diff --git a/opendbc/safety/__init__.py b/opendbc/safety/__init__.py
index ef90de3c..4ce0cd5f 100644
--- a/opendbc/safety/__init__.py
+++ b/opendbc/safety/__init__.py
@@ -5,7 +5,6 @@ LEN_TO_DLC = {length: dlc for (dlc, length) in enumerate(DLC_TO_LEN)}
 
 class ALTERNATIVE_EXPERIENCE:
   DEFAULT = 0
-  DISABLE_DISENGAGE_ON_GAS = 1
   DISABLE_STOCK_AEB = 2
   RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
   ALLOW_AEB = 16
diff --git a/opendbc/safety/safety.h b/opendbc/safety/safety.h
index c46f4727..547a7283 100644
--- a/opendbc/safety/safety.h
+++ b/opendbc/safety/safety.h
@@ -347,10 +347,6 @@ static void relay_malfunction_set(void) {
 }
 
 static void generic_rx_checks(void) {
-  // exit controls on rising edge of gas press
-  if (gas_pressed && !gas_pressed_prev && !(alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS)) {
-    controls_allowed = false;
-  }
   gas_pressed_prev = gas_pressed;
 
   // exit controls on rising edge of brake press
diff --git a/opendbc/safety/safety_declarations.h b/opendbc/safety/safety_declarations.h
index 9c269290..8ebf0e09 100644
--- a/opendbc/safety/safety_declarations.h
+++ b/opendbc/safety/safety_declarations.h
@@ -271,11 +271,11 @@ extern uint32_t ts_angle_last;
 extern int desired_angle_last;
 extern struct sample_t angle_meas;         // last 6 steer angles/curvatures
 
-// This can be set with a USB command
+// Alt experiences can be set with a USB command
 // It enables features that allow alternative experiences, like not disengaging on gas press
 // It is only either 0 or 1 on mainline comma.ai openpilot
 
-#define ALT_EXP_DISABLE_DISENGAGE_ON_GAS 1
+//#define ALT_EXP_DISABLE_DISENGAGE_ON_GAS 1  // not used anymore, but reserved
 
 // If using this flag, make sure to communicate to your users that a stock safety feature is now disabled.
 #define ALT_EXP_DISABLE_STOCK_AEB 2
diff --git a/opendbc/safety/tests/common.py b/opendbc/safety/tests/common.py
index 3bebf7f1..226310b5 100644
--- a/opendbc/safety/tests/common.py
+++ b/opendbc/safety/tests/common.py
@@ -944,17 +944,10 @@ class PandaCarSafetyTest(PandaSafetyTest):
     self._rx(self._user_gas_msg(1))
     self.assertTrue(self.safety.get_controls_allowed())
 
-  def test_disengage_on_gas(self):
+  def test_no_disengage_on_gas(self):
     self._rx(self._user_gas_msg(0))
     self.safety.set_controls_allowed(True)
     self._rx(self._user_gas_msg(self.GAS_PRESSED_THRESHOLD + 1))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_alternative_experience_no_disengage_on_gas(self):
-    self._rx(self._user_gas_msg(0))
-    self.safety.set_controls_allowed(True)
-    self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS)
-    self._rx(self._user_gas_msg(self.GAS_PRESSED_THRESHOLD + 1))
     # Test we allow lateral, but not longitudinal
     self.assertTrue(self.safety.get_controls_allowed())
     self.assertFalse(self.safety.get_longitudinal_allowed())