Thank you for responding so quickly. Please see my responses below:
Are the volume settings up for the bluetooth in your phone?
Is the software updated in the phone?
Moto Voice ver. 18.104.22.168
Android ver. 5.1
Have you tried connecting a different phone to the car's bluetooth to make sure it isn't the Sonata?
-Yes, my original Droid Turbo did not have this issue and responed fine to voice commands.