diff --git a/opendbc_repo/opendbc/car/hyundai/carcontroller.py b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
index ab8ba506a2..aa092c18ff 100644
--- a/opendbc_repo/opendbc/car/hyundai/carcontroller.py
+++ b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
@@ -297,6 +297,7 @@ class CarController(CarControllerBase):
     self.frame += 1
     if _projection is not None:
       _projection.finish(new_actuators.torque)
+    can_sends.extend(CS.daw.command(now_nanos))
     return new_actuators, can_sends
 
   def create_can_msgs(self, apply_steer_req, apply_torque, torque_fault, set_speed_in_units, accel, stopping,
diff --git a/opendbc_repo/opendbc/car/hyundai/carstate.py b/opendbc_repo/opendbc/car/hyundai/carstate.py
index 2442ac0a92..16ac83522e 100644
--- a/opendbc_repo/opendbc/car/hyundai/carstate.py
+++ b/opendbc_repo/opendbc/car/hyundai/carstate.py
@@ -62,6 +62,8 @@ def get_non_scc_cruise_signals(flags: int, car=None) -> tuple[str, str, str, str
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
+    from opendbc.car.hyundai.daw import DawSource
+    self.daw = DawSource(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) or qualified_classic_long(CP)) and CP.flags & HyundaiFlags.HAS_LDA_BUTTON:
       self.forte_lkas_sources = ClassicSccLkasSources(CP.carFingerprint)
diff --git a/opendbc_repo/opendbc/car/hyundai/daw.py b/opendbc_repo/opendbc/car/hyundai/daw.py
new file mode 100644
index 0000000000..1963f0242d
--- /dev/null
+++ b/opendbc_repo/opendbc/car/hyundai/daw.py
@@ -0,0 +1,47 @@
+from opendbc.car import CanData
+from opendbc.car.hyundai.hyundaicanfd import CanBus, hkg_can_fd_checksum
+from opendbc.car.hyundai.values import CAR, HyundaiFlags, is_blended
+
+
+CANFD_DAW_WORDS = frozenset((0x11, 0x91, 0x811, 0x891, 0x8015, 0x8095, 0x8815, 0x8895))
+
+
+class DawSource:
+  def __init__(self, cp):
+    self.canfd = bool(cp.flags & HyundaiFlags.CANFD)
+    self.enabled = (cp.brand == 'hyundai' and not cp.passive and not cp.dashcamOnly and not cp.notCar and
+                    not is_blended(cp) and (not self.canfd or cp.carFingerprint == CAR.HYUNDAI_IONIQ_6))
+    if self.canfd:
+      self.enabled = bool(self.enabled and cp.safetyConfigs and
+                          int(cp.safetyConfigs[-1].safetyParam) in CANFD_DAW_WORDS and CanBus(cp).ECAN % 4 == 1)
+    self.address = 0x11A if self.canfd else 0x53E
+    self.source_bus = CanBus(cp).ECAN if self.canfd else 2
+    self.target_bus = CanBus(cp).ECAN if self.canfd else 0
+    self.length = 16 if self.canfd else 6
+    self.data = None
+    self.stamp = 0
+
+  def update(self, packets):
+    if not self.enabled:
+      return
+    for stamp, frames in packets:
+      for address, data, bus in frames:
+        if address != self.address or bus != self.source_bus:
+          continue
+        if stamp <= self.stamp or len(data) != self.length or (self.canfd and
+            int.from_bytes(data[:2], 'little') != hkg_can_fd_checksum(address, None, data)):
+          self.data = None
+          continue
+        self.data, self.stamp = bytes(data), stamp
+
+  def command(self, now_ns):
+    if not self.enabled or self.data is None or not 0 < self.stamp <= now_ns <= self.stamp + 100_000_000:
+      return []
+    data = bytearray(self.data)
+    if self.canfd:
