diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 0a9f86b556..cf7727dafe 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -201,6 +201,42 @@ class TestCarModelBase(unittest.TestCase):
           self.assertTrue(self.safety.addr_checks_valid())
     self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
 
+  def test_panda_safety_tx_cases(self, data=None):
+    """Asserts we can tx common messages"""
+    if self.CP.notCar:
+      self.skipTest("Skipping test for notCar")
+
+    def test_car_controller(car_control):
+      now_nanos = 0
+      msgs_sent = 0
+      CI = self.CarInterface(self.CP, self.CarController, self.CarState)
+      for _ in range(round(10.0 / DT_CTRL)):  # make sure we hit the slowest messages
+        CI.update(car_control, [])
+        _, sendcan = CI.apply(car_control, now_nanos)
+
+        now_nanos += DT_CTRL * 1e9
+        msgs_sent += len(sendcan)
+        for addr, _, dat, bus in sendcan:
+          to_send = libpanda_py.make_CANPacket(addr, bus % 4, dat)
+          self.assertTrue(self.safety.safety_tx_hook(to_send), (addr, dat, bus))
+
+      # Make sure we attempted to send messages
+      self.assertGreater(msgs_sent, 50)
+
+    # Make sure we can send all messages while inactive
+    CC = car.CarControl.new_message()
+    test_car_controller(CC)
+
+    # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
+    self.safety.set_cruise_engaged_prev(True)
+    CC = car.CarControl.new_message(cruiseControl={'cancel': True})
+    test_car_controller(CC)
+
+    # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
+    self.safety.set_controls_allowed(True)
+    CC = car.CarControl.new_message(cruiseControl={'resume': True})
+    test_car_controller(CC)
+
   def test_panda_safety_carstate(self):
     """
       Assert that panda safety matches openpilot's carState