The maintenance schedule that came with the vehicle will have a recommended replacement interval in miles or months, whichever comes first.
Most Hyundai vehicles seem to come with a 60,000 mile recommended replacement interval, so I’d suggest you replace the belt soon.
Looking at a timing belt tells you NOTHING in most cases. The belt can LOOK perfect but break tomorrow. Time deteriorates the belt, too, which is why there is a replacement interval in months.
I recommend not exceeding either the mileage or the time specified in the maintenance schedule. A broken timing belt will damage the engine and the repair cost will be substantial.