diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 935da99c10..0149653c84 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -333,20 +333,18 @@ class TestOnroad:
             assert np.all(eof_sof_diff > 0)
             assert np.all(eof_sof_diff < 50*1e6)
 
-        first_fid = {c: min(self.ts[c]['frameId']) for c in cams}
+        first_fid = {min(self.ts[c]['frameId']) for c in cams}
+        assert len(first_fid) == 1, "Cameras don't start on same frame ID"
         if cam.endswith('CameraState'):
           # camerad guarantees that all cams start on frame ID 0
           # (note loggerd also needs to start up fast enough to catch it)
-          assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0"
-        else:
-          # encoder guarantees all cams start on the same frame ID
-          assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID"
+          assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high"
 
         # we don't do a full segment rotation, so these might not match exactly
-        last_fid = {c: max(self.ts[c]['frameId']) for c in cams}
-        assert max(last_fid.values()) - min(last_fid.values()) < 10
+        last_fid = {max(self.ts[c]['frameId']) for c in cams}
+        assert max(last_fid) - min(last_fid) < 10
 
-        start, end = min(first_fid.values()), min(last_fid.values())
+        start, end = min(first_fid), min(last_fid)
         for i in range(end-start):
           ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
           diff = (max(ts.values()) - min(ts.values()))