diff --git a/README.md b/README.md
index ba24e04b68..7722721839 100644
--- a/README.md
+++ b/README.md
@@ -66,6 +66,7 @@ Supported Cars
 | ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
 | Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
 | Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Acura     | RDX 2020                      | AcuraWatch        | Stock            | 0mph               | 3mph              |
 | Honda     | Accord 2018-20                | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Accord Hybrid 2018-20         | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph             |
diff --git a/release/files_common b/release/files_common
index 976458b704..08ab793a3f 100644
--- a/release/files_common
+++ b/release/files_common
@@ -525,6 +525,7 @@ opendbc/honda_accord_s2t_2018_can_generated.dbc
 opendbc/honda_accord_lx15t_2018_can_generated.dbc
 opendbc/acura_ilx_2016_can_generated.dbc
 opendbc/acura_rdx_2018_can_generated.dbc
+opendbc/acura_rdx_2020_can_generated.dbc
 opendbc/honda_civic_touring_2016_can_generated.dbc
 opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
 opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 77f74681b6..56e16e6d5c 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -70,7 +70,7 @@ def get_can_signals(CP):
       ("SCM_BUTTONS", 25),
     ]
 
-  if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL):
+  if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G):
     checks += [
       ("GEARBOX", 50),
     ]
@@ -106,8 +106,7 @@ def get_can_signals(CP):
       checks += [("CRUISE_PARAMS", 10)]
     else:
       checks += [("CRUISE_PARAMS", 50)]
-
-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
     signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
   elif CP.carFingerprint == CAR.ODYSSEY_CHN:
     signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
@@ -189,7 +188,7 @@ class CarState(CarStateBase):
 
     # ******************* parse out can *******************
     # TODO: find wheels moving bit in dbc
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
       ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN'])
     elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
@@ -239,7 +238,7 @@ class CarState(CarStateBase):
     self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
 
     if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH,
-                                  CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
+                                  CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
       self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
       main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
     elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index d74db1b1fb..7331c673c7 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -196,7 +196,7 @@ class CarInterface(CarInterfaceBase):
     elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
       stop_and_go = True
       if not candidate == CAR.ACCORDH:  # Hybrid uses same brake msg as hatch
-        ret.safetyParam = 1  # Accord and CRV 5G use an alternate user brake msg
+        ret.safetyParam = 1  # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
       ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.83
       ret.centerToFront = ret.wheelbase * 0.39
@@ -243,7 +243,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.CRV_5G:
       stop_and_go = True
-      ret.safetyParam = 1  # Accord and CRV 5G use an alternate user brake msg
+      ret.safetyParam = 1  # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
       ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.66
       ret.centerToFront = ret.wheelbase * 0.41
@@ -265,7 +265,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.CRV_HYBRID:
       stop_and_go = True
-      ret.safetyParam = 1  # Accord and CRV 5G use an alternate user brake msg
+      ret.safetyParam = 1  # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
       ret.mass = 1667. + STD_CARGO_KG  # mean of 4 models in kg
       ret.wheelbase = 2.66
       ret.centerToFront = ret.wheelbase * 0.41
@@ -320,6 +320,21 @@ class CarInterface(CarInterfaceBase):
       ret.longitudinalTuning.kiBP = [0., 35.]
       ret.longitudinalTuning.kiV = [0.18, 0.12]
 
+    elif candidate == CAR.ACURA_RDX_3G:
+      stop_and_go = True
+      ret.safetyParam = 1  # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
+      ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.wheelbase = 2.75
+      ret.centerToFront = ret.wheelbase * 0.41
+      ret.steerRatio = 11.95  # as spec
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
+      tire_stiffness_factor = 0.677
+      ret.longitudinalTuning.kpBP = [0., 5., 35.]
+      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
+      ret.longitudinalTuning.kiBP = [0., 35.]
+      ret.longitudinalTuning.kiV = [0.18, 0.12]
+
     elif candidate == CAR.ODYSSEY:
       stop_and_go = False
       ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index d1dcb91c55..77d815301b 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -40,6 +40,7 @@ class CAR:
   ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
   ODYSSEY_CHN = "HONDA ODYSSEY 2019 EXCLUSIVE CHN"
   ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS"
+  ACURA_RDX_3G = "ACURA RDX 2020 TECH"
   PILOT = "HONDA PILOT 2017 TOURING"
   PILOT_2019 = "HONDA PILOT 2019 ELITE"
   RIDGELINE = "HONDA RIDGELINE 2017 BLACK EDITION"
@@ -65,6 +66,9 @@ FINGERPRINTS = {
   CAR.ACURA_RDX: [{
     57: 3, 145: 8, 229: 4, 308: 5, 316: 8, 342: 6, 344: 8, 380: 8, 392: 6, 398: 3, 399: 6, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5, 1424: 5, 1729: 1
   }],
+  CAR.ACURA_RDX_3G: [{
+    57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 507: 1, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 815: 8, 825: 4, 829: 5, 846: 8, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 892: 8, 918: 7, 927: 8, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 6, 1092: 1, 1108: 8, 1115: 2, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1633: 8
+  }],
   CAR.CIVIC: [{
     57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 450: 8, 464: 8, 470: 2, 476: 7, 487: 4, 490: 8, 493: 5, 506: 8, 512: 6, 513: 6, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1633: 8,
   }],
@@ -137,7 +141,7 @@ FINGERPRINTS = {
 }
 
