There was a factory recall for this problem which apparently related to the brake switch. So check with hyundai service on that recall.
See here.....................
Multiple Hyundai recalls for brake lamps and rust issues affect nearly 1M...
Testimonial: "Thanks Sean. I had seen this info and the recalls. I had the brake switch replaced as part of the recall back a number of years ago and just tried replacing it again but it did not correct the problem. The bulb looked fine but I ended up replacing it and it solved the issue."
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