Hyundai Repair Questions? Ask a Mechanic for Answers ASAP
There is a magnetic switch inside the shift lever that sends a signal to the dash to indicate the gear and to the transmission to indicate shift position. It's pretty likely that the switch was damaged by the coffee. Here is a diagram that shows the switch:
It's listed as part #4.
Do you plan to attempt to fix it yourself?
If you have a good scan tool you can try to scan for trouble codes. You could also see what the input from the shift selector is saying on the scan tool.
I think the best bet will be to let it dry for a bit and see if the module starts acting normal again. The liquid in the switch could be shorting pins and causing the malfunction and when it dries it could start working correctly.