diff --git a/opendbc_repo/opendbc/safety/tests/test_ioniq6_native_pedal_order.py b/opendbc_repo/opendbc/safety/tests/test_ioniq6_native_pedal_order.py
new file mode 100644
index 0000000000..dd193107b4
--- /dev/null
+++ b/opendbc_repo/opendbc/safety/tests/test_ioniq6_native_pedal_order.py
@@ -0,0 +1,149 @@
+"""Ioniq6 route9b native brake withdrawal before the host's pedal sample."""
+from contextlib import ExitStack
+
+import pytest
+
+from opendbc.can import CANPacker
+from opendbc.safety.tests import test_hyundai_ioniq6_long as native_fixture
+from openpilot.cereal import log, messaging
+from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.starpilot.aol.tests import test_ioniq_availability as fixture
+from openpilot.starpilot.aol.tests.test_gm_held_native import Peers
+from openpilot.starpilot.aol.transport_pause import TransportPauseFeedback
+from openpilot.starpilot.aol.wire import PandaSlot, SafetyState, encode_safety
+
+BASE = 10_000_000_000
+# Actual route9b/segment2 ECAN TCS frames, counters195 and196. CRC is validated by real native RX.
+TCS_BEFORE = bytes.fromhex('3389c3008803880311140000010000010f00000000000000')
+TCS_BRAKE = bytes.fromhex('72f4c4008403840301140200010000000f00000000000000')
+
+
+def profile(alternate):
+  _, cp = native_fixture.params('lkas_alt' if alternate else 'lkas')
+  assert cp is not None
+  cp.safetyConfigs[0].safetyParam |= 0x0800
+  return cp
+
+
+def physical_full(case, packer, raw):
+  case.mode(raw, stamp=BASE // 1000)
+  case.safety.set_aol_test_heartbeat(True)
+  for name, values in (('ACCELERATOR', {'GEAR': 5}), ('TCS', {'ACCEnable': 0}),
+      ('WHEEL_SPEEDS', dict.fromkeys(('WHL_SpdFLVal', 'WHL_SpdFRVal', 'WHL_SpdRLVal', 'WHL_SpdRRVal'), 45.)),
+      ('MDPS', {}), ('CRUISE_BUTTONS', {'COUNTER': 1})):
+    assert case.safety.safety_rx_hook(case.packet(packer.make_can_msg(name, 1, values)))
+  case.safety.aol_set_host_request(3)
+  for counter, values in ((2, {'LDA_BTN': 1}), (3, {}), (4, {'CRUISE_BUTTONS': 2}), (5, {})):
+    assert case.safety.safety_rx_hook(case.packet(packer.make_can_msg('CRUISE_BUTTONS', 1, dict(COUNTER=counter, **values))))
+  case.safety.aol_set_host_request(3)
+  assert case.safety.get_controls_allowed() and case.safety.aol_get_permission_mask() == 3
+
+
+@pytest.mark.parametrize('alternate', [False, True])
+def test_real_native_brake_before_host_sample_keeps_granted_lateral(alternate):
+  case = fixture.IoniqAvailabilityTests(methodName='runTest')
+  native = native_fixture.TestHyundaiIoniq6Long(methodName='runTest')
+  with OpenpilotPrefix(), ExitStack() as cleanup:
+    cleanup.callback(case.doCleanups)
+    cleanup.callback(native.doCleanups)
+    cp = profile(alternate)
+    sd, _, step = case._authority_callers(True, cp=cp, genuine_events=True)
+    native.setUp()
+    packer = CANPacker('hyundai_canfd_generated')
+    physical_full(native, packer, int(cp.safetyConfigs[0].safetyParam))
+    for tick in range(10):
+      native.refresh_required_rx(packer, tick + 6, (BASE + tick * 10_000_000) // 1000)
+      native.safety.set_aol_test_heartbeat(True)
+      native.safety.aol_set_host_request(3)
+      assert native.safety.aol_get_permission_mask() == 3
+      axis, state, command = step(tick)
+      assert state.enabled and axis.lateralActive and command.longActive
+    native.safety.set_timer((BASE + 95_000_000) // 1000)
+    assert native.safety.safety_rx_hook(native.packet((0x175, TCS_BEFORE, 1)))
+    before = native.safety.get_controls_allowed()
+    assert before
+    positive = packer.make_can_msg('SCC_CONTROL', 1, {'COUNTER': 0, 'ACCMode': 1, 'aReqRaw': 1., 'aReqValue': 1.})
+    assert native.safety.safety_tx_hook(native.packet(positive))
+    assert native.safety.safety_rx_hook(native.packet((0x175, TCS_BRAKE, 1)))
+    mask = native.safety.aol_get_permission_mask()
+    assert mask == 1
+    positive = packer.make_can_msg('SCC_CONTROL', 1, {'COUNTER': 1, 'ACCMode': 1, 'aReqRaw': 1., 'aReqValue': 1.})
+    assert not native.safety.safety_tx_hook(native.packet(positive))
+    # Health was sampled before the permission read; parsed host brake has not arrived.
