The 195S dry weight is around 2600-2700 lbs, but then you've got to factor in the trailer, fuel (about 30-40 gallons is another 200-300 lbs), gear, and anything else you load into it.
You're probably looking at a total towing weight in the 3500-4000 lb range, and it could even be a bit more.
I don't know a lot about the Hyundai Santa Fe but you would also need to know its towing capacity, especially its engine and tow package.
If your car's capacity is less than the loaded weight of the 195S then it's a no go.