diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 46f06d950..0b1754bde 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -130,12 +130,13 @@ class CarSpecificEvents:
       events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise,
                                          suppress_low_speed_alert=True)
 
-      # StarPilot behavior: show the low-speed steer alert once per ignition cycle.
-      if (not CS.cruiseState.available and not CS_prev.cruiseState.available and
-          CS.vEgo < 0.1 and not CC.enabled):
-        self.gm_low_speed_alert_shown = False
-
-      if CS.lowSpeedAlert and not self.gm_low_speed_alert_shown:
+      # Show the low-speed steer alert once per drive when speed dips below min steer speed.
+      crossed_below_min_steer_speed = (
+        self.CP.minSteerSpeed > 0. and
+        CS_prev.vEgo >= self.CP.minSteerSpeed and
+        CS.vEgo < self.CP.minSteerSpeed
+      )
+      if CS.lowSpeedAlert and crossed_below_min_steer_speed and not self.gm_low_speed_alert_shown:
         events.add(EventName.belowSteerSpeed)
         self.gm_low_speed_alert_shown = True
 
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 4044b0988..b9558c8ae 100644
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -262,10 +262,10 @@ def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.
 
 def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
   return Alert(
-    f"Steer Assist Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
+    f"Steer Unavailable Under {get_display_speed(CP.minSteerSpeed, metric)}",
     "",
     AlertStatus.userPrompt, AlertSize.small,
-    Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.4)
+    Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 1.5)
 
 
 def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert: