diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc
index 47da32102..863810f81 100644
--- a/system/loggerd/loggerd.cc
+++ b/system/loggerd/loggerd.cc
@@ -31,7 +31,7 @@ void logger_rotate(LoggerdState *s) {
 
 void rotate_if_needed(LoggerdState *s) {
   // all encoders ready, trigger rotation
-  bool all_ready = s->ready_to_rotate == s->max_waiting;
+  bool all_ready = s->max_waiting > 0 && s->ready_to_rotate == s->max_waiting;
 
   // fallback logic to prevent extremely long segments in the case of camera, encoder, etc. malfunctions
   bool timed_out = false;
@@ -53,6 +53,22 @@ void rotate_if_needed(LoggerdState *s) {
   }
 }
 
+template <size_t N>
+int get_expected_encoder_count(const LogCameraInfo (&cameras)[N]) {
+  const auto streams = VisionIpcClient::getAvailableStreams("camerad", false);
+  if (streams.empty()) {
+    return 0;
+  }
+
+  int count = 0;
+  for (const auto &cam : cameras) {
+    if (streams.count(cam.stream_type) > 0) {
+      count += cam.encoder_infos.size();
+    }
+  }
+  return count;
+}
+
 struct RemoteEncoder {
   std::unique_ptr<VideoWriter> writer;
   int encoderd_segment_offset;
@@ -262,9 +278,9 @@ void loggerd_thread() {
   for (const auto &cam : cameras_logged) {
     for (const auto &encoder_info : cam.encoder_infos) {
       encoder_infos_dict[encoder_info.publish_name] = encoder_info;
-      s.max_waiting++;
     }
   }
+  s.max_waiting = get_expected_encoder_count(cameras_logged);
 
   for (auto &[sock, service] : service_state) {
     auto it = encoder_infos_dict.find(service.name);
@@ -305,6 +321,9 @@ void loggerd_thread() {
         }
 
         if (service.encoder) {
+          if (s.max_waiting == 0) {
+            s.max_waiting = get_expected_encoder_count(cameras_logged);
+          }
           s.last_camera_seen_tms = millis_since_boot();
           bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]);
         } else {
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 9703ac2f5..b9c4c9590 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -97,12 +97,12 @@ class TestLoggerd:
 
     return sent_msgs
 
-  def _publish_camera_and_audio_messages(self, num_segs=1, segment_length=5):
+  def _publish_camera_and_audio_messages(self, num_segs=1, segment_length=5, streams=None):
     # Use small frame sizes for testing (width, height, size, stride, uv_offset)
     # NV12 format: size = stride * height * 1.5, uv_offset = stride * height
     w, h = 320, 240
     frame_spec = (w, h, w * h * 3 // 2, w, w * h)
-    streams = [
+    streams = streams or [
       (VisionStreamType.VISION_STREAM_ROAD, frame_spec, "roadCameraState"),
       (VisionStreamType.VISION_STREAM_DRIVER, frame_spec, "driverCameraState"),
       (VisionStreamType.VISION_STREAM_WIDE_ROAD, frame_spec, "wideRoadCameraState"),
@@ -204,6 +204,30 @@ class TestLoggerd:
       diff = logged ^ expected_files
       assert len(diff) == 0, f"didn't get all expected files. seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}"
 
+  @pytest.mark.xdist_group("camera_encoder_tests")
+  def test_rotation_without_wide_camera(self):
+    Params().put("RecordFront", True)
+
+    w, h = 320, 240
+    frame_spec = (w, h, w * h * 3 // 2, w, w * h)
+    streams = [
+      (VisionStreamType.VISION_STREAM_ROAD, frame_spec, "roadCameraState"),
+      (VisionStreamType.VISION_STREAM_DRIVER, frame_spec, "driverCameraState"),
+    ]
+    expected_files = {"rlog.zst", "qlog.zst", "qcamera.ts", "fcamera.hevc", "dcamera.hevc"}
+
+    num_segs = random.randint(2, 3)
+    length = random.randint(4, 5)
+
+    self._publish_camera_and_audio_messages(num_segs=num_segs, segment_length=length, streams=streams)
+
+    route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0]
+    for n in range(num_segs):
+      p = Path(f"{route_path}--{n}")
+      logged = {f.name for f in p.iterdir() if f.is_file()}
+      diff = logged ^ expected_files
+      assert len(diff) == 0, f"unexpected files without wide camera. seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}"
+
   def test_bootlog(self):
     # generate bootlog with fake launch log
     launch_log = ''.join(str(random.choice(string.printable)) for _ in range(100))