diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index 648cd5ae95..a55cbd8ab2 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -353,19 +353,15 @@ def main(demo=False):
       'traffic_convention': traffic_convention,
     }
 
-    if "lateral_control_params" in model.numpy_inputs.keys():
-      inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)
-
-    if "driving_style" in model.numpy_inputs.keys():
-      inputs['driving_style'] = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32)
-
-    if "nav_features" in model.numpy_inputs.keys():
-      nav_features_shape = model.model_runner.input_shapes.get('nav_features')
-      inputs['nav_features'] = np.zeros(nav_features_shape[1], dtype=np.float32)
-
-    if "nav_instructions" in model.numpy_inputs.keys():
-      nav_instructions_shape = model.model_runner.input_shapes.get('nav_instructions')
-      inputs['nav_instructions'] = np.zeros(nav_instructions_shape[1], dtype=np.float32)
+    conditional_inputs = {
+      "lateral_control_params": lambda: np.array([v_ego, lat_delay], dtype=np.float32),
+      "driving_style": lambda: np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32),
+      "nav_features": lambda: np.zeros(model.model_runner.input_shapes.get('nav_features')[1], dtype=np.float32),
+      "nav_instructions": lambda: np.zeros(model.model_runner.input_shapes.get('nav_instructions')[1], dtype=np.float32),
+    }
+    for key, value in conditional_inputs.items():
+      if key in model.numpy_inputs:
+        inputs[key] = value()
 
     mt1 = time.perf_counter()
     model_output = model.run(bufs, transforms, inputs, prepare_only)