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In the 2004 Hyundai Santa Fe, you'll need to use either PSF-3 or PSF-4 synthetic power steering fluid. Unfortunately, PSF-3 is no longer available in the US, so you may have difficulty finding it. The vehicle requires just under a quart of fluid. Power steering fluid is a hydraulic liquid that facilitates turning the wheel by transferring power through the steering system. The price of the fluid typically ranges from $9 to $12 for a 16-ounce bottle, depending on the brand and retailer. It is recommended to replace the fluid every 3 to 4 years as it has a limited lifespan compared to other fluids like engine oil. The good news is that power steering fluid doesn't need to be changed as frequently as some other vehicle fluids.
The power steering fluid recommended for the 2004 Hyundai Santa Fe is PSF-4.