diff --git a/selfdrive/ui/replay/camera.cc b/selfdrive/ui/replay/camera.cc
index b7e91b9646..7ff07e3044 100644
--- a/selfdrive/ui/replay/camera.cc
+++ b/selfdrive/ui/replay/camera.cc
@@ -5,68 +5,83 @@
 
 const int YUV_BUF_COUNT = 50;
 
-CameraServer::CameraServer(std::pair<int, int> cameras[MAX_CAMERAS]) {
-  if (cameras) {
-    for (auto type : ALL_CAMERAS) {
-      std::tie(cameras_[type].width, cameras_[type].height) = cameras[type];
-    }
-    startVipcServer();
+CameraServer::CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS]) {
+  for (auto &cam : cameras_) {
+    std::tie(cam.width, cam.height) = camera_size[cam.type];
   }
-  camera_thread_ = std::thread(&CameraServer::thread, this);
+  startVipcServer();
 }
 
 CameraServer::~CameraServer() {
-  queue_.push({});
-  camera_thread_.join();
+  for (auto &cam : cameras_) {
+    if (cam.thread.joinable()) {
+      cam.queue.push({});
+      cam.thread.join();
+    }
+  }
   vipc_server_.reset(nullptr);
 }
 
 void CameraServer::startVipcServer() {
-  std::cout << (vipc_server_ ? "restart" : "start") << " vipc server" << std::endl;
   vipc_server_.reset(new VisionIpcServer("camerad"));
   for (auto &cam : cameras_) {
     if (cam.width > 0 && cam.height > 0) {
+      std::cout << "camera[" << cam.type << "] frame size " << cam.width << "x" << cam.height << std::endl;
       vipc_server_->create_buffers(cam.rgb_type, UI_BUF_COUNT, true, cam.width, cam.height);
       vipc_server_->create_buffers(cam.yuv_type, YUV_BUF_COUNT, false, cam.width, cam.height);
+      if (!cam.thread.joinable()) {
+        cam.thread = std::thread(&CameraServer::cameraThread, this, std::ref(cam));
+      }
     }
   }
   vipc_server_->start_listener();
 }
 
-void CameraServer::thread() {
+void CameraServer::cameraThread(Camera &cam) {
+  auto read_frame = [&](FrameReader *fr, int frame_id) {
+    VisionBuf *rgb_buf = vipc_server_->get_buffer(cam.rgb_type);
+    VisionBuf *yuv_buf = vipc_server_->get_buffer(cam.yuv_type);
+    bool ret = fr->get(frame_id, (uint8_t *)rgb_buf->addr, (uint8_t *)yuv_buf->addr);
+    return ret ? std::pair{rgb_buf, yuv_buf} : std::pair{nullptr, nullptr};
+  };
+
   while (true) {
-    const auto [type, fr, eidx] = queue_.pop();
+    const auto [fr, eidx] = cam.queue.pop();
     if (!fr) break;
 
-    auto &cam = cameras_[type];
-    // restart vipc server if new camera incoming.
-    if (cam.width != fr->width || cam.height != fr->height) {
-      cam.width = fr->width;
-      cam.height = fr->height;
-      std::cout << "camera[" << type << "] frame size " << cam.width << "x" << cam.height << std::endl;
-      startVipcServer();
-    }
+    const int id = eidx.getSegmentId();
+    bool prefetched = (id == cam.cached_id && eidx.getSegmentNum() == cam.cached_seg && cam.cached_buf.first && cam.cached_buf.second);
+    auto [rgb, yuv] = prefetched ? cam.cached_buf : read_frame(fr, id);
 
-    // send frame
-    VisionBuf *rgb_buf = vipc_server_->get_buffer(cam.rgb_type);
-    VisionBuf *yuv_buf = vipc_server_->get_buffer(cam.yuv_type);
-    if (fr->get(eidx.getSegmentId(), (uint8_t *)rgb_buf->addr, (uint8_t *)yuv_buf->addr)) {
+    if (rgb && yuv) {
       VisionIpcBufExtra extra = {
           .frame_id = eidx.getFrameId(),
           .timestamp_sof = eidx.getTimestampSof(),
           .timestamp_eof = eidx.getTimestampEof(),
       };
-      vipc_server_->send(rgb_buf, &extra, false);
-      vipc_server_->send(yuv_buf, &extra, false);
+      vipc_server_->send(rgb, &extra, false);
+      vipc_server_->send(yuv, &extra, false);
     } else {
-      std::cout << "camera[" << type << "] failed to get frame:" << eidx.getSegmentId() << std::endl;
+      std::cout << "camera[" << cam.type << "] failed to get frame:" << eidx.getSegmentId() << std::endl;
     }
 
