diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index ed79ca71bd..fd9030c7db 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -10,7 +10,8 @@ from cereal import car
 from common.params import Params
 from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.fingerprints import FW_VERSIONS
-from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, match_fw_to_car, get_fw_versions
+from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, match_fw_to_car, get_fw_versions, get_present_ecus
+from selfdrive.car.vin import get_vin
 
 CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
@@ -190,6 +191,27 @@ class TestFwFingerprintTiming(unittest.TestCase):
     self.assertLess(avg_time, ref_time + self.TOL)
     self.assertGreater(avg_time, ref_time - self.TOL, "Performance seems to have improved, update test refs.")
 
+  def test_startup_timing(self):
+    # Tests worse-case VIN query time and typical present ECU query time
+    vin_ref_time = 1.0
+    present_ecu_ref_time = 0.8
+
+    fake_socket = FakeSocket()
+    present_ecu_time = 0.0
+    for _ in range(self.N):
+      thread = threading.Thread(target=get_present_ecus, args=(fake_socket, fake_socket),
+                                kwargs=dict(num_pandas=2))
+      present_ecu_time += self._run_thread(thread)
+    self._assert_timing(present_ecu_time / self.N, present_ecu_ref_time)
+    print(f'get_present_ecus, query time={present_ecu_time / self.N} seconds')
+
+    vin_time = 0.0
+    for _ in range(self.N):
+      thread = threading.Thread(target=get_vin, args=(fake_socket, fake_socket, 1))
+      vin_time += self._run_thread(thread)
+    self._assert_timing(vin_time / self.N, vin_ref_time)
+    print(f'get_vin, query time={vin_time / self.N} seconds')
+
   def test_fw_query_timing(self):
     total_ref_time = 6.1
     brand_ref_times = {