diff --git a/cereal/log.capnp b/cereal/log.capnp
index a5828d61cb..6f137713ef 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -58,6 +58,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     controlsMismatch @22;
     pcmEnable @23;
     pcmDisable @24;
+    cancellingCruise @94;
     radarFault @25;
     radarTempUnavailable @93;
     brakeHold @26;
diff --git a/selfdrive/selfdrived/alertmanager.py b/selfdrive/selfdrived/alertmanager.py
index ac1006ff25..312291e60c 100644
--- a/selfdrive/selfdrived/alertmanager.py
+++ b/selfdrive/selfdrived/alertmanager.py
@@ -39,6 +39,7 @@ class AlertManager:
   def __init__(self):
     self.alerts: dict[str, AlertEntry] = defaultdict(AlertEntry)
     self.current_alert = EmptyAlert
+    self.current_audible_alert = EmptyAlert
 
   def add_many(self, frame: int, alerts: list[Alert]) -> None:
     for alert in alerts:
@@ -52,6 +53,7 @@ class AlertManager:
 
   def process_alerts(self, frame: int, clear_event_types: set):
     ae = AlertEntry()
+    ae_audible = AlertEntry()
     for v in self.alerts.values():
       if not v.alert:
         continue
@@ -63,5 +65,19 @@ class AlertManager:
       greater = ae.alert is None or (v.alert.priority, v.start_frame) > (ae.alert.priority, ae.start_frame)
       if v.active(frame) and greater:
         ae = v
+        ae_audible = v
+
+    for v in self.alerts.values():
+      if not v.alert:
+        continue
+
+      if v.alert.event_type in clear_event_types:
+        v.end_frame = -1
+
+      # sort by priority first and then by start_frame
+      greater = ae_audible.alert is None or (v.alert.priority, v.start_frame) > (ae_audible.alert.priority, ae_audible.start_frame)
+      if v.active(frame) and v.alert.alert_size == AlertSize.none and greater:
+        ae_audible = v
 
     self.current_alert = ae.alert if ae.alert is not None else EmptyAlert
+    self.current_alert = ae_audible.alert if ae_audible.alert is not None else EmptyAlert
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index ee2c418b6e..ee55263578 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -192,10 +192,11 @@ class NormalPermanentAlert(Alert):
 
 
 class StartupAlert(Alert):
-  def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal):
+  def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal,
+               audible_alert: car.CarControl.HUDControl.AudibleAlert = AudibleAlert.none):
     super().__init__(alert_text_1, alert_text_2,
                      alert_status, AlertSize.mid,
-                     Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),
+                     Priority.LOWER, VisualAlert.none, audible_alert, 5.),
 
 
 # ********** helper functions **********
@@ -229,7 +230,12 @@ def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
   if "REPLAY" in os.environ:
     branch = "replay"
 
-  return StartupAlert("WARNING: This branch is not tested", branch, alert_status=AlertStatus.userPrompt)
+  # TODO: also need cb for other startup alerts
+  audible_alert = AudibleAlert.none
+  if CS.cruiseState.enabled:
+    audible_alert = AudibleAlert.disengage
+
+  return StartupAlert("WARNING: This branch is not tested", branch, alert_status=AlertStatus.userPrompt, audible_alert=audible_alert)
 
 def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   return NoEntryAlert(f"Drive above {get_display_speed(CP.minEnableSpeed, metric)} to engage")
@@ -646,6 +652,10 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
   },
 
+  EventName.cancellingCruise: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+  },
+
   EventName.buttonCancel: {
     ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
     ET.NO_ENTRY: NoEntryAlert("Cancel Pressed"),
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index face7dab29..926b845f17 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -163,6 +163,9 @@ class SelfdriveD:
     if self.CP.passive:
       return
 
+    if CS.cruiseState.enabled and not self.enabled:
+      self.events.add(EventName.cancellingCruise)
+
     # Block resume if cruise never previously enabled
     resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
     if not self.CP.pcmCruise and CS.vCruise > 250 and resume_pressed: