WARNING: This page is about a different car, the 2017 Genesis G90. However, it is still accessible from the selected car via links, so may be relevant.
Fig 1: Locating Assist Door Module (ADM) Connectors
Courtesy of HYUNDAI MOTOR AMERICA
Rear Door Module (RRDM/RLDM)
Fig 2: Locating Rear Door Module (RRDM/RLDM) Connectors