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When the EPB is applied from Auto Hold, a warning will sound and a message will appear.

When the conversion from Auto Hold to EPB is not working properly a warning will sound and a message will appear.
✽ NOTICE
When this message is displayed, the Auto Hold and EPB may not operate. For your safety, depress the brake pedal.

If you do not apply the brake pedal when you release the Auto Hold by pressing the [AUTO HOLD] switch, a warning will sound and a message will appear.

When you press the [AUTO HOLD] switch, if the driver's door and engine hood are not closed or the driver's seat belt is unfastened, a warning will sound and a message will appear on the LCD display. At this moment, press the [AUTO HOLD] button after closing the driver's door and engine hood and fastening the seat belt.
A vehicle has the tendency to roll back on a steep hill when it starts to go after stopping. The Hill-start Assist Control (HAC) prevents the vehicle from rolling back by applying the brakes automatically for about 2 seconds. The brakes are released when the accelerator pedal is depressed or after about 2 seconds.
The HAC is activated only for about 2 seconds, so when the vehicle is starting off always depress the accelerator pedal.
WARNING - Maintaining Brake Pressure on Incline
HAC does not replace the need to apply brakes while stopped on an incline. While stopped, make sure you maintain brake pressure sufficient to prevent your vehicle from rolling backward and causing an accident. Don’t release the brake pedal until you are ready to accelerate forward.
Kia Stinger (CK) 2018-2023 Owner's Manual: Electric Parking Brake (EPB)
Description and operation Description Description of EPB The EPB is an electronic parking brake. The EPB is different from existing parking systems which operated with the brake pedal or the lever type. The EPB system sends the signal to the ECU when a driver operates the EPB switch. The ECU operates the EPB actuator composed with motor gears.Repair procedures Removal 1. Release the residual pressure in fuel line. (Refer to the Fuel Delivery System - "Release Residual Pressure in Fuel Line") 2. Switch "OFF" the ignition and disconnect the negative (-) battery terminal. 3. Remove the rear seat cushion.