diff --git a/opendbc_repo/opendbc/car/honda/tests/test_bosch_a_radar.py b/opendbc_repo/opendbc/car/honda/tests/test_bosch_a_radar.py
index 07de1243e0..31bf9fc0de 100644
--- a/opendbc_repo/opendbc/car/honda/tests/test_bosch_a_radar.py
+++ b/opendbc_repo/opendbc/car/honda/tests/test_bosch_a_radar.py
@@ -1098,6 +1098,15 @@ def test_civic_bosch_radar_dbc_wired_for_parser_unit_tests():
   assert ri.rcp is not None
 
 
+def test_crv_5g_bosch_a_radar_dbc_wired_for_parser_unit_tests():
+  cp = CarInterface.get_non_essential_params(CAR.HONDA_CRV_5G)
+  assert cp.radarUnavailable is False
+  ri = CarInterface.RadarInterface(cp)
+  assert ri.bosch_a_radar is True
+  assert ri.rcp is not None
+  assert ri.rcp.bus == CanBus(cp).camera
+
+
 def test_civic_bosch_object_feed_uses_camera_side_acc_can():
   ri = make_radar_interface()
   can = CanBus(CP)
@@ -1118,7 +1127,7 @@ _EXPECTED_BOSCH_A_CARS = frozenset({
   CAR.HONDA_E,
   CAR.HONDA_E_ADVANCE,
 })
-_VERIFIED_BOSCH_A_CARS = frozenset({CAR.HONDA_CIVIC_BOSCH})
+_VERIFIED_BOSCH_A_CARS = frozenset({CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G})
 
 _EXCLUDED_BOSCH_CARS = [
   CAR.HONDA_CIVIC_2022,
@@ -1150,8 +1159,9 @@ def test_bosch_a_gate_stays_closed_for_non_bosch_a_platforms(car):
 
 
 def test_bosch_a_verified_platform_gate_can_open():
-  cp = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC_BOSCH)
-  assert cp.radarUnavailable is False
+  for car in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G):
+    cp = CarInterface.get_non_essential_params(car)
+    assert cp.radarUnavailable is False
 
 
 def test_bosch_a_toggle_can_close_verified_platform(monkeypatch):
diff --git a/opendbc_repo/opendbc/car/honda/values.py b/opendbc_repo/opendbc/car/honda/values.py
index 6a9314f544..ac6fb6b2f4 100644
--- a/opendbc_repo/opendbc/car/honda/values.py
+++ b/opendbc_repo/opendbc/car/honda/values.py
@@ -533,10 +533,10 @@ HONDA_BOSCH_ALT_RADAR = CAR.with_flags(HondaFlags.BOSCH_ALT_RADAR)
 # HondaBoschARadar. This describes hardware compatibility only; it is deliberately separate from the
 # verified set below so a newly supported model cannot start using unvalidated radar data by accident.
 HONDA_BOSCH_A = HONDA_BOSCH - HONDA_BOSCH_RADARLESS - HONDA_BOSCH_CANFD - HONDA_BOSCH_ALT_RADAR
-# Add individual CAR entries only after the contributor has personally road-tested the exact platform
-# or we have accepted a real capture. James developed and road-tested the plain Bosch Civic decoder;
-# every other Bosch-A variant remains disabled until it gets the same verification.
-HONDA_BOSCH_A_RADAR_VERIFIED = frozenset({CAR.HONDA_CIVIC_BOSCH})
+# Add individual CAR entries only after the exact platform has a real capture and decoder replay
+# validation. The Civic and CR-V 5G captures both exercise the plain Bosch-A object bank; every
+# other Bosch-A variant remains disabled until it gets the same verification.
+HONDA_BOSCH_A_RADAR_VERIFIED = frozenset({CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G})
 HONDA_BOSCH_TJA_CONTROL = CAR.with_flags(HondaFlags.BOSCH_TJA_CONTROL)
 HONDA_CAMERA_MESSAGE_CARS = {
   CAR.HONDA_ACCORD,