diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 255015a761..5a6b78dac2 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -276,7 +276,8 @@ def thermald_thread():
     # If device is offroad we want to cool down before going onroad
     # since going onroad increases load and can make temps go over 107
     # We only do this if there is a relay that prevents the car from faulting
-    if max_cpu_temp > 107. or bat_temp >= 63. or (has_relay and (started_ts is None) and max_cpu_temp > 70.0):
+    is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (sec_since_boot() - off_ts > 60 * 5))
+    if max_cpu_temp > 107. or bat_temp >= 63. or (has_relay and is_offroad_for_5_min and max_cpu_temp > 70.0):
       # onroad not allowed
       thermal_status = ThermalStatus.danger
     elif max_comp_temp > 96.0 or bat_temp > 60.: