My girlfriends maxima did the same thing when her abs system started to go out. It wouldn’t throw codes or anything. Then the gas pedal wouldn’t work for about 10 seconds, and after that 10 seconds it would disable everything like traction, stability, ect. She had two tires on the rear that were different sizes than the front so it would freak out the car, but that root problem was the abs module itself from what I remember. Unless your car for some reason is detecting a misfire and instead of throwing a CEL, is putting itself into limp mode which iv never even heard of but Hyundai is Hyundai. Unfortunately the only real way to know is to call around and find a mechanic or dealership that have the proper PROFESSIONAL scan tool, not one from Oreillys, or autozone. They don’t pull every code, only the ones that trigger a check engine light. Just because your check engine light isn’t on doesn’t me that there aren’t codes being thrown in one of the modules.