From 4440104f27e2d4d2baab9f8acfef07fa35a16e07 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sun, 4 Oct 2026 02:37:46 -0500
Subject: [PATCH] Hyundai AOL Profiles

---
 .../opendbc/car/hyundai/canfd_stock_aol.py    | 106 ++++++++---
 opendbc_repo/opendbc/car/hyundai/carstate.py  |  10 +-
 .../opendbc/car/hyundai/classic_long_aol.py   |  62 ++++++
 .../tests/test_shared_canfd_stock_aol.py      | 180 ++++++++++++++++++
 opendbc_repo/opendbc/safety/modes/hyundai.h   |   4 +
 .../opendbc/safety/modes/hyundai_canfd.h      | 114 ++++++++++-
 .../opendbc/safety/modes/hyundai_canfd_aol.h  |  17 ++
 .../modes/hyundai_classic_non_scc_aol.h       |  54 +++++-
 .../tests/test_hyundai_classic_long_aol.py    | 125 ++++++++++++
 .../test_hyundai_shared_canfd_stock_aol.py    |  95 +++++++++
 .../pandad/tests/test_aol_protocol.cc         |  27 ++-
 .../aol/tests/test_classic_long_profiles.py   | 164 ++++++++++++++++
 openpilot/starpilot/car/hyundai/aol.py        |  37 +++-
 openpilot/starpilot/car/hyundai/aol_policy.h  |   9 +-
 .../car/hyundai/classic_long_intent.py        |  43 +++++
 tools/ci/run_vehicle_tests.py                 |   4 +
 16 files changed, 1003 insertions(+), 48 deletions(-)
 create mode 100644 opendbc_repo/opendbc/car/hyundai/classic_long_aol.py
 create mode 100644 opendbc_repo/opendbc/car/hyundai/tests/test_shared_canfd_stock_aol.py
 create mode 100644 opendbc_repo/opendbc/safety/modes/hyundai_canfd_aol.h
 create mode 100644 opendbc_repo/opendbc/safety/tests/test_hyundai_classic_long_aol.py
 create mode 100644 opendbc_repo/opendbc/safety/tests/test_hyundai_shared_canfd_stock_aol.py
 create mode 100644 openpilot/starpilot/aol/tests/test_classic_long_profiles.py
 create mode 100644 openpilot/starpilot/car/hyundai/classic_long_intent.py

diff --git a/opendbc_repo/opendbc/car/hyundai/canfd_stock_aol.py b/opendbc_repo/opendbc/car/hyundai/canfd_stock_aol.py
index cd5642f969..ee65e4b809 100644
--- a/opendbc_repo/opendbc/car/hyundai/canfd_stock_aol.py
+++ b/opendbc_repo/opendbc/car/hyundai/canfd_stock_aol.py
@@ -1,32 +1,92 @@
-"""Stock-cruise AOL for the shared EV CAN FD torque/button layout."""
+"""AOL admission for the ordinary CAN FD torque and physical-button layouts."""
+
 from opendbc.car.structs import CarParams
 from opendbc.car.hyundai.values import CAR, HyundaiFlags
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 
 STOCK_AOL_MARKER = 0x0800
-STOCK_AOL_WORDS = frozenset((0x0811, 0x0891))
-# Ioniq 6 retains its existing stock/longitudinal owner and settings.
-STOCK_EV_CARS = frozenset((CAR.HYUNDAI_KONA_EV_2ND_GEN, CAR.HYUNDAI_IONIQ_5,
-  CAR.HYUNDAI_IONIQ_5_N, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_EV6,
-  CAR.GENESIS_GV60_EV_1ST_GEN, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN))
+STOCK_EV_CARS = frozenset(
+  (
+    CAR.HYUNDAI_KONA_EV_2ND_GEN,
+    CAR.HYUNDAI_IONIQ_5,
+    CAR.HYUNDAI_IONIQ_5_N,
+    CAR.KIA_NIRO_EV_2ND_GEN,
+    CAR.KIA_EV6,
+    CAR.GENESIS_GV60_EV_1ST_GEN,
+    CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
+  )
+)
+CARNIVAL_CARS = frozenset((CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_GEN))
+STOCK_AOL_WORDS = frozenset(
+  0x0800 | gas | topology | extra
+  for gas in (0, 1, 2)
+  for topology in (0, 8, 16, 144, 32, 40, 48, 176)
+  for extra in (0, 0x0400, 0x2000, 0x2400)
+  if (topology not in (48, 176) or extra & 0x2000)
+  and (not extra & 0x0400 or topology in (8, 40))
+  and (not extra & 0x2000 or (topology in (32, 40, 48, 176) and gas != 1))
+)
+
+
+def _base_word(cp):
+  allowed = (
+    HyundaiFlags.CANFD
+    | HyundaiFlags.EV
+    | HyundaiFlags.HYBRID
+    | HyundaiFlags.CANFD_LKA_STEER_MSG
+    | HyundaiFlags.CANFD_LKA_STEER_MSG_ALT
+    | HyundaiFlags.CANFD_ALT_BUTTONS
+    | HyundaiFlags.CANFD_CAMERA_SCC
+    | HyundaiFlags.CANFD_ALT_GEARS
+    | HyundaiFlags.CANFD_ALT_GEARS_2
+    | HyundaiFlags.CANFD_RADAR_SCC
+    | HyundaiFlags.CANFD_NO_RADAR_DISABLE
+    | HyundaiFlags.CCNC
+  )
+  try:
+    factory = CAR(cp.carFingerprint)
+  except ValueError:
+    return None
+  if (
+    cp.brand != 'hyundai'
+    or factory == CAR.HYUNDAI_IONIQ_6
+    or not factory.config.flags & HyundaiFlags.CANFD
+    or factory.config.flags & (HyundaiFlags.CANFD_ANGLE_STEERING | HyundaiFlags.NON_SCC)
+    or cp.passive
+    or cp.dashcamOnly
+    or cp.notCar
+    or cp.alternativeExperience != 0
+    or cp.steerControlType != CarParams.SteerControlType.torque
+    or not cp.flags & HyundaiFlags.CANFD
+    or int(cp.flags) & ~int(allowed)
+    or len(cp.safetyConfigs) != 1
+    or cp.safetyConfigs[0].safetyModel != CarParams.SafetyModel.hyundaiCanfd
+  ):
+    return None
+  # EV identity is static; hybrid fuel is selected by the actual 0xFA fingerprint.
+  if bool(cp.flags & HyundaiFlags.EV) != bool(factory.config.flags & HyundaiFlags.EV):
+    return None
+  ev, hybrid = bool(cp.flags & HyundaiFlags.EV), bool(cp.flags & HyundaiFlags.HYBRID)
+  lka = bool(cp.flags & HyundaiFlags.CANFD_LKA_STEER_MSG)
+  alt_lka = bool(cp.flags & HyundaiFlags.CANFD_LKA_STEER_MSG_ALT)
+  alt_buttons = bool(cp.flags & HyundaiFlags.CANFD_ALT_BUTTONS)
+  camera = bool(cp.flags & HyundaiFlags.CANFD_CAMERA_SCC)
+  if (ev and hybrid) or (alt_lka and not lka) or (lka and camera):
+    return None
+  bus = CanBus(cp)
+  if (bus.ACAN, bus.ECAN, bus.CAM) != ((0, 1, 2) if lka else (1, 0, 2)):
+    return None
+  word = (1 if ev else 2 if hybrid else 0) | (16 if lka else 0) | (128 if alt_lka else 0)
+  word |= (32 if alt_buttons else 0) | (8 if camera else 0)
+  if cp.flags & HyundaiFlags.CCNC and camera:
+    word |= 0x0400
+  if factory in CARNIVAL_CARS and alt_buttons:
+    word |= 0x2000
+  return word if word | STOCK_AOL_MARKER in STOCK_AOL_WORDS else None
 
