diff --git a/panda b/panda
index a12c0a795..8efbcf041 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit a12c0a795678373d946b644b43d9402b72e502a9
+Subproject commit 8efbcf041c1b6da1764bb56f822609fd4bb0758f
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index 70f8b5f50..1b115c665 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -105,13 +105,14 @@ class IsoTpParallelQuery:
 
       for tx_addr, msg in msgs.items():
         try:
-          dat, updated = msg.recv()
+          dat, rx_in_progress = msg.recv()
         except Exception:
           cloudlog.exception(f"Error processing UDS response: {tx_addr}")
           request_done[tx_addr] = True
           continue
 
-        if updated:
+        # Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses
+        if rx_in_progress:
           response_timeouts[tx_addr] = time.monotonic() + timeout
 
         if not dat:
@@ -123,6 +124,7 @@ class IsoTpParallelQuery:
 
         if response_valid:
           if counter + 1 < len(self.request):
+            response_timeouts[tx_addr] = time.monotonic() + timeout
             msg.send(self.request[counter + 1])
             request_counter[tx_addr] += 1
           else: