diff --git a/selfdrive/controls/lib/lead_behavior.py b/selfdrive/controls/lib/lead_behavior.py
index 7068a10e0..f345f7d45 100644
--- a/selfdrive/controls/lib/lead_behavior.py
+++ b/selfdrive/controls/lib/lead_behavior.py
@@ -34,6 +34,7 @@ RADARLESS_MATCHED_FOLLOW_HEADWAY_BELOW_TARGET = 0.35
 RADARLESS_MATCHED_FOLLOW_HEADWAY_ABOVE_TARGET = 0.90
 RADARLESS_MATCHED_FOLLOW_MAX_LEAD_BRAKE = 0.35
 RADARLESS_MATCHED_FOLLOW_MIN_MODEL_PROB = 0.70
+FAR_LEAD_COAST_MIN_GAP = 3.5
 
 
 def _smoothstep(value: float, start: float, end: float) -> float:
@@ -173,4 +174,5 @@ def should_disable_far_lead_throttle(v_ego: float, lead_distance: float, desired
   gentle_closing = 0.35 < closing_speed < max(1.35, 0.05 * v_ego)
   ttc = lead_distance / max(closing_speed, 1e-3) if closing_speed > 0.1 else 1e6
 
-  return coast_window_open and coast_window_far and gentle_closing and ttc > 7.5 and lead_distance > desired_gap + 7.0
+  return (coast_window_open and coast_window_far and gentle_closing and ttc > 7.5 and
+          lead_distance > desired_gap + FAR_LEAD_COAST_MIN_GAP)
diff --git a/selfdrive/controls/tests/test_lead_behavior.py b/selfdrive/controls/tests/test_lead_behavior.py
index 2df853e93..088a2d0c2 100644
--- a/selfdrive/controls/tests/test_lead_behavior.py
+++ b/selfdrive/controls/tests/test_lead_behavior.py
@@ -74,6 +74,11 @@ def test_disable_far_lead_throttle_keeps_mild_coast_near_target_gap():
   assert should_disable
 
 
+def test_disable_far_lead_throttle_waits_until_reduced_gap():
+  should_disable = should_disable_far_lead_throttle(31.4, 43.5, 38.0, 0.5, False)
+  assert should_disable
+
+
 def test_disable_far_lead_throttle_rejects_fast_closing():
   should_disable = should_disable_far_lead_throttle(31.4, 52.0, 38.0, 3.5, False)
   assert not should_disable