diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 38fe5a66de..b38a7dedae 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -24,7 +24,7 @@ class Car:
 
   def __init__(self, CI=None):
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'controlsState'], poll='carControl')
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'controlsState'])
     self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
 
     self.can_rcv_timeout_counter = 0  # consecutive timeout count
@@ -85,6 +85,8 @@ class Car:
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
     CS = self.CI.update(self.CC_prev, can_strs)
 
+    self.sm.update(0)
+
     can_rcv_valid = len(can_strs) > 0
 
     # Check for CAN timeout
@@ -99,19 +101,6 @@ class Car:
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
-    # carState is sent last to ensure controlsd receives above services this cycle
-    cs_send = messaging.new_message('carState')
-    cs_send.valid = CS.canValid
-    cs_send.carState = CS
-    cs_send.carState.canRcvTimeout = self.can_rcv_timeout
-    cs_send.carState.canErrorCounter = self.can_rcv_cum_timeout_counter
-    cs_send.carState.cumLagMs = -self.rk.remaining * 1000.
-    self.pm.send('carState', cs_send)
-    cloudlog.timestamp('Sent carState')
-
-    # Wait for carControl response from controlsd
-    self.sm.update(20)
-
     return CS
 
   def state_publish(self, CS: car.CarState):
@@ -130,14 +119,15 @@ class Car:
     co_send.carOutput.actuatorsOutput = self.last_actuators_output
     self.pm.send('carOutput', co_send)
 
-    # # carState is sent last to ensure controlsd receives above services this cycle
-    # cs_send = messaging.new_message('carState')
-    # cs_send.valid = CS.canValid
-    # cs_send.carState = CS
-    # cs_send.carState.canRcvTimeout = self.can_rcv_timeout
-    # cs_send.carState.canErrorCounter = self.can_rcv_cum_timeout_counter
-    # cs_send.carState.cumLagMs = -self.rk.remaining * 1000.
-    # self.pm.send('carState', cs_send)
+    # kick off controlsd step now while we actuate the latest carControl packet
+    cs_send = messaging.new_message('carState')
+    cs_send.valid = CS.canValid
+    cs_send.carState = CS
+    cs_send.carState.canRcvTimeout = self.can_rcv_timeout
+    cs_send.carState.canErrorCounter = self.can_rcv_cum_timeout_counter
+    cs_send.carState.cumLagMs = -self.rk.remaining * 1000.
+    self.pm.send('carState', cs_send)
+    cloudlog.timestamp('Sent carState')
 
   def controls_update(self, CS: car.CarState, CC: car.CarControl):
     """control update loop, driven by carControl"""
@@ -160,14 +150,13 @@ class Car:
     CS = self.state_update()
     cloudlog.timestamp("State updated")
 
+    self.state_publish(CS)
+    cloudlog.timestamp("State published")
+
     if not self.CP.passive and controlsState.initialized:
       self.controls_update(CS, self.sm['carControl'])
       cloudlog.timestamp("Controls updated")
 
-    # TODO: this should be moved back up, note that carOutput will be delayed a frame
-    self.state_publish(CS)
-    cloudlog.timestamp("State published")
-
     self.controlsState_prev = controlsState
 
   def card_thread(self):
diff --git a/tools/latencylogger/plot_timestamps.py b/tools/latencylogger/plot_timestamps.py
index 8f4701f382..4a7f5af841 100755
--- a/tools/latencylogger/plot_timestamps.py
+++ b/tools/latencylogger/plot_timestamps.py
@@ -131,8 +131,8 @@ if __name__ == "__main__":
 
   # r = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
   # lr = LogReader(r, sort_by_time=True)
-  # lr = LogReader('08e4c2a99df165b1/00000016--c3a4ca99ec/0', sort_by_time=True)  # normal
-  lr = LogReader('08e4c2a99df165b1/00000017--e2d24ab118/0', sort_by_time=True)  # polls on carControl
+  lr = LogReader('08e4c2a99df165b1/00000016--c3a4ca99ec/0', sort_by_time=True)  # normal
+  # lr = LogReader('08e4c2a99df165b1/00000017--e2d24ab118/0', sort_by_time=True)  # polls on carControl
   # lr = LogReader('08e4c2a99df165b1/00000018--cf65e47c24/0', sort_by_time=True)  # polls on carControl, sends it earlier
   # lr = LogReader('08e4c2a99df165b1/00000019--e73e3ab4df/0', sort_by_time=True)  # polls on carControl, more logging