diff --git a/board/safety.h b/board/safety.h
index 78c02941e42..776dfd4e3d7 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -256,18 +256,45 @@ void generic_rx_checks(bool stock_ecu_detected) {
   if (gas_pressed && !gas_pressed_prev && !(alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS)) {
     controls_allowed = false;
   }
+  // PFEIFER - AOL {{
+  if (gas_pressed && !gas_pressed_prev && !(alternative_experience & ALT_EXP_ENABLE_ALWAYS_ON_LATERAL)) {
+    lateral_controls_allowed = 0;
+  }
+  // }} PFEIFER - AOL
   gas_pressed_prev = gas_pressed;
 
   // exit controls on rising edge of brake press
   if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
     controls_allowed = false;
   }
+  // PFEIFER - AOL {{
+  if (brake_pressed && (!brake_pressed_prev || vehicle_moving) && !(alternative_experience & ALT_EXP_ENABLE_ALWAYS_ON_LATERAL)) {
+    lateral_controls_allowed = 0;
+  }
+  // }} PFEIFER - AOL
+  if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
+    controls_allowed = 0;
+  }
   brake_pressed_prev = brake_pressed;
 
   // exit controls on rising edge of regen paddle
   if (regen_braking && (!regen_braking_prev || vehicle_moving)) {
     controls_allowed = false;
   }
+  // PFEIFER - AOL {{
+  if (regen_braking && (!regen_braking_prev || vehicle_moving) && !(alternative_experience & ALT_EXP_ENABLE_ALWAYS_ON_LATERAL)) {
+    lateral_controls_allowed = 0;
+  }
+
+  // If always on lateral is not enabled we set lateral_controls_allowed to controls_allowed to maintain stock behavior
+  if (!(alternative_experience & ALT_EXP_ENABLE_ALWAYS_ON_LATERAL)) {
+    lateral_controls_allowed = controls_allowed;
+  }
+
+  if (controls_allowed == 1) { // always allow lateral_controls when long controls are allowed, makes syncing easier
+    lateral_controls_allowed = 1;
+  }
+  // }} PFEIFER - AOL
   regen_braking_prev = regen_braking;
 
   // check if stock ECU is on bus broken by car harness
@@ -335,6 +362,9 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
   vehicle_moving = false;
   acc_main_on = false;
   cruise_button_prev = 0;
+  // PFEIFER - AOL {{
+  main_button_prev = 0;
+  // }} PFEIFER - AOL
   desired_torque_last = 0;
   rt_torque_last = 0;
   ts_angle_last = 0;
@@ -541,7 +571,10 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi
   bool violation = false;
   uint32_t ts = microsecond_timer_get();
 
-  if (controls_allowed) {
+//  if (controls_allowed) {
+//  PFEIFER - AOL {{
+  if(lateral_controls_allowed) {
+// }} PFEIFER - AOL
     // *** global torque limit check ***
     violation |= max_limit_check(desired_torque, limits.max_steer, -limits.max_steer);
 
@@ -568,7 +601,10 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi
   }
 
   // no torque if controls is not allowed
-  if (!controls_allowed && (desired_torque != 0)) {
+//  if (!controls_allowed && (desired_torque != 0)) {
+//  PFEIFER - AOL {{
+  if(!lateral_controls_allowed && (desired_torque != 0)) {
+//  }} PFEIFER - AOL
     violation = true;
   }
 
@@ -610,7 +646,10 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi
   }
 
   // reset to 0 if either controls is not allowed or there's a violation
-  if (violation || !controls_allowed) {
+//  if (violation || !controls_allowed) {
+//  PFEIFER - AOL {{
+  if (violation || !lateral_controls_allowed) {
+//  }} PFEIFER - AOL
     valid_steer_req_count = 0;
     invalid_steer_req_count = 0;
     desired_torque_last = 0;
@@ -626,7 +665,10 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi
 bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const SteeringLimits limits) {
   bool violation = false;
 
-  if (controls_allowed && steer_control_enabled) {
+//  if (controls_allowed && steer_control_enabled) {
+//  PFEIFER - AOL {{
+  if (lateral_controls_allowed && steer_control_enabled) {
+//  }} PFEIFER - AOL
     // convert floating point angle rate limits to integers in the scale of the desired angle on CAN,
     // add 1 to not false trigger the violation. also fudge the speed by 1 m/s so rate limits are
     // always slightly above openpilot's in case we read an updated speed in between angle commands
@@ -669,7 +711,10 @@ bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const
   }
 
   // No angle control allowed when controls are not allowed
-  violation |= !controls_allowed && steer_control_enabled;
+//  violation |= !controls_allowed && steer_control_enabled;
+//  PFEIFER - AOL {{
+  violation |= !lateral_controls_allowed && steer_control_enabled;
+//  }} PFEIFER - AOL
 
   return violation;
 }
diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
index 324f73a22d7..e50135ce502 100644
--- a/board/safety/safety_chrysler.h
+++ b/board/safety/safety_chrysler.h
@@ -196,6 +196,15 @@ static int chrysler_rx_hook(CANPacket_t *to_push) {
     // enter controls on rising edge of ACC, exit controls on ACC off
     const int das_3_bus = (chrysler_platform == CHRYSLER_PACIFICA) ? 0 : 2;
     if ((bus == das_3_bus) && (addr == chrysler_addrs->DAS_3)) {
+      // PFEIFER - AOL {{
+      bool cruise_available = GET_BIT(to_push, 20U) == 1U;
+      if(!cruise_available) {
+        lateral_controls_allowed = 0;
+      }
+      if(alternative_experience & ALT_EXP_AOL_ENABLE_ON_MAIN) {
+        lateral_controls_allowed = cruise_available;
+      }
+      // }} PFEIFER - AOL
       bool cruise_engaged = GET_BIT(to_push, 21U) == 1U;
       pcm_cruise_check(cruise_engaged);
     }
diff --git a/board/safety/safety_defaults.h b/board/safety/safety_defaults.h
index 90c8a0655d1..4edc74414b6 100644
--- a/board/safety/safety_defaults.h
+++ b/board/safety/safety_defaults.h
@@ -49,6 +49,7 @@ bool alloutput_passthrough = false;
 
 static const addr_checks* alloutput_init(uint16_t param) {
   controls_allowed = true;
+  lateral_controls_allowed = true;
   alloutput_passthrough = GET_FLAG(param, ALLOUTPUT_PARAM_PASSTHROUGH);
   return &default_rx_checks;
 }
diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
index 8f48868a2d5..62905523ba3 100644
--- a/board/safety/safety_ford.h
+++ b/board/safety/safety_ford.h
@@ -264,6 +264,15 @@ static int ford_rx_hook(CANPacket_t *to_push) {
 
       // Signal: CcStat_D_Actl
       unsigned int cruise_state = GET_BYTE(to_push, 1) & 0x07U;
+      // PFEIFER - AOL {{
+      bool cruise_available = (cruise_state == 3U) ||(cruise_state == 4U) || (cruise_state == 5U);
+      if(!cruise_available) {
+        lateral_controls_allowed = 0;
+      }
+      if(alternative_experience & ALT_EXP_AOL_ENABLE_ON_MAIN) {
+        lateral_controls_allowed = cruise_available;
+      }
+      // }} PFEIFER - AOL
       bool cruise_engaged = (cruise_state == 4U) || (cruise_state == 5U);
       pcm_cruise_check(cruise_engaged);
     }
diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
index 82c154765aa..19b97faefe7 100644
--- a/board/safety/safety_gm.h
+++ b/board/safety/safety_gm.h
@@ -112,6 +112,18 @@ static int gm_rx_hook(CANPacket_t *to_push) {
       brake_pressed = GET_BYTE(to_push, 1) >= 8U;
     }
 
+    // PFEIFER - AOL {{
+    if (addr == 201) {
+      bool cruise_available = GET_BIT(to_push, 29U) != 0U;
+      if(!cruise_available) {
+        lateral_controls_allowed = 0;
+      }
+      if(alternative_experience & ALT_EXP_AOL_ENABLE_ON_MAIN) {
+        lateral_controls_allowed = cruise_available;
+      }
+    }
+    // }} PFEIFER - AOL
+
     if ((addr == 0xC9) && (gm_hw == GM_CAM)) {
       brake_pressed = GET_BIT(to_push, 40U) != 0U;
     }
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
index d1c6eba76e0..33ee600ee05 100644
--- a/board/safety/safety_honda.h
+++ b/board/safety/safety_honda.h
@@ -143,7 +143,15 @@ static int honda_rx_hook(CANPacket_t *to_push) {
       acc_main_on = GET_BIT(to_push, ((addr == 0x326) ? 28U : 47U));
       if (!acc_main_on) {
         controls_allowed = false;
+        // PFEIFER - AOL {{
+        lateral_controls_allowed = false;
+        // }} PFEIFER - AOL
       }
+      // PFEIFER - AOL {{
+      if(alternative_experience & ALT_EXP_AOL_ENABLE_ON_MAIN) {
+        lateral_controls_allowed = acc_main_on;
+      }
+      // }} PFEIFER - AOL
     }
 
