Welcome Dale and Cindy!!!
As far as checking to see if you can tow your 2005 Hyundia Santa Fe, look first in you owners manual. They usually will tell you if you can flat tow (4 down) a vehicle.
Next search online for the dinghy towing guide. I looked at www.lichtsinn.com/PDFs/Dinghy-Guide-2005.pdf
. It does not list your vehicle as one that can be flat towed. Every year motorhome magazine publishes the dinghy towing guide and these can be found online.
But most important is to check the towing capacity of your RV as well as what your hitch is rated to tow. Phoenix gives you the details about what the GVWR and GCWR for Sprinter. Then you need to look at the CCC which is on the yellow sticker of the doorframe. You cannot exceed any of these ratings. A Hyundai Santa Fe weighs in at 3549 so that has to be calculated into your weights and since you would need a tow dolly that would be another approximately 1000 pounds.
Remco also does a very good job at identifying what vehicles can be towed and how.