diff --git a/src/main/java/baritone/Settings.java b/src/main/java/baritone/Settings.java
index d7d23c59e..78c2d4b34 100644
--- a/src/main/java/baritone/Settings.java
+++ b/src/main/java/baritone/Settings.java
@@ -185,7 +185,12 @@ public class Settings {
     /**
      * Pathing can never take longer than this
      */
-    public Setting<Number> pathTimeoutMS = new Setting<>(4000L);
+    public Setting<Number> pathTimeoutMS = new Setting<>(2000L);
+
+    /**
+     * Planning ahead while executing a segment can never take longer than this
+     */
+    public Setting<Number> planAheadTimeoutMS = new Setting<>(4000L);
 
     /**
      * For debugging, consider nodes much much slower
diff --git a/src/main/java/baritone/behavior/impl/PathingBehavior.java b/src/main/java/baritone/behavior/impl/PathingBehavior.java
index 075d8d6f4..fa651a87f 100644
--- a/src/main/java/baritone/behavior/impl/PathingBehavior.java
+++ b/src/main/java/baritone/behavior/impl/PathingBehavior.java
@@ -324,9 +324,15 @@ public class PathingBehavior extends Behavior {
                 goal = new GoalXZ(pos.getX(), pos.getZ());
             }
         }
+        long timeout;
+        if (current == null) {
+            timeout = Baritone.settings().pathTimeoutMS.<Long>get();
+        } else {
+            timeout = Baritone.settings().planAheadTimeoutMS.<Long>get();
+        }
         try {
             IPathFinder pf = new AStarPathFinder(start, goal, previous.map(IPath::positions));
-            return pf.calculate();
+            return pf.calculate(timeout);
         } catch (Exception e) {
             displayChatMessageRaw("Pathing exception: " + e);
             e.printStackTrace();
diff --git a/src/main/java/baritone/pathing/calc/AStarPathFinder.java b/src/main/java/baritone/pathing/calc/AStarPathFinder.java
index 0af6f0feb..fa8b5076e 100644
--- a/src/main/java/baritone/pathing/calc/AStarPathFinder.java
+++ b/src/main/java/baritone/pathing/calc/AStarPathFinder.java
@@ -55,7 +55,7 @@ public class AStarPathFinder extends AbstractNodeCostSearch implements Helper {
     }
 
     @Override
-    protected Optional<IPath> calculate0() {
+    protected Optional<IPath> calculate0(long timeout) {
         startNode = getNodeAtPosition(start);
         startNode.cost = 0;
         startNode.combinedCost = startNode.estimatedCostToGoal;
@@ -74,7 +74,10 @@ public class AStarPathFinder extends AbstractNodeCostSearch implements Helper {
         ChunkProviderClient chunkProvider = Minecraft.getMinecraft().world.getChunkProvider();
         long startTime = System.nanoTime() / 1000000L;
         boolean slowPath = Baritone.settings().slowPath.get();
-        long timeoutTime = startTime + (slowPath ? Baritone.settings().slowPathTimeoutMS : Baritone.settings().pathTimeoutMS).<Long>get();
+        if (slowPath) {
+            displayChatMessageRaw("slowPath is on, path timeout will be " + Baritone.settings().slowPathTimeoutMS.<Long>get() + "ms instead of " + timeout + "ms");
+        }
+        long timeoutTime = startTime + (slowPath ? Baritone.settings().slowPathTimeoutMS.<Long>get() : timeout);
         //long lastPrintout = 0;
         int numNodes = 0;
         int numMovementsConsidered = 0;
diff --git a/src/main/java/baritone/pathing/calc/AbstractNodeCostSearch.java b/src/main/java/baritone/pathing/calc/AbstractNodeCostSearch.java
index 3960a376f..5804cb1a0 100644
--- a/src/main/java/baritone/pathing/calc/AbstractNodeCostSearch.java
+++ b/src/main/java/baritone/pathing/calc/AbstractNodeCostSearch.java
@@ -76,13 +76,13 @@ public abstract class AbstractNodeCostSearch implements IPathFinder {
         cancelRequested = true;
     }
 
-    public synchronized Optional<IPath> calculate() {
+    public synchronized Optional<IPath> calculate(long timeout) {
         if (isFinished) {
             throw new IllegalStateException("Path Finder is currently in use, and cannot be reused!");
         }
         this.cancelRequested = false;
         try {
-            Optional<IPath> path = calculate0();
+            Optional<IPath> path = calculate0(timeout);
             isFinished = true;
             return path;
         } catch (Exception e) {
@@ -96,7 +96,7 @@ public abstract class AbstractNodeCostSearch implements IPathFinder {
         }
     }
 
-    protected abstract Optional<IPath> calculate0();
+    protected abstract Optional<IPath> calculate0(long timeout);
 
     /**
      * Determines the distance squared from the specified node to the start
diff --git a/src/main/java/baritone/pathing/calc/IPathFinder.java b/src/main/java/baritone/pathing/calc/IPathFinder.java
index bbcc7bda4..dceee65df 100644
--- a/src/main/java/baritone/pathing/calc/IPathFinder.java
+++ b/src/main/java/baritone/pathing/calc/IPathFinder.java
@@ -39,7 +39,7 @@ public interface IPathFinder {
      *
      * @return The final path
      */
-    Optional<IPath> calculate();
+    Optional<IPath> calculate(long timeout);
 
     /**
      * Intended to be called concurrently with calculatePath from a different thread to tell if it's finished yet