     // enter controls when PCM enters cruise state
@@ -334,7 +342,10 @@ static int honda_tx_hook(CANPacket_t *to_send) {
 
   // STEER: safety check
   if ((addr == 0xE4) || (addr == 0x194)) {
-    if (!controls_allowed) {
+    // if (!controls_allowed) {
+    // PFEIFER - AOL {{
+    if (!lateral_controls_allowed) {
+    // }} PFEIFER - AOL
       bool steer_applied = GET_BYTE(to_send, 0) | GET_BYTE(to_send, 1);
       if (steer_applied) {
         tx = 0;
diff --git a/board/safety/safety_hyundai_canfd.h b/board/safety/safety_hyundai_canfd.h
index f0af9060eb3..4b85b047e87 100644
--- a/board/safety/safety_hyundai_canfd.h
+++ b/board/safety/safety_hyundai_canfd.h
@@ -199,6 +199,15 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
 
     // brake press
     if (addr == 0x175) {
+      // PFEIFER - AOL {{
+      bool cruise_available = ((GET_BYTE(to_push, 8) >> 3) & 0x8U) == 0U;
+      if(!cruise_available) {
+        lateral_controls_allowed = 0;
+      }
+      if(alternative_experience & ALT_EXP_AOL_ENABLE_ON_MAIN) {
+        lateral_controls_allowed = cruise_available;
+      }
+      // }} PFEIFER - AOL
       brake_pressed = GET_BIT(to_push, 81U) != 0U;
     }
 
diff --git a/board/safety/safety_hyundai_common.h b/board/safety/safety_hyundai_common.h
index 8fec9b06cd8..40da8936f78 100644
--- a/board/safety/safety_hyundai_common.h
+++ b/board/safety/safety_hyundai_common.h
@@ -70,6 +70,12 @@ void hyundai_common_cruise_buttons_check(const int cruise_button, const int main
     hyundai_last_button_interaction = MIN(hyundai_last_button_interaction + 1U, HYUNDAI_PREV_BUTTON_SAMPLES);
   }
 
+  // PFEIFER - AOL {{
+  if (main_button != 0 && main_button_prev == 0) { // main_button was pressed
+    lateral_controls_allowed = (lateral_controls_allowed + 1) % 2; // toggle
+  }
+  // }} PFEIFER - AOL
+
   if (hyundai_longitudinal) {
     // enter controls on falling edge of resume or set
     bool set = (cruise_button != HYUNDAI_BTN_SET) && (cruise_button_prev == HYUNDAI_BTN_SET);
@@ -84,6 +90,7 @@ void hyundai_common_cruise_buttons_check(const int cruise_button, const int main
     }
 
     cruise_button_prev = cruise_button;
+    main_button_prev = main_button;
   }
 }
 
diff --git a/board/safety/safety_mazda.h b/board/safety/safety_mazda.h
index e17f1ff4b3b..b9da2fd0d78 100644
--- a/board/safety/safety_mazda.h
+++ b/board/safety/safety_mazda.h
@@ -55,6 +55,15 @@ static int mazda_rx_hook(CANPacket_t *to_push) {
 
     // enter controls on rising edge of ACC, exit controls on ACC off
     if (addr == MAZDA_CRZ_CTRL) {
+      // PFEIFER - AOL {{
+      bool cruise_available = GET_BIT(to_push, 17U);
+      if(!cruise_available) {
+        lateral_controls_allowed = 0;
+      }
+      if(alternative_experience & ALT_EXP_AOL_ENABLE_ON_MAIN) {
+        lateral_controls_allowed = cruise_available;
+      }
+      // }} PFEIFER - AOL
       bool cruise_engaged = GET_BYTE(to_push, 0) & 0x8U;
       pcm_cruise_check(cruise_engaged);
     }
diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index bfe800142a3..7df9f72d5b1 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -165,6 +165,15 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
 
