diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc
index f4ff62227..cc5368c2a 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.cc
+++ b/selfdrive/ui/qt/onroad/onroad_home.cc
@@ -87,8 +87,11 @@ void OnroadWindow::updateState(const UIState &s) {
   blindSpotLeft = scene.blind_spot_left;
   blindSpotRight = scene.blind_spot_right;
   showBlindspot = scene.show_blind_spot && (blindSpotLeft || blindSpotRight);
+  showSteering = scene.show_steering;
+  steer = scene.steer;
+  steeringAngleDeg = scene.steering_angle_deg;
 
-  if (showBlindspot) {
+  if (showBlindspot || showSteering) {
     shouldUpdate = true;
   }
 
@@ -212,6 +215,41 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
   QColor bgColor(bg.red(), bg.green(), bg.blue(), 255);
   p.fillRect(rect, bgColor);
 
+  if (showSteering) {
+    static float smoothedSteer = 0.0;
+
+    smoothedSteer = 0.1 * std::abs(steer) + 0.9 * smoothedSteer;
+
+    if (std::abs(smoothedSteer - steer) < 0.01) {
+      smoothedSteer = steer;
+    }
+
+    int visibleHeight = rect.height() * smoothedSteer;
+
+    QLinearGradient gradient(rect.topLeft(), rect.bottomLeft());
+    gradient.setColorAt(0.0, bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]);
+    gradient.setColorAt(0.15, bg_colors[STATUS_EXPERIMENTAL_MODE_ACTIVE]);
+    gradient.setColorAt(0.5, bg_colors[STATUS_CONDITIONAL_OVERRIDDEN]);
+    gradient.setColorAt(0.85, bg_colors[STATUS_ENGAGED]);
+    gradient.setColorAt(1.0, bg_colors[STATUS_ENGAGED]);
+
+    QBrush brush(gradient);
+    int fillWidth = UI_BORDER_SIZE;
+
+    if (steeringAngleDeg != 0) {
+      QRect rectToFill, rectToHide;
+      if (steeringAngleDeg < 0) {
+        rectToFill = QRect(rect.x(), rect.y() + rect.height() - visibleHeight, fillWidth, visibleHeight);
+        rectToHide = QRect(rect.x(), rect.y(), fillWidth, rect.height() - visibleHeight);
+      } else {
+        rectToFill = QRect(rect.x() + rect.width() - fillWidth, rect.y() + rect.height() - visibleHeight, fillWidth, visibleHeight);
+        rectToHide = QRect(rect.x() + rect.width() - fillWidth, rect.y(), fillWidth, rect.height() - visibleHeight);
+      }
+      p.fillRect(rectToFill, brush);
+      p.fillRect(rectToHide, bgColor);
+    }
+  }
+
   if (showBlindspot) {
     QColor blindspotColorLeft = bgColor;
     QColor blindspotColorRight = bgColor;
diff --git a/selfdrive/ui/qt/onroad/onroad_home.h b/selfdrive/ui/qt/onroad/onroad_home.h
index 509fb7fb1..47647a04b 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.h
+++ b/selfdrive/ui/qt/onroad/onroad_home.h
@@ -28,6 +28,11 @@ private:
   bool blindSpotLeft;
   bool blindSpotRight;
   bool showBlindspot;
+  bool showSteering;
+
+  float steer;
+
+  int steeringAngleDeg;
 
   QPoint timeoutPoint = QPoint(420, 69);
 
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 04fabec1a..f41ae3162 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -214,6 +214,7 @@ static void update_state(UIState *s) {
   }
   if (sm.updated("carControl")) {
     auto carControl = sm["carControl"].getCarControl();
+    scene.steer = carControl.getActuators().getSteer();
   }
   if (sm.updated("carParams")) {
     scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
@@ -341,6 +342,7 @@ void ui_update_frogpilot_params(UIState *s, Params &params) {
   bool developer_ui = params.getBool("DeveloperUI");
   bool border_metrics = developer_ui && params.getBool("BorderMetrics");
   scene.show_blind_spot = border_metrics && params.getBool("BlindSpotMetrics");
+  scene.show_steering = border_metrics && params.getBool("ShowSteering");
 
   scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing");
   scene.disable_smoothing_vtsc = params.getBool("VisionTurnControl") && params.getBool("DisableVTSCSmoothing");
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index a404ad21c..cf77740d8 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -159,6 +159,7 @@ typedef struct UIScene {
   bool show_cem_status_bar;
   bool show_slc_offset;
   bool show_slc_offset_ui;
+  bool show_steering;
   bool show_stopping_point;
   bool show_stopping_point_metrics;
   bool speed_limit_changed;
@@ -183,6 +184,7 @@ typedef struct UIScene {
   float speed_limit;
   float speed_limit_offset;
   float speed_limit_overridden_speed;
+  float steer;
   float unconfirmed_speed_limit;
 
   int alert_size;