diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index eef31222fe..20fc29897d 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -396,6 +396,9 @@ HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
   p16(0xf100)
 
+HYUNDAI_ECU_MANUFACTURING_DATE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.ECU_MANUFACTURING_DATE)
+
 HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
 
 # Regex patterns for parsing platform code, FW date, and part number from FW versions
@@ -449,6 +452,17 @@ FW_QUERY_CONFIG = FwQueryConfig(
       obd_multiplexing=False,
     ),
 
+    # CAN & CAN FD query to understand the three digit date code
+    # HDA2 cars usually use 6 digit date codes, so skip bus 1
+    Request(
+      [HYUNDAI_ECU_MANUFACTURING_DATE],
+      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.fwdCamera],
+      bus=0,
+      auxiliary=True,
+      logging=True,
+    ),
+
     # CAN & CAN FD logging queries (from camera)
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index 73472b7a11..d8e3296985 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -254,7 +254,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
 
   @pytest.mark.timeout(60)
   def test_fw_query_timing(self):
-    total_ref_time = {1: 5.85, 2: 6.65}
+    total_ref_time = {1: 5.95, 2: 6.85}
     brand_ref_times = {
       1: {
         'gm': 0.5,
@@ -262,7 +262,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
         'chrysler': 0.3,
         'ford': 0.1,
         'honda': 0.55,
-        'hyundai': 0.95,
+        'hyundai': 1.05,
         'mazda': 0.1,
         'nissan': 0.8,
         'subaru': 0.45,
@@ -272,7 +272,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
       },
       2: {
         'ford': 0.2,
-        'hyundai': 1.65,
+        'hyundai': 1.85,
       }
     }