diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index c8c55a716..30f77bfdb 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -3,7 +3,7 @@ from selfdrive.config import Conversions as CV
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.mazda.values import DBC, LKAS_LIMITS, GEN1, TI_STATE
+from selfdrive.car.mazda.values import DBC, LKAS_LIMITS, GEN1, TI_STATE, CAR
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -14,7 +14,6 @@ class CarState(CarStateBase):
 
     self.crz_btns_counter = 0
     self.acc_active_last = False
-    self.low_speed_alert = False
     self.lkas_allowed_speed = False
     self.lkas_disabled = False
 
@@ -100,16 +99,11 @@ class CarState(CarStateBase):
     ret.cruiseState.enabled = cp.vl["CRZ_CTRL"]["CRZ_ACTIVE"] == 1
     ret.cruiseState.speed = cp.vl["CRZ_EVENTS"]["CRZ_SPEED"] * CV.KPH_TO_MS
 
-    if ret.cruiseState.enabled:
-      if not self.lkas_allowed_speed and self.acc_active_last:
-        self.low_speed_alert = True
-      else:
-        self.low_speed_alert = False
-
-    # Check if LKAS is disabled due to lack of driver torque when all other states indicate
-    # it should be enabled (steer lockout). Don't warn until we actually get lkas active
-    # and lose it again, i.e, after initial lkas activation
-    ret.steerWarning = self.lkas_allowed_speed and lkas_blocked
+    # On if no driver torque the last 5 seconds
+    if self.CP.carFingerprint not in (CAR.CX5_2022, CAR.CX9_2021): 
+      ret.steerWarning = cp.vl["STEER_RATE"]["HANDS_OFF_5_SECONDS"] == 1
+    else:
+      ret.steerWarning = False
 
     self.acc_active_last = ret.cruiseState.enabled