diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 6d471071d6..fc196528d7 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -188,7 +188,7 @@ class CarState(CarStateBase):
     ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1
     ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"]
     ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"]
-    ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD
+    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
     ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0
 
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"],
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 0458178ee3..ad1fd22b90 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -8,7 +8,7 @@ from cereal import car
 from common.basedir import BASEDIR
 from common.conversions import Conversions as CV
 from common.kalman.simple_kalman import KF1D
-from common.numpy_fast import interp
+from common.numpy_fast import clip, interp
 from common.realtime import DT_CTRL
 from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_center_deadzone
@@ -327,6 +327,7 @@ class CarStateBase(ABC):
     self.cruise_buttons = 0
     self.left_blinker_cnt = 0
     self.right_blinker_cnt = 0
+    self.steering_pressed_cnt = 0
     self.left_blinker_prev = False
     self.right_blinker_prev = False
     self.cluster_speed_hyst_gap = 0.0
@@ -364,6 +365,12 @@ class CarStateBase(ABC):
     self.right_blinker_cnt = blinker_time if right_blinker_lamp else max(self.right_blinker_cnt - 1, 0)
     return self.left_blinker_cnt > 0, self.right_blinker_cnt > 0
 
+  def update_steering_pressed(self, steering_pressed, steering_pressed_min_count):
+    """Applies filtering on steering pressed for noisy driver torque signals."""
+    self.steering_pressed_cnt += 1 if steering_pressed else -1
+    self.steering_pressed_cnt = clip(self.steering_pressed_cnt, 0, steering_pressed_min_count * 2)
+    return self.steering_pressed_cnt > steering_pressed_min_count
+
   def update_blinker_from_stalk(self, blinker_time: int, left_blinker_stalk: bool, right_blinker_stalk: bool):
     """Update blinkers from stalk position. When stalk is seen the blinker will be on for at least blinker_time,
     or until the stalk is turned off, whichever is longer. If the opposite stalk direction is seen the blinker
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 57e3a05f4d..342ab98b57 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-faa85c0cb3609fc43674b263ae885c60f136ba6c
\ No newline at end of file
+5f83a3ba20ec757ea7a5ef9b4159ac99cb77af0f