diff --git a/src/gallia/services/uds/ecu.py b/src/gallia/services/uds/ecu.py
index 1f96f17ba..34f16406b 100644
--- a/src/gallia/services/uds/ecu.py
+++ b/src/gallia/services/uds/ecu.py
@@ -370,18 +370,22 @@ async def wait_for_ecu(
     async def _tester_present_worker(self, interval: float) -> None:
         assert self.transport
         logger.debug("tester present worker started")
-        while True:
+        task = asyncio.current_task()
+        while task is not None and task.cancelling() == 0:
             try:
                 await asyncio.sleep(interval)
                 # TODO Only ping if there was no other UDS traffic for `interval` amount of time
                 await self.ping(UDSRequestConfig(max_retry=1))
             except asyncio.CancelledError:
                 logger.debug("tester present worker terminated")
-                break
+                raise
             except ConnectionError:
                 logger.info("connection lost; tester present waiting…")
             except Exception as e:
                 logger.warning(f"Tester present worker got {e!r}")
+        logger.debug(
+            "Tester present worker was cancelled but received no asyncio.CancelledError"
+        )
 
     async def start_cyclic_tester_present(self, interval: float) -> None:
         logger.debug("Starting tester present worker")
@@ -402,12 +406,11 @@ async def stop_cyclic_tester_present(self) -> None:
             )
             return
 
-        running = True
-        while running:
-            running = self.tester_present_task.cancel()
-            logger.debug("Cancelled tester present task")
-            await asyncio.sleep(0)
-        await self.tester_present_task
+        self.tester_present_task.cancel()
+        try:
+            await self.tester_present_task
+        except asyncio.CancelledError:
+            pass
 
     async def update_state(
         self, request: service.UDSRequest, response: service.UDSResponse