diff --git a/opendbc_repo/opendbc/car/hyundai/fingerprints.py b/opendbc_repo/opendbc/car/hyundai/fingerprints.py
index 9f4979f3adb306..03db408e1a6990 100644
--- a/opendbc_repo/opendbc/car/hyundai/fingerprints.py
+++ b/opendbc_repo/opendbc/car/hyundai/fingerprints.py
@@ -21,6 +21,17 @@
       b'\xf1\x00IG  MFC  AT MES LHD 1.00 1.05 99211-G8100 210409',
     ],
   },
+  CAR.HYUNDAI_AZERA_DIESEL_6TH_GEN: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IG__ SCC FHCUP      1.00 1.01 96400-G8500         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IG  MDPS C 1.00 1.01 56310G8350\x00 4IG8C101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00IG  MFC  AT KOR LHD 1.00 1.00 95740-M9200 170919',
+    ],
+  },
   CAR.HYUNDAI_AZERA_HEV_6TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.00 99211-G8000 180903',
diff --git a/opendbc_repo/opendbc/car/hyundai/hyundaican.py b/opendbc_repo/opendbc/car/hyundai/hyundaican.py
index 8f3a049cd2d2aa..8a59055f95137c 100644
--- a/opendbc_repo/opendbc/car/hyundai/hyundaican.py
+++ b/opendbc_repo/opendbc/car/hyundai/hyundaican.py
@@ -39,7 +39,8 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
                            CAR.HYUNDAI_ELANTRA_HEV_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
                            CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_IONIQ_HEV_2022, CAR.HYUNDAI_SANTA_FE_HEV_2022,
                            CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
-                           CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.HYUNDAI_KONA_2022):
+                           CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_DIESEL_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN,
+                           CAR.HYUNDAI_KONA_2022):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 
diff --git a/opendbc_repo/opendbc/car/hyundai/values.py b/opendbc_repo/opendbc/car/hyundai/values.py
index c29286b7fb7497..8cc2e525e9cd0e 100644
--- a/opendbc_repo/opendbc/car/hyundai/values.py
+++ b/opendbc_repo/opendbc/car/hyundai/values.py
@@ -163,6 +163,11 @@ class CAR(Platforms):
     [HyundaiCarDocs("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
     CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5),
   )
+  HYUNDAI_AZERA_DIESEL_6TH_GEN = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Azera Diesel 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))],
+    CarSpecs(mass=1650, wheelbase=2.885, steerRatio=14.5),
+    flags=HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MANDO_RADAR,
+  )
   HYUNDAI_AZERA_HEV_6TH_GEN = HyundaiPlatformConfig(
     [
       HyundaiCarDocs("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
diff --git a/opendbc_repo/opendbc/car/torque_data/override.toml b/opendbc_repo/opendbc/car/torque_data/override.toml
index c44d1d9f6c7ba3..ecb98eb2056383 100644
--- a/opendbc_repo/opendbc/car/torque_data/override.toml
+++ b/opendbc_repo/opendbc/car/torque_data/override.toml
@@ -72,6 +72,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1]
 "HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.005]
 "HYUNDAI_AZERA_6TH_GEN" = [1.8, 1.8, 0.1]
+"HYUNDAI_AZERA_DIESEL_6TH_GEN" = [1.8, 1.8, 0.1]
 "HYUNDAI_AZERA_HEV_6TH_GEN" = [1.8, 1.8, 0.1]
 "KIA_K8_HEV_1ST_GEN" = [2.5, 2.5, 0.1]
 "HYUNDAI_CUSTIN_1ST_GEN" = [2.5, 2.5, 0.1]