diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index ae74eaafd6..e14ce7f661 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -20,9 +20,6 @@ class CarController:
     self.apply_brake = 0
     self.frame = 0
 
-    self.lka_last_rc_val = -1
-    self.lka_same_rc_cnt = 0
-
     self.lka_steering_cmd_counter_last = -1
     self.lka_icon_status_last = (False, False)
 
@@ -49,19 +46,7 @@ class CarController:
     if CS.lka_steering_cmd_counter != self.lka_steering_cmd_counter_last:
       self.lka_steering_cmd_counter_last = CS.lka_steering_cmd_counter
     elif (self.frame % self.params.STEER_STEP) == 0:
-      # GM EPS faults on any gap in received message counters. To handle transient OP/Panda safety sync issues at the
-      # moment of disengaging, increment the counter based on the last message known to pass Panda safety checks.
-      idx = (CS.lka_steering_cmd_counter + 1) % 4
-      # Start counting number of resubmits - this should only happen when the panda drops an LKA frame
-      # If we reach 3 attempts to send the same frame, it's time to switch to inactive
-      #
-      if idx == self.lka_last_rc_val:
-        self.lka_same_rc_cnt += 1
-      else:
-        self.lka_same_rc_cnt = 0
-      self.lka_last_rc_val = idx
-
-      lkas_enabled = CC.latActive and CS.out.vEgo > self.params.MIN_STEER_SPEED and self.lka_same_rc_cnt < 3
+      lkas_enabled = CC.latActive and CS.out.vEgo > self.params.MIN_STEER_SPEED
       if lkas_enabled:
         new_steer = int(round(actuators.steer * self.params.STEER_MAX))
         apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
@@ -69,6 +54,10 @@ class CarController:
         apply_steer = 0
 
       self.apply_steer_last = apply_steer
+      # GM EPS faults on any gap in received message counters. To handle transient OP/Panda safety sync issues at the
+      # moment of disengaging, increment the counter based on the last message known to pass Panda safety checks.
+      idx = (CS.lka_steering_cmd_counter + 1) % 4
+
       can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
 
     if self.CP.openpilotLongitudinalControl: