diff --git a/.github/workflows/benchmark.yml b/.github/workflows/benchmark.yml
index b0ce605f94..a8d900b439 100644
--- a/.github/workflows/benchmark.yml
+++ b/.github/workflows/benchmark.yml
@@ -625,15 +625,15 @@ jobs:
     - name: benchmark openpilot 0.9.9 dmonitoring
       run: BENCHMARK_LOG=openpilot_0_9_9_dmonitoring PYTHONPATH=. NOLOCALS=1 FLOAT16=1 IMAGE=2 QCOM=1 taskset -c 4-7 python3 test/external/external_benchmark_openpilot.py https://github.com/commaai/openpilot/raw/v0.9.9/selfdrive/modeld/models/dmonitoring_model.onnx
     - name: openpilot compile3 0.9.9 driving_vision
-      run: PYTHONPATH="." QCOM=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://github.com/commaai/openpilot/raw/v0.9.9/selfdrive/modeld/models/driving_vision.onnx
+      run: PYTHONPATH="." ASSERT_MIN_STEP_TIME=22 QCOM=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://github.com/commaai/openpilot/raw/v0.9.9/selfdrive/modeld/models/driving_vision.onnx
     - name: openpilot compile3 0.9.9 driving_policy
-      run: PYTHONPATH="." QCOM=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://github.com/commaai/openpilot/raw/v0.9.9/selfdrive/modeld/models/driving_policy.onnx
+      run: PYTHONPATH="." ASSERT_MIN_STEP_TIME=7 QCOM=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://github.com/commaai/openpilot/raw/v0.9.9/selfdrive/modeld/models/driving_policy.onnx
     - name: openpilot compile3 0.9.9 dmonitoring
-      run: PYTHONPATH="." QCOM=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://github.com/commaai/openpilot/raw/v0.9.9/selfdrive/modeld/models/dmonitoring_model.onnx
+      run: PYTHONPATH="." ASSERT_MIN_STEP_TIME=15 QCOM=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://github.com/commaai/openpilot/raw/v0.9.9/selfdrive/modeld/models/dmonitoring_model.onnx
     - name: openpilot compile3 Space Lab policy + vision
       run: |
-        PYTHONPATH="." QCOM=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://gitlab.com/commaai/openpilot-lfs.git/gitlab-lfs/objects/22aec22a10ce09384d4a4af2a0bbff08d54af7e0c888503508f356fae4ff0e29
-        PYTHONPATH="." QCOM=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://gitlab.com/commaai/openpilot-lfs.git/gitlab-lfs/objects/c824f68646a3b94f117f01c70dc8316fb466e05fbd42ccdba440b8a8dc86914b
+        PYTHONPATH="." ASSERT_MIN_STEP_TIME=4 QCOM=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://gitlab.com/commaai/openpilot-lfs.git/gitlab-lfs/objects/22aec22a10ce09384d4a4af2a0bbff08d54af7e0c888503508f356fae4ff0e29
+        PYTHONPATH="." ASSERT_MIN_STEP_TIME=26 QCOM=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://gitlab.com/commaai/openpilot-lfs.git/gitlab-lfs/objects/c824f68646a3b94f117f01c70dc8316fb466e05fbd42ccdba440b8a8dc86914b
     - name: benchmark MobileNetV2 on DSP
       run: |
         # generate quantized weights
diff --git a/examples/openpilot/compile3.py b/examples/openpilot/compile3.py
index 1eb4d1f46f..6624ce1c9f 100644
--- a/examples/openpilot/compile3.py
+++ b/examples/openpilot/compile3.py
@@ -77,13 +77,20 @@ def test_vs_compile(run, new_inputs, test_val=None):
             **{k:Tensor(v, device="NPY").realize() for k,v in new_inputs_numpy.items() if 'img' not in k}}
 
   # run 20 times
+  step_times = []
   for _ in range(20):
     st = time.perf_counter()
     out = run(**inputs)
     mt = time.perf_counter()
     val = out.numpy()
     et = time.perf_counter()
-    print(f"enqueue {(mt-st)*1e3:6.2f} ms -- total run {(et-st)*1e3:6.2f} ms")
+    step_times.append((et-st)*1e3)
+    print(f"enqueue {(mt-st)*1e3:6.2f} ms -- total run {step_times[-1]:6.2f} ms")
+
+  if (assert_time:=getenv("ASSERT_MIN_STEP_TIME")):
+    min_time = min(step_times)
+    assert min_time < assert_time, f"Speed regression, expected min step time of < {assert_time} ms but took: {min_time} ms"
+
   print(out, val.shape, val.dtype)
   if test_val is not None: np.testing.assert_equal(test_val, val)
   print("**** test done ****")
diff --git a/test/external/external_benchmark_openpilot.py b/test/external/external_benchmark_openpilot.py
index 4d097f91d1..f532ecb863 100644
--- a/test/external/external_benchmark_openpilot.py
+++ b/test/external/external_benchmark_openpilot.py
@@ -39,10 +39,6 @@ if __name__ == "__main__":
       step_times.append(t:=(time.perf_counter_ns() - st)*1e-6)
     print(f"jitted:  {t:7.4f} ms")
 
-  if (assert_time:=getenv("ASSERT_MIN_STEP_TIME")):
-    min_time = min(step_times)
-    assert min_time < assert_time, f"Speed regression, expected min step time of < {assert_time} ms but took: {min_time} ms"
-
   suffix = ""
   if IMAGE.value < 2: suffix += f"_image{IMAGE.value}" # image=2 has no suffix for compatibility
   if getenv("FLOAT16") == 1: suffix += "_float16"