diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index af67bdbe5..1115c375d 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,11 +1,11 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb bash-completion
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa gdb bash-completion
 RUN pip install ipython jupyter jupyterlab
 
 RUN cd /tmp && \
     ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
-    curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
+    curl -L -o virtualgl.deb "https://github.com/VirtualGL/virtualgl/releases/download/3.1.1/virtualgl_3.1.1_$ARCH.deb" && \
     dpkg -i virtualgl.deb
 
 RUN usermod -aG video batman
diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
index 970d62030..701675942 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -60,4 +60,4 @@ runs:
         find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
     # build our docker image
     - shell: bash
-      run: eval ${{ env.BUILD }}
\ No newline at end of file
+      run: eval ${{ env.BUILD }}
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index c2f7d86e6..9a26ca9a2 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -39,12 +39,13 @@ jobs:
                         source selfdrive/test/setup_vsound.sh && \
                         CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
 
-  test_python311:
-    name: test python3.11 support
-    runs-on: ubuntu-latest
-    timeout-minutes: 5
+  test_compatibility:
+    name: test 20.04 + 3.11
+    runs-on: ubuntu-20.04
     steps:
     - uses: actions/checkout@v4
+      with:
+        submodules: true
     - name: Installing ubuntu dependencies
       run: INSTALL_EXTRA_PACKAGES=no tools/install_ubuntu_dependencies.sh
     - name: Installing python
@@ -57,6 +58,25 @@ jobs:
       run: pip install poetry==1.7.0
     - name: Installing python dependencies
       run: poetry install --no-cache --no-root
+    - name: git LFS
+      run: git lfs pull
+    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
+    - name: Getting scons cache
+      uses: 'actions/cache@v4'
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        restore-keys: |
+          scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}
+          scons-${{ runner.arch }}-ubuntu2004
+    - name: Building openpilot
+      run: poetry run scons -u -j$(nproc)
+    - name: Saving scons cache
+      uses: actions/cache/save@v4
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
 
   devcontainer:
     name: devcontainer
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index d47630cda..ecde9fe77 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -62,6 +62,8 @@ repos:
         - --quiet
         - --force
         - -j8
+        - --library=qt
+        - --include=third_party/kaitai/kaitaistream.h
 -   repo: https://github.com/cpplint/cpplint
     rev: 1.6.1
     hooks:
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 45b29bdcb..7228d16ef 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -1,4 +1,4 @@
-FROM ubuntu:20.04
+FROM ubuntu:24.04
 
 ENV PYTHONUNBUFFERED 1
 
@@ -15,7 +15,7 @@ ENV LC_ALL en_US.UTF-8
 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
 RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
     rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
+    cd /usr/lib/gcc/arm-none-eabi/* && \
     rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
 # Add OpenCL
@@ -30,23 +30,28 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     gcc-arm-none-eabi \
     tmux \
     vim \
-    lsb-core \
     libx11-6 \
+    wget \
   && rm -rf /var/lib/apt/lists/*
 
-ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
-ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
-RUN mkdir -p /tmp/opencl-driver-intel
-
-RUN cd /tmp/opencl-driver-intel && \
-    echo INTEL_DRIVER is $INTEL_DRIVER && \
-    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
-    tar -xzf $INTEL_DRIVER && \
-    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
-    dpkg -i *.deb && \
-    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
+RUN mkdir -p /tmp/opencl-driver-intel && \
+    cd /tmp/opencl-driver-intel && \
+    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
+    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
     mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
+    cd /opt/intel && \
+    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    mkdir -p /etc/ld.so.conf.d && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
     cd / && \
     rm -rf /tmp/opencl-driver-intel
 
@@ -57,7 +62,7 @@ ENV QTWEBENGINE_DISABLE_SANDBOX 1
 RUN dbus-uuidgen > /etc/machine-id
 
 ARG USER=batman
-ARG USER_UID=1000
+ARG USER_UID=1001
 RUN useradd -m -s /bin/bash -u $USER_UID $USER
 RUN usermod -aG sudo $USER
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
diff --git a/SConstruct b/SConstruct
index 944d650d7..f53d8fb7d 100644
--- a/SConstruct
+++ b/SConstruct
@@ -14,6 +14,8 @@ SCons.Warnings.warningAsException(True)
 
 TICI = os.path.isfile('/TICI')
 AGNOS = TICI
+UBUNTU_FOCAL = int(subprocess.check_output('[ -f /etc/os-release ] && . /etc/os-release && [ "$ID" = "ubuntu" ] && [ "$VERSION_ID" = "20.04" ] && echo 1 || echo 0', shell=True, encoding='utf-8').rstrip())
+Export('UBUNTU_FOCAL')
 
 Decider('MD5-timestamp')
 
diff --git a/poetry.lock b/poetry.lock
index a050c34ea..cc4680364 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8a0d5b56d497650d7fdc0db6e09c36a0e67c9de0198f7050431b3bb4c2481991
-size 629328
+oid sha256:4bdc23d7e7357d3526ae6d3d51bae68dafdf9a1f27bc9e6514140eaa5756f457
+size 629333
diff --git a/pyproject.toml b/pyproject.toml
index 5353b3988..374b0f46c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -176,7 +176,7 @@ flaky = "*"
 inputs = "*"
 lru-dict = "*"
 matplotlib = "*"
-metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "python3.12", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "anisotropic_off", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 myst-parser = "*"
 natsort = "*"
diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript
index 295e8127d..378e76249 100644
--- a/selfdrive/navd/SConscript
+++ b/selfdrive/navd/SConscript
@@ -1,4 +1,4 @@
-Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
+Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations', 'UBUNTU_FOCAL')
 
 map_env = qt_env.Clone()
 libs = ['qt_widgets', 'qt_util', 'QMapLibre', common, messaging, visionipc, transformations,
@@ -6,7 +6,7 @@ libs = ['qt_widgets', 'qt_util', 'QMapLibre', common, messaging, visionipc, tran
 if arch == 'larch64':
   libs.append(':libEGL_mesa.so.0')
 
