diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 0c3e6f09e4..2aa4d1a98f 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -135,7 +135,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret = self.get_sp_common_state(ret, gap_button=bool(self.CS.distance_button))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 9392132ce2..b75d283453 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -115,7 +115,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret = self.get_sp_common_state(ret, gap_button=bool(self.CS.distance_button))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 17ca61d8cc..f77e7b1daa 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -205,8 +205,6 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
 
-    distance_button = 0
-
     # Don't add event if transitioning from INIT, unless it's to an actual button
     if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
       self.CS.button_events = [
@@ -215,7 +213,6 @@ class CarInterface(CarInterfaceBase):
         *create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
                               {1: ButtonType.gapAdjustCruise})
       ]
-      distance_button = self.CS.distance_button
 
     self.CS.button_events = [
       *self.CS.button_events,
@@ -252,7 +249,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret = self.get_sp_common_state(ret, gap_button=bool(distance_button))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 3d80470a23..7f2cc916bd 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -300,7 +300,7 @@ class CarInterface(CarInterfaceBase):
       elif not ret.cruiseState.enabled:
         self.CS.accEnabled = False
 
-    ret = self.get_sp_common_state(ret, gap_button=(self.CS.cruise_setting == 3))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 5b19b15795..a562473506 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -266,7 +266,7 @@ class CarInterface(CarInterfaceBase):
       self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
-    ret = self.get_sp_common_state(ret, gap_button=(self.CS.cruise_buttons[-1] == 3))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index ae6cfeb55b..9cbd7cac11 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -616,7 +616,7 @@ class CarInterfaceBase(ABC):
     else:
       return self.CS.madsEnabled
 
-  def get_sp_common_state(self, cs_out, gear_allowed=True, gap_button=False):
+  def get_sp_common_state(self, cs_out, gear_allowed=True):
     cs_out.cruiseState.enabled = self.CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed else cs_out.cruiseState.enabled
 
     if not self.enable_mads:
@@ -625,9 +625,6 @@ class CarInterfaceBase(ABC):
       elif not cs_out.cruiseState.enabled and self.CS.out.cruiseState.enabled:
         self.CS.madsEnabled = False
 
-    if self.CP.openpilotLongitudinalControl:
-      self.toggle_exp_mode(gap_button)  # TODO-SP: use buttonEvents to handle this, then remove gap_button
-
     lane_change_speed_min = get_min_lateral_speed(self.CS.params_list.pause_lateral_speed, self.CS.params_list.is_metric)
 
     cs_out.belowLaneChangeSpeed = cs_out.vEgo < lane_change_speed_min and self.CS.params_list.below_speed_pause
@@ -655,19 +652,6 @@ class CarInterfaceBase(ABC):
 
     return cs_out
 
-  # TODO: SP: use upstream's buttonEvents counter checks from controlsd
-  def toggle_exp_mode(self, gap_pressed):
-    if gap_pressed:
-      if not self.experimental_mode_hold:
-        self.gap_button_counter += 1
-        if self.gap_button_counter > 50:
-          self.gap_button_counter = 0
-          self.experimental_mode_hold = True
-          self.param_s.put_bool_nonblocking("ExperimentalMode", not self.CS.params_list.experimental_mode)
-    else:
-      self.gap_button_counter = 0
-      self.experimental_mode_hold = False
-
   def create_sp_events(self, cs_out, events, main_enabled=False, allow_enable=True, enable_pressed=False,
                        enable_from_brake=False, enable_pressed_long=False,
                        enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 5e782f7344..df949ef89b 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -71,7 +71,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret = self.get_sp_common_state(ret, gap_button=bool(self.CS.distance_button))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 92b03c716e..d1ebf1ad9c 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -50,7 +50,7 @@ class CarInterface(CarInterfaceBase):
       self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
-    ret = self.get_sp_common_state(ret, gap_button=bool(self.CS.distance_button))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index b15c2d0b89..6694323d0e 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -238,7 +238,7 @@ class CarInterface(CarInterfaceBase):
       if not self.CP.pcmCruise:
         ret.cruiseState.enabled = self.CS.accEnabled
 
