Are you going to just replace the outer CV joint, or the entire half shaft? On some vehicles it is very difficult to replace the CV joint, so if that is your plan, make sure you have the complete factory service manual procedure at your disposal. You should have that for reference even if you are replacing the entire half shaft.
I can’t speak to problems you might encounter w/ your Hyundai, but I’ve diy’er fixed/maintained CV joints on my Corolla and a prior VW Rabbit. Both front wheel drive and used non-staked castle axle nuts with a cotter pin, which I just cleaned & re-used. It’s a bit of a challenge to remove the axle nut b/c it is on there so tight. I wouldn’t use an impact hammer for that job myself. Some finesse is needed for that job. I found the best method is to use a 1/2 inch drive breaker bar and appropriate sized socket, and stand on the bar to get the initial budge. Likewise , I used a similar method to tighten it, estimating the torque by my weight and the distance I stood away from the center of the axle. No jumping.
There’s some challenges with disconnecting ball joints as I recall as part of this job. You need a special tool for that. I used a tool that looks sort of like huge fork. I think the pros here might discourage that method. There’s a better tool available for that job I think. But for me the giant fork worked ok. That infamous diy’er book “How to keep your VW alive for the compleat idiot” – something I can relate too … lol – it said you could do it by whacking the ball joint with two ball peen hammers simultaneously , but I never tried that method.
When you remove that ball joint, assumingb that is required for your car, be careful as the two sides can be under a lot of spring-like force, and can jump as soon as they are freed. So tie them together with some strong rope to minimize the damage they can do when they become free and jump.
Sometimes the shaft will just slip out of the hub w/no problem, and sometimes I’ve had to bang on it a little. I never bang on it w/a steel hammer. I’ll first try what Tester above suggests, a rubber hammer. Next I’ll use a steel hammer but with a sizeable block of wood as a buffer. Still a no go? Then I’ll use a brass drift tool as the buffer. One of those three has always worked for me. Sometimes it helps to turn the wheel a little this way and that way. Best of luck.