diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index d4911375e7..38d7cf0828 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -93,7 +93,11 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam)
     self.sp_update_params()
 
-    self.CS.button_events.extend(create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}))
+    self.CS.button_events = [
+      *self.CS.button_events,
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
+    ]
 
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
@@ -108,7 +112,7 @@ class CarInterface(CarInterfaceBase):
       if self.enable_mads:
         if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
           self.CS.madsEnabled = True
-        if self.CS.prev_lkas_enabled != 1 and self.CS.lkas_enabled == 1:
+        if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
           self.CS.lkas_disabled = not self.CS.lkas_disabled
         self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 18dd7b4fa3..080663c9cf 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -74,7 +74,11 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam)
     self.sp_update_params()
 
-    self.CS.button_events.extend(create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}))
+    self.CS.button_events = [
+      *self.CS.button_events,
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
+    ]
 
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
@@ -85,7 +89,7 @@ class CarInterface(CarInterfaceBase):
       if self.enable_mads:
         if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
           self.CS.madsEnabled = True
-        if not self.CS.prev_lkas_enabled and self.CS.lkas_enabled:
+        if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
         self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
     else:
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 0e428bc13b..726af2afac 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -218,6 +218,11 @@ class CarInterface(CarInterfaceBase):
       ]
       distance_button = self.CS.distance_button
 
+    self.CS.button_events = [
+      *self.CS.button_events,
+      *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
+    ]
+
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
     if not self.CP.pcmCruise:
@@ -231,7 +236,7 @@ class CarInterface(CarInterfaceBase):
       if self.enable_mads:
         if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
           self.CS.madsEnabled = True
-        if self.CS.prev_lkas_enabled != 1 and self.CS.lkas_enabled == 1:
+        if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
         self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
     else:
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 72ab68647f..af294a63a7 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -282,7 +282,7 @@ class CarInterface(CarInterfaceBase):
       if self.enable_mads:
         if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
           self.CS.madsEnabled = True
-        if self.CS.prev_cruise_setting != 1 and self.CS.cruise_setting == 1:
+        if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
         self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
     else:
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index dbe0b62895..e2ad23a7b6 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -205,7 +205,11 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam)
     self.sp_update_params()
 
-    self.CS.button_events = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
+    self.CS.button_events = [
+      *create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT),
+      *create_button_events(self.CS.lfa_enabled, self.CS.prev_lfa_enabled, {1: ButtonType.altButton1}),
+      *create_button_events(self.CS.main_buttons[-1], self.CS.prev_main_buttons, {1: ButtonType.altButton3}),
+    ]
 
     self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
                                                             self.CS.button_events, c.vCruise)
@@ -214,16 +218,12 @@ class CarInterface(CarInterfaceBase):
 
     if ret.cruiseState.available:
       if not self.CP.pcmCruiseSpeed:
-        if self.CS.prev_main_buttons == 1:
-          if self.CS.main_buttons[-1] != 1:
-            self.CS.accEnabled = True
-          elif self.CS.prev_cruise_buttons == 4:
-            if self.CS.cruise_buttons[-1] != 4:
-              self.accEnabled = True
+        if any(b.type in (ButtonType.altButton3, ButtonType.cancel) and not b.pressed for b in self.CS.button_events):
+          self.CS.accEnabled = True
       if self.enable_mads:
         if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
           self.CS.madsEnabled = True
-        if self.CS.prev_lfa_enabled != 1 and self.CS.lfa_enabled == 1:
+        if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
         self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
     else:
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 9447803ae6..8b113cf4db 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -42,7 +42,8 @@ class CarInterface(CarInterfaceBase):
     # TODO: add button types for inc and dec
     self.CS.button_events = [
       *self.CS.button_events,
-      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
     ]
 
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
@@ -54,7 +55,7 @@ class CarInterface(CarInterfaceBase):
       if self.enable_mads:
         if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
           self.CS.madsEnabled = True
-        if self.CS.prev_lkas_enabled != self.CS.lkas_enabled:
+        if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
           self.CS.madsEnabled = not self.CS.madsEnabled
         self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
     else: