diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 16c0c0f6a3..5871488fe6 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -77,9 +77,9 @@ class ReplayContext:
   def wait_for_recv_called(self):
     messaging.wait_for_one_event(self.all_recv_called_events)
 
-  def wait_for_next_recv(self, end_of_cycle):
+  def wait_for_next_recv(self, trigger_empty_recv):
     index = messaging.wait_for_one_event(self.all_recv_called_events)
-    if self.drained_pub is not None and end_of_cycle:
+    if self.drained_pub is not None and trigger_empty_recv:
       self.all_recv_called_events[index].clear()
       self.all_recv_ready_events[index].set()
       self.all_recv_called_events[index].wait()
@@ -419,12 +419,17 @@ def _replay_single_process(cfg, lr, fingerprint):
                 for s in sockets.values():
                   messaging.recv_one_or_none(s)
 
+              # empty recv on drained pub indicates the end of messages, only do that if there're any
+              trigger_empty_recv = False
+              if cfg.drained_pub:
+                trigger_empty_recv = next((True for m in msg_queue if m.which() == cfg.drained_pub), False)
+
               for m in msg_queue:
                 pm.send(m.which(), m.as_builder())
               msg_queue = []
 
               rc.unlock_sockets()
-              rc.wait_for_next_recv(True)
+              rc.wait_for_next_recv(trigger_empty_recv)
 
               for s in resp_sockets:
                 ms = messaging.drain_sock(sockets[s])