diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index 6a18504969..67c7fbecfd 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -78,7 +78,8 @@ libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
 libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
 
 lenv2 = envCython.Clone()
-lenv2["LINKFLAGS"] += ['-Wl,-rpath,$$ORIGIN', lib_solver[0].get_labspath()]
+lenv2["LINKFLAGS"] += ['-Wl,-rpath,\$$ORIGIN']
+lenv2["LINKFLAGS"] += [f'-Wl,-rpath,\$$ORIGIN/{gen}']
 lenv2.Command(libacados_ocp_solver_c,
   [acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
   f'cython' + \
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 20872d45c7..1cd03e369e 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -86,7 +86,8 @@ libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
 libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
 
 lenv2 = envCython.Clone()
-lenv2["LINKFLAGS"] += ['-Wl,-rpath,$$ORIGIN', lib_solver[0].get_labspath()]
+lenv2["LINKFLAGS"] += ['-Wl,-rpath,\$$ORIGIN']
+lenv2["LINKFLAGS"] += [f'-Wl,-rpath,\$$ORIGIN/{gen}']
 lenv2.Command(libacados_ocp_solver_c,
   [acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
   f'cython' + \