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I’m gobsmacked by the dealer’s advice to take it somewhere else. I’m sure Hyundai would be happy to hear that.
The noise is not normal, something is binding up, I would suggest possibly in the steering column, or a joint in the lower steering shaft. Unfortunately these things can be hard to trace, and sometimes it found by trial and error.
Something apparently changed when they replaced the head unit. Was the replacement the same as the old one? I don’t doubt the claim that the camera itself can’t be adjusted, but something has changed and what that is needs to be established so it can be fixed. Take it back to the dealer and ask them to have another look and find a solution.
Sometimes dealers don’t go the extra mile to fix a problem, they can be more focussed on getting the car out the door.
It’s appears not to be selecting first gear. It could be a number of things in the transmission. It may be that it just needs servicing. Take it to an automatic transmission specialist.
It's probably in limp-home mode, which means the car's computer has detected something amiss and will only allow the car to run to get you home or to a mechanic. Have a mechanic do a diagnostic check on it, which should show up the cause of the problem.
All engines use oil, some use more than others, and you are expected to top them up if the level drops to the low mark. There is no rule that says a car will get from one service to the next without adding some oil, and with the extended service intervals in play today it's more likely that you will have to add oil at some point before reaching the next service. Subaru tells you it's ok, I would accept their advice.
The fact that everything comes on when you stop and restart, albeit briefly, suggests that it could be a problem with the car's computer.
You appear to have covered all the bases, so I would suggest you have it checked by another mechanic.
If you've got dash cam footage that conclusively shows the breakage wasn't caused by some external impact I would say, yes, pursue it. But if there weren't conclusive proof that it wasn't caused by an object impacting the glass I wouldn't go any further.
Take it to a mechanic to have it checked. It's most likely to be related to the cars' electronics.
You're pretty safe with the 2015 model; the years to avoid are really around 2010/11.