Bumper Sensor Loose. See pic. Can I bring it back out (flush with bumper) without taking off bumper? 2020 model

[Dan's Palisade]

 

[Gene]

When my 2018 Genesis G90 did that, they had to replace the entire bumper, because the plastic clip came loose from the bumper.
It is held on the bumper by looks like a plastic weld.
Take it to the dealership.
Unless it has been banged in to something they might replace it for you.

 

[Popeye]

While that looks easy enough to contact cement that back in place (providing you can touch it from the back side), I would have the dealership handle it as a warranty item. No sense messing up the sensor aim (if it needs aiming) if the dealership will handle it.