Process is similar for passenger side door (less connectors). I haven’t looked at the rears but they will be very similar. Look for the screws and covers …
2011 Hyundai Rear Passenger Door Removal Rear Passenger Side.
Question – 2002 Accent: remove the door panel though I have removed all screws – RL. Find the answer to this and other Hyundai questions on JustAnswer.
Remove glass from front passenger door. Do It Yourself Maintenance (Generations 5 & 6)
View and Download Hyundai 2009 Sonata owner’s manual online. 2009 Sonata Automobile pdf manual download.