Camshaft sensor where is the cam shaft sensor located on a hyundai 2006 tuscon

I can't give you a definite answer but if the location isn't obvious by looking around the cam housing(s), it might be buried behind the timing belt cover. I recently found a cam sensor buried between the cams of a twin cam engine sensing a camshaft drive sprocket. I wouldn't have known it was there except for following a wire that initially seemed to be going nowhere.

Hi Zolo,here's a link to your camshaft position sensor. Duralast Camshaft Position Sensor SU4117 ReadReviews onDuralast SU4117 The Camshaft Position Sensoris located: Under hood, passenger side, upper engine area, mounted in engine block .Here's another on how to replace it.
Repair Guides Electronic Engine Controls Camshaft Position cmp Sensor...

Please watch the video on the diagnosis of this fault code. Mercedes Camshaft position sensor p0016 p0017

go to the youtube site link below, it will show you where and how to replace it, hope this helps
04 Hyundai Sante Fe Cam Shaft Position Sensor Location

See attached image for location of timing marks. When installing timing belt, first locate around crankshaft pulley, then idler pulley, left side cam sprocket, water pump pulley, right side cam sprocket, then the tensioner pulley.
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http://repairguide.autozone.com/znetrgs/repair_guide_content/en_us/images/0996b43f/80/7c/be/01/medium/0996b43f807cbe01.gif

It should be located between the cam shafts. If you remove the Beauty Cover (( that's what they call the cover across the top of the motor. )) And then the Valve Cover. The Cam Sensor will be sitting between the Cam Shafts. Closer to the Intake Cam Shaft.

camshaft sensor located above crankshaft pulley, the camshaft sensor mounted on the front timing cover above the crankshaft pulley.

There may be a diagram under the bonnet, if not do a google search & you will find a diagram

I assume you determined the diagnostic trouble code for the sensor was TRUE/VALIDATED?
If so, then there is NO reason to do anything else but 'swap out the part.' Your second question is somewhat puzzling... the cam shaft is on TOP of the engine - the sensor's location (standing on the passenger side of the vehicle with the hood open, is on the left side of the engine at approximately the 10 o'clock position of the cam.... the connector to it is at the 9 o'clock position.