diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index bc5a4a326d..3f72311cdf 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -86,15 +86,11 @@ def match_fw_to_car_fuzzy(fw_versions_dict, config, log=True, exclude=None):
   for addr, versions in fw_versions_dict.items():
     ecu_key = (addr[0], addr[1])
     for version in versions:
-      # Fall back to matching with full FW versions if brand does not implement platform codes
-      candidates = set()
-      # TODO: we might want to try both, the only reason we'd want to replace exact with platform codes is if
-      # previous function was giving us false positives, which it isn't. we lose fuzzy FP for a lot of platforms
-      # with just platform codes on two ECUs...
-      if config.fuzzy_get_platform_codes is None:
-        # All cars that have this FW response on the specified address
-        candidates = all_fw_versions[(*ecu_key, version)]
-      else:
+      # All cars that have this FW response on the specified address
+      candidates = all_fw_versions[(*ecu_key, version)]
+
+      # If no exact FW matches, try brand-specific fuzzy fingerprinting
+      if len(candidates) != 1 and config.fuzzy_get_platform_codes is not None:
         # Returns one or none, all cars that have this platform code
         for platform_code in config.fuzzy_get_platform_codes([version]):
           candidates = all_platform_codes[(*ecu_key, platform_code)]
diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py
index 6423570fe9..b9d3a1f527 100755
--- a/selfdrive/car/hyundai/tests/test_hyundai.py
+++ b/selfdrive/car/hyundai/tests/test_hyundai.py
@@ -121,7 +121,12 @@ class TestHyundaiFingerprint(TestFwFingerprintBase):
     for platform, fw_by_addr in FW_VERSIONS.items():
       car_fw = []
       for ecu, fw_versions in fw_by_addr.items():
+        # Only test fuzzy ECUs so excluded platforms for platforms codes are accurate
+        # We can still fuzzy match via exact FW matches
         ecu_name, addr, sub_addr = ecu
+        if ecu_name not in FW_QUERY_CONFIG.fuzzy_ecus:
+          continue
+
         for fw in fw_versions:
           car_fw.append({"ecu": ecu_name, "fwVersion": fw, 'brand': 'hyundai',
                          "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})