diff --git a/CHANGELOG.md b/CHANGELOG.md
index fe332e275..a9b1ffe41 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -14,10 +14,13 @@
 
 ### Changed
 - Allow single floating point value for brightness array ([support#1547]).
+- Raise a descriptive error when the `Car` class can't find a steering mechanism
+  end stop within 10 seconds ([support#1564]).
 
 [support#1024]: https://github.com/pybricks/support/issues/1024
 [support#1537]: https://github.com/orgs/pybricks/discussions/1537
 [support#1547]: https://github.com/pybricks/support/issues/1547
+[support#1564]: https://github.com/pybricks/support/issues/1564
 
 ## [3.4.0] - 2024-03-11
 
diff --git a/pybricks/robotics/pb_type_car.c b/pybricks/robotics/pb_type_car.c
index a2058f861..aaa247652 100644
--- a/pybricks/robotics/pb_type_car.c
+++ b/pybricks/robotics/pb_type_car.c
@@ -50,11 +50,16 @@ STATIC int32_t run_until_stalled_blocking(pbio_servo_t *srv, pbio_direction_t di
     int32_t speed = (direction == PBIO_DIRECTION_CLOCKWISE ? 1 : -1) * 300;
     pb_assert(pbio_servo_run_until_stalled(srv, speed, torque_limit, PBIO_CONTROL_ON_COMPLETION_COAST));
 
+    uint32_t start_time = mp_hal_ticks_ms();
+
     // Wait for the movement to complete or be cancelled.
     while (!pbio_control_is_done(&srv->control)) {
         if (!pbio_servo_update_loop_is_running(srv)) {
             pb_assert(PBIO_ERROR_NO_DEV);
         }
+        if (mp_hal_ticks_ms() - start_time > 10000) {
+            mp_raise_msg(&mp_type_RuntimeError, MP_ERROR_TEXT("The steering mechanism has no end stop. Did you build a car yet?"));
+        }
         mp_hal_delay_ms(10);
     }