diff --git a/scripts/speed_limit_vision/build_track_classifier_dataset.py b/scripts/speed_limit_vision/build_track_classifier_dataset.py
index d3f944a6c..2db35b0e7 100644
--- a/scripts/speed_limit_vision/build_track_classifier_dataset.py
+++ b/scripts/speed_limit_vision/build_track_classifier_dataset.py
@@ -15,8 +15,15 @@ import cv2
 
 from starpilot.system.speed_limit_vision import DETECTOR_CLASSIFIER_EXPANSIONS
 
+if __package__ in (None, ""):
+  import sys
+  sys.path.insert(0, str(Path(__file__).resolve().parent))
+  from common import SUPPORTED_SPEED_VALUES  # type: ignore  # noqa: TID251
+else:
+  from .common import SUPPORTED_SPEED_VALUES
 
-SPEED_VALUES = frozenset((15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75))
+
+SPEED_VALUES = frozenset(SUPPORTED_SPEED_VALUES)
 
 
 def parse_args() -> argparse.Namespace:
diff --git a/scripts/speed_limit_vision/common.py b/scripts/speed_limit_vision/common.py
index 23f0cb872..db93bad4e 100644
--- a/scripts/speed_limit_vision/common.py
+++ b/scripts/speed_limit_vision/common.py
@@ -23,6 +23,11 @@ DETECTOR_CLASS_NAMES = (
   "school_zone_speed_limit",
 )
 DEFAULT_SPEED_VALUES = (15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75)
+# Values the review and dataset tooling can accept. Keep DEFAULT_SPEED_VALUES
+# aligned with the currently deployed classifier until an expanded model is
+# promoted; adding a class changes every output index after it.
+SUPPORTED_SPEED_VALUES = (10, *DEFAULT_SPEED_VALUES, 80, 90, 100)
+EXTENDED_CLASSIFIER_SPEED_VALUES = tuple(sorted(SUPPORTED_SPEED_VALUES, key=str))
 
 DETECTOR_EXPORT_NAME = "speed_limit_us_detector.onnx"
 CLASSIFIER_EXPORT_NAME = "speed_limit_us_value_classifier.onnx"
diff --git a/scripts/speed_limit_vision/generate_synthetic_us_speed_limits.py b/scripts/speed_limit_vision/generate_synthetic_us_speed_limits.py
index f11a18fbc..3c3733ca2 100644
--- a/scripts/speed_limit_vision/generate_synthetic_us_speed_limits.py
+++ b/scripts/speed_limit_vision/generate_synthetic_us_speed_limits.py
@@ -2,7 +2,6 @@
 from __future__ import annotations
 
 import argparse
-import math
 import random
 
 from dataclasses import dataclass
@@ -16,7 +15,7 @@ from PIL import Image, ImageDraw, ImageEnhance, ImageFilter, ImageFont
 if __package__ in (None, ""):
   import sys
   sys.path.insert(0, str(Path(__file__).resolve().parent))
-  from common import DEFAULT_SPEED_VALUES, DEFAULT_WORKSPACE, ensure_dir, resolve_workspace  # type: ignore
+  from common import DEFAULT_SPEED_VALUES, DEFAULT_WORKSPACE, ensure_dir, resolve_workspace  # type: ignore  # noqa: TID251
 else:
   from .common import DEFAULT_SPEED_VALUES, DEFAULT_WORKSPACE, ensure_dir, resolve_workspace
 
@@ -100,7 +99,6 @@ def render_regulatory_sign(speed_value: int, school_zone: bool, seed: int) -> Im
 def render_advisory_sign(speed_value: int, seed: int) -> Image.Image:
   rng = random.Random(seed)
   size = rng.randint(240, 320)
-  image = Image.new("RGBA", (size, size), (255, 255, 255, 0))
   base = Image.new("RGBA", (size, size), (255, 255, 255, 0))
   draw = ImageDraw.Draw(base)
 
@@ -234,6 +232,7 @@ def main():
   parser.add_argument("--train-count", type=int, default=9000, help="Number of synthetic training detector images.")
   parser.add_argument("--val-count", type=int, default=1200, help="Number of synthetic validation detector images.")
   parser.add_argument("--negative-ratio", type=float, default=0.18, help="Share of detector images with no sign.")
+  parser.add_argument("--speed-values", nargs="+", type=int, default=list(DEFAULT_SPEED_VALUES), help="Posted values to synthesize.")
   parser.add_argument("--seed", type=int, default=20260330, help="Random seed.")
   args = parser.parse_args()
 
@@ -246,7 +245,7 @@ def main():
   detector_image_dir = workspace / "detector" / "images"
   detector_label_dir = workspace / "detector" / "labels"
   classifier_dir = workspace / "classifier"
-  speed_values = tuple(DEFAULT_SPEED_VALUES)
+  speed_values = tuple(dict.fromkeys(args.speed_values))
   rng = random.Random(args.seed)
 
   for split, count in (("train", max(args.train_count, 0)), ("val", max(args.val_count, 0))):
diff --git a/scripts/speed_limit_vision/generate_value_roi_classifier_dataset.py b/scripts/speed_limit_vision/generate_value_roi_classifier_dataset.py
index 98bc26d33..effdbd273 100644
--- a/scripts/speed_limit_vision/generate_value_roi_classifier_dataset.py
+++ b/scripts/speed_limit_vision/generate_value_roi_classifier_dataset.py
@@ -13,7 +13,7 @@ import numpy as np
 if __package__ in (None, ""):
   import sys
   sys.path.insert(0, str(Path(__file__).resolve().parent))
-  from common import DEFAULT_SPEED_VALUES, DEFAULT_WORKSPACE, ensure_dir, resolve_workspace  # type: ignore
+  from common import DEFAULT_SPEED_VALUES, DEFAULT_WORKSPACE, ensure_dir, resolve_workspace  # type: ignore  # noqa: TID251
   from generate_synthetic_us_speed_limits import KNOWN_REAL_CROPS, augment_sign, render_regulatory_sign  # type: ignore
 else:
   from .common import DEFAULT_SPEED_VALUES, DEFAULT_WORKSPACE, ensure_dir, resolve_workspace
@@ -146,6 +146,7 @@ def main():
   parser.add_argument("--train-per-class", type=int, default=1800, help="Synthetic training samples per value.")
   parser.add_argument("--val-per-class", type=int, default=260, help="Synthetic validation samples per value.")
   parser.add_argument("--real-augmentations", type=int, default=28, help="Augmented mask samples to create per known real crop.")
+  parser.add_argument("--speed-values", nargs="+", type=int, default=list(DEFAULT_SPEED_VALUES), help="Posted values to synthesize.")
   parser.add_argument("--seed", type=int, default=20260330, help="Random seed.")
   args = parser.parse_args()
 
@@ -157,7 +158,7 @@ def main():
   ensure_dir(classifier_dir / "val")
 
   rng = random.Random(args.seed)
-  speed_values = tuple(DEFAULT_SPEED_VALUES)
+  speed_values = tuple(dict.fromkeys(args.speed_values))
 
   for split, per_class in (("train", max(args.train_per_class, 0)), ("val", max(args.val_per_class, 0))):
     for speed_value in speed_values:
diff --git a/scripts/speed_limit_vision/import_manifest_classifier_masks.py b/scripts/speed_limit_vision/import_manifest_classifier_masks.py
index 3e6a55937..6ec13138d 100644
--- a/scripts/speed_limit_vision/import_manifest_classifier_masks.py
+++ b/scripts/speed_limit_vision/import_manifest_classifier_masks.py
@@ -15,11 +15,11 @@ if __package__ in (None, ""):
   import sys
   sys.path.insert(0, str(Path(__file__).resolve().parent))
   from build_value_dataset import crop_box, parse_yolo_labels  # type: ignore
-  from common import DEFAULT_SPEED_VALUES, DEFAULT_WORKSPACE, ensure_dir, resolve_workspace  # type: ignore
+  from common import DEFAULT_WORKSPACE, SUPPORTED_SPEED_VALUES, ensure_dir, resolve_workspace  # type: ignore  # noqa: TID251
   from generate_value_roi_classifier_dataset import augment_mask, extract_value_mask  # type: ignore
 else:
   from .build_value_dataset import crop_box, parse_yolo_labels
-  from .common import DEFAULT_SPEED_VALUES, DEFAULT_WORKSPACE, ensure_dir, resolve_workspace
+  from .common import DEFAULT_WORKSPACE, SUPPORTED_SPEED_VALUES, ensure_dir, resolve_workspace
   from .generate_value_roi_classifier_dataset import augment_mask, extract_value_mask
 
