diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 8ca6668b30..7b221595c9 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -141,7 +141,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS)
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
 
     # MADS BUTTON
     if self.CS.out.madsEnabled != self.CS.madsEnabled:
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index f24d819d2a..6b1ab8432e 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -116,7 +116,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS)
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
 
     if self.CS.out.madsEnabled != self.CS.madsEnabled:
       if self.mads_event_lock:
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 7787fabb02..465109eb4c 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -251,7 +251,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS)
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(distance_button))
 
     # MADS BUTTON
     if self.CS.out.madsEnabled != self.CS.madsEnabled:
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index d099009904..002284fe75 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -246,7 +246,7 @@ class CarInterface(CarInterfaceBase):
       self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
       ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS)
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_buttons[-1] == 3))
 
     # MADS BUTTON
     if self.CS.out.madsEnabled != self.CS.madsEnabled:
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 036e7ba2d5..fc9715cb82 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -593,7 +593,7 @@ class CarInterfaceBase(ABC):
     else:
       return CS.madsEnabled
 
-  def get_sp_common_state(self, cs_out, CS, min_enable_speed_pcm=False, gear_allowed=True):
+  def get_sp_common_state(self, cs_out, CS, min_enable_speed_pcm=False, gear_allowed=True, gap_button=False):
     cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed or min_enable_speed_pcm else \
                                  cs_out.cruiseState.enabled
 
@@ -603,6 +603,9 @@ class CarInterfaceBase(ABC):
       elif not cs_out.cruiseState.enabled and CS.out.cruiseState.enabled:
         CS.madsEnabled = False
 
+    if self.CP.openpilotLongitudinalControl:
+      self.toggle_exp_mode(gap_button)
+
     cs_out.belowLaneChangeSpeed = cs_out.vEgo < LANE_CHANGE_SPEED_MIN and self.below_speed_pause
 
     if cs_out.gearShifter in [GearShifter.park, GearShifter.reverse] or cs_out.doorOpen or \
@@ -628,6 +631,19 @@ class CarInterfaceBase(ABC):
 
     return cs_out, CS
 
+  # TODO: SP: use upstream's buttonEvents counter checks from controlsd
+  def toggle_exp_mode(self, gap_pressed):
+    if gap_pressed:
+      if not self.experimental_mode_hold:
+        self.gap_button_counter += 1
+        if self.gap_button_counter > 50:
+          self.gap_button_counter = 0
+          self.experimental_mode_hold = True
+          self.param_s.put_bool_nonblocking("ExperimentalMode", not self.experimental_mode)
+    else:
+      self.gap_button_counter = 0
+      self.experimental_mode_hold = False
+
   def create_sp_events(self, CS, cs_out, events, main_enabled=False, allow_enable=True, enable_pressed=False,
                        enable_from_brake=False, enable_pressed_long=False,
                        enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 2d6b68f9e1..8d49218b02 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -77,7 +77,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS)
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
 
     # MADS BUTTON
     if self.CS.out.madsEnabled != self.CS.madsEnabled:
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 4416299230..878d8f14c0 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -51,7 +51,7 @@ class CarInterface(CarInterfaceBase):
       self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
       ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS)
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
 
     # CANCEL
     if self.CS.out.cruiseState.enabled and not ret.cruiseState.enabled:
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 51d76dece0..38f4753c47 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -224,7 +224,7 @@ class CarInterface(CarInterfaceBase):
       if not self.CP.pcmCruise:
         ret.cruiseState.enabled = self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS)
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(distance_button))
 
     # CANCEL
     if self.CS.out.cruiseState.enabled and not ret.cruiseState.enabled:
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 7763c36f33..00c9e37858 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -761,12 +761,9 @@ class Controls:
 
     # decrement personality on distance button press
     if self.CP.openpilotLongitudinalControl:
-      if self.v_cruise_helper.update_personality:
+      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
         self.personality = (self.personality - 1) % 3
         self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
-      if self.v_cruise_helper.update_experimental_mode:
-        self.experimental_mode = not self.experimental_mode
-        self.params.put_bool_nonblocking('ExperimentalMode', self.experimental_mode)
 
     return CC, lac_log
 
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 0c80d186e5..61edf7aade 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -75,7 +75,7 @@ class VCruiseHelper:
     self.v_cruise_kph = V_CRUISE_UNSET
     self.v_cruise_cluster_kph = V_CRUISE_UNSET
     self.v_cruise_kph_last = 0
-    self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0, ButtonType.gapAdjustCruise: 0}
+    self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
     self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
 
     self.is_metric_prev = None
@@ -84,9 +84,6 @@ class VCruiseHelper:
     self.slc_state_prev = SpeedLimitControlState.inactive
     self.slc_speed_limit_offsetted = 0
 
-    self.update_personality = False
-    self.update_experimental_mode = False
-
   @property
   def v_cruise_initialized(self):
     return self.v_cruise_kph != V_CRUISE_UNSET
@@ -123,8 +120,6 @@ class VCruiseHelper:
 
     long_press = False
     button_type = None
-    update_personality = False
-    update_experimental_mode = False
 
     v_cruise_delta = 1. if is_metric else IMPERIAL_INCREMENT
     v_cruise_delta_mltplr = 10 if is_metric else 5
@@ -145,15 +140,6 @@ class VCruiseHelper:
     if button_type is None:
       return
 
-    if button_type == ButtonType.gapAdjustCruise and self.button_timers[ButtonType.gapAdjustCruise]:
-      if self.button_timers[ButtonType.gapAdjustCruise] < 50:
-        update_personality = True
-      elif self.button_timers[ButtonType.gapAdjustCruise] == 50:
-        update_experimental_mode = True
-
-    self.update_personality = update_personality
-    self.update_experimental_mode = update_experimental_mode
-
     resume_button = ButtonType.accelCruise
     if not self.CP.pcmCruiseSpeed:
       if self.CP.carName == "chrysler":
@@ -168,9 +154,6 @@ class VCruiseHelper:
     if not self.button_change_states[button_type]["enabled"]:
       return
 
-    if button_type == ButtonType.gapAdjustCruise:
-      return
-
     pressed_value = (1 if long_press else v_cruise_delta_mltplr) if reverse_acc else (v_cruise_delta_mltplr if long_press else 1)
     long_press_state = not long_press if reverse_acc else long_press
     v_cruise_delta = v_cruise_delta * pressed_value