diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index c17b632450..3b897c0c16 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -101,8 +101,7 @@ class CarController:
 
     gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
     if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
-      counter = (CS.gra_stock_values["COUNTER"] + 1) % 16
-      can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, counter,
+      can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values,
                                                            cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
 
     new_actuators = actuators.copy()
diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py
index b461fd02ae..3b07044d37 100644
--- a/selfdrive/car/volkswagen/mqbcan.py
+++ b/selfdrive/car/volkswagen/mqbcan.py
@@ -11,7 +11,15 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled):
 
 
 def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
-  values = ldw_stock_values.copy()
+  values = {}
+  if len(ldw_stock_values):
+    values = {s: ldw_stock_values[s] for s in [
+      "LDW_SW_Warnung_links",   # Blind spot in warning mode on left side due to lane departure
+      "LDW_SW_Warnung_rechts",  # Blind spot in warning mode on right side due to lane departure
+      "LDW_Seite_DLCTLC",       # Direction of most likely lane departure (left or right)
+      "LDW_DLC",                # Lane departure, distance to line crossing
+      "LDW_TLC",                # Lane departure, time to line crossing
+    ]}
 
   values.update({
     "LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0,
@@ -23,11 +31,23 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres
   return packer.make_can_msg("LDW_02", bus, values)
 
 
-def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=False, resume=False):
-  values = gra_stock_values.copy()
+def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False):
+  values = {s: gra_stock_values[s] for s in [
+    "GRA_Hauptschalter",           # ACC button, on/off
+    "GRA_Abbrechen",               # ACC button, cancel
+    "GRA_Tip_Setzen",              # ACC button, set
+    "GRA_Tip_Hoch",                # ACC button, increase or accel
+    "GRA_Tip_Runter",              # ACC button, decrease or decel
+    "GRA_Tip_Wiederaufnahme",      # ACC button, resume
+    "GRA_Verstellung_Zeitluecke",  # ACC button, time gap adj
+    "GRA_Typ_Hauptschalter",       # ACC main button type
+    "GRA_Codierung",               # ACC button configuration/coding
+    "GRA_Tip_Stufe_2",             # unknown related to stalk type
+    "GRA_ButtonTypeInfo",          # unknown related to stalk type
+  ]}
 
   values.update({
-    "COUNTER": counter,
+    "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
     "GRA_Abbrechen": cancel,
     "GRA_Tip_Wiederaufnahme": resume,
   })
diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
index bac3ca121d..9df43c8cf4 100644
--- a/selfdrive/car/volkswagen/pqcan.py
+++ b/selfdrive/car/volkswagen/pqcan.py
@@ -10,7 +10,15 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled):
 
 
 def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
-  values = ldw_stock_values.copy()
+  values = {}
+  if len(ldw_stock_values):
+    values = {s: ldw_stock_values[s] for s in [
+      "LDW_SW_Warnung_links",   # Blind spot in warning mode on left side due to lane departure
+      "LDW_SW_Warnung_rechts",  # Blind spot in warning mode on right side due to lane departure
+      "LDW_Seite_DLCTLC",       # Direction of most likely lane departure (left or right)
+      "LDW_DLC",                # Lane departure, distance to line crossing
+      "LDW_TLC",                # Lane departure, time to line crossing
+    ]}
 
   values.update({
     "LDW_Lampe_gelb": 1 if enabled and steering_pressed else 0,
@@ -23,11 +31,24 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres
   return packer.make_can_msg("LDW_Status", bus, values)
 
 
-def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=False, resume=False):
-  values = gra_stock_values.copy()
+def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False):
+  values = {s: gra_stock_values[s] for s in [
+    "GRA_Hauptschalt",      # ACC button, on/off
+    "GRA_Typ_Hauptschalt",  # ACC button, momentary vs latching
+    "GRA_Kodierinfo",       # ACC button, configuration
+    "GRA_Abbrechen",        # ACC button, cancel
+    "GRA_Neu_Setzen",       # ACC button, set
+    "GRA_Up_lang",          # ACC button, increase or accel, long press
+    "GRA_Down_lang",        # ACC button, decrease or decel, long press
+    "GRA_Up_kurz",          # ACC button, increase or accel, short press
+    "GRA_Down_kurz",        # ACC button, decrease or decel, short press
+    "GRA_Recall",           # ACC button, resume
+    "GRA_Zeitluecke",       # ACC button, time gap adj
+    "GRA_Sender",           # ACC button, CAN message originator
+  ]}
 
   values.update({
-    "COUNTER": counter,
+    "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
     "GRA_Abbrechen": cancel,
     "GRA_Recall": resume,
   })