diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index 2e8a210c64..84ddde360d 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -100,9 +100,6 @@ class IsoTpParallelQuery:
     while True:
       self.rx()
 
-      if all(request_done.values()):
-        break
-
       for tx_addr, msg in msgs.items():
         try:
           dat, rx_in_progress = msg.recv()
@@ -140,6 +137,10 @@ class IsoTpParallelQuery:
             request_done[tx_addr] = True
             cloudlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
 
+      # Break if all requests are done, we've timed out on all requests, or we've hit a max total timeout
+      if all(request_done.values()):
+        break
+
       cur_time = time.monotonic()
       if cur_time - max(response_timeouts.values()) > 0:
         for tx_addr in msgs: