diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
index a6808a0276..7acc8a2254 100644
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -25,11 +25,12 @@ jobs:
       IMAGE_NAME: openpilot-prebuilt
     steps:
     - name: Wait for green check mark
-      uses: lewagon/wait-on-check-action@v0.2
+      uses: commaai/wait-on-check-action@f16fc3bb6cd4886520b4e9328db1d42104d5cadc
       with:
         ref: master
         wait-interval: 30
         running-workflow-name: 'build prebuilt'
+        check-regexp: ^((?!.*(build master-ci).*).)*$
     - uses: actions/checkout@v3
       with:
         submodules: true
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index 14555f1e7d..fb5a37eeef 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -12,11 +12,12 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
     - name: Wait for green check mark
-      uses: lewagon/wait-on-check-action@v0.2
+      uses: commaai/wait-on-check-action@f16fc3bb6cd4886520b4e9328db1d42104d5cadc
       with:
         ref: master
         wait-interval: 30
         running-workflow-name: 'build master-ci'
+        check-regexp: ^((?!.*(build prebuilt).*).)*$
     - uses: actions/checkout@v3
       with:
         submodules: true
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 04ae841f77..5bd9acc200 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -20,8 +20,7 @@ env:
   RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
 
   BUILD_CL: |
-      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base_cl) || true
-      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
+      docker pull $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest || true
       docker build --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
   RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $CL_BASE_IMAGE /bin/sh -c
 
@@ -95,7 +94,7 @@ jobs:
       run: |
           ${{ env.RUN }} "scons -j$(nproc) --extras --test && \
                           rm -rf /tmp/scons_cache/* && \
-                          scons -j$(nproc) --cache-populate"
+                          scons -j$(nproc) --extras --test --cache-populate"
 
   #build_mac:
   #  name: build macos
@@ -201,12 +200,15 @@ jobs:
         submodules: true
     - name: Build Docker image
       run: eval "$BUILD"
+    - name: Push to container registry
+      run: |
+        $DOCKER_LOGIN
+        docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
     - name: Build CL Docker image
       run: eval "$BUILD_CL"
     - name: Push to container registry
       run: |
         $DOCKER_LOGIN
-        docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
         docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest
 
   static_analysis:
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 1e4ce7a4ae..b2433fba8f 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -21,6 +21,46 @@ env:
        GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
 
 jobs:
+  build_latest_ubuntu:
+    name: build latest ubuntu
+    runs-on: ubuntu-20.04
+    timeout-minutes: 60
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+    - name: Cache pyenv
+      id: ubuntu-latest-pyenv
+      uses: actions/cache@v3
+      with:
+        path: |
+          ~/.pyenv
+          ~/.local/share/virtualenvs/
+        key: ubuntu-latest-python-${{ hashFiles('tools/ubuntu_setup.sh') }}-
+    - name: Cache scons
+      id: ubuntu-latest-scons
+      uses: actions/cache@v3
+      with:
+        path: /tmp/scons_cache
+        key: ubuntu-latest-scons-${{ hashFiles('.github/workflows/tools_test.yaml') }}-
+        restore-keys: |
+          ubuntu-latest-scons-${{ hashFiles('.github/workflows/tools_test.yaml') }}-
+          ubuntu-latest-scons-
+
+    - name: tools/ubuntu_setup.sh
+      run: |
+        source tools/openpilot_env.sh
+        tools/ubuntu_setup.sh
+    - name: Build openpilot
+      run: |
+        source tools/openpilot_env.sh
+        pipenv run scons -j$(nproc) --extras --test
+    - name: Cleanup scons cache
+      run: |
+        source tools/openpilot_env.sh
+        rm -rf /tmp/scons_cache/*
+        pipenv run scons -j$(nproc) --extras --test --cache-populate
+
   plotjuggler:
     name: plotjuggler
     runs-on: ubuntu-20.04
diff --git a/.pylintrc b/.pylintrc
index 73035360ca..58988c5d74 100644
--- a/.pylintrc
+++ b/.pylintrc
@@ -3,7 +3,7 @@
 # A comma-separated list of package or module names from where C extensions may
 # be loaded. Extensions are loading into the active Python interpreter and may
 # run arbitrary code
-extension-pkg-whitelist=scipy cereal.messaging.messaging_pyx
+extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5,av
 
 # Add files or directories to the blacklist. They should be base names, not
 # paths.
@@ -250,13 +250,6 @@ max-line-length=100
 # Maximum number of lines in a module
 max-module-lines=1000
 
-# List of optional constructs for which whitespace checking is disabled. `dict-
-# separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
-# `trailing-comma` allows a space between comma and closing bracket: (a, ).
-# `empty-line` allows space-only lines.
-no-space-check=trailing-comma,
-               dict-separator
-
 # Allow the body of a class to be on the same line as the declaration if body
 # contains single statement.
 single-line-class-stmt=no
diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot
index 66b9f18a11..102da78d7d 100644
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -8,11 +8,6 @@ ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}
 
-COPY Pipfile Pipfile.lock $OPENPILOT_PATH
-RUN pip install --no-cache-dir pipenv==2021.5.29 pip==21.3.1 && \
-    pipenv install --system --deploy --dev --clear && \
-    pip uninstall -y pipenv
-
 COPY SConstruct ${OPENPILOT_PATH}
 
 COPY ./pyextra ${OPENPILOT_PATH}/pyextra
@@ -30,4 +25,4 @@ COPY ./panda ${OPENPILOT_PATH}/panda
 COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
 COPY ./system ${OPENPILOT_PATH}/system
 
-RUN scons -j$(nproc)
+RUN scons --cache-readonly -j$(nproc)
diff --git a/Jenkinsfile b/Jenkinsfile
index 3b134d7c0d..ebc26a5920 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -42,6 +42,7 @@ def phone_steps(String device_type, steps) {
 pipeline {
   agent none
   environment {
+    CI = "1"
     TEST_DIR = "/data/openpilot"
     SOURCE_DIR = "/data/openpilot_source/"
   }
@@ -74,72 +75,87 @@ pipeline {
         }
       }
 
-      stages {
-        stage('On-device Tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          stages {
-            stage('parallel tests') {
-              parallel {
-                stage('build') {
-                  environment {
-                    R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
-                  }
-                  steps {
-                    phone_steps("tici", [
-                      ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
-                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
-                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
-                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
-                    ])
-                  }
-                }
-
-                stage('HW + Unit Tests') {
-                  steps {
-                    phone_steps("tici2", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test power draw", "python selfdrive/hardware/tici/test_power_draw.py"],
-                      ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
-                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
-                      ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
-                      ["test sensord", "python selfdrive/sensord/test/test_sensord.py"],
-                    ])
-                  }
-                }
-
-                stage('camerad') {
-                  steps {
-                    phone_steps("tici-party", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
-                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
-                    ])
-                  }
-                }
-
-                stage('replay') {
-                  steps {
-                    phone_steps("tici3", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
-                    ])
-                  }
-                }
-
-              }
+      parallel {
+
+        stage('simulator') {
+          agent {
+            dockerfile {
+              filename 'Dockerfile.sim_nvidia'
+              dir 'tools/sim'
+              args '--user=root'
+            }
+          }
+          steps {
+            sh "git config --global --add safe.directory ${WORKSPACE}"
+            sh "git lfs pull"
+            sh "${WORKSPACE}/tools/sim/build_container.sh"
+            lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
+              sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh"
+              sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh"
             }
           }
 
           post {
             always {
-              cleanWs()
+              sh "docker kill carla_sim || true"
+              sh "rm -rf ${WORKSPACE}/* || true"
+              sh "rm -rf .* || true"
             }
           }
+        }
+
+        stage('build') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          environment {
+            R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
+          }
+          steps {
+            phone_steps("tici", [
+              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
+              ["build openpilot", "cd selfdrive/manager && ./build.py"],
+              ["test manager", "python selfdrive/manager/test/test_manager.py"],
+              ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+              ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+            ])
+          }
+        }
+
+        stage('HW + Unit Tests') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici2", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["test power draw", "python system/hardware/tici/test_power_draw.py"],
+              ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
+              ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
+              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
+              ["test sensord", "python selfdrive/sensord/test/test_sensord.py"],
+            ])
+          }
+        }
 
+        stage('camerad') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici-party", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+              ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+            ])
+          }
         }
 
+        stage('replay') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici3", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+            ])
+          }
+        }
       }
+
     }
   }
 }
diff --git a/Pipfile b/Pipfile
index 1e526a5ec0..b8545b1a21 100644
--- a/Pipfile
+++ b/Pipfile
@@ -11,7 +11,7 @@ coverage = "*"
 dictdiffer = "*"
 fastcluster = "*"
 hexdump = "*"
-hypothesis = "*"
+hypothesis = "==6.46.7"
 inputs = "*"
 lru-dict = "*"
 markdown-it-py = "*"
@@ -39,7 +39,8 @@ breathe = "*"
 subprocess32 = "*"
 tenacity = "*"
 mpld3 = "*"
-carla = {version = "==0.9.12", markers="platform_system != 'Darwin'"}
+carla = {version = "==0.9.13", markers="platform_system != 'Darwin'"}
+ft4222 = "*"
 
 [packages]
 atomicwrites = "*"
@@ -58,6 +59,7 @@ json-rpc = "*"
 libusb1 = "*"
 nose = "*"
 numpy = "*"
+protobuf = "==3.20.1"
 onnx = "*"
 onnxruntime-gpu = {version = "*", markers="platform_system != 'Darwin'"}
 pillow = "*"
@@ -84,6 +86,8 @@ urllib3 = "*"
 utm = "*"
 websocket_client = "*"
 hatanaka = "==2.4"
+PyQt5 = "==5.15.4"
+PyQt5-sip = "==12.9.0"
 
