diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 00452a9ae0..22c54bce6b 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -75,6 +75,9 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    if candidate == CAR.KIA_OPTIMA_G4_FL:
+      ret.steerActuatorDelay = 0.2
+
     # *** longitudinal control ***
     if candidate in CANFD_CAR:
       ret.longitudinalTuning.kpV = [0.1]