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over on the Hyundai IONIQ forum we identified this 5-6 years ago, the fix is to find an empty quiet, wide, straight road with no camber and get the car up to 50+mph / 80+kph and gradually brake harder right down to 0, repeat a couple of time every couple of months (and just before the car goes...

condition of front and rear discs are generally easy to see, with. a small mirror you can normally see the material left on the pads as well they need replacing when worn (easy to see a lip on the out edge) or heavily corroded (easy to see the black rust pitting) pads are normally recommended...

how an issue like this is handled by a dealer affect how you view them and if you would consider using them for future business good to see a dealer handling it well and retaining the business