There have been lots of improvements in hydrogen safety. The fact is any dense energy source has dangers, including gasoline, and our batteries.
Hyundai uses carbon-fiber reinforced plastic that's actually designed to rip apart on a huge impact in order to disperse the hydrogen rather than compress it further and cause an explosion.
Again, most of the complaints about hydrogen are not the things stopping it from gaining mass adoption. Gasoline is dangerous, relatively expensive, but entirely convenient. The safety and efficiency issues of hydrogen are really non-issues when we compare them to gas. And even compared to BEV's, once a hydrogen infrastructure is set up, we need far less precious minerals to be mined since the battery doesn't need to be nearly as big per car. This is a huge advantage when we hit the volume of gas cars.
Hydrogen's biggest problem is simply a logistical and funding problem. But the impact of that problem cannot be overstated.