diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index d6b353884..5f8b0561a 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -97,6 +97,7 @@ class IsoTpParallelQuery:
 
     results = {}
     start_time = time.monotonic()
+    addrs_responded = set()  # track addresses that have ever sent a valid iso-tp frame for timeout logging
     response_timeouts = {tx_addr: start_time + timeout for tx_addr in self.msg_addrs}
     while True:
       self.rx()
@@ -111,6 +112,7 @@ class IsoTpParallelQuery:
 
         # Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses
         if rx_in_progress:
+          addrs_responded.add(tx_addr)
           response_timeouts[tx_addr] = time.monotonic() + timeout
 
         if not dat:
@@ -141,8 +143,13 @@ class IsoTpParallelQuery:
       cur_time = time.monotonic()
       for tx_addr in response_timeouts:
         if cur_time - response_timeouts[tx_addr] > 0:
-          if request_counter[tx_addr] > 0 and not request_done[tx_addr]:
-            cloudlog.error(f"iso-tp query timeout after receiving response: {tx_addr}")
+          if not request_done[tx_addr]:
+            if request_counter[tx_addr] > 0:
+              cloudlog.error(f"iso-tp query timeout after receiving partial response: {tx_addr}")
+            elif tx_addr in addrs_responded:
+              cloudlog.error(f"iso-tp query timeout while receiving response: {tx_addr}")
+            else:
+              cloudlog.error(f"iso-tp query timeout with no response: {tx_addr}")
           request_done[tx_addr] = True
 
       # Break if all requests are done (finished or timed out)