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I have a 2021 Seltos SX. How do I adjust the mood lighting, i.e., where is the menu to do this?
Are you talking about the lighting in the footwells? Or the sound mood lamp? Mood lamp had its own settings menu under Home, to the right of the default screen. Footwell lighting has a physical button on the left (drivers) side of the center console near your leg. Long press to turn on/off, short press to cycle colors.

I don’t remember if the owners manual actually has that info because the lighting kit is installed at port rather than factory, but they usually hang the info tags for it around the gear selector for delivery.
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