 
@@ -60,7 +60,7 @@ def parse_speed_from_read(text: str) -> int:
   if not match:
     return 0
   value = int(match.group(1))
-  return value if value in DEFAULT_SPEED_VALUES else 0
+  return value if value in SUPPORTED_SPEED_VALUES else 0
 
 
 def row_speed(row: dict[str, str]) -> int:
@@ -68,7 +68,7 @@ def row_speed(row: dict[str, str]) -> int:
     text = (row.get(field) or "").strip()
     if text.isdigit():
       value = int(text)
-      if value in DEFAULT_SPEED_VALUES:
+      if value in SUPPORTED_SPEED_VALUES:
         return value
   for field in ("full_detection", "model_read", "ocr_read"):
     value = parse_speed_from_read(row.get(field, ""))
@@ -235,12 +235,12 @@ def main() -> int:
     if args.max_rows > 0 and attempted >= args.max_rows:
       break
 
-  print(
-    "Imported manifest classifier masks: "
-    f"attempted={attempted} imported={imported} written={written} "
-    f"skipped_no_speed={skipped_no_speed} skipped_no_crop={skipped_no_crop} skipped_no_mask={skipped_no_mask} "
-    f"skipped_write_failed={skipped_write_failed}"
-  )
+  print("".join((
+    "Imported manifest classifier masks: ",
+    f"attempted={attempted} imported={imported} written={written} ",
+    f"skipped_no_speed={skipped_no_speed} skipped_no_crop={skipped_no_crop} skipped_no_mask={skipped_no_mask} ",
+    f"skipped_write_failed={skipped_write_failed}",
+  )))
   return 0
 
 
diff --git a/scripts/speed_limit_vision/import_manual_review_queue.py b/scripts/speed_limit_vision/import_manual_review_queue.py
index a7d7002a5..71e86b2ba 100644
--- a/scripts/speed_limit_vision/import_manual_review_queue.py
+++ b/scripts/speed_limit_vision/import_manual_review_queue.py
@@ -14,9 +14,9 @@ import cv2
 if __package__ in (None, ""):
   import sys
   sys.path.insert(0, str(Path(__file__).resolve().parent))
-  from common import DEFAULT_SPEED_VALUES, DEFAULT_WORKSPACE, ensure_dir, resolve_workspace  # type: ignore  # noqa: TID251
+  from common import DEFAULT_WORKSPACE, SUPPORTED_SPEED_VALUES, ensure_dir, resolve_workspace  # type: ignore  # noqa: TID251
 else:
-  from .common import DEFAULT_SPEED_VALUES, DEFAULT_WORKSPACE, ensure_dir, resolve_workspace
+  from .common import DEFAULT_WORKSPACE, SUPPORTED_SPEED_VALUES, ensure_dir, resolve_workspace
 
 
 CLASSIFIER_FIELDNAMES = [
@@ -149,7 +149,7 @@ def parse_speed(text: str) -> int:
     value = int(float(text))
   except ValueError:
     return 0
-  return value if value in DEFAULT_SPEED_VALUES else 0
+  return value if value in SUPPORTED_SPEED_VALUES else 0
 
 
 def parse_bbox(text: str) -> tuple[int, int, int, int] | None:
diff --git a/scripts/speed_limit_vision/mine_connect_route_bookmarks.py b/scripts/speed_limit_vision/mine_connect_route_bookmarks.py
index e0027a1e3..66a2c6603 100644
--- a/scripts/speed_limit_vision/mine_connect_route_bookmarks.py
+++ b/scripts/speed_limit_vision/mine_connect_route_bookmarks.py
@@ -37,6 +37,7 @@ def parse_args() -> argparse.Namespace:
   parser.add_argument("routes", nargs="+", help="Route ids like 'dongle/logid'.")
   parser.add_argument("--workspace", type=Path, default=DEFAULT_WORKSPACE, help="Training workspace root.")
   parser.add_argument("--clip-root", type=Path, default=preferred_clip_root(), help="Downloaded route clip root.")
+  parser.add_argument("--output-dir", type=Path, help="Output directory. Defaults to <workspace>/review/connect_route_bookmarks.")
   parser.add_argument("--models-dir", type=Path, help="Optional directory containing speed_limit_us_detector.onnx and speed_limit_us_value_classifier.onnx.")
   parser.add_argument("--lead-in", type=float, default=7.0, help="Seconds before each bookmark to sample into review sheets.")
   parser.add_argument("--sample-every", type=float, default=0.5, help="Seconds between sampled lead-in frames.")
@@ -154,7 +155,7 @@ def main() -> int:
   args = parse_args()
   workspace = resolve_workspace(args.workspace)
   clip_root = args.clip_root.expanduser().resolve()
-  review_root = ensure_dir(workspace / "review" / "connect_route_bookmarks")
+  review_root = ensure_dir(args.output_dir.expanduser().resolve()) if args.output_dir else ensure_dir(workspace / "review" / "connect_route_bookmarks")
   frame_dir = ensure_dir(review_root / "frames")
   crop_dir = ensure_dir(review_root / "crops")
   contact_sheet_dir = ensure_dir(review_root / "contact_sheets")
diff --git a/scripts/speed_limit_vision/select_manual_review_queue.py b/scripts/speed_limit_vision/select_manual_review_queue.py
index 95cf496c3..d459329f3 100644
--- a/scripts/speed_limit_vision/select_manual_review_queue.py
+++ b/scripts/speed_limit_vision/select_manual_review_queue.py
@@ -9,7 +9,7 @@ from collections import Counter, defaultdict, deque
 from pathlib import Path
 
 
-PRIORITY_SPEED_ORDER = (60, 65, 55, 50, 45, 40, 35, 30, 25, 20, 70, 15, 75)
+PRIORITY_SPEED_ORDER = (60, 65, 55, 50, 45, 40, 35, 30, 25, 20, 70, 75, 80, 90, 100, 15, 10)
 COMPARISON_PRIORITY_BONUS = {
   "value_changed": 4.0,
   "gained_read": 3.0,
diff --git a/scripts/speed_limit_vision/serve_manual_review_queue.py b/scripts/speed_limit_vision/serve_manual_review_queue.py
index bb882c0ea..d1efeb2c5 100644
--- a/scripts/speed_limit_vision/serve_manual_review_queue.py
+++ b/scripts/speed_limit_vision/serve_manual_review_queue.py
@@ -130,7 +130,7 @@ HTML = r"""<!doctype html>
     </aside>
   </main>
 <script>
-const speeds = [15,20,25,30,35,40,45,50,55,60,65,70,75];
+const speeds = [10,15,20,25,30,35,40,45,50,55,60,65,70,75,80,90,100];
 let rows = [];
 let index = 0;
 let current = null;
diff --git a/scripts/speed_limit_vision/test_review_pipeline.py b/scripts/speed_limit_vision/test_review_pipeline.py
index fac52d2e8..be78be584 100644
--- a/scripts/speed_limit_vision/test_review_pipeline.py
+++ b/scripts/speed_limit_vision/test_review_pipeline.py
@@ -33,6 +33,16 @@ def test_raw_comma_camera_uses_real_frame_rate():
   assert common.source_video_fps(Path("clip.mp4"), 0.0) == 20.0
 
 
+def test_extended_classifier_order_matches_lexical_dataset_classes():
+  assert common.SUPPORTED_SPEED_VALUES == (10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 90, 100)
+  assert common.EXTENDED_CLASSIFIER_SPEED_VALUES == (10, 100, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 90)
+
+
+@pytest.mark.parametrize("speed", (10, 80, 90, 100))
+def test_manual_import_accepts_extended_speed_values(speed):
+  assert import_queue.parse_speed(str(speed)) == speed
+
+
 def test_localized_bookmark_source_position_normalizes_previous_segment():
   previous = {"segment": "26", "relative_time_s": "-18.950"}
   current = {"segment": "26", "relative_time_s": "12.500"}
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 07e3a88b0..8dfefd83a 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -346,6 +346,25 @@ class LongControl:
       target_factor *= 0.75
     self.pid.i *= target_factor
 
