When car is idling it misses a beat

If you have a mass air flow sensor in the big boot from air cleaner housing to throttle body, likely there is no map sensor.

I had the similar problem with my 02 santa fe. Someone said it is the crankshaft sensor. How is yours now?

You could look for the part here
http://www.jcwhitney.com/hyundai-santa-fe-2002/d1079y2002j1s7.jcwx?_requestid=17090111

or if they do not have it, you can look at used parts stores attached to junkyards, and install it yourself.

bad abs sensor on one of the wheels would be my guess.

no,it is not normal,get a new pin and replace it.

Here is the site.
http://www.pdfee.com/2002-hyundai-santa-fe-gl.html

I assume your vehicle is 3.5 V6?... What you describe is 'LIMP HOME' mode of the Electronic Throttle System. Have it PROPERLY diagnosed by a qualified Hyundai Technician.... ONLY SOLUTION ( NOT JUST THE BEST SOLUTION).

You might have lost your lower gears, I would have someone look at it to see if your gears are gone or if its just a faulty sensor.

it sounds like a vaccum hose was inadvertently pulled off.
or the air cleaner boot has a gap somewere,
or maybe a wire connection was left undone.

hope this helps
thank you
jm

Your car will typically have a higher idle to offset the parasitic drag of the compressor. This is completely normal and nothing to be worried about.

The only thing that bothers me is you mentioned skipping a beat? Does this only happen under acceleration?