@ijustfixem there is a service bulletin about this exact error code.
Communication Number: TSB-15-01-022-1, Date: 2015-04-01 Category: 060000 ENGINE (PWS) Summary: HYUNDAI: DUE TO INCOMPLETE SEATING OF INTERNAL OIL SEAL PLUG AT INTAKE CAMSHAFT, CHECK ENGINE LIGHT WOULD ILLUMINATE WITH DIAGNOSTIC TROUBLE CODE (DTC) P0010, INTAKE CAMSHAFT POSITION ACTUATOR CIRCUIT. MODEL 2015 SONATA.
So replacing the cover and plugs per TSB should clear the codes. Here is the TSB with instructions on how to repair it==>>TSB# 15-01-022
This work should still be covered under your warranty. Check with your dealer/service department
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