diff --git a/opendbc_repo/opendbc/car/hyundai/carcontroller.py b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
index ad2e600157..18fe0df227 100644
--- a/opendbc_repo/opendbc/car/hyundai/carcontroller.py
+++ b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
@@ -1034,7 +1034,8 @@ class CarController(CarControllerBase):
           )
         else:
           adrv_messages = hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame,
-                                                             car_fingerprint=self.CP.carFingerprint)
+                                                             car_fingerprint=self.CP.carFingerprint,
+                                                             drive_gear=drive_gear)
         can_sends.extend(adrv_messages)
         # The front radar treats ADAS_DRV's 0x100 broadcast as its host heartbeat
         # and stops publishing object tracks when it disappears.
diff --git a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
index 8cc18edc76..c29a6f0a47 100644
--- a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+++ b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
@@ -21,7 +21,7 @@ def cache_adrv_0x51_template(car_fingerprint: CAR, dat: bytes | None) -> None:
     _adrv_0x51_templates[car_fingerprint] = bytes(dat)
 
 
-def create_adrv_0x51(packer, CAN, frame: int, car_fingerprint: CAR | None = None):
+def create_adrv_0x51(packer, CAN, frame: int, car_fingerprint: CAR | None = None, drive_gear: bool = False):
   template = _adrv_0x51_templates.get(car_fingerprint)
   if template is None:
     return packer.make_can_msg("ADRV_0x51", CAN.ACAN, {})
@@ -29,6 +29,7 @@ def create_adrv_0x51(packer, CAN, frame: int, car_fingerprint: CAR | None = None
   # EV6 MRR30 tracks stop when the ADAS takeover replaces this platform payload with zeros.
   dat = bytearray(template)
   dat[2] = (template[2] + frame + 1) & 0xFF
+  dat[3] = (dat[3] & ~0x1) | int(drive_gear)
   crc = hkg_can_fd_checksum(0x51, None, dat)
   dat[0] = crc & 0xFF
   dat[1] = (crc >> 8) & 0xFF
@@ -815,13 +816,13 @@ def create_fca_warning_light(packer, CAN, frame):
   return ret
 
 
-def create_adrv_messages(packer, CAN, frame, blended_hda2=False, car_fingerprint=None):
+def create_adrv_messages(packer, CAN, frame, blended_hda2=False, car_fingerprint=None, drive_gear=False):
   # messages needed to car happy after disabling
   # the ADAS Driving ECU to do longitudinal control
 
   ret = []
 
-  ret.append(create_adrv_0x51(packer, CAN, frame, car_fingerprint))
+  ret.append(create_adrv_0x51(packer, CAN, frame, car_fingerprint, drive_gear))
 
   if blended_hda2:
     return ret
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
index efe7339658..84da4d8ad3 100644
--- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
@@ -159,7 +159,8 @@ class TestHyundaiFingerprint:
 
     hyundaicanfd.cache_adrv_0x51_template(CAR.KIA_EV6, factory)
     try:
-      address, dat, bus = hyundaicanfd.create_adrv_0x51(packer, can_bus, 7, CAR.KIA_EV6)
+      address, dat, bus = hyundaicanfd.create_adrv_0x51(packer, can_bus, 7, CAR.KIA_EV6, drive_gear=True)
+      _, parked_dat, _ = hyundaicanfd.create_adrv_0x51(packer, can_bus, 8, CAR.KIA_EV6, drive_gear=False)
       _, other_dat, _ = hyundaicanfd.create_adrv_0x51(packer, can_bus, 7, CAR.HYUNDAI_IONIQ_6)
     finally:
       hyundaicanfd.cache_adrv_0x51_template(CAR.KIA_EV6, None)
@@ -169,6 +170,9 @@ class TestHyundaiFingerprint:
     assert dat[2] == (factory[2] + 8) & 0xFF
     assert dat[3:] == factory[3:]
     assert int.from_bytes(dat[:2], "little") == hkg_can_fd_checksum(address, None, bytearray(dat))
+    assert parked_dat[3] == factory[3] & ~0x1
+    assert parked_dat[4:] == factory[4:]
+    assert int.from_bytes(parked_dat[:2], "little") == hkg_can_fd_checksum(address, None, bytearray(parked_dat))
     assert other_dat[3:] == bytes(29)
 
   def test_ev6_init_captures_factory_adrv_0x51(self, monkeypatch):
@@ -193,7 +197,7 @@ class TestHyundaiFingerprint:
 
     packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
     try:
-      _, dat, _ = hyundaicanfd.create_adrv_0x51(packer, CanBus(CP), 0, CAR.KIA_EV6)
+      _, dat, _ = hyundaicanfd.create_adrv_0x51(packer, CanBus(CP), 0, CAR.KIA_EV6, drive_gear=True)
     finally:
       hyundaicanfd.cache_adrv_0x51_template(CAR.KIA_EV6, None)