diff --git a/openpilot/selfdrive/ui/mici/onroad/hud_renderer.py b/openpilot/selfdrive/ui/mici/onroad/hud_renderer.py
index d4fe668294..0d1532057e 100644
--- a/openpilot/selfdrive/ui/mici/onroad/hud_renderer.py
+++ b/openpilot/selfdrive/ui/mici/onroad/hud_renderer.py
@@ -168,8 +168,8 @@ class HudRenderer(Widget):
     if (engaged and not self._engaged and not ui_state.usbgpu_loading and ui_state.usbgpu_active is not True and
         ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame):
       self._small_model_engaged = True
-    if engaged and not self._engaged:
-      self._egpu_fade_time = rl.get_time()
+    if engaged != self._engaged:
+      self._egpu_fade_time = rl.get_time() if engaged else 0
     if (set_speed != self.set_speed and engaged) or (engaged and not self._engaged):
       self._set_speed_changed_time = rl.get_time()
     self._engaged = engaged
@@ -223,7 +223,7 @@ class HudRenderer(Widget):
     if icon is not self._egpu_icon:
       self._egpu_fade_time = rl.get_time()
       self._egpu_icon = icon
-    alpha = self._egpu_alpha_filter.update(loading or (0 < rl.get_time() - self._egpu_fade_time < SET_SPEED_PERSISTENCE and self._engaged))
+    alpha = self._egpu_alpha_filter.update(loading or 0 < rl.get_time() - self._egpu_fade_time < SET_SPEED_PERSISTENCE)
     if alpha < 1e-2:
       return