diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index ab55f392f7..71ca03cccf 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -1,6 +1,7 @@
+import time
 import numpy as np
 import pyray as rl
-from cereal import car, log
+from cereal import messaging, car, log
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
@@ -160,6 +161,9 @@ class AugmentedRoadView(CameraView):
 
     self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
 
+    # debug
+    self._pm = messaging.PubMaster(['uiDebug'])
+
   def is_swiping_left(self) -> bool:
     """Check if currently swiping left (for scroller to disable)."""
     return self._bookmark_icon.is_swiping_left()
@@ -179,6 +183,7 @@ class AugmentedRoadView(CameraView):
       super()._handle_mouse_release(mouse_pos)
 
   def _render(self, _):
+    start_draw = time.monotonic()
     self._switch_stream_if_needed(ui_state.sm)
 
     # Update calibration before rendering
@@ -244,6 +249,11 @@ class AugmentedRoadView(CameraView):
       rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
       self._offroad_label.render(self._content_rect)
 
+    # publish uiDebug
+    msg = messaging.new_message('uiDebug')
+    msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
+    self._pm.send('uiDebug', msg)
+
   def _switch_stream_if_needed(self, sm):
     if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
       v_ego = sm['carState'].vEgo