diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
index 97b78399d..2469bfa59 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
@@ -21,22 +21,11 @@ MadsSettings::MadsSettings(QWidget *parent) : QWidget(parent) {
 
   ListWidget *list = new ListWidget(this, false);
   // Main cruise
-  madsMainCruiseToggle = new ParamControl(
-    "MadsMainCruiseAllowed",
-    tr("Toggle with Main Cruise"),
-    tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."),
-    "");
+  madsMainCruiseToggle = new ParamControl("MadsMainCruiseAllowed", tr("Toggle with Main Cruise"), "", "");
   list->addItem(madsMainCruiseToggle);
 
   // Unified Engagement Mode
-  madsUnifiedEngagementModeToggle = new ParamControl(
-    "MadsUnifiedEngagementMode",
-    tr("Unified Engagement Mode (UEM)"),
-    QString("%1<br>"
-            "<h4>%2</h4>")
-    .arg(tr("Engage lateral and longitudinal control with cruise control engagement."))
-    .arg(tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.")),
-    "");
+  madsUnifiedEngagementModeToggle = new ParamControl("MadsUnifiedEngagementMode", tr("Unified Engagement Mode (UEM)"), "", "");
   list->addItem(madsUnifiedEngagementModeToggle);
 
   // Steering Mode On Brake
@@ -62,8 +51,51 @@ void MadsSettings::updateToggles(bool _offroad) {
     std::clamp(mads_steering_mode_param, static_cast<int>(MadsSteeringMode::REMAIN_ACTIVE), static_cast<int>(MadsSteeringMode::DISENGAGE))
   );
 
-  madsSteeringMode->setEnabled(_offroad);
-  madsSteeringMode->setDescription(madsSteeringModeDescription(steering_mode));
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) {
+      params.remove("MadsMainCruiseAllowed");
+      params.putBool("MadsUnifiedEngagementMode", true);
+      params.put("MadsSteeringMode", std::to_string(static_cast<int>(MadsSteeringMode::DISENGAGE)));
+
+      madsMainCruiseToggle->setEnabled(false);
+      madsMainCruiseToggle->setDescription(madsDescriptionBuilder(DEFAULT_TO_OFF, MADS_MAIN_CRUISE_BASE_DESC));
+      madsMainCruiseToggle->showDescription();
+
+      madsUnifiedEngagementModeToggle->setEnabled(false);
+      madsUnifiedEngagementModeToggle->setDescription(madsDescriptionBuilder(DEFAULT_TO_ON, MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC));
+      madsUnifiedEngagementModeToggle->showDescription();
+
+      madsSteeringModeValues = convertMadsSteeringModeValues({MadsSteeringMode::DISENGAGE});
+      madsSteeringMode->setDescription(madsDescriptionBuilder(STATUS_DISENGAGE_ONLY, madsSteeringModeDescription(steering_mode)));
+    } else {
+      madsMainCruiseToggle->setEnabled(true);
+      madsMainCruiseToggle->setDescription(MADS_MAIN_CRUISE_BASE_DESC);
+
+      madsUnifiedEngagementModeToggle->setEnabled(true);
+      madsUnifiedEngagementModeToggle->setDescription(MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC);
+
+      madsSteeringModeValues = convertMadsSteeringModeValues(getMadsSteeringModeValues());
+      madsSteeringMode->setDescription(madsSteeringModeDescription(steering_mode));
+    }
+  } else {
+    madsMainCruiseToggle->setEnabled(false);
+    madsMainCruiseToggle->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, MADS_MAIN_CRUISE_BASE_DESC));
+    madsMainCruiseToggle->showDescription();
+
+    madsUnifiedEngagementModeToggle->setEnabled(false);
+    madsUnifiedEngagementModeToggle->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC));
+    madsUnifiedEngagementModeToggle->showDescription();
+
+    madsSteeringModeValues = {};
+    madsSteeringMode->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, madsSteeringModeDescription(steering_mode)));
+  }
+
+  madsSteeringMode->setEnableSelectedButtons(_offroad, madsSteeringModeValues);
   madsSteeringMode->showDescription();
 
   offroad = _offroad;
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
index 07ca07834..405a2613d 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
@@ -12,6 +12,8 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
+const std::vector<std::string> mads_limited_settings_brands = {"rivian"};
+
 enum class MadsSteeringMode {
   REMAIN_ACTIVE = 0,
   PAUSE = 1,
@@ -46,15 +48,44 @@ private:
   ParamControl *madsUnifiedEngagementModeToggle;
   ButtonParamControl *madsSteeringMode;
 
