diff --git a/opendbc_repo/opendbc/car/hyundai/carstate.py b/opendbc_repo/opendbc/car/hyundai/carstate.py
index 79fcc3bbeb..6733627f94 100644
--- a/opendbc_repo/opendbc/car/hyundai/carstate.py
+++ b/opendbc_repo/opendbc/car/hyundai/carstate.py
@@ -28,6 +28,8 @@
 
 GearShifter = structs.CarState.GearShifter
 
+READY_COUNT_OK = 200
+
 
 NUMERIC_TO_TZ = {
     840: "America/New_York",   # 미국 (US) → 동부 시간대
@@ -165,9 +167,10 @@ def __init__(self, CP):
     self.controls_ready_count = 0
 
   def monitor_fingerprint(self, can_parsers, canfd):
-    if self.controls_ready_count <= 200:
+    if self.controls_ready_count <= READY_COUNT_OK:
       if Params().get_bool("ControlsReady"):
         self.controls_ready_count += 1
+
       self.cp = can_parsers[Bus.pt]
       self.cp_cam = can_parsers[Bus.cam]
       self.cp_alt = can_parsers[Bus.alt] if Bus.alt in can_parsers else None
@@ -224,6 +227,8 @@ def add_and_cache(parser, name: str, attr: str, ignore_counter: bool = False):
           cp_cruise = self.cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else self.cp
           add_and_cache(cp_cruise, "SCC_CONTROL", "scc_control")          
         elif self.controls_ready_count == 121:
+          add_and_cache(self.cp, "TCS", "tcs")
+          add_and_cache(self.cp, "MDPS", "mdps")
           add_and_cache(self.cp_cam, "LFA", "lfa")
           add_and_cache(self.cp_cam, "LFA_ALT", "lfa_alt")          
           add_and_cache(self.cp_cam, "LFAHDA_CLUSTER", "lfahda_cluster")
@@ -235,8 +240,6 @@ def add_and_cache(parser, name: str, attr: str, ignore_counter: bool = False):
           add_and_cache(self.cp_cam, "CCNC_0x162", "ccnc_0x162")
         elif self.controls_ready_count == 123:        
           add_and_cache(self.cp, "HDA_INFO_4A3", "hda_info_4a3")
-          add_and_cache(self.cp, "TCS", "tcs")
-          add_and_cache(self.cp, "MDPS", "mdps")
           add_and_cache(self.cp, "STEER_TOUCH_2AF", "steer_touch_2af")
         elif self.controls_ready_count == 124:
           add_and_cache(self.cp, self.cruise_btns_msg_canfd, "cruise_buttons_msg")
@@ -313,7 +316,7 @@ def update(self, can_parsers) -> structs.CarState:
     # cruise state
     if self.CP.openpilotLongitudinalControl:
       # These are not used for engage/disengage since openpilot keeps track of state using the buttons
-      ret.cruiseState.available = self.main_enabled #cp.vl["TCS13"]["ACCEnable"] == 0
+      ret.cruiseState.available = self.main_enabled and self.controls_ready_count >= READY_COUNT_OK #cp.vl["TCS13"]["ACCEnable"] == 0
       ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
       ret.cruiseState.standstill = False
       ret.cruiseState.nonAdaptive = False
@@ -563,7 +566,7 @@ def update_canfd(self, can_parsers) -> structs.CarState:
     if cruise_button in [Buttons.RES_ACCEL, Buttons.SET_DECEL] and self.CP.openpilotLongitudinalControl:
       self.main_enabled = True
     # CAN FD cars enable on main button press, set available if no TCS faults preventing engagement
-    ret.cruiseState.available = self.main_enabled #cp.vl["TCS"]["ACCEnable"] == 0
+    ret.cruiseState.available = self.main_enabled and self.controls_ready_count >= READY_COUNT_OK #cp.vl["TCS"]["ACCEnable"] == 0
     if self.CP.flags & HyundaiFlags.CAMERA_SCC.value:
       self.MainMode_ACC = cp_cam.vl["SCC_CONTROL"]["MainMode_ACC"] == 1
       self.ACCMode = cp_cam.vl["SCC_CONTROL"]["ACCMode"]
diff --git a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
index c71b89e153..86d5340651 100644
--- a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+++ b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
@@ -154,7 +154,7 @@ def create_steering_messages_camera_scc(frame, packer, CP, CAN, CC, lat_active,
         values["NEW_SIGNAL_1"] = 10
       ret.append(packer.make_can_msg("LFA", CAN.ECAN, values, rx_counter = rx_counter))
 
-  else:
+  elif CS.lfa is not None:
     values = {}
     values["LKA_MODE"] = 2
     values["LKA_ICON"] = 2 if lat_active else 1
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 1caced2c9c..cb3f7601d1 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -56,7 +56,7 @@ def get_lat_smooth_seconds_dynamic(model_output: dict[str, np.ndarray],
   except Exception:
     y_std_1s = 0.0
 
-  extra_smooth_seconds = float(np.interp(y_std_1s, [0.15, 0.25], [0.0, base_lat_smooth_seconds]))
+  extra_smooth_seconds = float(np.interp(y_std_1s, [0.15, 0.25], [0.0, base_lat_smooth_seconds * 2]))
 
   dynamic_lat_smooth_seconds = float(np.clip(base_lat_smooth_seconds + extra_smooth_seconds, 0.0, 0.60))