diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
index 4e76e8b543..1b68ea811d 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
@@ -21,22 +21,11 @@ MadsSettings::MadsSettings(QWidget *parent) : QWidget(parent) {
 
   ListWidget *list = new ListWidget(this, false);
   // Main cruise
-  madsMainCruiseToggle = new ParamControl(
-    "MadsMainCruiseAllowed",
-    tr("Toggle with Main Cruise"),
-    tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."),
-    "");
+  madsMainCruiseToggle = new ParamControl("MadsMainCruiseAllowed", tr("Toggle with Main Cruise"), "", "");
   list->addItem(madsMainCruiseToggle);
 
   // Unified Engagement Mode
-  madsUnifiedEngagementModeToggle = new ParamControl(
-    "MadsUnifiedEngagementMode",
-    tr("Unified Engagement Mode (UEM)"),
-    QString("%1<br>"
-            "<h4>%2</h4>")
-    .arg(tr("Engage lateral and longitudinal control with cruise control engagement."))
-    .arg(tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.")),
-    "");
+  madsUnifiedEngagementModeToggle = new ParamControl("MadsUnifiedEngagementMode", tr("Unified Engagement Mode (UEM)"), "", "");
   list->addItem(madsUnifiedEngagementModeToggle);
 
   // Steering Mode On Brake
@@ -45,7 +34,6 @@ MadsSettings::MadsSettings(QWidget *parent) : QWidget(parent) {
     updateToggles(offroad);
   });
   list->addItem(madsSteeringMode);
-  madsSteeringMode->showDescription();
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &MadsSettings::updateToggles);
 
@@ -70,14 +58,41 @@ void MadsSettings::updateToggles(bool _offroad) {
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
 
     if (CP.getBrand() == "rivian" || CP.getBrand() == "tesla") {
+      params.remove("MadsMainCruiseAllowed");
+      params.putBool("MadsUnifiedEngagementMode", true);
       params.put("MadsSteeringMode", std::to_string(static_cast<int>(MadsSteeringMode::DISENGAGE)));
+
+      madsMainCruiseToggle->setEnabled(false);
+      madsMainCruiseToggle->setDescription(madsDescriptionBuilder(DEFAULT_TO_OFF, MADS_MAIN_CRUISE_BASE_DESC));
+      madsMainCruiseToggle->showDescription();
+
+      madsUnifiedEngagementModeToggle->setEnabled(false);
+      madsUnifiedEngagementModeToggle->setDescription(madsDescriptionBuilder(DEFAULT_TO_ON, MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC));
+      madsUnifiedEngagementModeToggle->showDescription();
+
       madsSteeringModeValues = convertMadsSteeringModeValues({MadsSteeringMode::DISENGAGE});
-      madsSteeringMode->setDescription(madsSteeringModeDescriptionBuilder(STATUS_DISENGAGE_ONLY, madsSteeringModeDescription(steering_mode)));
+      madsSteeringMode->setDescription(madsDescriptionBuilder(STATUS_DISENGAGE_ONLY, madsSteeringModeDescription(steering_mode)));
     } else {
+      madsMainCruiseToggle->setEnabled(true);
+      madsMainCruiseToggle->setDescription(MADS_MAIN_CRUISE_BASE_DESC);
+
+      madsUnifiedEngagementModeToggle->setEnabled(true);
+      madsUnifiedEngagementModeToggle->setDescription(MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC);
+
+      madsSteeringModeValues = convertMadsSteeringModeValues(getMadsSteeringModeValues());
       madsSteeringMode->setDescription(madsSteeringModeDescription(steering_mode));
     }
   } else {
-    madsSteeringMode->setDescription(madsSteeringModeDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, madsSteeringModeDescription(steering_mode)));
+    madsMainCruiseToggle->setEnabled(false);
+    madsMainCruiseToggle->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, MADS_MAIN_CRUISE_BASE_DESC));
+    madsMainCruiseToggle->showDescription();
+
+    madsUnifiedEngagementModeToggle->setEnabled(false);
+    madsUnifiedEngagementModeToggle->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC));
+    madsUnifiedEngagementModeToggle->showDescription();
+
+    madsSteeringModeValues = {};
+    madsSteeringMode->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, madsSteeringModeDescription(steering_mode)));
   }
 
   madsSteeringMode->setEnableSelectedButtons(_offroad, madsSteeringModeValues);
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
index bf05b98640..4f7c6bf4b7 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
@@ -46,10 +46,17 @@ private:
   ParamControl *madsUnifiedEngagementModeToggle;
   ButtonParamControl *madsSteeringMode;
 
-  std::vector<int> madsSteeringModeValues = getMadsSteeringModeValues();
+  std::vector<int> madsSteeringModeValues = {};
 
-  const QString STATUS_CHECK_COMPATIBILITY = tr("Start the car to check car compatibility.");
-  const QString STATUS_DISENGAGE_ONLY = tr("This platform only supports Disengage mode due to car limitations.");
+  const QString MADS_MAIN_CRUISE_BASE_DESC = tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.");
+  const QString MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC = QString("%1<br>""<h4>%2</h4>")
+    .arg(tr("Engage lateral and longitudinal control with cruise control engagement."))
+    .arg(tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."));
+
+  const QString STATUS_CHECK_COMPATIBILITY = tr("Start the vehicle to check vehicle compatibility.");
+  const QString DEFAULT_TO_OFF = tr("This feature defaults to OFF, and does not allow selection due to vehicle limitations.");
+  const QString DEFAULT_TO_ON = tr("This feature defaults to ON, and does not allow selection due to vehicle limitations.");
+  const QString STATUS_DISENGAGE_ONLY = tr("This platform only supports Disengage mode due to vehicle limitations.");
 
   static const std::vector<MadsSteeringModeOption> &madsSteeringModeOptions() {
     static const std::vector<MadsSteeringModeOption> options = {
@@ -60,10 +67,10 @@ private:
     return options;
   }
 
-  static std::vector<int> getMadsSteeringModeValues() {
-    std::vector<int> values;
+  static std::vector<MadsSteeringMode> getMadsSteeringModeValues() {
+    std::vector<MadsSteeringMode> values;
     for (const auto& option : madsSteeringModeOptions()) {
-      values.push_back(static_cast<int>(option.mode));
+      values.push_back(option.mode);
     }
     return values;
   }
@@ -99,7 +106,7 @@ private:
     return result;
   }
 
-  static QString madsSteeringModeDescriptionBuilder(const QString &custom_description, const QString &madsSteeringModeDescription) {
-    return "<font color='white'><b>" + custom_description + "</b></font><br><br>" + madsSteeringModeDescription;
+  static QString madsDescriptionBuilder(const QString &custom_description, const QString &base_description) {
+    return "<font color='white'><b>" + custom_description + "</b></font><br><br>" + base_description;
   }
 };