diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index 2fc0f1752f..5d7d41fb08 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -72,7 +72,7 @@ class IsoTpParallelQuery:
     messaging.drain_sock(self.logcan)
     self.msg_buffer = defaultdict(list)
 
-  def get_data(self, timeout):
+  def get_data(self, timeout, total_timeout=60.):
     self._drain_rx()
 
     # Create message objects
@@ -146,4 +146,8 @@ class IsoTpParallelQuery:
             cloudlog.warning(f"iso-tp query timeout after receiving response: {tx_addr}")
         break
 
+      if cur_time - start_time > total_timeout:
+        cloudlog.warning("iso-tp query timeout while receiving data")
+        break
+
     return results