diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index adc680ed2..cf978ada3 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -434,7 +434,7 @@ class Controls:
 
     if not self.initialized:
       all_valid = CS.canValid and self.sm.all_checks()
-      timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5)
+      timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 4.0)
       if all_valid or timed_out or (SIMULATION and not REPLAY):
         available_streams = VisionIpcClient.available_streams("camerad", block=False)
         if VisionStreamType.VISION_STREAM_ROAD not in available_streams: