I (maybe mistakenly) thought this forum might be the best way to seek advice....I am "handicapped-light" and a handle would be beneficial. does this deserve a smartass answer?
We have no way of knowing that, and you didn't present that information up front (not that it's any of our business). You wouldn't know that I have a mostly messed-up left foot, and that's the reason I can no longer drive a manual transmission. But that information isn't relevant to this discussion. So the "non-smartass" answer is this:
Passenger vehicles typically do not have grab-handles on the driver side, and the only vehicles I've encountered that do are usually trucks and SUVs. Which this is neither. However, since the body is stamped for either LHD or RHD, there may very well be a mount point. However you will also need to puncture the headliner to do so, and to get the proper hardware.
The handle you're seeking:
Handle Assembly-roof Assist Fr - Hyundai (85342-A5000-VYF)
As for whether or not you can mount this on the driver side in a LHD (Left Hand Drive) vehicle, that's something you can either find in the Technical Service Manual for the vehicle, or you can simply phone your local Hyundai Service department and ask them. A Master Tech may have at least at one point in time, replaced a headliner (for various reasons) and would be able to give you an idea. Especially if you mention that this is for accessibility purposes.
Internet forums are a great source of information, but you're return on investment (Free) will vary widely. This forum has a very small crowd of technically savvy individuals, and is not all that active. There are more threads about lowering the car and changing the trim from silver to red, than we do people custom building trans mounts, researching mechanical LSDs that will fit the DCT, or trying to shoehorn the Kona rear end and a prop shaft for AWD. Though I'm sure all these things will start to show up as more and more fall out of warranty. Which I also wouldn't bet on, and this is just as important: This is not a high-volume production car in the US. We also don't have a lot of people who tear down relatively new, warrantied vehicles, and the PD Elantra GT is only now-3 years into production with a '21 mid-cycle refresh the US will not likely see.