+  def _trim_gm_truck_negative_hold_integrator(self, a_target, error, CS):
+    if not self.is_gm_stock_truck or self.pid.i >= -0.02:
+      return
+    if CS.vEgo < 12.0 or a_target <= -0.85:
+      return
+    if error <= 0.04:
+      return
+
+    authority_mismatch = float(a_target) - float(self.last_output_accel)
+    if authority_mismatch <= 0.10:
+      return
+
+    release = float(interp(
+      max(authority_mismatch, error),
+      [0.10, 0.25, 0.50],
+      [0.0008, 0.0020, 0.0040],
+    ))
+    self.pid.i = min(0.0, self.pid.i + release)
+
   def _apply_pedal_long_brake_bias(self, output_accel, a_target, CS):
     if not self.is_gm_pedal_long:
       return output_accel
@@ -431,6 +450,7 @@ class LongControl:
       self._shape_volt_test_tune_integrator(error, CS.vEgo)
       self._trim_positive_overshoot_integrator(a_target, error, CS)
       self._trim_gm_truck_positive_hold_integrator(a_target, error, CS)
+      self._trim_gm_truck_negative_hold_integrator(a_target, error, CS)
       feedforward = self._get_longitudinal_feedforward(a_target, CS.vEgo)
       freeze_integrator = self._get_pedal_long_freeze(a_target, error, CS.vEgo, accel_limits)
       raw_output_accel = self.pid.update(error, speed=CS.vEgo, feedforward=feedforward,
diff --git a/selfdrive/controls/tests/test_longcontrol.py b/selfdrive/controls/tests/test_longcontrol.py
index 92c60aab5..c9ae5f3fb 100644
--- a/selfdrive/controls/tests/test_longcontrol.py
+++ b/selfdrive/controls/tests/test_longcontrol.py
@@ -726,3 +726,92 @@ def test_gm_stock_truck_positive_i_trim_preserves_low_speed_launch():
   lc._trim_gm_truck_positive_hold_integrator(0.05, 0.05, CS)
 
   assert lc.pid.i == pytest.approx(0.25, abs=1e-9)
+
+
+def test_gm_stock_truck_negative_i_unwinds_when_already_overbraking():
+  CP = make_longcontrol_cp(
+    brand="gm",
+    carFingerprint=CAR.CHEVROLET_SILVERADO,
+    enableGasInterceptorDEPRECATED=False,
+  )
+  lc = LongControl(CP)
+  lc.pid.i = -0.22
+  lc.last_output_accel = -0.66
+  CS = car.CarState.new_message(vEgo=29.6, aEgo=-0.49, brakePressed=False)
+
+  lc._trim_gm_truck_negative_hold_integrator(-0.44, 0.05, CS)
+
+  assert -0.22 < lc.pid.i < 0.0
+
+
+def test_gm_stock_truck_negative_i_stays_when_decel_is_not_achieved():
+  CP = make_longcontrol_cp(
+    brand="gm",
+    carFingerprint=CAR.CHEVROLET_SILVERADO,
+    enableGasInterceptorDEPRECATED=False,
+  )
+  lc = LongControl(CP)
+  lc.pid.i = -0.22
+  lc.last_output_accel = -0.66
+  CS = car.CarState.new_message(vEgo=29.6, aEgo=0.05, brakePressed=False)
+
+  lc._trim_gm_truck_negative_hold_integrator(-0.44, -0.49, CS)
+
+  assert lc.pid.i == pytest.approx(-0.22, abs=1e-9)
+
+
+def test_gm_stock_truck_negative_i_stays_for_urgent_braking():
+  CP = make_longcontrol_cp(
+    brand="gm",
+    carFingerprint=CAR.CHEVROLET_SILVERADO,
+    enableGasInterceptorDEPRECATED=False,
+  )
+  lc = LongControl(CP)
+  lc.pid.i = -0.22
+  lc.last_output_accel = -1.30
+  CS = car.CarState.new_message(vEgo=29.6, aEgo=-1.20, brakePressed=False)
+
+  lc._trim_gm_truck_negative_hold_integrator(-1.00, 0.20, CS)
+
+  assert lc.pid.i == pytest.approx(-0.22, abs=1e-9)
+
+
+def test_gm_stock_truck_negative_i_trim_does_not_affect_other_gm_cars():
+  CP = make_longcontrol_cp(
+    brand="gm",
+    carFingerprint=CAR.CHEVROLET_BOLT_ACC_2022_2023,
+    enableGasInterceptorDEPRECATED=False,
+  )
+  lc = LongControl(CP)
+  lc.pid.i = -0.22
+  lc.last_output_accel = -0.66
+  CS = car.CarState.new_message(vEgo=29.6, aEgo=-0.49, brakePressed=False)
+
+  lc._trim_gm_truck_negative_hold_integrator(-0.44, 0.05, CS)
+
+  assert lc.pid.i == pytest.approx(-0.22, abs=1e-9)
+
+
+def test_gm_stock_truck_update_gradually_releases_stale_brake_integral():
+  CP = make_longcontrol_cp(
+    brand="gm",
+    carFingerprint=CAR.CHEVROLET_SILVERADO,
+    enableGasInterceptorDEPRECATED=False,
+  )
+  lc = LongControl(CP)
+  lc.pid.i = -0.22
+  lc.last_output_accel = -0.66
+  CS = car.CarState.new_message(vEgo=29.6, aEgo=-0.49, brakePressed=False)
+  CS.cruiseState.standstill = False
+
+  output_accel = lc.update(
+    active=True,
+    CS=CS,
+    a_target=-0.44,
+    should_stop=False,
+    accel_limits=(-3.5, 2.0),
+    starpilot_toggles=make_toggles(),
+    has_lead=True,
+  )
+
+  assert -0.66 < output_accel < -0.44
diff --git a/starpilot/controls/starpilot_card.py b/starpilot/controls/starpilot_card.py
index 474167b05..5a2678582 100644
--- a/starpilot/controls/starpilot_card.py
+++ b/starpilot/controls/starpilot_card.py
@@ -18,6 +18,9 @@ from openpilot.starpilot.common.favorite_slots import toggle_favorite_slot
 from openpilot.starpilot.common.starpilot_utilities import is_FrogsGoMoo
 from openpilot.starpilot.common.starpilot_variables import ERROR_LOGS_PATH, GearShifter, NON_DRIVING_GEARS
 
+HYUNDAI_MAIN_CRUISE_AOL_CONFIRM_TIMEOUT_FRAMES = 100
+
+
 class StarPilotCard:
   @staticmethod
   def _button_type_raw(button_event) -> int:
@@ -40,6 +43,9 @@ class StarPilotCard:
     self.hyundai_preserve_aol_across_reverse = getattr(self.CP, "carFingerprint", None) == HYUNDAI_CAR.HYUNDAI_SONATA_HYBRID
     self.hyundai_aol_needs_engagement = self.CP.brand == "hyundai" and not (hyundai_flags & HyundaiFlags.CANFD) and not kia_forte_non_scc
     self.hyundai_aol_ready = False
+    self.main_cruise_aol_pending = False
+    self.main_cruise_aol_pending_frames = 0
+    self.prev_cruise_available = None
     self.prev_active = False
     self.prev_cruise_enabled = False
     self.decel_pressed = False
@@ -116,6 +122,11 @@ class StarPilotCard:
     button_event_types = [self._button_type_raw(be) for be in carState.buttonEvents]
     button_aol_supported = self.CP.brand == "hyundai" or starpilot_toggles.lkas_allowed_for_aol
     button_managed_aol = starpilot_toggles.always_on_lateral_lkas or (button_aol_supported and starpilot_toggles.main_cruise_aol_toggle)
+    hyundai_main_cruise_aol_managed = self.CP.brand == "hyundai" and starpilot_toggles.main_cruise_aol_toggle
+
+    if carState.gearShifter in NON_DRIVING_GEARS or not hyundai_main_cruise_aol_managed:
+      self.main_cruise_aol_pending = False
+      self.main_cruise_aol_pending_frames = 0
 