+    axis, state, command = step(10, native_request_lat=True, native_request_long=True,
+      allowed=True, long_allowed=False, panda_controls_allowed=before)
+    assert state.enabled and axis.lateralActive and command.latActive
+    assert not axis.longitudinalActive and not command.longActive
+    assert not sd.aol_authority_lost and log.OnroadEvent.EventName.controlsMismatch not in sd.events.names
+    axis, state, command = step(11, brake=True, native_request_lat=True, native_request_long=True,
+      long_allowed=False, panda_controls_allowed=False)
+    assert not state.enabled and not command.longActive
+    assert log.OnroadEvent.EventName.controlsMismatch not in sd.events.names
+    axis, state, command = step(12, native_request_lat=True, native_request_long=False,
+      long_allowed=False, panda_controls_allowed=False)
+    assert axis.lateralActive and command.latActive and not command.longActive
+
+
+@pytest.mark.parametrize('alternate', [False, True])
+@pytest.mark.parametrize('fault', ['lat_denied', 'native_invalid', 'rx_fault', 'relay_fault', 'missing_prior'])
+def test_native_early_withdrawal_preserves_all_existing_fault_vetoes(alternate, fault):
+  case = fixture.IoniqAvailabilityTests(methodName='runTest')
+  with OpenpilotPrefix(), ExitStack() as cleanup:
+    cleanup.callback(case.doCleanups)
+    sd, _, step = case._authority_callers(True, cp=profile(alternate), genuine_events=True)
+    for tick in range(10):
+      axis, state, command = step(tick)
+      assert state.enabled and axis.lateralActive and command.longActive
+    options = dict(native_request_lat=True, native_request_long=True, long_allowed=False, panda_controls_allowed=True)
+    if fault == 'lat_denied':
+      options['allowed'] = False
+    elif fault == 'native_invalid':
+      options['native_valid'] = False
+    elif fault == 'rx_fault':
+      options['panda_fault'] = True
+    elif fault == 'relay_fault':
+      options['relay_fault'] = True
+    else:
+      sd.aol_published_input_proof = None
+    axis, state, command = step(10, **options)
+    assert log.OnroadEvent.EventName.controlsMismatch in sd.events.names
+    assert not state.enabled and not axis.lateralActive and not command.latActive and not command.longActive
+
+
+def feedback_peers(cp, now, *, denied=False, controls=True):
+  config = cp.safetyConfigs[0]
+  slot = PandaSlot(0, 'ioniq6-unit', 28, config.safetyParam, cp.alternativeExperience, controls)
+  native = SafetyState(1, True, now, now + 200_000_000, 28, config.safetyParam,
+    True, not denied, True, True, 'ioniq6-unit', 'ioniq6-session', now, (slot,))
+  wire = messaging.new_message('aolSafetyWire', 0, valid=True, logMonoTime=now)
+  wire.aolSafetyWire = encode_safety(native)
+  pandas = messaging.new_message('pandaStates', 1, valid=True, logMonoTime=now)
+  pandas.pandaStates[0] = dict(safetyModel='hyundaiCanfd', safetyParam=config.safetyParam,
+    alternativeExperience=cp.alternativeExperience, controlsAllowed=controls)
+  axis = messaging.new_message('aolAxisState', valid=True, logMonoTime=now)
+  axis.aolAxisState = dict(qualified=True, sequence=1 + (now - BASE) // 10_000_000, sessionId='ioniq6-session', faultSessionId='ioniq6-session',
+    observedMonoTime=now, validUntilMonoTime=now + 30_000_000, sourceCarStateMonoTime=now,
+    desiredLateral=True, lateralActive=True, desiredLongitudinal=True, longitudinalActive=True,
+    nativeAcknowledged=True, mode='combined', faultReason='none', intentProducerSessionId='ioniq6-card', intentIntegrityEpoch=1)
+  events = messaging.new_message('onroadEvents', 0, valid=True, logMonoTime=now)
+  return Peers([m.as_reader() for m in (wire, pandas, axis, events)])
+
+
+@pytest.mark.parametrize('alternate', [False, True])
+@pytest.mark.parametrize('controls', [False, True])
+def test_card_feedback_keeps_existing_latch_during_native_first_withdrawal(alternate, controls):
+  cp = profile(alternate)
+  feedback = TransportPauseFeedback(cp)
+  cs = fixture.car_state()
+  cs.cruiseState.available = cs.cruiseState.enabled = True
+  assert not feedback.observe(feedback_peers(cp, BASE), cp, cs, BASE,
+    latched=True, intent_producer_session='ioniq6-card')
+  assert feedback.ever_lateral_active and feedback.lateral_baseline_ns == BASE
+  assert feedback.session == 'ioniq6-session' and feedback.lateral_inventory
+  assert feedback.availability_producer == 'ioniq6-card'
+  now = BASE + 10_000_000
+  assert not feedback.observe(feedback_peers(cp, now, denied=True, controls=controls), cp, cs, now,
+    latched=True, intent_producer_session='ioniq6-card')
+  assert not feedback.failed
+  assert feedback.healthy_feedback_ns == BASE and feedback.healthy_native_ns == BASE
+  assert feedback.lateral_baseline_ns == now
diff --git a/openpilot/selfdrive/selfdrived/selfdrived.py b/openpilot/selfdrive/selfdrived/selfdrived.py
index dad4bed974..31c5c11e07 100644
--- a/openpilot/selfdrive/selfdrived/selfdrived.py
+++ b/openpilot/selfdrive/selfdrived/selfdrived.py
@@ -1714,8 +1714,11 @@ class SelfdriveD:
