Get the wheel bearings checked FIRST.
If a worn out wheel bearing goes, the wheel could fall off.
This occurring while driving at speed could have
somewhat 'less than good' consequences.
Secondly it could be a CV joint.
Definitely something with the drive train.
First step, take it to a mechanic you, or friends, trust.
Of course, if you can't find a good mechanic who is NOT
incompetent or a crook, you could always buy a horse.
Or a new Hyundai - good warranty.
I had a 2005 Hyundai Elantra that I sold to the college
age son of a friend - that is still on the road and
running. It was out of warranty when I sold it to him of course
(175,000 miles on it) and he had to replace some exhaust
system parts - but hey, that's to be expected.
Last I heard it's still running strong.
Good luck.