diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 92c93311218970..e3c456766e3eb2 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -296,7 +296,7 @@ def update_events(self, CS):
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
       self.events.add(EventName.controlsdLagging)
-    if len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState'])):
+    if len(self.sm['radarState'].radarErrors) or ((not self.rk.lagging or REPLAY) and not self.sm.all_checks(['radarState'])):
       self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 233f5d746a7202..f55f2c4e2ae540 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -466,7 +466,7 @@ def locationd_config_pubsub_callback(params, cfg, lr):
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
       "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope"
     ],
-    subs=["controlsState", "carState", "carControl", "sendcan", "onroadEvents", "carParams"],
+    subs=["controlsState", "carState", "carControl", "carOutput", "sendcan", "onroadEvents", "carParams"],
     ignore=["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"],
     config_callback=controlsd_config_callback,
     init_callback=controlsd_fingerprint_callback,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 3fc6acc3cb1cbb..2af30b5b47a5fd 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-f1ecdf9048fb12e289baf4933cb3ef12e486252c
+cc4e23ca0fceb300a3048c187ae9bc793794c095
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 7a482c1bdc8566..b3dcbb03db248d 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -41,23 +41,23 @@
 ]
 
 segments = [
-  ("BODY", "regen997DF2697CB|2023-10-30--23-14-29--0"),
-  ("HYUNDAI", "regen2A9D2A8E0B4|2023-10-30--23-13-34--0"),
-  ("HYUNDAI2", "regen6CA24BC3035|2023-10-30--23-14-28--0"),
-  ("TOYOTA", "regen5C019D76307|2023-10-30--23-13-31--0"),
-  ("TOYOTA2", "regen5DCADA88A96|2023-10-30--23-14-57--0"),
-  ("TOYOTA3", "regen7204CA3A498|2023-10-30--23-15-55--0"),
-  ("HONDA", "regen048F8FA0B24|2023-10-30--23-15-53--0"),
-  ("HONDA2", "regen7D2D3F82D5B|2023-10-30--23-15-55--0"),
-  ("CHRYSLER", "regen7125C42780C|2023-10-30--23-16-21--0"),
-  ("RAM", "regen2731F3213D2|2023-10-30--23-18-11--0"),
-  ("SUBARU", "regen86E4C1B4DDD|2023-10-30--23-18-14--0"),
-  ("GM", "regenF6393D64745|2023-10-30--23-17-18--0"),
-  ("GM2", "regen220F830C05B|2023-10-30--23-18-39--0"),
-  ("NISSAN", "regen4F671F7C435|2023-10-30--23-18-40--0"),
-  ("VOLKSWAGEN", "regen8BDFE7307A0|2023-10-30--23-19-36--0"),
-  ("MAZDA", "regen2E9F1A15FD5|2023-10-30--23-20-36--0"),
-  ("FORD", "regen6D39E54606E|2023-10-30--23-20-54--0"),
+  ("BODY", "regen02ECB79BACC|2024-05-18--04-29-29--0"),
+  ("HYUNDAI", "regen845DC1916E6|2024-05-18--04-30-52--0"),
+  ("HYUNDAI2", "regenBAE0915FE22|2024-05-18--04-33-11--0"),
+  ("TOYOTA", "regen1108D19FC2E|2024-05-18--04-34-34--0"),
+  ("TOYOTA2", "regen846521F39C7|2024-05-18--04-35-58--0"),
+  ("TOYOTA3", "regen788C3623D11|2024-05-18--04-38-21--0"),
+  ("HONDA", "regenDE43F170E99|2024-05-18--04-39-47--0"),
+  ("HONDA2", "regen1EE0FA383C3|2024-05-18--04-41-12--0"),
+  ("CHRYSLER", "regen9C5A30F471C|2024-05-18--04-42-36--0"),
+  ("RAM", "regenCCA313D117D|2024-05-18--04-44-53--0"),
+  ("SUBARU", "regenA41511F882A|2024-05-18--04-47-14--0"),
+  ("GM", "regen9D7B9CE4A66|2024-05-18--04-48-36--0"),
+  ("GM2", "regen07CECA52D41|2024-05-18--04-50-55--0"),
+  ("NISSAN", "regen2D6B856D0AE|2024-05-18--04-52-17--0"),
+  ("VOLKSWAGEN", "regen2D3AC6A6F05|2024-05-18--04-53-41--0"),
+  ("MAZDA", "regen0D5A777DD16|2024-05-18--04-56-02--0"),
+  ("FORD", "regen235D0937965|2024-05-18--04-58-16--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
@@ -107,11 +107,9 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
   # check to make sure openpilot is engaged in the route
   if cfg.proc_name == "controlsd":
     if not check_openpilot_enabled(log_msgs):
-      # FIXME: these segments should work, but the replay enabling logic is too brittle
-      if segment not in ("regen6CA24BC3035|2023-10-30--23-14-28--0", "regen7D2D3F82D5B|2023-10-30--23-15-55--0"):
-        return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
+      return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
 
-  if cfg.proc_name != 'ubloxd' or segment != 'regen6CA24BC3035|2023-10-30--23-14-28--0':
+  if cfg.proc_name != 'ubloxd' or segment != 'regenBAE0915FE22|2024-05-18--04-33-11--0':
     seen_msgs = {m.which() for m in log_msgs}
     expected_msgs = set(cfg.subs)
     if seen_msgs != expected_msgs: