diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 0bc13a9351..fe7876d1b2 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -348,9 +348,14 @@ class TestOnroad:
             assert np.all(eof_sof_diff > 0)
             assert np.all(eof_sof_diff < 50*1e6)
 
-        # camerad guarantees that all cams start on the same frame ID
         first_fid = {c: min(self.ts[c]['frameId']) for c in cams}
-        assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID"
+        if cam.endswith('CameraState'):
+          # camerad guarantees that all cams start on frame ID 0
+          # (note loggerd also needs to start up fast enough to catch it)
+          assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0"
+        else:
+          # encoder guarantees all cams start on the same frame ID
+          assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID"
 
         # we don't do a full segment rotation, so these might not match exactly
         last_fid = {c: max(self.ts[c]['frameId']) for c in cams}
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index b9655c83f3..120390ce5f 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -63,19 +63,20 @@ def and_(*fns):
 procs = [
   DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
 
+  NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
+  NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
+  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
+  PythonProcess("logmessaged", "system.logmessaged", always_run),
+
   NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
   PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
   NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
   NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
-  PythonProcess("logmessaged", "system.logmessaged", always_run),
   PythonProcess("micd", "system.micd", iscar),
   PythonProcess("timed", "system.timed", always_run, enabled=not PC),
 
   # TODO Make python process once TG allows opening QCOM from child proc
   NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(WEBCAM or not PC)),
-  NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
-  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
-  NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
   # TODO Make python process once TG allows opening QCOM from child proc
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
   NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),