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I have a 2006 Tucson with V6 where I had to remove the intake manifold in order to reach the three rear spark plugs. This requires removing a lot of connectors and hoses on top of the engine. The hardest was removing a couple of bolts between the engine and the firewall. I didn't have to replace any gaskets but be careful so you don't tear them. A real pain in the butt just to replace spark plugs. The shop manual has instructions. hmaservice.com I think should show the procedure also. You have to register to use hmaservice. I invested in the shop manual (2 thick manuals) because it is easier to use.
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