Where is the camshaft position sensor located on a 2005 Hyundai Santa Fe 2.7L V6?

It is located on the end bell of the camshaft. Remove the two bolts holding the end bell and wire support frame and the end bell pulls off. Once the end bell is off it is easy to address the camshaft sensor. You must remove the engine cover and it is easier if you also remove the air ducts as well but if you flexible you might sneak past everything else. The job should take a novices about a hour or so.

It is not properly explained in Chilton at all.

Good luck.