     if self.hyundai_aol_needs_engagement:
       if carState.gearShifter in NON_DRIVING_GEARS:
@@ -129,6 +140,8 @@ class StarPilotCard:
     if button_aol_supported:
       for be, be_type in zip(carState.buttonEvents, button_event_types, strict=False):
         if be_type == ButtonType.lkas and be.pressed and starpilot_toggles.always_on_lateral_lkas:
+          self.main_cruise_aol_pending = False
+          self.main_cruise_aol_pending_frames = 0
           if self.hyundai_aol_needs_engagement:
             self.hyundai_aol_ready = True
           self.always_on_lateral_allowed = not self.always_on_lateral_allowed
@@ -138,9 +151,27 @@ class StarPilotCard:
           if starpilot_toggles.main_cruise_aol_toggle:
             if self.hyundai_aol_needs_engagement:
               self.hyundai_aol_ready = True
-            self.always_on_lateral_allowed = not self.always_on_lateral_allowed
+            if hyundai_main_cruise_aol_managed:
+              # Panda permits Hyundai main-button AOL only after the vehicle reports main on.
+              self.main_cruise_aol_pending = True
+              self.main_cruise_aol_pending_frames = 0
+            else:
+              self.always_on_lateral_allowed = not self.always_on_lateral_allowed
           elif starpilot_toggles.main_cruise_slc_adopt and starpilot_toggles.speed_limit_controller:
             self.params_memory.put_bool("SLCAdoptSpeedLimit", True)
+
+    cruise_available_changed = self.prev_cruise_available is not None and carState.cruiseState.available != self.prev_cruise_available
+    if self.main_cruise_aol_pending:
+      if cruise_available_changed:
+        self.always_on_lateral_allowed = carState.cruiseState.available
+        self.main_cruise_aol_pending = False
+        self.main_cruise_aol_pending_frames = 0
+      else:
+        self.main_cruise_aol_pending_frames += 1
+        if self.main_cruise_aol_pending_frames >= HYUNDAI_MAIN_CRUISE_AOL_CONFIRM_TIMEOUT_FRAMES:
+          self.main_cruise_aol_pending = False
+          self.main_cruise_aol_pending_frames = 0
+
     if starpilot_toggles.always_on_lateral_main and not button_managed_aol:
       car_fingerprint = getattr(self.CP, "carFingerprint", None)
       pcm_cruise = getattr(self.CP, "pcmCruise", False)
@@ -157,11 +188,14 @@ class StarPilotCard:
     # On rising edge of engagement (SET press enabling lat+long), auto-enable AOL
     # so that lateral persists when braking disengages longitudinal
     if sm["selfdriveState"].active and not self.prev_active and self.always_on_lateral_set and starpilot_toggles.always_on_lateral_lkas:
+      self.main_cruise_aol_pending = False
+      self.main_cruise_aol_pending_frames = 0
       if self.hyundai_aol_needs_engagement:
         self.hyundai_aol_ready = True
       self.always_on_lateral_allowed = True
 
     self.prev_active = sm["selfdriveState"].active
+    self.prev_cruise_available = carState.cruiseState.available
     self.prev_cruise_enabled = carState.cruiseState.enabled
 
     self.always_on_lateral_enabled = self.always_on_lateral_allowed and self.always_on_lateral_set
diff --git a/starpilot/controls/tests/test_starpilot_card.py b/starpilot/controls/tests/test_starpilot_card.py
index e4a5ec598..671236b2e 100644
--- a/starpilot/controls/tests/test_starpilot_card.py
+++ b/starpilot/controls/tests/test_starpilot_card.py
@@ -278,7 +278,7 @@ def test_hyundai_canfd_lkas_button_wrapped_enum_can_toggle_aol(monkeypatch, tmp_
   assert ret.alwaysOnLateralEnabled is False
 
 
-def test_kia_forte_non_scc_main_cruise_button_can_toggle_aol_before_engagement(monkeypatch, tmp_path):
+def test_kia_forte_non_scc_main_cruise_button_waits_for_main_confirmation(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
   monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
@@ -292,18 +292,24 @@ def test_kia_forte_non_scc_main_cruise_button_can_toggle_aol_before_engagement(m
     SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
   )
 
-  car_state = make_car_state(available=True, button_events=[SimpleNamespace(type=spc.ButtonType.mainCruise, pressed=True)])
+  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, main_cruise_aol_toggle=True)
 
+  card.update(make_car_state(), starpilot_car_state, sm, toggles)
   ret = card.update(car_state, starpilot_car_state, sm, toggles)
+  assert ret.alwaysOnLateralAllowed is False
+  assert ret.alwaysOnLateralEnabled is False
 
+  car_state.buttonEvents = []
+  car_state.cruiseState.available = True
+  ret = card.update(car_state, starpilot_car_state, sm, toggles)
   assert ret.alwaysOnLateralAllowed is True
   assert ret.alwaysOnLateralEnabled is True
 
 
-def test_hyundai_main_cruise_button_can_start_aol_before_normal_engagement(monkeypatch, tmp_path):
+def test_hyundai_main_cruise_button_follows_confirmed_main_state(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
   monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
@@ -313,17 +319,29 @@ def test_hyundai_main_cruise_button_can_start_aol_before_normal_engagement(monke
     SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
   )
 
