diff --git a/common/params_keys.h b/common/params_keys.h
index 1dd306f58..171974468 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -142,4 +142,5 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"dp_ui_radar_tracks", PERSISTENT},
     {"dp_vag_a0_sng", PERSISTENT},
     {"dp_vag_pq_steering_patch", PERSISTENT},
+    {"dp_vag_avoid_eps_lockout", PERSISTENT},
 };
diff --git a/opendbc_repo/opendbc/car/structs.py b/opendbc_repo/opendbc/car/structs.py
index bcd03a1c7..6b7e8f2f0 100644
--- a/opendbc_repo/opendbc/car/structs.py
+++ b/opendbc_repo/opendbc/car/structs.py
@@ -23,5 +23,6 @@ class DPFlags:
   LateralALKA = 1
   ExtRadar = 2
   VagA0SnG = 2 ** 2
-  VAGPQSteeringPatch = 2 ** 2
+  VAGPQSteeringPatch = 2 ** 3
+  VagAvoidEPSLockout = 2 ** 4
   pass
diff --git a/opendbc_repo/opendbc/car/volkswagen/carcontroller.py b/opendbc_repo/opendbc/car/volkswagen/carcontroller.py
index a7ccc211b..bb44491d6 100644
--- a/opendbc_repo/opendbc/car/volkswagen/carcontroller.py
+++ b/opendbc_repo/opendbc/car/volkswagen/carcontroller.py
@@ -13,7 +13,7 @@ LongCtrlState = structs.CarControl.Actuators.LongControlState
 class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
-    self.CCP = CarControllerParams(CP)
+    self.CCP = CarControllerParams(CP, CP.flags & VolkswagenFlags.AVOID_EPS_LOCKOUT)
     self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
     self.packer_pt = CANPacker(dbc_names[Bus.pt])
     self.ext_bus = CANBUS.pt if CP.networkLocation == structs.CarParams.NetworkLocation.fwdCamera else CANBUS.cam
diff --git a/opendbc_repo/opendbc/car/volkswagen/interface.py b/opendbc_repo/opendbc/car/volkswagen/interface.py
index 3857ca996..0336f8fdb 100644
--- a/opendbc_repo/opendbc/car/volkswagen/interface.py
+++ b/opendbc_repo/opendbc/car/volkswagen/interface.py
@@ -93,4 +93,7 @@ class CarInterface(CarInterfaceBase):
     if ret.flags & VolkswagenFlags.PQ and dp_params & structs.DPFlags.VAGPQSteeringPatch:
       ret.flags |= VolkswagenFlags.PQSteeringPatch.value
 
+    if dp_params & structs.DPFlags.VagAvoidEPSLockout:
+      ret.flags |= VolkswagenFlags.AVOID_EPS_LOCKOUT.value
+
     return ret
diff --git a/opendbc_repo/opendbc/car/volkswagen/values.py b/opendbc_repo/opendbc/car/volkswagen/values.py
index d0ac1853b..d254d8909 100644
--- a/opendbc_repo/opendbc/car/volkswagen/values.py
+++ b/opendbc_repo/opendbc/car/volkswagen/values.py
@@ -27,7 +27,8 @@ class CarControllerParams:
   # MQB vs PQ maximums are shared, but rate-of-change limited differently
   # based on safety requirements driven by lateral accel testing.
 
-  STEER_MAX = 300                          # Max heading control assist torque 3.00 Nm
+  # rick - move to init so we can overwrite it with avoid eps lockout
+  # STEER_MAX = 300                          # Max heading control assist torque 3.00 Nm
   STEER_DRIVER_MULTIPLIER = 3              # weight driver torque heavily
   STEER_DRIVER_FACTOR = 1                  # from dbc
 
@@ -40,8 +41,9 @@ class CarControllerParams:
   ACCEL_MAX = 2.0                          # 2.0 m/s max acceleration
   ACCEL_MIN = -3.5                         # 3.5 m/s max deceleration
 
-  def __init__(self, CP):
+  def __init__(self, CP, avoid_eps_lockout = False):
     can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
+    self.STEER_MAX = 300 if not avoid_eps_lockout else 288
 
     if CP.flags & VolkswagenFlags.PQ:
       self.LDW_STEP = 5                   # LDW_1 message frequency 20Hz
@@ -146,6 +148,8 @@ class VolkswagenFlags(IntFlag):
 
   A0SnG = 2 ** 2
   PQSteeringPatch = 2 ** 3
+  AVOID_EPS_LOCKOUT = 2 ** 4
+
 
 @dataclass
 class VolkswagenMQBPlatformConfig(PlatformConfig):
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 7cce7b7fb..8f248c1a4 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -108,6 +108,9 @@ class Car:
       if self.params.get_bool("dp_vag_pq_steering_patch"):
         dp_params |= structs.DPFlags.VAGPQSteeringPatch
 
+      if self.params.get_bool("dp_vag_avoid_eps_lockout"):
+        dp_params |= structs.DPFlags.VagAvoidEPSLockout
+
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, dp_params, cached_params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
       self.CP = self.CI.CP
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index dcf000343..f47f5a4c5 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -2,8 +2,9 @@ import numpy as np
 from abc import abstractmethod, ABC
 
 from openpilot.common.realtime import DT_CTRL
+from openpilot.common.params import Params
 
-MIN_LATERAL_CONTROL_SPEED = 0.3  # m/s
+MIN_LATERAL_CONTROL_SPEED = 2.5 if Params().get_bool("dp_vag_avoid_eps_lockout") else 0.3  # m/s
 
 
 class LatControl(ABC):
diff --git a/selfdrive/ui/qt/offroad/dp_panel.cc b/selfdrive/ui/qt/offroad/dp_panel.cc
index 547f4844f..a1494a962 100644
--- a/selfdrive/ui/qt/offroad/dp_panel.cc
+++ b/selfdrive/ui/qt/offroad/dp_panel.cc
@@ -50,6 +50,11 @@ void DPPanel::add_vag_toggles() {
       tr("PQ Steering Patch"),
       ""
     },
+    {
+      "dp_vag_avoid_eps_lockout",
+      tr("Avoid EPS Lockout"),
+      "",
+    },
   };
 
   QWidget *label = nullptr;
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 4deb148e4..a97bd48f5 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -64,6 +64,7 @@ def manager_init() -> None:
     ("dp_ui_radar_tracks", "0"),
     ("dp_vag_a0_sng", "0"),
     ("dp_vag_pq_steering_patch", "0"),
+    ("dp_vag_avoid_eps_lockout", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):