diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index c6d77e3..51feccf 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -98,7 +98,7 @@ class Controls:
     self.park_mode = False
     self.park_exit_frame = -1
     self.startup_complete_frame = -1
-    self.PARK_GRACE_MAX_FRAMES = int(8.0 / DT_CTRL)
+    self.PARK_GRACE_MAX_FRAMES = int(15.0 / DT_CTRL)
     self.PARK_STARTUP_DELAY_FRAMES = int(10.0 / DT_CTRL)
 
     self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS
@@ -174,11 +174,20 @@ class Controls:
     self.state = State.disabled
     self.enabled = False
     self.active = False
-    # CLEARPILOT: track engagement edge for the post-engage controlsdLagging
-    # suppression window (the loop briefly lags during state transition into
-    # enabled, which would otherwise pop "Controls Process Lagging: Reboot
-    # Your Device" right as the user lets the wheel go).
+    # CLEARPILOT: track engagement edge for the post-engage suppression
+    # window. Two edges:
+    #   - last_engage_attempt_frame: rises with CS.cruiseState.enabled
+    #     (covers blocked NO_ENTRY attempts — alerts fire BEFORE engage)
+    #   - last_engaged_frame:        rises with self.enabled
+    #     (covers state-transition lag once engagement succeeds)
+    # The grace suppresses controlsdLagging + commIssue for 3 s after either
+    # edge — long enough for the loop to settle past the engage transition
+    # and for any briefly-stale services (longitudinalPlan, frogpilotPlan)
+    # to catch up. Without this, the user gets a flash of scary "Reboot Your
+    # Device" and "Communication Issue" alerts right as their hands are
+    # still on the wheel after pressing SET.
     self.last_engaged_frame = -1
+    self.last_engage_attempt_frame = -1
     self.POST_ENGAGE_LAG_GRACE_FRAMES = int(3.0 / DT_CTRL)
     self.soft_disable_timer = 0
     self.mismatch_counter = 0
@@ -349,6 +358,12 @@ class Controls:
 
     self.events.clear()
 
+    # CLEARPILOT: capture rising edge of cruise.enabled so we can suppress
+    # noisy startup alerts (controlsdLagging, commIssue) for the first 3
+    # seconds after the user presses SET. self.CS_prev is last cycle's CS.
+    if CS.cruiseState.enabled and not self.CS_prev.cruiseState.enabled:
+      self.last_engage_attempt_frame = self.sm.frame
+
     # Add joystick event, static on cars, dynamic on nonCars
     if self.joystick_mode:
       self.events.add(EventName.joystickDebug)
@@ -491,14 +506,20 @@ class Controls:
           self.events.add(EventName.cameraMalfunction)
         elif not self.sm.all_freq_ok(self.camera_packets):
           self.events.add(EventName.cameraFrameRate)
+    # CLEARPILOT: 3-second grace after either edge of "engagement" — covers
+    # both the cruise SET press (which fires before state_transition runs,
+    # so it can trigger NO_ENTRY alerts that block engagement) and the
+    # post-engage state transition lag.
+    in_engage_grace = (
+      (self.last_engaged_frame >= 0
+       and (self.sm.frame - self.last_engaged_frame) < self.POST_ENGAGE_LAG_GRACE_FRAMES)
+      or
+      (self.last_engage_attempt_frame >= 0
+       and (self.sm.frame - self.last_engage_attempt_frame) < self.POST_ENGAGE_LAG_GRACE_FRAMES)
+    )
+
     if not REPLAY and self.rk.lagging:
-      # CLEARPILOT: suppress controlsdLagging for the first 3 seconds after
-      # engagement — the loop briefly lags during the state transition into
-      # enabled, which otherwise pops a scary "Reboot Your Device" alert
-      # just as the user is letting their hands off the wheel.
-      in_post_engage_lag_grace = (self.last_engaged_frame >= 0
-                                  and (self.sm.frame - self.last_engaged_frame) < self.POST_ENGAGE_LAG_GRACE_FRAMES)
-      if not in_post_engage_lag_grace:
+      if not in_engage_grace:
         self.events.add(EventName.controlsdLagging)
     if not self.radarless_model:
       if len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState'])):
@@ -514,12 +535,16 @@ class Controls:
     has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE))
     no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
     if (not self.sm.all_checks() or self.card.can_rcv_timeout) and no_system_errors:
-      if not self.sm.all_alive():
-        self.events.add(EventName.commIssue)
-      elif not self.sm.all_freq_ok():
-        self.events.add(EventName.commIssueAvgFreq)
-      else:  # invalid or can_rcv_timeout.
-        self.events.add(EventName.commIssue)
+      # CLEARPILOT: suppress the commIssue NO_ENTRY alert for the first 3 s
+      # after engage attempt — services like longitudinalPlan / frogpilotPlan
+      # often need a beat to validate after a cold spawn.
+      if not in_engage_grace:
+        if not self.sm.all_alive():
+          self.events.add(EventName.commIssue)
+        elif not self.sm.all_freq_ok():
+          self.events.add(EventName.commIssueAvgFreq)
+        else:  # invalid or can_rcv_timeout.
+          self.events.add(EventName.commIssue)
 
       logs = {
         'invalid': [s for s, valid in self.sm.valid.items() if not valid],