diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index e44523c89d..c8af8779d9 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -15,6 +15,7 @@ from system.swaglog import cloudlog
 
 Ecu = car.CarParams.Ecu
 ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
+FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
 
 FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
 VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
@@ -58,12 +59,6 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
   that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
   the match is rejected."""
 
-  # These ECUs are known to be shared between models (EPS only between hybrid/ICE version)
-  # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
-  # impossible to get 3 matching versions, even if two models with shared parts are released at the same
-  # time and only one is in our database.
-  exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
-
   # Build lookup table from (addr, sub_addr, fw) to list of candidate cars
   all_fw_versions = defaultdict(list)
   for candidate, fw_by_addr in FW_VERSIONS.items():
@@ -71,7 +66,11 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
       continue
 
     for addr, fws in fw_by_addr.items():
-      if addr[0] in exclude_types:
+      # These ECUs are known to be shared between models (EPS only between hybrid/ICE version)
+      # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
+      # impossible to get 3 matching versions, even if two models with shared parts are released at the same
+      # time and only one is in our database.
+      if addr[0] in FUZZY_EXCLUDE_ECUS:
         continue
       for f in fws:
         all_fw_versions[(addr[1], addr[2], f)].append(candidate)
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index c069280d11..0d653741fe 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -10,7 +10,7 @@ from cereal import car
 from common.params import Params
 from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.fingerprints import FW_VERSIONS
-from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, VERSIONS, match_fw_to_car, get_fw_versions
+from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, match_fw_to_car, get_fw_versions
 
 CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
@@ -33,7 +33,7 @@ class TestFwFingerprint(unittest.TestCase):
     self.assertEqual(candidates[0], expected)
 
   @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
-  def test_fw_fingerprint(self, brand, car_model, ecus):
+  def test_exact_match(self, brand, car_model, ecus):
     CP = car.CarParams.new_message()
     for _ in range(200):
       fw = []
@@ -44,9 +44,32 @@ class TestFwFingerprint(unittest.TestCase):
         fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
                    "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
       CP.carFw = fw
-      _, matches = match_fw_to_car(CP.carFw)
+      _, matches = match_fw_to_car(CP.carFw, allow_fuzzy=False)
       self.assertFingerprints(matches, car_model)
 
+  @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
+  def test_fuzzy_match(self, brand, car_model, ecus):
+    # TODO: speed up fuzzy matching and test more
+    CP = car.CarParams.new_message()
+    for _ in range(5):
+      fw = []
+      for ecu, fw_versions in ecus.items():
+        if not len(fw_versions):
+          raise unittest.SkipTest("Car model has no FW versions")
+        ecu_name, addr, sub_addr = ecu
+        fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
+                   "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
+      CP.carFw = fw
+      _, matches = match_fw_to_car(CP.carFw, allow_exact=False, log=False)
+
+      # Assert no match if there are not enough valid ECUs
+      valid_ecus = [f['ecu'] for f in fw if f['ecu'] not in FUZZY_EXCLUDE_ECUS]
+      if len(valid_ecus) < 2:
+        self.assertEqual(len(matches), 0, valid_ecus)
+      # There won't always be a match due to shared FW, but if there is it should be correct
+      elif len(matches):
+        self.assertFingerprints(matches, car_model)
+
   def test_no_duplicate_fw_versions(self):
     for car_model, ecus in FW_VERSIONS.items():
       with self.subTest(car_model=car_model):