diff --git a/Jenkinsfile b/Jenkinsfile
index 4c1f6ad8..4a2e4922 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -109,7 +109,7 @@ pipeline {
                   ["build", "scons -j4"],
                   ["flash", "cd scripts/ && ./reflash_internal_panda.py"],
                   ["flash jungle", "cd board/jungle && ./flash.py --all"],
-                  ["test", "cd tests/hitl && HW_TYPES=10 pytest --durations=0 2*.py [5-9]*.py"],
+                  ["test", "cd tests/hitl && pytest --durations=0 2*.py [5-9]*.py"],
                 ])
               }
             }
@@ -121,7 +121,7 @@ pipeline {
                   ["build", "scons -j4"],
                   ["flash", "cd scripts/ && ./reflash_internal_panda.py"],
                   ["flash jungle", "cd board/jungle && ./flash.py --all"],
-                  ["test", "cd tests/hitl && HW_TYPES=9 pytest --durations=0 2*.py [5-9]*.py"],
+                  ["test", "cd tests/hitl && pytest --durations=0 2*.py [5-9]*.py"],
                 ])
               }
             }
diff --git a/python/spi.py b/python/spi.py
index ecb95944..89018a6a 100644
--- a/python/spi.py
+++ b/python/spi.py
@@ -161,10 +161,10 @@ class PandaSpiHandle(BaseHandle):
     start = time.monotonic()
     while (timeout == 0) or ((time.monotonic() - start) < timeout_s):
       dat = spi.xfer2([tx, ] * length)
-      if dat[0] == NACK:
-        raise PandaSpiNackResponse
-      elif dat[0] == ack_val:
+      if dat[0] == ack_val:
         return bytes(dat)
+      elif dat[0] == NACK:
+        raise PandaSpiNackResponse
 
     raise PandaSpiMissingAck
 
@@ -240,7 +240,19 @@ class PandaSpiHandle(BaseHandle):
           return self._transfer_raw(spi, endpoint, data, timeout, max_rx_len, expect_disconnect)
         except PandaSpiException as e:
           exc = e
-          logger.debug("SPI transfer failed, retrying", exc_info=True)
+          logger.info("SPI transfer failed, retrying", exc_info=True)
+
+          # ensure slave is in a consistent state and ready for the next transfer
+          # (e.g. slave TX buffer isn't stuck full)
+          nack_cnt = 0
+          attempts = 5
+          while (nack_cnt <= 3) and (attempts > 0):
+            attempts -= 1
+            try:
+              self._wait_for_ack(spi, NACK, MIN_ACK_TIMEOUT_MS, 0x11, length=XFER_SIZE//2)
+              nack_cnt += 1
+            except PandaSpiException:
+              nack_cnt = 0
 
     raise exc
 
diff --git a/tests/hitl/5_spi.py b/tests/hitl/5_spi.py
index 1861ffef..6964c9ab 100644
--- a/tests/hitl/5_spi.py
+++ b/tests/hitl/5_spi.py
@@ -6,9 +6,6 @@ from unittest.mock import patch
 from panda import Panda, PandaDFU
 from panda.python.spi import SpiDevice, PandaProtocolMismatch, PandaSpiNackResponse
 
-pytestmark = [
-  pytest.mark.test_panda_types((Panda.HW_TYPE_TRES, ))
-]
 
 @pytest.mark.skip("doesn't work, bootloader seems to ignore commands once it sees junk")
 def test_dfu_with_spam(p):