diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index a8b7ca0c4d..0e7912a989 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -11,7 +11,6 @@ from openpilot.system.version import training_version, terms_version
 
 
 def set_params_enabled():
-  os.environ['REPLAY'] = "1"
   os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
   os.environ['LOGPRINT'] = "debug"
 
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index c9064df870..e98cf09b9a 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -114,6 +114,7 @@ class TestOnroad(unittest.TestCase):
     params = Params()
     params.remove("CurrentRoute")
     set_params_enabled()
+    os.environ['REPLAY'] = '1'
     os.environ['TESTING_CLOSET'] = '1'
     if os.path.exists(Paths.log_root()):
       shutil.rmtree(Paths.log_root())
diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py
index 9288188a77..a983bdf5fb 100755
--- a/selfdrive/test/test_time_to_onroad.py
+++ b/selfdrive/test/test_time_to_onroad.py
@@ -18,33 +18,39 @@ def test_time_to_onroad():
   proc = subprocess.Popen(["python", manager_path])
 
   start_time = time.monotonic()
-  sm = messaging.SubMaster(['controlsState', 'deviceState', 'onroadEvents'])
+  sm = messaging.SubMaster(['controlsState', 'deviceState', 'onroadEvents', 'sendcan'])
   try:
-    # wait for onroad
-    with Timeout(20, "timed out waiting to go onroad"):
-      while True:
-        sm.update(1000)
-        if sm['deviceState'].started:
-          break
-        time.sleep(1)
+    # wait for onroad. timeout assumes panda is up to date
+    with Timeout(10, "timed out waiting to go onroad"):
+      while not sm['deviceState'].started:
+        sm.update(100)
 
     # wait for engageability
     try:
       with Timeout(10, "timed out waiting for engageable"):
+        sendcan_frame = None
         while True:
-          sm.update(1000)
-          if sm['controlsState'].engageable:
+          sm.update(100)
+
+          # sendcan is only sent once we're initialized
+          if sm.seen['controlsState'] and sendcan_frame is None:
+            sendcan_frame = sm.frame
+
+          if sendcan_frame is not None and sm.recv_frame['sendcan'] > sendcan_frame:
+            sm.update(100)
+            assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}"
             break
-          time.sleep(1)
     finally:
       print(f"onroad events: {sm['onroadEvents']}")
     print(f"engageable after {time.monotonic() - start_time:.2f}s")
 
-    # once we're enageable, must be for the next few seconds
-    for _ in range(500):
+    # once we're enageable, must stay for the next few seconds
+    st = time.monotonic()
+    while (time.monotonic() - st) < 10.:
       sm.update(100)
+      assert sm.all_alive(), sm.alive
       assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}"
   finally:
     proc.terminate()
-    if proc.wait(60) is None:
+    if proc.wait(20) is None:
       proc.kill()