Technical solutions are described herein for steer-by-wire (SBW) steering systems to detect an end-of-travel condition dynamically and generate responsive handwheel torque for a driver. According to one or more embodiments, a steer-by-wire steering system includes a first controller that generates a plurality of torque commands. Generating the plurality of torque commands includes generating a curb torque command in response to detecting a curb condition in which road wheels are stationary despite a change in handwheel position, and generating an end-of-travel torque command in response to detecting an end-of-travel condition. The steer-by-wire steering system further includes an arbitrator module that determines a notification torque command by arbitrating between the plurality of torque commands, which comprises the curb torque command and the end-of-travel torque command. The steer-by-wire steering system further includes a second controller that generates a notification torque using the notification torque command.