I did some searching and didn't come across much in the way of lift kits for your car. I found air-ride suspension setups which will allow you to raise it somewhat, but those aren't really meant for rock-crawling. To be honest though, your vehicle isn't really meant for it either (very few are - notable vehicles that are honestly meant for that stuff are the Jeep Wranglers and various Land/Range Rovers). The manufacturers make all kinds of claims about off-road abilities, but since the vast majority of owners never go farther offroad than their driveways, there really isn't much emphasis put into the design of SUVs anymore for offroading.
I did find one site that had a ton of items for your vehicle, and you can check it out here (this is their subpage meant directly for your car):
http://www.slickcar.com/accessories/santafe_accessories.asp
You could page through and see what they have, and you can always call them and see if they can sell you offroading gear, or refer you to someone who does. I doubt you'd be the first person that has asked them and I'm sure someone makes the gear for your truck.
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