Where is the camshaft position sensor located in a

Watch the video of the replacement job 2004 Hyundai Sonata Optima V6 2 7 crankshaft position sensor location and...

The camshaft position sensor is located on the engine near the timing belt cover and under the upper radiator hose.

see if this link helps you out.
sensor camshaft position of hyundai sonata gls 2010 2 4 4 cylinders Google...

Not sure if this will help as it may be the exact model of your car
2006 Hyundai sonata crank sensor removal

Proceed like this :
(1) Check the fuel flow , could be problem of fuel pump.
(2) Check the camshaft and crank shaft position sensor , there must MIL light glowing because of it. If yes , The Camshaft Position sensor is typically located in the cylinder head of the engine and has a cylindrical portion that inserts into the head. The Crankshaft Position sensor is normally located in the timing cover or on the side of the block with a cylindrical portion that inserts into the block.
If No, fuel pump could be the only problem.

Here is a drawing showing the location on the 2.4L engine....

My online Sonata manual shows these possibilities, but does not identify which applies specifically to 2000 Sonata.
Also, when you talk to the dealership parts counter, you'll need to know whether your 2000 Sonata is (a) 4-cylinder 2.4L MFI DOHC engine, or (b) 6-cylinder 2.5L MFI DOHC engine.
Its easy to tell - just count your spark plug wires.

-- begine excerpt from 2000 Hyundai Sonata Repair guide --

The crankshaft position sensor is located next to the flywheel.
The crankshaft position sensor is located next to the flywheel/torque converter.
The camshaft position sensor is located on the engine near the timing belt cover and under the upper radiator hose.
The crankshaft position sensor is located on the driver-s side of the vehicle, down by the lower radiator hose.
The crankshaft position sensor is located on the engine near the crankshaft pulley.
The crankshaft position sensor is located at the front of the engine near the timing belt.

--- end excerpt from 2000 Hyundai Sonata repai guide ---

will likely be on the bank with 153 ...the other bank is even numbers 246 .

CAMSHAFT POSITION SENSOR IS LOCATED BANK 1 ON BACK TOP ENGINE HEAD. YOU ALSO ANOTHER CAMSHAFT POSITION SENSOR ON BANK 2 ON TOP FRONT OF ENGINE.YOUR PURGE SOLENOID VALVE IS ON BANK 2 ON TOP ENGINE HEAD CLOSE TO CMP SENSOR ON BANK 2 ALSO.

It is located at the right top of engine (V6). Looking from the front of the car, it is just past the plastic cover over the engine. It has a silver clip (looks like a paper clip). remove clip and unplug sensor.