diff --git a/cmd/config.go b/cmd/config.go
index 2108b42d3..d2a4d1a8f 100644
--- a/cmd/config.go
+++ b/cmd/config.go
@@ -2,6 +2,7 @@ package cmd
 
 import (
 	"context"
+	"errors"
 	"fmt"
 	"net"
 	"net/http"
@@ -260,8 +261,13 @@ func (cp *ConfigProvider) configureVehicles(conf config) error {
 		g.Go(func() error {
 			v, err := vehicle.NewFromConfig(cc.Type, cc.Other)
 			if err != nil {
+				var ce *util.ConfigError
+				if errors.As(err, &ce) {
+					return fmt.Errorf("cannot create vehicle '%s': %w", cc.Name, err)
+				}
+
+				// wrap non-config vehicle errors to prevent fatals
 				log.ERROR.Printf("creating vehicle %s failed: %v", cc.Name, err)
-				// wrap any created errors to prevent fatals
 				v = wrapper.New(err)
 			}
 
diff --git a/util/decoder.go b/util/decoder.go
index b9155a04b..068fb2c22 100644
--- a/util/decoder.go
+++ b/util/decoder.go
@@ -21,5 +21,22 @@ func DecodeOther(other, cc interface{}) error {
 		err = decoder.Decode(other)
 	}
 
+	if err != nil {
+		err = &ConfigError{err}
+	}
+
 	return err
 }
+
+// ConfigError wraps yaml configuration errors from mapstructure
+type ConfigError struct {
+	err error
+}
+
+func (e *ConfigError) Error() string {
+	return e.err.Error()
+}
+
+func (e *ConfigError) Unwrap() error {
+	return e.err
+}