diff --git a/tests/benchmark.py b/tests/benchmark.py
new file mode 100755
index 00000000..c2b0c85c
--- /dev/null
+++ b/tests/benchmark.py
@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+import time
+from contextlib import contextmanager
+
+from panda import Panda, PandaDFU
+from panda.tests.hitl.helpers import get_random_can_messages
+
+
+@contextmanager
+def print_time(desc):
+  start = time.perf_counter()
+  yield
+  end = time.perf_counter()
+  print(f"{end - start:.2f}s - {desc}")
+
+
+if __name__ == "__main__":
+  with print_time("Panda()"):
+    p = Panda()
+
+  with print_time("PandaDFU.list()"):
+    PandaDFU.list()
+
+  fxn = [
+    'reset',
+    'reconnect',
+    'up_to_date',
+    'health',
+    #'flash',
+  ]
+  for f in fxn:
+    with print_time(f"Panda.{f}()"):
+      getattr(p, f)()
+
+  p.set_can_loopback(True)
+
+  for n in range(6):
+    msgs = get_random_can_messages(int(10**n))
+    with print_time(f"Panda.can_send_many() - {len(msgs)} msgs"):
+      p.can_send_many(msgs)
+
+  with print_time("Panda.can_recv()"):
+    m = p.can_recv()
diff --git a/tests/hitl/helpers.py b/tests/hitl/helpers.py
index 97b0b960..ee047840 100644
--- a/tests/hitl/helpers.py
+++ b/tests/hitl/helpers.py
@@ -2,6 +2,16 @@ import time
 import random
 
 
+def get_random_can_messages(n):
+  m = []
+  for _ in range(n):
+    bus = random.randrange(3)
+    addr = random.randrange(1 << 29)
+    dat = bytes([random.getrandbits(8) for _ in range(random.randrange(1, 9))])
+    m.append([addr, None, dat, bus])
+  return m
+
+
 def time_many_sends(p, bus, p_recv=None, msg_count=100, two_pandas=False):
   if p_recv is None:
     p_recv = p