I haven't got any experience with the Hyundai so I can only go by the data I have but it looks as though you would have more than ample margin whichever way you look at it.
The kerbweight of the Santa Fe is somewhere around 1830kg. 85% of that is 1550kg which is more than the max. weight of the Provence. The max. permissible towload of the Santa Fe is 2000kg for the automatic and 2200kg for the manual so you're well within the limits there, too.
And with 335Nm of torque from the engine you should be fine.