+  std::vector<int> madsSteeringModeValues = {};
+
+  const QString MADS_MAIN_CRUISE_BASE_DESC = tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.");
+  const QString MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC = QString("%1<br>"
+                                                                 "<h4>%2</h4>")
+                                                         .arg(tr("Engage lateral and longitudinal control with cruise control engagement."))
+                                                         .arg(tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."));
+
+  const QString STATUS_CHECK_COMPATIBILITY = tr("Start the vehicle to check vehicle compatibility.");
+  const QString DEFAULT_TO_OFF = tr("This feature defaults to OFF, and does not allow selection due to vehicle limitations.");
+  const QString DEFAULT_TO_ON = tr("This feature defaults to ON, and does not allow selection due to vehicle limitations.");
+  const QString STATUS_DISENGAGE_ONLY = tr("This platform only supports Disengage mode due to vehicle limitations.");
+
   static const std::vector<MadsSteeringModeOption> &madsSteeringModeOptions() {
     static const std::vector<MadsSteeringModeOption> options = {
-      {MadsSteeringMode::REMAIN_ACTIVE, tr("Remain Active"), tr("Remain Active: ALC will remain active when the brake pedal is pressed.")},
-      {MadsSteeringMode::PAUSE,         tr("Pause"),         tr("Pause: ALC will pause when the brake pedal is pressed.")},
-      {MadsSteeringMode::DISENGAGE,     tr("Disengage"),     tr("Disengage: ALC will disengage when the brake pedal is pressed.")},
+      {MadsSteeringMode::REMAIN_ACTIVE,  tr("Remain Active"), tr("Remain Active: ALC will remain active when the brake pedal is pressed.")},
+      {MadsSteeringMode::PAUSE,          tr("Pause"),         tr("Pause: ALC will pause when the brake pedal is pressed.")},
+      {MadsSteeringMode::DISENGAGE,      tr("Disengage"),     tr("Disengage: ALC will disengage when the brake pedal is pressed.")},
     };
     return options;
   }
 
+  static std::vector<MadsSteeringMode> getMadsSteeringModeValues() {
+    std::vector<MadsSteeringMode> values;
+    for (const auto& option : madsSteeringModeOptions()) {
+      values.push_back(option.mode);
+    }
+    return values;
+  }
+
+  static std::vector<int> convertMadsSteeringModeValues(const std::vector<MadsSteeringMode> &modes) {
+    std::vector<int> values;
+    for (const auto& mode : modes) {
+      values.push_back(static_cast<int>(mode));
+    }
+    return values;
+  }
+
   static std::vector<QString> madsSteeringModeTexts() {
     std::vector<QString> texts;
     for (const auto& option : madsSteeringModeOptions()) {
@@ -63,7 +94,7 @@ private:
     return texts;
   }
 
-  static QString madsSteeringModeDescription(const MadsSteeringMode mode) {
+  static QString madsSteeringModeDescription(const MadsSteeringMode mode = MadsSteeringMode::REMAIN_ACTIVE) {
     QString base_desc = tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.");
     QString result = base_desc + "<br><br>";
 
@@ -77,4 +108,8 @@ private:
 
     return result;
   }
+
+  static QString madsDescriptionBuilder(const QString &custom_description, const QString &base_description) {
+    return "<font color='white'><b>" + custom_description + "</b></font><br><br>" + base_description;
+  }
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
index 75cd13664..0beae6e24 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
@@ -122,6 +122,21 @@ void LateralPanel::updateToggles(bool _offroad) {
     toggle->setEnabled(_offroad);
   }
 
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) {
+      madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_LIMITED_COMPATIBILITY, MADS_BASE_DESC));
+    } else {
+      madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_FULL_COMPATIBILITY, MADS_BASE_DESC));
+    }
+  } else {
+    madsToggle->setDescription(descriptionBuilder(STATUS_MADS_CHECK_COMPATIBILITY, MADS_BASE_DESC));
+  }
+
   madsSettingsButton->setEnabled(madsToggle->isToggled());
 
   offroad = _offroad;
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
index 1b77939ee..cf003dfaf 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
@@ -30,6 +30,7 @@ public slots:
   void updateToggles(bool _offroad);
 
 private:
+  Params params;
   QStackedLayout* main_layout = nullptr;
   QWidget* sunnypilotScreen = nullptr;
   ScrollViewSP *sunnypilotScroller = nullptr;
@@ -42,4 +43,14 @@ private:
   PushButtonSP *laneChangeSettingsButton;
   LaneChangeSettings *laneChangeWidget = nullptr;
   NeuralNetworkLateralControl *nnlcToggle = nullptr;
+
+  const QString MADS_BASE_DESC = tr("Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).");
+
+  const QString STATUS_MADS_CHECK_COMPATIBILITY = tr("Start the vehicle to check vehicle compatibility.");
+  const QString STATUS_MADS_SETTINGS_FULL_COMPATIBILITY = tr("This platform supports all MADS settings.");
+  const QString STATUS_MADS_SETTINGS_LIMITED_COMPATIBILITY = tr("This platform supports limited MADS settings.");
+
+  static QString descriptionBuilder(const QString &custom_description, const QString &base_description) {
+    return "<font color='white'><b>" + custom_description + "</b></font><br><br>" + base_description;
+  }
 };
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 5f7f9840e..5c7b575d1 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -46,12 +46,17 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
       CP_SP.flags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
       CP_SP.safetyParam |= HyundaiSafetyFlagsSP.LONG_MAIN_CRUISE_TOGGLEABLE
 
-  # MADS is currently not supported in Tesla due to lack of consistent states to engage controls
-  # TODO-SP: To enable MADS for Tesla, identify consistent signals for MADS toggling
-  if CP.brand == "tesla":
-    params.remove("Mads")
+  # MADS Partial Support
+  # MADS is currently partially supported for these platforms due to lack of consistent states to engage controls
+  # Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms
+  mads_partial_support = False
+  if mads_partial_support:
+    params.put("MadsSteeringMode", "2")
+    params.put_bool("MadsUnifiedEngagementMode", True)
+    params.remove("MadsMainCruiseAllowed")
 
-  # MADS is currently not supported in Rivian due to lack of consistent states to engage controls
-  # TODO-SP: To enable MADS for Rivian, identify consistent signals for MADS toggling
-  if CP.brand == "rivian":
+  # MADS Disabled - No Support
+  # MADS is currently not supported for these platforms due to lack of consistent states to engage controls
+  # TODO-SP: To enable MADS full support for Rivian/Tesla, identify consistent signals for MADS toggling
+  if CP.brand in ("rivian", "tesla"):
     params.remove("Mads")
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 38d38230a..ffe6e6efe 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -33,6 +33,7 @@ class ModularAssistiveDrivingSystem:
     self.active = False
     self.available = False
     self.allow_always = False
+    self.no_main_cruise = False
     self.selfdrive = selfdrive
     self.selfdrive.enabled_prev = False
     self.state_machine = StateMachine(self)
@@ -159,7 +160,7 @@ class ModularAssistiveDrivingSystem:
         else:
           self.events_sp.add(EventNameSP.lkasEnable)
 
-    if not CS.cruiseState.available:
+    if not CS.cruiseState.available and not self.no_main_cruise:
       self.events.remove(EventName.buttonEnable)
       if self.selfdrive.CS_prev.cruiseState.available:
         self.events_sp.add(EventNameSP.lkasDisable)