diff --git a/docs/CARS.md b/docs/CARS.md
index 0d4c53ac01..4a46360d4f 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -57,7 +57,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Honda Nidec</a>||
 |Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-22">Honda Nidec</a>||
 |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Hyundai B</a>||
-|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-22">Hyundai K</a>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Hyundai K</a>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Hyundai E</a>||
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Hyundai K</a>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Hyundai J</a>||
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 31cbe68d13..b3cb46699a 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -145,7 +145,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness=Harness.hyundai_e),
     HyundaiCarInfo("Hyundai i30 2017-19", harness=Harness.hyundai_e),
   ],
-  CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
+  CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
   CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
   CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j),  # TODO: check 2015 packages
   CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c),
@@ -1322,25 +1322,26 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CN7_ SCC F-CUP      1.00 1.01 99110-AA000         ',
       b'\xf1\x00CN7_ SCC FHCUP      1.00 1.01 99110-AA000         ',
+      b'\xf1\x00CN7_ SCC FNCUP      1.00 1.01 99110-AA000         ',
       b'\xf1\x8799110AA000\xf1\x00CN7_ SCC FHCUP      1.00 1.01 99110-AA000         ',
       b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP      1.00 1.01 99110-AA000         ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00CN7 MDPS C 1.00 1.06 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4CNDC106',
       b'\xf1\x8756310/AA070\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106',
-      b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106',
       b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106\xf1\xa01.06',
+      b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.00 99210-AB000 200819',
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.01 99210-AB000 210205',
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.06 99210-AA000 220111',
+      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AB000 220426',
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
       b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800',
-      b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
       b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800',
       b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800\xf1\xa01.01',
     ],
@@ -1358,6 +1359,7 @@ FW_VERSIONS = {
       b'\xf1\x81HM6M2_0a0_FF0',
       b'\xf1\x82CNCVD0AMFCXCSFFB',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_G80',
+      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_HC0',
     ],
   },
   CAR.ELANTRA_HEV_2021: {