diff --git a/opendbc_repo/opendbc/car/hyundai/carcontroller.py b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
index 69313438b0..0fd8dd1564 100644
--- a/opendbc_repo/opendbc/car/hyundai/carcontroller.py
+++ b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
@@ -441,12 +441,6 @@ def suppress_redundant_gv70_brake_cancel(CP, brake_pressed: bool, lat_active: bo
   )
 
 
-def clear_ioniq_6_torque_when_request_inactive(CP, apply_torque: int, apply_steer_req: bool) -> int:
-  if CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and not apply_steer_req:
-    return 0
-  return apply_torque
-
-
 class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
@@ -642,8 +636,6 @@ class CarController(CarControllerBase):
       if not CC.latActive:
         apply_torque = 0
 
-      apply_torque = clear_ioniq_6_torque_when_request_inactive(self.CP, apply_torque, apply_steer_req)
-
       # Hold torque with induced temporary fault when cutting the actuation bit
       # FIXME: we don't use this with CAN FD?
       torque_fault = CC.latActive and not apply_steer_req
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
index 1d9149806b..b9ed400daf 100644
--- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
@@ -20,8 +20,7 @@ from opendbc.car.hyundai.carcontroller import CarController, CANCEL_BUTTON_DELAY
                                              should_track_stop_accel_directly_for_car, \
                                              preserve_stock_canfd_lfa_status, \
                                              preserve_stock_canfd_lkas_status, \
-                                             suppress_redundant_gv70_brake_cancel, \
-                                             clear_ioniq_6_torque_when_request_inactive
+                                             suppress_redundant_gv70_brake_cancel
 from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state, \
                                              get_canfd_cruise_available
 from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX, get_communication_control_request
@@ -626,14 +625,7 @@ class TestHyundaiFingerprint:
     assert not (CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
     assert bool(CP.flags & HyundaiFlags.CANFD_CAMERA_SCC)
 
-  def test_ioniq_6_clears_torque_with_inactive_safety_request(self):
-    ioniq_6_cp = SimpleNamespace(carFingerprint=CAR.HYUNDAI_IONIQ_6)
-    other_cp = SimpleNamespace(carFingerprint=CAR.KIA_EV6)
-
-    assert clear_ioniq_6_torque_when_request_inactive(ioniq_6_cp, -409, False) == 0
-    assert clear_ioniq_6_torque_when_request_inactive(ioniq_6_cp, -409, True) == -409
-    assert clear_ioniq_6_torque_when_request_inactive(other_cp, -409, False) == -409
-
+  def test_palisade_2023_uses_can_canfd_blended_layout(self):
     palisade_2023 = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, None)
     assert palisade_2023.flags & HyundaiFlags.CAN_CANFD_BLENDED
     assert DBC[palisade_2023.carFingerprint][Bus.pt] == "hyundai_palisade_2023_generated"