diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 7f83732153..690072cc4d 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -79,7 +79,7 @@ interfaces = load_interfaces(interface_names)
 def fingerprint(logcan, sendcan):
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
-  ecu_responses = set()
+  ecu_rx_addrs = set()
 
   if not fixed_fingerprint and not skip_fw_query:
     # Vin query only reliably works thorugh OBDII
@@ -98,7 +98,7 @@ def fingerprint(logcan, sendcan):
     else:
       cloudlog.warning("Getting VIN & FW versions")
       _, vin = get_vin(logcan, sendcan, bus)
-      ecu_responses = get_present_ecus(logcan, sendcan)
+      ecu_rx_addrs = get_present_ecus(logcan, sendcan)
       car_fw = get_fw_versions(logcan, sendcan)
 
     exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
@@ -166,7 +166,7 @@ def fingerprint(logcan, sendcan):
     source = car.CarParams.FingerprintSource.fixed
 
   cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match,
-                 fw_count=len(car_fw), ecu_responses=ecu_responses, error=True)
+                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), error=True)
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 03dcece10c..c51d120166 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -290,24 +290,21 @@ def match_fw_to_car(fw_versions, allow_fuzzy=True):
   versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
 
   # Try exact matching first
-  exact_matches = [True]
+  exact_matches = [(True, match_fw_to_car_exact)]
   if allow_fuzzy:
-    exact_matches.append(False)
+    exact_matches.append((False, match_fw_to_car_fuzzy))
 
-  for exact_match in exact_matches:
+  for exact_match, match_func in exact_matches:
     # For each brand, attempt to fingerprint using FW returned from its queries
+    matches = set()
     for brand in versions.keys():
       fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
+      matches |= match_func(fw_versions_dict)
 
-      if exact_match:
-        matches = match_fw_to_car_exact(fw_versions_dict)
-      else:
-        matches = match_fw_to_car_fuzzy(fw_versions_dict)
+    if len(matches):
+      return exact_match, matches
 
-      if len(matches) == 1:
-        return exact_match, matches
-
-  return True, []
+  return True, set()
 
 
 def get_present_ecus(logcan, sendcan):
@@ -448,9 +445,10 @@ if __name__ == "__main__":
   print()
   print("Found FW versions")
   print("{")
+  padding = max([len(fw.brand) for fw in fw_vers])
   for version in fw_vers:
     subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-    print(f"  (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
+    print(f"  Brand: {version.brand:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
   print("}")
 
   print()