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Controller Area Network (CAN) is the de-facto standard in-vehicle network system. Despite its wide adoption by automobile manufacturers, the lack of security design makes it vulnerable to attacks. For instance, broadcasting packets without authentication allows the impersonation of electronic control units (ECUs). Prior mitigations, such as message authentication or intrusion detection systems, fail to address the compatibility requirement with legacy ECUs, stealthy and sporadic malicious messaging, or guaranteed attack detection. We propose a novel authentication system called ShadowAuth that overcomes the aforementioned challenges by offering backwardcompatible packet authentication to ECUs without requiring ECU firmware source code. Specifically, our authentication scheme provides transparent CAN packet authentication without modifying existing CAN packet definitions (e.g., J1939) via automatic …