diff --git a/headless/src/main.rs b/headless/src/main.rs
index e6d85470f9..f85bc4a8c1 100644
--- a/headless/src/main.rs
+++ b/headless/src/main.rs
@@ -69,7 +69,6 @@ fn main() {
         None,
     );
     timer.done();
-    println!("Sim done at {}", sim.time());
     println!("{:?}", sim.get_score());
     if flags.enable_profiler && save_at.is_none() {
         cpuprofiler::PROFILER.lock().unwrap().stop().unwrap();
diff --git a/sim/src/mechanics/driving.rs b/sim/src/mechanics/driving.rs
index 9c59c2d8d4..4398234c3c 100644
--- a/sim/src/mechanics/driving.rs
+++ b/sim/src/mechanics/driving.rs
@@ -259,6 +259,7 @@ impl DrivingSimState {
                 // Note that 'car' is currently missing from self.cars, but they can't be on
                 // 'goto' right now -- they're on 'from'.
                 if !self.queues[&goto].room_at_end(time, &self.cars) {
+                    // TODO Subscribe to the target queue, wake up when somebody leaves it.
                     scheduler.push(time + BLIND_RETRY, Command::UpdateCar(car.vehicle.id));
                     return false;
                 }
@@ -415,7 +416,22 @@ impl DrivingSimState {
                         return true;
                     }
                     None => {
-                        scheduler.push(time + BLIND_RETRY, Command::UpdateCar(car.vehicle.id));
+                        // If this car wasn't blocked at all, when would it reach its goal?
+                        let ideal_end_time = match car.crossing_state(our_dist, time, map) {
+                            CarState::Crossing(time_int, _) => time_int.end,
+                            _ => unreachable!(),
+                        };
+                        // TODO For now, always use BLIND_RETRY. Measured things to be slower
+                        // otherwise. :(
+                        if ideal_end_time == time || true {
+                            // Haha, no such luck. We're super super close to the goal, but not
+                            // quite there yet.
+                            scheduler.push(time + BLIND_RETRY, Command::UpdateCar(car.vehicle.id));
+                        } else {
+                            scheduler.push(ideal_end_time, Command::UpdateCar(car.vehicle.id));
+                        }
+                        // TODO For cars stuck on their last step, this will spam a fair bit. But
+                        // that should be pretty rare.
                         return true;
                     }
                 }
diff --git a/sim/src/sim.rs b/sim/src/sim.rs
index 830adf29e9..229567c5f2 100644
--- a/sim/src/sim.rs
+++ b/sim/src/sim.rs
@@ -390,6 +390,7 @@ impl Sim {
                 panic!("Time limit {} hit", self.time);
             }
             if self.is_done() {
+                println!("{}, {}", self.summary(), self.measure_speed(&mut benchmark));
                 break;
             }
         }