The HYUNDAI/KIA/GENESIS models have a "hidden" engineering mode that can be used to, e.g., find out manufacturing date or software versions (you can also reset settings -- which you probably want to avoid).

Entering engineering mode seems to differ from region to region and also from head unit firmware version, here are the instructions for European models up to (Dec 2022) 221223 versions:

1. Switch from air condition panel to navigation and radio panel
2. Switch radio on (probably to FM)
3. Turn the volume dial to 7
4. Press the other dial (marked "FILE")
5. Turn the volume dial to 3
6. Press the other dial (marked "FILE")
7. Turn the volume dial to 1
8. Press the other dial (marked "FILE")
9. Now, some number buttons are displayed to enter a secret number code
10. The number code varies from head unit (AKA center display) version to version. For the Nov 2022 (221129) and Dec 2022 (221223) versions, the number code is: 1950 0624

This info can be found, e.g., on YouTube:

For European models up to Dec 2022 (221223) versions:

https://youtu.be/kht_9Fv_dwo

I have yet to try how it works for the Jun 2023 (230601) version that does not seem to use the volume dial method anymore, but some very specific touch locations (and then, then number code 19450815)

For example, using the versions displayed in Engineering Mode, you can see that service action SA533 "VCU Software Upgrade for i-Pedal Operation" did update the VCU version from, e.g., 5.10 to 5.12, but none of the other ECUs firmwares get updated.

Using an OBD port adapter and the Car Scanner app for Android, you can even get further information use the Car Scanner feature for an ECU dump (ECU information from the main screen) which contains version numbers as well. After the ICCU software update, I should be able to see the version numbers changing. Update: after the Service Campaign SC271 ICCU update, I have exactly the version number of before and after as shown in this video (except that I have a 3 days younger ECU manufacturing date (HEX): 20210906). But I later read that the ICCU update does not really solve the ICCU issues, but mainly improves reporting the issue, so that the owner has more time before the car stops moving because of the dead ICCU; but at least also that software improvements will improve calibration values and preventing fuse from going burned.