diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 491fb58202..49c68fbd26 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -358,64 +358,40 @@ def parse_platform_code(fw_version: bytes) -> Tuple[Optional[bytes], Optional[by
   return code, date
 
 
-def hyundai_fuzzy(fw_versions_dict) -> Set[str]:
-  """Do a fuzzy FW match. This function will return a match, and the number of firmware version
-    that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
-    the match is rejected."""
-
-  # Build lookup table from (addr, sub_addr, fw) to list of candidate cars
-  all_fw_versions = defaultdict(list)
+def hyundai_fuzzy(fw_versions_dict, config, log=True, exclude=None) -> Set[str]:
   # Platform codes are brand-specific unique identifiers for each platform, less specific than a FW version
   all_platform_codes = defaultdict(list)
   for candidate, fw_by_addr in FW_VERSIONS.items():
-    if candidate == exclude:
-      continue
-
     for addr, fws in fw_by_addr.items():
-      # These ECUs are known to be shared between models (EPS only between hybrid/ICE version)
-      # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
-      # impossible to get 3 matching versions, even if two models with shared parts are released at the same
-      # time and only one is in our database.
-      if addr[0] not in FUZZY_EXCLUDE_ECUS:
-        for f in fws:
-          all_fw_versions[(addr[1], addr[2], f)].append(candidate)
-
       # Add platform codes to lookup dict if config specifies a function
-      if addr[0] in config.platform_code_ecus and config.fuzzy_get_platform_codes is not None:
-        for platform_code in config.fuzzy_get_platform_codes(fws):
+      if addr[0] in FW_QUERY_CONFIG.platform_code_ecus and FW_QUERY_CONFIG.fuzzy_get_platform_codes is not None:
+        for platform_code in FW_QUERY_CONFIG.fuzzy_get_platform_codes(fws):
           all_platform_codes[(addr[1], addr[2], platform_code)].append(candidate)
 
   matched_ecus = set()
-  candidate = None
+  seen_ecus = set()
+  all_candidates = set()
   for addr, versions in fw_versions_dict.items():
     ecu_key = (addr[0], addr[1])
+    seen_ecus.add(ecu_key)
     for version in versions:
-      # All cars that have this FW response on the specified address
-      candidates = all_fw_versions[(*ecu_key, version)]
-
-      # If not one candidate for this ECU and version, try platform codes + dates
-      if len(candidates) != 1 and config.fuzzy_get_platform_codes is not None:
-        # Returns one or none, all cars that have this platform code
-        for platform_code in config.fuzzy_get_platform_codes([version]):
-          candidates = all_platform_codes[(*ecu_key, platform_code)]
+      # All cars that have this platform code on the specified address
+      candidates = set()
+      # Returns one or none, all cars that have this platform code
+      for platform_code in config.fuzzy_get_platform_codes([version]):
+        candidates = all_platform_codes[(*ecu_key, platform_code)]
 
       if len(candidates) == 1:
+        all_candidates |= candidates
         matched_ecus.add(ecu_key)
-        if candidate is None:
-          candidate = candidates[0]
-        # We uniquely matched two different cars. No fuzzy match possible
-        elif candidate != candidates[0]:
-          return set()
-
-  # Note that it is possible to match to a candidate without all its ECUs being present
-  # if there are enough matches. FIXME: parameterize this or require all ECUs to exist like exact matching
-  if len(matched_ecus) >= 2:
-    if log:
-      cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {len(matched_ecus)} matching ECUs")
-    return {candidate}
-  else:
-    return set()
 
+  if len(all_candidates) == 1:
+    candidate = list(all_candidates)[0]
+    candidate_ecus = {(addr[1], addr[2]) for addr in FW_VERSIONS[candidate] if
+                      addr[0] in FW_QUERY_CONFIG.platform_code_ecus}
+    if len(candidate_ecus - seen_ecus) == 0:
+      return all_candidates
+  return set()
 
 
 def get_platform_codes(fw_versions: List[bytes]) -> Set[bytes]: