diff --git a/cereal/log.capnp b/cereal/log.capnp
index 20bd3d01c..f2b3bb8b1 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -134,6 +134,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     audioFeedback @97;
     dashcamModeRadDisEngOn @100;
     radarDisableFailed @101;
+    steerFaultWarning @102;
 
     soundsUnavailableDEPRECATED @47;
   }
diff --git a/opendbc_repo b/opendbc_repo
index 2270bfc62..1ea4db06c 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 2270bfc62b39a2154f6f420bcb86141efa2e1a5e
+Subproject commit 1ea4db06cb0b4bd633812fc014b6e9172cf69647
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 86494afc7..911a7a55f 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -173,6 +173,8 @@ class CarSpecificEvents:
     else:
       self.no_steer_warning = False
       self.silent_steer_warning = False
+    if CS.steerFaultWarning:
+      events.add(EventName.steerFaultWarning)
     if CS.steerFaultPermanent:
       events.add(EventName.steerUnavailable)
 
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index f04b9d4fe..9477bddbe 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -344,6 +344,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8),
   },
 
+  EventName.steerFaultWarning: {
+    ET.WARNING: Alert(
+      "Steering Fault May Be Imminent",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8),
+  },
+
   EventName.driverDistracted1: {
     ET.PERMANENT: Alert(
       "Pay Attention",