     # Toyota's native LONG mask also checks gas, brake and belt independently
     # of controls_allowed. Health and that mask may precede the parsed pedal
     # edge: honor LONG withdrawal while the existing native LAT grant stands.
-    # The exact Toyota policy and all proof/health checks above remain required.
+    # Ioniq6 also checks the physical brake before its separately published host sample.
+    # Retain only its already granted LAT; all proof, health and LONG withdrawal gates remain.
+    # The exact vehicle policies and all proof/health checks above remain required.
     return bool(gm_native_accepts_cp(self.CP, native.safetyModel, native.safetyParam) or
+                qualified_ioniq6(self.CP) or
                 toyota_aol_qualified(self.CP, marked_only=True) or
                 not native.pandaInventory[owners[0]].controlsAllowed and
                 not self.sm['pandaStates'][owners[0]].controlsAllowed)
diff --git a/openpilot/starpilot/aol/transport_pause.py b/openpilot/starpilot/aol/transport_pause.py
index ed0ff416f2..d319089cfd 100644
--- a/openpilot/starpilot/aol/transport_pause.py
+++ b/openpilot/starpilot/aol/transport_pause.py
@@ -307,15 +307,17 @@ class TransportPauseFeedback:
     """
     from openpilot.starpilot.nostalgia import physical_cancel
     from openpilot.starpilot.car.gm.aol import native_accepts_cp
+    from openpilot.starpilot.car.hyundai.aol import qualified_ioniq6
     gm = native_accepts_cp(cp, int(cp.safetyConfigs[0].safetyModel.raw), int(cp.safetyConfigs[0].safetyParam))
+    early_long = gm or cp.openpilotLongitudinalControl and qualified_ioniq6(cp)
     if (not latched or self.failed or self.paused or self.pending_event or self.retention_started_ns or
         not self.session or str(axis.sessionId) != self.session or
         not producer or producer != self.availability_producer or
         str(getattr(axis, 'intentProducerSessionId', '')) != producer or
         int(getattr(axis, 'intentIntegrityEpoch', 0)) != self.availability_epoch or
         not self.lateral_inventory or not self.lateral_baseline_ns or
-        str(axis.faultReason) != 'none' or not gm and str(axis.mode) != 'lateralOnly' or not axis.nativeAcknowledged or
-        not axis.desiredLateral or not axis.lateralActive or axis.longitudinalActive and not gm or
+        str(axis.faultReason) != 'none' or not early_long and str(axis.mode) != 'lateralOnly' or not axis.nativeAcknowledged or
+        not axis.desiredLateral or not axis.lateralActive or axis.longitudinalActive and not early_long or
         not 0 < self.lateral_source_ns <= axis.sourceCarStateMonoTime <= axis.observedMonoTime <= now_ns or
         now_ns - axis.sourceCarStateMonoTime > AXIS_MAX_AGE_NS or
         not cs.canValid or cs.canTimeout or cs.steerFaultTemporary or cs.steerFaultPermanent or cs.accFaulted or
@@ -332,7 +334,7 @@ class TransportPauseFeedback:
       return None
     owners = [index for index, config in enumerate(cp.safetyConfigs)
               if str(config.safetyModel) not in ('silent', 'noOutput')]
-    return native if (len(owners) == 1 and (gm or not native.pandaInventory[owners[0]].controlsAllowed and
+    return native if (len(owners) == 1 and (early_long or not native.pandaInventory[owners[0]].controlsAllowed and
                       not sm['pandaStates'][owners[0]].controlsAllowed)) else None
 
   def _temporary_host_intent_current(self, sm, cp, cs, axis, stamp, now_ns, *, latched, producer):
diff --git a/prebuilt.json b/prebuilt.json
index c099175cd5..15ea674483 100644
--- a/prebuilt.json
+++ b/prebuilt.json
@@ -1 +1 @@
-{"protected_inventory_sha256": "b5bc81205648c97489057d37376179a97e15b43cc622ca1c2c77241a5408865c", "schema_version": 1}
+{"protected_inventory_sha256": "0f60df516139cd3d3de7afc26989a738ea49e9525f48ce8a4089784a9abd64e0", "schema_version": 1}