diff --git a/opendbc_repo/opendbc/car/subaru/carcontroller.py b/opendbc_repo/opendbc/car/subaru/carcontroller.py
index 47db23e36..9f1e2794f 100644
--- a/opendbc_repo/opendbc/car/subaru/carcontroller.py
+++ b/opendbc_repo/opendbc/car/subaru/carcontroller.py
@@ -16,7 +16,8 @@ _SNG_ACC_MIN_DIST = 3
 _SNG_ACC_MAX_DIST = 4.5
 _LEGACY_2025_MADS_MIN_SPEED = 0.44704
 _LEGACY_2025_MADS_MAX_STEER_ANGLE = 120.0
-_LEGACY_2025_REENGAGE_MAX_STEER_RATE = 3.0
+_ANGLE_REENGAGE_MAX_STEER_RATE = 3.0
+_ANGLE_REENGAGE_SETTLE_FRAMES = 2
 
 
 def get_safety_CP():
@@ -30,6 +31,7 @@ class CarController(CarControllerBase):
     self.apply_torque_last = 0
     self.apply_steer_last = 0
     self.driver_override = False
+    self.angle_reengage_settle_frames = 0
     self.legacy_2025_lkas_active = False
 
     self.cruise_button_prev = 0
@@ -57,7 +59,7 @@ class CarController(CarControllerBase):
         CS.out.gearShifter == structs.CarState.GearShifter.drive and not CS.out.standstill
 
       manual_handoff = CS.out.steeringPressed or (
-        not self.legacy_2025_lkas_active and abs(CS.out.steeringRateDeg) > _LEGACY_2025_REENGAGE_MAX_STEER_RATE
+        not self.legacy_2025_lkas_active and abs(CS.out.steeringRateDeg) > _ANGLE_REENGAGE_MAX_STEER_RATE
       )
       lkas_active = lkas_available and not manual_handoff
 
@@ -79,6 +81,17 @@ class CarController(CarControllerBase):
     abs_torque = abs(CS.out.steeringTorque)
     if abs_torque > self.p.STEER_OVERRIDE_TORQUE_HIGH:
       self.driver_override = True
+      self.angle_reengage_settle_frames = 0
+    elif self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023 and self.driver_override:
+      wheel_settled = abs(CS.out.steeringRateDeg) <= _ANGLE_REENGAGE_MAX_STEER_RATE
+      if abs_torque < self.p.STEER_OVERRIDE_TORQUE_LOW and wheel_settled:
+        self.angle_reengage_settle_frames += 1
+      else:
+        self.angle_reengage_settle_frames = 0
+
+      if self.angle_reengage_settle_frames >= _ANGLE_REENGAGE_SETTLE_FRAMES:
+        self.driver_override = False
+        self.angle_reengage_settle_frames = 0
     elif abs_torque < self.p.STEER_OVERRIDE_TORQUE_LOW:
       self.driver_override = False
 
diff --git a/opendbc_repo/opendbc/car/subaru/tests/test_subaru.py b/opendbc_repo/opendbc/car/subaru/tests/test_subaru.py
index 593d3a876..c2f0a15d3 100644
--- a/opendbc_repo/opendbc/car/subaru/tests/test_subaru.py
+++ b/opendbc_repo/opendbc/car/subaru/tests/test_subaru.py
@@ -308,6 +308,40 @@ def test_angle_controller_tracks_driver_override():
   assert msg[0] == 0x124
 
 
+def test_ascent_angle_controller_waits_for_manual_steering_to_settle():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-100.0))
+  CS = SimpleNamespace(out=SimpleNamespace(
+    vEgoRaw=2.2,
+    steeringAngleDeg=-114.04,
+    steeringRateDeg=-90.0,
+    steeringTorque=-201.0,
+  ))
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
+
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(1, [msg])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+
+  CS.out.steeringAngleDeg = -216.05
+  CS.out.steeringRateDeg = -133.0
+  CS.out.steeringTorque = -148.0
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(2, [msg])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
+
+  CS.out.steeringRateDeg = 2.0
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(3, [msg])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(4, [msg])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
+
+
 def test_lkas_hud_state_uses_lateral_active():
   update_source = inspect.getsource(CarController.update)