diff --git a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
index a890f8742..ce8bd7932 100644
--- a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+++ b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
@@ -145,6 +145,15 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
           "DAMP_FACTOR": 100,
           "HAS_LANE_SAFETY": 0,
         })
+      elif lkas_base_values:
+        for signal in ("LKA_MODE", "LKA_AVAILABLE", "LKA_WARNING", "LKA_ICON", "FCA_SYSWARN",
+                       "LFA_BUTTON", "LKA_ASSIST", "DAMP_FACTOR", "HAS_LANE_SAFETY"):
+          if signal in lkas_base_values:
+            lkas_values[signal] = lkas_base_values[signal]
+        lkas_values.update({
+          "TORQUE_REQUEST": 0,
+          "STEER_REQ": 0,
+        })
       else:
         lkas_values.update({
           "LKA_MODE": 0,
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
index 9a0483675..12c2c06ed 100644
--- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
@@ -1441,64 +1441,6 @@ class TestHyundaiFingerprint:
     assert parser.vl["LKAS_ALT"]["STEER_MODE"] == 2
     assert parser.vl["LKAS_ALT"]["NEW_SIGNAL_2"] == 3
 
-  def test_ev9_inactive_angle_status_clears_stock_warning_bits(self):
-    CP = CarParams.new_message()
-    CP.carFingerprint = CAR.KIA_EV9
-    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING |
-                   HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.CANFD_LKA_STEERING_ALT)
-    CP.openpilotLongitudinalControl = False
-
-    controller = CarController(DBC[CP.carFingerprint], CP)
-    can_bus = CanBus(CP)
-    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
-    cc = SimpleNamespace(enabled=False, latActive=False, actuators=SimpleNamespace(longControlState=LongCtrlState.off),
-                         leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
-    lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 32) if i != 7}
-    lfa_block_msg["COUNTER"] = 0
-    stock_lkas = {
-      "CHECKSUM": 1234,
-      "COUNTER": 42,
-      "LKA_MODE": 0,
-      "LKA_AVAILABLE": 0,
-      "LKA_WARNING": 0,
-      "LKA_ICON": 0,
-      "FCA_SYSWARN": 1,
-      "TORQUE_REQUEST": 0,
-      "STEER_REQ": 0,
-      "LFA_BUTTON": 0,
-      "LKA_ASSIST": 1,
-      "STEER_MODE": 5,
-      "NEW_SIGNAL_2": 0,
-      "LKAS_ANGLE_ACTIVE": 1,
-      "HAS_LANE_SAFETY": 0,
-      "ADAS_StrAnglReqVal": 10.5,
-      "ADAS_ACIAnglTqRedcGainVal": 0.0,
-      "DAMP_FACTOR": 0,
-    }
-    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg=stock_lkas, lfa_block_msg=lfa_block_msg,
-                         out=SimpleNamespace(steeringAngleDeg=10.5))
-
-    msgs = controller.create_canfd_msgs(0, False, 0.0, 10.5, 0.0, 0.0, False, cc.hudControl, cs, cc,
-                                        get_test_toggles(), lka_icon=1, lfa_icon=1)
-    lkas_msgs = [msg for msg in msgs if msg[0] == 0x110]
-    assert len(lkas_msgs) == 1
-
-    parser.update([(1, lkas_msgs)])
-
-    assert parser.can_valid
-    assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 1
-    assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == pytest.approx(0.0)
-    assert parser.vl["LKAS_ALT"]["ADAS_StrAnglReqVal"] == pytest.approx(10.5)
-    assert parser.vl["LKAS_ALT"]["LKA_MODE"] == 0
-    assert parser.vl["LKAS_ALT"]["LKA_AVAILABLE"] == 0
-    assert parser.vl["LKAS_ALT"]["LKA_WARNING"] == 0
-    assert parser.vl["LKAS_ALT"]["LKA_ICON"] == 1
-    assert parser.vl["LKAS_ALT"]["FCA_SYSWARN"] == 0
-    assert parser.vl["LKAS_ALT"]["LFA_BUTTON"] == 0
-    assert parser.vl["LKAS_ALT"]["LKA_ASSIST"] == 0
-    assert parser.vl["LKAS_ALT"]["DAMP_FACTOR"] == pytest.approx(100.0)
-    assert parser.vl["LKAS_ALT"]["HAS_LANE_SAFETY"] == 0
-
   def test_ev9_inactive_angle_steering_still_suppresses_stock_lfa(self):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.KIA_EV9
@@ -1929,7 +1871,7 @@ class TestHyundaiFingerprint:
     assert parser.vl["LKAS_ALT"]["ADAS_StrAnglReqVal"] == pytest.approx(-31.5)
     assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == pytest.approx(0.44)
 
-  def test_ev9_angle_lkas_alt_clears_stock_status_when_inactive(self):
+  def test_ev9_angle_lkas_alt_preserves_stock_status_when_inactive(self):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.KIA_EV9
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING |
@@ -1968,18 +1910,18 @@ class TestHyundaiFingerprint:
     parser.update([(1, lkas_msgs)])
 
     assert parser.can_valid
-    assert parser.vl["LKAS_ALT"]["LKA_MODE"] == 0
-    assert parser.vl["LKAS_ALT"]["LKA_AVAILABLE"] == 0
-    assert parser.vl["LKAS_ALT"]["LKA_WARNING"] == 0
+    assert parser.vl["LKAS_ALT"]["LKA_MODE"] == 2
+    assert parser.vl["LKAS_ALT"]["LKA_AVAILABLE"] == 3
+    assert parser.vl["LKAS_ALT"]["LKA_WARNING"] == 1
     assert parser.vl["LKAS_ALT"]["LKA_ICON"] == 1
-    assert parser.vl["LKAS_ALT"]["FCA_SYSWARN"] == 0
+    assert parser.vl["LKAS_ALT"]["FCA_SYSWARN"] == 1
     assert parser.vl["LKAS_ALT"]["TORQUE_REQUEST"] == 0
     assert parser.vl["LKAS_ALT"]["STEER_REQ"] == 0
-    assert parser.vl["LKAS_ALT"]["LFA_BUTTON"] == 0
-    assert parser.vl["LKAS_ALT"]["LKA_ASSIST"] == 0
-    assert parser.vl["LKAS_ALT"]["DAMP_FACTOR"] == pytest.approx(100.0)
+    assert parser.vl["LKAS_ALT"]["LFA_BUTTON"] == 1
+    assert parser.vl["LKAS_ALT"]["LKA_ASSIST"] == 1
+    assert parser.vl["LKAS_ALT"]["DAMP_FACTOR"] == 0
     assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 1
-    assert parser.vl["LKAS_ALT"]["HAS_LANE_SAFETY"] == 0
+    assert parser.vl["LKAS_ALT"]["HAS_LANE_SAFETY"] == 1
     assert parser.vl["LKAS_ALT"]["ADAS_StrAnglReqVal"] == pytest.approx(-31.5)
     assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == pytest.approx(0.0)