diff --git a/board/safety/safety_hyundai_canfd.h b/board/safety/safety_hyundai_canfd.h
index 2fcea529..3ea7a486 100644
--- a/board/safety/safety_hyundai_canfd.h
+++ b/board/safety/safety_hyundai_canfd.h
@@ -24,6 +24,12 @@ const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = {
   {0x2A4, 0, 24}, // CAM_0x2A4
 };
 
+const CanMsg HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS[] = {
+  {0x110, 0, 32}, // LKAS_ALT
+  {0x1CF, 1, 8},  // CRUISE_BUTTON
+  {0x362, 0, 32}, // CAM_0x362
+};
+
 const CanMsg HYUNDAI_CANFD_HDA2_LONG_TX_MSGS[] = {
   {0x50, 0, 16},  // LKAS
   {0x1CF, 1, 8},  // CRUISE_BUTTON
@@ -116,10 +122,16 @@ uint16_t hyundai_canfd_crc_lut[256];
 
 const int HYUNDAI_PARAM_CANFD_HDA2 = 16;
 const int HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
+const int HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING = 128;
 bool hyundai_canfd_hda2 = false;
 bool hyundai_canfd_alt_buttons = false;
+bool hyundai_canfd_hda2_alt_steering = false;
 
 
+int hyundai_canfd_hda2_get_lkas_addr(void) {
+  return hyundai_canfd_hda2_alt_steering ? 0x110 : 0x50;
+}
+
 static uint8_t hyundai_canfd_get_counter(CANPacket_t *to_push) {
   uint8_t ret = 0;
   if (GET_LEN(to_push) == 8U) {
@@ -231,7 +243,7 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
     }
   }
 
-  const int steer_addr = hyundai_canfd_hda2 ? 0x50 : 0x12a;
+  const int steer_addr = hyundai_canfd_hda2 ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a;
   bool stock_ecu_detected = (addr == steer_addr) && (bus == 0);
   if (hyundai_longitudinal) {
     // on HDA2, ensure ADRV ECU is still knocked out
@@ -250,7 +262,11 @@ static int hyundai_canfd_tx_hook(CANPacket_t *to_send) {
   int addr = GET_ADDR(to_send);
 
   if (hyundai_canfd_hda2 && !hyundai_longitudinal) {
-    tx = msg_allowed(to_send, HYUNDAI_CANFD_HDA2_TX_MSGS, sizeof(HYUNDAI_CANFD_HDA2_TX_MSGS)/sizeof(HYUNDAI_CANFD_HDA2_TX_MSGS[0]));
+    if (hyundai_canfd_hda2_alt_steering) {
+      tx = msg_allowed(to_send, HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS, sizeof(HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS)/sizeof(HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS[0]));
+    } else {
+      tx = msg_allowed(to_send, HYUNDAI_CANFD_HDA2_TX_MSGS, sizeof(HYUNDAI_CANFD_HDA2_TX_MSGS)/sizeof(HYUNDAI_CANFD_HDA2_TX_MSGS[0]));
+    }
   } else if (hyundai_canfd_hda2 && hyundai_longitudinal) {
     tx = msg_allowed(to_send, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS, sizeof(HYUNDAI_CANFD_HDA2_LONG_TX_MSGS)/sizeof(HYUNDAI_CANFD_HDA2_LONG_TX_MSGS[0]));
   } else {
@@ -258,7 +274,7 @@ static int hyundai_canfd_tx_hook(CANPacket_t *to_send) {
   }
 
   // steering
-  const int steer_addr = (hyundai_canfd_hda2 && !hyundai_longitudinal) ? 0x50 : 0x12a;
+  const int steer_addr = (hyundai_canfd_hda2 && !hyundai_longitudinal) ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a;
   if (addr == steer_addr) {
     int desired_torque = (((GET_BYTE(to_send, 6) & 0xFU) << 7U) | (GET_BYTE(to_send, 5) >> 1U)) - 1024U;
     bool steer_req = GET_BIT(to_send, 52U) != 0U;
@@ -320,7 +336,8 @@ static int hyundai_canfd_fwd_hook(int bus_num, int addr) {
   }
   if (bus_num == 2) {
     // LKAS for HDA2, LFA for HDA1
-    bool is_lkas_msg = (((addr == 0x50) || (addr == 0x2a4)) && hyundai_canfd_hda2);
+    int hda2_lfa_block_addr = hyundai_canfd_hda2_alt_steering ? 0x362 : 0x2a4;
+    bool is_lkas_msg = ((addr == hyundai_canfd_hda2_get_lkas_addr()) || (addr == hda2_lfa_block_addr)) && hyundai_canfd_hda2;
     bool is_lfa_msg = ((addr == 0x12a) && !hyundai_canfd_hda2);
 
     // HUD icons
@@ -344,6 +361,7 @@ static const addr_checks* hyundai_canfd_init(uint16_t param) {
   gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
   hyundai_canfd_hda2 = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2);
   hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
+  hyundai_canfd_hda2_alt_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING);
 
   // no long for ICE yet
   if (!hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
diff --git a/python/__init__.py b/python/__init__.py
index 56900d26..19a38612 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -238,6 +238,7 @@ class Panda:
   FLAG_HYUNDAI_CANFD_HDA2 = 16
   FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
   FLAG_HYUNDAI_ALT_LIMITS = 64
+  FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING = 128
 
   FLAG_TESLA_POWERTRAIN = 1
   FLAG_TESLA_LONG_CONTROL = 2
diff --git a/tests/safety/test_hyundai_canfd.py b/tests/safety/test_hyundai_canfd.py
index 60f6667f..b1f4f895 100755
--- a/tests/safety/test_hyundai_canfd.py
+++ b/tests/safety/test_hyundai_canfd.py
@@ -180,6 +180,28 @@ class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdBase):
     self.safety.init_tests()
 
 
+# TODO: Handle ICE and HEV configurations once we see cars that use the new messages
+class TestHyundaiCanfdHDA2EVAltSteering(TestHyundaiCanfdBase):
+
+  TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0]]
+  RELAY_MALFUNCTION_ADDR = 0x110
+  RELAY_MALFUNCTION_BUS = 0
+  FWD_BLACKLISTED_ADDRS = {2: [0x110, 0x362]}
+  FWD_BUS_LOOKUP = {0: 2, 2: 0}
+
+  PT_BUS = 1
+  SCC_BUS = 1
+  STEER_MSG = "LKAS_ALT"
+  GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL")
+
+  def setUp(self):
+    self.packer = CANPackerPanda("hyundai_canfd")
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS |
+                                 Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING)
+    self.safety.init_tests()
+
+
 class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV):
 
   TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1],