2025 Hyundai Tucson PLUG-IN Hybrid

We are writing to describe an issue we had with our 2025 Hyundai Tucson PHEV this past [XXX] day We were returning from Bellingham heading south on [XXX]. The Driver Assistance Eyes on the Road notice came on often, making beeps ([XXX] has experienced this message often even though his eyes are definitely on the road). Suddenly, it came on constantly, and then the alert in the center circle on the console turned RED and showed a message that said “Take control of your vehicle immediately. Turning engine off. Leave the road” I may not have this quote exactly right, but it’s close. All the time the loud beeping continued. [XXX] did as directed and immediately pulled over unto to the narrow shoulder on the freeway with cars racing past at 70 mph. We had no idea what was going on. He quickly determined that the car was functioning ok so pulled back out onto the highway. I was panicked, but of course [XXX] was calm and in control. He decided to take off his hat and also his glasses (doesn’t need them for driving). Still got the message but not the red alert one we had previously experienced. We stopped for gas before continuing on to the ferry and took the time off the road to access the Driver Attention function in Settings/Vehicle/Driver Assistance/Driver Attention Warning and turned it OFF. We thought that would take care of it, but it still continued to send standard alerts. Since we had waiting time in the ferry line, we searched the internet for clues to this and learned from others that this is a continuing problem. It was determined by one contributor that it is a software issue that Hyundai needs to fix. Another person said it happens when he is driving with both lane assist and cruise control on at same time. PLEASE ADVISE. Is there a solution to this problem? We were put in what we considered to be a dangerous position by an overactive "safety" feature which we could not disable. INFORMATION REDACTED PURSUANT TO THE FREEDOM OF INFORMATION ACT (FOIA), 5 U.S.C. 552(B)(6)