Instaling 12v Lead from Battery to Rear of 2013 Santa Fe

I've gone through the forum and looked for an answer to this question. I need to run a 40 amp connection from the battery to a & pole connector. My question is how hard is it to run the wire through the under body panels? I really don't want to run the wire under the car. Does anyone have experience accomplishing this?

Any and all help is greatly appreciated.

BJ in Beautiful Mount Dora FL