Limp-home techniques for situations when an electronic shifter of a vehicle malfunctions include detecting, at a controller of the vehicle, a malfunction of the electronic shifter of the vehicle, the electronic shifter being configured to control shifting of a transmission of the vehicle in response to a gear control input provided by operation of the electronic shifter. The techniques include, in response to detecting the malfunction of the electronic shifter, receiving, at the controller, the gear control input from actuation of the one or more actuators of a steering wheel of the vehicle. The techniques also include controlling, by the controller, shifting of the transmission in response to the gear control input received from the one or more actuators of the steering wheel.