I have a 2010 Sonata V6 that knocks on first start-up too. If you have ever changed the oil filter you will see the problem immediately, the filter is on the TOP of the engine. When you open the canister there is no oil in it because it all drained back into the sump, I assume past the bearings. So, the first start is a DRY start and the engine knocks until the filter canister is refilled.
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