 
 def qualified(cp, *, marked_only=False):
-  required = HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEER_MSG
-  allowed = (required | HyundaiFlags.CANFD_LKA_STEER_MSG_ALT | HyundaiFlags.CANFD_ALT_GEARS |
-             HyundaiFlags.CANFD_ALT_GEARS_2 | HyundaiFlags.CANFD_NO_RADAR_DISABLE | HyundaiFlags.CCNC)
-  if (cp.brand != 'hyundai' or cp.carFingerprint not in STOCK_EV_CARS or
-      cp.passive or cp.dashcamOnly or cp.notCar or cp.alternativeExperience != 0 or
-      cp.openpilotLongitudinalControl or not cp.pcmCruise or
-      cp.steerControlType != CarParams.SteerControlType.torque or
-      int(cp.flags) & int(required) != int(required) or int(cp.flags) & ~int(allowed) or
-      len(cp.safetyConfigs) != 1):
+  word = _base_word(cp)
+  if word is None or cp.openpilotLongitudinalControl or not cp.pcmCruise:
     return False
-  bus = CanBus(cp)
-  if (bus.ACAN, bus.ECAN, bus.CAM) != (0, 1, 2):
-    return False
-  safety = cp.safetyConfigs[0]
-  base = 0x91 if cp.flags & HyundaiFlags.CANFD_LKA_STEER_MSG_ALT else 0x11
-  return (safety.safetyModel == CarParams.SafetyModel.hyundaiCanfd and
-          (safety.safetyParam == (base | STOCK_AOL_MARKER) or
-           (not marked_only and safety.safetyParam == base)))
+  return cp.safetyConfigs[0].safetyParam in ((word | STOCK_AOL_MARKER,) if marked_only else (word, word | STOCK_AOL_MARKER))
diff --git a/opendbc_repo/opendbc/car/hyundai/carstate.py b/opendbc_repo/opendbc/car/hyundai/carstate.py
index 30fba665ed..6a6b0f2fa3 100644
--- a/opendbc_repo/opendbc/car/hyundai/carstate.py
+++ b/opendbc_repo/opendbc/car/hyundai/carstate.py
@@ -1,3 +1,4 @@
+from opendbc.car.hyundai.classic_long_aol import qualified as qualified_classic_long
 from opendbc.car.hyundai.classic_scc_aol import qualified as qualified_classic_scc, ClassicSccLkasSources
 from opendbc.car.hyundai.ev9_camera_lead import EV9CameraLead
 from opendbc.car.hyundai.ev9_longitudinal import qualified as ev9_long_qualified
@@ -54,7 +55,7 @@ class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
     self.forte_lkas_sources = NonSccLkasSources() if qualified_non_scc(CP) and CP.flags & HyundaiFlags.HAS_LDA_BUTTON else None
-    if qualified_classic_scc(CP) and CP.flags & HyundaiFlags.HAS_LDA_BUTTON:
+    if (qualified_classic_scc(CP) or qualified_classic_long(CP)) and CP.flags & HyundaiFlags.HAS_LDA_BUTTON:
       self.forte_lkas_sources = ClassicSccLkasSources(CP.carFingerprint)
     self.ev9_long = ev9_long_qualified(CP)
     self.ev9_camera_lead = EV9CameraLead(CP) if self.ev9_long else None
@@ -538,6 +539,10 @@ class CarState(CarStateBase):
       ]
     elif not CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING and CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CARNIVAL_ALT_RESUME:
       msgs.append(("CRUISE_BUTTONS_ALT", math.nan))
+    from opendbc.car.hyundai.canfd_stock_aol import qualified as stock_aol_qualified
+    if stock_aol_qualified(CP):
+      msgs = [(name, frequency) for name, frequency in msgs if name != "CRUISE_BUTTONS_ALT"]
+      msgs.append(("CRUISE_BUTTONS_ALT", 50 if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else math.nan))
     if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
       # These are actual state and safety inputs, not DBC defaults. Keep this
       # subscription expansion scoped to the new angle profile.
@@ -575,7 +580,8 @@ class CarState(CarStateBase):
     from opendbc.car.hyundai.gv70_startup import eligible as gv70_eligible
     if ev6_eligible(CP) or gv70_eligible(CP):
       # Standard 1CF supplies buttons; alternate 1AA only holds optional units.
-      msgs.append(("CRUISE_BUTTONS_ALT", math.nan))
+      if not any(name == "CRUISE_BUTTONS_ALT" for name, _ in msgs):
+        msgs.append(("CRUISE_BUTTONS_ALT", math.nan))
       existing = {name for name, _ in msgs}
       for name, frequency in (("ACCELERATOR", 100), ("TCS", 50), ("WHEEL_SPEEDS", 100), ("MDPS", 100),
                               (self.gear_msg_canfd, 100)):
diff --git a/opendbc_repo/opendbc/car/hyundai/classic_long_aol.py b/opendbc_repo/opendbc/car/hyundai/classic_long_aol.py
new file mode 100644
index 0000000000..0f9cc834f6
--- /dev/null
+++ b/opendbc_repo/opendbc/car/hyundai/classic_long_aol.py
@@ -0,0 +1,62 @@
+from opendbc.car import structs
+from opendbc.car.hyundai.values import CAR, HyundaiFlags, HyundaiSafetyFlags, is_blended
+from opendbc.car.hyundai.classic_scc_aol import CLASSIC_SCC_IDS, stock_word
+
+AOL_MARKER = 0x0400
+AOL_EXPERIENCE = 32
+_EXCLUDED = int(HyundaiFlags.LEGACY | HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.ALT_LIMITS_2 | HyundaiFlags.CAMERA_SCC)
+CLASSIC_LONG_IDS = frozenset(identity for identity in CLASSIC_SCC_IDS if not int(identity.config.flags) & _EXCLUDED and identity != CAR.GENESIS_G90)
+LONG_AOL_WORDS = frozenset(AOL_MARKER | 4 | gas | limits | lda for gas in (0, 1, 2) for limits in (0, 64) for lda in (0, 2048))
+
+
+def ordinary_word(cp):
+  return stock_word(cp) | int(HyundaiSafetyFlags.LONG)
+
+
+def aol_word(cp):
+  return ordinary_word(cp) | AOL_MARKER | (int(HyundaiSafetyFlags.HAS_LDA_BUTTON) if int(cp.flags) & int(HyundaiFlags.HAS_LDA_BUTTON) else 0)
+
+
+def qualified(cp, *, marked_only=False):
+  if cp.brand != 'hyundai' or cp.carFingerprint not in CLASSIC_LONG_IDS:
+    return False
+  declared = int(CAR[cp.carFingerprint].config.flags)
+  allowed = declared | int(HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.USE_FCA | HyundaiFlags.SEND_LFA)
+  identity_mask = int(
+    HyundaiFlags.CANFD
+    | HyundaiFlags.NON_SCC
+    | HyundaiFlags.FCEV
+    | HyundaiFlags.LEGACY
+    | HyundaiFlags.EV
+    | HyundaiFlags.HYBRID
+    | HyundaiFlags.ALT_LIMITS
+    | HyundaiFlags.ALT_LIMITS_2
+    | HyundaiFlags.CAMERA_SCC
+  )
+  if (
+    int(cp.flags) & identity_mask != declared & identity_mask
+    or int(cp.flags) & ~allowed
+    or is_blended(cp)
+    or cp.passive
+    or cp.notCar
+    or cp.dashcamOnly
+    or not cp.openpilotLongitudinalControl
+    or cp.pcmCruise
+    or cp.steerControlType != structs.CarParams.SteerControlType.torque
+    or not cp.alphaLongitudinalAvailable
+    or cp.alternativeExperience not in (0, AOL_EXPERIENCE)
+    or len(cp.safetyConfigs) != 1
+  ):
+    return False
+  safety = cp.safetyConfigs[0]
+  accepted = (aol_word(cp),) if marked_only else (ordinary_word(cp), aol_word(cp))
+  return safety.safetyModel == structs.CarParams.SafetyModel.hyundai and int(safety.safetyParam) in accepted
+
+
+def native_accepts(cp, model, param):
+  return (
+    qualified(cp, marked_only=True)
+    and cp.alternativeExperience == AOL_EXPERIENCE
+    and model == int(structs.CarParams.SafetyModel.hyundai)
+    and param == aol_word(cp)
+  )
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_shared_canfd_stock_aol.py b/opendbc_repo/opendbc/car/hyundai/tests/test_shared_canfd_stock_aol.py
new file mode 100644
index 0000000000..d94924dd9f
--- /dev/null
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_shared_canfd_stock_aol.py
@@ -0,0 +1,180 @@
+"""Typed CAN FD topology and startup ownership contracts for shared AOL."""
+
+from unittest.mock import patch
+
+import pytest
+from opendbc.car import gen_empty_fingerprint, structs
+from opendbc.car.hyundai.canfd_stock_aol import qualified, STOCK_AOL_WORDS
+from opendbc.car.hyundai.interface import CarInterface
+from opendbc.car.hyundai.values import CAR, HyundaiFlags
+from openpilot.starpilot.car.hyundai.aol import policy_for, native_accepts_cp
+
+
+@pytest.mark.parametrize('identity', [CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_KONA_EV_2ND_GEN])
+@pytest.mark.parametrize('topology', ['hda1_standard', 'hda1_alternate', 'hda2_standard', 'hda2_alternate'])
+def test_actual_typed_factory_binds_stock_word(identity, topology):
+  fp = gen_empty_fingerprint()
+  hda2 = topology.startswith('hda2')
+  if hda2:
+    fp[2].update({0x110: 32, 0x362: 32} if topology == 'hda2_alternate' else {0x50: 16, 0x2A4: 24})
+  if topology != 'hda1_alternate':
+    fp[1 if hda2 else 0][0x1CF] = 8
+  else:
+    fp[0][0x1AA] = 16
+  cp = CarInterface.get_params(identity, fp, [], False, False, False)
+  assert qualified(cp)
+  policy = policy_for(cp)
+  assert policy.explicit_latch and policy.safety_param_addition == 0x800
+  cp.safetyConfigs[0].safetyParam |= 0x800
+  assert int(cp.safetyConfigs[0].safetyParam) in STOCK_AOL_WORDS
+  assert native_accepts_cp(cp, cp.safetyConfigs[0].safetyModel.raw, int(cp.safetyConfigs[0].safetyParam))
+
+
+@pytest.mark.parametrize('identity', [CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_KONA_EV_2ND_GEN])
+def test_fuel_identity_mismatch_is_not_a_different_native_profile(identity):
+  fp = gen_empty_fingerprint()
+  fp[0][0x1CF] = 8
+  cp = CarInterface.get_params(identity, fp, [], False, False, False)
+  assert qualified(cp)
+  cp.flags = int(cp.flags) & ~int(HyundaiFlags.EV)
+  cp.safetyConfigs[0].safetyParam = int(cp.safetyConfigs[0].safetyParam) & ~1
+  assert not qualified(cp)
+
+
+def test_ioniq6_keeps_its_separate_namespace_and_policy():
+  fp = gen_empty_fingerprint()
+  fp[2][0x50] = 16
+  fp[1][0x1CF] = 8
+  fp[0][0x3A5] = 24
+  cp = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, fp, [], False, False, False)
+  assert not qualified(cp)
+  assert policy_for(cp).safety_param_addition == 0x800
+
+
+@pytest.mark.parametrize('identity,fuel', [(CAR.HYUNDAI_SONATA_2024, 0), (CAR.KIA_SPORTAGE_5TH_GEN, 2), (CAR.HYUNDAI_IONIQ_5, 1)])
+@pytest.mark.parametrize('alternate', [False, True])
+def test_stock_hda1_factory_fuel_and_button_source(identity, fuel, alternate):
+  fp = gen_empty_fingerprint()
+  fp[0][0x1AA if alternate else 0x1CF] = 16 if alternate else 8
+  if fuel == 2:
+    fp[0][0xFA] = 8
+  cp = CarInterface.get_params(identity, fp, [], False, False, False)
+  assert qualified(cp)
+  raw = int(cp.safetyConfigs[0].safetyParam)
+  assert raw & 3 == fuel
+  assert bool(cp.flags & HyundaiFlags.CANFD_ALT_BUTTONS) == alternate
+  cp.safetyConfigs[0].safetyParam = raw | 0x800
+  assert qualified(cp, marked_only=True)
+  assert native_accepts_cp(cp, cp.safetyConfigs[0].safetyModel.raw, raw | 0x800)
+
+
+def test_static_angle_identity_cannot_alias_torque_admission():
+  fp = gen_empty_fingerprint()
+  fp[2].update({0x110: 32, 0x362: 32})
+  fp[1][0x1CF] = 8
+  cp = CarInterface.get_params(CAR.HYUNDAI_IONIQ_5_PE, fp, [], False, False, False)
+  cp.steerControlType = structs.CarParams.SteerControlType.torque
+  cp.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEER_MSG | HyundaiFlags.CANFD_LKA_STEER_MSG_ALT)
+  cp.safetyConfigs[0].safetyParam = 0x891
+  assert not qualified(cp)
+  assert not policy_for(cp).explicit_latch
+
+
+FACTORY_CASES = tuple(
+  (identity, topology, 1)
+  for identity in (CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_KONA_EV_2ND_GEN)
+  for topology in ('hda1_standard', 'hda1_alternate', 'hda2_standard', 'hda2_alternate')
+) + tuple(
+  (identity, 'hda1_alternate' if alternate else 'hda1_standard', fuel)
+  for identity, fuel in ((CAR.HYUNDAI_SONATA_2024, 0), (CAR.KIA_SPORTAGE_5TH_GEN, 2), (CAR.HYUNDAI_IONIQ_5, 1))
+  for alternate in (False, True)
+)
+
+
+@pytest.mark.parametrize('identity,topology,fuel', FACTORY_CASES)
+@pytest.mark.parametrize('enabled', [False, True])
+def test_actual_stock_card_publication_and_controls(identity, topology, fuel, enabled):
+  import gc
+  import os
+  from openpilot.common.params import Params
+  from openpilot.common.prefix import OpenpilotPrefix
+  from openpilot.selfdrive.car.card import Car
+  from openpilot.selfdrive.controls.controlsd import Controls
+  from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+  from opendbc.car.hyundai.radar_interface import RadarInterface
+
+  fp = gen_empty_fingerprint()
+  hda2 = topology.startswith('hda2')
+  if hda2:
+    fp[2].update({0x110: 32, 0x362: 32} if topology == 'hda2_alternate' else {0x50: 16, 0x2A4: 24})
+  fp[1 if hda2 else 0][0x1AA if topology == 'hda1_alternate' else 0x1CF] = 16 if topology == 'hda1_alternate' else 8
+  if fuel == 2:
+    fp[0][0xFA] = 8
+  with OpenpilotPrefix(), patch.dict(os.environ, {'SIMULATION': '1'}):
+    saved = Params()
+    saved.put_bool('OpenpilotEnabledToggle', True, block=True)
+    saved.put_bool('AlwaysOnLateral', enabled, block=True)
+    saved.put('MainCruiseButtonControl', 9, block=True)
+    saved.put('LKASButtonControl', 9, block=True)
+    cp = CarInterface.get_params(identity, fp, [], False, False, False)
+    assert qualified(cp)
+    original_word = int(cp.safetyConfigs[0].safetyParam)
+    original_flags = cp.flags
+    ci = CarInterface(cp)
+    card = Car(CI=ci, RI=RadarInterface(cp))
+    with structs.CarParams.from_bytes(saved.get('CarParams')) as published:
+      assert published.pcmCruise and not published.openpilotLongitudinalControl and not published.passive
+      assert published.safetyConfigs[0].safetyParam == original_word | (0x800 if enabled else 0)
+      assert published.alternativeExperience == 0
+      assert published.flags == original_flags
+      assert qualified(published, marked_only=enabled)
+      assert published.carFingerprint == identity
+    controls = Controls()
+    assert controls.CP.to_dict() == card.CP.to_dict()
+    assert isinstance(controls.LaC, LatControlTorque)
+    assert card.aol_qualified == enabled
+    del controls, card, ci
+    gc.collect()
+
+
+@pytest.mark.parametrize('identity', [CAR.KIA_EV6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN])
+def test_existing_stock_startup_profiles_update_without_duplicate_units_source(identity):
+  from opendbc.can import CANPacker
+
+  fp = gen_empty_fingerprint()
+  fp[2].update({0x50: 16, 0x2A4: 24})
+  fp[1][0x1CF] = 8
+  cp = CarInterface.get_params(identity, fp, [], False, False, False)
+  assert qualified(cp)
+  cp.safetyConfigs[0].safetyParam |= 0x800
+  ci = CarInterface(cp)
+  packer = CANPacker('hyundai_canfd_generated')
+  drive = next(code for code, label in ci.CS.shifter_values.items() if label == 'D')
+  inventory = [
+    ('ACCELERATOR', 1),
+    ('TCS', 1),
+    ('WHEEL_SPEEDS', 1),
+    ('MDPS', 1),
+    ('STEERING_SENSORS', 1),
+    ('DOORS_SEATBELTS', 1),
+    ('BLINKERS', 1),
+    ('GEAR_ALT_2', 1),
+    ('CRUISE_BUTTONS', 1),
+    ('SCC_CONTROL', 1),
+    ('CAM_0x2a4', 2),
+    ('MANUAL_SPEED_LIMIT_ASSIST', 1),
+  ]
+  assert all(name != 'CRUISE_BUTTONS_ALT' for name, _ in inventory)
+  for tick in range(40):
+    frames = []
+    for name, bus in inventory:
+      values = {'COUNTER': tick % (16 if name == 'CRUISE_BUTTONS' else 256)}
+      if name == 'GEAR_ALT_2':
+        values['GEAR'] = drive
+      elif name == 'DOORS_SEATBELTS':
+        values['DRIVER_SEATBELT'] = 1
+      elif name == 'WHEEL_SPEEDS':
+        values.update(WHL_SpdFLVal=72, WHL_SpdFRVal=72, WHL_SpdRLVal=72, WHL_SpdRRVal=72)
+      frames.append(packer.make_can_msg(name, bus, values))
+    state = ci.update([(1_000_000_000 + tick * 10_000_000, frames)])
+  assert state.canValid and not state.canTimeout
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai.h b/opendbc_repo/opendbc/safety/modes/hyundai.h
index 0bd77466d0..0acb81babd 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai.h
@@ -584,6 +584,10 @@ static safety_config hyundai_init(uint16_t param) {
 
