diff --git a/opendbc_repo/opendbc/car/hyundai/discovery.py b/opendbc_repo/opendbc/car/hyundai/discovery.py
index 8bea025b0f..811afdf980 100644
--- a/opendbc_repo/opendbc/car/hyundai/discovery.py
+++ b/opendbc_repo/opendbc/car/hyundai/discovery.py
@@ -17,10 +17,17 @@ HDA1_NORMAL_BUS_LAYOUT = {(0, 0x120): 32, (2, 0x120): 32, (0, 0x35): 32, (0, 0xE
                          (0, 0xA0): 24, (0, 0x1A0): 32, (0, 0x1CF): 8, (0, 0x130): 16}
 
 
+HDA2_NORMAL_BUS_LAYOUT = {(2, 0x50): 16, (2, 0x2A4): 24, (1, 0x35): 32, (1, 0xEA): 24,
+                         (1, 0xA0): 24, (1, 0x1A0): 32, (1, 0x1CF): 8, (1, 0x130): 16}
+
+
 def normal_bus_topology(can_recv, *, clock=time.monotonic):
   deadline = clock() + .12
   layouts = (NORMAL_BUS_LAYOUT, CLASSIC_NORMAL_BUS_LAYOUT)
   observed = [{} for _ in layouts]
+  original_invalid = False
+  hda2_observed = {}
+  hda2_invalid = False
   hda1_observed = {}
   hda1_invalid = False
   for _ in range(24):
@@ -33,14 +40,24 @@ def normal_bus_topology(can_recv, *, clock=time.monotonic):
           if key in layout:
             length = len(frame.dat)
             if length != layout[key]:
-              return False
+              # Standard HDA2 reuses the classic MDPS identifier with 16 bytes.
+              if key != (0, 0x251) or length != 16:
+                return False
+              original_invalid = True
             received[key] = length
+        if key in HDA2_NORMAL_BUS_LAYOUT:
+          if len(frame.dat) != HDA2_NORMAL_BUS_LAYOUT[key]:
+            hda2_invalid = True
+          else:
+            hda2_observed[key] = len(frame.dat)
         if key in HDA1_NORMAL_BUS_LAYOUT:
           if len(frame.dat) != HDA1_NORMAL_BUS_LAYOUT[key]:
             hda1_invalid = True
           else:
             hda1_observed[key] = len(frame.dat)
-    if (any(received == layout for layout, received in zip(layouts, observed, strict=True)) or
-        not hda1_invalid and hda1_observed == HDA1_NORMAL_BUS_LAYOUT):
+    # Other families reuse HDA2 identifiers with different packet lengths.
+    if (not hda2_invalid and hda2_observed == HDA2_NORMAL_BUS_LAYOUT or
+        not original_invalid and (any(received == layout for layout, received in zip(layouts, observed, strict=True)) or
+                                  not hda1_invalid and hda1_observed == HDA1_NORMAL_BUS_LAYOUT)):
       return True
   return False
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hda2_normal_discovery.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hda2_normal_discovery.py
new file mode 100644
index 0000000000..e5c779a451
--- /dev/null
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hda2_normal_discovery.py
@@ -0,0 +1,92 @@
+"""Standard HDA2 wiring selects fresh normal-bus queries, never vehicle identity."""
+import json
+from pathlib import Path
+from unittest.mock import patch
+
+import pytest
+
+from opendbc.car import gen_empty_fingerprint
+from opendbc.car.can_definitions import CanData
+from opendbc.car.car_helpers import fingerprint
+from opendbc.car.hyundai.discovery import CLASSIC_NORMAL_BUS_LAYOUT, HDA1_NORMAL_BUS_LAYOUT, NORMAL_BUS_LAYOUT, normal_bus_topology
+from opendbc.car.hyundai.interface import CarInterface
+from opendbc.car.hyundai.values import CAR
+from opendbc.car.vin import VIN_UNKNOWN
+from openpilot.cereal import log
+from openpilot.starpilot.aol.panda_faults import blocking_fault_list
+from openpilot.starpilot.car.hyundai.aol import policy_for
+
+CAPTURE = json.loads((Path(__file__).parent / 'testdata/hda2_discovery.json').read_text())
+
+
+def frames(collision=True):
+  values = ([CAPTURE['classicIdCollision']] if collision else []) + CAPTURE['frames']
+  return [CanData(f['address'], bytes.fromhex(f['data']), f['bus']) for f in values]
+
+
+@pytest.mark.parametrize('collision', [False, True])
+def test_recorded_hda2_layout_selects_normal_wiring(collision):
+  assert normal_bus_topology(lambda **kw: [frames(collision)]), 'HDA2_NORMAL_QUERY_LAYOUT_MISSING'
+
+
+@pytest.mark.parametrize('index', range(8))
+@pytest.mark.parametrize('defect', ['missing', 'length', 'bus', 'echo', 'contradiction'])
+def test_incomplete_malformed_or_echoed_hda2_still_cannot_select_query_family(index, defect):
+  packets = frames()
+  original = packets.pop(index + 1)
+  if defect in ('length', 'contradiction'):
+    packets.append(CanData(original.address, original.dat[:-1], original.src))
+    if defect == 'contradiction':
+      packets.append(original)
+  elif defect != 'missing':
+    packets.append(CanData(original.address, original.dat, original.src + (128 if defect == 'echo' else 1)))
