Yes, the hub is identical
Same 5x114.3 PCD and same 67.1 mm centre bore: wheels from Kia EV9 bolt on and centre on Hyundai IONIQ 5 without rings. You still need to check the offset and tyres, detailed below.
≈: width estimated from the original tyre size.
Wheel by wheel: offset and tyres
Each original wheel from Kia EV9 is compared with the one from Hyundai IONIQ 5 of the same diameter: how much closer the wheel gets to the shock absorber or how far it sticks out of the wheel arch, and whether the tyre keeps the same overall diameter.
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8Jx19 ET53 · 255/60R19 — Check on the car
Compared with the original ≈7.5Jx19 ET50 on Hyundai IONIQ 5: shock absorber side +9.3 mm, wheel arch side +3.3 mm, tyre diameter +6.4 % : fit it with the original tyre size of Hyundai IONIQ 5 (235/55R19), not that of Kia EV9.
Comparison for guidance only (estimated width). Check in detail
Before fitting the wheels
An identical hub is not enough: offset, width and diameter change the position of the wheel, and larger calipers can touch a smaller wheel. Original wheels often use bolts or nuts with a specific seat: keep the fixings intended for the wheel, with the thread of Hyundai IONIQ 5 (Ecrous - 12x1.50), tightened to the torque shown on its vehicle page. Finally, check that the size is among the approved fitments for your vehicle. This comparison is for guidance only: have the fitting approved by a professional.
And the other way round: wheels from Hyundai IONIQ 5 on Kia EV9?