diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index d5b8427f66..c11bf67d15 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -292,6 +292,8 @@ HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x4
 
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
+    # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD
+    # CAN queries (OBD-II port)
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
@@ -302,22 +304,23 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [HYUNDAI_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar],
     ),
-    # CAN-FD queries
+    # CAN-FD queries (camera)
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar],
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar],
       bus=4,
     ),
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.adas],
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar],
       bus=5,
     ),
   ],
   extra_ecus=[
-    (Ecu.adas, 0x730, None),  # ADAS Driving ECU on HDA2 platforms
+    (Ecu.adas, 0x730, None),         # ADAS Driving ECU on HDA2 platforms
+    (Ecu.cornerRadar, 0x7b7, None),
   ],
 )