2008 Hyundai had relay replaced. starts a-ok then , run into a store, wont start. not starter sounds. pull relay under dash. remove for 2-3 mins pop back in restarts. battery 2 yrs old. love it, post stroke can enter and exit with little problems as is not how most vans are for me.
I’d suggest replacing the relay. Seems like it is sticking or the contacts are burned.
There’s a known problem involving a junction box located near the driver’s left knee. You’ll probably need to have it replaced. Check Hyundai forums. It could also be an immobilizer issue.