diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index e9f23145cd..54f27479d8 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -7,13 +7,12 @@ from parameterized import parameterized
 from cereal import car
 from selfdrive.car.car_helpers import get_interface_attr, interfaces
 from selfdrive.car.fingerprints import FW_VERSIONS
-from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, match_fw_to_car
+from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, VERSIONS, match_fw_to_car
 
 CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
 
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
-VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True)
 
 
 class TestFwFingerprint(unittest.TestCase):
diff --git a/selfdrive/car/tests/test_fw_fingerprint_metrics.py b/selfdrive/car/tests/test_fw_fingerprint_metrics.py
new file mode 100755
index 0000000000..67c1438724
--- /dev/null
+++ b/selfdrive/car/tests/test_fw_fingerprint_metrics.py
@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+import random
+import unittest
+from collections import defaultdict
+from parameterized import parameterized
+
+from cereal import car
+from selfdrive.car.car_helpers import get_interface_attr, interfaces
+from selfdrive.car.fingerprints import FW_VERSIONS
+from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, VERSIONS, match_fw_to_car
+
+CarFw = car.CarParams.CarFw
+Ecu = car.CarParams.Ecu
+
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+
+
+class TestFwFingerprint(unittest.TestCase):
+  # TODO: test multiple pandas
+  @parameterized.expand([(1,), (2,)])
+  def test_fw_query_metrics(self, num_pandas):
+    for brand, config in FW_QUERY_CONFIGS.items():
+      with self.subTest(brand=brand, num_pandas=num_pandas):
+        requests = [r for r in config.requests if r.bus <= num_pandas * 4 - 1]
+        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")
+
+        total_time = 0
+        obd_multiplexing = config.requests[0].obd_multiplexing  # only count OBD multiplexing transitions
+        for r in requests:
+          total_time += 0.1
+
+          if r.obd_multiplexing != obd_multiplexing and r.bus % 4 == 1:
+            obd_multiplexing = r.obd_multiplexing
+            total_time += 0.1
+
+        total_time = round(total_time, 2)
+        self.assertLessEqual(total_time, 1.1)
+        print(f'{brand=}, {num_pandas=}, {len(requests)=}, total FW query time={total_time} seconds')
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index dc6688324f..0bb9aa5e54 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -8,13 +8,11 @@ import traceback
 from tqdm import tqdm
 from tools.lib.logreader import LogReader
 from tools.lib.route import Route
-from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.car_helpers import interface_names
-from selfdrive.car.fw_versions import match_fw_to_car
+from selfdrive.car.fw_versions import VERSIONS, match_fw_to_car
 
 
 NO_API = "NO_API" in os.environ
-VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
 SUPPORTED_BRANDS = VERSIONS.keys()
 SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]]
 UNKNOWN_BRAND = "unknown"