diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 01362456a..c2b113393 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -272,6 +272,7 @@ void camerad_thread() {
   for (const auto &config : ALL_CAMERA_CONFIGS) {
     auto cam = std::make_unique<CameraState>(&m, config);
     cam->init(&v, device_id, ctx);
+    if (!cam->camera.enabled) continue;
     cams.emplace_back(std::move(cam));
   }
 
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index bd669aa12..aec97a630 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -280,7 +280,12 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
     return;
   }
 
-  if (!enabled) return;
+  if (!enabled) {
+    // Disabled or failed cameras still run through sensor setup, but they
+    // should not keep an idle session around for the rest of camerad's life.
+    camera_close();
+    return;
+  }
 
   buf.out_img_width = sensor->frame_width / sensor->out_scale;
   buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale;