A word of warning regarding the EPS light on.
Your Battery could go flat.
The power steering on the i30 is an electric motor mounted on the steering column (above your knees).
The steering's central position is electronically set during manufacture or reset in a workshop.
If, due to an accident or faulty part, the power steering is detecting a new 'centre', the ESP light will show.
This can confuse the Power steer and the EPS light may show.
Sometimes, the EPS will not understand that the vehicle has been turned off, so it will remain powered and eventually drain the battery. You will feel the steering wheel remaining light to turn when the car is parked ( key out ! ).
Disconnecting the battery momentarily will fix it...EPS will de-power...until next time you drive.
The rubber bush fault described above is quite common . The knock is really hard to pin point , therefore other components such as universal links and steering rack components are blamed.
This guy is working on a Sonata ..same thing
Hyundai Sonata knocking in steering or clunking column fix - YouTube