     // enter controls on rising edge of ACC, exit controls on ACC off
     if ((addr == MSG_SUBARU_CruiseControl) && (bus == alt_main_bus)) {
+      // PFEIFER - AOL {{
+      bool cruise_available = GET_BIT(to_push, 40U) != 0U;
+      if (!cruise_available) {
+        lateral_controls_allowed = 0;
+      }
+      if(alternative_experience & ALT_EXP_AOL_ENABLE_ON_MAIN) {
+        lateral_controls_allowed = cruise_available;
+      }
+      // }} PFEIFER - AOL
       bool cruise_engaged = GET_BIT(to_push, 41U) != 0U;
       pcm_cruise_check(cruise_engaged);
     }
diff --git a/board/safety/safety_tesla.h b/board/safety/safety_tesla.h
index 676670aaaf6..928e432efd7 100644
--- a/board/safety/safety_tesla.h
+++ b/board/safety/safety_tesla.h
@@ -98,6 +98,20 @@ static int tesla_rx_hook(CANPacket_t *to_push) {
       if(addr == (tesla_powertrain ? 0x256 : 0x368)) {
         // Cruise state
         int cruise_state = (GET_BYTE(to_push, 1) >> 4);
+        // PFEIFER - AOL {{
+        bool cruise_available = (cruise_state == 1) ||  // STANDBY
+                                (cruise_state == 2) ||  // ENABLED
+                                (cruise_state == 3) ||  // STANDSTILL
+                                (cruise_state == 4) ||  // OVERRIDE
+                                (cruise_state == 6) ||  // PRE_FAULT
+                                (cruise_state == 7);    // PRE_CANCEL
+        if(!cruise_available) {
+          lateral_controls_allowed = 0;
+        }
+        if(alternative_experience & ALT_EXP_AOL_ENABLE_ON_MAIN) {
+          lateral_controls_allowed = cruise_available;
+        }
+        // }} PFEIFER - AOL
         bool cruise_engaged = (cruise_state == 2) ||  // ENABLED
                               (cruise_state == 3) ||  // STANDSTILL
                               (cruise_state == 4) ||  // OVERRIDE
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
index 0bc7f3c6df3..0c757668168 100644
--- a/board/safety/safety_toyota.h
+++ b/board/safety/safety_toyota.h
@@ -30,12 +30,18 @@ const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 805;
 const CanMsg TOYOTA_TX_MSGS[] = {{0x283, 0, 7}, {0x2E6, 0, 8}, {0x2E7, 0, 8}, {0x33E, 0, 7}, {0x344, 0, 8}, {0x365, 0, 7}, {0x366, 0, 7}, {0x4CB, 0, 8},  // DSU bus 0
                                  {0x128, 1, 6}, {0x141, 1, 4}, {0x160, 1, 8}, {0x161, 1, 7}, {0x470, 1, 4},  // DSU bus 1
                                  {0x2E4, 0, 5}, {0x191, 0, 8}, {0x411, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8},  // LKAS + ACC
+                                 // PFEIFER - AOL {{
+                                 {0x1D3, 0, 8},
+                                 // }} PFEIFER - AOL
                                  {0x200, 0, 6}};  // interceptor
 
 AddrCheckStruct toyota_addr_checks[] = {
   {.msg = {{ 0xaa, 0, 8, .check_checksum = false, .expected_timestep = 12000U}, { 0 }, { 0 }}},
   {.msg = {{0x260, 0, 8, .check_checksum = true, .expected_timestep = 20000U}, { 0 }, { 0 }}},
   {.msg = {{0x1D2, 0, 8, .check_checksum = true, .expected_timestep = 30000U}, { 0 }, { 0 }}},
+  // PFEIFER - AOL {{
+  {.msg = {{0x1D3, 0, 8, .check_checksum = true, .expected_timestep = 30000U}, { 0 }, { 0 }}},
+  // }} PFEIFER - AOL
   {.msg = {{0x224, 0, 8, .check_checksum = false, .expected_timestep = 25000U},
            {0x226, 0, 8, .check_checksum = false, .expected_timestep = 25000U}, { 0 }}},
 };
@@ -94,6 +100,21 @@ static int toyota_rx_hook(CANPacket_t *to_push) {
       torque_meas.max++;
     }
 
+    // PFEIFER - AOL {{
+    // wrap lateral controls on main
+    if (addr == 0x1D3) {
+      // ACC main switch on is a prerequisite to enter controls, exit controls immediately on main switch off
+      // Signal: PCM_CRUISE_2/MAIN_ON at 15th bit
+      acc_main_on = GET_BIT(to_push, 15U);
+      if (!acc_main_on) {
+        lateral_controls_allowed = 0;
+      }
+      if(alternative_experience & ALT_EXP_AOL_ENABLE_ON_MAIN) {
+        lateral_controls_allowed = acc_main_on;
+      }
+    }
+    // }} PFEIFER - AOL
+
     // enter controls on rising edge of ACC, exit controls on ACC off
     // exit controls on rising edge of gas press
     if (addr == 0x1D2) {
diff --git a/board/safety/safety_volkswagen_mqb.h b/board/safety/safety_volkswagen_mqb.h
index 0716cdf8fb0..77a59c1ea91 100644
--- a/board/safety/safety_volkswagen_mqb.h
+++ b/board/safety/safety_volkswagen_mqb.h
@@ -158,7 +158,15 @@ static int volkswagen_mqb_rx_hook(CANPacket_t *to_push) {
 
       if (!acc_main_on) {
         controls_allowed = false;
+        // PFEIFER - AOL {{
+        lateral_controls_allowed = 0;
+        // }} PFEIFER - AOL
       }
+      // PFEIFER - AOL {{
+      if(alternative_experience & ALT_EXP_AOL_ENABLE_ON_MAIN) {
+        lateral_controls_allowed = acc_main_on;
+      }
+      // }} PFEIFER - AOL
     }
 
     if (addr == MSG_GRA_ACC_01) {
diff --git a/board/safety/safety_volkswagen_pq.h b/board/safety/safety_volkswagen_pq.h
index 93d180a8114..af08ce7dfba 100644
--- a/board/safety/safety_volkswagen_pq.h
+++ b/board/safety/safety_volkswagen_pq.h
@@ -124,6 +124,18 @@ static int volkswagen_pq_rx_hook(CANPacket_t *to_push) {
       update_sample(&torque_driver, torque_driver_new);
     }
 
+    // PFEIFER - AOL {{
+    if (addr == MSG_MOTOR_5) {
+      acc_main_on = GET_BIT(to_push, 50U);
+      if (!acc_main_on) {
+        lateral_controls_allowed = 0;
+      }
+      if(alternative_experience & ALT_EXP_AOL_ENABLE_ON_MAIN) {
+        lateral_controls_allowed = acc_main_on;
+      }
+    }
+    // }} PFEIFER - AOL
+
     if (volkswagen_longitudinal) {
       if (addr == MSG_MOTOR_5) {
         // ACC main switch on is a prerequisite to enter controls, exit controls immediately on main switch off
diff --git a/board/safety_declarations.h b/board/safety_declarations.h
index cbef3a25d49..44fcf6801c5 100644
--- a/board/safety_declarations.h
+++ b/board/safety_declarations.h
@@ -195,6 +195,9 @@ void safety_tick(const addr_checks *addr_checks);
 
 // This can be set by the safety hooks
 bool controls_allowed = false;
+// PFEIFER - AOL {{
+bool lateral_controls_allowed = false;
+// }} PFEIFER - AOL
 bool relay_malfunction = false;
 bool gas_interceptor_detected = false;
 int gas_interceptor_prev = 0;
@@ -209,6 +212,10 @@ struct sample_t vehicle_speed;
 bool vehicle_moving = false;
 bool acc_main_on = false;  // referred to as "ACC off" in ISO 15622:2018
 int cruise_button_prev = 0;
+// PFEIFER - AOL {{
+int main_button_prev = 0;
+bool set_me_prev = false;
+// }} PFEIFER - AOL
 bool safety_rx_checks_invalid = false;
 
 // for safety modes with torque steering control
@@ -251,3 +258,8 @@ int alternative_experience = 0;
 uint32_t safety_mode_cnt = 0U;
 // allow 1s of transition timeout after relay changes state before assessing malfunctioning
 const uint32_t RELAY_TRNS_TIMEOUT = 1U;
+
+// PFEIFER - AOL {{
+#define ALT_EXP_ENABLE_ALWAYS_ON_LATERAL 16
+#define ALT_EXP_AOL_ENABLE_ON_MAIN 32
+// }} PFEIFER - AOL
diff --git a/python/__init__.py b/python/__init__.py
index bfa376840e3..f8007edc6bd 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -111,6 +111,10 @@ class ALTERNATIVE_EXPERIENCE:
   DISABLE_DISENGAGE_ON_GAS = 1
   DISABLE_STOCK_AEB = 2
   RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
+  # PFEIFER - AOL {{
+  ENABLE_ALWAYS_ON_LATERAL = 16
+  AOL_ENABLE_ON_MAIN = 32
+  # }} PFEIFER - AOL
 
 class Panda:
 
diff --git a/tests/libpanda/safety_helpers.h b/tests/libpanda/safety_helpers.h
index 22a3c4f13a6..dc07538d999 100644
--- a/tests/libpanda/safety_helpers.h
+++ b/tests/libpanda/safety_helpers.h
@@ -21,6 +21,9 @@ bool addr_checks_valid() {
 
 void set_controls_allowed(bool c){
   controls_allowed = c;
+  // PFEIFER - AOL {{
+  lateral_controls_allowed = c;
+  // }} PFEIFER - AOL
 }
 
 void set_alternative_experience(int mode){