diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 4714644957..4511838020 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -44,6 +44,11 @@ def get_can_parser(CP):
     ("CF_Clu_AmpInfo", "CLU11", 0),
     ("CF_Clu_AliveCnt1", "CLU11", 0),
 
+    ("CF_Clu_InhibitD", "CLU15", 0),
+    ("CF_Clu_InhibitP", "CLU15", 0),
+    ("CF_Clu_InhibitN", "CLU15", 0),
+    ("CF_Clu_InhibitR", "CLU15", 0),
+
     ("CF_Lvr_Gear","LVR12",0),
 
     ("ACCEnable", "TCS13", 0),
@@ -204,7 +209,7 @@ class CarState(object):
       self.pedal_gas = cp.vl["EMS12"]['TPS']
     self.car_gas = cp.vl["EMS12"]['TPS']
 
-    # Gear Selecton - This should be compatible with all Kia/Hyundai with Auto's
+    # Gear Selecton - This is not compatible with all Kia/Hyundai's, But is the best way for those it is compatible with
     gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
     if gear == 5:
       self.gear_shifter = "drive"
@@ -217,6 +222,18 @@ class CarState(object):
     else:
       self.gear_shifter = "unknown"
 
+    # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection, as this seems to be standard over all cars, but is not the preferred method.
+    if cp.vl["CLU15"]["CF_Clu_InhibitD"] == 1:
+      self.gear_shifter_cluster = "drive"
+    elif cp.vl["CLU15"]["CF_Clu_InhibitN"] == 1:
+      self.gear_shifter_cluster = "neutral"
+    elif cp.vl["CLU15"]["CF_Clu_InhibitP"] == 1:
+      self.gear_shifter_cluster = "park"
+    elif cp.vl["CLU15"]["CF_Clu_InhibitR"] == 1:
+      self.gear_shifter_cluster = "reverse"
+    else:
+      self.gear_shifter_cluster = "unknown"
+
     # save the entire LKAS11 and CLU11
     self.lkas11 = cp_cam.vl["LKAS11"]
     self.clu11 = cp.vl["CLU11"]
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 5f9d75c94b..96174ef096 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -95,14 +95,15 @@ class CarInterface(object):
       ret.steerKpV, ret.steerKiV = [[0.25], [0.05]]
       ret.minSteerSpeed = 0.
     elif candidate == CAR.ELANTRA:
-      ret.steerKf = 0.00004
+      ret.steerKf = 0.00006
       ret.steerRateCost = 0.5
       ret.mass = 1275 + std_cargo
       ret.wheelbase = 2.7
-      ret.steerRatio = 16.9
+      ret.steerRatio = 13.73   #Spec
+      tire_stiffness_factor = 0.385
       ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
-      ret.steerKpV, ret.steerKiV = [[0.20], [0.01]]
-      ret.minSteerSpeed = 35 * CV.MPH_TO_MS
+      ret.steerKpV, ret.steerKiV = [[0.25], [0.05]]
+      ret.minSteerSpeed = 32 * CV.MPH_TO_MS
     elif candidate == CAR.GENESIS:
       ret.steerKf = 0.00005
       ret.steerRateCost = 0.5
@@ -190,7 +191,10 @@ class CarInterface(object):
     ret.wheelSpeeds.rr = self.CS.v_wheel_rr
 
     # gear shifter
-    ret.gearShifter = self.CS.gear_shifter
+    if self.CP.carFingerprint == CAR.ELANTRA:
+      ret.gearShifter = self.CS.gear_shifter_cluster
+    else:
+      ret.gearShifter = self.CS.gear_shifter
 
     # gas pedal
     ret.gas = self.CS.car_gas