Hey folks, little update here.
Took my car to the dealership on July 23. They had a tech ride with me, and he could clearly hear the sound. They kept it overnight and determined with Hyundai engineering support that a new motor was needed.
Scheduled that out for Tuesday, August 11, and they got started, with an estimate of 2-3 days for the replacement. Got told on Wednesday that engineering support wants them to also replace the reducing gear, and that that part will hopefully be in today.
Checked in today, parts are delayed, apparently as long as next Thursday.

Hyundai consumer affairs emailed me last night, and I'm waiting for a call back.
Few comments about the process:
- I'm really glad the dealership took this seriously and it seems like they're doing a good job pushing the repair along. My service advisor has been doing a great job keeping me informed.
- The dealership keeps telling me that this is the first motor replacement for the 2020s in the US anywhere... not sure how accurate that is, but congrats to me I guess?
- Apparently my dealership just "doesn't do loaners", which seems kind of ridiculous for how much I paid for this car. This is the first vehicle I've had that's been new enough to merit taking to the dealer for service, but even my 12 year old Subaru got a loaner when they had to do the airbag replacement.
- Holy crap, this ICE rental I picked up (a Buick Encore) is a POS compared to my Kona.
Looking forward to hearing back from Hyundai consumer affairs.