If purchasing from a Hyundai dealership, you'll want to purchase the HPP CPO Wrap assuming you plan on keeping the vehicle long-term. You will have the 5y/60k that follows the vehicle initially, but the extended plan from Hyundai is arguably the best plan available on the market.
There are different levels of coverage with Gold and Platinum (top) options up to 10y/120k with $0/50/100 deductibles. These plans are priced at the dealer by keying in your
VIN.
If purchasing elsewhere, you should be able to go to a Hyundai dealer (within a specified time frame) and get quoted. Note that there are both good and bad dealers, so it pays to shop multiple before making your final decision.