diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index e7e8f757b..b596b1126 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -156,13 +156,15 @@ void MapWindow::updateState(const UIState &s) {
   }
 
   if (sm.updated("navRoute") && sm["navRoute"].getNavRoute().getCoordinates().size()) {
+    auto nav_dest = coordinate_from_param("NavDestination");
+    bool allow_open = std::exchange(last_valid_nav_dest, nav_dest) != nav_dest &&
+                      nav_dest && !isVisible();
     qWarning() << "Got new navRoute from navd. Opening map:" << allow_open;
 
-    // Only open the map on setting destination the first time
+    // Show map on destination set/change
     if (allow_open) {
       emit requestSettings(false);
-      emit requestVisible(true); // Show map on destination set/change
-      allow_open = false;
+      emit requestVisible(true);
     }
   }
 
@@ -291,7 +293,7 @@ void MapWindow::clearRoute() {
 
   map_instructions->setVisible(false);
   map_eta->setVisible(false);
-  allow_open = true;
+  last_valid_nav_dest = std::nullopt;
 }
 
 void MapWindow::mousePressEvent(QMouseEvent *ev) {
diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h
index d57f6517b..66d10a00a 100644
--- a/selfdrive/ui/qt/maps/map.h
+++ b/selfdrive/ui/qt/maps/map.h
@@ -50,7 +50,6 @@ private:
   void setError(const QString &err_str);
 
   bool loaded_once = false;
-  bool allow_open = true;
 
   // Panning
   QPointF m_lastPos;
@@ -58,6 +57,7 @@ private:
   int zoom_counter = 0;
 
   // Position
+  std::optional<QMapbox::Coordinate> last_valid_nav_dest;
   std::optional<QMapbox::Coordinate> last_position;
   std::optional<float> last_bearing;
   FirstOrderFilter velocity_filter;