+      if (data[7] >> 3) & 7 == 1:
+        data[7] &= ~0x38
+      data[:2] = hkg_can_fd_checksum(self.address, None, data).to_bytes(2, 'little')
+    elif 1 <= data[5] & 7 <= 3:
+      data[5] &= ~7
+    return [CanData(self.address, bytes(data), self.target_bus)]
diff --git a/opendbc_repo/opendbc/car/hyundai/interface.py b/opendbc_repo/opendbc/car/hyundai/interface.py
index ba71a644d7..73532156f8 100644
--- a/opendbc_repo/opendbc/car/hyundai/interface.py
+++ b/opendbc_repo/opendbc/car/hyundai/interface.py
@@ -396,6 +396,9 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def update(self, can_packets):
+    if self.CS.daw.enabled:
+      can_packets = list(can_packets)
+      self.CS.daw.update(can_packets)
     recovery = getattr(getattr(self, 'CC', None), 'angle_tx_recovery', None)
     if recovery is not None:
       can_packets = list(can_packets)
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_daw.py b/opendbc_repo/opendbc/car/hyundai/tests/test_daw.py
new file mode 100644
index 0000000000..28acaa4992
--- /dev/null
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_daw.py
@@ -0,0 +1,104 @@
+import pytest
+
+from opendbc.car import CanData, gen_empty_fingerprint, structs
+from opendbc.car.hyundai.daw import DawSource
+from opendbc.car.hyundai.hyundaicanfd import hkg_can_fd_checksum
+from opendbc.car.hyundai.interface import CarInterface
+from opendbc.car.hyundai.tests.test_ioniq6_stock_parser import params as ioniq6_params
+from opendbc.car.hyundai.values import CAR
+
+BASE = 1_000_000_000
+
+
+def params(canfd):
+  return ioniq6_params(True)[0] if canfd else CarInterface.get_params(
+    CAR.HYUNDAI_SONATA_HYBRID, gen_empty_fingerprint(), [], False, False, False)
+
+
+def source(canfd, status):
+  data = bytearray.fromhex('1234567898f8') if not canfd else bytearray(range(16))
+  if canfd:
+    data[7] = (data[7] & ~0x38) | (status << 3)
+    data[:2] = hkg_can_fd_checksum(0x11A, None, data).to_bytes(2, 'little')
+  else:
+    data[5] = (data[5] & ~7) | status
+  return bytes(data)
+
+
+@pytest.mark.parametrize('canfd', (False, True))
+@pytest.mark.parametrize('status', range(8))
+def test_exact_current_advisory_only_transform(canfd, status):
+  owner = DawSource(params(canfd))
+  data = source(canfd, status)
+  assert not owner.command(BASE)
+  owner.update([(BASE, [CanData(owner.address, data, owner.source_bus)])])
+  command, = owner.command(BASE)
+  expected = bytearray(data)
+  if canfd:
+    if status == 1:
+      expected[7] &= ~0x38
+    expected[:2] = hkg_can_fd_checksum(owner.address, None, expected).to_bytes(2, 'little')
+  elif 1 <= status <= 3:
+    expected[5] &= ~7
+  assert command == CanData(owner.address, bytes(expected), owner.target_bus)
+  assert owner.data == data
+  assert owner.command(BASE + 100_000_000)
+  assert not owner.command(BASE + 100_000_001)
+
+
+@pytest.mark.parametrize('canfd,fault', [(canfd, fault) for canfd in (False, True)
+  for fault in ('future', 'old', 'reversed', 'length', 'returned', 'wrong_bus', 'wrong_address', 'crc')
+  if canfd or fault != 'crc'])
+def test_bad_or_missing_sources_cannot_create_replacements(canfd, fault):
+  owner = DawSource(params(canfd))
+  data = source(canfd, 1)
+  stamp, bus, addr = BASE, owner.source_bus, owner.address
