diff --git a/firmware/CHANGELOG.md b/firmware/CHANGELOG.md
index 39232ce17d..1aa339fd12 100644
--- a/firmware/CHANGELOG.md
+++ b/firmware/CHANGELOG.md
@@ -40,6 +40,7 @@ Release template (copy/paste this for new release):
  - Make TPS/PPS split threshold configurable #5620
  - Mitsubishi 6G72 CAM Trigger Pattern #5593
  - 3/0 trigger #5788
+ - CANbus front to rear axle speed slip rate gauge on Nissan 350z and modern Hyundai/Kia #5842
 
 ### Fixed
  - Changing idle stepper settings causes kernel panic
diff --git a/firmware/controllers/can/can_vss.cpp b/firmware/controllers/can/can_vss.cpp
index fc7f04bfff..1715407c11 100644
--- a/firmware/controllers/can/can_vss.cpp
+++ b/firmware/controllers/can/can_vss.cpp
@@ -123,7 +123,9 @@ float processHyundai(const CANRxFrame& frame, efitick_t nowNt) {
   int frontAxle = (frontL + frontR);
   int rearAxle = (rearL + rearR);
 
-  efiPrintf("processHyundai: frontL %d rearL %d", frontL, rearL);
+  if (engineConfiguration->verboseCan) {
+    efiPrintf("processHyundai: frontL %d rearL %d", frontL, rearL);
+  }
 
   wheelSlipRatio.setValidValue(SLIP_RATIO(frontAxle, rearAxle), nowNt);
 
@@ -160,7 +162,9 @@ static void processNissanSecondVss(const CANRxFrame& frame, efitick_t nowNt) {
 
 	int rearAxle = left + right;
 
-	efiPrintf("processHyundai: front %d rear %d", nissanFrontAxle, rearAxle);
+  if (engineConfiguration->verboseCan) {
+	  efiPrintf("processNissan: front %d rear %d", nissanFrontAxle, rearAxle);
+	}
 
 	wheelSlipRatio.setValidValue(SLIP_RATIO(nissanFrontAxle, rearAxle), nowNt);
 }