diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py
index 06abfbef7f..f4621857e1 100755
--- a/selfdrive/car/fw_query_definitions.py
+++ b/selfdrive/car/fw_query_definitions.py
@@ -80,7 +80,9 @@ class FwQueryConfig:
   fuzzy_min_match_count: int = 2
   # A function to get uniquely identifiable codes for a version
   fuzzy_get_platform_codes: Optional[Callable[[List[bytes]], Set[bytes]]] = None
+  # List of ECUs to consider for fuzzy fingerprinting, and an option to require them to exist
   fuzzy_ecus: List[capnp.lib.capnp._EnumModule] = field(default_factory=set)
+  fuzzy_ecus_must_exist: bool = False
 
   def __post_init__(self):
     for i in range(len(self.requests)):
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index c576906d89..828d4904b8 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -62,6 +62,7 @@ def match_fw_to_car_fuzzy(fw_versions_dict, config, log=True, exclude=None):
   # Build lookup table from (addr, sub_addr, fw) to list of candidate cars
   all_fw_versions = defaultdict(set)
   all_platform_codes = defaultdict(set)
+  seen_ecus = defaultdict(bool)
   for candidate, fw_by_addr in FW_VERSIONS.items():
     if MODEL_TO_BRAND[candidate] != 'hyundai':
       continue
@@ -87,6 +88,7 @@ def match_fw_to_car_fuzzy(fw_versions_dict, config, log=True, exclude=None):
   print(all_platform_codes)
   match_count = 0
   candidate = None
+  seen_addrs = set()
   for addr, versions in fw_versions_dict.items():
     for version in versions:
       # All cars that have this FW response on the specified address
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 4880e0b3e0..eb5c5cf694 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -428,6 +428,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
   fuzzy_get_platform_codes=get_platform_codes,
   # Hyundai works best with camera and radar (which have standardized platform codes)
   fuzzy_ecus=[Ecu.fwdRadar, Ecu.fwdCamera],
+  fuzzy_ecus_must_exist=True,
 )
 
 FW_VERSIONS = {