diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index b3a99eb6c..249bd1959 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -210,6 +210,11 @@ 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
+POST_DEPARTURE_FOLLOW_BYPASS_MIN_SPEED = 12.0
+POST_DEPARTURE_FOLLOW_BYPASS_MIN_MODEL_PROB = 0.95
+POST_DEPARTURE_FOLLOW_BYPASS_MIN_LEAD_DELTA = 0.35
+POST_DEPARTURE_FOLLOW_BYPASS_MIN_LEAD_ACCEL = 0.25
+POST_DEPARTURE_FOLLOW_BYPASS_MIN_HEADWAY_MARGIN = 0.10
 LOW_SPEED_FOLLOW_ACCEL_CAP_MAX_SPEED = 12.0
 LOW_SPEED_FOLLOW_ACCEL_CAP_MIN_MODEL_PROB = 0.85
 LOW_SPEED_FOLLOW_ACCEL_CAP_MAX_LEAD_BRAKE = 0.20
@@ -1240,6 +1245,28 @@ class LongitudinalPlanner:
     brake_floor = -hold_brake
     return brake_floor if accel_min >= 0.0 else max(accel_min, brake_floor)
 
+  def is_stable_post_departure_pullaway(self, lead, v_ego, t_follow):
+    if lead is None or not lead.status or float(v_ego) < POST_DEPARTURE_FOLLOW_BYPASS_MIN_SPEED:
+      return False
+
+    lead_radar = bool(getattr(lead, "radar", False))
+    lead_prob = float(getattr(lead, "modelProb", 1.0 if lead_radar else 0.0))
+    if not lead_radar and lead_prob < POST_DEPARTURE_FOLLOW_BYPASS_MIN_MODEL_PROB:
+      return False
+
+    if abs(float(getattr(lead, "yRel", 0.0))) > CRUISE_TRACKED_LEAD_ACCEL_CAP_MAX_LATERAL_OFFSET:
+      return False
+
+    lead_delta = float(lead.vLead) - float(v_ego)
+    lead_accel = float(getattr(lead, "aLeadK", 0.0))
+    if (lead_delta < POST_DEPARTURE_FOLLOW_BYPASS_MIN_LEAD_DELTA or
+        lead_accel < POST_DEPARTURE_FOLLOW_BYPASS_MIN_LEAD_ACCEL):
+      return False
+
+    actual_headway = float(lead.dRel) / max(float(v_ego), 1e-3)
+    headway_margin = actual_headway - float(t_follow)
+    return headway_margin >= POST_DEPARTURE_FOLLOW_BYPASS_MIN_HEADWAY_MARGIN
+
   def get_lead_catchup_accel_cap(self, lead, v_ego, t_follow):
     if lead is None or not lead.status:
       return None
@@ -1272,6 +1299,9 @@ class LongitudinalPlanner:
     if gap_error > gap_buffer:
       return None
 
+    if not low_speed_follow_window and self.is_stable_post_departure_pullaway(lead, v_ego, t_follow):
+      return None
+
     # If the lead is already pace-matched or pulling away, keep any catch-up
     # accel very small while we're near the follow target so we don't surge into
     # the lead and immediately ask for brake again.
@@ -1361,9 +1391,11 @@ class LongitudinalPlanner:
     # momentarily falls near the pull-away threshold. That produces the repeated
     # 0.18 m/s^2 "surge / give up / surge" behavior seen in real logs.
     lead_accel = float(getattr(lead, "aLeadK", 0.0))
-    if (lead_delta >= CRUISE_TRACKED_LEAD_ACCEL_CAP_ACCEL_AWAY_MIN_LEAD_DELTA and
-        lead_accel >= CRUISE_TRACKED_LEAD_ACCEL_CAP_ACCEL_AWAY_MIN and
-        gap_error >= CRUISE_TRACKED_LEAD_ACCEL_CAP_ACCEL_AWAY_MIN_GAP_MARGIN):
+    if self.is_stable_post_departure_pullaway(lead, v_ego, t_follow) or (
+      lead_delta >= CRUISE_TRACKED_LEAD_ACCEL_CAP_ACCEL_AWAY_MIN_LEAD_DELTA and
+      lead_accel >= CRUISE_TRACKED_LEAD_ACCEL_CAP_ACCEL_AWAY_MIN and
+      gap_error >= CRUISE_TRACKED_LEAD_ACCEL_CAP_ACCEL_AWAY_MIN_GAP_MARGIN
+    ):
       return None
 
     base_cap = float(np.interp(
diff --git a/selfdrive/controls/tests/test_longitudinal_planner.py b/selfdrive/controls/tests/test_longitudinal_planner.py
index 022972cbf..7b2af9516 100644
--- a/selfdrive/controls/tests/test_longitudinal_planner.py
+++ b/selfdrive/controls/tests/test_longitudinal_planner.py
@@ -1827,6 +1827,19 @@ def test_low_speed_follow_catchup_accel_cap_limits_close_vision_catchup():
   assert 0.15 <= cap <= 0.45
 
 
+def test_route_8bc6_post_departure_catchup_cap_skips_accelerating_away_radar_lead():
+  v_ego = 19.03
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead = make_lead(
+    status=True, d_rel=33.85, v_lead=19.47, a_lead=0.33, radar=True, model_prob=1.0, y_rel=-0.30,
+  )
+
+  cap = planner.get_lead_catchup_accel_cap(lead, v_ego, 1.45)
+
+  assert cap is None
+
+
 def test_low_speed_follow_catchup_uses_raw_vehicle_speed_when_cluster_runs_high():
   v_ego = 7.8
   CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
@@ -2225,6 +2238,46 @@ def test_cruise_tracking_lead_accel_cap_skips_accelerating_away_radar_lead():
   assert cap is None
 
 
+def test_route_8bc6_post_departure_cruise_cap_skips_accelerating_away_radar_lead():
+  v_ego = 19.03
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead = make_lead(
+    status=True, d_rel=33.85, v_lead=19.47, a_lead=0.33, radar=True, model_prob=1.0, y_rel=-0.30,
+  )
+
+  cap = planner.get_cruise_tracking_lead_accel_cap(
+    lead,
+    v_ego,
+    1.45,
+    current_source="cruise",
+    tracking_lead_active=True,
+  )
+
+  assert cap is None
+
+
+def test_post_departure_pullaway_bypass_does_not_skip_when_lead_brakes_again():
+  v_ego = 19.03
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead = make_lead(
+    status=True, d_rel=33.85, v_lead=18.90, a_lead=-0.35, radar=True, model_prob=1.0, y_rel=-0.30,
+  )
+
+  catchup_cap = planner.get_lead_catchup_accel_cap(lead, v_ego, 1.45)
+  cruise_cap = planner.get_cruise_tracking_lead_accel_cap(
+    lead,
+    v_ego,
+    1.45,
+    current_source="cruise",
+    tracking_lead_active=True,
+  )
+
+  assert catchup_cap is not None
+  assert cruise_cap is not None
+
+
 def test_cruise_tracking_lead_accel_transition_target_damps_mid_speed_reacquisition_burst():
   v_ego = 16.2
   CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)