diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 6293deb2af..9e1892bd5f 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -359,6 +359,16 @@ def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
   return NormalPermanentAlert(f"Driving Personality: {personality}", duration=1.5)
 
 
+def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  text = "Toggle stock LKAS on or off to engage"
+  if CP.brand == "tesla":
+    text = "Switch to Traffic-Aware Cruise Control to engage"
+  elif CP.brand == "mazda":
+    text = "Enable your car's LKAS to engage"
+  elif CP.brand == "nissan":
+    text = "Disable your car's stock LKAS to engage"
+  return NormalPermanentAlert("Invalid LKAS setting", text)
+
 
 EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # ********** events with no alerts **********
@@ -412,8 +422,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.invalidLkasSetting: {
-    ET.PERMANENT: NormalPermanentAlert("Invalid LKAS setting",
-                                       "Toggle stock LKAS on or off to engage"),
+    ET.PERMANENT: invalid_lkas_setting_alert,
     ET.NO_ENTRY: NoEntryAlert("Invalid LKAS setting"),
   },