We heard a grinding sound from rear of vehicle while driving into a park lot. Checked road and vehicle to see if there was any damage or objects hit, there were not. Shortly after driving a few miles a BMS warning was showing and we called Kia roadside assistance. They insisted on towing the car but we waited until next day so we could secure a rental. The short drive to the rental agency now gave us 4 more errors regarding check 4WD/AWD and the code was given as MCU_R to check the rear motor control units. All were listed as P1Axxxx errors. During this time, electronics in the car did not work well, vehicle did not want to shift into gears and acceleration was noticeably degraded. Car is at dealership being worked on now.