diff --git a/selfdrive/car/ford/tests/test_ford.py b/selfdrive/car/ford/tests/test_ford.py
index fb5d07f4bf..2ad3f5db1b 100755
--- a/selfdrive/car/ford/tests/test_ford.py
+++ b/selfdrive/car/ford/tests/test_ford.py
@@ -19,6 +19,7 @@ ECU_ADDRESSES = {
   Ecu.fwdCamera: 0x706,    # Image Processing Module A (IPMA)
   Ecu.engine: 0x7E0,       # Powertrain Control Module (PCM)
   Ecu.shiftByWire: 0x732,  # Gear Shift Module (GSM)
+  Ecu.debug: 0x7D0,        # Accessory Protocol Interface Module (APIM)
 }
 
 
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index caa3eb0d37..df3201c853 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -1,11 +1,12 @@
 from dataclasses import dataclass, field
 from enum import Enum
 
+import panda.python.uds as uds
 from cereal import car
 from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
                                                      Device
-from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
 Ecu = car.CarParams.Ecu
 
@@ -140,6 +141,33 @@ class CAR(Platforms):
 CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1}
 
 
+DATA_IDENTIFIER_FORD_ASBUILT = 0xDE
+
+ASBUILT_BLOCKS: list[tuple[int, list]] = [
+  (1, [Ecu.debug, Ecu.fwdCamera, Ecu.eps]),
+  (2, [Ecu.abs, Ecu.debug, Ecu.eps]),
+  (3, [Ecu.abs, Ecu.debug, Ecu.eps]),
+  (4, [Ecu.debug, Ecu.fwdCamera]),
+  (5, [Ecu.debug]),
+  (6, [Ecu.debug]),
+  (7, [Ecu.debug]),
+  (8, [Ecu.debug]),
+  (9, [Ecu.debug]),
+  (16, [Ecu.debug, Ecu.fwdCamera]),
+  (18, [Ecu.fwdCamera]),
+  (20, [Ecu.fwdCamera]),
+  (21, [Ecu.fwdCamera]),
+]
+
+
+def ford_asbuilt_block_request(block_id: int):
+  return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)
+
+
+def ford_asbuilt_block_response(block_id: int):
+  return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)
+
+
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
     # CAN and CAN FD queries are combined.
@@ -147,19 +175,29 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
       logging=True,
     ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
       bus=0,
       auxiliary=True,
     ),
+    *[Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, ford_asbuilt_block_request(block_id)],
+      [StdQueries.TESTER_PRESENT_RESPONSE, ford_asbuilt_block_response(block_id)],
+      whitelist_ecus=ecus,
+      bus=0,
+      logging=True,
+    ) for block_id, ecus in ASBUILT_BLOCKS],
   ],
   extra_ecus=[
-    # We are unlikely to get a response from the PCM from behind the gateway
-    (Ecu.engine, 0x7e0, None),
-    (Ecu.shiftByWire, 0x732, None),
+    (Ecu.engine, 0x7e0, None),        # Powertrain Control Module
+                                      # Note: We are unlikely to get a response from behind the gateway
+    (Ecu.shiftByWire, 0x732, None),   # Gear Shift Module
+    (Ecu.debug, 0x7d0, None),         # Accessory Protocol Interface Module
   ],
 )
 
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index 1a745b4447..88c7225f22 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -263,13 +263,13 @@ class TestFwFingerprintTiming(unittest.TestCase):
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   def test_fw_query_timing(self):
-    total_ref_time = {1: 6.5, 2: 7.4}
+    total_ref_time = {1: 7.8, 2: 8.7}
     brand_ref_times = {
       1: {
         'gm': 0.5,
         'body': 0.1,
         'chrysler': 0.3,
-        'ford': 0.2,
+        'ford': 1.5,
         'honda': 0.55,
         'hyundai': 1.05,
         'mazda': 0.1,
@@ -280,7 +280,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
         'volkswagen': 0.65,
       },
       2: {
-        'ford': 0.3,
+        'ford': 1.6,
         'hyundai': 1.85,
       }
     }