 [requires]
 python_version = "3.8"
diff --git a/Pipfile.lock b/Pipfile.lock
index b0ec993b2a..cc347a60f4 100644
--- a/Pipfile.lock
+++ b/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "50d3486820d05997c1e084e70362fa080e0a294faa01c7f1d43219e44f94a80b"
+            "sha256": "d2629168f477b3a14f68f26e3b63ea9797b20599c066b2aa23a027bcee2ca40a"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -18,11 +18,11 @@
     "default": {
         "astroid": {
             "hashes": [
-                "sha256:14ffbb4f6aa2cf474a0834014005487f7ecd8924996083ab411e7fa0b508ce0b",
-                "sha256:f4e4ec5294c4b07ac38bab9ca5ddd3914d4bf46f9006eb5c0ae755755061044e"
+                "sha256:4f933d0bf5e408b03a6feb5d23793740c27e07340605f236496cd6ce552043d6",
+                "sha256:ba33a82a9a9c06a5ceed98180c5aab16e29c285b828d94696bf32d6015ea82a9"
             ],
             "markers": "python_full_version >= '3.6.2'",
-            "version": "==2.11.5"
+            "version": "==2.11.6"
         },
         "atomicwrites": {
             "hashes": [
@@ -146,7 +146,7 @@
                 "sha256:2857e29ff0d34db842cd7ca3230549d1a697f96ee6d3fb071cfa6c7393832597",
                 "sha256:6881edbebdb17b39b4eaaa821b438bf6eddffb4468cf344f09f89def34a8b1df"
             ],
-            "markers": "python_version >= '3'",
+            "markers": "python_full_version >= '3.5.0'",
             "version": "==2.0.12"
         },
         "click": {
@@ -347,7 +347,7 @@
                 "sha256:84d9dd047ffa80596e0f246e2eab0b391788b0503584e8945f2368256d2735ff",
                 "sha256:9d643ff0a55b762d5cdb124b8eaa99c66322e2157b69160bc32796e824360e6d"
             ],
-            "markers": "python_version >= '3'",
+            "markers": "python_full_version >= '3.5.0'",
             "version": "==3.3"
         },
         "importlib-metadata": {
@@ -689,21 +689,35 @@
             "hashes": [
                 "sha256:06059eb6953ff01e56a25cd02cca1a9649a75a7e65397b5b9b4e929ed71d10cf",
                 "sha256:097c5d8a9808302fb0da7e20edf0b8d4703274d140fd25c5edabddcde43e081f",
+                "sha256:0d4719e724472e296062ba8e82a36d64693fcfdb550d9dff98af70ca79eafe3d",
                 "sha256:284f86a6207c897542d7e956eb243a36bb8f9564c1742b253462386e96c6b78f",
+                "sha256:2b35602cb65d53c168c104469e714bf68670335044c38eee3c899d6a8af03ffc",
                 "sha256:32ca378605b41fd180dfe4e14d3226386d8d1b002ab31c969c366549e66a2bb7",
+                "sha256:32fff501b6df3050936d1839b80ea5899bf34db24792d223d7640611f67de15a",
+                "sha256:34400fd76f85bdae9a2e9c1444ea4699c0280962423eff4418765deceebd81b5",
+                "sha256:3767c64593a49c7ac0accd08ed39ce42744405f0989d468f0097a17496fdbe84",
                 "sha256:3cc797c9d15d7689ed507b165cd05913acb992d78b379f6014e013f9ecb20996",
+                "sha256:3f2ed842e8ca43b790cb4a101bcf577226e0ded98a6a6ba2d5e12095a08dc4da",
+                "sha256:52c1e44e25f2949be7ffa7c66acbfea940b0945dd416920231f7cb30ea5ac6db",
+                "sha256:5d9b5c8270461706973c3871c6fbdd236b51dfe9dab652f1fb6a36aa88287e47",
                 "sha256:62f1b5c4cd6c5402b4e2d63804ba49a327e0c386c99b1675c8a0fefda23b2067",
                 "sha256:69ccfdf3657ba59569c64295b7d51325f91af586f8d5793b734260dfe2e94e2c",
                 "sha256:6f50601512a3d23625d8a85b1638d914a0970f17920ff39cec63aaef80a93fb7",
+                "sha256:72d357cc4d834cc85bd957e8b8e1f4b64c2eac9ca1a942efeb8eb2e723fca852",
                 "sha256:7403941f6d0992d40161aa8bb23e12575637008a5a02283a930addc0508982f9",
                 "sha256:755f3aee41354ae395e104d62119cb223339a8f3276a0cd009ffabfcdd46bb0c",
                 "sha256:77053d28427a29987ca9caf7b72ccafee011257561259faba8dd308fda9a8739",
+                "sha256:79cd8d0a269b714f6b32641f86928c718e8d234466919b3f552bfb069dbb159b",
                 "sha256:7e371f10abe57cee5021797126c93479f59fccc9693dafd6bd5633ab67808a91",
                 "sha256:9016d01c91e8e625141d24ec1b20fed584703e527d28512aa8c8707f105a683c",
                 "sha256:9be73ad47579abc26c12024239d3540e6b765182a91dbc88e23658ab71767153",
+                "sha256:a4c0c6f2f95a559e59a0258d3e4b186f340cbdc5adec5ce1bc06d01972527c88",
                 "sha256:adc31566d027f45efe3f44eeb5b1f329da43891634d61c75a5944e9be6dd42c9",
                 "sha256:adfc6cf69c7f8c50fd24c793964eef18f0ac321315439d94945820612849c388",
                 "sha256:af0ebadc74e281a517141daad9d0f2c5d93ab78e9d455113719a45a49da9db4e",
+                "sha256:b309fda192850ac4184ca1777aab9655564bc8d10a9cc98f10e1c8bf11295c22",
+                "sha256:b3d7d4b4945fe3c001403b6c24442901a5e58c0a3059290f5a63523ed4435f82",
+                "sha256:c8829092c5aeb61619161269b2f8a2e36fd7cb26abbd9282d3bc453f02769146",
                 "sha256:cb29edb9eab15742d791e1025dd7b6a8f6fcb53802ad2f6e3adcb102051063ab",
                 "sha256:cd68be2559e2a3b84f517fb029ee611546f7812b1fdd0aa2ecc9bc6ec0e4fdde",
                 "sha256:cdee09140e1cd184ba9324ec1df410e7147242b94b5f8b0c64fc89e38a8ba531",
@@ -712,7 +726,7 @@
                 "sha256:e250a42f15bf9d5b09fe1b293bdba2801cd520a9f5ea2d7fb7536d4441811d20",
                 "sha256:ff8d8fa42675249bb456f5db06c00de6c2f4c27a065955917b28c4f15978b9c3"
             ],
-            "markers": "python_version >= '3.7'",
+            "index": "pypi",
             "version": "==3.20.1"
         },
         "psutil": {
@@ -841,11 +855,11 @@
         },
         "pylint": {
             "hashes": [
-                "sha256:095567c96e19e6f57b5b907e67d265ff535e588fe26b12b5ebe1fc5645b2c731",
-                "sha256:705c620d388035bdd9ff8b44c5bcdd235bfb49d276d488dd2c8ff1736aa42526"
+                "sha256:549261e0762c3466cc001024c4419c08252cb8c8d40f5c2c6966fea690e7fe2a",
+                "sha256:bb71e6d169506de585edea997e48d9ff20c0dc0e2fbc1d166bad6b640120326b"
             ],
             "index": "pypi",
-            "version": "==2.13.9"
+            "version": "==2.14.1"
         },
         "pyopencl": {
             "hashes": [
@@ -890,6 +904,53 @@
             "index": "pypi",
             "version": "==2022.1.5"
         },
+        "pyqt5": {
+            "hashes": [
+                "sha256:213bebd51821ed89b4d5b35bb10dbe67564228b3568f463a351a08e8b1677025",
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@@ -954,74 +1015,74 @@
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@@ -1118,11 +1179,11 @@
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@@ -1134,11 +1195,11 @@
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@@ -1150,11 +1211,11 @@
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             "index": "pypi",
-            "version": "==6.0.0"
+            "version": "==6.0.1"
         },
         "tomli": {
             "hashes": [
@@ -1164,6 +1225,14 @@
             "markers": "python_version < '3.11'",
             "version": "==2.0.1"
         },
+        "tomlkit": {
+            "hashes": [
+                "sha256:0f4050db66fd445b885778900ce4dd9aea8c90c4721141fde0d6ade893820ef1",
+                "sha256:71ceb10c0eefd8b8f11fe34e8a51ad07812cb1dc3de23247425fbc9ddc47b9dd"
+            ],
+            "markers": "python_version >= '3.6' and python_version < '4.0'",
+            "version": "==0.11.0"
+        },
         "tqdm": {
             "hashes": [
                 "sha256:40be55d30e200777a307a7585aee69e4eabb46b4ec6a4b4a5f2d9f11e7d5408d",
@@ -1374,11 +1443,11 @@
         },
         "babel": {
             "hashes": [
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-                "sha256:98aeaca086133efb3e1e2aad0396987490c8425929ddbcfe0550184fdc54cd13"
+                "sha256:7aed055f0c04c9e7f51a2f75261e41e1c804efa724cb65b60a970dd4448d469d",
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             ],
             "markers": "python_version >= '3.6'",
-            "version": "==2.10.1"
+            "version": "==2.10.2"
         },
         "bcrypt": {
             "hashes": [
@@ -1407,17 +1476,17 @@
         },
         "carla": {
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+            "version": "==0.9.13"
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@@ -1496,62 +1565,62 @@
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-            "markers": "python_version >= '3'",
+            "markers": "python_full_version >= '3.5.0'",
             "version": "==2.0.12"
         },
         "control": {
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+            "version": "==6.4.1"
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@@ -1665,11 +1734,11 @@
         },
         "filelock": {
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             "markers": "python_version >= '3.7'",
-            "version": "==3.7.0"
+            "version": "==3.7.1"
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         "fonttools": {
             "hashes": [
@@ -1679,6 +1748,33 @@
             "markers": "python_version >= '3.7'",
             "version": "==4.33.3"
         },
+        "ft4222": {
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@@ -1689,6 +1785,8 @@
         "hypothesis": {
             "hashes": [
                 "sha256:2696cdb9005946bf1d2b215cc91d3fc01625e3342eb8743ddd04b667b2f1882b",
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@@ -1707,7 +1805,7 @@
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-            "markers": "python_version >= '3'",
+            "markers": "python_full_version >= '3.5.0'",
             "version": "==3.3"
         },
         "imagesize": {
@@ -1751,52 +1849,52 @@
         },
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+                "sha256:40240da438c0ebfe2aa76dd04b844effac6679423df61adbe3437d32f23468d9",
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+                "sha256:547111ef7cf13d73546c2de97ce434935626c897bdec96a578ca100b5fcd694b",
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+                "sha256:8395064d63b26947fa2c9faeea9c3eee35e52148c5339c37987e1d96fbf009b3",
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+                "sha256:ab8a15c2750ae8d53e31f77a94f846d0a00772240f1c12817411fa2344351f86",
+                "sha256:af24b21c2283ca69c416a8a42cde9764dc36c63d3389645d28c69b0e93db3cd7",
+                "sha256:afe173ac2646c2636305ab820cc0380b22a00a7bca4290452e7166b4f4fa49d0",
+                "sha256:b9eb88593159a53a5ee0b0159daee531ff7dd9c87fa78f5d807ca059c7eb1b2b",
+                "sha256:c16635f8dddbeb1b827977d0b00d07b644b040aeb9ff8607a9fc0997afa3e567",
+                "sha256:ca3eefb02ef17257fae8b8555c85e7c1efdfd777f671384b0e4ef27409b02720",
+                "sha256:caa59e2cae0e23b1e225447d7a9ddb0f982f42a6a22d497a484dfe62a06f7c0e",
+                "sha256:cb55258931448d61e2d50187de4ee66fc9d9f34908b524949b8b2b93d0c57136",
+                "sha256:d248c46c0aa406695bda2abf99632db991f8b3a6d46018721a2892312a99f069",
+                "sha256:d2578e5149ff49878934debfacf5c743fab49eca5ecdb983d0b218e1e554c498",
+                "sha256:dd22085446f3eca990d12a0878eeb5199dc9553b2e71716bfe7bed9915a472ab",
+                "sha256:e7cf940af5fee00a92e281eb157abe8770227a5255207818ea9a34e54a29f5b2",
+                "sha256:f70f3d028794e31cf9d1a822914efc935aadb2438ec4e8d4871d95eb1ce032d6",
+                "sha256:fd2842a0faed9ab9aba0922c951906132d9384be89690570f0ed18cd4f20e658",
+                "sha256:fd628e63ffdba0112e3ddf1b1e9f3db29dd8262345138e08f4938acbc6d0805a",
+                "sha256:ffd7cf165ff71afb202b3f36daafbf298932bee325aac9f58e1c9cd55838bef0"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==1.4.2"
+            "version": "==1.4.3"
         },
         "lru-dict": {
             "hashes": [
@@ -1918,41 +2016,40 @@
         },
         "mpld3": {
             "hashes": [
-                "sha256:3626d37da7ac11d0fce4dd5ceb37d04ba618bf951129bf6ca3f94bf48da87d6f",
-                "sha256:b1290f6cca2d9515e32ee21a8b0c18b2ea361cefce58ba0f4df881e9eeb3f64c",
-                "sha256:c589db8b661aee25c93e198e2e18ed47b9a96951de41d96241345acec5f819ab"
+                "sha256:1a167dbef836dd7c66d8aa71c06a32d50bffa18725f304d93cb74fdb3545043b",
+                "sha256:41938e65de4ba41a1b53d92e7c8609e7172e09b33ef5db42bb6f73701106c8b7"
             ],
             "index": "pypi",
-            "version": "==0.5.7"
+            "version": "==0.5.8"
         },
         "mypy": {
             "hashes": [
-                "sha256:0112752a6ff07230f9ec2f71b0d3d4e088a910fdce454fdb6553e83ed0eced7d",
-                "sha256:0384d9f3af49837baa92f559d3fa673e6d2652a16550a9ee07fc08c736f5e6f8",
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-                "sha256:1fdeb0a0f64f2a874a4c1f5271f06e40e1e9779bf55f9567f149466fc7a55038",
-                "sha256:4c653e4846f287051599ed8f4b3c044b80e540e88feec76b11044ddc5612ffed",
-                "sha256:563514c7dc504698fb66bb1cf897657a173a496406f1866afae73ab5b3cdb334",
-                "sha256:5b231afd6a6e951381b9ef09a1223b1feabe13625388db48a8690f8daa9b71ff",
-                "sha256:5ce6a09042b6da16d773d2110e44f169683d8cc8687e79ec6d1181a72cb028d2",
-                "sha256:5e7647df0f8fc947388e6251d728189cfadb3b1e558407f93254e35abc026e22",
-                "sha256:6003de687c13196e8a1243a5e4bcce617d79b88f83ee6625437e335d89dfebe2",
-                "sha256:61504b9a5ae166ba5ecfed9e93357fd51aa693d3d434b582a925338a2ff57fd2",
-                "sha256:77423570c04aca807508a492037abbd72b12a1fb25a385847d191cd50b2c9605",
-                "sha256:a4d9898f46446bfb6405383b57b96737dcfd0a7f25b748e78ef3e8c576bba3cb",
-                "sha256:a952b8bc0ae278fc6316e6384f67bb9a396eb30aced6ad034d3a76120ebcc519",
-                "sha256:b5b5bd0ffb11b4aba2bb6d31b8643902c48f990cc92fda4e21afac658044f0c0",
-                "sha256:ca75ecf2783395ca3016a5e455cb322ba26b6d33b4b413fcdedfc632e67941dc",
-                "sha256:cf9c261958a769a3bd38c3e133801ebcd284ffb734ea12d01457cb09eacf7d7b",
-                "sha256:dd4d670eee9610bf61c25c940e9ade2d0ed05eb44227275cce88701fee014b1f",
-                "sha256:e19736af56947addedce4674c0971e5dceef1b5ec7d667fe86bcd2b07f8f9075",
-                "sha256:eaea21d150fb26d7b4856766e7addcf929119dd19fc832b22e71d942835201ef",
-                "sha256:eaff8156016487c1af5ffa5304c3e3fd183edcb412f3e9c72db349faf3f6e0eb",
-                "sha256:ee0a36edd332ed2c5208565ae6e3a7afc0eabb53f5327e281f2ef03a6bc7687a",
-                "sha256:ef7beb2a3582eb7a9f37beaf38a28acfd801988cde688760aea9e6cc4832b10b"
-            ],
-            "index": "pypi",
-            "version": "==0.950"
+                "sha256:006be38474216b833eca29ff6b73e143386f352e10e9c2fbe76aa8549e5554f5",
+                "sha256:03c6cc893e7563e7b2949b969e63f02c000b32502a1b4d1314cabe391aa87d66",
+                "sha256:0e9f70df36405c25cc530a86eeda1e0867863d9471fe76d1273c783df3d35c2e",
+                "sha256:1ece702f29270ec6af25db8cf6185c04c02311c6bb21a69f423d40e527b75c56",
+                "sha256:3e09f1f983a71d0672bbc97ae33ee3709d10c779beb613febc36805a6e28bb4e",
+                "sha256:439c726a3b3da7ca84a0199a8ab444cd8896d95012c4a6c4a0d808e3147abf5d",
+                "sha256:5a0b53747f713f490affdceef835d8f0cb7285187a6a44c33821b6d1f46ed813",
+                "sha256:5f1332964963d4832a94bebc10f13d3279be3ce8f6c64da563d6ee6e2eeda932",
+                "sha256:63e85a03770ebf403291ec50097954cc5caf2a9205c888ce3a61bd3f82e17569",
+                "sha256:64759a273d590040a592e0f4186539858c948302c653c2eac840c7a3cd29e51b",
+                "sha256:697540876638ce349b01b6786bc6094ccdaba88af446a9abb967293ce6eaa2b0",
+                "sha256:9940e6916ed9371809b35b2154baf1f684acba935cd09928952310fbddaba648",
+                "sha256:9f5f5a74085d9a81a1f9c78081d60a0040c3efb3f28e5c9912b900adf59a16e6",
+                "sha256:a5ea0875a049de1b63b972456542f04643daf320d27dc592d7c3d9cd5d9bf950",
+                "sha256:b117650592e1782819829605a193360a08aa99f1fc23d1d71e1a75a142dc7e15",
+                "sha256:b24be97351084b11582fef18d79004b3e4db572219deee0212078f7cf6352723",
+                "sha256:b88f784e9e35dcaa075519096dc947a388319cb86811b6af621e3523980f1c8a",
+                "sha256:bdd5ca340beffb8c44cb9dc26697628d1b88c6bddf5c2f6eb308c46f269bb6f3",
+                "sha256:d5aaf1edaa7692490f72bdb9fbd941fbf2e201713523bdb3f4038be0af8846c6",
+                "sha256:e999229b9f3198c0c880d5e269f9f8129c8862451ce53a011326cad38b9ccd24",
+                "sha256:f4a21d01fc0ba4e31d82f0fff195682e29f9401a8bdb7173891070eb260aeb3b",
+                "sha256:f4b794db44168a4fc886e3450201365c9526a522c46ba089b55e1f11c163750d",
+                "sha256:f730d56cb924d371c26b8eaddeea3cc07d78ff51c521c6d04899ac6904b75492"
+            ],
+            "index": "pypi",
+            "version": "==0.961"
         },
         "mypy-extensions": {
             "hashes": [
@@ -1963,11 +2060,11 @@
         },
         "myst-parser": {
             "hashes": [
-                "sha256:1635ce3c18965a528d6de980f989ff64d6a1effb482e1f611b1bfb79e38f3d98",
-                "sha256:4c076d649e066f9f5c7c661bae2658be1ca06e76b002bb97f02a09398707686c"
+                "sha256:4965e51918837c13bf1c6f6fe2c6bddddf193148360fbdaefe743a4981358f6a",
+                "sha256:739a4d96773a8e55a2cacd3941ce46a446ee23dcd6b37e06f73f551ad7821d86"
             ],
             "index": "pypi",
-            "version": "==0.17.2"
+            "version": "==0.18.0"
         },
         "natsort": {
             "hashes": [
@@ -2014,16 +2111,16 @@
         },
         "opencv-python-headless": {
             "hashes": [
-                "sha256:3f330468c29882dbbec5af25695c5e575572c6b855cb0f9fe53e14116fd46bfc",
-                "sha256:4bdf982574bf2fefc5f82c86df7cb42e56ad627874c7c0f4d94ecf4ae8885304",
-                "sha256:567a54c1919bcf5b3d20a9830e3c511e57134de8def286ce137c3544a892f98c",
-                "sha256:62e31878641a8f96e773118d1eea9f34bdda87c9990a0faab04ebaafb5ae015c",
-                "sha256:a60e9ff48854ec37be391e19dd634883cc26c2f0f814e5325b3deca33420912c",
-                "sha256:c3c2dda44d601757a508b07d628537c49f31223ad4edd0f747a70d4c852a7b98",
-                "sha256:ca4f013fa958f60fb2327fe87e6127c1ac0ab536890b1d4b00847f417b7af1ba"
+                "sha256:21e70f8b0c04098cdf466d27184fe6c3820aaef944a22548db95099959c95889",
+                "sha256:2c032c373e447c3fc2a670bca20e2918a1205a6e72854df60425fd3f82c78c32",
+                "sha256:3bacd806cce1f1988e58f3d6f761538e0215d6621d316de94c009dc0acbd6ad3",
+                "sha256:d5291d7e10aa2c19cab6fd86f0d61af8617290ecd2d7ffcb051e446868d04cc5",
+                "sha256:e6c069bc963d7e8fcec21b3e33e594d35948badd63eccb2e80f88b0a12102c03",
+                "sha256:eec6281054346103d6af93f173b7c6a206beb2663d3adc04aa3ddc66e85093df",
+                "sha256:ffbf26fcd697af996408440a93bc69c49c05a36845771f984156dfbeaa95d497"
             ],
             "index": "pypi",
-            "version": "==4.5.5.64"
+            "version": "==4.6.0.66"
         },
         "packaging": {
             "hashes": [
@@ -2329,11 +2426,11 @@
         },
         "requests": {
             "hashes": [
-                "sha256:68d7c56fd5a8999887728ef304a6d12edc7be74f1cfa47714fc8b414525c9a61",
-                "sha256:f22fa1e554c9ddfd16e6e41ac79759e17be9e492b3587efa038054674760e72d"
+                "sha256:bc7861137fbce630f17b03d3ad02ad0bf978c844f3536d0edda6499dafce2b6f",
+                "sha256:d568723a7ebd25875d8d1eaf5dfa068cd2fc8194b2e483d7b1f7c81918dbec6b"
             ],
             "index": "pypi",
-            "version": "==2.27.1"
+            "version": "==2.28.0"
         },
         "reverse-geocoder": {
             "hashes": [
diff --git a/README.md b/README.md
index 9d279fb84d..c426b839d5 100755
--- a/README.md
+++ b/README.md
@@ -35,16 +35,17 @@ What is openpilot?
 </table>
 
 
-Running in a car
+Running on a dedicated device in a car
 ------
 
 To use openpilot in a car, you need four things
-* This software. It's free and available right here.
+* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
+* This software. The setup procedure of the comma three allows the user to enter a url for custom software.
+The url, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another github username can install a fork.
 * One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
-* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three), or if you like to experiment, a [Ubuntu computer with webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
-* A way to connect to your car. With a comma three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With a PC, you also need a [black panda](https://comma.ai/shop/products/panda).
+* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
 
-We have detailed instructions for [how to install the device in a car](https://comma.ai/setup).
+We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 
 Running on PC
 ------
@@ -55,6 +56,7 @@ With openpilot's tools you can plot logs, replay drives and watch the full-res c
 
 You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU.
 
+A PC running openpilot can also control your vehicle if it is connected to a [a webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and [a harness](https://comma.ai/shop/products/car-harness).
 
 Community and Contributing
 ------
diff --git a/RELEASES.md b/RELEASES.md
index de57d520d3..7f365e5cef 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -5,7 +5,16 @@ Version 0.8.15 (2022-XX-XX)
   * Much smoother control, consistent across the speed range
   * Effective feedforward that uses road roll
   * Simplified tuning, all car-specific parameters can be derived from data
+  * Significantly improved control on TSS-P Prius
+* New driver monitoring model
+  * takes a larger input frame
+  * outputs a driver state for both driver and passenger
+  * automatically determines which side the driver is on (soon)
+* Display speed limit while navigating
+* Reduced power usage: device runs cooler and fan spins less
 * AGNOS 5
+* Hyundai Tucson 2021 support thanks to bluesforte!
+* Lexus NX Hybrid 2020 support thanks to AlexandreSato!
 
 Version 0.8.14 (2022-06-01)
 ========================
diff --git a/SConstruct b/SConstruct
index 0aeb382c23..b5c4edc99b 100644
--- a/SConstruct
+++ b/SConstruct
@@ -359,6 +359,7 @@ Export('cereal', 'messaging', 'visionipc')
 rednose_config = {
   'generated_folder': '#selfdrive/locationd/models/generated',
   'to_build': {
+    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
     'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
     'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
   },
@@ -366,7 +367,6 @@ rednose_config = {
 
 if arch != "larch64":
   rednose_config['to_build'].update({
-    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
     'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
     'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
     'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
diff --git a/cereal b/cereal
index 7cbb4f1c8c..4b4d9aab03 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 7cbb4f1c8cb7cfc798a058c611801442b40feb52
+Subproject commit 4b4d9aab03937f5a45677ff15efb275abf9c958b
diff --git a/common/api/__init__.py b/common/api/__init__.py
index fd2e70910e..c1fa635bd6 100644
--- a/common/api/__init__.py
+++ b/common/api/__init__.py
@@ -3,7 +3,7 @@ import os
 import requests
 from datetime import datetime, timedelta
 from common.basedir import PERSIST
-from selfdrive.version import get_version
+from system.version import get_version
 
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
diff --git a/common/basedir.py b/common/basedir.py
index 8be1cf6afa..371b54d3ef 100644
--- a/common/basedir.py
+++ b/common/basedir.py
@@ -1,7 +1,7 @@
 import os
 from pathlib import Path
 
-from selfdrive.hardware import PC
+from system.hardware import PC
 
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 
diff --git a/common/modeldata.h b/common/modeldata.h
index 06d9398031..aee9fdfd83 100644
--- a/common/modeldata.h
+++ b/common/modeldata.h
@@ -2,7 +2,7 @@
 
 #include <array>
 #include "common/mat.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 const int  TRAJECTORY_SIZE = 33;
 const int LAT_MPC_N = 16;
diff --git a/common/params.cc b/common/params.cc
index 330eddc1a9..8cf1baa6c8 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -8,7 +8,7 @@
 
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 namespace {
 
@@ -127,6 +127,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"LaikadEphemeris", PERSISTENT},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
     {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
diff --git a/common/realtime.py b/common/realtime.py
index 03051c6f67..8a79d8d39f 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -8,7 +8,7 @@ from typing import Optional, List, Union
 from setproctitle import getproctitle  # pylint: disable=no-name-in-module
 
 from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
-from selfdrive.hardware import PC
+from system.hardware import PC
 
 
 # time step for each process
diff --git a/common/swaglog.cc b/common/swaglog.cc
index 75223854fe..6b0028326a 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -15,7 +15,7 @@
 
 #include "common/util.h"
 #include "common/version.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 class SwaglogState : public LogState {
  public:
diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc
index b54d1d6338..20455ec74c 100644
--- a/common/tests/test_swaglog.cc
+++ b/common/tests/test_swaglog.cc
@@ -7,7 +7,7 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "common/version.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 const char *SWAGLOG_ADDR = "ipc:///tmp/logmessage";
 std::string daemon_name = "testy";
diff --git a/docs/CARS.md b/docs/CARS.md
index 2aa624d849..c0bd62eb3f 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -25,7 +25,8 @@ How We Rate The Cars
 - <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - No steering control below certain speeds.
 
 ### Steering Torque
-- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque for comfortable highway driving.
+- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque to take tighter turns.
+- <a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a> - Car has enough steering torque for comfortable highway driving.
 - <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Limited ability to make turns.
 
 ### Actively Maintained
@@ -34,7 +35,7 @@ How We Rate The Cars
 
 **All supported cars can move between the tiers as support changes.**
 
-## Gold Cars
+# Gold - 28 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -51,7 +52,9 @@ How We Rate The Cars
 |Lexus|ES 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|UX Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -65,11 +68,16 @@ How We Rate The Cars
 |Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
-## Silver Cars
+# Silver - 76 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
+|Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Genesis|G70 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Genesis|G80 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Elantra 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -87,7 +95,7 @@ How We Rate The Cars
 |Kia|Ceed 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Forte 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Forte 2019-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|K5 2021-22|SCC + LFA|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|K5 2021-22|SCC|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Niro Hybrid 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Niro Hybrid 2022|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Optima 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -95,16 +103,17 @@ How We Rate The Cars
 |Kia|Sorento 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Sorento 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Stinger 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|NX Hybrid 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Forester 2019-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Forester 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Octavia 2015, 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -113,40 +122,48 @@ How We Rate The Cars
 |Škoda|Superb 2015-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Arteon 2018, 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Passat 2015-19[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Atlas 2018-19, 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf GTE 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Polo 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|T-Cross 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|T-Roc 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Taos 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
-## Bronze Cars
+# Bronze - 69 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Acura|RDX 2016-18|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Acura|RDX 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Genesis|G90 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
 |Honda|Accord 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Accord Hybrid 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic 2016-18|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -170,55 +187,41 @@ How We Rate The Cars
 |Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Tucson 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Optima 2017|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Mazda|CX-9 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Nissan|Altima 2019-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Nissan|Leaf 2018-22|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Nissan|Rogue 2018-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Ascent 2019-20|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Ascent 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Atlas 2018-19, 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|California 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Caravelle 2020[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTE 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Tiguan 2019-22[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Arteon 2018, 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Passat 2015-19[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
 
 <a id="footnotes"></a>
@@ -226,10 +229,9 @@ How We Rate The Cars
 <sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
 <sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i> NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>5</sup>An inaccurate steering wheel angle sensor makes precise control difficult. <br />
-<sup>6</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>7</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
-<sup>8</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
+<sup>5</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>6</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
+<sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
\ No newline at end of file
diff --git a/docs/conf.py b/docs/conf.py
index c11d17455d..fea921de1f 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -14,10 +14,12 @@
 # documentation root, use os.path.abspath to make it absolute, like shown here.
 #
 import os
-from os.path import exists
 import sys
-from selfdrive.version import get_version
+from os.path import exists
+
 from common.basedir import BASEDIR
+from system.version import get_version
+
 sys.path.insert(0, os.path.abspath('.'))
 sys.path.insert(0, os.path.abspath('..'))
 
diff --git a/laika_repo b/laika_repo
index ba6ed3277c..a3a80dc4f7 160000
--- a/laika_repo
+++ b/laika_repo
@@ -1 +1 @@
-Subproject commit ba6ed3277cadfdc8697206784afbd7f9a223798b
+Subproject commit a3a80dc4f7977b2232946e56a16770e413190818
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index a37e27c4fe..911774a4eb 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -22,12 +22,12 @@ function agnos_init {
 
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/selfdrive/hardware/tici/agnos.py"
-    MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
+    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
+    MANIFEST="$DIR/system/hardware/tici/agnos.json"
     if $AGNOS_PY --verify $MANIFEST; then
       sudo reboot
     fi
-    $DIR/selfdrive/hardware/tici/updater $AGNOS_PY $MANIFEST
+    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
   fi
 }
 
diff --git a/opendbc b/opendbc
index 7701277d26..a7b391cce8 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 7701277d2666119bc7fcaca9f8cfefd50cd5b071
+Subproject commit a7b391cce88908824f1417f0c7abd35e3ae16f96
diff --git a/panda b/panda
index 475a9a3124..42772b49e3 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 475a9a312410908abcaa32f2e48140fcbfc2362f
+Subproject commit 42772b49e313688f8f96114806a72784f978e990
diff --git a/release/files_common b/release/files_common
index ceb0110606..6731ae4a12 100644
--- a/release/files_common
+++ b/release/files_common
@@ -61,17 +61,17 @@ release/*
 tools/lib/*
 tools/joystick/*
 
-selfdrive/version.py
-
 selfdrive/__init__.py
 selfdrive/sentry.py
-selfdrive/swaglog.py
-selfdrive/logmessaged.py
 selfdrive/tombstoned.py
 selfdrive/updated.py
 selfdrive/rtshield.py
 selfdrive/statsd.py
 
+system/logmessaged.py
+system/swaglog.py
+system/version.py
+
 selfdrive/athena/__init__.py
 selfdrive/athena/athenad.py
 selfdrive/athena/manage_athenad.py
@@ -104,6 +104,7 @@ selfdrive/car/fw_versions.py
 selfdrive/car/isotp_parallel_query.py
 selfdrive/car/tests/__init__.py
 selfdrive/car/tests/test_car_interfaces.py
+selfdrive/car/torque_data.json
 
 selfdrive/car/body/*.py
 selfdrive/car/chrysler/*.py
@@ -181,21 +182,21 @@ selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
 selfdrive/controls/lib/lateral_mpc_lib/*
 selfdrive/controls/lib/longitudinal_mpc_lib/*
 
-selfdrive/hardware/__init__.py
-selfdrive/hardware/base.h
-selfdrive/hardware/base.py
-selfdrive/hardware/hw.h
-selfdrive/hardware/tici/__init__.py
-selfdrive/hardware/tici/hardware.h
-selfdrive/hardware/tici/hardware.py
-selfdrive/hardware/tici/pins.py
-selfdrive/hardware/tici/agnos.py
-selfdrive/hardware/tici/agnos.json
-selfdrive/hardware/tici/amplifier.py
-selfdrive/hardware/tici/updater
-selfdrive/hardware/tici/iwlist.py
-selfdrive/hardware/pc/__init__.py
-selfdrive/hardware/pc/hardware.py
+system/hardware/__init__.py
+system/hardware/base.h
+system/hardware/base.py
+system/hardware/hw.h
+system/hardware/tici/__init__.py
+system/hardware/tici/hardware.h
+system/hardware/tici/hardware.py
+system/hardware/tici/pins.py
+system/hardware/tici/agnos.py
+system/hardware/tici/agnos.json
+system/hardware/tici/amplifier.py
+system/hardware/tici/updater
+system/hardware/tici/iwlist.py
+system/hardware/pc/__init__.py
+system/hardware/pc/hardware.py
 
 selfdrive/locationd/__init__.py
 selfdrive/locationd/.gitignore
@@ -472,7 +473,6 @@ opendbc/gm_global_a_powertrain_generated.dbc
 opendbc/gm_global_a_object.dbc
 opendbc/gm_global_a_chassis.dbc
 
-opendbc/ford_fusion_2018_adas.dbc
 opendbc/ford_lincoln_base_pt.dbc
 
 opendbc/honda_accord_2018_can_generated.dbc
diff --git a/release/files_tici b/release/files_tici
index ee1ac63c34..485a898799 100644
--- a/release/files_tici
+++ b/release/files_tici
@@ -2,7 +2,7 @@ third_party/snpe/larch64**
 third_party/snpe/aarch64-ubuntu-gcc7.5/*
 third_party/mapbox-gl-native-qt/include/*
 
-selfdrive/timezoned.py
+system/timezoned.py
 
 selfdrive/assets/navigation/*
 selfdrive/assets/training_wide/*
diff --git a/scripts/disable-powersave.py b/scripts/disable-powersave.py
index f651bc87f1..93688504f3 100755
--- a/scripts/disable-powersave.py
+++ b/scripts/disable-powersave.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from selfdrive.hardware import HARDWARE
+from system.hardware import HARDWARE
 
 if __name__ == "__main__":
   HARDWARE.set_power_save(False)
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index ba86e02cc6..26220dfa99 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -32,12 +32,12 @@ from common.basedir import PERSIST
 from common.file_helpers import CallbackReader
 from common.params import Params
 from common.realtime import sec_since_boot, set_core_affinity
-from selfdrive.hardware import HARDWARE, PC, AGNOS
+from system.hardware import HARDWARE, PC, AGNOS
 from selfdrive.loggerd.config import ROOT
 from selfdrive.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.statsd import STATS_DIR
-from selfdrive.swaglog import SWAGLOG_DIR, cloudlog
-from selfdrive.version import get_commit, get_origin, get_short_branch, get_version
+from system.swaglog import SWAGLOG_DIR, cloudlog
+from system.version import get_commit, get_origin, get_short_branch, get_version
 
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
diff --git a/selfdrive/athena/manage_athenad.py b/selfdrive/athena/manage_athenad.py
index 58ad58310f..6bbb03a799 100755
--- a/selfdrive/athena/manage_athenad.py
+++ b/selfdrive/athena/manage_athenad.py
@@ -5,8 +5,8 @@ from multiprocessing import Process
 
 from common.params import Params
 from selfdrive.manager.process import launcher
-from selfdrive.swaglog import cloudlog
-from selfdrive.version import get_version, is_dirty
+from system.swaglog import cloudlog
+from system.version import get_version, is_dirty
 
 ATHENA_MGR_PID_PARAM = "AthenadPid"
 
diff --git a/selfdrive/athena/registration.py b/selfdrive/athena/registration.py
index 2748934361..32bc92059c 100755
--- a/selfdrive/athena/registration.py
+++ b/selfdrive/athena/registration.py
@@ -11,8 +11,8 @@ from common.params import Params
 from common.spinner import Spinner
 from common.basedir import PERSIST
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
-from selfdrive.hardware import HARDWARE, PC
-from selfdrive.swaglog import cloudlog
+from system.hardware import HARDWARE, PC
+from system.swaglog import cloudlog
 
 
 UNREGISTERED_DONGLE_ID = "UnregisteredDevice"
diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py
index b6457ca01d..382b549c1b 100755
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@@ -16,7 +16,7 @@ from unittest import mock
 from websocket import ABNF
 from websocket._exceptions import WebSocketConnectionClosedException
 
-from selfdrive import swaglog
+from system import swaglog
 from selfdrive.athena import athenad
 from selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
 from selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
@@ -120,6 +120,13 @@ class TestAthenadMethods(unittest.TestCase):
     self.assertTrue(resp, 'list empty!')
     self.assertCountEqual(resp, expected)
 
+  def test_strip_bz2_extension(self):
+    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
+    Path(fn).touch()
+    if fn.endswith('.bz2'):
+      self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4]) 
+
+
   @with_http_server
   def test_do_upload(self, host):
     fn = os.path.join(athenad.ROOT, 'qlog.bz2')
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 2745c037b6..f47b5936be 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -27,7 +27,7 @@
 #include "common/swaglog.h"
 #include "common/timing.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #include "selfdrive/boardd/pigeon.h"
 
diff --git a/selfdrive/boardd/main.cc b/selfdrive/boardd/main.cc
index 6f1f83685b..cb17a584bd 100644
--- a/selfdrive/boardd/main.cc
+++ b/selfdrive/boardd/main.cc
@@ -3,7 +3,7 @@
 #include "selfdrive/boardd/boardd.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 int main(int argc, char *argv[]) {
   LOGW("starting boardd");
diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py
index 306d764e59..54a28a6782 100755
--- a/selfdrive/boardd/pandad.py
+++ b/selfdrive/boardd/pandad.py
@@ -10,8 +10,8 @@ from functools import cmp_to_key
 from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU
 from common.basedir import BASEDIR
 from common.params import Params
-from selfdrive.hardware import HARDWARE
-from selfdrive.swaglog import cloudlog
+from system.hardware import HARDWARE
+from system.swaglog import cloudlog
 
 
 def get_expected_signature(panda: Panda) -> bytes:
diff --git a/selfdrive/boardd/tests/boardd_old.py b/selfdrive/boardd/tests/boardd_old.py
index 5e740fbcd8..fad29f6f34 100755
--- a/selfdrive/boardd/tests/boardd_old.py
+++ b/selfdrive/boardd/tests/boardd_old.py
@@ -13,7 +13,7 @@ import time
 
 import cereal.messaging as messaging
 from common.realtime import Ratekeeper
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.boardd.boardd import can_capnp_to_can_list
 from cereal import car
 
diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py
index 631b4c987f..e9bbcb4586 100755
--- a/selfdrive/boardd/tests/test_boardd_loopback.py
+++ b/selfdrive/boardd/tests/test_boardd_loopback.py
@@ -12,7 +12,7 @@ from common.spinner import Spinner
 from common.timeout import Timeout
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car import make_can_msg
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.test.helpers import phone_only, with_processes
 
 
diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc
index 049324f085..a94cfedf1a 100644
--- a/selfdrive/camerad/cameras/camera_common.cc
+++ b/selfdrive/camerad/cameras/camera_common.cc
@@ -15,7 +15,7 @@
 #include "common/modeldata.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "msm_media_info.h"
 
 #ifdef QCOM2
diff --git a/selfdrive/camerad/cameras/camera_common.h b/selfdrive/camerad/cameras/camera_common.h
index 74d6a6eb3f..e9c7ccd757 100644
--- a/selfdrive/camerad/cameras/camera_common.h
+++ b/selfdrive/camerad/cameras/camera_common.h
@@ -13,7 +13,7 @@
 #include "common/mat.h"
 #include "common/queue.h"
 #include "common/swaglog.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #define CAMERA_ID_IMX298 0
 #define CAMERA_ID_IMX179 1
diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
index d43beb0921..c1ffc1275a 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -837,7 +837,6 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i
   s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD, !env_disable_road);
   s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE_ROAD, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road);
 
-  s->sm = new SubMaster({"driverState"});
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }
 
@@ -948,7 +947,6 @@ void cameras_close(MultiCameraState *s) {
   s->road_cam.camera_close();
   s->wide_road_cam.camera_close();
 
-  delete s->sm;
   delete s->pm;
 }
 
@@ -1221,7 +1219,7 @@ static void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal
   framed.setTemperaturesC({temp_0, temp_1});
 }
 
-static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
+static void driver_cam_auto_exposure(CameraState *c) {
   struct ExpRect {int x1, x2, x_skip, y1, y2, y_skip;};
   const CameraBuf *b = &c->buf;
   static ExpRect rect = {96, 1832, 2, 242, 1148, 4};
@@ -1229,8 +1227,7 @@ static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
 }
 
 static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  s->sm->update(0);
-  driver_cam_auto_exposure(c, *(s->sm));
+  driver_cam_auto_exposure(c);
 
   MessageBuilder msg;
   auto framed = msg.initEvent().initDriverCameraState();
diff --git a/selfdrive/camerad/cameras/camera_qcom2.h b/selfdrive/camerad/cameras/camera_qcom2.h
index d869620e9a..88766a68e9 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.h
+++ b/selfdrive/camerad/cameras/camera_qcom2.h
@@ -106,6 +106,5 @@ typedef struct MultiCameraState {
   CameraState wide_road_cam;
   CameraState driver_cam;
 
-  SubMaster *sm;
   PubMaster *pm;
 } MultiCameraState;
diff --git a/selfdrive/camerad/main.cc b/selfdrive/camerad/main.cc
index c86543265c..32899a8547 100644
--- a/selfdrive/camerad/main.cc
+++ b/selfdrive/camerad/main.cc
@@ -4,7 +4,7 @@
 
 #include "common/params.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 int main(int argc, char *argv[]) {
   if (!Hardware::PC()) {
diff --git a/selfdrive/camerad/snapshot/snapshot.py b/selfdrive/camerad/snapshot/snapshot.py
index 9f9072c962..fa88849b69 100755
--- a/selfdrive/camerad/snapshot/snapshot.py
+++ b/selfdrive/camerad/snapshot/snapshot.py
@@ -9,7 +9,7 @@ import cereal.messaging as messaging
 from cereal.visionipc import VisionIpcClient, VisionStreamType
 from common.params import Params
 from common.realtime import DT_MDL
-from selfdrive.hardware import PC
+from system.hardware import PC
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
 from selfdrive.manager.process_config import managed_processes
 
diff --git a/selfdrive/camerad/test/camera_test.h b/selfdrive/camerad/test/camera_test.h
index cc521db397..a9f213c923 100644
--- a/selfdrive/camerad/test/camera_test.h
+++ b/selfdrive/camerad/test/camera_test.h
@@ -19,7 +19,6 @@ typedef struct MultiCameraState {
   CameraState road_cam;
   CameraState driver_cam;
 
-  SubMaster *sm = nullptr;
   PubMaster *pm = nullptr;
 } MultiCameraState;
 
diff --git a/selfdrive/camerad/test/test_camerad.py b/selfdrive/camerad/test/test_camerad.py
index c311c17169..1a2e365a8f 100755
--- a/selfdrive/camerad/test/test_camerad.py
+++ b/selfdrive/camerad/test/test_camerad.py
@@ -4,7 +4,7 @@ import time
 import unittest
 
 import cereal.messaging as messaging
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.test.helpers import with_processes
 
 TEST_TIMESPAN = 30 # random.randint(60, 180) # seconds
diff --git a/selfdrive/camerad/test/test_exposure.py b/selfdrive/camerad/test/test_exposure.py
index 31bcc28681..f42d0bfbe3 100755
--- a/selfdrive/camerad/test/test_exposure.py
+++ b/selfdrive/camerad/test/test_exposure.py
@@ -6,7 +6,7 @@ import numpy as np
 from selfdrive.test.helpers import with_processes
 from selfdrive.camerad.snapshot.snapshot import get_snapshots
 
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 
 TEST_TIME = 45
 REPEAT = 5
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index cd9b7bc6ee..891445a558 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -14,31 +14,19 @@ Cars are organized into three tiers:
 How We Rate The Cars
 ---
 
-### openpilot Adaptive Cruise Control (ACC)
-- {{star_icon.format(Star.FULL.value)}} - openpilot is able to control the gas and brakes.
-- {{star_icon.format(Star.HALF.value)}} - openpilot is able to control the gas and brakes with some restrictions.
-- {{star_icon.format(Star.EMPTY.value)}} - The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system.
-
-### Stop and Go
-- {{star_icon.format(Star.FULL.value)}} - Adaptive Cruise Control (ACC) operates down to 0 mph.
-- {{star_icon.format(Star.EMPTY.value)}} - Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed.
-
-### Steer to 0
-- {{star_icon.format(Star.FULL.value)}} - openpilot can control the steering wheel down to 0 mph.
-- {{star_icon.format(Star.EMPTY.value)}} - No steering control below certain speeds.
-
-### Steering Torque
-- {{star_icon.format(Star.FULL.value)}} - Car has enough steering torque for comfortable highway driving.
-- {{star_icon.format(Star.EMPTY.value)}} - Limited ability to make turns.
-
-### Actively Maintained
-- {{star_icon.format(Star.FULL.value)}} - Mainline software support, harness hardware sold by comma, lots of users, primary development target.
-- {{star_icon.format(Star.EMPTY.value)}} - Low user count, community maintained, harness hardware not sold by comma.
+{% for star_row in star_descriptions.values() %}
+{% for name, stars in star_row.items() %}
+### {{name}}
+{% for star, description in stars %}
+- {{star_icon.format(star)}} - {{description}}
+{% endfor %}
 
+{% endfor %}
+{% endfor %}
 **All supported cars can move between the tiers as support changes.**
 
 {% for tier, cars in tiers.items() %}
-## {{tier.name.title()}} Cars
+# {{tier.name.title()}} - {{cars | length}} cars
 
 |{{Column | map(attribute='value') | join('|')}}|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index 3d6bd5e22a..e85735b1a6 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -19,7 +19,6 @@ class CarInterface(CarInterfaceBase):
     ret.minSteerSpeed = -math.inf
     ret.maxLateralAccel = math.inf  # TODO: set to a reasonable value
     ret.steerRatio = 0.5
-    ret.steerRateCost = 0.5
     ret.steerLimitTimer = 1.0
     ret.steerActuatorDelay = 0.
 
