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The populous voted whether through representatives, singular vote or any other democratic system that their parliament has the right to disband martial law. They voted to disband it and they have not disbanded. It is an act of treason unless he immediately followed the process elected and put in place by the people.
The only way forward would be to have him removed and charged with such immediately, or he is in fact a dictator.
In the end, it’s what the military actually end up doing (or not doing) that will determine South Korea’s fate. You’re right that letting them get away with it will only encourage further lawlessness in the future even if they manage to get through this now.
EDIT: Yoon said he’d lift it, but I really hope they don’t let the opposition to the rule of law go unpunished.