diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 92c489cf34..df82fcde9c 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -26,6 +26,7 @@ class CarState(CarStateBase):
 
     self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
                           "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
+                          "ACCELERATOR" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_3 else \
                           "GEAR_SHIFTER"
     if CP.carFingerprint in CANFD_CAR:
       self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index ecedf3fd7c..44c14c000e 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -44,6 +44,9 @@ class CarInterface(CarInterfaceBase):
         ret.flags |= HyundaiFlags.CANFD_HDA2.value
         if 0x110 in fingerprint[CAN.CAM]:
           ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
+        # Some HDA2 cars do not have 0x130, GEAR signal is in 0x35 as an alternative
+        if 0x130 not in fingerprint[CAN.ECAN]:
+          ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_3.value
       else:
         # non-HDA2
         if 0x1cf not in fingerprint[CAN.ECAN]:
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index d7aa59fc42..905e7dc440 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -95,6 +95,8 @@ class HyundaiFlags(IntFlag):
 
   MIN_STEER_32_MPH = 2 ** 23
 
+  CANFD_ALT_GEARS_3 = 2 ** 24
+
 
 class Footnote(Enum):
   CANFD = CarFootnote(