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I think there is a service bulletin on this issue. I would not touch it, and take it directly to a dealership.
I think what you see here, is that the shutter is not opening up, allowing for high beam operation.
If that is the case, then Hyundai will fix it for you.

Make sure to carry this photo with you, when you visit the service department. Or, if you have a video recording, and show out the front window, that both lamps are working, but, you get this message.

Anything helps, when they tell you "we can't reproduce the issue".
 
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