 # Don't use theses fingerprints for fingerprinting, they are still needed for ECU detection
-IGNORED_FINGERPRINTS = [CAR.INSIGHT, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_EU, CAR.HRV]
+IGNORED_FINGERPRINTS = [CAR.INSIGHT, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_EU, CAR.HRV, CAR.ACURA_RDX_3G]
 
 # add DIAG_MSGS to fingerprints
 for c in FINGERPRINTS:
@@ -856,6 +860,19 @@ FW_VERSIONS = {
       b'57114-TGT-A530\x00\x00',
     ],
   },
+  CAR.ACURA_RDX_3G: {
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [b'37805-5YF-A420\x00\x00'],
+    (Ecu.vsa, 0x18da28f1, None): [b'57114-TJB-A040\x00\x00'],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [b'36802-TJB-A040\x00\x00'],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [b'36161-TJB-A040\x00\x00'],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [b'54008-TJB-A520\x00\x00'],
+    (Ecu.transmission, 0x18da1ef1, None): [b'28102-5YK-A700\x00\x00'],
+    (Ecu.combinationMeter, 0x18da60f1, None): [b'78109-TJB-AB10\x00\x00'],
+    (Ecu.srs, 0x18da53f1, None): [b'77959-TJB-A040\x00\x00'],
+    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [b'46114-TJB-A050\x00\x00'],
+    (Ecu.gateway, 0x18daeff1, None): [b'38897-TJB-A110\x00\x00'],
+    (Ecu.eps, 0x18da30f1, None): [b'39990-TJB-A030\x00\x00'],
+  },
   CAR.RIDGELINE: {
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-T6Z-A020\x00\x00',
@@ -933,6 +950,7 @@ DBC = {
   CAR.ACCORDH: dbc_dict('honda_accord_s2t_2018_can_generated', None),
   CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
+  CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None),
   CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.CIVIC_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
   CAR.CIVIC_BOSCH_DIESEL: dbc_dict('honda_civic_sedan_16_diesel_2019_can_generated', None),
@@ -956,6 +974,7 @@ STEER_THRESHOLD = {
   CAR.ACCORDH: 1200,
   CAR.ACURA_ILX: 1200,
   CAR.ACURA_RDX: 400,
+  CAR.ACURA_RDX_3G: 1200,
   CAR.CIVIC: 1200,
   CAR.CIVIC_BOSCH: 1200,
   CAR.CIVIC_BOSCH_DIESEL: 1200,
@@ -979,6 +998,7 @@ SPEED_FACTOR = {
   CAR.ACCORDH: 1.,
   CAR.ACURA_ILX: 1.,
   CAR.ACURA_RDX: 1.,
+  CAR.ACURA_RDX_3G: 1.,
   CAR.CIVIC: 1.,
   CAR.CIVIC_BOSCH: 1.,
   CAR.CIVIC_BOSCH_DIESEL: 1.,
@@ -1002,4 +1022,4 @@ ECU_FINGERPRINT = {
   Ecu.fwdCamera: [0xE4, 0x194],   # steer torque cmd
 }
 
-HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT])
+HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G])
diff --git a/selfdrive/test/test_car_models.py b/selfdrive/test/test_car_models.py
index 6c047c329d..da9a1778f6 100755
--- a/selfdrive/test/test_car_models.py
+++ b/selfdrive/test/test_car_models.py
@@ -92,6 +92,11 @@ routes = {
     'carFingerprint': GM.BUICK_REGAL,
     'enableCamera': True,
   },
+  "0e7a2ba168465df5|2020-10-18--14-14-22": {
+    'carFingerprint': HONDA.ACURA_RDX_3G,
+    'enableCamera': True,
+    'fingerprintSource': 'fixed',
+  },
   "a74b011b32b51b56|2020-07-26--17-09-36": {
     'carFingerprint': HONDA.CIVIC,
     'enableCamera': True,