That's a good question, and it's a common one with the Ioniq 5! The pedestrian warning noise, or VESS, is designed to be active at low speeds, including when you're creeping or stopped in Drive. So, what you're experiencing is totally normal. It's a bit odd to hear it when you're completely stopped, but it's part of the system's design. Shifting to Park silences it because the car assumes you're parked and not posing a risk to pedestrians. You haven't changed anything, it's just how the Ioniq 5's VESS operates. Some owners find it a little annoying, but it is what it is.