Try This
I had an 2017 SR5 with the same issue. I lived with it through the 2018 Tucson summer. I had Cool A/C but not cold A/C. I finally fixed the problem last month by doing this:
1. While driving (on a deserted road ideally) turn Temp to Max Cold (hard left on the Temp dial)
2. Turn Fan to Max High (hard right on the Fan dial)
3. After a few seconds, dial the Air Flow position dial to the setting two clicks left of Defrost which is a person icon with down arrow to legs and a defrost icon and wait a few seconds.
4. Now rather aggressively dial air flow position to the left, selecting the Air Flow position with a person icon and an arrow down to legs and arrow right to face (A few clicks off hard left)
You will hear a vent shut. It was that open vent, likely leading to the engine compartment or outside, which was competing the A/C cold air flow into the cabin, at least for my situation.
After dong 1-4 above once, I no longer have to go through those steps. Possibly factory settings somehow stick the vent open until a one-time force shut using this "procedure".