diff --git a/cereal/log.capnp b/cereal/log.capnp
index 2687d83e1d..62af5a2bfc 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -135,6 +135,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     silentLkasEnable @98;
     silentBrakeHold @99;
     silentWrongGear @100;
+    silentReverseGear @101;
 
     soundsUnavailableDEPRECATED @47;
   }
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index fbeae3eacf..c47ee838df 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -1015,7 +1015,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.silentWrongGear: {
-    ET.SOFT_DISABLE: Alert(
+    ET.USER_DISABLE: Alert(
       "Gear not D",
       "openpilot Unavailable",
       AlertStatus.normal, AlertSize.mid,
@@ -1027,6 +1027,20 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 3.),
   },
 
+  EventName.silentReverseGear: {
+    ET.PERMANENT: Alert(
+      "Reverse\nGear",
+      "",
+      AlertStatus.normal, AlertSize.full,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
+    ET.USER_DISABLE: Alert(
+      "Reverse\nGear",
+      "",
+      AlertStatus.normal, AlertSize.full,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
+    ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
+  },
+
 }
 
 
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 40a54d674d..e8f508263d 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -31,14 +31,15 @@ class ModifiedAssistDrivingSystem:
     self.unified_engagement_mode = mads_params.read_param("MadsUnifiedEngagementMode", self.selfdrive.params)
 
   def update_events(self, CS: car.CarState):
-    if self.selfdrive.enabled_prev:
-      if self.selfdrive.events.has(EventName.wrongGear) and CS.vEgo < 5:
-        self.selfdrive.events.add(EventName.silentWrongGear)
-        self.selfdrive.events.remove(EventName.wrongGear)
-
-    else:
+    if not self.selfdrive.enabled:
       self.selfdrive.events.remove(EventName.wrongCruiseMode)
       self.selfdrive.events.remove(EventName.wrongCarMode)
+      if self.selfdrive.events.has(EventName.wrongGear) and not self.selfdrive.events.has(EventName.reverseGear):
+        self.selfdrive.events.remove(EventName.wrongGear)
+        self.selfdrive.events.add(EventName.silentWrongGear)
+      if self.selfdrive.events.has(EventName.reverseGear) and CS.vEgo < 5:
+        self.selfdrive.events.remove(EventName.reverseGear)
+        self.selfdrive.events.add(EventName.silentReverseGear)
 
     if self.disengage_lateral_on_brake_toggle:
       if self.selfdrive.events.has(EventName.brakeHold):
diff --git a/sunnypilot/mads/state.py b/sunnypilot/mads/state.py
index 625f116bb4..490e4a480e 100644
--- a/sunnypilot/mads/state.py
+++ b/sunnypilot/mads/state.py
@@ -31,7 +31,8 @@ class StateMachine:
     if self.state != State.disabled:
       # user and immediate disable always have priority in a non-disabled state
       if events.contains(ET.USER_DISABLE):
-        if events.has(EventName.silentPedalPressed) or events.has(EventName.silentBrakeHold):
+        if events.has(EventName.silentPedalPressed) or events.has(EventName.silentBrakeHold) or \
+           events.has(EventName.silentWrongGear) or events.has(EventName.silentReverseGear):
           self.state = State.paused
         else:
           self.state = State.disabled