diff --git a/python/__init__.py b/python/__init__.py
index f982d3bcf5..0e531dfc75 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -255,7 +255,7 @@ def connect(self, claim=True, wait=False):
     self._handle = None
     while self._handle is None:
       # try USB first, then SPI
-      self._context, self._handle, serial, self.bootstub, bcd = self.usb_connect(self._connect_serial, claim=claim)
+      self._context, self._handle, serial, self.bootstub, bcd = self.usb_connect(self._connect_serial, claim=claim, no_error=wait)
       if self._handle is None:
         self._context, self._handle, serial, self.bootstub, bcd = self.spi_connect(self._connect_serial)
       if not wait:
@@ -347,7 +347,7 @@ def spi_connect(cls, serial, ignore_version=False):
     return None, handle, spi_serial, bootstub, None
 
   @classmethod
-  def usb_connect(cls, serial, claim=True):
+  def usb_connect(cls, serial, claim=True, no_error=False):
     handle, usb_serial, bootstub, bcd = None, None, None, None
     context = usb1.USBContext()
     context.open()
@@ -357,7 +357,9 @@ def usb_connect(cls, serial, claim=True):
           try:
             this_serial = device.getSerialNumber()
           except Exception:
-            logger.exception("failed to get serial number of panda")
+            # Allow to ignore errors on reconnect. USB hubs need some time to initialize after panda reset
+            if not no_error:
+              logger.exception("failed to get serial number of panda")
             continue
 
           if serial is None or this_serial == serial:
@@ -451,7 +453,7 @@ def reconnect(self):
     # wait up to 15 seconds
     for _ in range(15*10):
       try:
-        self.connect()
+        self.connect(claim=False, wait=True)
         success = True
         break
       except Exception: