This is after I pulled over with the alarm and lights, and shut it off and attempted to restart it. It did not restart until I let it rest a minute or two, then it allowerd me to restart it, but, shortly after the lights and alarm came back on.
The repair at the time included replacing the high voltage connectors and a Technical Service Bulletin was issued which applied a software update and I haven't had a problem since the repair, and I still own the car in 2020.
This is what the drivetrain engineer from Hyundai posted at the time which is what fixed my vehicle: There are now new campaigns TG5 to TG9 so make an appointment with your dealer and tell them you want all open campaigns done on your HEV.
If dealer tells you that you cannot do some of them due to part availability make sure you insist they do TG5 HEV Multi-ECU Update as this is most important so your car will not have the charge warning incident and loss of speed again.
It cannot be guaranteed you will ever have a warning light time will tell but if it does come on the vehicle will not shutdown as had occurred according to some reports on this site. As like any vehicle there are numerous reasons the light can come on due to the complicated OBD regulations so don't assume that in future if a light comes on that it means you have same issue.
It's also documented in this thread here:
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