diff --git a/starpilot/controls/starpilot_card.py b/starpilot/controls/starpilot_card.py
index 38710063e..6ab88336f 100644
--- a/starpilot/controls/starpilot_card.py
+++ b/starpilot/controls/starpilot_card.py
@@ -85,6 +85,9 @@ class StarPilotCard:
 
   def update(self, carState, starpilotCarState, sm, starpilot_toggles):
     self.switchback_mode_enabled = self.params_memory.get_bool("SwitchbackModeEnabled")
+    hyundai_main_cruise_can_toggle_aol = self.CP.brand == "hyundai" and starpilot_toggles.always_on_lateral and (
+      starpilot_toggles.always_on_lateral_lkas or starpilot_toggles.always_on_lateral_main
+    )
 
     if self.CP.brand == "hyundai" or starpilot_toggles.lkas_allowed_for_aol:
       for be in carState.buttonEvents:
@@ -93,7 +96,10 @@ class StarPilotCard:
           if carState.cruiseState.enabled or self.pause_lateral:
             self.pause_lateral = not self.always_on_lateral_allowed
         elif be.type == ButtonType.mainCruise and be.pressed:
-          if starpilot_toggles.always_on_lateral_main:
+          # Hyundai owners use both the LKAS button and the cruise main button
+          # as AOL engage inputs. Keep the safety-derived LKAS capability while
+          # still honoring the cruise main button as a shared AOL toggle.
+          if hyundai_main_cruise_can_toggle_aol or starpilot_toggles.always_on_lateral_main:
             self.always_on_lateral_allowed = not self.always_on_lateral_allowed
           elif starpilot_toggles.speed_limit_controller:
             self.params_memory.put_bool("SLCAdoptSpeedLimit", True)
diff --git a/starpilot/controls/tests/test_starpilot_card.py b/starpilot/controls/tests/test_starpilot_card.py
index 0dcb9cbb8..c3de75357 100644
--- a/starpilot/controls/tests/test_starpilot_card.py
+++ b/starpilot/controls/tests/test_starpilot_card.py
@@ -43,6 +43,7 @@ def make_sm():
 
 def make_toggles(**overrides):
   defaults = {
+    "always_on_lateral": False,
     "always_on_lateral_lkas": False,
     "always_on_lateral_main": False,
     "always_on_lateral_pause_speed": 0.0,
@@ -107,7 +108,7 @@ def test_hyundai_lkas_button_still_toggles_aol_with_cruise_button_events(monkeyp
   ])
   starpilot_car_state = SimpleNamespace(distancePressed=False)
   sm = make_sm()
-  toggles = make_toggles(always_on_lateral_lkas=True)
+  toggles = make_toggles(always_on_lateral=True, always_on_lateral_lkas=True)
 
   ret = card.update(car_state, starpilot_car_state, sm, toggles)
 
@@ -115,6 +116,25 @@ def test_hyundai_lkas_button_still_toggles_aol_with_cruise_button_events(monkeyp
   assert ret.pauseLateral is False
 
 
+def test_hyundai_main_cruise_button_toggles_aol_while_lkas_mode_is_enabled(monkeypatch, tmp_path):
+  monkeypatch.setattr(spc, "Params", FakeParams)
+  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
+  monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
+
+  card = spc.StarPilotCard(SimpleNamespace(brand="hyundai"), SimpleNamespace(alternativeExperience=0))
+
+  car_state = make_car_state(button_events=[SimpleNamespace(type=spc.ButtonType.mainCruise, pressed=True)])
+  starpilot_car_state = SimpleNamespace(distancePressed=False)
+  sm = make_sm()
+  toggles = make_toggles(always_on_lateral=True, always_on_lateral_lkas=True)
+
+  ret = card.update(car_state, starpilot_car_state, sm, toggles)
+  assert ret.alwaysOnLateralAllowed is True
+
+  ret = card.update(car_state, starpilot_car_state, sm, toggles)
+  assert ret.alwaysOnLateralAllowed is False
+
+
 def test_honda_lkas_button_pauses_lateral_when_cruise_is_active(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
   monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)