diff --git a/pyproject.toml b/pyproject.toml
index 1c7d857652..b4a795accc 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -167,7 +167,7 @@ build-backend = "poetry.core.masonry.api"
 
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
-select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A", "B"]
+select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A", "B", "TID251"]
 ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"]
 line-length = 160
 target-version="py311"
@@ -180,3 +180,9 @@ exclude = [
   "third_party",
 ]
 flake8-implicit-str-concat.allow-multiline=false
+[tool.ruff.flake8-tidy-imports.banned-api]
+"selfdrive".msg = "Use openpilot.selfdrive"
+"common".msg = "Use openpilot.common"
+"system".msg = "Use openpilot.system"
+"third_party".msg = "Use openpilot.third_party"
+"tools".msg = "Use openpilot.tools"
\ No newline at end of file
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index 4817691af8..899605d989 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -40,7 +40,7 @@ from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.selfdrive.statsd import STATS_DIR
 from openpilot.system.swaglog import cloudlog
 from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version
-from selfdrive.hardware.hw import Paths
+from openpilot.selfdrive.hardware.hw import Paths
 
 
 # TODO: use socket constant when mypy recognizes this as a valid attribute
diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py
index bef622a75e..f4c229188e 100755
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@@ -21,7 +21,7 @@ from openpilot.selfdrive.athena import athenad
 from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
 from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
 from cereal import messaging
-from selfdrive.hardware.hw import Paths
+from openpilot.selfdrive.hardware.hw import Paths
 
 
 class TestAthenadMethods(unittest.TestCase):
diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py
index bd8baf096e..268d9c47a7 100755
--- a/selfdrive/controls/tests/test_leads.py
+++ b/selfdrive/controls/tests/test_leads.py
@@ -3,8 +3,8 @@ import unittest
 
 import cereal.messaging as messaging
 
-from selfdrive.test.process_replay import replay_process_with_name
-from selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.test.process_replay import replay_process_with_name
+from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
 
 
 class TestLeads(unittest.TestCase):
diff --git a/system/swaglog.py b/system/swaglog.py
index 8130aeb0fb..ba81318234 100644
--- a/system/swaglog.py
+++ b/system/swaglog.py
@@ -8,7 +8,7 @@ from logging.handlers import BaseRotatingHandler
 import zmq
 
 from openpilot.common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter
-from system.hardware.hw import Paths
+from openpilot.system.hardware.hw import Paths
 
 
 def get_file_handler():