Alarm goes off when I unlock the door with key on a 2007 Hyundai Tucson.

thats normal gm programmed their alarm system that way

This link seems to have your problem
https://www.hyundaiforum.com/forum/hyundai-tucson-24/panic-alarm-goes-off-when-i-lock-car-2007-hyundai-tucson-12532/
This video is about hood and door sensor
https://www.youtube.com/watch?v=k6p_B2yLjNM

thats normal when you use your key fob to open door it resets the alarm --when you use your key alone to unlock you have a few seconds to place key into ignition and turn on to turn off and reset alarm --the vehicle initially thinks the door was slimjimed

make sure all doors are really closed and the door sensors are not falsely telling the alarm module that its open. if not then its the shock sensor in the alarm module acting up

Incorrect. As long as it IS/WAS original factory alarm & key fob previously programmed to you Hyundai, it is the easiest to program yourself.
There are multiple different sites listing many ways to program, but the majority suggest you close all doors, insert key into ignition, turn only to the ACC on ignition switch but do not start, then hold down the unlock/open button on fob until the alarm hazard lights blink & you are done.

lock driver door then passenger door with the key wait 5 mins then unlock the driver door with key and then passenger door with key but don't open the doors when you first unlock it then after all doors un lock then hold foot on brake then insert key turn it to on position while holding brake down
then release brake then compress brake 3 times and then turn the key to off position. this should reset the security system for you

Okay try locking the door with the key and then unlocking it, this should sut down the alarm if it doesnt then try the pass/side door lock with key, the switch on the drivers door lock may be bad, also i'm not sure if this is a factory alarm or not. hope this helps.

the car has two codes one is fixed the other is a rolling code which changes each time you press the unlock button,the first is allowing you to unlock the car but when you open the door it thinks your trying to steal it and the alarm goes off,then when you put in key it is recognising the key and switching off the alarm....NOW if you follow the instructions in the book you can reset the alarm(as i worked for hyundai over 5 years ago i cant remember the sequence,sorry)

Sounds like the acutator that pushes and pulls. either lost power or died. I would assumed died. U need to check to see if it is on a seperate fuse first, it may be. If the fuse is ok, remove the hatch inside plastic panel and arm and disarm the alarm. See if the actuator moves.

check the fuses.