Kia, as a mfr, understands that even if all 4 tires are correctly sized per their specifications, there are a host of "real-world" factors that might change their effective rolling diameters, when actually driven on the road:
1. Varying tire pressures
2. Uneven tire wear
3. Uneven load (e.g. heavily loaded rear end with cargo/passenger)
4. Different mfr/model of tires
5. Varying alignment settings (e.g. camber angles)
6. Vehicle speed (ballooning at higher speeds, due to centrifugal force)
So... they typically factor in enough allowable variance to account for a combination of all these factors. They cannot possibly make their AWD TC/ESC algorithms so touchy, to a point of not tolerating these real-world variances, lest they wish to deal with customer complaints from just normal usage.
How folks get in trouble is when they start changing tire sizing, either for aesthetic or performance reasons, such that the front and rear rolling diameters no longer match - even before factoring in the above factors. That, would be a big no-no. You can eat up only so much of the inherent mfr tolerances, before any of the above variances will trigger a fault.
So the moral of the story is... if yours is an AWD:
1. Stick to the mfr specs on rolling diameter as closely as possible.
2. If you do change tire sizing, match front and rear diameter as closely as possible.
3. Regardless of tire sizing, pay attention to your tire pressures.
4. If you have a penchant for high speed, be especially cautious on your tire choice, as different speed rating tires (e.g. H,V,W, Z, etc.) will vary in their ability to cope with high speed ballooning.
5. Don't do stupid s*** like cranking up HUGE negative cambers