diff --git a/src/gallia/command/uds.py b/src/gallia/command/uds.py
index 147fd67ff..d00885855 100644
--- a/src/gallia/command/uds.py
+++ b/src/gallia/command/uds.py
@@ -61,6 +61,13 @@ def configure_class_parser(self) -> None:
             metavar="SECONDS",
             help="Timeout value to wait for a response from the ECU",
         )
+        group.add_argument(
+            "--pending-timeout",
+            default=self.config.get_value("gallia.protocols.uds.pending_timeout", 0.5),
+            type=float,
+            metavar="SECONDS",
+            help="Timeout value to resolve a response pending error",
+        )
         group.add_argument(
             "--max-retries",
             default=self.config.get_value("gallia.protocols.uds.max_retries", 3),
@@ -121,6 +128,7 @@ async def setup(self, args: Namespace) -> None:
             self.transport,
             timeout=args.timeout,
             max_retry=args.max_retries,
+            pending_timeout=args.pending_timeout,
             power_supply=self.power_supply,
         )
 
diff --git a/src/gallia/services/uds/core/client.py b/src/gallia/services/uds/core/client.py
index 93dd159ed..8757460bc 100644
--- a/src/gallia/services/uds/core/client.py
+++ b/src/gallia/services/uds/core/client.py
@@ -24,6 +24,8 @@ class UDSRequestConfig:
     timeout: float | None = None
     # maximum number of attempts in case of network errors
     max_retry: int | None = None
+    # timeout value for resolving a response_pending error
+    pending_timeout: float | None = None
     # Skip the hooks which apply to session changes.
     skip_hooks: bool = False
     # tags to be applied to the logged output
@@ -39,12 +41,13 @@ def __init__(
         transport: BaseTransport,
         timeout: float,
         max_retry: int = 1,
+        pending_timeout: float = 0.5,
     ):
         self.transport = transport
         self.timeout = timeout
         self.max_retry = max_retry
         self.retry_wait = 0.2
-        self.pending_timeout = 5
+        self.pending_timeout = pending_timeout
         self.mutex = asyncio.Lock()
 
     async def connect(self) -> None: ...
@@ -106,8 +109,8 @@ async def request_unsafe(
             n_pending = 1
             MAX_N_PENDING = 120
             n_timeout = 0
-            waiting_time = 0.5
-            max_n_timeout = max(timeout if timeout else 0, 20) / waiting_time
+            pending_timeout = config.pending_timeout or self.pending_timeout
+            max_n_timeout = max(timeout if timeout else 0, 20) / pending_timeout
             while (
                 isinstance(resp, service.NegativeResponse)
                 and resp.response_code == UDSErrorCodes.requestCorrectlyReceivedResponsePending
@@ -117,7 +120,7 @@ async def request_unsafe(
                     + f"waiting for next message: {n_timeout}/{int(max_n_timeout)}s"
                 )
                 try:
-                    raw_resp = await self._read(timeout=waiting_time, tags=config.tags)
+                    raw_resp = await self._read(timeout=pending_timeout, tags=config.tags)
                     if raw_resp == b"":
                         raise BrokenPipeError("connection to target lost")
                     logger.debug(raw_resp.hex(), extra={"tags": ["read", "uds"] + tags})
diff --git a/src/gallia/services/uds/ecu.py b/src/gallia/services/uds/ecu.py
index 043e8768f..33e52b443 100644
--- a/src/gallia/services/uds/ecu.py
+++ b/src/gallia/services/uds/ecu.py
@@ -62,9 +62,15 @@ def __init__(
         transport: BaseTransport,
         timeout: float,
         max_retry: int = 1,
+        pending_timeout: float = 0.5,
         power_supply: PowerSupply | None = None,
     ) -> None:
-        super().__init__(transport, timeout, max_retry)
+        super().__init__(
+            transport=transport,
+            timeout=timeout,
+            max_retry=max_retry,
+            pending_timeout=pending_timeout,
+        )
         self.tester_present_task: Task[None] | None = None
         self.tester_present_interval: float | None = None
         self.power_supply = power_supply