   hyundai_common_init(param);
   classic_non_scc_aol_configure(param, false);
+  if (classic_long_aol_param(param) && !classic_long_aol_enabled) {
+    const safety_config denied = {0};
+    return denied;
+  }
   hyundai_blended_alpha = false;
 #ifdef ALLOW_DEBUG
   hyundai_blended_alpha = (param == 0x2004U) || (param == 0x2014U);
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
index 1cdd0b0a4e..7505e28ef4 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
@@ -2,6 +2,7 @@
 
 #include "opendbc/safety/declarations.h"
 #include "opendbc/safety/modes/hyundai_common.h"
+#include "opendbc/safety/modes/hyundai_canfd_aol.h"
 
 #define HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(bus) \
   {0x1CF, bus, 8, .check_relay = false},  /* CRUISE_BUTTON */   \
@@ -420,8 +421,8 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
     if (hyundai_canfd_ev9_long && !previous_controls_allowed && controls_allowed) {
       hyundai_ev9_inactive_accel_count = 0U;
     }
-    if (aol_ioniq6_long && (msg_matches(msg, 0x1cfU, pt_bus))) {
-      const bool gesture = main_button || GET_BIT(msg, 23U); // LDA/LKAS button
+    if (aol_ioniq6_long && (msg_matches(msg, hyundai_canfd_alt_buttons ? 0x1aaU : 0x1cfU, pt_bus))) {
+      const bool gesture = main_button || (hyundai_canfd_alt_buttons ? GET_BIT(msg, 39U) : GET_BIT(msg, 23U)); // LDA/LKAS button
       if (cruise_button == HYUNDAI_BTN_CANCEL) {
         aol_ioniq6_lateral_latch = false;
         aol_ioniq6_lateral_token_claimed = false;
@@ -949,7 +950,7 @@ static safety_config hyundai_canfd_init_validated(uint16_t param) {
   const uint16_t HYUNDAI_PARAM_ANGLE_MODEL_MASK = 2048U | 4096U | HYUNDAI_PARAM_ANGLE_MODEL_BANK;
   const uint16_t HYUNDAI_PARAM_ANGLE_TOPOLOGY_MASK = 8U | 16U | 32U | 128U;
   const bool angle_requested = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ANGLE);
-  const bool ioniq6_stock_aol_requested = (param == 0x0811U) || (param == 0x0891U);
+  const bool ioniq6_stock_aol_requested = hyundai_canfd_stock_torque_aol_param(param);
   const bool pe_requested = (param == HYUNDAI_IONIQ5_PE_STOCK_PARAM) && ((unsigned int)alternative_experience == 0U);
   const bool ev9_requested = (param == HYUNDAI_EV9_STOCK_PARAM) && ((unsigned int)alternative_experience == 0U);
   const bool ordinary_angle_requested = pe_requested || ev9_requested;
@@ -1462,6 +1463,108 @@ static safety_config hyundai_canfd_init_validated(uint16_t param) {
     }
   }
 
+  if (ioniq6_stock_aol_requested && (param != 0x0811U) && (param != 0x0891U)) {
+    static RxCheck torque_hda2_ev_std[] = {
+      HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(1, 0x35)
+      HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
+    };
+    static RxCheck torque_hda2_ev_alt[] = {
+      HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(1, 0x35)
+      HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
+    };
+    static RxCheck torque_hda2_ice_std[] = {
+      HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(1, 0x100)
+      HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
+    };
+    static RxCheck torque_hda2_ice_alt[] = {
+      HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(1, 0x100)
+      HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
+    };
+    static RxCheck torque_hda2_hybrid_std[] = {
+      HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(1, 0x105)
+      HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
+    };
+    static RxCheck torque_hda2_hybrid_alt[] = {
+      HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(1, 0x105)
+      HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
+    };
+    static RxCheck torque_radar_ev_std[] = {
+      HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(0, 0x35)
+      HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
+    };
+    static RxCheck torque_radar_ev_alt[] = {
+      HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(0, 0x35)
+      HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
+    };
+    static RxCheck torque_radar_ice_std[] = {
+      HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(0, 0x100)
+      HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
+    };
+    static RxCheck torque_radar_ice_alt[] = {
+      HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(0, 0x100)
+      HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
+    };
+    static RxCheck torque_radar_hybrid_std[] = {
+      HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(0, 0x105)
+      HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
+    };
+    static RxCheck torque_radar_hybrid_alt[] = {
+      HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(0, 0x105)
+      HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
+    };
+    static RxCheck torque_camera_ev_std[] = {
+      HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(0, 0x35)
+      HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
+    };
+    static RxCheck torque_camera_ev_alt[] = {
+      HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(0, 0x35)
+      HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
+    };
+    static RxCheck torque_camera_ice_std[] = {
+      HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(0, 0x100)
+      HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
+    };
+    static RxCheck torque_camera_ice_alt[] = {
+      HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(0, 0x100)
+      HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
+    };
+    static RxCheck torque_camera_hybrid_std[] = {
+      HYUNDAI_CANFD_BANKED_ANGLE_STD_RX_CHECKS(0, 0x105)
+      HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
+    };
+    static RxCheck torque_camera_hybrid_alt[] = {
+      HYUNDAI_CANFD_BANKED_ANGLE_ALT_RX_CHECKS(0, 0x105)
+      HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
+    };
+    RxCheck *selected = NULL;
+    if (hyundai_canfd_lka_steer_msg) {
+      if (hyundai_ev_gas_signal) {
+        selected = hyundai_canfd_alt_buttons ? torque_hda2_ev_alt : torque_hda2_ev_std;
+      } else if (hyundai_hybrid_gas_signal) {
+        selected = hyundai_canfd_alt_buttons ? torque_hda2_hybrid_alt : torque_hda2_hybrid_std;
+      } else {
+        selected = hyundai_canfd_alt_buttons ? torque_hda2_ice_alt : torque_hda2_ice_std;
+      }
+    } else if (hyundai_camera_scc) {
+      if (hyundai_ev_gas_signal) {
+        selected = hyundai_canfd_alt_buttons ? torque_camera_ev_alt : torque_camera_ev_std;
+      } else if (hyundai_hybrid_gas_signal) {
+        selected = hyundai_canfd_alt_buttons ? torque_camera_hybrid_alt : torque_camera_hybrid_std;
+      } else {
+        selected = hyundai_canfd_alt_buttons ? torque_camera_ice_alt : torque_camera_ice_std;
+      }
+    } else {
+      if (hyundai_ev_gas_signal) {
+        selected = hyundai_canfd_alt_buttons ? torque_radar_ev_alt : torque_radar_ev_std;
+      } else if (hyundai_hybrid_gas_signal) {
+        selected = hyundai_canfd_alt_buttons ? torque_radar_hybrid_alt : torque_radar_hybrid_std;
+      } else {
+        selected = hyundai_canfd_alt_buttons ? torque_radar_ice_alt : torque_radar_ice_std;
+      }
+    }
+    ret.rx_checks = selected;
+    ret.rx_checks_len = 6;
+  }
   return ret;
 }
 
@@ -1475,7 +1578,10 @@ static safety_config hyundai_canfd_init(uint16_t param) {
   const bool valid = !GET_FLAG(param, 32768U);
 #endif
   safety_config ret = {0};
-  if (valid) {
+  const bool marker_valid = GET_FLAG(param, 16384U) || !GET_FLAG(param, 2048U) ||
+                            hyundai_canfd_stock_torque_aol_param(param) ||
+                            (param == 0x8815U) || (param == 0x8895U);
+  if (valid && marker_valid) {
     ret = hyundai_canfd_init_validated(param);
   }
   return ret;
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai_canfd_aol.h b/opendbc_repo/opendbc/safety/modes/hyundai_canfd_aol.h
new file mode 100644
index 0000000000..201faef3dd
--- /dev/null
+++ b/opendbc_repo/opendbc/safety/modes/hyundai_canfd_aol.h
@@ -0,0 +1,17 @@
+#pragma once
+
+// Bit 11 selects the shared axis lease only for these ordinary torque layouts.
+// Angle model selectors and the separate Ioniq 6 actuator profile stay separate.
+static inline bool hyundai_canfd_stock_torque_aol_param(uint16_t param) {
+  const uint16_t base = param & (uint16_t)~0x0800U;
+  const uint16_t gas = base & 3U;
+  const uint16_t topology = base & 0x00B8U;
+  const bool carnival = (base & 0x2000U) != 0U;
+  const bool ccnc = (base & 0x0400U) != 0U;
+  const bool standard = (topology == 0U) || (topology == 8U) || (topology == 16U) || (topology == 144U);
+  const bool alternate = (topology == 32U) || (topology == 40U) ||
+                         (carnival && ((topology == 48U) || (topology == 176U)));
+  return ((param & 0x0800U) != 0U) && ((base & (uint16_t)~0x24BBU) == 0U) && (gas != 3U) &&
+         (standard || alternate) && (!ccnc || ((topology == 8U) || (topology == 40U))) &&
+         (!carnival || (alternate && (gas != 1U)));
+}
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai_classic_non_scc_aol.h b/opendbc_repo/opendbc/safety/modes/hyundai_classic_non_scc_aol.h
index 20635b2fcf..ceb4eb8994 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai_classic_non_scc_aol.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai_classic_non_scc_aol.h
@@ -15,6 +15,13 @@
 
 static bool classic_scc_aol_enabled = false;
 static bool classic_scc_aol_camera = false;
+static bool classic_long_aol_enabled = false;
+static bool classic_long_main_neutral = false;
+static bool classic_long_main_pressed = false;
+
+static bool classic_long_aol_param(uint16_t param) {
+  return ((param & 0x0404U) == 0x0404U) && ((param & 0xF3B8U) == 0U) && ((param & 3U) != 3U);
+}
 
 static bool classic_scc_aol_param(uint16_t param) {
   // Stock SCC gas, torque limits and camera routing only. No LONG or NON_SCC.
@@ -56,6 +63,8 @@ static void classic_non_scc_aol_clear_authorization(void) {
     classic_non_scc_aol_source_neutral[i] = false;
     classic_non_scc_aol_source_ts[i] = 0U;
   }
+  classic_long_main_neutral = false;
+  classic_long_main_pressed = false;
   aol_host_axis_mask = 0U;
 }
 
@@ -64,6 +73,7 @@ static void classic_non_scc_aol_reset(void) {
   classic_non_scc_aol_enabled = false;
   classic_scc_aol_enabled = false;
   classic_scc_aol_camera = false;
+  classic_long_aol_enabled = false;
   classic_non_scc_aol_ev = false;
   classic_non_scc_aol_hev = false;
   classic_non_scc_aol_lda = false;
@@ -94,8 +104,9 @@ static uint8_t classic_non_scc_aol_request_mask(void) {
     classic_non_scc_aol_clear_authorization();
   } else if (heartbeat_engaged) {
     classic_non_scc_aol_session = true;
-    if (classic_scc_aol_enabled && classic_non_scc_aol_lda && controls_allowed &&
-        classic_non_scc_aol_main_seen && aol_rx_healthy() && ((aol_host_axis_mask & 1U) != 0U)) {
+    if (((classic_scc_aol_enabled && classic_non_scc_aol_lda) || classic_long_aol_enabled) && controls_allowed &&
+        classic_non_scc_aol_main_seen && (!classic_long_aol_enabled || classic_non_scc_aol_main) &&
+        aol_rx_healthy() && ((aol_host_axis_mask & 1U) != 0U)) {
       // Actual stock ACC activation can seed the host's LKAS-on-engage latch.
       classic_non_scc_aol_token = true;
       classic_non_scc_aol_token_ts = now;
@@ -103,7 +114,7 @@ static uint8_t classic_non_scc_aol_request_mask(void) {
     if (((aol_host_axis_mask & 1U) != 0U) && classic_non_scc_aol_token) {
       classic_non_scc_aol_claimed = true;
     }
-    result = aol_host_axis_mask & 1U;  // NON-SCC never grants an independent longitudinal axis.
+    result = aol_host_axis_mask & (classic_long_aol_enabled ? 3U : 1U);
   } else {
     // Physical evidence may precede heartbeat but grants no permission yet.
   }
@@ -116,10 +127,14 @@ static uint8_t classic_non_scc_aol_permission_mask(void) {
     classic_non_scc_aol_clear_authorization();
   } else {
     const uint8_t request = classic_non_scc_aol_request_mask();
-    const bool physical_authorized = (classic_scc_aol_enabled && classic_non_scc_aol_lda) ?
+    const bool physical_authorized = (classic_long_aol_enabled || (classic_scc_aol_enabled && classic_non_scc_aol_lda)) ?
       (classic_non_scc_aol_token || controls_allowed) :
       (classic_non_scc_aol_main || classic_non_scc_aol_token || controls_allowed);
-    result = (((request & 1U) != 0U) && classic_non_scc_aol_main_seen && physical_authorized) ? 1U : 0U;
+    result = (((request & 1U) != 0U) && classic_non_scc_aol_main_seen && physical_authorized &&
+              (!classic_long_aol_enabled || classic_non_scc_aol_main)) ? 1U : 0U;
+    if (classic_long_aol_enabled && classic_non_scc_aol_main && controls_allowed && ((request & 2U) != 0U)) {
+      result |= 2U;
+    }
   }
   return result;
 }
@@ -137,11 +152,31 @@ static void classic_non_scc_aol_rx(const CANPacket_t *msg) {
   if (classic_non_scc_aol_enabled && ((msg->bus == 0U) || (classic_scc_aol_enabled && classic_scc_aol_camera && (msg->bus == 2U)))) {
     const uint32_t now = microsecond_timer_get();
     const uint8_t scc_bus = classic_scc_aol_camera ? 2U : 0U;
+    if (classic_long_aol_enabled && (msg->bus == 0U) && (msg->addr == 0x394U) && (GET_LEN(msg) == 8U)) {
+      classic_non_scc_aol_main = ((msg->data[5] >> 3U) & 3U) == 0U;
+      classic_non_scc_aol_main_seen = true;
+      if (!classic_non_scc_aol_main) {
+        classic_non_scc_aol_token = false;
+        classic_non_scc_aol_claimed = false;
+      }
+    }
+    if (classic_long_aol_enabled && (msg->bus == 0U) && (msg->addr == 0x4F1U) && (GET_LEN(msg) == 4U)) {
+      const bool main_pressed = GET_BIT(msg, 3U);
+      if (!main_pressed) {
+        classic_long_main_neutral = true;
+      } else if (classic_long_main_neutral && !classic_long_main_pressed && (aol_host_axis_mask == 0U)) {
+        classic_non_scc_aol_token = true;
+        classic_non_scc_aol_claimed = false;
+        classic_non_scc_aol_token_ts = now;
+      } else {
+      }
+      classic_long_main_pressed = main_pressed;
+    }
     if (classic_scc_aol_enabled && (msg->bus == scc_bus) && (msg->addr == 0x420U) && (GET_LEN(msg) == 8U)) {
       classic_non_scc_aol_main = GET_BIT(msg, 0U);
       classic_non_scc_aol_main_seen = true;
     }
-    if (!classic_scc_aol_enabled && (GET_LEN(msg) == 8U) &&
+    if (!classic_scc_aol_enabled && !classic_long_aol_enabled && (GET_LEN(msg) == 8U) &&
         ((!classic_non_scc_aol_ev && !classic_non_scc_aol_hev && (msg->addr == 0x260U)) ||
          (classic_non_scc_aol_ev && (msg->addr == 0x592U)) ||
          (classic_non_scc_aol_hev && (msg->addr == 0x595U)))) {
@@ -192,13 +227,16 @@ static void classic_non_scc_aol_configure(uint16_t param, bool legacy) {
   classic_non_scc_aol_reset();
   classic_scc_aol_enabled = classic_scc_aol_param(param) && (!legacy || ((param & 8U) == 0U)) &&
     ((unsigned int)alternative_experience == 32U);
+#ifdef ALLOW_DEBUG
+  classic_long_aol_enabled = !legacy && classic_long_aol_param(param) && ((unsigned int)alternative_experience == 32U);
+#endif
   classic_scc_aol_camera = classic_scc_aol_enabled && ((param & 8U) != 0U);
   classic_non_scc_aol_enabled = ((!legacy && ((param == HYUNDAI_FORTE_AOL_MAIN) || (param == HYUNDAI_FORTE_AOL_LDA) ||
                                (param == HYUNDAI_KONA_AOL_MAIN) || (param == HYUNDAI_KONA_AOL_LDA) ||
                                (param == HYUNDAI_NON_SCC_HEV_AOL_MAIN) || (param == HYUNDAI_NON_SCC_HEV_AOL_LDA) ||
-                               (param == HYUNDAI_NON_SCC_EV_ALT_AOL_MAIN) || (param == HYUNDAI_NON_SCC_EV_ALT_AOL_LDA))) || classic_scc_aol_enabled) &&
+                               (param == HYUNDAI_NON_SCC_EV_ALT_AOL_MAIN) || (param == HYUNDAI_NON_SCC_EV_ALT_AOL_LDA))) || classic_scc_aol_enabled || classic_long_aol_enabled) &&
     ((unsigned int)alternative_experience == 32U);
-  classic_non_scc_aol_lda = classic_non_scc_aol_enabled && ((classic_scc_aol_enabled && ((param & 0x0800U) != 0U)) || (param == HYUNDAI_FORTE_AOL_LDA) || (param == HYUNDAI_KONA_AOL_LDA) ||
+  classic_non_scc_aol_lda = classic_non_scc_aol_enabled && (((classic_scc_aol_enabled || classic_long_aol_enabled) && ((param & 0x0800U) != 0U)) || (param == HYUNDAI_FORTE_AOL_LDA) || (param == HYUNDAI_KONA_AOL_LDA) ||
                                                           (param == HYUNDAI_NON_SCC_HEV_AOL_LDA) ||
                                                           (param == HYUNDAI_NON_SCC_EV_ALT_AOL_LDA));
   classic_non_scc_aol_ev = classic_non_scc_aol_enabled && ((param == HYUNDAI_NON_SCC_EV_ALT_AOL_MAIN) || (param == HYUNDAI_NON_SCC_EV_ALT_AOL_LDA));
diff --git a/opendbc_repo/opendbc/safety/tests/test_hyundai_classic_long_aol.py b/opendbc_repo/opendbc/safety/tests/test_hyundai_classic_long_aol.py
new file mode 100644
index 0000000000..c9c7c69121
--- /dev/null
+++ b/opendbc_repo/opendbc/safety/tests/test_hyundai_classic_long_aol.py
@@ -0,0 +1,125 @@
+from opendbc.car.structs import CarParams
+import unittest
+from opendbc.safety.tests import test_hyundai_kona_lda_aol as fixture
+
+
+class TestHyundaiClassicLongAol(unittest.TestCase):
+  def setUp(self):
+    fixture.TestHyundaiKonaLdaAol.setUp(self)
+    self.release = self.safety.set_safety_hooks(CarParams.SafetyModel.allOutput, 0) != 0
+
+  tearDown = fixture.TestHyundaiKonaLdaAol.tearDown
+  reset = fixture.TestHyundaiKonaLdaAol.reset
+  rx = fixture.TestHyundaiKonaLdaAol.rx
+  request = fixture.TestHyundaiKonaLdaAol.request
+
+  def feed(self, word=0x404, button=0, main=False, available=True, tcs=True, clu=True, wrong_bus=None, corrupt_tcs=False):
+    self.safety.set_timer(self.now)
+    c = self.counter
+    self.counter += 1
+    if word & 3:
+      self.rx('E_EMS11', {'Accel_Pedal_Pos': 0, 'CR_Vcu_AccPedDep_Pos': 0})
+    else:
+      self.rx('EMS16', {'AliveCounter': c % 4}, integrity=True)
+    self.rx('WHL_SPD11', {'WHL_SPD_AliveCounter_LSB': c % 4, 'WHL_SPD_AliveCounter_MSB': (c // 4) % 4}, integrity=True)
+    if tcs:
+      self.rx('TCS13', {'AliveCounterTCS': c % 8, 'ACCEnable': 0 if available else 1}, integrity=not corrupt_tcs, bus=0 if wrong_bus is None else wrong_bus)
+    self.rx('MDPS12', {'CR_Mdps_StrColTq': 0})
+    if clu:
+      self.rx('CLU11', {'CF_Clu_AliveCnt1': c % 16, 'CF_Clu_CruiseSwState': button, 'CF_Clu_CruiseSwMain': int(main)})
+    self.now += 10000
+
+  def test_availability_and_held_main_cannot_authorize(self):
+    self.reset(0x404)
+    for _ in range(6):
+      self.feed(main=True)
+    self.assertEqual(self.request(3), 0)
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_physical_main_grants_lateral_only_without_stock_scc(self):
+    self.reset(0x404)
+    for _ in range(6):
+      self.feed()
+    self.feed(main=True)
+    expected = 0 if self.release else 1
+    self.assertEqual(self.request(3), expected)
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_set_resume_capture_and_cancel_keep_longitudinal_physical(self):
+    if self.release:
+      self.skipTest('Current classic OP-long is DEBUG-only')
+    for button in (1, 2):
+      self.reset(0xC04)
+      for _ in range(6):
+        self.feed(0xC04)
+      self.feed(0xC04, button=button)
+      self.feed(0xC04)
+      self.assertTrue(self.safety.get_controls_allowed())
+      self.assertEqual(self.request(3), 3)
+      self.feed(0xC04, button=4)
+      self.assertFalse(self.safety.get_controls_allowed())
+      self.assertEqual(self.request(3), 1)
+      self.safety.set_aol_test_heartbeat(False)
+      self.assertEqual(self.request(3), 0)
+
+  def test_tcs_fault_and_expiry_revoke_without_disabled_scc_requirement(self):
+    if self.release:
+      self.skipTest('Current classic OP-long is DEBUG-only')
+    for cause in ('fault', 'expiry'):
+      self.reset(0x404)
+      for _ in range(6):
+        self.feed()
+      self.feed(main=True)
+      self.assertEqual(self.request(1), 1)
+      if cause == 'fault':
+        self.feed(available=False)
+      else:
+        for _ in range(120):
+          self.feed(tcs=False)
+          self.request(1)
+      self.assertEqual(self.request(3), 0)
+
+  def test_release_marked_long_has_zero_tx_and_existing_unmarked_is_unchanged(self):
+    if not self.release:
+      self.skipTest('Explicit release marked-owner boundary')
+    for word in (0x404, 0xC04, 0x405, 0xC05, 0x406, 0xC06, 0x444, 0xC44, 0x445, 0xC45, 0x446, 0xC46):
+      self.reset(word)
+      self.assertEqual(self.request(3), 0)
+      for name, values in (('LKAS11', {'CR_Lkas_StrToqReq': 0, 'CF_Lkas_ActToi': 0}), ('SCC12', {'ACCMode': 0, 'aReqRaw': 0, 'aReqValue': 0})):
+        self.assertFalse(self.safety.safety_tx_hook(self.packer.make_can_msg_safety(name, 0, values)))
+    self.reset(4)
+    self.assertTrue(self.safety.safety_tx_hook(self.packer.make_can_msg_safety('LKAS11', 0, {'CR_Lkas_StrToqReq': 0, 'CF_Lkas_ActToi': 0})))
+    self.assertFalse(self.safety.safety_tx_hook(self.packer.make_can_msg_safety('SCC12', 0, {'ACCMode': 1, 'aReqRaw': 1, 'aReqValue': 1})))
+
+  def test_required_clu_expiry_clears_prior_main_and_requires_fresh_gesture(self):
+    if self.release:
+      self.skipTest('Current classic OP-long is DEBUG-only')
+    self.reset(0x404)
+    for _ in range(6):
+      self.feed()
+    self.feed(main=True)
+    self.assertEqual(self.request(1), 1)
+    for _ in range(120):
+      self.feed(clu=False)
+      self.request(1)
+    self.assertEqual(self.request(3), 0)
+    for _ in range(6):
+      self.feed(main=True)
+    self.assertEqual(self.request(1), 0)
+    self.assertEqual(self.request(0), 0)
+    self.feed()
+    self.feed(main=True)
+    self.assertEqual(self.request(1), 1)
+
+  def test_wrong_bus_tcs_does_not_renew_ready_health(self):
+    if self.release:
+      self.skipTest('Current classic OP-long is DEBUG-only')
+    self.reset(0x404)
+    for _ in range(6):
+      self.feed()
+    self.feed(main=True)
+    self.assertEqual(self.request(1), 1)
+    for _ in range(120):
+      self.feed(wrong_bus=1)
+      self.request(1)
+    self.assertEqual(self.request(3), 0)
diff --git a/opendbc_repo/opendbc/safety/tests/test_hyundai_shared_canfd_stock_aol.py b/opendbc_repo/opendbc/safety/tests/test_hyundai_shared_canfd_stock_aol.py
new file mode 100644
index 0000000000..f99a4d1cce
--- /dev/null
+++ b/opendbc_repo/opendbc/safety/tests/test_hyundai_shared_canfd_stock_aol.py
@@ -0,0 +1,95 @@
+import unittest
+
+from opendbc.can import CANPacker
+from opendbc.car import structs
+from opendbc.car.hyundai.canfd_stock_aol import STOCK_AOL_WORDS
+from opendbc.safety.tests.libsafety import libsafety_py
+
+
+class TestHyundaiSharedCanfdStockAol(unittest.TestCase):
+  def setUp(self):
+    self.safety = libsafety_py.libsafety
+    self.packer = CANPacker('hyundai_canfd_generated')
+
+  def mode(self, word):
+    self.safety.set_alternative_experience(0)
+    self.assertEqual(self.safety.set_safety_hooks(structs.CarParams.SafetyModel.hyundaiCanfd, word), 0)
+    self.safety.init_tests()
+    self.safety.set_timer(1_000_000)
+
+  @staticmethod
+  def packet(frame):
+    return libsafety_py.make_CANPacket(frame[0], frame[2], frame[1])
+
+  def healthy(self, word, *, omit=None, wrong_bus=None):
+    pt = 1 if word & 0x10 else 0
+    fuel = {0: 'ACCELERATOR_BRAKE_ALT', 1: 'ACCELERATOR', 2: 'ACCELERATOR_ALT'}[word & 3]
+    buttons = 'CRUISE_BUTTONS_ALT' if word & 0x20 else 'CRUISE_BUTTONS'
+    for counter in range(1, 7):
+      for name in (fuel, 'TCS', 'WHEEL_SPEEDS', 'MDPS', buttons):
+        if name == omit:
+          continue
+        bus = 1 - pt if name == wrong_bus else pt
+        values = {'COUNTER': counter % (16 if name == 'CRUISE_BUTTONS' else 256)}
+        if name == 'MDPS':
+          values['MDPS_StrTqSnsrVal'] = 0
+        frame = self.packer.make_can_msg(name, bus, values)
+        self.assertTrue(self.safety.safety_rx_hook(self.packet(frame)), name)
+      if not word & 4 and omit != 'SCC_CONTROL':
+        frame = self.packer.make_can_msg('SCC_CONTROL', 2 if word & 8 else pt, {'COUNTER': counter})
+        self.assertTrue(self.safety.safety_rx_hook(self.packet(frame)))
+
+  def gesture(self, word):
+    pt = 1 if word & 0x10 else 0
+    name = 'CRUISE_BUTTONS_ALT' if word & 0x20 else 'CRUISE_BUTTONS'
+    for count, pressed in ((7, 1), (8, 0)):
+      frame = self.packer.make_can_msg(name, pt, {'COUNTER': count, 'LDA_BTN': pressed})
+      self.assertTrue(self.safety.safety_rx_hook(self.packet(frame)))
+    self.safety.set_aol_test_heartbeat(True)
+    self.safety.aol_set_host_request(3)
+
+  def test_selected_fuel_button_and_scc_sources_are_required(self):
+    for word in (0x800 | fuel | topology for fuel in (0, 1, 2) for topology in (0, 8, 16, 32, 40, 144)):
+      fuel = {0: 'ACCELERATOR_BRAKE_ALT', 1: 'ACCELERATOR', 2: 'ACCELERATOR_ALT'}[word & 3]
+      buttons = 'CRUISE_BUTTONS_ALT' if word & 0x20 else 'CRUISE_BUTTONS'
+      for omitted in (fuel, buttons, 'SCC_CONTROL'):
+        self.mode(word)
+        self.healthy(word, omit=omitted)
+        if omitted != buttons:
+          self.gesture(word)
+        else:
+          self.safety.set_aol_test_heartbeat(True)
+          self.safety.aol_set_host_request(3)
+        self.assertEqual(self.safety.aol_get_permission_mask(), 0)
+      self.mode(word)
+      self.healthy(word)
+      self.gesture(word)
+      self.assertEqual(self.safety.aol_get_permission_mask(), 1)
+
+  def test_full_stock_word_inventory_and_unknown_marker_rejection(self):
+    for word in STOCK_AOL_WORDS:
+      with self.subTest(word=hex(word)):
+        self.mode(word)
+        self.healthy(word)
+        self.gesture(word)
+        self.assertEqual(self.safety.aol_get_permission_mask(), 1)
+        pt = 1 if word & 0x10 else 0
+        self.assertFalse(self.safety.safety_tx_hook(self.packet(self.packer.make_can_msg('SCC_CONTROL', pt, {}))))
+    for word in (0x803, 0x804, 0x815, 0x895, 0x830, 0x880, 0xC00):
+      self.mode(word)
+      self.safety.set_aol_test_heartbeat(True)
+      self.safety.aol_set_host_request(3)
+      self.assertEqual(self.safety.aol_get_permission_mask(), 0)
+
+  def test_source_expiry_and_wrong_bus_withdraw_permission(self):
+    for word in (0x800 | fuel | topology for fuel in (0, 1, 2) for topology in (0, 8, 16, 32, 40, 144)):
+      self.mode(word)
+      self.healthy(word)
+      self.gesture(word)
+      self.assertEqual(self.safety.aol_get_permission_mask(), 1)
+      self.safety.set_timer(2_000_000)
+      self.assertEqual(self.safety.aol_get_permission_mask(), 0)
+      self.mode(word)
+      self.healthy(word, wrong_bus='WHEEL_SPEEDS')
+      self.gesture(word)
+      self.assertEqual(self.safety.aol_get_permission_mask(), 0)
diff --git a/openpilot/selfdrive/pandad/tests/test_aol_protocol.cc b/openpilot/selfdrive/pandad/tests/test_aol_protocol.cc
index 783ae13bc7..b7f31a5515 100644
--- a/openpilot/selfdrive/pandad/tests/test_aol_protocol.cc
+++ b/openpilot/selfdrive/pandad/tests/test_aol_protocol.cc
@@ -103,7 +103,15 @@ int main() {
     legacy.safety_mode = HYUNDAI_LEGACY_AOL_PROFILE.mode;
     assert(aol_capable(legacy, HYUNDAI_LEGACY_AOL_PROFILE.mode, VEHICLE_REGISTRY) ==
            (scc_expected && ((word & 8U) == 0U)));
-    const bool expected = scc_expected || word == 0x1400U || word == 0x1C00U || word == 0x1440U || word == 0x1C40U ||
+    bool long_expected = false;
+    for (const uint16_t gas : {0U, 1U, 2U}) {
+      for (const uint16_t limits : {0U, 64U}) {
+        for (const uint16_t lda : {0U, 2048U}) {
+          long_expected |= word == (0x0404U | gas | limits | lda);
+        }
+      }
+    }
+    const bool expected = long_expected || scc_expected || word == 0x1400U || word == 0x1C00U || word == 0x1440U || word == 0x1C40U ||
                           word == 0x1402U || word == 0x1C02U || word == 0x1441U || word == 0x1C41U;
     assert(aol_capable(forte, HYUNDAI_CLASSIC_AOL_PROFILE.mode, VEHICLE_REGISTRY) == expected);
     assert(aol_runtime_enabled(false, forte, VEHICLE_REGISTRY) == expected);
@@ -164,10 +172,19 @@ int main() {
     assert(!aol_capable(ev9, HYUNDAI_AOL_PROFILE.mode, VEHICLE_REGISTRY));
   }
 
