diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 38a613b0e7..1e55e72ac4 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -61,6 +61,7 @@ class CarInterfaceBase(ABC):
     self.steering_unpressed = 0
     self.low_speed_alert = False
     self.silent_steer_warning = True
+    self.v_ego_cluster_seen = False
 
     self.CS = None
     self.can_parsers = []
@@ -162,8 +163,10 @@ class CarInterfaceBase(ABC):
     ret.canValid = all(cp.can_valid for cp in self.can_parsers if cp is not None)
     ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers if cp is not None)
 
-    if ret.vEgoCluster == 0.0:
+    if ret.vEgoCluster == 0.0 and not self.v_ego_cluster_seen:
       ret.vEgoCluster = ret.vEgo
+    else:
+      self.v_ego_cluster_seen = True
 
     if ret.cruiseState.speedCluster == 0:
       ret.cruiseState.speedCluster = ret.cruiseState.speed
@@ -321,7 +324,7 @@ class CarStateBase(ABC):
   def parse_gear_shifter(gear: Optional[str]) -> car.CarState.GearShifter:
     if gear is None:
       return GearShifter.unknown
-    
+
     d: Dict[str, car.CarState.GearShifter] = {
         'P': GearShifter.park, 'PARK': GearShifter.park,
         'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 0ab1424023..4414e602e6 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -193,7 +193,13 @@ void NvgWindow::updateState(const UIState &s) {
   }
 
   // Handle older routes where vEgoCluster is not set
-  float v_ego = sm["carState"].getCarState().getVEgoCluster() == 0.0 ? sm["carState"].getCarState().getVEgo() : sm["carState"].getCarState().getVEgoCluster();
+  float v_ego;
+  if (sm["carState"].getCarState().getVEgoCluster() == 0.0 && !v_ego_cluster_seen) {
+    v_ego = sm["carState"].getCarState().getVEgo();
+  } else {
+    v_ego = sm["carState"].getCarState().getVEgoCluster();
+    v_ego_cluster_seen = true;
+  }
   float cur_speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
   cur_speed  *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
 
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 7f51a73510..25920ccc6a 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -66,6 +66,7 @@ private:
   bool rightHandDM = false;
   bool has_us_speed_limit = false;
   bool has_eu_speed_limit = false;
+  bool v_ego_cluster_seen = false;
   int status = STATUS_DISENGAGED;
 
 protected:
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index be0611f49a..555aa52fb8 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -490,30 +490,30 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="212"/>
+        <location filename="../qt/onroad.cc" line="218"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="212"/>
+        <location filename="../qt/onroad.cc" line="218"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="280"/>
-        <location filename="../qt/onroad.cc" line="283"/>
+        <location filename="../qt/onroad.cc" line="286"/>
+        <location filename="../qt/onroad.cc" line="289"/>
         <source>MAX</source>
         <translation>最高速度</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="327"/>
-        <location filename="../qt/onroad.cc" line="330"/>
+        <location filename="../qt/onroad.cc" line="333"/>
+        <location filename="../qt/onroad.cc" line="336"/>
         <source>SPEED</source>
         <translation>速度</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="333"/>
-        <location filename="../qt/onroad.cc" line="336"/>
+        <location filename="../qt/onroad.cc" line="339"/>
+        <location filename="../qt/onroad.cc" line="342"/>
         <source>LIMIT</source>
         <translation>制限速度</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 626373a955..65762e09db 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -490,30 +490,30 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="212"/>
+        <location filename="../qt/onroad.cc" line="218"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="212"/>
+        <location filename="../qt/onroad.cc" line="218"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="280"/>
-        <location filename="../qt/onroad.cc" line="283"/>
+        <location filename="../qt/onroad.cc" line="286"/>
+        <location filename="../qt/onroad.cc" line="289"/>
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="327"/>
-        <location filename="../qt/onroad.cc" line="330"/>
+        <location filename="../qt/onroad.cc" line="333"/>
+        <location filename="../qt/onroad.cc" line="336"/>
         <source>SPEED</source>
         <translation>SPEED</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="333"/>
-        <location filename="../qt/onroad.cc" line="336"/>
+        <location filename="../qt/onroad.cc" line="339"/>
+        <location filename="../qt/onroad.cc" line="342"/>
         <source>LIMIT</source>
         <translation>LIMIT</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 02bda87829..1e9173395d 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -488,30 +488,30 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="212"/>
+        <location filename="../qt/onroad.cc" line="218"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="212"/>
+        <location filename="../qt/onroad.cc" line="218"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="280"/>
-        <location filename="../qt/onroad.cc" line="283"/>
+        <location filename="../qt/onroad.cc" line="286"/>
+        <location filename="../qt/onroad.cc" line="289"/>
         <source>MAX</source>
         <translation>最高定速</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="327"/>
-        <location filename="../qt/onroad.cc" line="330"/>
+        <location filename="../qt/onroad.cc" line="333"/>
+        <location filename="../qt/onroad.cc" line="336"/>
         <source>SPEED</source>
         <translation>SPEED</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="333"/>
-        <location filename="../qt/onroad.cc" line="336"/>
+        <location filename="../qt/onroad.cc" line="339"/>
+        <location filename="../qt/onroad.cc" line="342"/>
         <source>LIMIT</source>
         <translation>LIMIT</translation>
     </message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 0ea8e95f52..d8cebe2861 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -490,30 +490,30 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="212"/>
+        <location filename="../qt/onroad.cc" line="218"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="212"/>
+        <location filename="../qt/onroad.cc" line="218"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="280"/>
-        <location filename="../qt/onroad.cc" line="283"/>
+        <location filename="../qt/onroad.cc" line="286"/>
+        <location filename="../qt/onroad.cc" line="289"/>
         <source>MAX</source>
         <translation>最高</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="327"/>
-        <location filename="../qt/onroad.cc" line="330"/>
+        <location filename="../qt/onroad.cc" line="333"/>
+        <location filename="../qt/onroad.cc" line="336"/>
         <source>SPEED</source>
         <translation>速度</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="333"/>
-        <location filename="../qt/onroad.cc" line="336"/>
+        <location filename="../qt/onroad.cc" line="339"/>
+        <location filename="../qt/onroad.cc" line="342"/>
         <source>LIMIT</source>
         <translation>速限</translation>
     </message>