diff --git a/Jenkinsfile b/Jenkinsfile
index 8a2f83be2f..9b1ea421ac 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -153,6 +153,7 @@ pipeline {
               ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
               ["build openpilot", "cd selfdrive/manager && ./build.py"],
               ["check dirty", "release/check-dirty.sh"],
+              ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
               ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
               ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
             ])
diff --git a/release/files_common b/release/files_common
index 2fcbf90c91..6f671e1781 100644
--- a/release/files_common
+++ b/release/files_common
@@ -293,6 +293,7 @@ selfdrive/test/__init__.py
 selfdrive/test/helpers.py
 selfdrive/test/setup_device_ci.sh
 selfdrive/test/test_onroad.py
+selfdrive/test/test_time_to_onroad.py
 
 selfdrive/ui/.gitignore
 selfdrive/ui/SConscript
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index 281c902933..9fc80d8d72 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -3,13 +3,19 @@ import time
 from functools import wraps
 
 import cereal.messaging as messaging
+from common.params import Params
 from selfdrive.manager.process_config import managed_processes
 from system.hardware import PC
 from system.version import training_version, terms_version
 
 
 def set_params_enabled():
-  from common.params import Params
+  os.environ['PASSIVE'] = "0"
+  os.environ['REPLAY'] = "1"
+  os.environ['SKIP_FW_QUERY'] = "1"
+  os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
+  os.environ['LOGPRINT'] = "debug"
+
   params = Params()
   params.put("HasAcceptedTerms", terms_version)
   params.put("CompletedTrainingVersion", training_version)
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 22ddb6e9cc..327d8d0ff6 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -95,12 +95,6 @@ class TestOnroad(unittest.TestCase):
       return
 
     # setup env
-    os.environ['PASSIVE'] = "0"
-    os.environ['REPLAY'] = "1"
-    os.environ['SKIP_FW_QUERY'] = "1"
-    os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
-    os.environ['LOGPRINT'] = "debug"
-
     params = Params()
     params.clear_all()
     set_params_enabled()
diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py
new file mode 100755
index 0000000000..65683ed890
--- /dev/null
+++ b/selfdrive/test/test_time_to_onroad.py
@@ -0,0 +1,46 @@
+#!/usr/bin/env python3
+import os
+import time
+import subprocess
+import pytest
+
+import cereal.messaging as messaging
+from common.basedir import BASEDIR
+from common.timeout import Timeout
+from selfdrive.test.helpers import set_params_enabled
+
+
+def test_time_to_onroad():
+  # launch
+  set_params_enabled()
+  manager_path = os.path.join(BASEDIR, "selfdrive/manager/manager.py")
+  proc = subprocess.Popen(["python", manager_path])
+
+  start_time = time.monotonic()
+  sm = messaging.SubMaster(['controlsState', 'deviceState'])
+  try:
+    # wait for onroad
+    with Timeout(20, "timed out waiting to go onroad"):
+      while True:
+        sm.update(1000)
+        if sm['deviceState'].started:
+          break
+        time.sleep(1)
+
+    # wait for engageability
+    with Timeout(10, "timed out waiting for engageable"):
+      while True:
+        sm.update(1000)
+        if sm['controlsState'].engageable:
+          break
+        time.sleep(1)
+    print(f"engageable after {time.monotonic() - start_time:.2f}s")
+
+    # once we're enageable, must be for the next few seconds
+    for _ in range(500):
+      sm.update(100)
+      assert sm['controlsState'].engageable
+  finally:
+    proc.terminate()
+    if proc.wait(60) is None:
+      proc.kill()