diff --git a/board/safety/safety_volkswagen.h b/board/safety/safety_volkswagen.h
index 98136e3bf5cb39..c16e559ce18b23 100644
--- a/board/safety/safety_volkswagen.h
+++ b/board/safety/safety_volkswagen.h
@@ -14,7 +14,8 @@ const int VOLKSWAGEN_MAX_RATE_DOWN = 10;            // 5.0 Nm/s available rate o
 const int VOLKSWAGEN_DRIVER_TORQUE_ALLOWANCE = 80;
 const int VOLKSWAGEN_DRIVER_TORQUE_FACTOR = 3;
 
-const AddrBus VOLKSWAGEN_TX_MSGS[] = {{MSG_HCA_01, 0}, {MSG_GRA_ACC_01, 2}, {MSG_LDW_02, 0}};
+// MSG_GRA_ACC_01 is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
+const AddrBus VOLKSWAGEN_TX_MSGS[] = {{MSG_HCA_01, 0}, {MSG_GRA_ACC_01, 0}, {MSG_GRA_ACC_01, 2}, {MSG_LDW_02, 0}};
 
 struct sample_t volkswagen_torque_driver;           // last few driver torques measured
 int volkswagen_rt_torque_last = 0;
@@ -126,7 +127,7 @@ static int volkswagen_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // FORCE CANCEL: ensuring that only the cancel button press is sent when controls are off.
   // This avoids unintended engagements while still allowing resume spam
-  if ((bus == 2) && (addr == MSG_GRA_ACC_01) && !controls_allowed) {
+  if ((addr == MSG_GRA_ACC_01) && !controls_allowed) {
     // disallow resume and set: bits 16 and 19
     if ((GET_BYTE(to_send, 2) & 0x9) != 0) {
       tx = 0;
diff --git a/tests/safety/test_volkswagen.py b/tests/safety/test_volkswagen.py
index 4c7f9d937e841f..99d0916e46d0a8 100644
--- a/tests/safety/test_volkswagen.py
+++ b/tests/safety/test_volkswagen.py
@@ -15,7 +15,7 @@
 DRIVER_TORQUE_ALLOWANCE = 80
 DRIVER_TORQUE_FACTOR = 3
 
-TX_MSGS = [[0x126, 0], [0x12B, 2], [0x397, 0]]
+TX_MSGS = [[0x126, 0], [0x12B, 0], [0x12B, 2], [0x397, 0]]
 
 def sign(a):
   if a > 0: