diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 3cd7a25291..e2a707b9de 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -86,6 +86,10 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
     auto toggle = new ParamControl(param, title, desc, icon, this);
 
     if (needs_restart) {
+      QObject::connect(uiState(), &UIState::engagedChanged, [toggle](bool engaged) {
+        toggle.setEnabled(!engaged);
+      });
+
       QObject::connect(toggle, &ParamControl::toggleFlipped, [=](bool state) {
         qDebug() << "put OnroadCycleRequested bool";
         params.putBool("OnroadCycleRequested", true);
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index ec3d40961d..f048a9698d 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -78,6 +78,11 @@ void UIState::updateStatus() {
     }
   }
 
+  if (scene.engaged() != engaged_prev) {
+    engaged_prev = scene.engaged();
+    emit engagedChanged(scene.engaged());
+  }
+
   // Handle onroad/offroad transition
   if (scene.started != started_prev || sm->frame == 1) {
     if (scene.started) {
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 6ff67cacde..fd2aee771e 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -81,6 +81,7 @@ public:
 signals:
   void uiUpdate(const UIState &s);
   void offroadTransition(bool offroad);
+  void engagedChanged(bool engaged);
 
 private slots:
   void update();
@@ -88,6 +89,7 @@ private slots:
 private:
   QTimer *timer;
   bool started_prev = false;
+  bool engaged_prev = false;
 };
 
 UIState *uiState();