diff --git a/panda/board/safety/safety_gm.h b/panda/board/safety/safety_gm.h
index d924e8df1..eff88ba6f 100644
--- a/panda/board/safety/safety_gm.h
+++ b/panda/board/safety/safety_gm.h
@@ -263,6 +263,9 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
     // ACC steering wheel buttons (GM_CAM is tied to the PCM)
     if ((addr == 0x1E1) && (!gm_pcm_cruise || gm_cc_long)) {
       int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
+      // Malibu Hybrid pedal-long observed format uses byte3 bit0 set (typically 0x01/0x41) on ASCMSteeringButton.
+      // Don't treat that physical CANCEL frame as OP disengage.
+      bool malibu_cancel_passthrough = gm_bolt_2022_pedal && gm_pedal_long && ((GET_BYTE(to_push, 3) & 0x1U) != 0U);
 
       // enter controls on falling edge of set or rising edge of resume (avoids fault)
       bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
@@ -272,7 +275,7 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
       }
 
       // exit controls on cancel press
-      if (button == GM_BTN_CANCEL) {
+      if ((button == GM_BTN_CANCEL) && !malibu_cancel_passthrough) {
         controls_allowed = false;
       }