It is what it is. a VGA/CMOS camera meant to assist in backing up. Nowhere near the DPI of the infotainment, and not even the resolution of a front-facing cell phone camera. And somewhat stretched on H/K's 8/10" displays. Double check your camera cover lens is clear and not scratched up? You can try installing LED reverse lamps to shed some more light. Not the best backup camera I've seen based on test drives the past couple years, but certainly not the worst.
I'm sure the '21 Elantra, and perhaps even the '20 Sonata, have higher resolution camera(s). Especially for the Sonata's Smart Park feature.
Otherwise, what is there to comment on? It's just how it is.