diff --git a/opendbc/car/rivian/carstate.py b/opendbc/car/rivian/carstate.py
index c64dfb1dd5..c7da0689b5 100644
--- a/opendbc/car/rivian/carstate.py
+++ b/opendbc/car/rivian/carstate.py
@@ -5,6 +5,8 @@
 from opendbc.car.rivian.values import DBC, GEAR_MAP
 from opendbc.car.common.conversions import Conversions as CV
 
+GearShifter = structs.CarState.GearShifter
+
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -62,7 +64,7 @@ def update(self, can_parsers) -> structs.CarState:
                       cp.vl["VDM_AdasSts"]["VDM_AdasFaultStatus"] in (2, 3))  # 2=Cntr_Fault, 3=Imps_Cmd
 
     # Gear
-    ret.gearShifter = GEAR_MAP[int(cp.vl["VDM_PropStatus"]["VDM_Prndl_Status"])]
+    ret.gearShifter = GEAR_MAP.get(int(cp.vl["VDM_PropStatus"]["VDM_Prndl_Status"]), GearShifter.unknown)
 
     # Doors
     ret.doorOpen = (cp_adas.vl["IndicatorLights"]["RearDriverDoor"] != 2 or
diff --git a/opendbc/car/rivian/values.py b/opendbc/car/rivian/values.py
index 1769489b36..17dce6560f 100644
--- a/opendbc/car/rivian/values.py
+++ b/opendbc/car/rivian/values.py
@@ -44,13 +44,13 @@ class CAR(Platforms):
   ]
 )
 
-GEAR_MAP = [
-  structs.CarState.GearShifter.unknown,
-  structs.CarState.GearShifter.park,
-  structs.CarState.GearShifter.reverse,
-  structs.CarState.GearShifter.neutral,
-  structs.CarState.GearShifter.drive,
-]
+GEAR_MAP = {
+  0: structs.CarState.GearShifter.unknown,
+  1: structs.CarState.GearShifter.park,
+  2: structs.CarState.GearShifter.reverse,
+  3: structs.CarState.GearShifter.neutral,
+  4: structs.CarState.GearShifter.drive,
+}
 
 
 class CarControllerParams:
diff --git a/opendbc/safety/safety/safety_rivian.h b/opendbc/safety/safety/safety_rivian.h
index 1d0fc9301f..4e1304eeb0 100644
--- a/opendbc/safety/safety/safety_rivian.h
+++ b/opendbc/safety/safety/safety_rivian.h
@@ -39,7 +39,8 @@ static void rivian_rx_hook(const CANPacket_t *to_push) {
   if (bus == 2) {
     // Cruise state
     if (addr == 0x100) {
-      pcm_cruise_check(GET_BIT(to_push, 21U));
+      const int feature_status = GET_BYTE(to_push, 2) >> 5U;
+      pcm_cruise_check(feature_status == 1);
     }
   }
 }