Santa Fe I 2.7V6, 2.0 diesel 2001-2006(Edit)  
Full-time all wheel drive. Developed by Steyr-Daimler-Puch. A viscouse coupling locking planetary differential inside the front transaxle splits the drive torque equally between the front wheels, and 60/40 between the front and rear axles.
Figure: Hyundai Santa Fe I Steyr-Daimler-Puch full-time all wheel drive system 
Figure: Hyundai Santa Fe 2001-2006 planetary center differential 
Figure: Hyundai Santa Fe 2001-2006 rear differential 
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SantaFe II 2006-..., Tuscon 2004-2009(Edit)  
Automatic all wheel drive. The Borg Warner ITM 3e, an electromagnetic clutch-type system that sends 95% of the power to the front wheels—until they encounter a low traction situation, when up to 50% of the power can be apportioned rearward.
Figure: Hyundai SantaFe II/Tuscon electromagnetic clutch attached to the rear differential case. 
Figure: Hyundai Tuscon rear differential 
Figure: Hyundai Tuscon transfer box 
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Terracan(Edit)  
Figure: Hyundai Terracan front axle disconnect system 
Figure: Hyundai Terracan front differential 
Figure: Hyundai Terracan rear differential 
Figure: Hyundai Terracan transfer box 
Depending on Model Type, there were 2 different 4x4 drive systems available:
A base model Terracan, and top-spec 'Highlander'.
The Base Model (Regardless of additional trim/spec level) came with a button-operated Part-time all wheel drive drive system,
while the Highlander came with a torque on demand automatic all wheel drive system. (Usually rear wheel drive, torque is automatically assigned to front wheels when needed)
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