diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 746f00c3e1..ecf37cd4c6 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1138,7 +1138,6 @@ FW_VERSIONS = {
     (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 1.00 95895-D5100 h32',
-      b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5100 h32',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.',
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index 2a47c60bf3..8c27b9ca7f 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -45,19 +45,29 @@ class TestFwFingerprint(unittest.TestCase):
             self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}")
 
   def test_blacklisted_ecus(self):
-    blacklisted_addrs = (0x7c4, 0x7d0)  # includes A/C ecu and an unknown ecu
+    blacklisted_addrs = {
+      "subaru": (0x7c4, 0x7d0),  # includes A/C ecu and an unknown ecu
+    }
+    blacklisted_ecus = {
+      "RAM HD 5TH GEN": (Ecu.transmission,),  # Some HD trucks have a combined TCM and ECM
+      "KIA OPTIMA 2016": (Ecu.eps,),  # eps fails to respond successfully to tester present
+      "KIA OPTIMA 2019": (Ecu.eps, Ecu.fwdRadar),  # fwdRadar is spotty, skips iso-tp frames
+    }
     for car_model, ecus in FW_VERSIONS.items():
       with self.subTest(car_model=car_model):
         CP = interfaces[car_model][0].get_params(car_model)
-        if CP.carName == 'subaru':
-          for ecu in ecus.keys():
-            self.assertNotIn(ecu[1], blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})')
+        for ecu in ecus.keys():
+          with self.subTest(ecu=ecu):
 
-        elif CP.carName == "chrysler":
-          # Some HD trucks have a combined TCM and ECM
-          if CP.carFingerprint.startswith("RAM HD"):
-            for ecu in ecus.keys():
-              self.assertNotEqual(ecu[0], Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})")
+            # Check for brand-wide blacklisted addresses
+            if CP.carName in blacklisted_addrs:
+              self.assertNotIn(ecu[1], blacklisted_addrs[CP.carName],
+                               f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})')
+
+            # Check for single-car blacklisted ecus
+            if CP.carFingerprint in blacklisted_ecus:
+              self.assertNotIn(ecu[0], blacklisted_ecus[CP.carFingerprint],
+                               f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})")
 
   def test_fw_request_ecu_whitelist(self):
     for brand in set(r.brand for r in REQUESTS):