diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index 53499053e0..c9580821a8 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -41,7 +41,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
     # This field is actually LdwsActivemode
     # Genesis and Optima fault when forwarding while engaged
     values["CF_Lkas_LdwsActivemode"] = 2
-  elif car_fingerprint == CAR.KIA_OPTIMA:
+  elif car_fingerprint in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019):
     values["CF_Lkas_LdwsActivemode"] = 0
 
   dat = packer.make_can_msg("LKAS11", 0, values)[2]
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 831b318d55..bb5d716021 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -215,7 +215,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.indi.timeConstantV = [1.4]
       ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
       ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
-    elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H):
+    elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019, CAR.KIA_OPTIMA_H):
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3558. * CV.LB_TO_KG
       ret.wheelbase = 2.80
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 6081bad682..ac18f9f835 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -63,7 +63,8 @@ class CAR:
   KIA_NIRO_EV = "KIA NIRO EV 2020"
   KIA_NIRO_HEV = "KIA NIRO HYBRID 2019"
   KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021"
-  KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016"
+  KIA_OPTIMA = "KIA OPTIMA 2016"
+  KIA_OPTIMA_2019 = "KIA OPTIMA 2019"
   KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
   KIA_SELTOS = "KIA SELTOS 2021"
   KIA_SORENTO = "KIA SORENTO GT LINE 2018"
@@ -132,10 +133,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f),  # TODO: could be hyundai_d, verify
     HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h),
   ],
-  CAR.KIA_OPTIMA: [
-    HyundaiCarInfo("Kia Optima 2017", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b),
-    HyundaiCarInfo("Kia Optima 2019", harness=Harness.hyundai_g),
-  ],
+  CAR.KIA_OPTIMA: HyundaiCarInfo("Kia Optima 2016-17", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b),
+  CAR.KIA_OPTIMA_2019: HyundaiCarInfo("Kia Optima 2019", harness=Harness.hyundai_g),
   CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima 2017, 2019"),  # TODO: info may be incorrect
   CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a),
   CAR.KIA_SORENTO: [
@@ -1036,24 +1035,24 @@ FW_VERSIONS = {
   },
   CAR.KIA_OPTIMA: {
     (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4110         '],
-    (Ecu.esp, 0x7d1, None): [
-      b'\xf1\x00JF ESC \v 11 \x18\x030 58920-D5180',
-      b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180',
-    ],
+    (Ecu.esp, 0x7d1, None): [b'\xf1\x00JF ESC \v 11 \x18\x030 58920-D5180',],
     (Ecu.engine, 0x7e0, None): [
       b'\x01TJFAJNU06F201H03',
       b'\xf1\x89F1JF600AISEIU702\xf1\x82F1JF600AISEIU702',
-      b'0\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7d4, None): [b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409'],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32',
       b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.02 95895-D5000 h31',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW',
-      b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00',
-    ],
+    (Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW'],
+  },
+  CAR.KIA_OPTIMA_2019: {
+    (Ecu.esp, 0x7d1, None): [b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180',],
+    (Ecu.engine, 0x7e0, None): [b'0\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',],  # FIXME: engine does not look quite right
+    (Ecu.eps, 0x7d4, None): [b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409',],
+    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32',],
+    (Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00',],
   },
   CAR.ELANTRA_2021: {
     (Ecu.fwdRadar, 0x7d0, None): [
@@ -1212,7 +1211,7 @@ CHECKSUM = {
 FEATURES = {
   # which message has the gear
   "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
-  "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
+  "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
   "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019},
 
   # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
@@ -1225,7 +1224,7 @@ HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NI
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
-LEGACY_SAFETY_MODE_CAR = {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_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
+LEGACY_SAFETY_MODE_CAR = {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_OPTIMA, CAR.KIA_OPTIMA_2019, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
 
 # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
 # If no points are outputted by default it might be possible to turn it on using  selfdrive/debug/hyundai_enable_radar_points.py
@@ -1251,6 +1250,7 @@ DBC = {
   CAR.KIA_NIRO_HEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
   CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_OPTIMA_2019: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index a9d36f9eab..9e214a82c6 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -81,6 +81,7 @@ routes = [
   TestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022),
   TestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
   TestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA),
+  # TestRoute("", HYUNDAI.CAR.KIA_OPTIMA_2019),  # TODO: this
   TestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
   TestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
   TestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),