The contact owns a 2012 Kia Sorento. The contact stated that after parking and turning off the vehicle, she entered the post office; after 3 to 4 minutes, she was alerted by a consumer that the vehicle had caught fire. The contact noticed fire emerging from the undercarriage. The TPMS warning light had been illuminated prior to the incident. Post office employees attempted to extinguish the fire. The fire department was called and successfully extinguished the fire. There were no reported injuries. Police were also present at the scene. The contact related the failure to NHTSA Campaign Number 23V-652000 (Service Brakes, Hydraulic). The local dealer was not contacted. The vehicle was not diagnosed or repaired. The manufacturer was contacted; however, no assistance was provided. The failure mileage was approximately 200,000.