+  if fault == 'length':
+    data = data[:-1]
+  elif fault == 'returned':
+    bus += 128
+  elif fault == 'wrong_bus':
+    bus = 0 if canfd else 1
+  elif fault == 'wrong_address':
+    addr += 1
+  elif fault == 'crc':
+    data = bytes([data[0] ^ 1]) + data[1:]
+  elif fault == 'reversed':
+    owner.update([(BASE + 1, [CanData(addr, data, bus)])])
+  owner.update([(stamp, [CanData(addr, data, bus)])])
+  now = BASE - 1 if fault == 'future' else BASE + 100_000_001 if fault == 'old' else BASE
+  assert not owner.command(now)
+
+
+def test_actual_parser_and_controller_keep_optional_message_out_of_driving_health():
+  cp = params(False)
+  before = cp.to_dict()
+  first, second = CarInterface(cp.as_reader().as_builder()), CarInterface(cp.as_reader().as_builder())
+  data = bytes.fromhex('000000000883')
+  plain = first.update([(BASE, [])])
+  observed = second.update([(BASE, [CanData(0x53E, data, 2)])])
+  assert observed.to_dict() == plain.to_dict()
+  control = structs.CarControl()
+  baseline = first.apply(control.as_reader(), BASE)[1]
+  actual = second.apply(control.as_reader(), BASE)[1]
+  assert [frame for frame in actual if frame[0] != 0x53E] == baseline
+  assert [frame for frame in actual if frame[0] == 0x53E] == [CanData(0x53E, bytes.fromhex('000000000880'), 0)]
+  assert cp.to_dict() == before
+
+
+def test_unrelated_canfd_profiles_do_not_emit_new_frames():
+  cp = CarInterface.get_params(CAR.KIA_EV6, gen_empty_fingerprint(), [], False, False, False)
+  owner = DawSource(cp)
+  assert not owner.enabled
+  owner.update([(BASE, [CanData(0x11A, source(True, 1), 1)])])
+  assert not owner.command(BASE)
+
+
+@pytest.mark.parametrize('word', (0, 1, 9, 0x15, 0x5491, 0x5495))
+def test_unsupported_ioniq6_native_profiles_cannot_emit_advisories(word):
+  cp = params(True)
+  cp.safetyConfigs[-1].safetyParam = word
+  owner = DawSource(cp)
+  assert not owner.enabled
+  owner.update([(BASE, [CanData(0x11A, source(True, 1), owner.source_bus)])])
+  assert not owner.command(BASE)
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai.h b/opendbc_repo/opendbc/safety/modes/hyundai.h
index b6186b616d..1c1c601904 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai.h
@@ -2,6 +2,7 @@
 
 #include "opendbc/safety/declarations.h"
 #include "opendbc/safety/modes/hyundai_common.h"
+#include "opendbc/safety/modes/hyundai_daw.h"
 #include "opendbc/safety/modes/hyundai_classic_non_scc_aol.h"
 #include "opendbc/safety/modes/hyundai_blended_stock_aol.h"
 
@@ -350,7 +351,7 @@ static bool hyundai_tx_hook(const CANPacket_t *msg) {
   const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS_ALT = HYUNDAI_LIMITS(270, 2, 3);
   const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS_ALT_2 = HYUNDAI_LIMITS(170, 2, 3);
 
-  bool tx = true;
+  bool tx = (msg->addr != 0x53EU) || hyundai_daw_tx(msg);
 
   if (hyundai_ray_pedal && (msg->addr == 0x200U)) {
     const uint16_t track1 = ((uint16_t)msg->data[0] << 8U) | msg->data[1];
@@ -638,6 +639,7 @@ static safety_config hyundai_init(uint16_t param) {
   };
 
   hyundai_common_init(param);
+  hyundai_daw_init(false, false);
   if ((param == 0x800EU) && (alternative_experience == 0)) {
     hyundai_long_main_policy = HYUNDAI_MAIN_TRACK;
   }
@@ -900,7 +902,7 @@ static safety_config hyundai_init(uint16_t param) {
     const safety_config denied = {0};
     ret = denied;
   }
-  return ret;
+  return hyundai_daw_configure(ret, false, !hyundai_blended_stock && !hyundai_blended_alpha);
 }
 
 static safety_config hyundai_legacy_init(uint16_t param) {
@@ -922,6 +924,7 @@ static safety_config hyundai_legacy_init(uint16_t param) {
     }
   }
   hyundai_common_init(normalized);
+  hyundai_daw_init(false, false);
   classic_non_scc_aol_configure(normalized, !legacy_long);
   hyundai_legacy = true;
   hyundai_blended_stock = false;
@@ -950,10 +953,11 @@ static safety_config hyundai_legacy_init(uint16_t param) {
 #endif
   }
   hyundai_classic_scc_aol_rx_config(&ret, true);
-  return ret;
+  return hyundai_daw_configure(ret, false, true);
 }
 
 static void hyundai_optional_rx_hook(const CANPacket_t *msg) {
+  hyundai_daw_rx(msg);
   if ((msg->addr == 0x391U) || (msg->addr == 0x50CU)) {
     blended_aol_rx(msg);
   }
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
index 1b85c4653e..6ec8744bd4 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_daw.h"
 #include "opendbc/safety/modes/hyundai_canfd_aol.h"
 #include "opendbc/safety/modes/hyundai_canfd_angle_aol.h"
 
@@ -527,6 +528,7 @@ static void hyundai_canfd_ioniq6_optional_rx_hook(const CANPacket_t *msg) {
 }
 
 static void hyundai_canfd_optional_rx_hook(const CANPacket_t *msg) {
+  hyundai_daw_rx(msg);
   if (hyundai_canfd_ioniq6_long && (msg->bus == 1U)) {
     hyundai_canfd_ioniq6_optional_rx_hook(msg);
   }
@@ -1272,7 +1274,7 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
     }
   }
   if (ordinary_angle_valid && !((hyundai_canfd_ioniq6_long || hyundai_canfd_ccnc_ev_long) && safety_rx_checks_invalid)) {
-    tx = hyundai_canfd_tx_hook_valid(msg);
+    tx = (msg->addr == 0x11AU) ? hyundai_daw_tx(msg) : hyundai_canfd_tx_hook_valid(msg);
   }
   if ((hyundai_ordinary_angle_stock && !hyundai_angle_aol_enabled && (msg->addr == 0x110U) && tx) ||
       (independent_command && independent_active && tx)) {
@@ -2221,6 +2223,7 @@ static safety_config hyundai_canfd_init_validated(uint16_t supplied_param) {
 }
 
 static safety_config hyundai_canfd_init(uint16_t param) {
+  hyundai_daw_init(true, false);
   hyundai_canfd_reset_ioniq6_state();
   hyundai_ordinary_angle_reset();
 #ifdef ALLOW_DEBUG
@@ -2239,6 +2242,9 @@ static safety_config hyundai_canfd_init(uint16_t param) {
                             (param == 0x8815U) || (param == 0x8895U);
   if (valid && marker_valid) {
     ret = hyundai_canfd_init_validated(param);
+    const bool daw_profile = (param == 0x0011U) || (param == 0x0091U) || (param == 0x0811U) || (param == 0x0891U) ||
+                             (param == 0x8015U) || (param == 0x8095U) || (param == 0x8815U) || (param == 0x8895U);
+    ret = hyundai_daw_configure(ret, true, daw_profile);
   }
   return ret;
 }
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai_daw.h b/opendbc_repo/opendbc/safety/modes/hyundai_daw.h
new file mode 100644
index 0000000000..9d83d0dc33
--- /dev/null
+++ b/opendbc_repo/opendbc/safety/modes/hyundai_daw.h
@@ -0,0 +1,117 @@
+#pragma once
+
+#include "opendbc/safety/modes/hyundai_common.h"
+
+static uint16_t hyundai_daw_addr;
+static unsigned int hyundai_daw_bus;
+static unsigned int hyundai_daw_len;
+static uint8_t hyundai_daw_data[16];
+static uint8_t hyundai_daw_previous[16];
+static bool hyundai_daw_previous_seen;
+static uint32_t hyundai_daw_previous_ts;
+static uint32_t hyundai_daw_rx_ts;
+static uint32_t hyundai_daw_tx_ts;
+static bool hyundai_daw_seen;
+static bool hyundai_daw_counter_seen;
+static bool hyundai_daw_sent;
+
+static void hyundai_daw_init(bool canfd, bool enabled) {
+  hyundai_daw_addr = enabled ? (canfd ? 0x11AU : 0x53EU) : 0U;
+  hyundai_daw_bus = canfd ? 1U : 0U;
+  hyundai_daw_len = canfd ? 16U : 6U;
+  hyundai_daw_previous_seen = false;
+  hyundai_daw_previous_ts = 0U;
+  hyundai_daw_seen = false;
+  hyundai_daw_counter_seen = false;
+  hyundai_daw_sent = false;
+  hyundai_daw_rx_ts = 0U;
+  hyundai_daw_tx_ts = 0U;
+}
+
+static void hyundai_daw_rx(const CANPacket_t *msg) {
+  const bool canfd = hyundai_daw_len == 16U;
+  if ((hyundai_daw_addr != 0U) && (msg->addr == hyundai_daw_addr) && (msg->bus == (canfd ? hyundai_daw_bus : 2U))) {
+    const uint32_t now = microsecond_timer_get();
+    const bool fresh = hyundai_daw_counter_seen && (safety_get_ts_elapsed(now, hyundai_daw_rx_ts) <= 100000U);
+    bool valid = GET_LEN(msg) == hyundai_daw_len;
+    if (valid && canfd) {
+      valid = GET_BYTES_LE(msg, 0, 2) == (hyundai_common_canfd_compute_checksum(msg) ^ 0x041DU);
+      if (fresh) {
+        valid &= (uint8_t)(msg->data[2] - hyundai_daw_data[2]) == 1U;
+      }
+    }
+    hyundai_daw_previous_seen = canfd && valid && fresh && hyundai_daw_seen;
+    if (hyundai_daw_previous_seen) {
+      (void)memcpy(hyundai_daw_previous, hyundai_daw_data, hyundai_daw_len);
+      hyundai_daw_previous_ts = hyundai_daw_rx_ts;
+    }
+    hyundai_daw_seen = valid;
+    if (valid) {
+      (void)memcpy(hyundai_daw_data, msg->data, hyundai_daw_len);
+      hyundai_daw_rx_ts = now;
+      hyundai_daw_counter_seen = true;
+    }
+  }
+}
+
+static uint8_t hyundai_daw_expected(const uint8_t *data, unsigned int i) {
+  uint8_t expected = data[i];
+  if ((hyundai_daw_len == 16U) && (i == 7U) && (((expected >> 3U) & 7U) == 1U)) {
+    expected &= (uint8_t)~0x38U;
+  } else if ((hyundai_daw_len == 6U) && (i == 5U) && ((expected & 7U) >= 1U) && ((expected & 7U) <= 3U)) {
+    expected &= (uint8_t)~7U;
+  } else {
+    // Non-advisory payload bits are copied exactly from the current source.
+  }
+  return expected;
+}
+
+static bool hyundai_daw_tx(const CANPacket_t *msg) {
+  const uint32_t now = microsecond_timer_get();
+  const bool canfd = hyundai_daw_len == 16U;
+  bool valid = hyundai_daw_seen && (hyundai_daw_addr != 0U) && (msg->addr == hyundai_daw_addr) &&
+               (msg->bus == hyundai_daw_bus) && (GET_LEN(msg) == hyundai_daw_len) &&
+               (safety_get_ts_elapsed(now, hyundai_daw_rx_ts) <= 100000U) &&
+               (!hyundai_daw_sent || (safety_get_ts_elapsed(now, hyundai_daw_tx_ts) >= 5000U));
+  if (valid) {
+    const uint8_t *source = hyundai_daw_data;
+    if (canfd && (msg->data[2] != hyundai_daw_data[2])) {
+      valid = hyundai_daw_previous_seen && (msg->data[2] == hyundai_daw_previous[2]) &&
+              (safety_get_ts_elapsed(now, hyundai_daw_previous_ts) <= 100000U);
+      if (valid) {
+        // A one-frame receive race cannot replace newer warning or status data.
