diff --git a/common/params_keys.h b/common/params_keys.h
index fa6146f3c9..f6dc835bf5 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -86,6 +86,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
     {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
     {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
+    {"Offroad_LateralIsoViolation", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
     {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index e250d398bf..bc93b26616 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -234,6 +234,7 @@ class SelfdriveD:
 
     if check_lateral_iso_violation(self.sm):
       set_offroad_alert("Offroad_LateralIsoViolation", True)
+      # TODO: lockout for rest of drive like DM attention warning
 
     # Handle lane change
     if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange: