diff --git a/app/src/components/PrepareModules/index.js b/app/src/components/PrepareModules/index.js
index 1cb21058090a..b00bbcecf06b 100644
--- a/app/src/components/PrepareModules/index.js
+++ b/app/src/components/PrepareModules/index.js
@@ -1,8 +1,12 @@
 // @flow
 import * as React from 'react'
 import { useDispatch } from 'react-redux'
-import some from 'lodash/some'
-import { PrimaryButton, AlertModal, Icon } from '@opentrons/components'
+import {
+  useTimeout,
+  PrimaryButton,
+  AlertModal,
+  Icon,
+} from '@opentrons/components'
 
 import { sendModuleCommand } from '../../robot-api'
 import DeckMap from '../DeckMap'
@@ -21,6 +25,16 @@ function PrepareModules(props: Props) {
   const dispatch = useDispatch<Dispatch>()
   const [isHandling, setIsHandling] = React.useState(false)
 
+  // NOTE: this is the smarter implementation of isHandling that
+  // relies on the TC reporting its 'in_between' status while the lid m
+  // motor is moving, which currently doesn't happen because of a FW limitation
+  // const isHandling = some(
+  //   modules,
+  //   mod => mod.name === 'thermocycler' && mod.data?.lid === 'in_between'
+  // )
+
+  useTimeout(() => setIsHandling(false), isHandling ? LID_OPEN_DELAY_MS : null)
+
   const handleOpenLidClick = () => {
     modules
       .filter(mod => mod.name === 'thermocycler')
@@ -32,7 +46,6 @@ function PrepareModules(props: Props) {
           )
       )
     setIsHandling(true)
-    setTimeout(() => setIsHandling(false), LID_OPEN_DELAY_MS)
   }
 
   return (
diff --git a/components/src/hooks/__tests__/useInterval.test.js b/components/src/hooks/__tests__/useInterval.test.js
index 1715d35e677d..3a35d032fece 100644
--- a/components/src/hooks/__tests__/useInterval.test.js
+++ b/components/src/hooks/__tests__/useInterval.test.js
@@ -3,7 +3,7 @@ import * as React from 'react'
 import { mount } from 'enzyme'
 import { useInterval } from '..'
 
-describe('usePrevious hook', () => {
+describe('useInterval hook', () => {
   const callback = jest.fn()
 
   beforeEach(() => {
diff --git a/components/src/hooks/__tests__/useTimeout.test.js b/components/src/hooks/__tests__/useTimeout.test.js
new file mode 100644
index 000000000000..9cd7b3446f06
--- /dev/null
+++ b/components/src/hooks/__tests__/useTimeout.test.js
@@ -0,0 +1,51 @@
+// @flow
+import * as React from 'react'
+import { mount } from 'enzyme'
+import { useTimeout } from '..'
+
+describe('useTimeouthook', () => {
+  const callback = jest.fn()
+
+  beforeEach(() => {
+    jest.useFakeTimers()
+  })
+
+  afterEach(() => {
+    jest.resetAllMocks()
+    jest.clearAllTimers()
+    jest.useRealTimers()
+  })
+
+  const TestUseTimeout = (props: { delay: number | null }) => {
+    useTimeout(callback, props.delay)
+    return <span />
+  }
+
+  test('delay `null` results in no calls', () => {
+    mount(<TestUseTimeout delay={null} />)
+    jest.runTimersToTime(10000)
+
+    expect(callback).toHaveBeenCalledTimes(0)
+  })
+
+  test('delay sets a timeout', () => {
+    mount(<TestUseTimeout delay={2} />)
+    jest.runTimersToTime(3)
+
+    expect(callback).toHaveBeenCalledTimes(1)
+  })
+
+  test('re-rendering with delay={null} clears the interval', () => {
+    const wrapper = mount(<TestUseTimeout delay={4} />)
+
+    jest.runTimersToTime(2)
+    wrapper.setProps({ delay: null })
+
+    expect(callback).toHaveBeenCalledTimes(0)
+
+    wrapper.setProps({ delay: 4 })
+    jest.runTimersToTime(6)
+
+    expect(callback).toHaveBeenCalledTimes(1)
+  })
+})
diff --git a/components/src/hooks/index.js b/components/src/hooks/index.js
index 2f30b306f10b..278db5c0dae3 100644
--- a/components/src/hooks/index.js
+++ b/components/src/hooks/index.js
@@ -3,3 +3,4 @@
 
 export * from './usePrevious'
 export * from './useInterval'
+export * from './useTimeout'
diff --git a/components/src/hooks/useTimeout.js b/components/src/hooks/useTimeout.js
new file mode 100644
index 000000000000..dff188e13f0b
--- /dev/null
+++ b/components/src/hooks/useTimeout.js
@@ -0,0 +1,30 @@
+// @flow
+import { useEffect, useRef } from 'react'
+
+/**
+ * React hook to call a function on an interval; copied from:
+ * https://overreacted.io/making-setinterval-declarative-with-react-hooks/
+ *
+ * @template T (type of the input value)
+ * @param {() => mixed} callback (function to call after timeout)
+ * @param {number | null} delay (timeout delay, or null to disable the timeout)
+ * @returns {void}
+ */
+export function useTimeout(callback: () => mixed, delay: number | null): void {
+  const savedCallback = useRef()
+
+  // remember the latest callback
+  useEffect(() => {
+    savedCallback.current = callback
+  }, [callback])
+
+  // set up the interval
+  useEffect(() => {
+    const currentCallback = () =>
+      savedCallback.current && savedCallback.current()
+    if (delay !== null) {
+      const id = setTimeout(currentCallback, delay)
+      return () => clearTimeout(id)
+    }
+  }, [delay])
+}