diff --git a/opendbc/car/hyundai/fingerprints.py b/opendbc/car/hyundai/fingerprints.py
index 4b47f3cc02c..7e2322a8e3f 100644
--- a/opendbc/car/hyundai/fingerprints.py
+++ b/opendbc/car/hyundai/fingerprints.py
@@ -1152,6 +1152,8 @@
       b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.05 99210-R0000 201221',
       b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.06 99210-R0000 220221',
       b'\xf1\x00KA4CMFC  AT CHN LHD 1.00 1.01 99211-I4000 210525',
+      b'\xf1\x00KA4HMFC  AT USA LHD 1.00 1.05 99210-R0500 240305',
+      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.05 99210-R0500 240305',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00KA4_ SCC F-CUP      1.00 1.03 99110-R0000         ',
@@ -1159,6 +1161,8 @@
       b'\xf1\x00KA4_ SCC FHCUP      1.00 1.02 99110-R0000         ',
       b'\xf1\x00KA4_ SCC FHCUP      1.00 1.03 99110-R0000         ',
       b'\xf1\x00KA4c SCC FHCUP      1.00 1.01 99110-I4000         ',
+      b'\xf1\x00KAhe RDR -----      1.00 1.01 99110-ES500         ',
+      b'\xf1\x00KA4_ SCC FHCUP      1.00 1.01 99110-R0510         ',
     ],
   },
   CAR.KIA_K8_HEV_1ST_GEN: {
diff --git a/opendbc/car/hyundai/interface.py b/opendbc/car/hyundai/interface.py
index adebd4fe1da..0ee87d6b983 100644
--- a/opendbc/car/hyundai/interface.py
+++ b/opendbc/car/hyundai/interface.py
@@ -29,8 +29,9 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)
       ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
 
-      if 0x105 in fingerprint[CAN.ECAN]:
-        ret.flags |= HyundaiFlags.HYBRID.value
+      for fw in car_fw:
+        if fw.ecu == "fwdCamera" and (fw.fwVersion.startswith(b'\xf1\x00KA4HMFC')):
+          ret.flags |= HyundaiFlags.HYBRID.value
 
       # detect HDA2 with ADAS Driving ECU
       if hda2:
@@ -38,9 +39,6 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
         if 0x110 in fingerprint[CAN.CAM]:
           ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
       else:
-        # non-HDA2
-        if 0x1cf not in fingerprint[CAN.ECAN]:
-          ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
         if not ret.flags & HyundaiFlags.RADAR_SCC:
           ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
 
@@ -52,6 +50,10 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
         else:
           ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
 
+      # Some HDA2 do not have 0x1cf
+      if 0x1cf not in fingerprint[CAN.ECAN]:
+        ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
+
       cfgs = [get_safety_config(structs.CarParams.SafetyModel.hyundaiCanfd), ]
       if CAN.ECAN >= 4:
         cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
diff --git a/opendbc/car/hyundai/values.py b/opendbc/car/hyundai/values.py
index 223eb97a3dc..e76477d6822 100644
--- a/opendbc/car/hyundai/values.py
+++ b/opendbc/car/hyundai/values.py
@@ -490,11 +490,11 @@ class CAR(Platforms):
   )
   KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig(
     [
-      HyundaiCarDocs("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
-      HyundaiCarDocs("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
+      HyundaiCarDocs("Kia Carnival 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarDocs("Kia Carnival (China only) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+      HyundaiCarDocs("Kia Carnival (with HDA II) 2025", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
     ],
     CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23),
-    flags=HyundaiFlags.RADAR_SCC,
   )
 
   # Genesis