-    ret = self.get_sp_common_state(ret, gap_button=bool(distance_button))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index aeccba278d..e575e05985 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -140,7 +140,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret = self.get_sp_common_state(ret, gap_button=any(b.type == ButtonType.gapAdjustCruise and b.pressed for b in self.CS.button_events))
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index fa6c49ee62..4b005ad825 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -20,7 +20,7 @@ from openpilot.common.swaglog import cloudlog
 
 from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
-from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature, get_lag_adjusted_curvature
+from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature, get_lag_adjusted_curvature, CRUISE_LONG_PRESS
 from openpilot.selfdrive.controls.lib.events import Events, ET
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -731,11 +731,19 @@ class Controls:
         cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
         setattr(actuators, p, 0.0)
 
+    # toggle experimental mode once on distance button hold
+    if self.CP.openpilotLongitudinalControl:
+      if self.v_cruise_helper.experimental_mode_update and self.v_cruise_helper.button_timers[ButtonType.gapAdjustCruise] == CRUISE_LONG_PRESS:
+        self.experimental_mode = not self.experimental_mode
+        self.params.put_bool_nonblocking("ExperimentalMode", self.experimental_mode)
+
     # decrement personality on distance button press
     if self.CP.openpilotLongitudinalControl:
-      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
+      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents) and \
+            not self.v_cruise_helper.experimental_mode_update:
         self.personality = (self.personality - 1) % 3
         self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
+        self.v_cruise_helper.experimental_mode_update = False
 
     return CC, lac_log
 
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 3374347a3e..e0266404bc 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -79,7 +79,7 @@ class VCruiseHelper:
     self.v_cruise_kph = V_CRUISE_UNSET
     self.v_cruise_cluster_kph = V_CRUISE_UNSET
     self.v_cruise_kph_last = 0
-    self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
+    self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0, ButtonType.gapAdjustCruise: 0}
     self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
 
     self.is_metric_prev = None
@@ -93,6 +93,8 @@ class VCruiseHelper:
     self.sp_override_cruise_speed_last = V_CRUISE_UNSET
     self.sp_override_enabled_last = False
 
+    self.experimental_mode_update = False
+
   @property
   def v_cruise_initialized(self):
     return self.v_cruise_kph != V_CRUISE_UNSET
@@ -105,12 +107,14 @@ class VCruiseHelper:
       self._update_v_cruise_min(is_metric)
 
     if CS.cruiseState.available:
+      if self.CP.openpilotLongitudinalControl:
+        self._update_experimental_mode(CS)
+
       if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed:
         # if stock cruise is completely disabled, then we can use our own set speed logic
         self._update_v_cruise_non_pcm(CS, enabled, is_metric, reverse_acc)
         self._update_v_cruise_slc(long_plan_sp)
         self.v_cruise_cluster_kph = self.v_cruise_kph
-        self.update_button_timers(CS, enabled)
       else:
         if enabled and sp_override_speed and CS.cruiseState.speed * CV.MS_TO_KPH < sp_override_speed:
           if self.sp_override_v_cruise_kph == V_CRUISE_UNSET:
@@ -132,10 +136,12 @@ class VCruiseHelper:
 
         self.sp_override_cruise_speed_last = CS.cruiseState.speed
         self.sp_override_enabled_last = enabled
+      self.update_button_timers(CS, enabled)
     else:
       self.sp_override_v_cruise_kph = V_CRUISE_UNSET
       self.v_cruise_kph = V_CRUISE_UNSET
       self.v_cruise_cluster_kph = V_CRUISE_UNSET
+      self.experimental_mode_update = False
 
   def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, reverse_acc):
     # handle button presses. TODO: this should be in state_control, but a decelCruise press
@@ -165,7 +171,7 @@ class VCruiseHelper:
           long_press = True
           break
 
-    if button_type is None:
+    if button_type is None or button_type == ButtonType.gapAdjustCruise:
       return
 
     resume_button = ButtonType.accelCruise
@@ -268,6 +274,16 @@ class VCruiseHelper:
         self.v_cruise_min = GM_V_CRUISE_MIN[is_metric]
     self.is_metric_prev = is_metric
 
+  def _update_experimental_mode(self, CS):
+    for b in CS.buttonEvents:
+      if b.type == ButtonType.gapAdjustCruise and not b.pressed:
+        if self.button_timers[ButtonType.gapAdjustCruise] > CRUISE_LONG_PRESS:
+          return  # end long press
+        break
+    else:
+      if self.button_timers[ButtonType.gapAdjustCruise] and self.button_timers[ButtonType.gapAdjustCruise] == CRUISE_LONG_PRESS:
+        self.experimental_mode_update = True
+
 
 def clip_curvature(v_ego, prev_curvature, new_curvature):
   v_ego = max(MIN_SPEED, v_ego)