diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index cb2ecb7e2..06264c791 100644
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -1083,7 +1083,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "",
       AlertStatus.normal, AlertSize.full,
       Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
-    ET.USER_DISABLE: ImmediateDisableAlert("Reverse Gear"),
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
     ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
   },
 
@@ -1478,7 +1478,7 @@ if HARDWARE.get_device_type() == 'mici':
         "",
         AlertStatus.normal, AlertSize.full,
         Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
-      ET.USER_DISABLE: ImmediateDisableAlert("Reverse"),
+      ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
       ET.NO_ENTRY: NoEntryAlert("Reverse"),
     },
   })
diff --git a/selfdrive/selfdrived/tests/test_alerts.py b/selfdrive/selfdrived/tests/test_alerts.py
index c97180699..46fc37f57 100644
--- a/selfdrive/selfdrived/tests/test_alerts.py
+++ b/selfdrive/selfdrived/tests/test_alerts.py
@@ -13,6 +13,8 @@ from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS
 
 AlertSize = log.SelfdriveState.AlertSize
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+EventName = log.OnroadEvent.EventName
 
 OFFROAD_ALERTS_PATH = os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")
 
@@ -104,6 +106,14 @@ class TestAlerts:
         if event_type not in (ET.WARNING, ET.PERMANENT, ET.PRE_ENABLE):
           assert a.creation_delay == 0.
 
+  def test_reverse_gear_user_disable_is_normal_disengage(self):
+    alert = EVENTS[EventName.reverseGear][ET.USER_DISABLE]
+    assert isinstance(alert, Alert)
+    assert alert.alert_text_1 == ""
+    assert alert.alert_text_2 == ""
+    assert alert.alert_size == AlertSize.none
+    assert alert.audible_alert == AudibleAlert.disengage
+
   def test_offroad_alerts(self):
     params = Params()
     for a in self.offroad_alerts: