Get an independent opinion from someone who is experienced in working with steering wheels and materials used in car interiors. An automotive trimmer might be a good start. If you have no success with ...

It’s not unusual for the steering wheel to wear, and your car is now nine years old, so I doubt you would get any help from Hyundai. Go to an auto retail shop, such as Autobarn, Repco, Supercheap, ...