diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index b81c5e3f7d..7d0a278d79 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -5,7 +5,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.hyundai import hyundaicanfd, hyundaican
-from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
+from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR, FEATURES
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -175,7 +175,8 @@ class CarController:
         # TODO: unclear if this is needed
         jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
         can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
-                                                        hud_control.leadVisible, set_speed_in_units, stopping, CC.cruiseControl.override))
+                                                        hud_control.leadVisible, set_speed_in_units, stopping,
+                                                        CC.cruiseControl.override, self.CP.carFingerprint in FEATURES["use_fca"]))
 
       # 20 Hz LFA MFA message
       if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
@@ -186,7 +187,7 @@ class CarController:
 
       # 5 Hz ACC options
       if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
-        can_sends.extend(hyundaican.create_acc_opt(self.packer))
+        can_sends.extend(hyundaican.create_acc_opt(self.packer, self.CP.carFingerprint in FEATURES["use_fca"]))
 
       # 2 Hz front radar options
       if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index c2ffffbf22..16d17399ff 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -3,6 +3,7 @@ from selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR
 
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
 
+
 def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
                   torque_fault, lkas11, sys_warning, sys_state, enabled,
                   left_lane, right_lane,
@@ -96,7 +97,8 @@ def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
-def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override):
+
+def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca):
   commands = []
 
   scc11_values = {
@@ -119,6 +121,12 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s
     "aReqValue": accel,  # stock ramps up and down respecting jerk limit until it reaches aReqRaw
     "CR_VSM_Alive": idx % 0xF,
   }
+
+  # send CF_VSM_ConfMode and AEB_Status to cars that do not accept FCA messages, otherwise TCS13|ACCEnable would fault
+  if not use_fca:
+    scc12_values["CF_VSM_ConfMode"] = 1
+    scc12_values["AEB_Status"] = 1  # AEB disabled
+
   scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[2]
   scc12_values["CR_VSM_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in scc12_dat) % 0x10
 
@@ -134,21 +142,24 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s
   }
   commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
 
-  # note that some vehicles most likely have an alternate checksum/counter definition
-  # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
-  fca11_values = {
-    "CR_FCA_Alive": idx % 0xF,
-    "PAINT1_Status": 1,
-    "FCA_DrvSetStatus": 1,
-    "FCA_Status": 1, # AEB disabled
-  }
-  fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
-  fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
-  commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
+  # only send FCA11 to cars that accept FCA messages, otherwise TCS13|ACCEnable would fault
+  if use_fca:
+    # note that some vehicles most likely have an alternate checksum/counter definition
+    # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
+    fca11_values = {
+      "CR_FCA_Alive": idx % 0xF,
+      "PAINT1_Status": 1,
+      "FCA_DrvSetStatus": 1,
+      "FCA_Status": 1,  # AEB disabled
+    }
+    fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
+    fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
+    commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
 
   return commands
 
-def create_acc_opt(packer):
+
+def create_acc_opt(packer, use_fca):
   commands = []
 
   scc13_values = {
@@ -158,14 +169,17 @@ def create_acc_opt(packer):
   }
   commands.append(packer.make_can_msg("SCC13", 0, scc13_values))
 
-  fca12_values = {
-    "FCA_DrvSetState": 2,
-    "FCA_USM": 1, # AEB disabled
-  }
-  commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
+  # only send FCA12 to cars that accept FCA messages, otherwise TCS13|ACCEnable would fault
+  if use_fca:
+    fca12_values = {
+      "FCA_DrvSetState": 2,
+      "FCA_USM": 1,  # AEB disabled
+    }
+    commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
 
   return commands
 
+
 def create_frt_radar_opt(packer):
   frt_radar11_values = {
     "CF_FCA_Equip_Front_Radar": 1,
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index c4fda42b63..1b2cff58d3 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1584,7 +1584,7 @@ HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_N
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
-LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
+LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
 
 # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
 # If no points are outputted by default it might be possible to turn it on using  selfdrive/debug/hyundai_enable_radar_points.py