diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py
index 4c2baa58d7..7ae9bee404 100755
--- a/selfdrive/car/fw_query_definitions.py
+++ b/selfdrive/car/fw_query_definitions.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import capnp
+import copy
 from dataclasses import dataclass, field
 import struct
 from typing import Dict, List, Optional, Tuple
@@ -57,6 +58,8 @@ class Request:
   whitelist_ecus: List[int] = field(default_factory=list)
   rx_offset: int = 0x8
   bus: int = 1
+  # Whether this query should be run on the first auxiliary panda (CAN FD cars for example)
+  auxiliary: bool = False
   # FW responses from these queries will not be used for fingerprinting
   logging: bool = False
   # boardd toggles OBD multiplexing on/off as needed
@@ -71,3 +74,10 @@ class FwQueryConfig:
   non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict)
   # Ecus added for data collection, not to be fingerprinted on
   extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list)
+
+  def __post_init__(self):
+    for i in range(len(self.requests)):
+      if self.requests[i].auxiliary:
+        new_request = copy.deepcopy(self.requests[i])
+        new_request.bus += 4
+        self.requests.append(new_request)
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 55645f2050..5c677951b7 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -355,18 +355,24 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [HYUNDAI_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar],
     ),
-    # CAN-FD queries (camera)
+
+    # CAN-FD queries (from camera)
+    # TODO: combine shared whitelists with CAN requests
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac],
-      bus=4,
+      bus=0,
+      auxiliary=True,
+      obd_multiplexing=False,
     ),
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar, Ecu.hvac],
-      bus=5,
+      bus=1,
+      auxiliary=True,
+      obd_multiplexing=False,
     ),
   ],
   extra_ecus=[