diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index c87def8ed0..5dea6e575e 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -118,13 +118,34 @@ struct LoggerdState {
   double last_rotate_tms = 0.;
 
   // Sync logic for startup
-  std::atomic<bool> encoders_synced;
-  std::atomic<int> encoders_ready;
-  std::atomic<uint32_t> start_frame_id;
-  std::atomic<uint32_t> latest_frame_id;
+  std::atomic<int> encoders_ready = 0;
+  std::atomic<uint32_t> latest_frame_id = 0;
+  bool camera_ready[WideRoadCam + 1] = {};
+  bool camera_synced[WideRoadCam + 1] = {};
 };
 LoggerdState s;
 
+// Wait for all encoders to reach the same frame id
+bool sync_encoders(LoggerdState *s, CameraType cam_type, uint32_t frame_id) {
+  if (s->camera_synced[cam_type]) return true;
+
+  if (s->max_waiting > 1 && s->encoders_ready != s->max_waiting) {
+    update_max_atomic(s->latest_frame_id, frame_id);
+    if (std::exchange(s->camera_ready[cam_type], true) == false) {
+      ++s->encoders_ready;
+      LOGE("camera %d encoder ready", cam_type);
+    }
+    return false;
+  } else {
+    // Small margin in case one of the encoders already dropped the next frame
+    uint32_t start_frame_id = s->latest_frame_id + 2;
+    bool synced = frame_id >= start_frame_id;
+    s->camera_synced[cam_type] = synced;
+    if (!synced) LOGE("camera %d waiting for frame %d, cur %d", cam_type, start_frame_id, frame_id);
+    return synced;
+  }
+}
+
 void encoder_thread(const LogCameraInfo &cam_info) {
   set_thread_name(cam_info.filename);
 
@@ -134,8 +155,6 @@ void encoder_thread(const LogCameraInfo &cam_info) {
   std::vector<Encoder *> encoders;
   VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false);
 
-  bool ready = false;
-
   while (!do_exit) {
     if (!vipc_client.connect(false)) {
       util::sleep_for(5);
@@ -163,27 +182,11 @@ void encoder_thread(const LogCameraInfo &cam_info) {
       VisionBuf* buf = vipc_client.recv(&extra);
       if (buf == nullptr) continue;
 
-      if (cam_info.trigger_rotate && (s.max_waiting > 1)) {
-        if (!ready) {
-          LOGE("%s encoder ready", cam_info.filename);
-          ++s.encoders_ready;
-          ready = true;
-        }
-
-        if (!s.encoders_synced) {
-          update_max_atomic(s.latest_frame_id, extra.frame_id);
-          continue;
-        } else {
-          // Wait for all encoders to reach the same frame id
-          if (extra.frame_id < s.start_frame_id) {
-            LOGE("%s waiting for frame %d, cur %d", cam_info.filename, s.start_frame_id.load(), extra.frame_id);
-            continue;
-          }
-        }
-      }
-
       if (cam_info.trigger_rotate) {
         s.last_camera_seen_tms = millis_since_boot();
+        if (!sync_encoders(&s, cam_info.type, extra.frame_id)) {
+          continue;
+        }
       }
 
       if (cam_info.trigger_rotate && (cnt >= SEGMENT_LENGTH * MAIN_FPS)) {
@@ -354,15 +357,6 @@ int main(int argc, char** argv) {
   uint64_t msg_count = 0, bytes_count = 0;
   double start_ts = millis_since_boot();
   while (!do_exit) {
-    // Check if all encoders are ready and start encoding at the same time
-    if ((s.max_waiting > 1) && !s.encoders_synced && (s.encoders_ready == s.max_waiting)) {
-      // Small margin in case one of the encoders already dropped the next frame
-      s.start_frame_id = s.latest_frame_id + 2;
-      s.encoders_synced = true;
-      LOGE("starting encoders at frame id %d", s.start_frame_id.load());
-    }
-
-
     // poll for new messages on all sockets
     for (auto sock : poller->poll(1000)) {
       // drain socket