I'd seriously doubt it's the ABS pump. You'll need to check to see if it's
a hydraulic issue or a mechanical issue. Once you get the condition to
occur, place the car on a rack or jack wheels until you find one that
doesn't want to turn. Then open the brake bleeder on that wheel. If the
wheel is then able to turn, you have a hydraulic issue. If not, then
you're looking at something causing the caliper/pads to bind.
If you determine it's a hydraulic issue, then you need to isolate where
the cause is. Once again, with the problem occurring, begin loosening
fittings approaching the wheel in question, starting at the master
cylinder and working toward the wheel. If loosening the master cylinder
fitting allows the wheel to turn, then the problem is in the master
cylinder. If not, then it's still between there and the wheel-- move to
the next fitting to determine whether it's on the master cylinder side or
wheel side. Simply continue doing this until the location of the issue is
narrowed to one segment of the system. You'll also need to do this
procedure for each wheel displaying the problem (unless loosening
fitting(s) in one location solves the issue).
I've seen some (but not very many) Hyundai master cylinders cause this
issue. And although I haven't seen it on Hyundai, it's a frequent
occurrence on GM vehicles for a brake hose to become restricted causing
the same problem.