diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py
index 1a0c6bc09..b8958993f 100644
--- a/selfdrive/ui/mici/layouts/main.py
+++ b/selfdrive/ui/mici/layouts/main.py
@@ -93,14 +93,14 @@ class MiciMainLayout(Scroller):
         self._scroll_to(self._home_layout)
 
     if self._onroad_time_delay is not None and rl.get_time() - self._onroad_time_delay >= ONROAD_DELAY:
-      gui_app.pop_widgets_to(self)
+      gui_app.request_pop_widgets_to(self)
       self._scroll_to(self._onroad_layout)
       self._onroad_time_delay = None
 
     # When car leaves standstill, pop nav stack and scroll to onroad
     CS = ui_state.sm["carState"]
     if not CS.standstill and self._prev_standstill:
-      gui_app.pop_widgets_to(self)
+      gui_app.request_pop_widgets_to(self)
       self._scroll_to(self._onroad_layout)
     self._prev_standstill = CS.standstill
 
@@ -112,9 +112,10 @@ class MiciMainLayout(Scroller):
     if ui_state.started:
       # Don't pop if at standstill
       if not ui_state.sm["carState"].standstill:
-        gui_app.pop_widgets_to(self)
+        gui_app.request_pop_widgets_to(self)
         self._scroll_to(self._onroad_layout)
     else:
+      # Screen turns off on timeout offroad, so pop immediately without animation
       gui_app.pop_widgets_to(self)
       self._scroll_to(self._home_layout)
 
diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py
index 8e978066c..1191f031b 100644
--- a/selfdrive/ui/mici/widgets/dialog.py
+++ b/selfdrive/ui/mici/widgets/dialog.py
@@ -82,8 +82,8 @@ class BigConfirmationDialogV2(BigDialogBase):
 
   def _on_confirm(self):
     if self._exit_on_confirm:
-      gui_app.pop_widget()
-    if self._confirm_callback:
+      gui_app.request_pop_widget(self._confirm_callback)
+    elif self._confirm_callback:
       self._confirm_callback()
 
   def _update_state(self):
@@ -128,9 +128,7 @@ class BigInputDialog(BigDialogBase):
 
     def confirm_callback_wrapper():
       text = self._keyboard.text()
-      gui_app.pop_widget()
-      if confirm_callback:
-        confirm_callback(text)
+      gui_app.request_pop_widget(lambda: confirm_callback(text) if confirm_callback else None)
     self._confirm_callback = confirm_callback_wrapper
 
   def _update_state(self):
diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index 34aed4f6a..ebfa385ea 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -384,17 +384,25 @@ class GuiApplication:
     self._nav_stack.append(widget)
     widget.show_event()
 
-  def pop_widget(self):
+  # pop_widget and pop_widgets_to are immediate (no animation). Use request_* variants for animated dismiss.
+  def pop_widget(self, idx: int | None = None):
     if len(self._nav_stack) < 2:
       cloudlog.warning("At least one widget should remain on the stack, ignoring pop!")
       return
 
-    # re-enable previous widget and pop current
+    if idx is None:
+      idx = -1
+    else:
+      if idx < 1 or idx >= len(self._nav_stack):
+        return
+
+    # re-enable widget below, and re-enable popped widget so it's clean if pushed again
     # TODO: switch to touch_valid
-    prev_widget = self._nav_stack[-2]
+    prev_widget = self._nav_stack[idx - 1]
     prev_widget.set_enabled(True)
 
-    widget = self._nav_stack.pop()
+    widget = self._nav_stack.pop(idx)
+    widget.set_enabled(True)
     widget.hide_event()
 
   def pop_widgets_to(self, widget):
@@ -406,6 +414,33 @@ class GuiApplication:
     while len(self._nav_stack) > 0 and self._nav_stack[-1] != widget:
       self.pop_widget()
 
+  def request_pop_widget(self, callback: Callable | None = None):
+    """Request the top widget to close. NavWidgets dismiss (animate then pop); others pop immediately. Callback runs after pop."""
+    if len(self._nav_stack) < 2:
+      cloudlog.warning("At least one widget should remain on the stack, ignoring pop!")
+      return
+    top = self._nav_stack[-1]
+    if hasattr(top, "dismiss"):
+      top.dismiss(callback)
+    else:
+      self.pop_widget()
+      if callback:
+        callback()
+
+  def request_pop_widgets_to(self, widget):
+    """Request to close widgets down to the given widget. Middle widgets are removed via pop_widget logic; only the top animates down."""
+    if widget not in self._nav_stack:
+      cloudlog.warning("Widget not in stack, cannot pop to it!")
+      return
+
+    if len(self._nav_stack) < 2 or self._nav_stack[-1] == widget:
+      return
+
+    # Pop second-from-top repeatedly until stack is [target, top]; each goes through re-enable + hide_event
+    while len(self._nav_stack) > 2 and self._nav_stack[-2] != widget:
+      self.pop_widget(len(self._nav_stack) - 2)
+    self.request_pop_widget()
+
   def get_active_widget(self):
     if len(self._nav_stack) > 0:
       return self._nav_stack[-1]
diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py
index ca6354443..961cbe753 100755
--- a/system/ui/mici_setup.py
+++ b/system/ui/mici_setup.py
@@ -534,7 +534,7 @@ class Setup(Widget):
   def _nav_stack_tick(self):
     has_internet = self._network_monitor.network_connected.is_set()
     if has_internet and not self._prev_has_internet:
-      gui_app.pop_widgets_to(self)
+      gui_app.request_pop_widgets_to(self)
     self._prev_has_internet = has_internet
 
   def _update_state(self):
diff --git a/system/ui/tests/test_nav_stack.py b/system/ui/tests/test_nav_stack.py
new file mode 100644
index 000000000..eae5d78c1
--- /dev/null
+++ b/system/ui/tests/test_nav_stack.py
@@ -0,0 +1,50 @@
+import pytest
+from openpilot.system.ui.lib.application import gui_app
+
+
+class Widget:
+  def __init__(self):
+    self.enabled, self.shown, self.hidden = True, False, False
+
+  def set_enabled(self, e): self.enabled = e
+  def show_event(self): self.shown = True
+  def hide_event(self): self.hidden = True
+
+
+@pytest.fixture(autouse=True)
+def clean_stack():
+  gui_app._nav_stack = []
+  yield
+  gui_app._nav_stack = []
+
+
+def test_push():
+  a, b = Widget(), Widget()
+  gui_app.push_widget(a)
+  gui_app.push_widget(b)
+  assert not a.enabled and not a.hidden
+  assert b.enabled and b.shown
+
+
+def test_pop_re_enables():
+  widgets = [Widget() for _ in range(4)]
+  for w in widgets:
+    gui_app.push_widget(w)
+  assert all(not w.enabled for w in widgets[:-1])
+  gui_app.pop_widget()
+  assert widgets[-2].enabled
+
+
+@pytest.mark.parametrize("pop_fn", [gui_app.pop_widgets_to, gui_app.request_pop_widgets_to])
+def test_pop_widgets_to(pop_fn):
+  widgets = [Widget() for _ in range(4)]
+  for w in widgets:
+    gui_app.push_widget(w)
+
+  root = widgets[0]
+  pop_fn(root)
+
+  assert gui_app._nav_stack == [root]
+  assert root.enabled and not root.hidden
+  for w in widgets[1:]:
+    assert w.enabled and w.hidden and w.shown
diff --git a/system/ui/widgets/nav_widget.py b/system/ui/widgets/nav_widget.py
index 02afc911b..ad8d5d313 100644
--- a/system/ui/widgets/nav_widget.py
+++ b/system/ui/widgets/nav_widget.py
@@ -17,6 +17,7 @@ NAV_BAR_HEIGHT = 8
 
 DISMISS_PUSH_OFFSET = 50 + NAV_BAR_MARGIN + NAV_BAR_HEIGHT  # px extra to push down when dismissing
 DISMISS_TIME_SECONDS = 2.0
+DISMISS_ANIMATION_RC = 0.2  # time constant for non-user triggered dismiss animation
 
 
 class NavBar(Widget):
@@ -62,6 +63,7 @@ class NavWidget(Widget, abc.ABC):
 
     self._pos_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps, bounce=1)
     self._playing_dismiss_animation = False
+    self._dismiss_callback: Callable | None = None
     self._trigger_animate_in = False
     self._nav_bar_show_time = 0.0
     self._back_enabled: bool | Callable[[], bool] = True
@@ -83,7 +85,8 @@ class NavWidget(Widget, abc.ABC):
     # FIXME: disabling this widget on new push_widget still causes this widget to track mouse events without mouse down
     super()._handle_mouse_event(mouse_event)
 
-    if not self.back_enabled:
+    # Don't let touch events change filter state during dismiss animation
+    if not self.back_enabled or self._playing_dismiss_animation:
       self._back_button_start_pos = None
       self._swiping_away = False
       self._can_swipe_away = True
@@ -170,6 +173,10 @@ class NavWidget(Widget, abc.ABC):
       if self._back_callback is not None:
         self._back_callback()
 
+      if self._dismiss_callback is not None:
+        self._dismiss_callback()
+        self._dismiss_callback = None
+
       self._playing_dismiss_animation = False
       self._back_button_start_pos = None
       self._swiping_away = False
@@ -205,6 +212,13 @@ class NavWidget(Widget, abc.ABC):
 
     return ret
 
+  def dismiss(self, callback: Callable | None = None):
+    """Programmatically trigger the dismiss animation. Calls pop_widget when done, then callback."""
+    if not self._playing_dismiss_animation:
+      self._pos_filter.update_alpha(DISMISS_ANIMATION_RC)
+      self._playing_dismiss_animation = True
+    self._dismiss_callback = callback
+
   def show_event(self):
     super().show_event()
     # FIXME: we don't know the height of the rect at first show_event since it's before the first render :(