diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index e16e42afd1..3d9d2a8099 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, CAN_CANFD_CAR
+from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -156,7 +156,7 @@ class CarController:
                 can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.RES_ACCEL))
               self.last_button_frame = self.frame
     else:
-      if self.car_fingerprint in CAN_CANFD_CAR:
+      if self.CP.flags & HyundaiFlags.CAN_CANFD:
         can_sends.append(hyundaican.create_lkas11_new(self.packer, self.frame, apply_steer, lat_active,
                                                       torque_fault, CS.lkas11, CC.enabled,
                                                       hud_control.leftLaneVisible, hud_control.rightLaneVisible,
@@ -169,12 +169,12 @@ class CarController:
 
       if not self.CP.openpilotLongitudinalControl:
         if CC.cruiseControl.cancel:
-          can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint))
+          can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
         elif CC.cruiseControl.resume:
           # send resume at a max freq of 10Hz
           if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
             # send 25 messages at a time to increases the likelihood of resume being accepted
-            can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25)
+            can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP)] * 25)
             if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
               self.last_button_frame = self.frame
 
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 0a583421ae..f48d9abcd1 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -7,7 +7,7 @@ from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
 from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus
-from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams, CAN_CANFD_CAR
+from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 8
@@ -134,7 +134,7 @@ class CarState(CarStateBase):
 
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
 
-    if not self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in CAN_CANFD_CAR:
+    if not self.CP.openpilotLongitudinalControl and not (self.CP.flags & HyundaiFlags.CAN_CANFD.value):
       aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
       aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
       aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
@@ -302,10 +302,10 @@ class CarState(CarStateBase):
       ("WHL_SPD11", 50),
       ("SAS11", 100),
     ]
-    freq_mdps12 = 100 if CP.carFingerprint in CAN_CANFD_CAR else 50
+    freq_mdps12 = 100 if CP.flags & HyundaiFlags.CAN_CANFD.value else 50
     checks.append(("MDPS12", freq_mdps12))
 
-    if not CP.openpilotLongitudinalControl and CP.carFingerprint not in (CAMERA_SCC_CAR | CAN_CANFD_CAR):
+    if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR and not (CP.flags & HyundaiFlags.CAN_CANFD.value):
       signals += [
         ("MainMode_ACC", "SCC11"),
         ("VSetDis", "SCC11"),
@@ -331,7 +331,7 @@ class CarState(CarStateBase):
           ("CF_VSM_Warn", "SCC12"),
           ("CF_VSM_DecCmdAct", "SCC12"),
         ]
-    elif CP.carFingerprint in CAN_CANFD_CAR:
+    elif CP.flags & HyundaiFlags.CAN_CANFD.value:
       signals += [
         ("MainMode_ACC", "SCC12"),
         ("VSetDis", "SCC12"),
@@ -348,7 +348,7 @@ class CarState(CarStateBase):
         ("CF_Lca_IndLeft", "LCA11"),
         ("CF_Lca_IndRight", "LCA11"),
       ]
-      freq_lca11 = 20 if CP.carFingerprint in CAN_CANFD_CAR else 50
+      freq_lca11 = 20 if CP.flags & HyundaiFlags.CAN_CANFD.value else 50
       checks.append(("LCA11", freq_lca11))
 
     if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
@@ -379,7 +379,7 @@ class CarState(CarStateBase):
       signals.append(("CF_Lvr_Gear", "LVR12"))
       checks.append(("LVR12", 100))
 
-    bus = 4 if CP.carFingerprint in CAN_CANFD_CAR else 0
+    bus = 4 if CP.flags & HyundaiFlags.CAN_CANFD.value else 0
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus)
 
   @staticmethod
@@ -394,7 +394,7 @@ class CarState(CarStateBase):
       ("CF_Lkas_LdwsRHWarning", "LKAS11"),
       ("CF_Lkas_FcwOpt_USM", "LKAS11"),
     ]
-    if CP.carFingerprint not in CAN_CANFD_CAR:
+    if CP.flags & HyundaiFlags.CAN_CANFD.value:
       signals += [
         ("CF_Lkas_LdwsSysState", "LKAS11"),
         ("CF_Lkas_SysWarning", "LKAS11"),
@@ -439,7 +439,7 @@ class CarState(CarStateBase):
           ("CF_VSM_DecCmdAct", "SCC12"),
         ]
 
-    bus = 6 if CP.carFingerprint in CAN_CANFD_CAR else 2
+    bus = 6 if CP.flags & HyundaiFlags.CAN_CANFD.value else 2
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus)
 
   @staticmethod
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index b9afac52a6..ea9b22eb4f 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -1,5 +1,5 @@
 import crcmod
-from selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR, CAN_CANFD_CAR
+from selfdrive.car.hyundai.values import HyundaiFlags, CAR, CHECKSUM, CAMERA_SCC_CAR
 
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
 
@@ -99,12 +99,12 @@ def create_lkas11_new(packer, frame, apply_steer, steer_req,
 
   return packer.make_can_msg("LKAS11", 4, values)
 
-def create_clu11(packer, frame, clu11, button, car_fingerprint):
+def create_clu11(packer, frame, clu11, button, CP):
   values = clu11
   values["CF_Clu_CruiseSwState"] = button
   values["CF_Clu_AliveCnt1"] = frame % 0x10
   # send buttons to camera on camera-scc based cars
-  bus = 2 if car_fingerprint in CAMERA_SCC_CAR else 4 if car_fingerprint in CAN_CANFD_CAR else 0
+  bus = 2 if CP.carFingerprint in CAMERA_SCC_CAR else 4 if CP.flags & HyundaiFlags.CAN_CANFD else 0
   return packer.make_can_msg("CLU11", bus, values)
 
 
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 48c6985848..1a1bfc8b11 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, CAN_CANFD_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
+from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -44,8 +44,13 @@ class CarInterface(CarInterfaceBase):
         if candidate not in CANFD_RADAR_SCC_CAR:
           ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
     else:
+      # detect platforms with HKG CAN and CAN-FD definitions
+      if 0x50 in fingerprint[5]:
+        ret.flags |= HyundaiFlags.CAN_CANFD.value
+
       # Send LFA message on cars with HDA
-      if 0x485 in fingerprint[2]:
+      lfahda_bus = 6 if ret.flags & HyundaiFlags.CAN_CANFD.value else 2
+      if 0x485 in fingerprint[lfahda_bus]:
         ret.flags |= HyundaiFlags.SEND_LFA.value
 
       # These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
@@ -234,7 +239,7 @@ class CarInterface(CarInterfaceBase):
     else:
       ret.longitudinalTuning.kpV = [0.5]
       ret.longitudinalTuning.kiV = [0.0]
-      ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR | CAN_CANFD_CAR)
+      ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR) and not (ret.flags & HyundaiFlags.CAN_CANFD)
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
     ret.pcmCruise = not ret.openpilotLongitudinalControl
 
@@ -250,7 +255,7 @@ class CarInterface(CarInterfaceBase):
       bus = 5 if ret.flags & HyundaiFlags.CANFD_HDA2 else 4
       ret.enableBsm = 0x1e5 in fingerprint[bus]
     else:
-      bus = 4 if candidate in CAN_CANFD_CAR else 0
+      bus = 4 if ret.flags & HyundaiFlags.CAN_CANFD else 0
       ret.enableBsm = 0x58b in fingerprint[bus]
 
     # *** panda safety config ***
@@ -264,7 +269,7 @@ class CarInterface(CarInterfaceBase):
         ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
       if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
         ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
-    elif candidate in CAN_CANFD_CAR:
+    elif ret.flags & HyundaiFlags.CAN_CANFD:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
                            get_safety_config(car.CarParams.SafetyModel.hyundai)]
       ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAN_CANFD
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 22a7740682..8f013ec3e6 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -62,6 +62,7 @@ class HyundaiFlags(IntFlag):
   CANFD_ALT_GEARS_2 = 64
   SEND_LFA = 128
   USE_FCA = 256
+  CAN_CANFD = 512
 
 
 class CAR:
@@ -1703,9 +1704,6 @@ CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, C
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
 
-# These cars have both CAN and CAN-FD messages
-CAN_CANFD_CAR = {CAR.PALISADE_2023, }
-
 HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN}  # these cars use a different gas signal
 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}