diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index 064f2e5651..4c07abb026 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -254,7 +254,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
 
   @pytest.mark.timeout(60)
   def test_fw_query_timing(self):
-    total_ref_time = 6.8
+    total_ref_time = {1: 5.55, 2: 6.05}
     brand_ref_times = {
       1: {
         'gm': 0.5,
@@ -276,24 +276,27 @@ class TestFwFingerprintTiming(unittest.TestCase):
       }
     }
 
-    total_time = 0
+    total_times = {1: 0.0, 2: 0.0}
     for num_pandas in (1, 2):
       for brand, config in FW_QUERY_CONFIGS.items():
         with self.subTest(brand=brand, num_pandas=num_pandas):
-          multi_panda_requests = [r for r in config.requests if r.bus > 3]
-          if not len(multi_panda_requests) and num_pandas > 1:
-            raise unittest.SkipTest("No multi-panda FW queries")
-
           avg_time = self._benchmark_brand(brand, num_pandas)
-          total_time += avg_time
+          total_times[num_pandas] += avg_time
           avg_time = round(avg_time, 2)
-          self._assert_timing(avg_time, brand_ref_times[num_pandas][brand])
+
+          ref_time = brand_ref_times[num_pandas].get(brand)
+          if ref_time is None:
+            # ref time should be same as 1 panda if no aux queries
+            ref_time = brand_ref_times[num_pandas - 1][brand]
+
+          self._assert_timing(avg_time, ref_time)
           print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds')
 
-    with self.subTest(brand='all_brands'):
-      total_time = round(total_time, 2)
-      self._assert_timing(total_time, total_ref_time)
-      print(f'all brands, total FW query time={total_time} seconds')
+    for num_pandas in (1, 2):
+      with self.subTest(brand='all_brands', num_pandas=num_pandas):
+        total_time = round(total_times[num_pandas], 2)
+        self._assert_timing(total_time, total_ref_time[num_pandas])
+        print(f'all brands, total FW query time={total_time} seconds')
 
 
 if __name__ == "__main__":