diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py
index 3b056c3e0..21e30e742 100644
--- a/selfdrive/ui/mici/onroad/hud_renderer.py
+++ b/selfdrive/ui/mici/onroad/hud_renderer.py
@@ -172,8 +172,7 @@ class HudRenderer(Widget):
   def _render(self, rect: rl.Rectangle) -> None:
     """Render HUD elements to the screen."""
 
-    if ui_state.sm['controlsState'].lateralControlState.which() != 'angleState':
-      self._torque_bar.render(rect)
+    self._torque_bar.render(rect)
 
     if self.is_cruise_set:
       self._draw_set_speed(rect)
diff --git a/selfdrive/ui/mici/onroad/torque_bar.py b/selfdrive/ui/mici/onroad/torque_bar.py
index d7c9f27a9..1338c8dfb 100644
--- a/selfdrive/ui/mici/onroad/torque_bar.py
+++ b/selfdrive/ui/mici/onroad/torque_bar.py
@@ -145,6 +145,9 @@ def arc_bar_pts(cx: float, cy: float,
   return pts
 
 
+DEFAULT_MAX_LAT_ACCEL = 3.0  # m/s^2
+
+
 class TorqueBar(Widget):
   def __init__(self, demo: bool = False):
     super().__init__()
@@ -165,16 +168,23 @@ class TorqueBar(Widget):
       controls_state = ui_state.sm['controlsState']
       car_state = ui_state.sm['carState']
       live_parameters = ui_state.sm['liveParameters']
-      lateral_acceleration = controls_state.curvature * car_state.vEgo ** 2 - live_parameters.roll * ACCELERATION_DUE_TO_GRAVITY
-      # TODO: pull from carparams
-      max_lateral_acceleration = 3
+      car_control = ui_state.sm['carControl']
 
-      # from selfdrived
+      # Include lateral accel error in estimated torque utilization
       actual_lateral_accel = controls_state.curvature * car_state.vEgo ** 2
       desired_lateral_accel = controls_state.desiredCurvature * car_state.vEgo ** 2
       accel_diff = (desired_lateral_accel - actual_lateral_accel)
 
-      self._torque_filter.update(min(max(lateral_acceleration / max_lateral_acceleration + accel_diff, -1), 1))
+      # Include road roll in estimated torque utilization
+      # Roll is less accurate near standstill, so reduce its effect at low speed
+      roll_compensation = live_parameters.roll * ACCELERATION_DUE_TO_GRAVITY * np.interp(car_state.vEgo, [5, 15], [0.0, 1.0])
+      lateral_acceleration = actual_lateral_accel - roll_compensation
+      max_lateral_acceleration = ui_state.CP.maxLateralAccel if ui_state.CP else DEFAULT_MAX_LAT_ACCEL
+
+      if not car_control.latActive:
+        self._torque_filter.update(0.0)
+      else:
+        self._torque_filter.update(np.clip((lateral_acceleration + accel_diff) / max_lateral_acceleration, -1, 1))
     else:
       self._torque_filter.update(-ui_state.sm['carOutput'].actuatorsOutput.torque)