This warning light illuminates:
In this case, have your vehicle inspected by an authorized HYUNDAI dealer.
Information - Electronic Parking Brake (EPB) Warning Light
The Electronic Parking Brake (EPB) Warning Light may illuminate when the Electronic Stability control (ESC) Indicator Light comes on to indicates that the ESC is not working properly (This does not indicate malfunction of the EPB).
Hyundai Sonata LF 2014-2019 Service Manual: Components and Components Location
Component Location
1. Cowl top cover
...
Hyundai Sonata LF 2014-2019 Owners Manual: Cup Holder
Cups or small beverages cups may be placed in the cup holders.
Rear
Pull the armrest down to use the cup holders.
WARNING
Avoid abrupt starting and braking when the cup holder is in use to prevent
spilling your drink. If hot liquid spills, you could be burned. Such a burn
to the driver could ...