. It only changes back to Stealth default when the Karma gear toggle is moved to Reverse or Neutral and back to Drive. You can manually by holding the Hill paddle on the right for a few seconds. You must had "D" in the mode, not 1 or 2. Good luck.
Also, be sure the Parking sensors weren't inadvertently turned off at the lower part of the User Interface. See page 5-30 of the user manual.