A way to adjust a 2004 Hyundai Santa Fe's manual

There is no adjustment (except when the vehicle is first assembled). If you believe it's out of adjustment, you're probably experiencing a worn out clutch disk. Best solution, Take/Tow your vehicle to an authorized Hyundai dealership and pay the diagnostic fee... they will tell you exactly what the problem is and the cost of parts/labor to fix it... at least this way you'll know what the problem is and what's required to fix it.