diff --git a/roadscore/tests/test_native_hud_layout.py b/roadscore/tests/test_native_hud_layout.py
new file mode 100644
index 0000000000..431ae1b038
--- /dev/null
+++ b/roadscore/tests/test_native_hud_layout.py
@@ -0,0 +1,20 @@
+"""Verify safety-icon spacing without opening native UI or device libraries."""
+import math
+import sys
+import unittest
+from pathlib import Path
+sys.path.insert(0, str(Path(__file__).resolve().parents[2] / 'selfdrive/ui/mici/onroad'))
+from hud_layout import steering_warning_rect
+
+
+class SafetyIconLayoutTests(unittest.TestCase):
+  def test_warning_follows_wheel_edge_instead_of_overlapping_it(self):
+    self.assertEqual(steering_warning_rect(46, 201, 50, 50, 0, 44, 44), (81, 179, 44, 44))
+
+  def test_warning_clears_rotated_wheel_at_every_steering_angle(self):
+    for angle in range(-180, 181, 5):
+      x, y, w, h = steering_warning_rect(46, 201, 50, 50, angle, 44, 44)
+      corners = [46 + dx * math.cos(math.radians(angle)) - dy * math.sin(math.radians(angle))
+                 for dx in (-25, 25) for dy in (-25, 25)]
+      self.assertGreaterEqual(x - max(corners), 9.999)
+      self.assertEqual((y, w, h), (179, 44, 44))
diff --git a/selfdrive/ui/mici/onroad/hud_layout.py b/selfdrive/ui/mici/onroad/hud_layout.py
new file mode 100644
index 0000000000..a2e029f558
--- /dev/null
+++ b/selfdrive/ui/mici/onroad/hud_layout.py
@@ -0,0 +1,9 @@
+"""Pure geometry for native HUD icon groups."""
+import math
+
+
+def steering_warning_rect(center_x, center_y, wheel_width, wheel_height, rotation, warning_width, warning_height, gap=10):
+  """Keep the unrotated warning clear of the steering wheel at any angle."""
+  angle = math.radians(rotation)
+  rotated_half_width = (wheel_width * abs(math.cos(angle)) + wheel_height * abs(math.sin(angle))) / 2
+  return (center_x + rotated_half_width + gap, center_y - warning_height / 2, warning_width, warning_height)
diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py
index b48020759d..75bbcd018b 100644
--- a/selfdrive/ui/mici/onroad/hud_renderer.py
+++ b/selfdrive/ui/mici/onroad/hud_renderer.py
@@ -2,6 +2,7 @@ import math
 
 import pyray as rl
 from dataclasses import dataclass
+from openpilot.selfdrive.ui.mici.onroad.hud_layout import steering_warning_rect
 from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.onroad.starpilot.torque_bar import TorqueBar
 from openpilot.selfdrive.ui.onroad.starpilot.rivian_lateral_mode import rivian_lateral_mode
@@ -405,9 +406,10 @@ class HudRenderer(Widget):
 
     if self._show_wheel_critical:
       # Draw exclamation point icon
-      EXCLAMATION_POINT_SPACING = 10
-      exclamation_pos_x = pos_x - self._txt_exclamation_point.width / 2 + wheel_txt.width / 2 + EXCLAMATION_POINT_SPACING
-      exclamation_pos_y = pos_y - self._txt_exclamation_point.height / 2
+      exclamation_pos_x, exclamation_pos_y, _, _ = steering_warning_rect(
+        pos_x, pos_y, wheel_txt.width, wheel_txt.height, rotation,
+        self._txt_exclamation_point.width, self._txt_exclamation_point.height,
+      )
       rl.draw_texture(self._txt_exclamation_point, int(exclamation_pos_x), int(exclamation_pos_y), rl.WHITE)
 
   def _draw_set_speed(self, rect: rl.Rectangle) -> None: