The smog inspection for your 2000 Hyundai Sonata can be waived. Unless your vehicle is in Nevada or Mexico (which apparently it's not), you DO NOT need to bring it back to California in order to complete your registration.
Simply fill out and sign DMV's "Statement of Facts" form (Section G), OR complete Reg 5103, explaining your vehicle is out of state and the registration tags will be mailed to the address on file with the DMV. You can obtain a Statement of Facts form (Reg 256) or Temporary Smog Exemption (Reg 5103) by downloading it here. We recommend using Reg 5103. It's the latest form put out by the California DMV.
More Info on How to Renew Vehicle Registration in California When Out-of-State.
