diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 6b4f78dc1..cc009f1f8 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -220,6 +220,9 @@ LEAD_CATCHUP_ACCEL_MIN_EGO = 8.0
 LEAD_CATCHUP_ACCEL_MIN_LEAD_DELTA = -0.5
 LEAD_CATCHUP_ACCEL_MAX_GAP_BUFFER_MIN = 4.0
 LEAD_CATCHUP_ACCEL_MAX_GAP_BUFFER_GAIN = 0.15
+RADAR_MATCHED_FOLLOW_PULLAWAY_BYPASS_MIN_LEAD_DELTA = 0.10
+RADAR_MATCHED_FOLLOW_PULLAWAY_BYPASS_MIN_LEAD_ACCEL = 0.12
+RADAR_MATCHED_FOLLOW_PULLAWAY_BYPASS_MIN_HEADWAY_MARGIN = 0.18
 RADAR_MATCHED_FOLLOW_CATCHUP_CAP_BUFFER_MARGIN = 0.75
 RADAR_MATCHED_FOLLOW_CATCHUP_HOLD_CAP = 0.04
 RADAR_MATCHED_FOLLOW_CATCHUP_HOLD_MAX_GAP_ERROR = 0.75
@@ -1505,9 +1508,20 @@ class LongitudinalPlanner:
       tracking_lead_active and
       self.lead_is_matched_follow_window(lead, v_ego, t_follow)
     )
+    actual_headway = float(lead.dRel) / max(float(v_ego), 1e-3)
+    headway_margin = actual_headway - float(t_follow)
     if radar_matched_follow_active and gap_error > (gap_buffer - RADAR_MATCHED_FOLLOW_CATCHUP_CAP_BUFFER_MARGIN):
       return None
 
+    if (
+      radar_matched_follow_active and
+      current_source in ("lead0", "lead1") and
+      lead_delta >= RADAR_MATCHED_FOLLOW_PULLAWAY_BYPASS_MIN_LEAD_DELTA and
+      float(getattr(lead, "aLeadK", 0.0)) >= RADAR_MATCHED_FOLLOW_PULLAWAY_BYPASS_MIN_LEAD_ACCEL and
+      headway_margin >= RADAR_MATCHED_FOLLOW_PULLAWAY_BYPASS_MIN_HEADWAY_MARGIN
+    ):
+      return None
+
     if (radar_matched_follow_active and current_source == "cruise" and
         gap_error <= RADAR_MATCHED_FOLLOW_CATCHUP_HOLD_MAX_GAP_ERROR and
         lead_delta < min_lead_delta):
diff --git a/selfdrive/controls/tests/test_longitudinal_planner.py b/selfdrive/controls/tests/test_longitudinal_planner.py
index 9c766f677..2042d8500 100644
--- a/selfdrive/controls/tests/test_longitudinal_planner.py
+++ b/selfdrive/controls/tests/test_longitudinal_planner.py
@@ -2604,6 +2604,46 @@ def test_route_8bc6_catchup_cap_skips_comfortable_accelerating_lead_when_source_
   assert cap is None
 
 
+def test_route_8bc6_radar_matched_follow_catchup_cap_skips_mild_pullaway_after_lead_lock():
+  v_ego = 23.96
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead = make_lead(
+    status=True, d_rel=33.6, v_lead=24.23, a_lead=0.16, radar=True, model_prob=1.0, y_rel=0.0,
+  )
+
+  cap = planner.get_lead_catchup_accel_cap(
+    lead,
+    v_ego,
+    1.16,
+    current_source="lead0",
+    tracking_lead_active=True,
+  )
+
+  assert planner.lead_is_matched_follow_window(lead, v_ego, 1.16)
+  assert cap is None
+
+
+def test_route_8bc6_radar_matched_follow_catchup_cap_keeps_cap_when_pullaway_is_not_confirmed():
+  v_ego = 23.96
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead = make_lead(
+    status=True, d_rel=33.6, v_lead=24.23, a_lead=0.08, radar=True, model_prob=1.0, y_rel=0.0,
+  )
+
+  cap = planner.get_lead_catchup_accel_cap(
+    lead,
+    v_ego,
+    1.16,
+    current_source="lead0",
+    tracking_lead_active=True,
+  )
+
+  assert planner.lead_is_matched_follow_window(lead, v_ego, 1.16)
+  assert cap is not None
+
+
 def test_route_8bc6_radar_matched_follow_catchup_cap_skips_buffer_edge_square_wave():
   v_ego = 22.0
   CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)