diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index b738beb9fe..746c2a8c1e 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -250,6 +250,7 @@ class CarInterface(CarInterfaceBase):
     if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO,
                      CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER,
                      CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022]:
+      assert not ret.openpilotLongitudinalControl  # Legacy safety mode doesn't support longitudinal
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
 
     # set appropriate safety param for gas signal