Yes. Entering your reg in the search tool is the best starting point because it brings up tyre sizes linked to your vehicle details, then you can confirm the size shown matches your current tyres.
It depends on the generation and trim, but common sizes can include 215/65 R16, 225/60 R17 and 245/45 R19. Always check the tyre sidewall and the manufacturer placard (often in the door shut) to confirm the correct size and rating.
Many Tucson fitments use higher load ratings, and some specifications call for XL or reinforced tyres. Match the load index shown on your current tyre or vehicle placard so the tyre can safely handle the vehicle weight and passenger load.
Once you have selected your tyres, you choose a fitting garage near you and pick an appointment slot at checkout. The tyres are sent to that garage, and the fitter installs them on the booked date, usually with disposal of the old tyres included.
For AWD models, keeping tyre sizes and tread depths closely matched across all wheels helps maintain consistent grip and can reduce stress on the drivetrain. If you are not replacing all four, replace in axle pairs and avoid mixing very different tread depths or tyre types.