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I can see why they recommend Park then EPB, it's logical from a vehicle controls perspective but arbitrary as regards safety. By flipping them around you're reducing the chance of a clunk noise that I think every driver of any automatic car has experienced when shifting out of park on hill.Your advice here seems to be what pretty much every web source recommends for cars in general. Odd that the I5 manual specifically states the opposite order (i.e., EPB last) -- who knows if there's an actual good reason behind this or if it's just careless writing?
After another two hours googling main brake and EPB videos and writeups, I guess my only remaining curiosity is whether or not the I5 EPB is doing its braking via the very same disc brake pads as the main brake system. Apparently the same pads, disc or drum, are activated by both the main and parking brakes in some but not all cars via different activation mechanisms? If they are, then I can see (exactly as you said) that it really makes no difference whether you hit the EPB before or after entering Park mode assuming that you've got your foot on the main brake pedal throughout the whole procedure.
I believe the EPB on the Hyundai EVs is done by acting on the pads from the back side of the caliper, opposite the hydraulic cylinder, with a motor-driven screw.