They don't recommend it but I do.
Case in point: GM had a problem with early Z06 C7s -
Corvette Z06 Owners: Change Your Oil After First 500 Miles and the fix was a 500 mile change. To me it just makes sense, its called "break in" for a reason, the engine deals with lots of wear in those first few heat cycles. Granted modern engines and assemble processes use precision milling equipment with very tight tolerances but metal is still going to be removed and has to go somewhere. Getting rid of that contaminated oil and nasty filter is a smart move. Oil changes are cheap and easy so I think its good insurance. Now many people don't bother and zero issues with engines that run for decades... but why risk it?
Per the manual - oil changes are:
Normal schedule = 12 months or 8,000 miles
Severe schedule = 6 months or 5,000 miles
The above is required to maintain your warranty.
Hyundai offers 3 years / 36,000 miles of free maintenance using the normal schedule. Your dealer might offer or recommend something different but this is likely a sales tactic to get you in the door for more service that isn't required or covered. Remember dealerships make most of their money from three places: the service bay, used cars and financing.