-  // Transport namespace is exactly the retained siblings plus PE and EV9. No other
-  // model2/3 or LONG word gets access through this mode28 registry predicate.
+  constexpr uint16_t stock_canfd_words[] = {
+    0x0800U, 0x0801U, 0x0802U, 0x0808U, 0x0809U, 0x080AU,
+    0x0810U, 0x0811U, 0x0812U, 0x0820U, 0x0821U, 0x0822U,
+    0x0828U, 0x0829U, 0x082AU, 0x0890U, 0x0891U, 0x0892U,
+    0x0C08U, 0x0C09U, 0x0C0AU, 0x0C28U, 0x0C29U, 0x0C2AU,
+    0x2820U, 0x2822U, 0x2828U, 0x282AU, 0x2830U, 0x2832U,
+    0x28B0U, 0x28B2U, 0x2C28U, 0x2C2AU,
+  };
   for (uint32_t word = 0U; word <= 0xFFFFU; ++word) {
-    const bool expected = word == 0x0811U || word == 0x0891U || word == 0x8815U || word == 0x8895U || word == 0x5491U || word == 0x5C91U;
+    bool expected = word == 0x8815U || word == 0x8895U || word == 0x5491U || word == 0x5C91U;
+    for (uint16_t stock_word : stock_canfd_words) {
+      expected = expected || word == stock_word;
+    }
     assert(hyundai_aol_param(static_cast<uint16_t>(word)) == expected);
   }
 
