diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 94afec50e2..b7a357eafd 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -148,7 +148,8 @@ class CarSpecificEvents:
       # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
       # Main button also can trigger an engagement on these cars
       self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
-      events = self.create_common_events(CS, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
+      events = self.create_common_events(CS, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons),
+                                         (self.CP.pcmCruise and b.pressed) or not self.CP.pcmCruise)
 
       # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
       if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
@@ -164,7 +165,8 @@ class CarSpecificEvents:
     return events
 
   def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
-                           allow_enable=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
+                           allow_enable=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise),
+                           allow_disengage=True):
     events = Events()
 
     if CS.doorOpen:
@@ -215,7 +217,7 @@ class CarSpecificEvents:
       if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed):
         events.add(EventName.buttonEnable)
       # Disable on rising and falling edge of cancel for both stock and OP long
-      if b.type == ButtonType.cancel:
+      if b.type == ButtonType.cancel and allow_disengage:
         events.add(EventName.buttonCancel)
 
     # Handle permanent and temporary steering faults