It's a problem with your bank 2 upstream oxygen sensor. First, call the dealer back with your vin and have them check to see if there are any recalls on the vehicle. There was a recall to reprogram the pcm which addresses this issue. If this hasn't been done, they should be happy to do it free of charge. If it has already been done and you're beyond the warranty period, the repairs are your monkey.
Hyundai has had some problems with these oxygen sensors and has made some attempts to fix the problem. Although they originally appeared to be working, I still see many failures of this oxygen sensor.
If you'd like to try this job yourself, it's the oxygen sensor in the front manifold near the top. The part number for the sensor is
39210-3916A, but be aware that the distribution of this sensor is currently being restricted by Hyundai because they don't have enough to fill all the orders. I actually checked into the availability of this part a few days ago and it appears plenty should be available in about a month.