Apple iPhone 11 with IOS 14.7.1

Given you don't say what you see or what happens when you try, the best we can provide is this, How to connect your iPhone, iPad, or iPod touch to your car - Apple Support. If you continue to experience a problem, contact your Hyundai dealer for assistance.

Do you have the iPhone open and on the Bluetooth screen? That is the only way to get it into pairing mode. That needs to be done as you have opened settings in the Hyundai and tapped on Add Device.

If you followed the information in the link I provided you earlier, I suggest that you contact your Hyundai dealer for assistance. They should have no trouble pairing the phone to their vehicle.