There is no way that removing a taped on
badge or emblem should have properly adhering paint come up with it. Individual cars (mostly Yellows and Micro Blues) have paint quality issues. The paint is very good, but it has an adhering problem: mostly from cars made in 11/17 and 12/17. Kia is opening warranty claim cases on individual cars (other than Yellow, which is all cars in that color).
If I were going to remove the Stinger emblem and the paint looked like it will come up, I would go to my dealer first and show them the issue around the emblem. See what they say. Go from there. You can open your own case with Kia Customer Service. Being a Stinger, your case will be upgraded to their "premium customer service" tier. This will in all likelihood play out over months in order for your paint warranty to be fully honored to your satisfaction. But Kia is good for it. There are plenty of discussions on this forum about the vexing paint issues. Since you apparently have one yourself, you can get advice and news on how those cases are going.