I've read people are having a lot of troubles with the Santa Fe Sport model's turbo engine. I've been happy with my generation of Santa Fe with the 3.5L V6. I believe the tow rating is right at the 3,500 mark.
That being said I don't think you could do much better than a used Honda Oddie with tow package. You'll get space, 3,500 tow rating, a bit better fuel economy than most V6 SUV/CUV's, exceptional reliability, and decent resale value (which could be a negative when you go to buy).