diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index ba5f15fcd..fb2983948 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -65,6 +65,12 @@ void HomeWindow::updateState(const UIState &s) {
     body->setEnabled(true);
     slayout->setCurrentWidget(body);
   }
+
+  if (s.scene.started) {
+    if (s.scene.map_open) {
+      showSidebar(false);
+    }
+  }
 }
 
 void HomeWindow::offroadTransition(bool offroad) {
@@ -73,6 +79,7 @@ void HomeWindow::offroadTransition(bool offroad) {
   if (offroad) {
     slayout->setCurrentWidget(home);
   } else {
+    showSidebar(params.getBool("Sidebar"));
     slayout->setCurrentWidget(onroad);
   }
 }
@@ -82,7 +89,13 @@ void HomeWindow::showDriverView(bool show) {
     emit closeSettings();
     slayout->setCurrentWidget(driver_view);
   } else {
-    slayout->setCurrentWidget(home);
+    if (started) {
+      slayout->setCurrentWidget(onroad);
+      sidebar->setVisible(params.getBool("Sidebar"));
+    } else {
+      slayout->setCurrentWidget(home);
+      sidebar->setVisible(show == false);
+    }
   }
   sidebar->setVisible(show == false);
 }
@@ -91,6 +104,7 @@ void HomeWindow::mousePressEvent(QMouseEvent* e) {
   // Handle sidebar collapsing
   if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {
     sidebar->setVisible(!sidebar->isVisible() && !onroad->isMapVisible());
+    params.putBool("Sidebar", sidebar->isVisible());
   }
 }
 
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index 74fd05ed7..985021a5f 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -74,10 +74,11 @@ void MainWindow::closeSettings() {
   main_layout->setCurrentWidget(homeWindow);
 
   if (uiState()->scene.started) {
-    homeWindow->showSidebar(false);
     // Map is always shown when using navigate on openpilot
     if (uiState()->scene.navigate_on_openpilot) {
       homeWindow->showMapPanel(true);
+    } else {
+      homeWindow->showSidebar(params.getBool("Sidebar"));
     }
   }
 }