diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index bc55e33cbf..c69eb1e4d2 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -25,14 +25,18 @@ from selfdrive.manager.process_config import managed_processes
 NUMPY_TOLERANCE = 1e-7
 CI = "CI" in os.environ
 TIMEOUT = 15
+# laikad may not return on a gnss message, shorter timeout
+TIMEOUT_LAIKAD_RESPONSE = 1
+# laikad needs longer on first startup due to orbit downloads
+TIMEOUT_LAIKAD_UPDATE = 40
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
 
-ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name', "field_tolerances"], defaults=({}, {}, "", {}))
+ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name', "field_tolerances", "allow_no_response"], defaults=({}, {}, "", {}, False))
 
 
-def wait_for_event(evt):
-  if not evt.wait(TIMEOUT):
+def wait_for_event(evt, timeout=TIMEOUT):
+  if not evt.wait(timeout):
     if threading.currentThread().getName() == "MainThread":
       # tested process likely died. don't let test just hang
       raise Exception(f"Timeout reached. Tested process {os.environ['PROC_NAME']} likely crashed.")
@@ -111,8 +115,8 @@ class FakeSubMaster(messaging.SubMaster):
     wait_for_event(self.update_ready)
     self.update_ready.clear()
 
-  def update_msgs(self, cur_time, msgs):
-    wait_for_event(self.update_called)
+  def update_msgs(self, cur_time, msgs, timeout=TIMEOUT):
+    wait_for_event(self.update_called, timeout)
     self.update_called.clear()
     super().update_msgs(cur_time, msgs)
     self.update_ready.set()
@@ -146,8 +150,8 @@ class FakePubMaster(messaging.PubMaster):
     wait_for_event(self.get_called)
     self.get_called.clear()
 
-  def wait_for_msg(self):
-    wait_for_event(self.send_called)
+  def wait_for_msg(self, timeout=TIMEOUT):
+    wait_for_event(self.send_called, timeout)
     self.send_called.clear()
     dat = self.data[self.last_updated]
     self.get_called.set()
@@ -360,20 +364,6 @@ CONFIGS = [
     tolerance=None,
     fake_pubsubmaster=False,
   ),
-  ProcessConfig(
-    proc_name="laikad",
-    subtest_name="Offline",
-    pub_sub={
-      "ubloxGnss": ["gnssMeasurements"],
-      "clocks": []
-    },
-    ignore=["logMonoTime"],
-    init_callback=get_car_params,
-    should_recv_callback=laika_rcv_callback,
-    tolerance=NUMPY_TOLERANCE,
-    fake_pubsubmaster=True,
-    environ={"LAIKAD_NO_INTERNET": "1"},
-  ),
   ProcessConfig(
     proc_name="laikad",
     pub_sub={
@@ -385,6 +375,7 @@ CONFIGS = [
     should_recv_callback=laika_rcv_callback,
     tolerance=NUMPY_TOLERANCE,
     fake_pubsubmaster=True,
+    allow_no_response=True,
   ),
   ProcessConfig(
     proc_name="torqued",
@@ -530,12 +521,22 @@ def python_replay_process(cfg, lr, fingerprint=None):
       msg_queue.append(msg.as_builder())
 
     if should_recv:
-      fsm.update_msgs(msg.logMonoTime / 1e9, msg_queue)
+      timeout = TIMEOUT_LAIKAD_UPDATE if cfg.allow_no_response else TIMEOUT
+      fsm.update_msgs(msg.logMonoTime / 1e9, msg_queue, timeout)
       msg_queue = []
 
       recv_cnt = len(recv_socks)
       while recv_cnt > 0:
-        m = fpm.wait_for_msg().as_builder()
+
+        if cfg.allow_no_response:
+          try:
+            m = fpm.wait_for_msg(TIMEOUT_LAIKAD_RESPONSE).as_builder()
+          except:
+            recv_cnt = 0
+            continue
+        else:
+          m = fpm.wait_for_msg().as_builder()
+
         m.logMonoTime = msg.logMonoTime
         m = m.as_reader()