diff --git a/common/params.cc b/common/params.cc
index 0c19b6dc76..78055f35fd 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -228,6 +228,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CustomMapboxTokenSk", PERSISTENT},
     {"CustomOffsets", PERSISTENT},
     {"CustomStockLong", PERSISTENT},
+    {"CustomStockLongPlanner", PERSISTENT},
     {"CustomTorqueLateral", PERSISTENT},
     {"DevUI", PERSISTENT},
     {"DevUIInfo", PERSISTENT},
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index e2d1532189..939739d530 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -63,7 +63,7 @@ class CarController:
     self.lat_disengage_init = False
     self.lat_active_last = False
 
-    self.sm = messaging.SubMaster(['longitudinalPlanSP'])
+    self.sm = messaging.SubMaster(['longitudinalPlan', 'longitudinalPlanSP'])
     self.param_s = Params()
     self.is_metric = self.param_s.get_bool("IsMetric")
     self.speed_limit_control_enabled = False
@@ -92,12 +92,19 @@ class CarController:
     self.v_tsc = 0
     self.m_tsc = 0
     self.steady_speed = 0
+    self.speeds = 0
+    self.v_target_plan = 0
     self.hkg_can_smooth_stop = self.param_s.get_bool("HkgSmoothStop")
+    self.custom_planner_speed = self.param_s.get_bool("CustomStockLongPlanner")
 
   def update(self, CC, CS, now_nanos):
     if not self.CP.pcmCruiseSpeed:
       self.sm.update(0)
 
+      if self.sm.updated['longitudinalPlan']:
+        _speeds = self.sm['longitudinalPlan'].speeds
+        self.speeds = _speeds[-1] if len(_speeds) else 0
+
       if self.sm.updated['longitudinalPlanSP']:
         self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState
         self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState
@@ -110,8 +117,10 @@ class CarController:
       if self.frame % 200 == 0:
         self.speed_limit_control_enabled = self.param_s.get_bool("SpeedLimitControl")
         self.is_metric = self.param_s.get_bool("IsMetric")
+        self.custom_planner_speed = self.param_s.get_bool("CustomStockLongPlanner")
       self.last_speed_limit_sign_tap = self.param_s.get_bool("LastSpeedLimitSignTap")
       self.v_cruise_min = HYUNDAI_V_CRUISE_MIN[self.is_metric] * (CV.KPH_TO_MPH if not self.is_metric else 1)
+      self.v_target_plan = min(CC.vCruise * CV.KPH_TO_MS, self.speeds)
 
     actuators = CC.actuators
     hud_control = CC.hudControl
@@ -428,6 +437,8 @@ class CarController:
         target_speed_kph = set_speed_kph
       else:
         target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
+      if self.custom_planner_speed:
+        target_speed_kph = self.curve_speed_hysteresis(self.v_target_plan)
       if self.v_tsc_state != 0 or self.m_tsc_state > 1:
         self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev)
       else:
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index a3e375f355..77ec997c19 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -52,6 +52,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       tr("When enabled, sunnypilot will attempt to control stock longitudinal control with ACC button presses.\nThis feature must be used along with SLC, and/or V-TSC, and/or M-TSC."),
       "../assets/offroad/icon_speed_limit.png",
     },
+    {
+      "CustomStockLongPlanner",
+      tr("Use Planner Speed"),
+      "",
+      "../assets/offroad/icon_blank.png",
+    },
     {
       "ExperimentalMode",
       tr("Experimental Mode"),
@@ -129,6 +135,9 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   connect(toggles["ExperimentalLongitudinalEnabled"], &ToggleControl::toggleFlipped, [=]() {
     updateToggles();
   });
+  connect(toggles["CustomStockLong"], &ToggleControl::toggleFlipped, [=]() {
+    updateToggles();
+  });
 
   param_watcher = new ParamWatcher(this);
 
@@ -150,6 +159,7 @@ void TogglesPanel::updateToggles() {
   auto experimental_mode_toggle = toggles["ExperimentalMode"];
   auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"];
   auto custom_stock_long_toggle = toggles["CustomStockLong"];
+  auto custom_stock_long_planner = toggles["CustomStockLongPlanner"];
   const QString e2e_description = QString("%1<br>"
                                           "<h4>%2</h4><br>"
                                           "%3<br>"
@@ -194,6 +204,12 @@ void TogglesPanel::updateToggles() {
       long_personality_setting->setEnabled(true);
       custom_stock_long_toggle->setEnabled(false);
       params.remove("CustomStockLong");
+    } else if (custom_stock_long_toggle->isToggled()) {
+      experimental_mode_toggle->setEnabled(true);
+      experimental_mode_toggle->setDescription(e2e_description);
+      long_personality_setting->setEnabled(false);
+      op_long_toggle->setEnabled(false);
+      custom_stock_long_planner->setEnabled(true);
     } else {
       // no long for now
       experimental_mode_toggle->setEnabled(false);
@@ -214,14 +230,19 @@ void TogglesPanel::updateToggles() {
       experimental_mode_toggle->setDescription("<b>" + long_desc + "</b><br><br>" + e2e_description);
 
       custom_stock_long_toggle->setEnabled(CP.getCustomStockLongAvailable());
+      custom_stock_long_planner->setEnabled(false);
+      op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
+      op_long_toggle->setEnabled(CP.getExperimentalLongitudinalAvailable() && !is_release);
     }
 
     experimental_mode_toggle->refresh();
     custom_stock_long_toggle->refresh();
+    op_long_toggle->refresh();
   } else {
     experimental_mode_toggle->setDescription(e2e_description);
     op_long_toggle->setVisible(false);
     custom_stock_long_toggle->setVisible(false);
+    custom_stock_long_planner->setVisible(false);
   }
 }
 
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index d9973c663a..9a0e5e4eab 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -365,7 +365,8 @@ ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(fals
 
 void ExperimentalButton::changeMode() {
   const auto cp = (*uiState()->sm)["carParams"].getCarParams();
-  bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
+  bool can_change = (hasLongitudinalControl(cp) || (cp.getCustomStockLongAvailable() && params.getBool("CustomStockLongPlanner")))
+                    && params.getBool("ExperimentalModeConfirmed");
   if (can_change) {
     params.putBool("ExperimentalMode", !experimental_mode);
   }