How do I reprogram the key fob on my 2005 Hyundai Santa Fe without having to pay the fee at the dealership?

Well, you basically have only 3 choices:
1. Pay the fee at the dealership
2. Purchase the high-dollar equipment that is required to perform the programming procedure
3. Forget about adding another key fob to tor vehicle.

TECHNICAL SERVICE BULLETIN

Group
90 - ELECTRICAL

Number
03-90-020

Date
October, 2003

Model
Elantra 2001-2004, Santa Fe 2001-2004, Sonata 2002-2004, Tiburon 2003-2004, XG(NNN) NNN-NNNNand XG(NNN) NNN-NNNN2004

Subject
SECURITY SYSTEM KEYLESS ADAPTER CABLE

This bulletin supersedes TSB # XXXXX
DESCRIPTION:
The security system keyless adapter cable (SPX/Kent-Moore P/N 09900-21300) is a special service tool (SST) that is used for programming new keyless entry remote transmitters to the factory security systems. The keyless adapter is used in conjunction with the Hi-Scan Pro (with Hi-Scan SOL Pro Software Version 09-29-03 or newer) and Data Link Connector (DLC) Cable.
SERVICE INFORMATION:
The keyless adapter cable can be used on the following vehicles:
^ 2001 -2004 Elantra
^ 2001-2004 SantaFe
^ 2002 - 2004 Sonata