diff --git a/opendbc_repo/opendbc/car/hyundai/carcontroller.py b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
index 000ac2163..fd3439dde 100644
--- a/opendbc_repo/opendbc/car/hyundai/carcontroller.py
+++ b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
@@ -627,8 +627,8 @@ class CarController(CarControllerBase):
     steering_msg_active = apply_steer_req
     if self.CP.carFingerprint == CAR.KIA_EV9 and self.CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
       # EV9 faults if the angle-steering status drops inactive during torque limiting.
-      # Hold the angle path active while lateral is active, except during high-angle maneuvers.
-      steering_msg_active = CC.latActive and abs(CS.out.steeringAngleDeg) < EV9_HIGH_ANGLE_CONTROL_LIMIT
+      # Hold the angle status active while lateral is active; high-angle inhibit only zeros gain.
+      steering_msg_active = CC.latActive
 
     can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled,
                                                            steering_msg_active, apply_torque, apply_angle,
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
index 4fad7ea8f..4517346a4 100644
--- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
@@ -1405,7 +1405,7 @@ class TestHyundaiFingerprint:
     assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == pytest.approx(0.0)
     assert parser.vl["LKAS_ALT"]["ADAS_StrAnglReqVal"] == pytest.approx(8.5)
 
-  def test_ev9_high_steering_angle_inhibits_angle_control_and_lfa_suppress(self):
+  def test_ev9_high_steering_angle_keeps_active_status_with_zero_gain(self):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.KIA_EV9
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING |
@@ -1438,20 +1438,22 @@ class TestHyundaiFingerprint:
     }
     cc = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(longControlState=LongCtrlState.off),
                          leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
-    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg=stock_lkas, lfa_block_msg={},
+    lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 32) if i != 7}
+    lfa_block_msg["COUNTER"] = 0
+    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg=stock_lkas, lfa_block_msg=lfa_block_msg,
                          out=SimpleNamespace(steeringAngleDeg=120.0))
 
-    msgs = controller.create_canfd_msgs(0, True, 0.44, 120.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
+    msgs = controller.create_canfd_msgs(0, False, 0.0, 120.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
                                         get_test_toggles(), lka_icon=2, lfa_icon=2)
     lkas_msgs = [msg for msg in msgs if msg[0] == 0x110]
     suppress_msgs = [msg for msg in msgs if msg[0] == 0x362]
     assert len(lkas_msgs) == 1
-    assert len(suppress_msgs) == 0
+    assert len(suppress_msgs) == 1
 
     parser.update([(1, lkas_msgs)])
 
     assert parser.can_valid
-    assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 1
+    assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 2
     assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == pytest.approx(0.0)
     assert parser.vl["LKAS_ALT"]["ADAS_StrAnglReqVal"] == pytest.approx(120.0)
 
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index 6665b7c79..a84f3a3a7 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -11,7 +11,7 @@ class LatControlAngle(LatControl):
   def __init__(self, CP, CI, dt):
     super().__init__(CP, CI, dt)
     self.sat_check_min_speed = 5.
-    self.use_steer_limited_by_safety = CP.brand == "tesla"
+    self.use_steer_limited_by_safety = CP.brand in ("tesla", "hyundai")
 
   def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, calibrated_pose, model_data, starpilot_toggles):
     angle_log = log.ControlsState.LateralAngleState.new_message()