diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 977d20c5b3..7c883dacc0 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -21,7 +21,8 @@ class CarController:
     self.frame = 0
     self.last_button_frame = 0
 
-    self.lka_steering_cmd_counter_last = -1
+    self.lka_steering_cmd_counter = 0
+    self.sent_lka_steering_cmd = False
     self.lka_icon_status_last = (False, False)
 
     self.params = CarControllerParams()
@@ -44,9 +45,14 @@ class CarController:
     # Steering (50Hz)
     # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just received the
     # next Panda loopback confirmation in the current CS frame.
-    if CS.lka_steering_cmd_counter != self.lka_steering_cmd_counter_last:
-      self.lka_steering_cmd_counter_last = CS.lka_steering_cmd_counter
+    if CS.loopback_lka_steering_cmd_updated:
+      self.lka_steering_cmd_counter += 1
+      self.sent_lka_steering_cmd = True
     elif (self.frame % self.params.STEER_STEP) == 0:
+      # Initialize ASCMLKASteeringCmd counter using the camera
+      if not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera:
+        self.lka_steering_cmd_counter = CS.camera_lka_steering_cmd_counter + 1
+
       if CC.latActive:
         new_steer = int(round(actuators.steer * self.params.STEER_MAX))
         apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
@@ -54,10 +60,7 @@ class CarController:
         apply_steer = 0
 
       self.apply_steer_last = apply_steer
-      # GM EPS faults on any gap in received message counters. To handle transient OP/Panda safety sync issues at the
-      # moment of disengaging, increment the counter based on the last message known to pass Panda safety checks.
-      idx = (CS.lka_steering_cmd_counter + 1) % 4
-
+      idx = self.lka_steering_cmd_counter % 4
       can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))
 
     if self.CP.openpilotLongitudinalControl:
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index f96a234dbd..6d1e2b9d44 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -15,7 +15,8 @@ class CarState(CarStateBase):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
-    self.lka_steering_cmd_counter = 0
+    self.loopback_lka_steering_cmd_updated = False
+    self.camera_lka_steering_cmd_counter = 0
     self.buttons_counter = 0
 
   def update(self, pt_cp, cam_cp, loopback_cp):
@@ -25,6 +26,11 @@ class CarState(CarStateBase):
     self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
     self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
 
+    # Variables used for avoiding LKAS faults
+    self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]) > 0
+    if self.CP.networkLocation == NetworkLocation.fwdCamera:
+      self.camera_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
+
     ret.wheelSpeeds = self.get_wheel_speeds(
       pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
       pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"],
@@ -59,7 +65,6 @@ class CarState(CarStateBase):
     ret.steeringTorque = pt_cp.vl["PSCMStatus"]["LKADriverAppldTrq"]
     ret.steeringTorqueEps = pt_cp.vl["PSCMStatus"]["LKATorqueDelivered"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-    self.lka_steering_cmd_counter = loopback_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
 
     # 0 inactive, 1 active, 2 temporarily limited, 3 failed
     self.lkas_status = pt_cp.vl["PSCMStatus"]["LKATorqueDeliveredStatus"]
@@ -94,8 +99,14 @@ class CarState(CarStateBase):
     signals = []
     checks = []
     if CP.networkLocation == NetworkLocation.fwdCamera:
-      signals.append(("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"))
-      checks.append(("ASCMActiveCruiseControlStatus", 25))
+      signals += [
+        ("RollingCounter", "ASCMLKASteeringCmd"),
+        ("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"),
+      ]
+      checks += [
+        ("ASCMLKASteeringCmd", 10),
+        ("ASCMActiveCruiseControlStatus", 25),
+      ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.CAMERA)
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index db3684fb0b..6b64fcb5aa 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-02c6922762fef41c8188a5a4f1f3267b76651330
\ No newline at end of file
+5fa6a3743f2678eef13267fb946d7a03f2af5824