I own a 2003 Sorento and I also have had the same problems with the headlights. I don't know what replacement number I am on, I think it is about the 6th one and have to get another one today. Also, the interior light has quit working. Also, the air bag light has been on for over a year. The check engine light will come and stay on for a little while and go off and not come back on for months.
I love the SUV, I just really hate the problem with the headlights!
You own a KIA, you are GOING TO HAVE ISSUES!!! GUARANTEED!!
That airbag light you have on means in an accident that air bag is NOT going to deploy, the system is disabled. May God be with you in an accident!!
Check to make sure the connecters to the headlight are not corroded. Replacing the light may help for a while as you may wear away a bit of the corrosion. Either that or check the voltage going to the affected lights.