diff --git a/opendbc_repo b/opendbc_repo
index b68fab9ea..91fd70341 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit b68fab9ea4052213f8bfc1b80832ac8d4e798c8b
+Subproject commit 91fd70341e550805c30c76006cbd281cf7e7d5bc
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index b741e916c..3db9a8c88 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -82,7 +82,7 @@ class CarSpecificEvents:
       events = self.create_common_events(CS, CS_prev)
 
       if self.CP.openpilotLongitudinalControl:
-        if CS.cruiseState.standstill and not (CS.brakePressed or self.CP.autoResumeSng):
+        if CS.cruiseState.standstill and not CS.brakePressed:
           events.add(EventName.resumeRequired)
         if CS.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.belowEngageSpeed)
@@ -103,18 +103,30 @@ class CarSpecificEvents:
       if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
                                                    self.CP.networkLocation == NetworkLocation.fwdCamera):
         events.add(EventName.belowEngageSpeed)
-      if CS.cruiseState.standstill:
+      if CS.cruiseState.standstill and not self.CP.autoResumeSng:
         events.add(EventName.resumeRequired)
+      if CS.vEgo < self.CP.minSteerSpeed:
+        events.add(EventName.belowSteerSpeed)
+
+      if (self.CP.flags & GMFlags.CC_LONG) and CS.vEgo < self.CP.minEnableSpeed and CS.cruiseState.enabled:
+        events.add(EventName.speedTooLow)
 
     elif self.CP.brand == 'volkswagen':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
                                          pcm_enable=self.CP.pcmCruise)
 
+      # Low speed steer alert hysteresis logic
+      if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.vEgo < (self.CP.minSteerSpeed + 1.):
+        self.low_speed_alert = True
+      elif CS.vEgo > (self.CP.minSteerSpeed + 2.):
+        self.low_speed_alert = False
+      if self.low_speed_alert:
+        events.add(EventName.belowSteerSpeed)
+
       if self.CP.openpilotLongitudinalControl:
         if CS.vEgo < self.CP.minEnableSpeed + 0.5:
           events.add(EventName.belowEngageSpeed)
-        if ((CC.enabled and CS.vEgo < self.CP.minEnableSpeed) or
-            ((self.CP.flags & GMFlags.CC_LONG) and CS.vEgo < self.CP.minEnableSpeed and CS.cruiseState.enabled)):
+        if CC.enabled and CS.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.speedTooLow)
 
       # TODO: this needs to be implemented generically in carState struct
diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index 4906bb84c..055f13331 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -49,7 +49,7 @@ class VCruiseHelper(VCruiseHelperSP):
     self.v_cruise_kph_last = self.v_cruise_kph
 
     if CS.cruiseState.available:
-      if not self.CP.pcmCruise:
+      if self.gm_cc_only or not self.CP.pcmCruise:
         # if stock cruise is completely disabled, then we can use our own set speed logic
         self._update_v_cruise_non_pcm(CS, enabled, is_metric)
         self.v_cruise_cluster_kph = self.v_cruise_kph
@@ -135,8 +135,8 @@ class VCruiseHelper(VCruiseHelperSP):
     initial_experimental_mode = experimental_mode and not dynamic_experimental_control
     initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if initial_experimental_mode else V_CRUISE_INITIAL
 
-    if ((any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized)
-        or (self.gm_cc_only and resume_prev_button)):
+    if (any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents)
+      and self.v_cruise_initialized or (self.gm_cc_only and resume_prev_button)):
       self.v_cruise_kph = self.v_cruise_kph_last
     else:
       self.v_cruise_kph = int(round(np.clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))