diff --git a/opendbc/car/honda/fingerprints.py b/opendbc/car/honda/fingerprints.py
index 6c378151ac8..477a5cf19ef 100644
--- a/opendbc/car/honda/fingerprints.py
+++ b/opendbc/car/honda/fingerprints.py
@@ -509,6 +509,30 @@
       b'77959-T5R-A230\x00\x00',
     ],
   },
+  CAR.HONDA_FIT_4G: {
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-TZK-P140\x00\x00',
+      b'8S102-TZK-PA20\x00\x00',
+      b'8S102-TZK-PB10\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-60E-F010\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TZA-Q010\x00\x00',
+      b'38897-TZB-U010\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TZA-E910\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TZK-F010\x00\x00',
+      b'57114-TZL-F010\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TZA-F120\x00\x00',
+    ],
+  },
   CAR.HONDA_FREED: {
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TDK-J010\x00\x00',
diff --git a/opendbc/car/honda/interface.py b/opendbc/car/honda/interface.py
index cac1306b666..2e8e47f1a20 100755
--- a/opendbc/car/honda/interface.py
+++ b/opendbc/car/honda/interface.py
@@ -194,7 +194,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
         # When using stock ACC, the radar intercepts and filters steering commands the EPS would otherwise accept
         ret.minSteerSpeed = 70. * CV.KPH_TO_MS
 
-    elif candidate in (CAR.ACURA_TLX_2G_MMR, CAR.ACURA_MDX_4G):
+    elif candidate in (CAR.ACURA_TLX_2G_MMR, CAR.ACURA_MDX_4G, CAR.HONDA_FIT_4G):
       ret.steerActuatorDelay = 0.15
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@@ -227,11 +227,16 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
     # conflict with PCM acc
-    ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
+    if (candidate == CAR.HONDA_FIT_4G) and (not ret.openpilotLongitudinalControl):
+      ret.autoResumeSng = False
+    else:
+      ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
     if ret.autoResumeSng:
       ret.minEnableSpeed = -1.
     elif candidate == CAR.HONDA_ODYSSEY_TWN:
       ret.minEnableSpeed = 19. * CV.MPH_TO_MS
+    elif candidate == CAR.HONDA_FIT_4G:
+      ret.minEnableSpeed = 30. * CV.KPH_TO_MS
     else:
       ret.minEnableSpeed = 25.51 * CV.MPH_TO_MS
 
diff --git a/opendbc/car/honda/values.py b/opendbc/car/honda/values.py
index 8a9d6556fac..5f07e823c2e 100644
--- a/opendbc/car/honda/values.py
+++ b/opendbc/car/honda/values.py
@@ -298,6 +298,16 @@ class CAR(Platforms):
     [HondaCarDocs("Acura TLX 2025", "All")],
     CarSpecs(mass=3990 * CV.LB_TO_KG, wheelbase=2.87, centerToFrontRatio=0.43, steerRatio=13.7),
   )
+  HONDA_FIT_4G = HondaBoschPlatformConfig(
+    [
+      HondaCarDocs("Honda Fit (Taiwan) 2021", "All"),
+      # TODO: add 2022-2023 fingerprints
+      HondaCarDocs("Honda Fit (Taiwan) 2024-25", "All"),
+    ],
+    CarSpecs(mass=1229, wheelbase=2.53, steerRatio=19.7, centerToFrontRatio=0.39, minSteerSpeed=23. * CV.KPH_TO_MS),
+    {Bus.pt: 'honda_bosch_radarless_generated'},
+    flags=HondaFlags.BOSCH_RADARLESS,
+  )
 
   # Nidec Cars
   ACURA_ILX = HondaNidecPlatformConfig(
diff --git a/opendbc/car/tests/routes.py b/opendbc/car/tests/routes.py
index 2fe80c0f781..842f6194e4f 100644
--- a/opendbc/car/tests/routes.py
+++ b/opendbc/car/tests/routes.py
@@ -133,6 +133,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("ad9840558640c31d/0000001a--d6cd4871c2", HONDA.ACURA_MDX_4G_MMR),  # 2025 MDX
   CarTestRoute("ad9840558640c31d/000001f2--026c4f6275", HONDA.ACURA_TLX_2G_MMR),
   CarTestRoute("619b464263ab23f2/00000025--ece505fdfc", HONDA.ACURA_MDX_4G),
+  CarTestRoute("f0a3de7786dcc72c/0000001a--4336abf007", HONDA.HONDA_FIT_4G),
 
   CarTestRoute("87d7f06ade479c2e/2023-09-11--23-30-11", HYUNDAI.HYUNDAI_AZERA_6TH_GEN),
   CarTestRoute("66189dd8ec7b50e6/2023-09-20--07-02-12", HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN),
diff --git a/opendbc/car/torque_data/override.toml b/opendbc/car/torque_data/override.toml
index f6bab7603f9..0f6a7bae425 100644
--- a/opendbc/car/torque_data/override.toml
+++ b/opendbc/car/torque_data/override.toml
@@ -101,6 +101,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "JEEP_CHEROKEE_5TH_GEN" = [1.5, 1.5, 0.15]
 "ACURA_MDX_4G" = [1.4, 1.4, 0.17]
 "ACURA_RDX_3G_MMR" = [1.5, 1.5, 0.16]
+"HONDA_FIT_4G" = [1.3, 1.3, 0.22]
 
 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]