diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 9b131a639a..494b1507c4 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -138,6 +138,7 @@ class TestOnroad:
     proc = None
     try:
       manager_path = os.path.join(BASEDIR, "system/manager/manager.py")
+      cls.manager_st = time.monotonic()
       proc = subprocess.Popen(["python", manager_path])
 
       sm = messaging.SubMaster(['carState'])
@@ -202,6 +203,10 @@ class TestOnroad:
       with subtests.test(service=s):
         assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*int(TEST_DURATION*0.8))
 
+  def test_manager_starting_time(self):
+    st = self.msgs['managerState'][0].logMonoTime / 1e9
+    assert (st - self.manager_st) < 10, f"manager.py took {st - self.manager_st}s to publish the first 'managerState' msg"
+
   def test_cloudlog_size(self):
     msgs = self.msgs['logMessage']
 
diff --git a/system/manager/test/test_manager.py b/system/manager/test/test_manager.py
index 497f4f8240..b6f47fb75f 100644
--- a/system/manager/test/test_manager.py
+++ b/system/manager/test/test_manager.py
@@ -3,8 +3,6 @@ import pytest
 import signal
 import time
 
-from parameterized import parameterized
-
 from cereal import car
 from openpilot.common.params import Params
 import openpilot.system.manager.manager as manager
@@ -37,14 +35,6 @@ class TestManager:
     # TODO: ensure there are blacklisted procs until we have a dedicated test
     assert len(BLACKLIST_PROCS), "No blacklisted procs to test not_run"
 
-  @parameterized.expand([(i,) for i in range(10)])
-  def test_startup_time(self, index):
-    start = time.monotonic()
-    os.environ['PREPAREONLY'] = '1'
-    manager.main()
-    t = time.monotonic() - start
-    assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s"
-
   @pytest.mark.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
   def test_clean_exit(self, subtests):
     """