diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index 1a9585098..8d1330b49 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -224,12 +224,12 @@ class DesireHelper:
         if desired_lane_width >= starpilot_toggles.lane_detection_width and self._nav_torque_applied(carstate, lane_change_direction):
           return log.Desire.keepRight
     elif modifier in ("left", "sharpLeft"):
-      turn_allowed = not carstate.rightBlinker and not carstate.leftBlindspot
+      turn_allowed = carstate.leftBlinker and not carstate.rightBlinker and not carstate.leftBlindspot
       turn_allowed &= carstate.vEgo < starpilot_toggles.minimum_lane_change_speed and not carstate.standstill
       if turn_allowed and self._nav_turn_is_imminent(carstate, maneuver_distance):
         return log.Desire.turnLeft
     elif modifier in ("right", "sharpRight"):
-      turn_allowed = not carstate.leftBlinker and not carstate.rightBlindspot
+      turn_allowed = carstate.rightBlinker and not carstate.leftBlinker and not carstate.rightBlindspot
       turn_allowed &= carstate.vEgo < starpilot_toggles.minimum_lane_change_speed and not carstate.standstill
       if turn_allowed and self._nav_turn_is_imminent(carstate, maneuver_distance):
         return log.Desire.turnRight
diff --git a/selfdrive/controls/tests/test_navigation_desires.py b/selfdrive/controls/tests/test_navigation_desires.py
index cc6a9f3fd..13128651e 100644
--- a/selfdrive/controls/tests/test_navigation_desires.py
+++ b/selfdrive/controls/tests/test_navigation_desires.py
@@ -71,7 +71,7 @@ def test_nav_desires_turn_right_below_lane_change_speed():
   helper._nav_instruction_state = {"valid": True, "maneuverModifier": "right", "maneuverDistance": 10.0}
 
   helper.update(
-    make_car_state(vEgo=5.0),
+    make_car_state(vEgo=5.0, rightBlinker=True),
     True,
     0.0,
     make_plan(),
@@ -81,6 +81,24 @@ def test_nav_desires_turn_right_below_lane_change_speed():
   assert helper.desire == log.Desire.turnRight
 
 
+def test_nav_desires_turn_requires_matching_blinker():
+  for modifier, opposite_blinker in (("left", "rightBlinker"), ("right", "leftBlinker")):
+    helper = DesireHelper()
+    helper.nav_desires_allowed = True
+    helper._update_nav_params = lambda: None
+    helper._nav_instruction_state = {"valid": True, "maneuverModifier": modifier, "maneuverDistance": 10.0}
+
+    helper.update(
+      make_car_state(vEgo=5.0, **{opposite_blinker: True}),
+      True,
+      0.0,
+      make_plan(),
+      make_toggles(minimum_lane_change_speed=10.0, nav_lane_positioning_allowed=False),
+    )
+
+    assert helper.desire == log.Desire.none
+
+
 def test_nav_desires_turn_right_waits_until_turn_is_close():
   helper = DesireHelper()
   helper.nav_desires_allowed = True