diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index f166c033e..131102d92 100644
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -330,8 +330,13 @@ class CarInterface(CarInterfaceBase):
       events.add(EventName.belowEngageSpeed)
     if ret.cruiseState.standstill and not self.CP.autoResumeSng:
       events.add(EventName.resumeRequired)
-    if ret.vEgo < self.CP.minSteerSpeed:
+    if ret.vEgo < self.CP.minSteerSpeed and not self.disable_belowSteerSpeed:
       events.add(EventName.belowSteerSpeed)
+      self.belowSteerSpeed_shown = True
+
+    # Disable the "belowSteerSpeed" event after it's been shown once to not annoy the driver
+    if self.belowSteerSpeed_shown and ret.vEgo >= self.CP.minSteerSpeed:
+      self.disable_belowSteerSpeed = True
 
     if (self.CP.flags & GMFlags.CC_LONG.value) and ret.vEgo < self.CP.minEnableSpeed and ret.cruiseState.enabled:
       events.add(EventName.speedTooLow)
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index b5ca203ec..76e023e39 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -115,6 +115,9 @@ class CarInterfaceBase(ABC):
     self.params = Params()
     self.params_memory = Params("/dev/shm/params")
 
+    self.belowSteerSpeed_shown = False
+    self.disable_belowSteerSpeed = False
+
   def apply(self, c: car.CarControl, now_nanos: int, frogpilot_toggles) -> tuple[car.CarControl.Actuators, list[tuple[int, int, bytes, int]]]:
     return self.CC.update(c, self.CS, now_nanos, frogpilot_toggles)