diff --git a/drivers/usb/pd/policy_engine.c b/drivers/usb/pd/policy_engine.c
index 7a250c31f44d..0272800269eb 100644
--- a/drivers/usb/pd/policy_engine.c
+++ b/drivers/usb/pd/policy_engine.c
@@ -2552,6 +2552,7 @@ static int usbpd_dr_set_property(struct dual_role_phy_instance *dual_role,
 {
 	struct usbpd *pd = dual_role_get_drvdata(dual_role);
 	bool do_swap = false;
+	int wait_count = 5;
 
 	if (!pd)
 		return -ENODEV;
@@ -2578,9 +2579,15 @@ static int usbpd_dr_set_property(struct dual_role_phy_instance *dual_role,
 		set_power_role(pd, PR_NONE);
 
 		/* wait until it takes effect */
-		while (pd->forced_pr != POWER_SUPPLY_TYPEC_PR_NONE)
+		while (pd->forced_pr != POWER_SUPPLY_TYPEC_PR_NONE &&
+							--wait_count)
 			msleep(20);
 
+		if (!wait_count) {
+			usbpd_err(&pd->dev, "setting mode timed out\n");
+			return -ETIMEDOUT;
+		}
+
 		break;
 
 	case DUAL_ROLE_PROP_DR: