First time posting here, just to say thanks to the friends and community members who have asked and answered many questions on this topic. I had to obtain a letter from Hyundai on compliance with US MVSS, had to fit an after market TPMS, obtained 3 forms sealed by Department of Homeland Security while crossing the border, and then worked with Pennsylvania DOT and the AutoTag center in my local town to successfully complete all paperwork.
Now my Santa Fe has a Pennsylvania license plate and a PA insurance, so I guess this is a success.