Universal Joint Assembly

Loosen the bolt (A) and then disconnect the universal joint assembly from the steering column assembly.
Tightening torque:

27.5 - 31.4 N.m (2.8 - 3.2 kgf.m, 20.3 - 23.1 lb-ft)

Fig 1: Disconnecting Universal Joint Assembly From Steering Column Assembly
Courtesy of HYUNDAI MOTOR AMERICA
Reassembly is the reverse of the disassembly.