+  assert not normal_bus_topology(lambda **kw: [packets])
+
+
+@pytest.mark.parametrize('layout', [NORMAL_BUS_LAYOUT, CLASSIC_NORMAL_BUS_LAYOUT, HDA1_NORMAL_BUS_LAYOUT])
+def test_original_family_contradictions_still_fail_without_complete_hda2_proof(layout):
+  packets = [CanData(address, bytes(length), bus) for (bus, address), length in layout.items()]
+  packets.insert(0, CanData(0x251, bytes(16), 0))
+  assert not normal_bus_topology(lambda **kw: [packets])
+
+
+@pytest.mark.parametrize('collision', [False, True])
+def test_complete_hda2_proof_can_span_multiple_can_drains(collision):
+  packets = frames(collision)
+  batches = iter([[f] for f in packets])
+  assert normal_bus_topology(lambda **kw: [next(batches, [])])
+
+
+@pytest.mark.parametrize('collision', [False, True])
+def test_actual_fingerprint_keeps_hda2_on_normal_wiring_and_requires_fresh_identity(collision):
+  switches = []
+  with patch('opendbc.car.car_helpers.get_vin', return_value=(-1, -1, VIN_UNKNOWN)) as vin, \
+       patch('opendbc.car.car_helpers.get_fw_versions', return_value=[]) as query, \
+       patch('opendbc.car.car_helpers.get_present_ecus', return_value=set()) as present, \
+       patch('opendbc.car.car_helpers.get_fw_versions_ordered', return_value=[]) as generic, \
+       patch('opendbc.car.car_helpers.match_fw_to_car', return_value=(True, set())), \
+       patch('opendbc.car.car_helpers.can_fingerprint', return_value=(None, {})):
+    actual = fingerprint(lambda wait_for_one=False: [frames(collision)], lambda packets: None, switches.append, None)
+  assert actual[0] is None
+  assert switches and not any(switches), 'HDA2_ENTERED_OBD_QUERY_FALLBACK'
+  assert vin.call_args.args[2] == (0, 1)
+  query.assert_called_once()
+  assert query.call_args.kwargs == {'query_brand': 'hyundai', 'normal_bus_only': True}
+  present.assert_not_called()
+  generic.assert_not_called()
+
+
+@pytest.mark.parametrize('identity', [CAR.KIA_EV6, CAR.HYUNDAI_IONIQ_5])
+@pytest.mark.parametrize('release', [False, True])
+def test_exact_ev6_stock_aol_word_and_neighbor_keep_interrupt_fault_blocking(identity, release):
+  observed = gen_empty_fingerprint()
+  for frame in frames():
+    observed[frame.src][frame.address] = len(frame.dat)
+  cp = CarInterface.get_params(identity, observed, [], False, release, False)
+  assert cp.pcmCruise and not cp.openpilotLongitudinalControl
+  assert cp.safetyConfigs[0].safetyParam == 0x11
+  cp.safetyConfigs[0].safetyParam |= policy_for(cp).safety_param_addition
+  assert cp.safetyConfigs[0].safetyParam == 0x811
+  if identity == CAR.KIA_EV6:
+    assert cp.flags == 10241
+  assert blocking_fault_list([log.PandaState.FaultType.interruptRateCan2], cp)
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/testdata/hda2_discovery.json b/opendbc_repo/opendbc/car/hyundai/tests/testdata/hda2_discovery.json
new file mode 100644
index 0000000000..6f6b013723
--- /dev/null
+++ b/opendbc_repo/opendbc/car/hyundai/tests/testdata/hda2_discovery.json
@@ -0,0 +1,50 @@
+{
+  "build": "6e11c50dfce6da18db9700b7305a2febcbd4ee9f",
+  "frames": [
+    {
+      "bus": 1,
+      "address": 53,
+      "data": "c9f71a510500250526f5fe100040383f04000000203996d40500000000000000"
+    },
+    {
+      "bus": 1,
+      "address": 463,
+      "data": "46e0002000000000"
+    },
+    {
+      "bus": 1,
+      "address": 304,
+      "data": "004db302020300000400000000000000"
+    },
+    {
+      "bus": 1,
+      "address": 234,
+      "data": "2d032110414300001408d50fe9ff0000e9ff000000000000"
+    },
+    {
+      "bus": 1,
+      "address": 160,
+      "data": "d216a974be4feb05300230022f022e020040010000000000"
+    },
+    {
+      "bus": 2,
+      "address": 80,
+      "data": "8d8c1f02400008006400010000000000"
+    },
+    {
+      "bus": 1,
+      "address": 416,
+      "data": "3acc8b56083564000000000000080000fff33f130a000500fe07000000000000"
+    },
+    {
+      "bus": 2,
+      "address": 676,
+      "data": "f64b0622115512338333a000d20000000000000000000000"
+    }
+  ],
+  "classicIdCollision": {
+    "bus": 0,
+    "address": 593,
+    "data": "4f2f0515140206210400000000000000"
+  }
+}
diff --git a/prebuilt.json b/prebuilt.json
index e9bf5ebd9f..f622aa2df2 100644
--- a/prebuilt.json
+++ b/prebuilt.json
@@ -1 +1 @@
-{"protected_inventory_sha256": "567658c0f7e93cec0b15bec55dcabded810f6cd2c1d3321009976fa147360f4a", "schema_version": 1}
+{"protected_inventory_sha256": "997dfa5352e8044453598a3f140eda0561e8ceb6a086696f7965545297e18a2e", "schema_version": 1}