diff --git a/panda b/panda
index d0184f7266..2a0536c631 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit d0184f7266571ba563e5f992b6648ff4089b2dba
+Subproject commit 2a0536c63148a02add52555386b5533f3555ef58
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 2bc03a0e69..0cee2c7fce 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -5,7 +5,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
-from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams
+from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams, VolkswagenFlags
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -65,6 +65,15 @@ class CarController:
       self.apply_steer_last = apply_steer
       can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hca_enabled))
 
+      if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
+        # Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque
+        # to the greatest of actual driver input or 2x openpilot's output (1x openpilot output is not enough to
+        # consistently reset inactivity detection on straight level roads). See commaai/openpilot#23274 for background.
+        ea_simulated_torque = clip(apply_steer * 2, -self.CCP.STEER_MAX, self.CCP.STEER_MAX)
+        if abs(CS.out.steeringTorque) > abs(ea_simulated_torque):
+          ea_simulated_torque = CS.out.steeringTorque
+        can_sends.append(self.CCS.create_eps_update(self.packer_pt, CANBUS.cam, CS.eps_stock_values, ea_simulated_torque))
+
     # **** Acceleration Controls ******************************************** #
 
     if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl:
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index cbe8918d48..25c5bc04bc 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -4,7 +4,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \
-                                            CarControllerParams
+                                            CarControllerParams, VolkswagenFlags
 
 
 class CarState(CarStateBase):
@@ -14,6 +14,7 @@ class CarState(CarStateBase):
     self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
     self.esp_hold_confirmation = False
     self.upscale_lead_car_signal = False
+    self.eps_stock_values = False
 
   def create_button_events(self, pt_cp, buttons):
     button_events = []
@@ -59,6 +60,11 @@ class CarState(CarStateBase):
     ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT")
     ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED")
 
+    # VW Emergency Assist status tracking and mitigation
+    self.eps_stock_values = pt_cp.vl["LH_EPS_03"]
+    if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
+      ret.carFaultedNonCritical = bool(cam_cp.vl["HCA_01"]["EA_Ruckfreigabe"]) or cam_cp.vl["HCA_01"]["EA_ACC_Sollstatus"] > 0
+
     # Update gas, brakes, and gearshift.
     ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0
     ret.gasPressed = ret.gas > 0
@@ -293,6 +299,11 @@ class CarState(CarStateBase):
 
     messages = []
 
+    if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
+      messages += [
+        ("HCA_01", 1),  # From R242 Driver assistance camera, 50Hz if steering/1Hz if not
+      ]
+
     if CP.networkLocation == NetworkLocation.fwdCamera:
       messages += [
         # sig_address, frequency
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 0a6573217c..710e779d0a 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -3,7 +3,7 @@ from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter
+from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -67,6 +67,9 @@ class CarInterface(CarInterfaceBase):
       else:
         ret.networkLocation = NetworkLocation.fwdCamera
 
+      if 0x126 in fingerprint[2]:  # HCA_01
+        ret.flags |= VolkswagenFlags.STOCK_HCA_PRESENT.value
+
     # Global lateral tuning defaults, can be overridden per-vehicle
 
     ret.steerActuatorDelay = 0.1
diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py
index 96e05aa8f0..787c7de530 100644
--- a/selfdrive/car/volkswagen/mqbcan.py
+++ b/selfdrive/car/volkswagen/mqbcan.py
@@ -10,6 +10,24 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled):
   return packer.make_can_msg("HCA_01", bus, values)
 
 
+def create_eps_update(packer, bus, eps_stock_values, ea_simulated_torque):
+  values = {s: eps_stock_values[s] for s in [
+    "COUNTER",                     # Sync counter value to EPS output
+    "EPS_Lenkungstyp",             # EPS rack type
+    "EPS_Berechneter_LW",          # Absolute raw steering angle
+    "EPS_VZ_BLW",                  # Raw steering angle sign
+    "EPS_HCA_Status",              # EPS HCA control status
+  ]}
+
+  values.update({
+    # Absolute driver torque input and sign, with EA inactivity mitigation
+    "EPS_Lenkmoment": abs(ea_simulated_torque),
+    "EPS_VZ_Lenkmoment": 1 if ea_simulated_torque < 0 else 0,
+  })
+
+  return packer.make_can_msg("LH_EPS_03", bus, values)
+
+
 def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
   values = {}
   if len(ldw_stock_values):
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 35e88895db..f4809e4523 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -1,6 +1,6 @@
 from collections import defaultdict, namedtuple
 from dataclasses import dataclass, field
-from enum import Enum, StrEnum
+from enum import Enum, IntFlag, StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
@@ -109,6 +109,10 @@ class CANBUS:
   cam = 2
 
 
+class VolkswagenFlags(IntFlag):
+  STOCK_HCA_PRESENT = 1
+
+
 # Check the 7th and 8th characters of the VIN before adding a new CAR. If the
 # chassis code is already listed below, don't add a new CAR, just add to the
 # FW_VERSIONS for that existing CAR.
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 474d5056fd..9163bcae75 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-80c700f9b87e069dcb5b7ec76cd6036667615f2e
\ No newline at end of file
+1b981ce7f817974d4a7a28b06f01f727a5a7ea7b
\ No newline at end of file