Vehicle fails to appropriately recognize when it is put in Park. The dash shows a ‘P’ indicating the vehicle is in park, but emits a continuous beeping sound with a message on the dash that reads, ‘Auto Stop is Off. Shift to P or N and start engine manually.’ However, when pressing ‘P’ as it states I must do, it then reads, ‘Gear already selected,’ before returning to the previous message. This is all while a ‘P’ is illuminated and beeping is continuous. Throughout this time, if the brake is released, the car begins driving forward as though it is in Drive, not Park. I have 3 separate videos of this happening.To answer the above questions: The vehicle has repeatedly been inspected by a Hyundai dealership and each time I am told the issue cannot be replicated. I am happy to have it inspected again. It most certainly puts my safety and others at risk as it continues driving after I have engaged park. No police or insurance representatives have yet inspected it. No others warnings or messages appear before it occurs, only during. The issue first started just before 5k miles on the car and has since occurred at least 5 more times.