diff --git a/launch_env.sh b/launch_env.sh
index 74fd65ca7c..858f20402e 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -25,7 +25,7 @@ if [ -z "$AGNOS_VERSION" ]; then
 fi
 
 if [ -z "$AGNOS_ACCEPTED_VERSIONS" ]; then
-  export AGNOS_ACCEPTED_VERSIONS="$AGNOS_VERSION"
+  export AGNOS_ACCEPTED_VERSIONS="19.8.1 19.8.2"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/system/updated/tests/test_agnos_compatibility.py b/system/updated/tests/test_agnos_compatibility.py
new file mode 100644
index 0000000000..da0cae9d06
--- /dev/null
+++ b/system/updated/tests/test_agnos_compatibility.py
@@ -0,0 +1,30 @@
+import ast
+from pathlib import Path
+from types import SimpleNamespace
+
+import pytest
+
+
+def load_handle_agnos_update(cur_version: str):
+  source_path = Path(__file__).parents[1] / "updated.py"
+  module = ast.parse(source_path.read_text())
+  function = next(node for node in module.body if isinstance(node, ast.FunctionDef) and node.name == "handle_agnos_update")
+
+  def fail(*_args, **_kwargs):
+    raise AssertionError("accepted AGNOS version attempted to update")
+
+  scope = {
+    "HARDWARE": SimpleNamespace(get_os_version=lambda: cur_version),
+    "OVERLAY_MERGED": "/unused",
+    "cloudlog": SimpleNamespace(info=lambda *_args, **_kwargs: None),
+    "run": lambda *_args, **_kwargs: "19.8.1\n19.8.1 19.8.2\n",
+    "set_consistent_flag": fail,
+  }
+  ast.fix_missing_locations(function)
+  exec(compile(ast.Module(body=[function], type_ignores=[]), str(source_path), "exec"), scope)
+  return scope["handle_agnos_update"]
+
+
+@pytest.mark.parametrize("cur_version", ["19.8.1", "19.8.2"])
+def test_accepted_agnos_version_is_not_reflashed(cur_version):
+  load_handle_agnos_update(cur_version)()
diff --git a/system/updated/updated.py b/system/updated/updated.py
index 8e7c8890c3..d77f27553b 100644
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -247,11 +247,14 @@ def handle_agnos_update() -> None:
   from openpilot.system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number
 
   cur_version = HARDWARE.get_os_version()
-  updated_version = run(["bash", "-c", r"unset AGNOS_VERSION && source launch_env.sh && \
-                          echo -n $AGNOS_VERSION"], OVERLAY_MERGED).strip()
+  version_output = run(["bash", "-c", r'''unset AGNOS_VERSION AGNOS_ACCEPTED_VERSIONS
+                          source launch_env.sh
+                          printf '%s\n%s\n' "$AGNOS_VERSION" "${AGNOS_ACCEPTED_VERSIONS:-$AGNOS_VERSION}"'''], OVERLAY_MERGED)
+  updated_version, accepted_versions_raw = version_output.splitlines()[:2]
+  accepted_versions = set(accepted_versions_raw.split()) | {updated_version}
 
-  cloudlog.info(f"AGNOS version check: {cur_version} vs {updated_version}")
-  if cur_version == updated_version:
+  cloudlog.info(f"AGNOS version check: {cur_version} vs {sorted(accepted_versions)}")
+  if cur_version in accepted_versions:
     return
 
   # prevent an openpilot getting swapped in with a mismatched or partially downloaded agnos