Power steering fluid on one of my 07 Sante Fe's is a little low. Checked
I have no idea if that is the right stuff If concerned go tot he Hyundai dealer and buy the right stuff. Since it is an 07, it is probably still under warranty and if you have leaks it will be covered. Only way PS fluid can disappear is a leak. It does not evaporate. Keep an eye on it while still under warranty.