diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index 3662f4bbf8..c61cb35345 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -278,7 +278,12 @@ void MapWindow::recomputeRoute() {
   if (*new_destination != nav_destination) {
     qWarning() << "Got new destination from NavDestination param" << *new_destination;
 
-    setVisible(true); // Show map on destination set/change
+    // Only open the map on setting destination the first time
+    if (allow_open) {
+      setVisible(true); // Show map on destination set/change
+      allow_open = false;
+    }
+
     // TODO: close sidebar
 
     should_recompute = true;
@@ -375,6 +380,7 @@ void MapWindow::clearRoute() {
 
   map_instructions->hideIfNoError();
   map_eta->setVisible(false);
+  allow_open = true;
 }
 
 
diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h
index 7da1024485..a796872b32 100644
--- a/selfdrive/ui/qt/maps/map.h
+++ b/selfdrive/ui/qt/maps/map.h
@@ -111,6 +111,7 @@ private:
   bool localizer_valid = false;
 
   // Route
+  bool allow_open = true;
   bool gps_ok = false;
   QGeoServiceProvider *geoservice_provider;
   QGeoRoutingManager *routing_manager;