-if arch in ['larch64', 'aarch64', 'x86_64']:
+if arch in ['larch64', 'aarch64', 'x86_64'] and not UBUNTU_FOCAL:
   if arch == 'x86_64':
     rpath = Dir(f"#third_party/maplibre-native-qt/{arch}/lib").srcnode().abspath
     map_env["RPATH"] += [rpath, ]
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index e181cb9ab..e4fb32586 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -1,6 +1,6 @@
 import os
 import json
-Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
+Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations', 'UBUNTU_FOCAL')
 
 base_libs = [common, messaging, visionipc, transformations,
              'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
@@ -8,7 +8,7 @@ base_libs = [common, messaging, visionipc, transformations,
 if arch == 'larch64':
   base_libs.append('EGL')
 
-maps = arch in ['larch64', 'aarch64', 'x86_64']
+maps = arch in ['larch64', 'aarch64', 'x86_64'] and not UBUNTU_FOCAL
 
 if arch == "Darwin":
   del base_libs[base_libs.index('OpenCL')]
diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc
index 16923f7a4..50e140116 100644
--- a/selfdrive/ui/qt/maps/map_helpers.cc
+++ b/selfdrive/ui/qt/maps/map_helpers.cc
@@ -143,11 +143,11 @@ std::pair<QString, QString> map_format_distance(float d, bool is_metric) {
 
   d = std::max(d, 0.0f);
   if (is_metric) {
-    return (d > 500) ? std::pair{round_distance(d / 1000), QObject::tr("km")}
-                     : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("m")};
+    return (d > 500) ? std::pair(round_distance(d / 1000), QObject::tr("km"))
+                     : std::pair(QString::number(50 * std::nearbyint(d / 50)), QObject::tr("m"));
   } else {
     float feet = d * METER_TO_FOOT;
-    return (feet > 500) ? std::pair{round_distance(d * METER_TO_MILE), QObject::tr("mi")}
-                        : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft")};
+    return (feet > 500) ? std::pair(round_distance(d * METER_TO_MILE), QObject::tr("mi"))
+                        : std::pair(QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft"));
   }
 }
diff --git a/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0 b/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0
index f2fcf107b..e49d321c7 100755
--- a/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0
+++ b/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b718e4ea770105893dc41f64be36f806586a9471e2bb9d18d5ad97e906434548
-size 11000296
+oid sha256:d62e192aa7806302ed79866d9e3c51efc4bc315a6fdfe0e58e448dac5b279098
+size 11549728
diff --git a/tools/README.md b/tools/README.md
index 361a27ded..f465ea123 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -2,11 +2,11 @@
 
 ## System Requirements
 
-openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car).
+openpilot is developed and tested on **Ubuntu 24.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car).
 
 Running natively on any other system is not recommended and will require modifications. On Windows you can use WSL, and on macOS or incompatible Linux systems, it is recommended to use the dev containers.
 
-## Native setup on Ubuntu 20.04
+## Native setup on Ubuntu 24.04
 
 **1. Clone openpilot**
 
@@ -55,7 +55,7 @@ GUI apps like `ui` or `cabana` can also run inside the container by leveraging X
 
 [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.
 
-Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-20.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. See [these instructions](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) for running GUI apps.
+Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-24.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. See [these instructions](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) for running GUI apps.
 
 **NOTE**: If you are running WSL and any GUIs are failing (segfaulting or other strange issues) even after following the steps above, you may need to enable software rendering with `LIBGL_ALWAYS_SOFTWARE=1`, e.g. `LIBGL_ALWAYS_SOFTWARE=1 selfdrive/ui/ui`.
 
diff --git a/tools/profiling/snapdragon/README.md b/tools/profiling/snapdragon/README.md
index 664814b61..f56ca182a 100644
--- a/tools/profiling/snapdragon/README.md
+++ b/tools/profiling/snapdragon/README.md
@@ -3,7 +3,7 @@ snapdragon profiler
 
 
 * download from https://developer.qualcomm.com/software/snapdragon-profiler/tools-archive (need a qc developer account)
-  * choose v2021.5 (verified working with 20.04 dev environment)
+  * choose v2021.5 (verified working with 24.04 dev environment)
 * unzip to selfdrive/debug/profiling/snapdragon/SnapdragonProfiler
 * run ```./setup-profiler.sh```
 * run ```./setup-agnos.sh```
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
index 7334d87b3..c756069bb 100644
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -1,7 +1,7 @@
 # Run openpilot with webcam on PC
 
 What's needed:
-- Ubuntu 20.04
+- Ubuntu 24.04
 - GPU (recommended)
 - Two USB webcams, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615)
 - [Car harness](https://comma.ai/shop/products/comma-car-harness) with black panda to connect to your car