Skoda uses Fabia R5 in adds in CZ.
More importantly during the Enyaq electric SUV global reveal event little over a month ago rallying was a part of the presentation.
Even more importantly the electric SUV also comes in an RS "sports" version. The only high-level motorsport Skoda is doing in last years is rally.

(but hey, electric car buyers are completely uninterested in motorsport.......ohh well)

Citroen ran an add with Østberg in Norway about a year ago. (Introduced as a rally driver, driving one of their SUVs, showing how comfortable it is while driven hard. Note that Østberg is not really a well known figure in Norway).

Toyota obviously uses rallying in the GR Yaris advertising.

Haven't really seen any big Hyundai N advertising, only getting their rally drivers to drive jurnos in it on a circuit.

Nothing from Ford that I have seen.