diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 00452a9ae02d08..7dccdd202d9fe9 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -3,7 +3,7 @@
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
                                          CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
-                                         UNSUPPORTED_LONGITUDINAL_CAR, Buttons
+                                         UNSUPPORTED_LONGITUDINAL_CAR, PAUSE_RESUME_BTN_CAR, Buttons
 from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -32,6 +32,9 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
     CAN = CanBus(None, hda2, fingerprint)
 
+    if candidate in PAUSE_RESUME_BTN_CAR:
+        ret.flags |= HyundaiFlags.PAUSE_RESUME_BTN.value
+
     if candidate in CANFD_CAR:
       # detect if car is hybrid
       if 0x105 in fingerprint[CAN.ECAN]:
@@ -125,6 +128,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       if candidate in CAMERA_SCC_CAR:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
 
+    if ret.flags & HyundaiFlags.PAUSE_RESUME_BTN:
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_PAUSE_RESUME_BTN
     if ret.openpilotLongitudinalControl:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
     if ret.flags & HyundaiFlags.HYBRID:
@@ -156,12 +161,24 @@ def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
     if self.CS.CP.openpilotLongitudinalControl:
-      ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
+      ret.buttonEvents= create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
+
+      pause_resume_btn = bool(self.CP.flags & HyundaiFlags.PAUSE_RESUME_BTN)
+      cruise_speed_set = ret.cruiseState.speed > 0
+
+      resume_button = self.CS.cruise_buttons[-1] == Buttons.RES_ACCEL
+      cancel_button = self.CS.cruise_buttons[-1] == Buttons.CANCEL
+      # main button is considered if it's the first time it is pressed
+      main_button = self.CS.main_buttons[-1] == 1 and sum(1 for x in self.CS.main_buttons if x != Buttons.NONE) == 1
+
+      allow_enable = (
+          (resume_button and cruise_speed_set and not pause_resume_btn) or
+          (cancel_button and pause_resume_btn) or # cancel acts like a pause/resume button on newer cars
+          (main_button and pause_resume_btn)
+      )
+    else:
+      allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
 
-    # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
-    # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
-    # Main button also can trigger an engagement on these cars
-    allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
     events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
 
     # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
@@ -170,7 +187,7 @@ def _update(self, c):
     if ret.vEgo > (self.CP.minSteerSpeed + 4.):
       self.low_speed_alert = False
     if self.low_speed_alert:
-      events.add(car.CarEvent.EventName.belowSteerSpeed)
+      events.add(EventName.belowSteerSpeed)
 
     ret.events = events.to_msg()
 
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 2456e4aa6ea465..6caf2582e93d90 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -95,6 +95,8 @@ class HyundaiFlags(IntFlag):
 
   MIN_STEER_32_MPH = 2 ** 23
 
+  PAUSE_RESUME_BTN = 2 ** 24
+
 
 class Footnote(Enum):
   CANFD = CarFootnote(
@@ -727,6 +729,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
   "use_tcu_gears": CAR.with_flags(HyundaiFlags.TCU_GEARS),
 }
 
+PAUSE_RESUME_BTN_CAR = CAR.with_flags(HyundaiFlags.PAUSE_RESUME_BTN)
 CANFD_CAR = CAR.with_flags(HyundaiFlags.CANFD)
 CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC)