diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 9f9c554da..ef58ffa84 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -19,6 +19,7 @@ ROLL_LOWERED_MAX = np.radians(8)
 ROLL_STD_MAX = np.radians(1.5)
 LATERAL_ACC_SENSOR_THRESHOLD = 4.0
 OFFSET_MAX = 10.0
+OFFSET_HIGHER_MAX = 20.0
 OFFSET_LOWERED_MAX = 8.0
 MIN_ACTIVE_SPEED = 1.0
 LOW_ACTIVE_SPEED = 10.0
@@ -33,6 +34,7 @@ class VehicleParamsLearner:
     self.x_initial[States.STEER_RATIO] = steer_ratio
     self.x_initial[States.STIFFNESS] = stiffness_factor
     set_manual_angle_offset = params.get_bool("EnableAngleOffset")
+    self.allow_higher_angle_offset = set_manual_angle_offset
     manual_angle_offset = float(params.get("AngleOffsetDegree") or 0.0)
     self.x_initial[States.ANGLE_OFFSET] = manual_angle_offset if set_manual_angle_offset else angle_offset
     self.P_initial = P_initial if P_initial is not None else CarKalman.P_initial
@@ -153,8 +155,9 @@ class VehicleParamsLearner:
       sensors_valid = bool(abs(self.observed_speed * (x[States.YAW_RATE].item() + self.observed_yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD)
     else:
       sensors_valid = True
-    self.avg_offset_valid = check_valid_with_hysteresis(self.avg_offset_valid, self.avg_angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX)
-    self.total_offset_valid = check_valid_with_hysteresis(self.total_offset_valid, self.angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX)
+    avg_angle_offset_max = OFFSET_HIGHER_MAX if self.allow_higher_angle_offset else OFFSET_MAX
+    self.avg_offset_valid = check_valid_with_hysteresis(self.avg_offset_valid, self.avg_angle_offset, avg_angle_offset_max, OFFSET_LOWERED_MAX)
+    self.total_offset_valid = check_valid_with_hysteresis(self.total_offset_valid, self.angle_offset, avg_angle_offset_max, OFFSET_LOWERED_MAX)
     self.roll_valid = check_valid_with_hysteresis(self.roll_valid, self.roll, ROLL_MAX, ROLL_LOWERED_MAX)
 
     msg = messaging.new_message('liveParameters')