-  car_state = make_car_state(available=True, button_events=[SimpleNamespace(type=spc.ButtonType.mainCruise, pressed=True)])
+  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, main_cruise_aol_toggle=True)
 
+  card.update(make_car_state(), starpilot_car_state, sm, toggles)
+  ret = card.update(car_state, starpilot_car_state, sm, toggles)
+  assert ret.alwaysOnLateralAllowed is False
+  assert ret.alwaysOnLateralEnabled is False
+
+  car_state.buttonEvents = []
+  car_state.cruiseState.available = True
   ret = card.update(car_state, starpilot_car_state, sm, toggles)
   assert ret.alwaysOnLateralAllowed is True
   assert ret.alwaysOnLateralEnabled is True
 
   car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.mainCruise, pressed=True)]
   ret = card.update(car_state, starpilot_car_state, sm, toggles)
+  assert ret.alwaysOnLateralAllowed is True
+
+  car_state.buttonEvents = []
+  car_state.cruiseState.available = False
+  ret = card.update(car_state, starpilot_car_state, sm, toggles)
   assert ret.alwaysOnLateralAllowed is False
 
 
@@ -337,21 +355,78 @@ def test_hyundai_main_cruise_button_wrapped_enum_can_toggle_aol(monkeypatch, tmp
     SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
   )
 
-  car_state = make_car_state(available=True, button_events=[make_wrapped_button_event(spc.ButtonType.mainCruise, True)])
+  car_state = make_car_state()
   starpilot_car_state = SimpleNamespace(distancePressed=False)
   sm = make_sm()
   toggles = make_toggles(always_on_lateral=True, main_cruise_aol_toggle=True)
 
+  card.update(car_state, starpilot_car_state, sm, toggles)
+  car_state.buttonEvents = [make_wrapped_button_event(spc.ButtonType.mainCruise, True)]
+  ret = card.update(car_state, starpilot_car_state, sm, toggles)
+  assert ret.alwaysOnLateralAllowed is False
+  assert ret.alwaysOnLateralEnabled is False
+
+  car_state.buttonEvents = []
+  car_state.cruiseState.available = True
   ret = card.update(car_state, starpilot_car_state, sm, toggles)
   assert ret.alwaysOnLateralAllowed is True
   assert ret.alwaysOnLateralEnabled is True
 
   car_state.buttonEvents = [make_wrapped_button_event(spc.ButtonType.mainCruise, True)]
   ret = card.update(car_state, starpilot_car_state, sm, toggles)
+  assert ret.alwaysOnLateralAllowed is True
+  assert ret.alwaysOnLateralEnabled is True
+
+  car_state.buttonEvents = []
+  car_state.cruiseState.available = False
+  ret = card.update(car_state, starpilot_car_state, sm, toggles)
   assert ret.alwaysOnLateralAllowed is False
   assert ret.alwaysOnLateralEnabled is False
 
 
+def test_hyundai_main_cruise_aol_ignores_unconfirmed_button_press(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=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
+  )
+  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, main_cruise_aol_toggle=True)
+
+  ret = card.update(car_state, starpilot_car_state, sm, toggles)
+  car_state.buttonEvents = []
+  for _ in range(spc.HYUNDAI_MAIN_CRUISE_AOL_CONFIRM_TIMEOUT_FRAMES):
+    ret = card.update(car_state, starpilot_car_state, sm, toggles)
+
+  assert ret.alwaysOnLateralAllowed is False
+  assert ret.alwaysOnLateralEnabled is False
+  assert card.main_cruise_aol_pending is False
+
+
+def test_honda_mapped_main_cruise_button_keeps_immediate_toggle(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="honda"),
+    SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
+  )
+  car_state = make_car_state(button_events=[SimpleNamespace(type=spc.ButtonType.mainCruise, pressed=True)])
+  toggles = make_toggles(always_on_lateral=True, main_cruise_aol_toggle=True, lkas_allowed_for_aol=True)
+
+  ret = card.update(car_state, SimpleNamespace(distancePressed=False), make_sm(), toggles)
+
+  assert ret.alwaysOnLateralAllowed is True
+  assert ret.alwaysOnLateralEnabled is True
+  assert card.main_cruise_aol_pending is False
+
+
 def test_hyundai_main_cruise_button_adopts_slc_when_assigned_to_slc(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
   monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)