diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 1f330e2..c6d77e3 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -174,6 +174,12 @@ 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).
+    self.last_engaged_frame = -1
+    self.POST_ENGAGE_LAG_GRACE_FRAMES = int(3.0 / DT_CTRL)
     self.soft_disable_timer = 0
     self.mismatch_counter = 0
     self.cruise_mismatch_counter = 0
@@ -486,7 +492,14 @@ class Controls:
         elif not self.sm.all_freq_ok(self.camera_packets):
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
-      self.events.add(EventName.controlsdLagging)
+      # 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:
+        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'])):
         self.events.add(EventName.radarFault)
@@ -658,8 +671,12 @@ class Controls:
           self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode, self.sm['frogpilotPlan'].unconfirmedSlcSpeedLimit, self.frogpilot_variables)
 
     # Check if openpilot is engaged and actuators are enabled
+    enabled_prev = self.enabled
     self.enabled = self.state in ENABLED_STATES
     self.active = self.state in ACTIVE_STATES
+    # CLEARPILOT: capture rising edge of engagement for the lag-grace window.
+    if self.enabled and not enabled_prev:
+      self.last_engaged_frame = self.sm.frame
     if self.active:
       self.current_alert_types.append(ET.WARNING)