diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index 14143be7e3..ed9a500148 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -194,21 +194,17 @@ FW_VERSIONS = {
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102',
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102',
+      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103',
+      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103',
       b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
       b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101',
       b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105',
-      b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
-      b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101',
-      b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103',
-      b'\xf1\x8756310-L1030\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103',
-      b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',
-      b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
-      b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101',
-      b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.02 99211-L1000 190422',
@@ -564,12 +560,11 @@ FW_VERSIONS = {
       b'\xf1\x00DL3_ SCC FHCUP      1.00 1.04 99110-L2100         ',
     ],
     (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101',
       b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
       b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L2220 4DLDC102',
       b'\xf1\x00DL3 MDPS C 1.00 1.02 56310L3220\x00 4DLAC102',
-      b'\xf1\x8756310-L3110\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101',
-      b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
-      b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102',
+      b'\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DL3 MFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
@@ -866,10 +861,10 @@ FW_VERSIONS = {
       b'\xf1\x00CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
     ],
     (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102',
+      b'\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103',
       b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103',
       b'\xf1\x00CN7 MDPS C 1.00 1.04 56310BY050\x00 4CNHC104',
-      b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102',
-      b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103',
     ],
   },
   CAR.HYUNDAI_KONA_HEV: {
@@ -894,11 +889,10 @@ FW_VERSIONS = {
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L5000 4DNHC101',
+      b'\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102',
+      b'\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102',
+      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103',
       b'\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104',
-      b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102',
-      b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103',
-      b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102',
-      b'\xf1\x8756310L5450\x00\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DN8HMFC  AT KOR LHD 1.00 1.03 99211-L1000 190705',
diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py
index baa4408b6b..2bd17232ea 100755
--- a/selfdrive/car/hyundai/tests/test_hyundai.py
+++ b/selfdrive/car/hyundai/tests/test_hyundai.py
@@ -85,10 +85,8 @@ class TestHyundaiFingerprint(unittest.TestCase):
     for car_model, ecus in FW_VERSIONS.items():
       with self.subTest(car_model=car_model.value):
         for ecu, fws in ecus.items():
-          # TODO: enable for Ecu.eps
-          if ecu[0] in (Ecu.fwdCamera, Ecu.fwdRadar, Ecu.abs):
-            self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws),
-                            f"FW from unexpected request in database: {(ecu, fws)}")
+          self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws),
+                          f"FW from unexpected request in database: {(ecu, fws)}")
 
   @settings(max_examples=100)
   @given(data=st.data())