or radiator support which leads to the wheel with little teethon it on the back of the headlamp. The lamps on your car emit a veryshort but wide beam, so no horizontal adjustment should be needed.
Hyundai Tiburon 96-01 uses a outer hub system. To replace front rotors. You'll need front bearings as well. The bearing and hub will need to be pressed out of the spindal. Then replacement of bearing will need to be pressed in. From a shop.Or they can use a slide hammer to remove ,but damages the bearing. Best to buy bearing and have cash for an alignment job too.Then replace front rotors. Rotor and hub install is ez after you get bearing pressed.Rear rotor and bearing are bolt on though.
If you have any doubts about your ability to safely work on an air bag system, you should have the dealer (or a qualified repair shop) repair your air bag problem. Either way, it should be repaired. Your air bag system may be disabled anytime the warning lamp is on. Your two problems are unrelated.