diff --git a/selfdrive/ui/replay/replay.cc b/selfdrive/ui/replay/replay.cc
index 0bfcdbe2b7..531fe891f5 100644
--- a/selfdrive/ui/replay/replay.cc
+++ b/selfdrive/ui/replay/replay.cc
@@ -31,10 +31,6 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s
   route_ = std::make_unique<Route>(route, data_dir);
   events_ = std::make_unique<std::vector<Event *>>();
   new_events_ = std::make_unique<std::vector<Event *>>();
-
-  qRegisterMetaType<FindFlag>("FindFlag");
-  connect(this, &Replay::seekTo, this, &Replay::doSeek);
-  connect(this, &Replay::segmentChanged, this, &Replay::queueSegment);
 }
 
 Replay::~Replay() {
@@ -94,13 +90,9 @@ void Replay::updateEvents(const std::function<bool()> &lambda) {
   stream_cv_.notify_one();
 }
 
-void Replay::doSeek(int seconds, bool relative) {
-  if (segments_.empty()) return;
-
+void Replay::seekTo(int seconds, bool relative) {
+  seconds = relative ? seconds + currentSeconds() : seconds;
   updateEvents([&]() {
-    if (relative) {
-      seconds += currentSeconds();
-    }
     seconds = std::max(0, seconds);
     int seg = seconds / 60;
     if (segments_.find(seg) == segments_.end()) {
@@ -108,7 +100,7 @@ void Replay::doSeek(int seconds, bool relative) {
       return true;
     }
 
-    rWarning("seeking to %d s, segment %d", seconds, seg);
+    rInfo("seeking to %d s, segment %d", seconds, seg);
     current_segment_ = seg;
     cur_mono_time_ = route_start_ts_ + seconds * 1e9;
     return isSegmentMerged(seg);
@@ -117,23 +109,9 @@ void Replay::doSeek(int seconds, bool relative) {
 }
 
 void Replay::seekToFlag(FindFlag flag) {
-  if (flag == FindFlag::nextEngagement) {
-    rWarning("seeking to the next engagement...");
-  } else if (flag == FindFlag::nextDisEngagement) {
-    rWarning("seeking to the disengagement...");
+  if (auto next = find(flag)) {
+    seekTo(*next - 2, false);  // seek to 2 seconds before next
   }
-  updateEvents([&]() {
-    if (auto next = find(flag)) {
-      int tm = *next - 2;  // seek to 2 seconds before next
-      cur_mono_time_ = (route_start_ts_ + tm * 1e9);
-      current_segment_ = currentSeconds() / 60;
-    } else {
-      rWarning("seeking failed");
-    }
-    return isSegmentMerged(current_segment_);
-  });
-
-  queueSegment();
 }
 
 void Replay::buildTimeline() {
@@ -199,7 +177,7 @@ void Replay::pause(bool pause) {
 
 void Replay::setCurrentSegment(int n) {
   if (current_segment_.exchange(n) != n) {
-    emit segmentChanged();
+    QMetaObject::invokeMethod(this, &Replay::queueSegment, Qt::QueuedConnection);
   }
 }
 
@@ -419,7 +397,7 @@ void Replay::stream() {
       int last_segment = segments_.rbegin()->first;
       if (current_segment_ >= last_segment && isSegmentMerged(last_segment)) {
         rInfo("reaches the end of route, restart from beginning");
-        emit seekTo(0, false);
+        QMetaObject::invokeMethod(this, std::bind(&Replay::seekTo, this, 0, false), Qt::QueuedConnection);
       }
     }
   }
diff --git a/selfdrive/ui/replay/replay.h b/selfdrive/ui/replay/replay.h
index 5f61dc357d..0fc171ba2d 100644
--- a/selfdrive/ui/replay/replay.h
+++ b/selfdrive/ui/replay/replay.h
@@ -42,6 +42,7 @@ public:
   void stop();
   void pause(bool pause);
   void seekToFlag(FindFlag flag);
+  void seekTo(int seconds, bool relative);
   inline bool isPaused() const { return paused_; }
   inline bool hasFlag(REPLAY_FLAGS flag) const { return flags_ & flag; }
   inline void addFlag(REPLAY_FLAGS flag) { flags_ |= flag; }
@@ -57,13 +58,9 @@ public:
   }
 
 signals:
-  void segmentChanged();
-  void seekTo(int seconds, bool relative);
   void streamStarted();
 
 protected slots:
-  void queueSegment();
-  void doSeek(int seconds, bool relative);
   void segmentLoadFinished(bool sucess);
 
 protected:
@@ -72,6 +69,7 @@ protected:
   void startStream(const Segment *cur_segment);
   void stream();
   void setCurrentSegment(int n);
+  void queueSegment();
   void mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end);
   void updateEvents(const std::function<bool()>& lambda);
   void publishMessage(const Event *e);