@@ -242,7 +259,7 @@ int main() {
                        HYUNDAI_AOL_PROFILE.mode);
     assert(stock_transport.last_write == 0U && stock_result.outcome.compatible);
   }
-  for (uint16_t raw : {0x0011U, 0x0091U, 0x0810U, 0x0890U, 0x0815U, 0x0895U,
+  for (uint16_t raw : {0x0011U, 0x0091U, 0x0815U, 0x0895U,
                        0x0813U, 0x0831U, 0x0911U, 0x8015U, 0x8095U, 0x8814U, 0x8894U, 0x8817U}) {
     ioniq.safety_param = raw;
     assert(!aol_capable(ioniq, HYUNDAI_AOL_PROFILE.mode, VEHICLE_REGISTRY));
diff --git a/openpilot/starpilot/aol/tests/test_classic_long_profiles.py b/openpilot/starpilot/aol/tests/test_classic_long_profiles.py
new file mode 100644
index 0000000000..1c617ef898
--- /dev/null
+++ b/openpilot/starpilot/aol/tests/test_classic_long_profiles.py
@@ -0,0 +1,164 @@
+import gc
+import itertools
+import time
+from types import SimpleNamespace
+
+import pytest
+
+from openpilot.selfdrive.car.card import alpha_long_requested
+from opendbc.car import gen_empty_fingerprint, structs
+from opendbc.car.hyundai.interface import CarInterface
+from opendbc.car.hyundai.classic_long_aol import CLASSIC_LONG_IDS, qualified, aol_word, native_accepts
+from opendbc.car.hyundai.values import CAR, HyundaiFlags
+from openpilot.starpilot.car.hyundai.aol import policy_for, create_intent
+from openpilot.starpilot.aol.intent import AolSettings, AOL_TOGGLE
+
+
+def params(identity=CAR.HYUNDAI_SONATA, *, release=False, lda=False):
+  fingerprint = gen_empty_fingerprint()
+  if lda:
+    fingerprint[0][0x391] = 8
+  request = alpha_long_requested(SimpleNamespace(get_bool=lambda key: True), is_release=release)
+  return CarInterface.get_params(identity, fingerprint, [], request, release, False)
+
+
+@pytest.mark.parametrize('identity', sorted(CLASSIC_LONG_IDS, key=str))
+@pytest.mark.parametrize('lda', (False, True))
+def test_actual_final_factory_state_and_exact_marked_configuration(identity, lda):
+  cp = params(identity, lda=lda)
+  if cp.dashcamOnly or cp.lateralTuning.which() != 'torque' or cp.steerControlType != structs.CarParams.SteerControlType.torque:
+    assert not qualified(cp)
+    return
+  assert qualified(cp)
+  before = cp.to_dict()
+  policy = policy_for(cp)
+  cp.safetyConfigs[0].safetyParam |= policy.safety_param_addition
+  cp.alternativeExperience |= policy.alternative_experience_addition
+  expected = dict(before)
+  expected['safetyConfigs'] = [{**before['safetyConfigs'][0], 'safetyParam': aol_word(cp)}]
+  expected['alternativeExperience'] = 32
+  assert cp.to_dict() == expected
+  assert native_accepts(cp, int(cp.safetyConfigs[0].safetyModel.raw), aol_word(cp))
+  release = params(identity, release=True, lda=lda)
+  assert not release.openpilotLongitudinalControl
+  assert release.pcmCruise
+  assert not qualified(release)
+
+
+@pytest.mark.parametrize('identity', (CAR.GENESIS_G80, CAR.KIA_XCEED_PHEV, CAR.GENESIS_G90, CAR.HYUNDAI_ELANTRA_2024, CAR.HYUNDAI_ELANTRA_HEV_2024))
+def test_unqualified_legacy_prepared_owner_and_camera_topologies_excluded(identity):
+  assert not qualified(params(identity))
+
+
+def test_malformed_final_contract_never_marks_aol():
+  cp = params()
+  for field, value in (
+    ('flags', int(cp.flags) | int(HyundaiFlags.EV)),
+    ('pcmCruise', True),
+    ('openpilotLongitudinalControl', False),
+    ('passive', True),
+    ('notCar', True),
+    ('dashcamOnly', True),
+    ('alternativeExperience', 1),
+    ('alphaLongitudinalAvailable', False),
+  ):
+    bad = cp.as_reader().as_builder()
+    setattr(bad, field, value)
+    assert not qualified(bad)
+  for word in (0x404 | 8, 0x404 | 256, 0x404 | 512, 0x404 | 4096, 0x404 | 32768, 0x407):
+    bad = cp.as_reader().as_builder()
+    bad.safetyConfigs[0].safetyParam = word
+    assert not qualified(bad)
+  bad = cp.as_reader().as_builder()
+  bad.safetyConfigs[0].safetyModel = structs.CarParams.SafetyModel.hyundaiLegacy
+  assert not qualified(bad)
+
+
+def test_tcs_availability_without_physical_or_standard_engagement_is_not_intent():
+  cp = params()
+  intent = create_intent(cp, AolSettings(True, 0.0, AOL_TOGGLE, AOL_TOGGLE, (0, 0, 0), (0, 0, 0)))
+  cs = structs.CarState.new_message(canValid=True, canTimeout=False, gearShifter='drive')
+  cs.cruiseState.available = True
+  for tick in range(20):
+    intent.update(cs, fault_active=False, now_ns=1_000_000_000 + tick * 10_000_000, standard_enabled=False)
+    assert not intent.allowed_latch
+
+
+CARD_IDENTITIES = (CAR.HYUNDAI_SONATA, CAR.HYUNDAI_IONIQ, CAR.HYUNDAI_KONA_EV)
+CARD_CASES = [
+  (identity, alpha, disable, aol, False) for identity, alpha, disable, aol in itertools.product(CARD_IDENTITIES, (False, True), (False, True), (False, True))
+]
+CARD_CASES += [(identity, True, False, True, True) for identity in CARD_IDENTITIES]
+
+
+@pytest.mark.parametrize('identity,alpha,disable,aol,release', CARD_CASES)
+def test_actual_card_published_cp_controls_and_disabled_loop(identity, alpha, disable, aol, release, monkeypatch):
+  from opendbc.car.hyundai.classic_scc_aol import qualified as stock_qualified, aol_word as stock_word
+  from opendbc.car.hyundai.radar_interface import RadarInterface
+  from opendbc.car.hyundai.values import HyundaiSafetyFlags
+  from openpilot.cereal import messaging
+  from openpilot.common.params import Params
+  from openpilot.common.prefix import OpenpilotPrefix
+  from openpilot.selfdrive.car.card import Car
+  from openpilot.selfdrive.controls.controlsd import Controls
+  from openpilot.starpilot.lateral.tests.test_lane_runtime import feed
+
+  monkeypatch.setenv('SIMULATION', '1')
+  monkeypatch.setenv('REPLAY', '1')
+  monkeypatch.setenv('AOL_REPLAY_RUNTIME', '0')
+  with OpenpilotPrefix():
+    saved = Params()
+    for key, value in (
+      ('OpenpilotEnabledToggle', True),
+      ('AlphaLongitudinalEnabled', alpha),
+      ('IsReleaseBranch', release),
+      ('DisableOpenpilotLongitudinal', disable),
+      ('AlwaysOnLateral', aol),
+    ):
+      saved.put_bool(key, value, block=True)
+    saved.put('LKASButtonControl', AOL_TOGGLE, block=True)
+    saved.put('MainCruiseButtonControl', AOL_TOGGLE, block=True)
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[0][0x391] = 8
+    requested = alpha_long_requested(saved, is_release=saved.get_bool('IsReleaseBranch'))
+    cp = CarInterface.get_params(identity, fingerprint, [], requested, release, False)
+    assert cp.openpilotLongitudinalControl == requested
+    assert cp.pcmCruise != requested
+    assert not CarInterface.startup_required(cp)
+    assert qualified(cp) if requested else stock_qualified(cp)
+    before = cp.to_dict()
+    subscriber = messaging.sub_sock('carParams', timeout=100, conflate=True)
+    ci = card = controls = None
+    try:
+      ci = CarInterface(cp)
+      card = Car(CI=ci, RI=RadarInterface(cp))
+      expected = dict(before)
+      if aol:
+        expected['safetyConfigs'] = [{**before['safetyConfigs'][0], 'safetyParam': aol_word(card.CP) if requested else stock_word(card.CP)}]
+        expected['alternativeExperience'] = 32
+      assert card.CP.to_dict() == expected
+      assert bool(card.CP.safetyConfigs[0].safetyParam & HyundaiSafetyFlags.LONG) == requested
+      assert card.aol_qualified == aol
+      assert card.vehicle_startup.owner is None
+      with structs.CarParams.from_bytes(saved.get('CarParams')) as published:
+        assert published.to_dict() == card.CP.to_dict()
+      parsed = ci.update([])
+      event = None
+      for _ in range(10):
+        card.car_params_published = False
+        card.state_publish(parsed, None)
+        event = messaging.recv_one(subscriber)
+        if event is not None:
+          break
+        time.sleep(0.01)
+      assert event is not None and event.which() == 'carParams' and event.valid
+      assert event.carParams.to_dict() == card.CP.to_dict()
+      controls = Controls()
+      assert controls.CP.to_dict() == card.CP.to_dict()
+      feed(controls, 1_000_000_000, 0, active=False, enabled=False, can_valid=False, can_timeout=True)
+      command, lateral_log = controls.state_control()
+      assert not command.enabled and not command.latActive and not command.longActive
+      controls.publish(command, lateral_log)
+    finally:
+      del controls, card, ci, subscriber
+      gc.collect()
diff --git a/openpilot/starpilot/car/hyundai/aol.py b/openpilot/starpilot/car/hyundai/aol.py
index 8ac64cf951..a4b175caaa 100644
--- a/openpilot/starpilot/car/hyundai/aol.py
+++ b/openpilot/starpilot/car/hyundai/aol.py
@@ -1,10 +1,16 @@
+from opendbc.car.hyundai.classic_long_aol import (
+  qualified as qualified_classic_long,
+  aol_word as classic_long_word,
+  native_accepts as classic_long_accepts,
+  LONG_AOL_WORDS,
+)
 from opendbc.car.hyundai.classic_scc_aol import (
   qualified as qualified_classic_scc,
   aol_word as classic_aol_word,
   native_accepts as classic_native_accepts,
   native_profile_supported as classic_native_profile_supported,
 )
-from opendbc.car.hyundai.canfd_stock_aol import qualified as qualified_canfd_stock, STOCK_AOL_MARKER
+from opendbc.car.hyundai.canfd_stock_aol import qualified as qualified_canfd_stock, STOCK_AOL_MARKER, STOCK_AOL_WORDS
 from opendbc.car.hyundai.non_scc_aol import qualified as qualified_non_scc, aol_word, AOL_MARKER, AOL_EXPERIENCE, AOL_WORDS
 from opendbc.car.hyundai.kona_aol import allow_lateral_onset as kona_lateral_onset
 from opendbc.car.structs import car
@@ -62,6 +68,16 @@ def ioniq6_settings_capable(CP) -> bool:
 
