Well according to the '11 manual, the blinking of the ((!)) symbol for a minute followed by illuminating steady is a system problem. I never get the [TPMS] warning light though. I'll see if it lights up when I go to start the car.
I drive far and fast and want to be able to trust the indicator if a tire goes flat. I've driven on flat rears unnoticed on a FWD car before.
The various warning lights will illuminate upon first starting the vehicle. This is to let you know that they are all in operating condition.
I agree that that blinking symbol is a system problem. I'm going to make a stab in the dark and harken back to the problem I had last week. I think it is a wiring problem with oxidation or something that provides low voltage to the sensors or something like that.
My service ticket says in part "C1312 sensor 1 radio frequency test drove found trans working cleared codes OK now."
I got a call from KIA today and from the short conversation I had leads me to believe they are not on top of this problem. I found an identical problem relating to the transmission over on a Hyundai forum such as I have outlined. I think these problems are all tied together somehow.
I would advise just staying in contact with your service department until the problem is permanently resolved. One of these days they will awaken from their slumber and take these issues seriously.