If you are currently supplying Hyundai, your Supplier Quality representative should be able to get it for you, and/or Hyundai should have a 'portal' for CSR and related documents that as a supplier you should be able to access.
My question to you (which any auditor will ask) is: If you are currently supplying Hyundai, how do you know you are you meeting their Customer Specific Requirements if you do not have a current copy of their Customer Specific Requirements document?