Hello I will help you with your question,
I would have concerns also. If the oil was changed to account for the moisture and acid buildup of the short trip/storage I might be inclined to purchse this but I would not pay a premium for the low miles unless a factory extended warranty was rolled into the deal.
With that being said I bought my Mother a Sonota in '04 and she just turned 10000 miles. I would not hesitate to buy that car as I know the service history.
If the SantaFe is all original it needs all the rubber replaced (belts,tires,timing belt) and the transmission flushed for minimun service so that is a large expense to start
If you have further questions about this please ask
Check the rubber for cracking, the life of rubber products is five years so you are right there, the transmission is not that critical but if the coolant has not been serviced (still dark green) it need to be changed as the service interval is 2 years and this is well beyond that. If this is the dealer ask for the warranty history to see if this was a problem vehicle and a carfax report will show all the registered owners and their state of registration.
You can take it to an independant technician and have a used vehicle inspection done (about 1 hours time for cost) and make him aware of your concerns so that they will look for any problems. If the dealer wil not let you have an inspection done I would walk