If you replace them yourself, assuming you can get the the rear bank, be extra careful that you don't break a plug.
That $430. charge may be for more than just changing the
plugs. It may be for a full 60,000 mile service. If just for
plugs, check with another dealer, or a non-dealer shop.
I really don't know about problems with any of the Hyundai's, however, being a "Ford Man", I can tell you that the
plugs in the 4.6 Ford engines can and do break. (The problem is mostly in the 3v, not the 4v or 2v 4.6 engines. The reason is carbon builds up around the threads of the
plugs (or the threads in the head) and the
plugs can't be turned to remove them. Fords "fix" for this is to soak the sparkplug well, with carburator cleaner, (or stuff just like carb cleaner) and let it sit, soaking, for a few hours, then to work the plug back and forth, until it comes out. (I guess it does not matter if you have a dealer do it, because if a plug does break, even at the dealer, they will charge you to remove the head to fix the problem <darn>.
Keep us informed.