I bought the extended warranty on a 2019 Hyundai Santa fe.

You very likely could be underneath the Hyundai factory warranty of 5 years / 60,000 miles. That takes primary position when you are having your vehicle diagnosed and repaired. If you are under 60,000 miles, contact your local Hyundai dealership for assistance. That said, there are many reasons your warning indicators could be coming on while driving, and some of those reasons could be normal. Also, some of those reasons could be due to items that may have been damaged somehow along the way -- a sensor that has been impacted, a windshield replaced with a non-Hyundai glass -- other variables that need to be taken into account for vehicles with these advanced features. Not saying anything about your vehicle, but about vehicle's in general, in an effort to share what could be going on. Good luck!