diff --git a/panda/board/safety/safety_gm.h b/panda/board/safety/safety_gm.h
index 069f00335..9dd7554a3 100644
--- a/panda/board/safety/safety_gm.h
+++ b/panda/board/safety/safety_gm.h
@@ -336,8 +336,7 @@ static int gm_fwd_hook(int bus_num, int addr) {
       } else {
         // block lkas message and acc messages if gm_cam_long, forward all others
         bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
-        const bool block_pscm = (gm_hw == GM_SDGM) || gm_ascm_int;
-        block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long) || (block_pscm && (addr == 0x184));
+        block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
       }
       if (!block_msg) {
         bus_fwd = 0;
@@ -391,8 +390,6 @@ static safety_config gm_init(uint16_t param) {
     } else {
       ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
     }
-  } else if (gm_hw == GM_SDGM) {
-    ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_TX_MSGS);
   }
   return ret;
 }
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index b023d6946..9c768e9cf 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -39,7 +39,14 @@ class CarState(CarStateBase):
     ret = car.CarState.new_message()
     fp_ret = custom.FrogPilotCarState.new_message()
     volt_like = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC}
-    sdgm_non_volt = self.CP.carFingerprint in SDGM_CAR and self.CP.carFingerprint not in volt_like
+    kaofui_state_cars = volt_like | {
+      CAR.CHEVROLET_BLAZER,
+      CAR.CHEVROLET_MALIBU_SDGM,
+      CAR.CHEVROLET_MALIBU_CC,
+      CAR.CHEVROLET_MALIBU_HYBRID_CC,
+    }
+    sdgm_non_volt = self.CP.carFingerprint in SDGM_CAR and \
+                    self.CP.carFingerprint not in kaofui_state_cars
 
     self.prev_cruise_buttons = self.cruise_buttons
     self.prev_distance_button = self.distance_button
@@ -210,7 +217,14 @@ class CarState(CarStateBase):
     messages = []
     if CP.networkLocation == NetworkLocation.fwdCamera and not CP.flags & GMFlags.NO_CAMERA.value:
       volt_like = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC}
-      sdgm_non_volt = CP.carFingerprint in SDGM_CAR and CP.carFingerprint not in volt_like
+      kaofui_state_cars = volt_like | {
+        CAR.CHEVROLET_BLAZER,
+        CAR.CHEVROLET_MALIBU_SDGM,
+        CAR.CHEVROLET_MALIBU_CC,
+        CAR.CHEVROLET_MALIBU_HYBRID_CC,
+      }
+      sdgm_non_volt = CP.carFingerprint in SDGM_CAR and \
+                      CP.carFingerprint not in kaofui_state_cars
       messages += [
         ("ASCMLKASteeringCmd", 10),
       ]
@@ -248,16 +262,24 @@ class CarState(CarStateBase):
     ]
 
     volt_like = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC}
-    sdgm_non_volt = CP.carFingerprint in SDGM_CAR and CP.carFingerprint not in volt_like
+    kaofui_state_cars = volt_like | {
+      CAR.CHEVROLET_BLAZER,
+      CAR.CHEVROLET_MALIBU_SDGM,
+      CAR.CHEVROLET_MALIBU_CC,
+      CAR.CHEVROLET_MALIBU_HYBRID_CC,
+    }
+    prndl2_rate = 10 if CP.carFingerprint in kaofui_state_cars else 40
+    sdgm_non_volt = CP.carFingerprint in SDGM_CAR and \
+                    CP.carFingerprint not in kaofui_state_cars
     if sdgm_non_volt:
       messages += [
-        ("ECMPRDNL2", 40),
+        ("ECMPRDNL2", prndl2_rate),
         ("AcceleratorPedal2", 40),
         ("ECMEngineStatus", 80),
       ]
     else:
       messages += [
-        ("ECMPRDNL2", 40),
+        ("ECMPRDNL2", prndl2_rate),
         ("AcceleratorPedal2", 33),
         ("ECMEngineStatus", 100),
         ("BCMTurnSignals", 1),
@@ -278,8 +300,9 @@ class CarState(CarStateBase):
         messages.append(("EBCMBrakePedalPosition", 100))
 
     if CP.transmissionType == TransmissionType.direct:
+      regen_paddle_rate = 50 if CP.carFingerprint in kaofui_state_cars else 40
       messages += [
-        ("EBCMRegenPaddle", 40),
+        ("EBCMRegenPaddle", regen_paddle_rate),
         ("EVDriveMode", 0),
       ]
 
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 2b09b3fd9..b7ad3e7be 100644
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -179,9 +179,35 @@ class CarInterface(CarInterfaceBase):
 
     is_bolt_2022_2023_pedal = candidate == CAR.CHEVROLET_BOLT_CC_2022_2023 and ret.enableGasInterceptor
 
-    is_camera_acc = (candidate in CAMERA_ACC_CAR and candidate not in CC_ONLY_CAR and candidate not in kaofui_cars) or \
-                    (candidate == CAR.CHEVROLET_MALIBU_HYBRID_CC)
-    if is_camera_acc:
+    kaofui_camera_cars = {
+      CAR.CHEVROLET_VOLT_CAMERA,
+      CAR.CHEVROLET_VOLT_CC,
+      CAR.CHEVROLET_MALIBU_CC,
+      CAR.CHEVROLET_MALIBU_HYBRID_CC,
+    }
+    is_camera_acc = candidate in CAMERA_ACC_CAR and candidate not in CC_ONLY_CAR and candidate not in kaofui_cars
+    if candidate in kaofui_camera_cars:
+      # Keep Volt/Malibu camera path functionally aligned with kaofui.
+      ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | ASCM_INT | SDGM_CAR) or has_sascm(fingerprint)
+      ret.networkLocation = NetworkLocation.fwdCamera
+      ret.radarUnavailable = 0x460 not in fingerprint.get(CanBus.OBSTACLE, {})
+      ret.pcmCruise = True
+      ret.minEnableSpeed = 5 * CV.KPH_TO_MS
+      ret.minSteerSpeed = 10 * CV.KPH_TO_MS
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM
+
+      # Tuning for experimental long
+      ret.longitudinalTuning.kiV = [0.5, 0.5]
+      ret.stoppingDecelRate = 1.0  # reach brake quickly after enabling
+      ret.vEgoStopping = 0.25
+      ret.vEgoStarting = 0.25
+      ret.stopAccel = -0.25
+
+      if ret.experimentalLongitudinalAvailable and experimental_long:
+        ret.pcmCruise = False
+        ret.openpilotLongitudinalControl = True
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+    elif is_camera_acc:
       # TorqueTune camera-ACC behavior
       ret.experimentalLongitudinalAvailable = (candidate not in CC_ONLY_CAR) and not ret.enableGasInterceptor
       ret.networkLocation = NetworkLocation.fwdCamera