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Yemen releases new photos of their "Palestine-2" hypersonic ballistic missile which hit Israel yesterday
(hexbear.net)
Incredible things are happening in Yemen 
What’s the difference between a “true” hypersonic missile and this? Genuine question, I know nothing about missiles
The speed is the easy part, travelling in a straight line. The difficult part is getting the rocket to manoeuvre at high speed.
Going really fast isn't helpful if you're not capable of steering at that speed. The V2 was technically a hypersonic missile.
Terminal situational awareness, terminal maneuver capability, and terminal range extension are all traits typical of the modern definition of a hypersonic weapon in my opinion.