 
 def policy_for(CP) -> AolVehiclePolicy:
+  if qualified_classic_long(CP):
+    return AolVehiclePolicy(
+      intent_supported=True,
+      settings_supported=True,
+      runtime_supported=True,
+      normal_runtime_supported=True,
+      explicit_latch=True,
+      safety_param_addition=classic_long_word(CP) ^ int(CP.safetyConfigs[0].safetyParam),
+      alternative_experience_addition=AOL_EXPERIENCE,
+    )
   if qualified_classic_scc(CP):
     return AolVehiclePolicy(
       intent_supported=True,
@@ -113,13 +129,16 @@ def policy_for(CP) -> AolVehiclePolicy:
 
 def native_profile_supported(model: int, param: int) -> bool:
   return (
-    classic_native_profile_supported(model, param)
-    or (model == int(car.CarParams.SafetyModel.hyundaiCanfd) and param in IONIQ6_AOL_SAFETY_PARAMS | set(STOCK_SAFETY_PARAMS.values()))
+    (model == int(car.CarParams.SafetyModel.hyundai) and param in LONG_AOL_WORDS)
+    or classic_native_profile_supported(model, param)
+    or (model == int(car.CarParams.SafetyModel.hyundaiCanfd) and param in IONIQ6_AOL_SAFETY_PARAMS | STOCK_AOL_WORDS | set(STOCK_SAFETY_PARAMS.values()))
     or (model == int(car.CarParams.SafetyModel.hyundai) and param in AOL_WORDS)
   )
 
 
 def native_accepts_cp(CP, model: int, param: int) -> bool:
+  if qualified_classic_long(CP, marked_only=True):
+    return classic_long_accepts(CP, model, param)
   if qualified_classic_scc(CP, marked_only=True):
     return classic_native_accepts(CP, model, param)
   if qualified_canfd_stock(CP, marked_only=True):
@@ -135,13 +154,23 @@ def native_latch_rejected(CP, native) -> bool:
   # In this exact native policy a requested lateral axis remains permitted
   # through pedal override; denial means the physical authorization was lost.
   return (
-    (qualified_ioniq6(CP) or qualified_non_scc(CP) or qualified_canfd_stock(CP, marked_only=True) or qualified_classic_scc(CP, marked_only=True))
+    (
+      qualified_classic_long(CP, marked_only=True)
+      or qualified_ioniq6(CP)
+      or qualified_non_scc(CP)
+      or qualified_canfd_stock(CP, marked_only=True)
+      or qualified_classic_scc(CP, marked_only=True)
+    )
     and native.requestedLateral
     and not native.lateralAllowed
   )
 
 
 def create_intent(CP, settings):
+  if qualified_classic_long(CP):
+    from openpilot.starpilot.car.hyundai.classic_long_intent import ClassicLongCardIntent
+
+    return ClassicLongCardIntent(CP, settings)
   if qualified_classic_scc(CP):
     from openpilot.starpilot.car.hyundai.classic_scc_intent import ClassicSccCardIntent
 
diff --git a/openpilot/starpilot/car/hyundai/aol_policy.h b/openpilot/starpilot/car/hyundai/aol_policy.h
index bd390b9a3b..e00819f90e 100644
--- a/openpilot/starpilot/car/hyundai/aol_policy.h
+++ b/openpilot/starpilot/car/hyundai/aol_policy.h
@@ -1,10 +1,11 @@
 #pragma once
 
 #include "selfdrive/pandad/aol_protocol.h"
+#include "opendbc/safety/modes/hyundai_canfd_aol.h"
 
 inline bool hyundai_aol_param(uint16_t param) {
   // Existing mode28 entry also transports exact ordinary PE/EV9 requests.
-  return param == 0x0811U || param == 0x0891U || param == 0x8815U || param == 0x8895U || param == 0x5491U || param == 0x5C91U;
+  return hyundai_canfd_stock_torque_aol_param(param) || param == 0x8815U || param == 0x8895U || param == 0x5491U || param == 0x5C91U;
 }
 
 inline constexpr AolSafetyProfile HYUNDAI_AOL_PROFILE{28U, hyundai_aol_param, true};
@@ -21,8 +22,12 @@ inline bool hyundai_legacy_aol_param(uint16_t param) {
 
 inline constexpr AolSafetyProfile HYUNDAI_LEGACY_AOL_PROFILE{23U, hyundai_legacy_aol_param, true};
 
+inline bool hyundai_classic_long_aol_param(uint16_t param) {
+  return ((param & 0x0404U) == 0x0404U) && ((param & 0xF3B8U) == 0U) && ((param & 3U) != 3U);
+}
+
 inline bool hyundai_classic_aol_param(uint16_t param) {
-  return hyundai_classic_scc_aol_param(param) || param == 0x1400U || param == 0x1C00U || param == 0x1440U || param == 0x1C40U ||
+  return hyundai_classic_long_aol_param(param) || hyundai_classic_scc_aol_param(param) || param == 0x1400U || param == 0x1C00U || param == 0x1440U || param == 0x1C40U ||
          param == 0x1402U || param == 0x1C02U || param == 0x1441U || param == 0x1C41U;
 }
 
diff --git a/openpilot/starpilot/car/hyundai/classic_long_intent.py b/openpilot/starpilot/car/hyundai/classic_long_intent.py
new file mode 100644
index 0000000000..20123735d1
--- /dev/null
+++ b/openpilot/starpilot/car/hyundai/classic_long_intent.py
@@ -0,0 +1,43 @@
+from opendbc.car.hyundai.values import HyundaiFlags
+from openpilot.starpilot.aol.intent import AolCardIntent, AOL_TOGGLE
+
+
+class ClassicLongCardIntent(AolCardIntent):
+  def __init__(self, cp, settings):
+    super().__init__(settings, explicit_latch=True)
+    self.requires_fault_observation = True
+    self.observe_stock_engagement = True
+    self.has_lkas = bool(cp.flags & HyundaiFlags.HAS_LDA_BUTTON)
+    self._normal_previous = False
+
+  def update(self, CS, *, consumed_buttons=frozenset(), fault_active=None, now_ns=0, native_rejection_ns=0, standard_enabled=False):
+    rejected = self._native_rejection_ns < native_rejection_ns <= now_ns
+    super().update(
+      CS,
+      consumed_buttons=consumed_buttons,
+      fault_active=fault_active,
+      now_ns=now_ns,
+      native_rejection_ns=native_rejection_ns,
+      standard_enabled=standard_enabled,
+    )
+    normal = bool(standard_enabled and CS.canValid and not CS.canTimeout and CS.cruiseState.available)
+    deliberate = any(event.pressed for event in CS.buttonEvents)
+    if (
+      normal
+      and not self._normal_previous
+      and self.has_lkas
+      and self.settings.enabled
+      and self.settings.lkas_action == AOL_TOGGLE
+      and not deliberate
+      and not rejected
+      and not fault_active
+      and not CS.steerFaultPermanent
+      and not CS.steerFaultTemporary
+      and not CS.gasPressed
+      and not CS.brakePressed
+      and not CS.accFaulted
+    ):
+      self.allowed_latch = True
+      self.pause_lateral = False
+      self._last_latch_edge_ns = now_ns
+    self._normal_previous = normal
diff --git a/tools/ci/run_vehicle_tests.py b/tools/ci/run_vehicle_tests.py
index 41450f3aec..5b5b248aa2 100644
--- a/tools/ci/run_vehicle_tests.py
+++ b/tools/ci/run_vehicle_tests.py
@@ -21,6 +21,10 @@ sys.path.insert(0, str(ROOT))
 from tools import test_runner
 
 RELEASE_TARGETS = (
+  "opendbc_repo/opendbc/safety/tests/test_hyundai_classic_long_aol.py",
+  "openpilot/starpilot/aol/tests/test_classic_long_profiles.py",
+  "opendbc_repo/opendbc/safety/tests/test_hyundai_shared_canfd_stock_aol.py",
+  "opendbc_repo/opendbc/car/hyundai/tests/test_shared_canfd_stock_aol.py",
   "opendbc_repo/opendbc/safety/tests/test_hyundai_classic_scc_aol.py",
   "openpilot/starpilot/aol/tests/test_classic_scc_profiles.py",
   "opendbc_repo/opendbc/safety/tests/test_hyundai_blended.py",