diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index 4bf755537..ed79ca71b 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -161,31 +161,36 @@ class TestFwFingerprint(unittest.TestCase):
 
 
 class TestFwFingerprintTiming(unittest.TestCase):
+  N: int = 5
+  TOL: float = 0.1
+
   @staticmethod
-  def _benchmark(brand, num_pandas, n):
+  def _run_thread(thread: threading.Thread) -> float:
     params = Params()
+    params.put_bool("ObdMultiplexingEnabled", True)
+    thread.start()
+    t = time.perf_counter()
+    while thread.is_alive():
+      time.sleep(0.02)
+      if not params.get_bool("ObdMultiplexingChanged"):
+        params.put_bool("ObdMultiplexingChanged", True)
+    return time.perf_counter() - t
+
+  def _benchmark_brand(self, brand, num_pandas):
     fake_socket = FakeSocket()
+    brand_time = 0
+    for _ in range(self.N):
+      thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand),
+                                kwargs=dict(num_pandas=num_pandas))
+      brand_time += self._run_thread(thread)
 
-    times = []
-    for _ in range(n):
-      params.put_bool("ObdMultiplexingEnabled", True)
-      thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand), kwargs=dict(num_pandas=num_pandas))
-      thread.start()
-      t = time.perf_counter()
-      while thread.is_alive():
-        time.sleep(0.02)
-        if not params.get_bool("ObdMultiplexingChanged"):
-          params.put_bool("ObdMultiplexingChanged", True)
-      times.append(time.perf_counter() - t)
-
-    return round(sum(times) / len(times), 2)
+    return round(brand_time / self.N, 2)
 
-  def _assert_timing(self, avg_time, ref_time, tol):
-    self.assertLess(avg_time, ref_time + tol)
-    self.assertGreater(avg_time, ref_time - tol, "Performance seems to have improved, update test refs.")
+  def _assert_timing(self, avg_time, ref_time):
+    self.assertLess(avg_time, ref_time + self.TOL)
+    self.assertGreater(avg_time, ref_time - self.TOL, "Performance seems to have improved, update test refs.")
 
   def test_fw_query_timing(self):
-    tol = 0.1
     total_ref_time = 6.1
     brand_ref_times = {
       1: {
@@ -214,13 +219,13 @@ class TestFwFingerprintTiming(unittest.TestCase):
           if not len(multi_panda_requests) and num_pandas > 1:
             raise unittest.SkipTest("No multi-panda FW queries")
 
-          avg_time = self._benchmark(brand, num_pandas, 5)
+          avg_time = self._benchmark_brand(brand, num_pandas)
           total_time += avg_time
-          self._assert_timing(avg_time, brand_ref_times[num_pandas][brand], tol)
+          self._assert_timing(avg_time, brand_ref_times[num_pandas][brand])
           print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds')
 
     with self.subTest(brand='all_brands'):
-      self._assert_timing(total_time, total_ref_time, tol)
+      self._assert_timing(total_time, total_ref_time)
       print(f'all brands, total FW query time={total_time} seconds')