Maybe. There was a vulnerability [1] with BlueLink and that could have been an attack vector, but the article mentions:

> The attack can’t be done at scale, because the local network that the vehicle owner is using would have to be infiltrated by the attacker.

Wikipedia says BlueLink uses Bluetooth [2]. So I'm not sure what connection is actually used, but if it's Bluetooth/local wifi and there are no further security bugs, then it would be unlikely that someone else could connect to the car in the first place.

[1] https://www.tomshardware.com/news/hyundai-blue-link-vulnerab... [2] https://en.wikipedia.org/wiki/Hyundai_Blue_Link