diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 532d4b3fb7..619982a923 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -20,12 +20,17 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
                 Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
 
 
-def set_safety_config_canfd(CAN, can_fd=True):
+def set_safety_config_canfd(ret, CAN, can_fd=True):
   platform = SafetyModel.hyundaiCanfd if can_fd else SafetyModel.hyundai
   cfgs = [get_safety_config(platform), ]
   if CAN.ECAN >= 4:
     cfgs.insert(0, get_safety_config(SafetyModel.noOutput))
-  return cfgs
+  ret.safetyConfigs = cfgs
+
+  if ret.flags & HyundaiFlags.CANFD_HDA2:
+    ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
+
+  return ret
 
 
 class CarInterface(CarInterfaceBase):
@@ -286,11 +291,8 @@ class CarInterface(CarInterfaceBase):
       ret.enableBsm = 0x58b in fingerprint[bus]
 
     # *** panda safety config ***
-    if ret.flags & HyundaiFlags.CANFD_HDA2:
-      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
-
     if candidate in CANFD_CAR:
-      ret.safetyConfigs = set_safety_config_canfd(CAN, can_fd=True)
+      ret = set_safety_config_canfd(ret, CAN, can_fd=True)
 
       if hda2 and ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
@@ -299,12 +301,12 @@ class CarInterface(CarInterfaceBase):
       if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
     else:
+      if ret.flags & HyundaiFlags.CAN_CANFD:
+        ret.safetyConfigs = set_safety_config_canfd(ret, CAN, can_fd=False)
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAN_CANFD
       if candidate in LEGACY_SAFETY_MODE_CAR:
         # these cars require a special panda safety mode due to missing counters and checksums in the messages
         ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
-      elif ret.flags & HyundaiFlags.CAN_CANFD:
-        ret.safetyConfigs = set_safety_config_canfd(CAN, can_fd=False)
-        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAN_CANFD
       else:
         ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]