diff --git a/opendbc_repo/opendbc/car/tesla/carcontroller.py b/opendbc_repo/opendbc/car/tesla/carcontroller.py
index a882e50b94..4d82332936 100644
--- a/opendbc_repo/opendbc/car/tesla/carcontroller.py
+++ b/opendbc_repo/opendbc/car/tesla/carcontroller.py
@@ -169,8 +169,10 @@ class CarController(CarControllerBase):
         CS.engagement.pedal_speed_kph = 0.0
 
     if self.frame % 2 == 0:
+      requested_angle = float(np.clip(actuators.steeringAngleDeg,
+                                       CS.out.steeringAngleDeg - 20., CS.out.steeringAngleDeg + 20.))
       self.apply_angle_last = apply_steer_angle_limits_vm(
-        actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CS.out.steeringAngleDeg,
+        requested_angle, self.apply_angle_last, CS.out.vEgoRaw, CS.out.steeringAngleDeg,
         lat_active, CarControllerParams, self.VM,
       )
       cntr = (self.frame // 2) % 16
diff --git a/opendbc_repo/opendbc/car/tesla/preap/tests/__init__.py b/opendbc_repo/opendbc/car/tesla/preap/tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/opendbc_repo/opendbc/car/tesla/preap/tests/test_angle_tracking.py b/opendbc_repo/opendbc/car/tesla/preap/tests/test_angle_tracking.py
new file mode 100644
index 0000000000..00a09b55fc
--- /dev/null
+++ b/opendbc_repo/opendbc/car/tesla/preap/tests/test_angle_tracking.py
@@ -0,0 +1,36 @@
+from types import SimpleNamespace
+
+import pytest
+
+from opendbc.car import structs
+from opendbc.car.tesla.carcontroller import CarController
+from opendbc.car.tesla.interface import CarInterface
+from opendbc.car.tesla.values import CAR, DBC
+
+
+@pytest.mark.parametrize('direction', [-1., 1.])
+def test_preap_stalled_rack_request_stays_within_legacy_tracking_envelope(direction):
+  cp = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_PREAP)
+  controller = CarController(DBC[cp.carFingerprint], cp)
+  controller.stock_cc = None
+  cs = SimpleNamespace(out=SimpleNamespace(vEgoRaw=3., steeringAngleDeg=0.),
+                       hands_on_level=0, preap_lateral_authorized=True, cruiseEnabled=False)
+  cc = structs.CarControl.new_message()
+  cc.latActive = True
+  cc.actuators.steeringAngleDeg = direction * 100.
+  previous = 0.
+  for frame in range(100):
+    output, _ = controller.update(cc.as_reader(), cs, frame * 10000000, None)
+    assert abs(output.steeringAngleDeg) <= 20.
+    assert abs(output.steeringAngleDeg - previous) <= 5.
+    previous = output.steeringAngleDeg
+  assert previous == direction * 20.
+
+  cs.out.steeringAngleDeg = -direction * 50.
+  output, _ = controller.update(cc.as_reader(), cs, 1000000000, None)
+  assert abs(output.steeringAngleDeg - previous) <= 5.
+
+  cc.latActive = False
+  controller.frame = 102
+  output, _ = controller.update(cc.as_reader(), cs, 1020000000, None)
+  assert output.steeringAngleDeg == cs.out.steeringAngleDeg