diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py
index fb16310354..d3b1d7538d 100644
--- a/selfdrive/locationd/test/test_lagd.py
+++ b/selfdrive/locationd/test/test_lagd.py
@@ -96,6 +96,7 @@ class TestLagd:
     estimator = LateralLagEstimator(mocked_CP, 0.05)
 
     ds = []
+    test_start = time.perf_counter()
     for _ in range(1000):
       st = time.perf_counter()
       estimator.update_points()
@@ -103,4 +104,8 @@ class TestLagd:
       d = time.perf_counter() - st
       ds.append(d)
 
+      # limit the test to 20 seconds
+      if time.perf_counter() - test_start > 20.0:
+        break
+
     assert np.mean(ds) < 0.05