diff --git a/RELEASES.md b/RELEASES.md
index 57f6979117..9b9dc83cbd 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,6 +1,7 @@
 Version 0.9.8 (2024-XX-XX)
 ========================
 * Added toggle to enable driver monitoring even when openpilot is not engaged
+* Kia Sorento (without HDA II) 2024 support thanks to sunnyhaibin!
 
 Version 0.9.7 (2024-06-13)
 ========================
diff --git a/docs/CARS.md b/docs/CARS.md
index 2c32a77f0c..d6f1054074 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 288 Supported Cars
+# 289 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -155,6 +155,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento (without HDA II) 2024[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento (without HDA II) 2024">Buy Here</a></sub></details>||
 |Kia|Sorento Hybrid 2021-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
 |Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
 |Kia|Sportage 2023-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index e489a3cf64..ca2d4d5586 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -1098,6 +1098,14 @@ FW_VERSIONS = {
       b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.08 99110-P2000         ',
     ],
   },
+  CAR.KIA_SORENTO_4TH_GEN_FL: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MQ4 MFC  AT USA LHD 1.01 1.04 99210-R5500 231127',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MQ4_ RDR -----      1.00 1.01 99110-R5500         ',
+    ],
+  },
   CAR.KIA_SORENTO_HEV_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00MQ4HMFC  AT KOR LHD 1.00 1.04 99210-P2000 200330',
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 8cb29c803c..42dd7f513a 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -454,6 +454,10 @@ class CAR(Platforms):
     CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
     flags=HyundaiFlags.RADAR_SCC,
   )
+  KIA_SORENTO_4TH_GEN_FL = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Kia Sorento (without HDA II) 2024", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_m]))],
+    CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.27),  # average of the platforms
+  )
   KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
     [
       HyundaiCarDocs("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml
index 993eb3fb3c..dd2e02d16e 100644
--- a/selfdrive/car/torque_data/override.toml
+++ b/selfdrive/car/torque_data/override.toml
@@ -68,6 +68,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HYUNDAI_CUSTIN_1ST_GEN" = [2.5, 2.5, 0.1]
 "LEXUS_GS_F" = [2.5, 2.5, 0.08]
 "HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
+"KIA_SORENTO_4TH_GEN_FL" = [2.5, 2.5, 0.1]
 
 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]