Ioniq 5 has a retro cool look and is deceptively big, which I like. I also test drove VW ID4 but found its interior toyish. If Mach E had the same plush ride of ID4, it would be my first choice, but Ford made it like Model Y and the ride is very stiff.
Regarding Ioniq 5 (Ioniq 6 is too new with almost no availability for comparison now, I think), whipping Teslas, I don't see it.
Exterior: Ioniq 5 wins I think, for no other reason than everyone has Model Y. (my team of ~10 people all drive Teslas).
Interior: About the same. Hyundai looks like any typical car and Tesla is spartan. Depends on if people want buttons or a large screen with apps.
Driving: Hyundai is a bit soft (my preference) whereas Tesla is stiff and fun for the driver but not for passengers. Of course, Tesla is faster, etc.
Charging: Hyundai has fast charging and car-to-load connector, whereas Tesla has the supercharger network. I would go with supercharger network, though they are packed in California and may open for other cars. But they are reliably available unlike the multitude of others.
Quality: I know panel gaps is a meme, but I think it gets highlighted because of it and because Tesla/Musk are polarizing, people want to highlight it. At work, I can see hundreds of Teslas at our office parking lot and they don't stick out as being any worse than other cars.
Reliability/service: Hyundai is traditional but I hate dealers. I have never taken any of my cars to dealers after purchase for any service/repair. Tesla has part availability issues but stories fall under both very good and very bad regarding service.
Overall, Tesla has sold millions of vehicles and they are the most experienced in EVs. I have heard bad experiences with other EVs regarding recalls, battery issues, software glitches, etc. and their newness to EVs shows.
Regarding price, none of them are available for anything less than Model Y price. New Electric Cars Under $50,000 for Sale in San Jose, CA (with Photos) - TrueCar Ignore the Kona and Niro, which are small. Next ones are Toyota bZ4X at 42.5k, ID4 at 44k and Ariya at 45k, all base FWD trims. The base Ioniq 5 and Mach E show up at 47k+.
In contrast, Model Y is available for 47k, and it is AWD with 279miles (250-260 realistic) range. No dealer shenanigans. And it qualifies for $7500 tax credit, unlike the Ioniq 5.