diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 14969954c2..ee07adf52b 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -19,6 +19,10 @@ from collections import namedtuple
 
 ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback'])
 
+def wait_for_event(evt):
+  if not evt.wait(15):
+    raise Exception("Timeout reached. Thread likely crashed.")
+
 class FakeSocket:
   def __init__(self, wait=True):
     self.data = []
@@ -32,13 +36,13 @@ class FakeSocket:
 
     if self.wait:
       self.recv_called.set()
-      self.recv_ready.wait()
+      wait_for_event(self.recv_ready)
       self.recv_ready.clear()
     return self.data.pop()
 
   def send(self, data):
     if self.wait:
-      self.recv_called.wait()
+      wait_for_event(self.recv_called)
       self.recv_called.clear()
 
     self.data.append(data)
@@ -47,7 +51,7 @@ class FakeSocket:
       self.recv_ready.set()
 
   def wait_for_recv(self):
-    self.recv_called.wait()
+    wait_for_event(self.recv_called)
 
 class DumbSocket:
   def __init__(self, s=None):
@@ -75,23 +79,23 @@ class FakeSubMaster(messaging.SubMaster):
     # hack to know when fingerprinting is done
     if self.wait_on_getitem:
       self.update_called.set()
-      self.update_ready.wait()
+      wait_for_event(self.update_ready)
       self.update_ready.clear()
     return self.data[s]
 
   def update(self, timeout=-1):
     self.update_called.set()
-    self.update_ready.wait()
+    wait_for_event(self.update_ready)
     self.update_ready.clear()
 
   def update_msgs(self, cur_time, msgs):
-    self.update_called.wait()
+    wait_for_event(self.update_called)
     self.update_called.clear()
     super(FakeSubMaster, self).update_msgs(cur_time, msgs)
     self.update_ready.set()
 
   def wait_for_update(self):
-    self.update_called.wait()
+    wait_for_event(self.update_called)
 
 class FakePubMaster(messaging.PubMaster):
   def __init__(self, services):
@@ -116,11 +120,11 @@ class FakePubMaster(messaging.PubMaster):
     else:
       self.data[s] = dat.as_reader()
     self.send_called.set()
-    self.get_called.wait()
+    wait_for_event(self.get_called)
     self.get_called.clear()
 
   def wait_for_msg(self):
-    self.send_called.wait()
+    wait_for_event(self.send_called)
     self.send_called.clear()
     dat = self.data[self.last_updated]
     self.get_called.set()
@@ -132,14 +136,14 @@ def fingerprint(msgs, fsm, can_sock):
 
   # populate fake socket with data for fingerprinting
   canmsgs = [msg for msg in msgs if msg.which() == "can"]
-  can_sock.recv_called.wait()
+  wait_for_event(can_sock.recv_called)
   can_sock.recv_called.clear()
   can_sock.data = [msg.as_builder().to_bytes() for msg in canmsgs[:300]]
   can_sock.recv_ready.set()
   can_sock.wait = False
 
   # we know fingerprinting is done when controlsd sets sm['pathPlan'].sensorValid
-  fsm.update_called.wait()
+  wait_for_event(fsm.update_called)
   fsm.update_called.clear()
 
   fsm.wait_on_getitem = False