A 2019 Hyundai with 23K miles should have a bumper to bumper at least 5 years/60K. You can buy up to 10years/100K. Powertrain should be that anyway. I would consider a transmission seal part of the powertrain. I have a 2020 Sonata Limited, if that had happened to me, they would have had a fight on their hands. I do take mine to get serviced at a Hyundai dealership only while it’s still under warranty so that they have all the maintenance records if something does come up warranty wise. But once the warranty is up, I won’t. They are always trying to tack on extra services that aren’t needed.
Tell a 73 year old Korean lady that who recently lost her husband. She had no idea what warranty was available. She was going to get it done because they told her it was needed. I am very familiar with warranties but she and MANY like her are not. She went in to get an oil change...........................