+    cam.cached_id = id + 1;
+    cam.cached_seg = eidx.getSegmentNum();
+    cam.cached_buf = read_frame(fr, cam.cached_id);
+
     --publishing_;
   }
 }
 
 void CameraServer::pushFrame(CameraType type, FrameReader *fr, const cereal::EncodeIndex::Reader &eidx) {
+  auto &cam = cameras_[type];
+  if (cam.width != fr->width || cam.height != fr->height) {
+    cam.width = fr->width;
+    cam.height = fr->height;
+    waitFinish();
+    startVipcServer();
+  }
+
   ++publishing_;
-  queue_.push({type, fr, eidx});
+  cam.queue.push({fr, eidx});
 }
diff --git a/selfdrive/ui/replay/camera.h b/selfdrive/ui/replay/camera.h
index b57654c186..e813b85d3d 100644
--- a/selfdrive/ui/replay/camera.h
+++ b/selfdrive/ui/replay/camera.h
@@ -8,7 +8,7 @@
 
 class CameraServer {
 public:
-  CameraServer(std::pair<int, int> cameras[MAX_CAMERAS] = nullptr);
+  CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS] = nullptr);
   ~CameraServer();
   void pushFrame(CameraType type, FrameReader* fr, const cereal::EncodeIndex::Reader& eidx);
   inline void waitFinish() {
@@ -16,24 +16,26 @@ public:
   }
 
 protected:
-  void startVipcServer();
-  void thread();
-
   struct Camera {
-    VisionStreamType rgb_type;
+    CameraType type;
+    VisionStreamType rgb_type; 
     VisionStreamType yuv_type;
     int width;
     int height;
+    std::thread thread;
+    SafeQueue<std::pair<FrameReader*, const cereal::EncodeIndex::Reader>> queue;
+    int cached_id = -1;
+    int cached_seg = -1;
+    std::pair<VisionBuf *, VisionBuf*> cached_buf;
   };
+  void startVipcServer();
+  void cameraThread(Camera &cam);
 
   Camera cameras_[MAX_CAMERAS] = {
-      {.rgb_type = VISION_STREAM_RGB_BACK, .yuv_type = VISION_STREAM_YUV_BACK},
-      {.rgb_type = VISION_STREAM_RGB_FRONT, .yuv_type = VISION_STREAM_YUV_FRONT},
-      {.rgb_type = VISION_STREAM_RGB_WIDE, .yuv_type = VISION_STREAM_YUV_WIDE},
+      {.type = RoadCam, .rgb_type = VISION_STREAM_RGB_BACK, .yuv_type = VISION_STREAM_YUV_BACK},
+      {.type = DriverCam, .rgb_type = VISION_STREAM_RGB_FRONT, .yuv_type = VISION_STREAM_YUV_FRONT},
+      {.type = WideRoadCam, .rgb_type = VISION_STREAM_RGB_WIDE, .yuv_type = VISION_STREAM_YUV_WIDE},
   };
-
   std::atomic<int> publishing_ = 0;
-  std::thread camera_thread_;
   std::unique_ptr<VisionIpcServer> vipc_server_;
-  SafeQueue<std::tuple<CameraType, FrameReader*, const cereal::EncodeIndex::Reader>> queue_;
 };
diff --git a/selfdrive/ui/replay/replay.cc b/selfdrive/ui/replay/replay.cc
index d04c5b0010..5795eae3ea 100644
--- a/selfdrive/ui/replay/replay.cc
+++ b/selfdrive/ui/replay/replay.cc
@@ -216,13 +216,13 @@ void Replay::startStream(const Segment *cur_segment) {
   }
 
   // start camera server
-  std::pair<int, int> cameras[MAX_CAMERAS] = {};
+  std::pair<int, int> camera_size[MAX_CAMERAS] = {};
   for (auto type : ALL_CAMERAS) {
     if (auto &fr = cur_segment->frames[type]) {
-      cameras[type] = {fr->width, fr->height};
+      camera_size[type] = {fr->width, fr->height};
     }
   }
-  camera_server_ = std::make_unique<CameraServer>(cameras);
+  camera_server_ = std::make_unique<CameraServer>(camera_size);
 
   // start stream thread
   stream_thread_ = QThread::create(&Replay::stream, this);