+        for (unsigned int i = 3U; i < hyundai_daw_len; i++) {
+          valid &= hyundai_daw_expected(hyundai_daw_previous, i) == hyundai_daw_expected(hyundai_daw_data, i);
+        }
+        source = hyundai_daw_previous;
+      }
+    }
+    for (unsigned int i = canfd ? 2U : 0U; i < hyundai_daw_len; i++) {
+      valid &= msg->data[i] == hyundai_daw_expected(source, i);
+    }
+    if (canfd) {
+      valid &= GET_BYTES_LE(msg, 0, 2) == (hyundai_common_canfd_compute_checksum(msg) ^ 0x041DU);
+    }
+  }
+  if (valid) {
+    hyundai_daw_sent = true;
+    hyundai_daw_tx_ts = now;
+  }
+  return valid;
+}
+
+static safety_config hyundai_daw_configure(safety_config ret, bool canfd, bool enabled) {
+  hyundai_daw_init(canfd, false);
+  if (enabled && (ret.tx_msgs_len > 0) && (ret.tx_msgs_len < 64)) {
+    static CanMsg daw_tx_msgs[64];
+    for (int i = 0; i < ret.tx_msgs_len; i++) {
+      daw_tx_msgs[i] = ret.tx_msgs[i];
+    }
+    const CanMsg daw = {canfd ? 0x11AU : 0x53EU, canfd ? 1U : 0U, canfd ? 16U : 6U, .check_relay = false};
+    daw_tx_msgs[ret.tx_msgs_len] = daw;
+    ret.tx_msgs_len++;
+    ret.tx_msgs = daw_tx_msgs;
+    hyundai_daw_init(canfd, true);
+  }
+  return ret;
+}
diff --git a/opendbc_repo/opendbc/safety/tests/test_hyundai_daw.py b/opendbc_repo/opendbc/safety/tests/test_hyundai_daw.py
new file mode 100644
index 0000000000..da197ddde5
--- /dev/null
+++ b/opendbc_repo/opendbc/safety/tests/test_hyundai_daw.py
@@ -0,0 +1,127 @@
+import pytest
+
+from opendbc.car import structs
+from opendbc.car.hyundai.daw import DawSource
+from opendbc.car.hyundai.hyundaicanfd import hkg_can_fd_checksum
+from opendbc.car.hyundai.tests.test_daw import BASE, params, source
+from opendbc.safety.tests.libsafety import libsafety_py
+
+
+PROFILES = [(False, 0), (False, 0xC02), (True, 0x11), (True, 0x91), (True, 0x811), (True, 0x891),
+            (True, 0x8015), (True, 0x8095), (True, 0x8815), (True, 0x8895)]
+
+
+def packet(addr, data, bus):
+  return libsafety_py.make_CANPacket(addr, bus, data)
+
+
+def setup(canfd, word):
+  safety = libsafety_py.libsafety
+  debug = safety.set_safety_hooks(structs.CarParams.SafetyModel.allOutput, 0) == 0
+  safety.set_alternative_experience(32 if word & 0x800 else 0)
+  mode = structs.CarParams.SafetyModel.hyundaiCanfd if canfd else structs.CarParams.SafetyModel.hyundai
+  assert safety.set_safety_hooks(mode, word) == 0
+  safety.init_tests()
+  safety.set_timer(1_000_000)
+  return safety, debug or not (canfd and word & 0x8000)
+
+
+@pytest.mark.parametrize('canfd,word', PROFILES)
+@pytest.mark.parametrize('status', range(8))
+def test_actual_host_commands_obey_native_source_payload_and_expiry(canfd, word, status):
+  safety, supported = setup(canfd, word)
+  owner = DawSource(params(canfd))
+  data = source(canfd, status)
+  owner.update([(BASE, [(owner.address, data, owner.source_bus)])])
+  addr, output, bus = owner.command(BASE)[0]
+  assert not safety.safety_tx_hook(packet(addr, output, bus))
+  safety.safety_rx_hook(packet(addr, data, owner.source_bus))
+  assert bool(safety.safety_tx_hook(packet(addr, output, bus))) == supported
+  if not supported:
+    return
+  assert not safety.safety_tx_hook(packet(addr, output, bus))
+  safety.set_timer(1_010_000)
+  for bit in range(len(output) * 8):
+    bad = bytearray(output)
+    bad[bit // 8] ^= 1 << (bit % 8)
+    assert not safety.safety_tx_hook(packet(addr, bad, bus)), bit
+  assert safety.safety_tx_hook(packet(addr, output, bus))
+  safety.set_timer(1_100_000)
+  assert safety.safety_tx_hook(packet(addr, output, bus))
+  safety.set_timer(1_100_001)
+  assert not safety.safety_tx_hook(packet(addr, output, bus))
+  assert not safety.get_controls_allowed()
+
+
+@pytest.mark.parametrize('canfd,fault', [(canfd, fault) for canfd in (False, True)
+  for fault in ('length', 'bus', 'crc', 'counter', 'reset', 'relay') if canfd or fault not in ('crc', 'counter')])
+def test_source_rejection_reset_and_relay_are_preserved(canfd, fault):
+  safety, _ = setup(canfd, 0x11 if canfd else 0)
+  owner = DawSource(params(canfd))
+  data = source(canfd, 1)
+  owner.update([(BASE, [(owner.address, data, owner.source_bus)])])
+  addr, output, bus = owner.command(BASE)[0]
+  incoming = data[:-4] if fault == 'length' and canfd else data[:-1] if fault == 'length' else data
+  rx_bus = owner.source_bus + 1 if fault == 'bus' else owner.source_bus
+  if fault == 'crc':
+    incoming = bytes([incoming[0] ^ 1]) + incoming[1:]
+  safety.safety_rx_hook(packet(addr, incoming, rx_bus))
+  if fault == 'counter':
+    safety.set_timer(1_010_000)
+    safety.safety_rx_hook(packet(addr, incoming, rx_bus))
+  elif fault == 'reset':
+    setup(canfd, 0x11 if canfd else 0)
+  elif fault == 'relay':
+    safety.set_relay_malfunction(True)
+  assert not safety.safety_tx_hook(packet(addr, output, bus))
+
+
+def test_forwarding_and_other_profiles_remain_unchanged():
+  safety, _ = setup(False, 0)
+  assert safety.safety_fwd_hook(2, 0x53E) == 0
+  assert safety.safety_fwd_hook(0, 0x53E) == 2
+  safety.set_safety_hooks(structs.CarParams.SafetyModel.hyundaiCanfd, 0)
+  safety.init_tests()
+  data = source(True, 1)
+  safety.safety_rx_hook(packet(0x11A, data, 0))
+  changed = bytearray(data)
+  changed[7] &= ~0x38
+  changed[:2] = hkg_can_fd_checksum(0x11A, None, changed).to_bytes(2, 'little')
+  assert not safety.safety_tx_hook(packet(0x11A, changed, 0))
+
+
+def test_one_genuine_counter_predecessor_cannot_hide_newer_hands_off_request():
+  safety, _ = setup(True, 0x11)
+  owner = DawSource(params(True))
+  data = source(True, 1)
+  owner.update([(BASE, [(0x11A, data, 1)])])
+  _, output, _ = owner.command(BASE)[0]
+  safety.safety_rx_hook(packet(0x11A, data, 1))
+  following = bytearray(data)
+  following[2] += 1
+  following[:2] = hkg_can_fd_checksum(0x11A, None, following).to_bytes(2, 'little')
+  safety.set_timer(1_010_000)
+  safety.safety_rx_hook(packet(0x11A, following, 1))
+  assert safety.safety_tx_hook(packet(0x11A, output, 1))
+  safety.set_timer(1_015_000)
+  newer = bytearray(following)
+  newer[2] += 1
+  newer[:2] = hkg_can_fd_checksum(0x11A, None, newer).to_bytes(2, 'little')
+  safety.safety_rx_hook(packet(0x11A, newer, 1))
+  assert not safety.safety_tx_hook(packet(0x11A, output, 1))
+  owner.update([(BASE + 10_000_000, [(0x11A, bytes(following), 1)])])
+  _, prior_output, _ = owner.command(BASE + 10_000_000)[0]
+  assert safety.safety_tx_hook(packet(0x11A, prior_output, 1))
+  hands_off = bytearray(newer)
+  hands_off[2] += 1
+  hands_off[7] = (hands_off[7] & ~0x38) | (2 << 3)
+  hands_off[:2] = hkg_can_fd_checksum(0x11A, None, hands_off).to_bytes(2, 'little')
+  safety.set_timer(1_020_000)
+  safety.safety_rx_hook(packet(0x11A, hands_off, 1))
+  assert not safety.safety_tx_hook(packet(0x11A, prior_output, 1))
+  owner.update([(BASE + 20_000_000, [(0x11A, bytes(newer), 1)])])
+  _, prior_output, _ = owner.command(BASE + 20_000_000)[0]
+  assert not safety.safety_tx_hook(packet(0x11A, prior_output, 1))
+  owner.update([(BASE + 30_000_000, [(0x11A, bytes(hands_off), 1)])])
+  _, current_output, _ = owner.command(BASE + 30_000_000)[0]
+  assert safety.safety_tx_hook(packet(0x11A, current_output, 1))
diff --git a/prebuilt b/prebuilt
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/prebuilt.json b/prebuilt.json
deleted file mode 100644
index 45f4679f67..0000000000
--- a/prebuilt.json
+++ /dev/null
@@ -1 +0,0 @@
-{"protected_inventory_sha256": "fede7a3a054e8b7d37cc815a25f5d5296b19c34bc525281e97622bcbe1a569c0", "schema_version": 1}
diff --git a/tools/ci/run_vehicle_tests.py b/tools/ci/run_vehicle_tests.py
index a9198ebcd6..e238681c5e 100644
--- a/tools/ci/run_vehicle_tests.py
+++ b/tools/ci/run_vehicle_tests.py
@@ -44,6 +44,7 @@ AOL_LIFECYCLE_TARGETS = (
   "opendbc_repo/opendbc/car/hyundai/tests/test_torque_ev_deferred_takeover.py",
   'openpilot/starpilot/aol/tests/test_hkg_early_long_withdrawal.py',
   'openpilot/starpilot/aol/tests/test_hkg_angle_eps_retention.py',
+  'opendbc_repo/opendbc/car/hyundai/tests/test_daw.py',
   'openpilot/starpilot/aol/tests/test_hkg_angle_limit_warning.py',
   'openpilot/starpilot/car/toyota/tests/test_prius_retrofit_stock.py',
   'openpilot/starpilot/car/toyota/tests/test_prius_retrofit_stock_callers.py',
@@ -513,6 +514,7 @@ RELEASE_TARGETS = (
   "opendbc_repo/opendbc/safety/tests/test_hyundai_ccnc_angle_two.py",
   "opendbc_repo/opendbc/safety/tests/test_hyundai_ioniq6_long.py",
   "opendbc_repo/opendbc/safety/tests/test_hyundai_ray_pedal.py",
+  "opendbc_repo/opendbc/safety/tests/test_hyundai_daw.py",
   "opendbc_repo/opendbc/safety/tests/test_honda_mvl_stock.py",
   "opendbc_repo/opendbc/safety/tests/test_honda_stock_aol.py",
   "opendbc_repo/opendbc/safety/tests/test_mazda_stock_aol.py",