diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
index 1cf819147f..a1a119045c 100644
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@@ -191,6 +191,14 @@ class PathPlanner():
     next_tire_angle = interp(DT_MDL + delay, self.t_idxs[:MPC_N+1], self.mpc_solution.tire_angle)
     next_tire_angle_rate = self.mpc_solution.tire_angle_rate[0]
 
+    # TODO This gets around the fact that MPC can plan to turn and turn back in the
+    # time between now and delay, need better abstraction between planner and controls
+    plan_ahead_idx = sum(self.t_idxs < delay)
+    if next_tire_angle_rate > 0:
+      next_tire_angle = max(list(self.mpc_solution.tire_angle)[:plan_ahead_idx] + [next_tire_angle])
+    else:
+      next_tire_angle = min(list(self.mpc_solution.tire_angle)[:plan_ahead_idx] + [next_tire_angle])
+
     # reset to current steer angle if not active or overriding
     if active:
       tire_angle_desired = next_tire_angle
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 5ebe739bef..e71b8a5eb2 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-f69a7c09518ad0ee7a7ca88cd4a8974145f24a6d
\ No newline at end of file
+537244985e387f5d290d0deaaf900dc8231d13f8
\ No newline at end of file