diff --git a/SConstruct b/SConstruct
index d5051c8fb2..1074876325 100644
--- a/SConstruct
+++ b/SConstruct
@@ -80,7 +80,7 @@ assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
 
 lenv = {
   "PATH": os.environ['PATH'],
-  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
+  "LD_LIBRARY_PATH": [str(Dir(f"#third_party/acados/{arch}/lib"))],
   "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
 
   "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index 2c03da06a6..6a18504969 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -78,7 +78,7 @@ libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
 libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
 
 lenv2 = envCython.Clone()
-lenv2["LINKFLAGS"] += [lib_solver[0].get_labspath()]
+lenv2["LINKFLAGS"] += ['-Wl,-rpath,$$ORIGIN', lib_solver[0].get_labspath()]
 lenv2.Command(libacados_ocp_solver_c,
   [acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
   f'cython' + \
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 2a155717c0..20872d45c7 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -86,7 +86,7 @@ libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
 libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
 
 lenv2 = envCython.Clone()
-lenv2["LINKFLAGS"] += [lib_solver[0].get_labspath()]
+lenv2["LINKFLAGS"] += ['-Wl,-rpath,$$ORIGIN', lib_solver[0].get_labspath()]
 lenv2.Command(libacados_ocp_solver_c,
   [acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
   f'cython' + \