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 7863f0d882..3bfd99f88d 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -4,12 +4,12 @@ from typing import Dict, List
 from cereal import car
 from common.params import Params
 from common.basedir import BASEDIR
-from selfdrive.version import is_comma_remote, is_tested_branch
+from system.version import is_comma_remote, is_tested_branch
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from selfdrive.car.vin import get_vin, VIN_UNKNOWN
 from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
 
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index e47b085533..817a5b387e 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -20,17 +20,8 @@ class CarInterface(CarInterfaceBase):
     ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
     ret.lateralTuning.pid.kf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
     ret.steerActuatorDelay = 0.1
-    ret.steerRateCost = 0.7
     ret.steerLimitTimer = 0.4
 
-    # set max lateral acceleration
-    if candidate in (CAR.PACIFICA_2018, CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
-      ret.maxLateralAccel = 1.6
-    if candidate in (CAR.PACIFICA_2018_HYBRID,):
-      ret.maxLateralAccel = 1.4
-    if candidate in (CAR.PACIFICA_2017_HYBRID,):
-      ret.maxLateralAccel = 1.2
-
     if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
       ret.wheelbase = 2.91  # in meters
       ret.steerRatio = 12.7
diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py
index 3a06cc06f1..ac5c6c9f8f 100644
--- a/selfdrive/car/disable_ecu.py
+++ b/selfdrive/car/disable_ecu.py
@@ -1,5 +1,5 @@
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 EXT_DIAG_REQUEST = b'\x10\x03'
 EXT_DIAG_RESPONSE = b'\x50\x03'
diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py
index 899f2c0878..860503dbdd 100755
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@@ -7,7 +7,7 @@ from natsort import natsorted
 from typing import Dict, List
 
 from common.basedir import BASEDIR
-from selfdrive.car.docs_definitions import CarInfo, Column, Star, Tier
+from selfdrive.car.docs_definitions import STAR_DESCRIPTIONS, CarInfo, Column, Star, Tier
 from selfdrive.car.car_helpers import interfaces, get_interface_attr
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR as HKG_RADAR_START_ADDR
 from selfdrive.car.tests.routes import non_tested_cars
@@ -65,7 +65,7 @@ def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str:
 
   footnotes = [fn.value.text for fn in ALL_FOOTNOTES]
   cars_md: str = template.render(tiers=sort_by_tier(all_car_info), all_car_info=all_car_info,
-                                 footnotes=footnotes, Star=Star, Column=Column)
+                                 footnotes=footnotes, Star=Star, Column=Column, star_descriptions=STAR_DESCRIPTIONS)
   return cars_md
 
 
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 381bcfa7f8..f09dad7860 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -6,7 +6,9 @@ from dataclasses import dataclass
 from enum import Enum
 from typing import Dict, List, Optional, Union, no_type_check
 
-STEERING_TORQUE_THRESHOLD = 2.0  # m/s^2
+TACO_TORQUE_THRESHOLD = 2.5  # m/s^2
+GREAT_TORQUE_THRESHOLD = 1.4  # m/s^2
+GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
 
 
 class Tier(Enum):
@@ -70,11 +72,6 @@ class CarInfo:
     if self.min_enable_speed is not None:
       min_enable_speed = self.min_enable_speed
 
-    # TODO: remove hardcoded good torque and just use maxLateralAccel
-    good_torque = self.good_torque
-    if not math.isnan(CP.maxLateralAccel):
-      good_torque = CP.maxLateralAccel >= STEERING_TORQUE_THRESHOLD
-
     self.car_name = CP.carName
     self.make, self.model = self.name.split(' ', 1)
     self.row = {
@@ -82,21 +79,27 @@ class CarInfo:
       Column.MODEL: self.model,
       Column.PACKAGE: self.package,
       # StarColumns
-      Column.LONGITUDINAL: CP.openpilotLongitudinalControl and not CP.radarOffCan,
-      Column.FSR_LONGITUDINAL: min_enable_speed <= 0.,
-      Column.FSR_STEERING: min_steer_speed <= 0.,
-      Column.STEERING_TORQUE: good_torque,
-      Column.MAINTAINED: CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none,
+      Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY,
+      Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY,
+      Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY,
+      Column.STEERING_TORQUE: Star.FULL if self.good_torque else Star.EMPTY,  # TODO: remove hardcoding and use maxLateralAccel
+      Column.MAINTAINED: Star.FULL if CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none else Star.EMPTY,
     }
 
+    if not math.isnan(CP.maxLateralAccel):
+      if CP.maxLateralAccel >= GREAT_TORQUE_THRESHOLD:
+        self.row[Column.STEERING_TORQUE] = Star.FULL
+      elif CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
+        self.row[Column.STEERING_TORQUE] = Star.HALF
+      else:
+        self.row[Column.STEERING_TORQUE] = Star.EMPTY
+
     if CP.notCar:
       for col in StarColumns:
-        self.row[col] = True
+        self.row[col] = Star.FULL
 
     self.all_footnotes = all_footnotes
     for column in StarColumns:
-      self.row[column] = Star.FULL if self.row[column] else Star.EMPTY
-
       # Demote if footnote specifies a star
       footnote = get_footnote(self.footnotes, column)
       if footnote is not None and footnote.value.star is not None:
@@ -120,7 +123,7 @@ class CarInfo:
 
 class Harness(Enum):
   nidec = "Honda Nidec"
-  bosch = "Honda Bosch"
+  bosch = "Honda Bosch A"
   toyota = "Toyota"
   subaru = "Subaru"
   fca = "FCA"
@@ -147,3 +150,35 @@ class Harness(Enum):
   nissan_b = "Nissan B"
   mazda = "Mazda"
   none = "None"
+
+
+STAR_DESCRIPTIONS = {
+  "Gas & Brakes": {  # icon and row name
+    "openpilot Adaptive Cruise Control (ACC)": [  # star column
+      [Star.FULL.value, "openpilot is able to control the gas and brakes."],
+      [Star.HALF.value, "openpilot is able to control the gas and brakes with some restrictions."],
+      [Star.EMPTY.value, "The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system."],
+    ],
+    Column.FSR_LONGITUDINAL.value: [
+      [Star.FULL.value, "Adaptive Cruise Control (ACC) operates down to 0 mph."],
+      [Star.EMPTY.value, "Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed."],
+    ],
+  },
+  "Steering": {
+    Column.FSR_STEERING.value: [
+      [Star.FULL.value, "openpilot can control the steering wheel down to 0 mph."],
+      [Star.EMPTY.value, "No steering control below certain speeds."],
+    ],
+    Column.STEERING_TORQUE.value: [
+      [Star.FULL.value, "Car has enough steering torque to take tighter turns."],
+      [Star.HALF.value, "Car has enough steering torque for comfortable highway driving."],
+      [Star.EMPTY.value, "Limited ability to make turns."],
+    ],
+  },
+  "Support": {
+    Column.MAINTAINED.value: [
+      [Star.FULL.value, "Mainline software support, harness hardware sold by comma, lots of users, primary development target."],
+      [Star.EMPTY.value, "Low user count, community maintained, harness hardware not sold by comma."],
+    ],
+  },
+}
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index ec7c723669..c608cc08d9 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -59,7 +59,6 @@ class CarInterface(CarInterfaceBase):
     # LCA can steer down to zero
     ret.minSteerSpeed = 0.
 
-    ret.steerRateCost = 1.0
     ret.centerToFront = ret.wheelbase * 0.44
 
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py
index 1dfc27e672..866602cf09 100644
--- a/selfdrive/car/ford/radar_interface.py
+++ b/selfdrive/car/ford/radar_interface.py
@@ -9,6 +9,9 @@ RADAR_MSGS = list(range(0x500, 0x540))
 
 
 def _create_radar_can_parser(car_fingerprint):
+  if DBC[car_fingerprint]['radar'] is None:
+    return None
+
   msg_n = len(RADAR_MSGS)
   signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
                      RADAR_MSGS * 3))
@@ -27,6 +30,9 @@ class RadarInterface(RadarInterfaceBase):
     self.updated_messages = set()
 
   def update(self, can_strings):
+    if self.rcp is None:
+      return super().update(None)
+
     vls = self.rcp.update_strings(can_strings)
     self.updated_messages.update(vls)
 
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index 96ec87d757..aae011ad3d 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -79,6 +79,6 @@ FW_VERSIONS = {
 
 
 DBC = {
-  CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', 'ford_fusion_2018_adas'),
-  CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', 'ford_fusion_2018_adas'),
+  CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', None),
+  CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', None),
 }
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 69b7c5f452..c7253d794d 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -12,7 +12,7 @@ from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from selfdrive.car.toyota.values import CAR as TOYOTA
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 Ecu = car.CarParams.Ecu
 
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 9f6d263271..b2d5383743 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -67,7 +67,7 @@ class CarState(CarStateBase):
     ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
     ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
 
-    ret.parkingBrake = pt_cp.vl["EPBStatus"]["EPBClosed"] == 1
+    ret.parkingBrake = pt_cp.vl["VehicleIgnitionAlt"]["ParkBrake"] == 1
     ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
     ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
     ret.accFaulted = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED
@@ -104,7 +104,7 @@ class CarState(CarStateBase):
       ("LKATorqueDelivered", "PSCMStatus"),
       ("LKATorqueDeliveredStatus", "PSCMStatus"),
       ("TractionControlOn", "ESPStatus"),
-      ("EPBClosed", "EPBStatus"),
+      ("ParkBrake", "VehicleIgnitionAlt"),
       ("CruiseMainOn", "ECMEngineStatus"),
     ]
 
@@ -114,7 +114,7 @@ class CarState(CarStateBase):
       ("PSCMStatus", 10),
       ("ESPStatus", 10),
       ("BCMDoorBeltStatus", 10),
-      ("EPBStatus", 20),
+      ("VehicleIgnitionAlt", 10),
       ("EBCMWheelSpdFront", 20),
       ("EBCMWheelSpdRear", 20),
       ("AcceleratorPedal2", 33),
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 749eab5e45..44cf1b7764 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -59,24 +59,30 @@ class CarInterface(CarInterfaceBase):
     ret.openpilotLongitudinalControl = True
     tire_stiffness_factor = 0.444  # not optimized yet
 
-    # Start with a baseline lateral tuning for all GM vehicles. Override tuning as needed in each model section below.
+    # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
     ret.minSteerSpeed = 7 * CV.MPH_TO_MS
     ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
     ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
     ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
-    ret.steerRateCost = 1.0
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
 
+    ret.longitudinalTuning.kpBP = [5., 35.]
+    ret.longitudinalTuning.kpV = [2.4, 1.5]
+    ret.longitudinalTuning.kiBP = [0.]
+    ret.longitudinalTuning.kiV = [0.36]
+
+    ret.steerLimitTimer = 0.4
+    ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
+
+    # supports stop and go, but initial engage must (conservatively) be above 18mph
+    ret.minEnableSpeed = 18 * CV.MPH_TO_MS
+
     if candidate == CAR.VOLT:
-      # supports stop and go, but initial engage must be above 18mph (which include conservatism)
-      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
       ret.mass = 1607. + STD_CARGO_KG
       ret.wheelbase = 2.69
       ret.steerRatio = 17.7  # Stock 15.7, LiveParameters
       tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
-      ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
-      ret.maxLateralAccel = 1.6
 
       ret.lateralTuning.pid.kpBP = [0., 40.]
       ret.lateralTuning.pid.kpV = [0., 0.17]
@@ -86,12 +92,9 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.2
 
     elif candidate == CAR.MALIBU:
-      # supports stop and go, but initial engage must be above 18mph (which include conservatism)
-      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
       ret.mass = 1496. + STD_CARGO_KG
       ret.wheelbase = 2.83
       ret.steerRatio = 15.8
-      ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.4  # wild guess
 
     elif candidate == CAR.HOLDEN_ASTRA:
@@ -99,34 +102,26 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.662
       # Remaining parameters copied from Volt for now
       ret.centerToFront = ret.wheelbase * 0.4
-      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
       ret.steerRatio = 15.7
-      ret.steerRatioRear = 0.
 
     elif candidate == CAR.ACADIA:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
       ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.86
       ret.steerRatio = 14.4  # end to end is 13.46
-      ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.4
-      ret.maxLateralAccel = 1.4
-      ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia()
+      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_acadia()
 
     elif candidate == CAR.BUICK_REGAL:
-      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
       ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG  # (3849+3708)/2
       ret.wheelbase = 2.83  # 111.4 inches in meters
       ret.steerRatio = 14.4  # guess for tourx
-      ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.4  # guess for tourx
 
     elif candidate == CAR.CADILLAC_ATS:
-      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
       ret.mass = 1601. + STD_CARGO_KG
       ret.wheelbase = 2.78
       ret.steerRatio = 15.3
-      ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.49
 
     elif candidate == CAR.ESCALADE_ESV:
@@ -149,14 +144,6 @@ class CarInterface(CarInterfaceBase):
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
-    ret.longitudinalTuning.kpBP = [5., 35.]
-    ret.longitudinalTuning.kpV = [2.4, 1.5]
-    ret.longitudinalTuning.kiBP = [0.]
-    ret.longitudinalTuning.kiV = [0.36]
-
-    ret.steerLimitTimer = 0.4
-    ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
-
     return ret
 
   # returns a car.CarState
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index cf01fa2aaa..a6aa84adf6 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -95,8 +95,8 @@ def process_hud_alert(hud_alert):
 
 
 HUDData = namedtuple("HUDData",
-                     ["pcm_accel", "v_cruise", "car",
-                      "lanes", "fcw", "acc_alert", "steer_required"])
+                     ["pcm_accel", "v_cruise", "lead_visible",
+                      "lanes_visible", "fcw", "acc_alert", "steer_required"])
 
 
 class CarController:
@@ -138,19 +138,6 @@ class CarController:
     self.brake_last = rate_limit(pre_limit_brake, self.brake_last, -2., DT_CTRL)
 
     # vehicle hud display, wait for one update from 10Hz 0x304 msg
-    if hud_control.lanesVisible:
-      hud_lanes = 1
-    else:
-      hud_lanes = 0
-
-    if CC.enabled:
-      if hud_control.leadVisible:
-        hud_car = 2
-      else:
-        hud_car = 1
-    else:
-      hud_car = 0
-
     fcw_display, steer_required, acc_alert = process_hud_alert(hud_control.visualAlert)
 
     # **** process the car messages ****
@@ -172,8 +159,6 @@ class CarController:
     can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, CC.latActive, self.CP.carFingerprint,
                                                       idx, CS.CP.openpilotLongitudinalControl))
 
-    stopping = actuators.longControlState == LongCtrlState.stopping
-
     # wind brake from air resistance decel at high speed
     wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
     # all of this is only relevant for HONDA NIDEC
@@ -222,6 +207,8 @@ class CarController:
         if self.CP.carFingerprint in HONDA_BOSCH:
           self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX)
           self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)
+
+          stopping = actuators.longControlState == LongCtrlState.stopping
           can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas,
                                                         idx, stopping, self.CP.carFingerprint))
         else:
@@ -252,9 +239,9 @@ class CarController:
     # Send dashboard UI commands.
     if self.frame % 10 == 0:
       idx = (self.frame // 10) % 4
-      hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_car,
-                    hud_lanes, fcw_display, acc_alert, steer_required)
-      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud))
+      hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
+                    hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
+      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud))
 
       if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
         self.speed = pcm_speed
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 5314fe375e..f5cdc838c4 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -22,9 +22,9 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     ("STEER_ANGLE_RATE", "STEERING_SENSORS"),
     ("MOTOR_TORQUE", "STEER_MOTOR_TORQUE"),
     ("STEER_TORQUE_SENSOR", "STEER_STATUS"),
+    ("IMPERIAL_UNIT", "CAR_SPEED"),
     ("LEFT_BLINKER", "SCM_FEEDBACK"),
     ("RIGHT_BLINKER", "SCM_FEEDBACK"),
-    ("GEAR", gearbox_msg),
     ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS"),
     ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS"),
     ("BRAKE_PRESSED", "POWERTRAIN_DATA"),
@@ -35,6 +35,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     ("BRAKE_HOLD_ACTIVE", "VSA_STATUS"),
     ("STEER_STATUS", "STEER_STATUS"),
     ("GEAR_SHIFTER", gearbox_msg),
+    ("GEAR", gearbox_msg),
     ("PEDAL_GAS", "POWERTRAIN_DATA"),
     ("CRUISE_SETTING", "SCM_BUTTONS"),
     ("ACC_STATUS", "POWERTRAIN_DATA"),
@@ -48,9 +49,10 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     ("SEATBELT_STATUS", 10),
     ("CRUISE", 10),
     ("POWERTRAIN_DATA", 100),
+    ("CAR_SPEED", 10),
     ("VSA_STATUS", 50),
     ("STEER_STATUS", 100),
-    ("STEER_MOTOR_TORQUE", 0), # TODO: not on every car
+    ("STEER_MOTOR_TORQUE", 0),  # TODO: not on every car
   ]
 
   if CP.carFingerprint == CAR.ODYSSEY_CHN:
@@ -73,16 +75,11 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     signals.append(("BRAKE_PRESSED", "BRAKE_MODULE"))
     checks.append(("BRAKE_MODULE", 50))
 
-  if CP.carFingerprint in HONDA_BOSCH:
-    signals += [
-      ("EPB_STATE", "EPB_STATUS"),
-      ("IMPERIAL_UNIT", "CAR_SPEED"),
-    ]
-    checks += [
-      ("EPB_STATUS", 50),
-      ("CAR_SPEED", 10),
-    ]
+  if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
+    signals.append(("EPB_STATE", "EPB_STATUS"))
+    checks.append(("EPB_STATUS", 50))
 
+  if CP.carFingerprint in HONDA_BOSCH:
     if not CP.openpilotLongitudinalControl:
       signals += [
         ("CRUISE_CONTROL_LABEL", "ACC_HUD"),
@@ -121,17 +118,6 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
       ("STANDSTILL", 50),
     ]
 
-  if CP.carFingerprint == CAR.CIVIC:
-    signals += [("IMPERIAL_UNIT", "HUD_SETTING"),
-                ("EPB_STATE", "EPB_STATUS")]
-    checks += [
-      ("HUD_SETTING", 50),
-      ("EPB_STATUS", 50),
-    ]
-  elif CP.carFingerprint in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
-    signals.append(("EPB_STATE", "EPB_STATUS"))
-    checks.append(("EPB_STATUS", 50))
-
   # add gas interceptor reading if we are using it
   if CP.enableGasInterceptor:
     signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR"))
@@ -179,6 +165,11 @@ class CarState(CarStateBase):
     # update prevs, update must run once per loop
     self.prev_cruise_buttons = self.cruise_buttons
     self.prev_cruise_setting = self.cruise_setting
+    self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
+    self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
+
+    # used for car hud message
+    self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
 
     # ******************* parse out can *******************
     # STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED
@@ -219,16 +210,12 @@ class CarState(CarStateBase):
     ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"]
     ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"]
 
-    self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
-    self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
-
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(
       250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"])
     ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
 
     # TODO: set for all cars
-    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH,
-                                  CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
+    if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
       ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
 
     gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
@@ -281,14 +268,6 @@ class CarState(CarStateBase):
       if ret.brake > 0.1:
         ret.brakePressed = True
 
-    # TODO: discover the CAN msg that has the imperial unit bit for all other cars
-    if self.CP.carFingerprint in (CAR.CIVIC, ):
-      self.is_metric = not cp.vl["HUD_SETTING"]["IMPERIAL_UNIT"]
-    elif self.CP.carFingerprint in HONDA_BOSCH:
-      self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
-    else:
-      self.is_metric = False
-
     if self.CP.carFingerprint in HONDA_BOSCH:
       ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
     else:
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index dcdc0e5f94..3d8c79c809 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -98,47 +98,40 @@ def create_bosch_supplemental_1(packer, car_fingerprint, idx):
   return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx)
 
 
-def create_ui_commands(packer, CP, pcm_speed, hud, is_metric, idx, stock_hud):
+def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud):
   commands = []
   bus_pt = get_pt_bus(CP.carFingerprint)
   radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
   bus_lkas = get_lkas_cmd_bus(CP.carFingerprint, radar_disabled)
 
   if CP.openpilotLongitudinalControl:
+    acc_hud_values = {
+      'CRUISE_SPEED': hud.v_cruise,
+      'ENABLE_MINI_CAR': 1,
+      'HUD_DISTANCE': 3,  # max distance setting on display
+      'IMPERIAL_UNIT': int(not is_metric),
+      'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
+      'SET_ME_X01_2': 1,
+    }
+
     if CP.carFingerprint in HONDA_BOSCH:
-      acc_hud_values = {
-        'CRUISE_SPEED': hud.v_cruise,
-        'ENABLE_MINI_CAR': 1,
-        'SET_TO_1': 1,
-        'HUD_LEAD': hud.car,
-        'HUD_DISTANCE': 3,
-        'ACC_ON': hud.car != 0,
-        'SET_TO_X1': 1,
-        'IMPERIAL_UNIT': int(not is_metric),
-        'FCM_OFF': 1,
-      }
+      acc_hud_values['ACC_ON'] = int(enabled)
+      acc_hud_values['FCM_OFF'] = 1
+      acc_hud_values['FCM_OFF_2'] = 1
     else:
-      acc_hud_values = {
-        'PCM_SPEED': pcm_speed * CV.MS_TO_KPH,
-        'PCM_GAS': hud.pcm_accel,
-        'CRUISE_SPEED': hud.v_cruise,
-        'ENABLE_MINI_CAR': 1,
-        'HUD_LEAD': hud.car,
-        'HUD_DISTANCE': 3,    # max distance setting on display
-        'IMPERIAL_UNIT': int(not is_metric),
-        'SET_ME_X01_2': 1,
-        'SET_ME_X01': 1,
-        "FCM_OFF": stock_hud["FCM_OFF"],
-        "FCM_OFF_2": stock_hud["FCM_OFF_2"],
-        "FCM_PROBLEM": stock_hud["FCM_PROBLEM"],
-        "ICONS": stock_hud["ICONS"],
-      }
+      acc_hud_values['PCM_SPEED'] = pcm_speed * CV.MS_TO_KPH
+      acc_hud_values['PCM_GAS'] = hud.pcm_accel
+      acc_hud_values['SET_ME_X01'] = 1
+      acc_hud_values['FCM_OFF'] = stock_hud['FCM_OFF']
+      acc_hud_values['FCM_OFF_2'] = stock_hud['FCM_OFF_2']
+      acc_hud_values['FCM_PROBLEM'] = stock_hud['FCM_PROBLEM']
+      acc_hud_values['ICONS'] = stock_hud['ICONS']
     commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values, idx))
 
   lkas_hud_values = {
     'SET_ME_X41': 0x41,
     'STEERING_REQUIRED': hud.steer_required,
-    'SOLID_LANES': hud.lanes,
+    'SOLID_LANES': hud.lanes_visible,
     'BEEP': 0,
   }
 
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index ad98f8863f..994152608e 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -100,7 +100,6 @@ class CarInterface(CarInterfaceBase):
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
       else:
-        ret.maxLateralAccel = 1.7
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
       tire_stiffness_factor = 1.
@@ -113,7 +112,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 15.38  # 10.93 is end-to-end spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 1.
-      ret.maxLateralAccel = 1.6
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
     elif candidate in (CAR.ACCORD, CAR.ACCORDH):
@@ -128,7 +126,6 @@ class CarInterface(CarInterfaceBase):
       if eps_modified:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
       else:
-        ret.maxLateralAccel = 1.6
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
 
     elif candidate == CAR.ACURA_ILX:
@@ -165,7 +162,6 @@ class CarInterface(CarInterfaceBase):
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
       else:
-        ret.maxLateralAccel = 1.7
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
       tire_stiffness_factor = 0.677
@@ -190,7 +186,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.06
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.75
-      ret.maxLateralAccel = 1.7
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
 
     elif candidate == CAR.FREED:
@@ -222,7 +217,6 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.38
       ret.steerRatio = 15.0  # as spec
       tire_stiffness_factor = 0.444
-      ret.maxLateralAccel = 0.9
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
@@ -232,7 +226,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.75
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 11.95  # as spec
-      ret.maxLateralAccel = 1.2
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
       tire_stiffness_factor = 0.677
@@ -245,7 +238,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.35  # as spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.82
-      ret.maxLateralAccel = 1.5
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
 
     elif candidate == CAR.ODYSSEY_CHN:
@@ -266,7 +258,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 17.25  # as spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.444
-      ret.maxLateralAccel = 1.5
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
 
     elif candidate == CAR.RIDGELINE:
@@ -277,7 +268,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 15.59  # as spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.444
-      ret.maxLateralAccel = 1.3
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
 
     elif candidate == CAR.INSIGHT:
@@ -288,7 +278,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 15.0  # 12.58 is spec end-to-end
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.82
-      ret.maxLateralAccel = 1.4
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
 
     elif candidate == CAR.HONDA_E:
@@ -330,7 +319,6 @@ class CarInterface(CarInterfaceBase):
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
     ret.steerActuatorDelay = 0.1
-    ret.steerRateCost = 0.5
     ret.steerLimitTimer = 0.8
 
     return ret
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index e051079dc4..497d6b3f30 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import os
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
@@ -37,10 +38,11 @@ class CarInterface(CarInterfaceBase):
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} or candidate in HDA2_CAR
+    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
+    if candidate in HDA2_CAR:
+      ret.dashcamOnly = not os.path.exists('/data/enable-ev6')
 
     ret.steerActuatorDelay = 0.1  # Default delay
-    ret.steerRateCost = 0.5
     ret.steerLimitTimer = 0.4
     tire_stiffness_factor = 1.
 
@@ -52,7 +54,7 @@ class CarInterface(CarInterfaceBase):
     ret.stopAccel = 0.0
 
     ret.longitudinalActuatorDelayUpperBound = 1.0  # s
-
+    torque_params = CarInterfaceBase.get_torque_params(candidate)
     if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
@@ -60,24 +62,19 @@ class CarInterface(CarInterfaceBase):
       # Values from optimizer
       ret.steerRatio = 16.55  # 13.8 is spec end-to-end
       tire_stiffness_factor = 0.82
-      ret.maxLateralAccel = 3.2
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
     elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
-      ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 1513. + STD_CARGO_KG
       ret.wheelbase = 2.84
       ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
       tire_stiffness_factor = 0.65
-      ret.maxLateralAccel = 2.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
     elif candidate == CAR.SONATA_LF:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 4497. * CV.LB_TO_KG
       ret.wheelbase = 2.804
       ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
-      ret.maxLateralAccel = 1.8
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate == CAR.PALISADE:
@@ -86,7 +83,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.90
       ret.steerRatio = 15.6 * 1.15
       tire_stiffness_factor = 0.63
-      ret.maxLateralAccel = 2.5
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
     elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
@@ -99,21 +95,17 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
       ret.minSteerSpeed = 32 * CV.MPH_TO_MS
     elif candidate == CAR.ELANTRA_2021:
-      ret.lateralTuning.pid.kf = 0.00005
       ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
       ret.wheelbase = 2.72
       ret.steerRatio = 12.9
       tire_stiffness_factor = 0.65
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
     elif candidate == CAR.ELANTRA_HEV_2021:
-      ret.lateralTuning.pid.kf = 0.00005
       ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
       ret.wheelbase = 2.72
       ret.steerRatio = 12.9
       tire_stiffness_factor = 0.65
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
     elif candidate == CAR.HYUNDAI_GENESIS:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 2060. + STD_CARGO_KG
@@ -143,7 +135,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.7
       ret.steerRatio = 13.73  # Spec
       tire_stiffness_factor = 0.385
-      ret.maxLateralAccel = 3.0
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
       if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
@@ -170,9 +161,9 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.5
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-    elif candidate == CAR.TUCSON_DIESEL_2019:
+    elif candidate == CAR.TUCSON:
       ret.lateralTuning.pid.kf = 0.00005
-      ret.mass = 3633. * CV.LB_TO_KG
+      ret.mass = 3520. * CV.LB_TO_KG
       ret.wheelbase = 2.67
       ret.steerRatio = 14.00 * 1.15
       tire_stiffness_factor = 0.385
@@ -193,7 +184,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.7
       ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73  # Spec
       tire_stiffness_factor = 0.385
-      ret.maxLateralAccel = 2.9
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
       if candidate == CAR.KIA_NIRO_HEV:
@@ -213,19 +203,17 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
       ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
     elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H):
-      ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3558. * CV.LB_TO_KG
       ret.wheelbase = 2.80
       ret.steerRatio = 13.75
       tire_stiffness_factor = 0.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+      torque_params = CarInterfaceBase.get_torque_params(CAR.KIA_OPTIMA)
+      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
     elif candidate == CAR.KIA_STINGER:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 1825. + STD_CARGO_KG
       ret.wheelbase = 2.78
       ret.steerRatio = 14.4 * 1.15   # 15% higher at the center seems reasonable
-      ret.maxLateralAccel = 2.4
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate == CAR.KIA_FORTE:
@@ -251,7 +239,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.85
       ret.steerRatio = 13.27  # 2021 Kia K5 Steering Ratio (all trims)
       tire_stiffness_factor = 0.5
-      ret.maxLateralAccel = 2.1
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate == CAR.KIA_EV6:
@@ -263,7 +250,8 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.65
 
       ret.maxLateralAccel = 2.
-      set_torque_tune(ret.lateralTuning, ret.maxLateralAccel, 0.01)
+      # TODO override until there is more data
+      set_torque_tune(ret.lateralTuning, 2.0, 0.05)
 
     # Genesis
     elif candidate == CAR.GENESIS_G70:
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 1cd2acabeb..df7ce1e6f4 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -52,7 +52,7 @@ class CAR:
   SANTA_FE_PHEV_2022 = "HYUNDAI SANTA FE PlUG-IN HYBRID 2022"
   SONATA = "HYUNDAI SONATA 2020"
   SONATA_LF = "HYUNDAI SONATA 2019"
-  TUCSON_DIESEL_2019 = "HYUNDAI TUCSON DIESEL 2019"
+  TUCSON = "HYUNDAI TUCSON 2019"
   PALISADE = "HYUNDAI PALISADE 2020"
   VELOSTER = "HYUNDAI VELOSTER 2019"
   SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
@@ -80,6 +80,8 @@ class CAR:
 
 @dataclass
 class HyundaiCarInfo(CarInfo):
+  # TODO: we can probably remove LKAS. LKAS is standard on many
+  # HKG and for others, it's likely packaged together with SCC
   package: str = "SCC + LKAS"
   good_torque: bool = True
 
@@ -105,7 +107,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l),
   CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
   CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e),
-  CAR.TUCSON_DIESEL_2019: HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l),
+  CAR.TUCSON: [
+    HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l),
+    HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l),
+  ],
   CAR.PALISADE: [
     HyundaiCarInfo("Hyundai Palisade 2020-21", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
     HyundaiCarInfo("Kia Telluride 2020", harness=Harness.hyundai_h),
@@ -118,7 +123,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Forte 2018", harness=Harness.hyundai_b),
     HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
   ],
-  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "SCC + LFA", harness=Harness.hyundai_a),
+  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "SCC", harness=Harness.hyundai_a),
   CAR.KIA_NIRO_EV: [
     HyundaiCarInfo("Kia Niro Electric 2019-20", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
     HyundaiCarInfo("Kia Niro Electric 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
@@ -498,6 +503,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00LFF LKAS AT USA LHD 1.00 1.01 95740-C1000 E51',
+      b'\xf1\x00LFF LKAS AT USA LHD 1.01 1.02 95740-C1000 E52',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5',
@@ -506,20 +512,25 @@ FW_VERSIONS = {
       b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24SL2n\x8d\xbe\xd8',
       b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00',
       b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
+      b'\xf1\x87LAJSG49645724HF0\x87x\x87\x88\x87www\x88\x99\xa8\x89\x88\x99\xa8\x89\x88\x99\xa8\x89S_\xfb\xff\x87f\x7f\xff^2\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
     ],
   },
-  CAR.TUCSON_DIESEL_2019: {
+  CAR.TUCSON: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00TL__ FCA F-CUP      1.00 1.01 99110-D3500         ',
+      b'\xf1\x00TL__ FCA F-CUP      1.00 1.02 99110-D3510         ',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8971TLC2NAIDDIR002\xf1\x8271TLC2NAIDDIR002',
+      b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00TL  MFC  AT KOR LHD 1.00 1.02 95895-D3800 180719',
+      b'\xf1\x00TL  MFC  AT USA LHD 1.00 1.06 95895-D3800 190107',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x87LBJXAN202299KF22\x87x\x87\x88ww\x87xx\x88\x97\x88\x87\x88\x98x\x88\x99\x98\x89\x87o\xf6\xff\x87w\x7f\xff\x12\x9a\xf1\x81U083\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U083\x00\x00\x00\x00\x00\x00TTL2V20KL1\x8fRn\x8a',
+      b'\xf1\x87KMLDCU585233TJ20wx\x87\x88x\x88\x98\x89vfwfwwww\x87f\x9f\xff\x98\xff\x7f\xf9\xf7s\xf1\x816T6G4051\x00\x00\xf1\x006T6J0_C2\x00\x006T6G4051\x00\x00TTL4G24NH2\x00\x00\x00\x00',
     ],
   },
   CAR.SANTA_FE: {
@@ -845,7 +856,7 @@ FW_VERSIONS = {
   },
   CAR.KIA_CEED:  {
     (Ecu.fwdRadar, 0x7D0, None): [b'\xf1\000CD__ SCC F-CUP      1.00 1.02 99110-J7000         ', ],
-    (Ecu.esp, 0x7D4, None): [b'\xf1\000CD  MDPS C 1.00 1.06 56310-XX000 4CDEC106', ],
+    (Ecu.eps, 0x7D4, None): [b'\xf1\000CD  MDPS C 1.00 1.06 56310-XX000 4CDEC106', ],
     (Ecu.fwdCamera, 0x7C4, None): [b'\xf1\000CD  LKAS AT EUR LHD 1.00 1.01 99211-J7000 B40', ],
     (Ecu.engine, 0x7E0, None): [b'\001TCD-JECU4F202H0K', ],
     (Ecu.transmission, 0x7E1, None): [
@@ -1198,11 +1209,11 @@ CHECKSUM = {
 FEATURES = {
   # which message has the gear
   "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
-  "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON_DIESEL_2019},
+  "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
   "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019},
 
   # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON_DIESEL_2019},
+  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON},
 }
 
 HDA2_CAR = {CAR.KIA_EV6, }
@@ -1250,7 +1261,7 @@ DBC = {
   CAR.SANTA_FE_PHEV_2022: dbc_dict('hyundai_kia_generic', None),
   CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
   CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
-  CAR.TUCSON_DIESEL_2019: dbc_dict('hyundai_kia_generic', None),
+  CAR.TUCSON: dbc_dict('hyundai_kia_generic', None),
   CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
   CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index a2c11bf023..9220aee522 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -1,3 +1,4 @@
+import json
 import os
 import time
 from abc import abstractmethod, ABC
@@ -19,6 +20,7 @@ EventName = car.CarEvent.EventName
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5
+TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data.json')
 
 
 # generic car and radar interfaces
@@ -81,7 +83,7 @@ class CarInterfaceBase(ABC):
     ret.steerControlType = car.CarParams.SteerControlType.torque
     ret.minSteerSpeed = 0.
     ret.wheelSpeedFactor = 1.0
-    ret.maxLateralAccel = float('nan')
+    ret.maxLateralAccel = CarInterfaceBase.get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
 
     ret.pcmCruise = True     # openpilot's state is tied to the PCM's cruise state on most cars
     ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
@@ -105,6 +107,12 @@ class CarInterfaceBase(ABC):
     ret.steerLimitTimer = 1.0
     return ret
 
+  @staticmethod
+  def get_torque_params(candidate, default=float('NaN')):
+    with open(TORQUE_PARAMS_PATH) as f:
+      data = json.load(f)
+    return {key: data[key].get(candidate, default) for key in data}
+
   @abstractmethod
   def _update(self, c: car.CarControl) -> car.CarState:
     pass
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index becd66ba1f..0e807512cf 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -4,13 +4,13 @@ from functools import partial
 from typing import Optional
 
 import cereal.messaging as messaging
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
 
 
 class IsoTpParallelQuery:
-  def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addr=False, debug=False):
+  def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addr=False, debug=False, response_pending_timeout=10):
     self.sendcan = sendcan
     self.logcan = logcan
     self.bus = bus
@@ -18,6 +18,7 @@ class IsoTpParallelQuery:
     self.response = response
     self.debug = debug
     self.functional_addr = functional_addr
+    self.response_pending_timeout = response_pending_timeout
 
     self.real_addrs = []
     for a in addrs:
@@ -71,10 +72,7 @@ class IsoTpParallelQuery:
     messaging.drain_sock(self.logcan)
     self.msg_buffer = defaultdict(list)
 
-  def get_data(self, timeout, total_timeout=None):
-    if total_timeout is None:
-      total_timeout = 10 * timeout
-
+  def get_data(self, timeout, total_timeout=60.):
     self._drain_rx()
 
     # Create message objects
@@ -100,7 +98,7 @@ class IsoTpParallelQuery:
 
     results = {}
     start_time = time.monotonic()
-    last_response_time = start_time
+    response_timeouts = {tx_addr: start_time + timeout for tx_addr in self.msg_addrs}
     while True:
       self.rx()
 
@@ -123,7 +121,7 @@ class IsoTpParallelQuery:
         response_valid = dat[:len(expected_response)] == expected_response
 
         if response_valid:
-          last_response_time = time.monotonic()
+          response_timeouts[tx_addr] = time.monotonic() + timeout
           if counter + 1 < len(self.request):
             msg.send(self.request[counter + 1])
             request_counter[tx_addr] += 1
@@ -131,13 +129,19 @@ class IsoTpParallelQuery:
             results[tx_addr] = dat[len(expected_response):]
             request_done[tx_addr] = True
         else:
-          request_done[tx_addr] = True
-          cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
+          error_code = dat[2] if len(dat) > 2 else -1
+          if error_code == 0x78:
+            response_timeouts[tx_addr] = time.monotonic() + self.response_pending_timeout
+            if self.debug:
+              cloudlog.warning(f"iso-tp query response pending: {tx_addr}")
+          else:
+            request_done[tx_addr] = True
+            cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
 
       cur_time = time.monotonic()
-      if cur_time - last_response_time > timeout:
+      if cur_time - max(response_timeouts.values()) > 0:
         for tx_addr in msgs:
-          if (request_counter[tx_addr] > 0) and (not request_done[tx_addr]):
+          if request_counter[tx_addr] > 0 and not request_done[tx_addr]:
             cloudlog.warning(f"iso-tp query timeout after receiving response: {tx_addr}")
         break
 
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 0ef573c6b6..cbeb910de2 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -25,7 +25,6 @@ class CarInterface(CarInterfaceBase):
     ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021)
 
     ret.steerActuatorDelay = 0.1
-    ret.steerRateCost = 1.0
     ret.steerLimitTimer = 0.8
     tire_stiffness_factor = 0.70   # not optimized yet
 
diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
index 65e886751d..715850c227 100755
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@@ -2,7 +2,7 @@
 import math
 from cereal import car
 from common.conversions import Conversions as CV
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 3bf34e8266..436cef68bf 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -14,7 +14,6 @@ class CarInterface(CarInterfaceBase):
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
 
     ret.steerLimitTimer = 1.0
-    ret.steerRateCost = 0.5
 
     ret.steerActuatorDelay = 0.1
 
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index edd26a4449..8c5cab86e8 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -22,7 +22,6 @@ class CarInterface(CarInterfaceBase):
 
     ret.dashcamOnly = candidate in PREGLOBAL_CARS
 
-    ret.steerRateCost = 0.7
     ret.steerLimitTimer = 0.4
 
     if candidate == CAR.ASCENT:
@@ -51,7 +50,6 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 17           # learned, 14 stock
       ret.steerActuatorDelay = 0.1
-      ret.maxLateralAccel = 1.3
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
@@ -62,7 +60,6 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 17           # learned, 14 stock
       ret.steerActuatorDelay = 0.1
-      ret.maxLateralAccel = 3.2
       ret.lateralTuning.pid.kf = 0.000038
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 412333edcd..45358eb3a4 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -41,7 +41,7 @@ class SubaruCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
-  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20"),
+  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All"),
   CAR.IMPREZA: [
     SubaruCarInfo("Subaru Impreza 2017-19"),
     SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
@@ -50,7 +50,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
     SubaruCarInfo("Subaru Impreza 2020-21"),
     SubaruCarInfo("Subaru Crosstrek 2020-21"),
   ],
-  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21"),
+  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
   CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),
   CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
   CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"),
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index 71594cecb6..d4eda38e64 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -42,7 +42,6 @@ class CarInterface(CarInterfaceBase):
 
     ret.steerLimitTimer = 1.0
     ret.steerActuatorDelay = 0.25
-    ret.steerRateCost = 0.5
 
     if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS):
       ret.mass = 2100. + STD_CARGO_KG
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index d2ec6b68d7..a9d36f9eab 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -84,7 +84,7 @@ routes = [
   TestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
   TestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
   TestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
-  TestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON_DIESEL_2019),
+  TestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON),
   TestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
   TestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
   TestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),
@@ -144,6 +144,7 @@ routes = [
   TestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NXH),
   TestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX),
   TestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2),
+  TestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NXH_TSS2),
   TestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
   TestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDERH_TSS2),
   TestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 92024ab0c2..15df1aafef 100755
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import math
 import unittest
 import importlib
 from parameterized import parameterized
@@ -32,14 +33,15 @@ class TestCarInterfaces(unittest.TestCase):
     assert car_interface
 
     self.assertGreater(car_params.mass, 1)
-    self.assertGreater(car_params.steerRateCost, 1e-3)
 
     if car_params.steerControlType != car.CarParams.SteerControlType.angle:
       tuning = car_params.lateralTuning.which()
       if tuning == 'pid':
         self.assertTrue(len(car_params.lateralTuning.pid.kpV))
       elif tuning == 'torque':
-        self.assertTrue(car_params.lateralTuning.torque.kf > 0)
+        kf = car_params.lateralTuning.torque.kf
+        self.assertTrue(not math.isnan(kf) and kf > 0)
+        self.assertTrue(not math.isnan(car_params.lateralTuning.torque.friction))
       elif tuning == 'indi':
         self.assertTrue(len(car_params.lateralTuning.indi.outerLoopGainV))
 
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index fed6989d40..b4bc14ef00 100755
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -3,6 +3,7 @@ import unittest
 
 from selfdrive.car.car_helpers import interfaces, get_interface_attr
 from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info
+from selfdrive.car.docs_definitions import Column, Star
 
 
 class TestCarDocs(unittest.TestCase):
@@ -37,6 +38,11 @@ class TestCarDocs(unittest.TestCase):
         if "rav4" in tokens:
           self.assertIn("RAV4", car.model, "Use correct capitalization")
 
+  def test_torque_star(self):
+    for car in self.all_cars:
+      if car.car_name == "honda":
+        self.assertTrue(car.row[Column.STEERING_TORQUE] in (Star.EMPTY, Star.HALF), f"{car.name} has full torque star")
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 9ab881279b..27dc4ba776 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -121,7 +121,6 @@ class TestCarModelBase(unittest.TestCase):
 
     # make sure car params are within a valid range
     self.assertGreater(self.CP.mass, 1)
-    self.assertGreater(self.CP.steerRateCost, 1e-3)
 
     if self.CP.steerControlType != car.CarParams.SteerControlType.angle:
       tuning = self.CP.lateralTuning.which()
diff --git a/selfdrive/car/torque_data.json b/selfdrive/car/torque_data.json
new file mode 100644
index 0000000000..63ee0e9bcd
--- /dev/null
+++ b/selfdrive/car/torque_data.json
@@ -0,0 +1 @@
+{"LAT_ACCEL_FACTOR": {"HONDA PILOT 2017": 1.682289482065265, "HONDA CIVIC 2016": 1.5248128495527884, "TOYOTA CAMRY 2018": 2.1115709806216447, "TOYOTA COROLLA HYBRID TSS2 2019": 2.3250600977240077, "TOYOTA RAV4 2019": 2.625504029066767, "HYUNDAI PALISADE 2020": 2.5250855675875634, "TOYOTA SIENNA 2018": 1.8254254785341577, "ACURA RDX 2020": 1.3998101622214894, "TOYOTA RAV4 2017": 1.948190869577896, "HONDA RIDGELINE 2017": 1.4158181862793415, "TOYOTA PRIUS 2017": 1.9142926195557595, "TOYOTA HIGHLANDER HYBRID 2020": 2.1097056247344392, "HYUNDAI SONATA 2020": 3.2488989629905944, "KIA STINGER GT2 2018": 2.7592622336517834, "TOYOTA HIGHLANDER 2020": 2.0408544157877055, "HONDA ACCORD 2018": 1.6374118241564064, "TOYOTA PRIUS TSS2 2021": 2.3207270770298365, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 1.46050785084946, "LEXUS NX 2020": 2.29533657249232, "TOYOTA RAV4 HYBRID 2019": 2.4003012079562085, "HONDA CIVIC (BOSCH) 2019": 1.6523031416671652, "KIA NIRO HYBRID 2021": 2.743464625803003, "HONDA ACCORD HYBRID 2018": 1.5904016830979033, "LEXUS NX HYBRID 2018": 2.398678119681945, "TOYOTA COROLLA TSS2 2019": 2.3859244449846466, "VOLKSWAGEN ARTEON 1ST GEN": 1.4249208219414902, "TOYOTA CAMRY HYBRID 2021": 2.5434553806317055, "VOLKSWAGEN JETTA 7TH GEN": 1.2228130240634283, "HONDA INSIGHT 2019": 1.468352089969897, "SUBARU FORESTER 2019": 3.6185035528523546, "HYUNDAI ELANTRA 2021": 3.5294999663335185, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 2.2179616966432905, "HYUNDAI KONA HYBRID 2020": 4.493208192966529, "HONDA ODYSSEY 2018": 1.8838175399087222, "LEXUS RX 2016": 1.3912132245094184, "TOYOTA COROLLA 2017": 3.0143547548384735, "LEXUS ES 2019": 2.012201253045193, "HYUNDAI SANTA FE 2019": 3.039728566484244, "TOYOTA AVALON 2022": 2.4619858654670885, "JEEP GRAND CHEROKEE V6 2018": 1.8411674990629987, "CHEVROLET VOLT PREMIER 2017": 1.5943438675127841, "TOYOTA RAV4 HYBRID 2017": 1.9803053616868995, "LEXUS RX 2020": 1.664616846377383, "TOYOTA HIGHLANDER HYBRID 2018": 1.8866764457400844, "TOYOTA CAMRY HYBRID 2018": 2.014213351947917, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 1.4428896585442685, "TOYOTA MIRAI 2021": 2.7217623852898853, "LEXUS IS 2018": 3.5624668608596837, "TOYOTA HIGHLANDER 2017": 1.9199133105823853, "HYUNDAI SONATA HYBRID 2021": 2.7313907441569554, "VOLKSWAGEN ATLAS 1ST GEN": 1.4483948408160645, "LEXUS ES HYBRID 2019": 2.4138026617523547, "HYUNDAI GENESIS 2015-2016": 1.7636839808044658, "JEEP GRAND CHEROKEE 2019": 1.787264083939164, "SUBARU ASCENT LIMITED 2019": 3.0494069339774565, "HONDA CR-V 2017": 1.9828470679233807, "HONDA FIT 2018": 1.594940026552055, "TOYOTA CAMRY 2021": 2.5057990840460342, "AUDI Q3 2ND GEN": 1.4558300885316715, "AUDI A3 3RD GEN": 1.5304173783542625, "LEXUS RX HYBRID 2017": 1.577216425446677, "HONDA CIVIC 2022": 2.69252285552613, "GENESIS G70 2018": 3.866842361627636, "CHRYSLER PACIFICA HYBRID 2018": 1.5771851419640903, "VOLKSWAGEN PASSAT 8TH GEN": 1.2985597059739313, "HONDA CR-V 2016": 0.7745984062630755, "HYUNDAI IONIQ PHEV 2020": 2.5696218908589383, "GMC ACADIA DENALI 2018": 1.3310088601868082, "HYUNDAI SONATA 2019": 1.9736552675022665, "TOYOTA AVALON 2019": 1.7245149905226294, "TOYOTA C-HR 2018": 1.5895016960662856, "HONDA CR-V HYBRID 2019": 2.0687746810729193, "CHRYSLER PACIFICA 2020": 1.40536880000744, "HYUNDAI IONIQ ELECTRIC 2020": 3.3220838625838667, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 1.7753192756242595, "KIA OPTIMA SX 2019 & 2016": 3.12625562280304, "TOYOTA AVALON HYBRID 2019": 1.7681286449373381, "TOYOTA RAV4 HYBRID 2022": 2.5518187542231816, "HONDA PASSPORT 2021": 1.5174924139130355, "KIA K5 2021": 2.482916204106975, "ACURA ILX 2016": 1.5237423964720282, "HYUNDAI IONIQ HYBRID 2017-2019": 2.3723887901632645, "KIA NIRO EV 2020": 2.924651969180446, "SUBARU IMPREZA SPORT 2020": 2.5317689549587694, "CHRYSLER PACIFICA HYBRID 2017": 1.167126725149114, "HYUNDAI KONA ELECTRIC 2019": 4.201092987427836, "HYUNDAI ELANTRA HYBRID 2021": 3.7153193626001926, "HYUNDAI SANTA FE HYBRID 2022": 3.3049230586030545, "CHRYSLER PACIFICA 2018": 1.524867383058782, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": 2.5970979517766213, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 1.5460982690267173, "MAZDA CX-9 2021": 1.9514800984278198, "HYUNDAI SANTA FE 2022": 3.5354982200434524, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 1.8902492836532216, "HONDA HRV 2019": 2.1262957371020352, "TOYOTA AVALON HYBRID 2022": 2.4142150048378683, "SUBARU IMPREZA LIMITED 2019": 1.2203463907025918, "GENESIS G80 2017": 2.4086794443413906, "VOLKSWAGEN TAOS 1ST GEN": 2.0031666974545947, "KIA FORTE E 2018 & GT 2021": 2.022553820222557, "CADILLAC ESCALADE ESV 2016": 1.5522339636408988, "TOYOTA C-HR 2021": 1.6519334844316687, "TOYOTA C-HR HYBRID 2018": 1.3193315010905482}, "MAX_LAT_ACCEL_MEASURED": {"HONDA PILOT 2017": 0.9069354290994807, "HONDA CIVIC 2016": 0.4030275472529351, "TOYOTA CAMRY 2018": 1.686123168195758, "TOYOTA COROLLA HYBRID TSS2 2019": 1.9139332621491167, "TOYOTA RAV4 2019": 2.234047196286479, "HYUNDAI PALISADE 2020": 1.8303582523301922, "TOYOTA SIENNA 2018": 1.4752503435300715, "ACURA RDX 2020": 0.40911581320000334, "TOYOTA RAV4 2017": 1.6622227720995595, "HONDA RIDGELINE 2017": 0.8224685813281227, "TOYOTA PRIUS 2017": 1.4548827870876067, "TOYOTA HIGHLANDER HYBRID 2020": 2.0649784271823037, "HYUNDAI SONATA 2020": 2.243989856570093, "KIA STINGER GT2 2018": 1.9531287107084392, "TOYOTA HIGHLANDER 2020": 1.659381392090836, "HONDA ACCORD 2018": 0.40486739531686267, "TOYOTA PRIUS TSS2 2021": 1.861541601048098, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 1.1930739374812243, "LEXUS NX 2020": 1.565268724838564, "TOYOTA RAV4 HYBRID 2019": 2.0915384047218426, "HONDA CIVIC (BOSCH) 2019": 0.4062886118517984, "KIA NIRO HYBRID 2021": NaN, "HONDA ACCORD HYBRID 2018": 0.35128914564548286, "LEXUS NX HYBRID 2018": 1.81821359787186, "TOYOTA COROLLA TSS2 2019": 1.911280958056631, "VOLKSWAGEN ARTEON 1ST GEN": 1.2587939472578302, "TOYOTA CAMRY HYBRID 2021": 2.312510643730013, "VOLKSWAGEN JETTA 7TH GEN": 1.232161945396623, "HONDA INSIGHT 2019": 0.5174836462945298, "SUBARU FORESTER 2019": 2.29255993930968, "HYUNDAI ELANTRA 2021": NaN, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 2.133978602602408, "HYUNDAI KONA HYBRID 2020": NaN, "HONDA ODYSSEY 2018": 0.8254773781363679, "LEXUS RX 2016": 1.0954776820595344, "TOYOTA COROLLA 2017": 2.2012870528168964, "LEXUS ES 2019": 2.069508805495439, "HYUNDAI SANTA FE 2019": 2.3763720477660253, "TOYOTA AVALON 2022": 2.531962323786023, "JEEP GRAND CHEROKEE V6 2018": 1.4193323242487865, "CHEVROLET VOLT PREMIER 2017": 1.8576430337666092, "TOYOTA RAV4 HYBRID 2017": 1.7425797219020926, "LEXUS RX 2020": 1.5118835180227874, "TOYOTA HIGHLANDER HYBRID 2018": 1.6872527654528833, "TOYOTA CAMRY HYBRID 2018": 1.6793468378089895, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 1.5614447712441282, "TOYOTA MIRAI 2021": 2.271146483563897, "LEXUS IS 2018": NaN, "TOYOTA HIGHLANDER 2017": 1.6573774863189379, "HYUNDAI SONATA HYBRID 2021": 1.9464120717803253, "VOLKSWAGEN ATLAS 1ST GEN": 1.6867005451451638, "LEXUS ES HYBRID 2019": 1.956450687999482, "HYUNDAI GENESIS 2015-2016": 1.5359761378898085, "JEEP GRAND CHEROKEE 2019": 1.2418961305308847, "SUBARU ASCENT LIMITED 2019": NaN, "HONDA CR-V 2017": 0.2642062271814174, "HONDA FIT 2018": 0.5896345937094754, "TOYOTA CAMRY 2021": 2.1783533980215166, "AUDI Q3 2ND GEN": 1.1582239457022647, "AUDI A3 3RD GEN": 1.598699116126939, "LEXUS RX HYBRID 2017": 1.319771127672888, "HONDA CIVIC 2022": 1.1806949852580793, "GENESIS G70 2018": 2.2496820850331134, "CHRYSLER PACIFICA HYBRID 2018": 1.294798200968084, "VOLKSWAGEN PASSAT 8TH GEN": 1.247540921731637, "HONDA CR-V 2016": 0.6991119250342539, "HYUNDAI IONIQ PHEV 2020": 1.9062392690595655, "GMC ACADIA DENALI 2018": 1.2986994230652662, "HYUNDAI SONATA 2019": 1.257445187146704, "TOYOTA AVALON 2019": 1.664577368475227, "TOYOTA C-HR 2018": 1.308490445144888, "HONDA CR-V HYBRID 2019": 0.4693072746041504, "CHRYSLER PACIFICA 2020": 1.1712413003138664, "HYUNDAI IONIQ ELECTRIC 2020": NaN, "VOLKSWAGEN TIGUAN 2ND GEN": 1.1573057001955744, "LEXUS NX 2018": 1.9457312007432144, "KIA OPTIMA SX 2019 & 2016": 2.0928228595938845, "TOYOTA AVALON HYBRID 2019": NaN, "TOYOTA RAV4 HYBRID 2022": 1.7647290773049569, "HONDA PASSPORT 2021": 0.8248357750132685, "KIA K5 2021": 1.4628018983720577, "ACURA ILX 2016": 0.6330753921140401, "HYUNDAI IONIQ HYBRID 2017-2019": NaN, "KIA NIRO EV 2020": 2.020186575503497, "SUBARU IMPREZA SPORT 2020": 2.136786720514988, "CHRYSLER PACIFICA HYBRID 2017": 1.0642918033307907, "HYUNDAI KONA ELECTRIC 2019": NaN, "HYUNDAI ELANTRA HYBRID 2021": NaN, "HYUNDAI SANTA FE HYBRID 2022": NaN, "CHRYSLER PACIFICA 2018": 1.3654603720349934, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": NaN, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 1.255230465866663, "MAZDA CX-9 2021": NaN, "HYUNDAI SANTA FE 2022": 3.3823387508235827, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 1.544104124172169, "HONDA HRV 2019": 0.7492792210307291, "TOYOTA AVALON HYBRID 2022": NaN, "SUBARU IMPREZA LIMITED 2019": 0.8127509604734238, "GENESIS G80 2017": NaN, "VOLKSWAGEN TAOS 1ST GEN": 1.6590543949912684, "KIA FORTE E 2018 & GT 2021": 2.3970573789339786, "CADILLAC ESCALADE ESV 2016": NaN, "TOYOTA C-HR 2021": 1.3559230155096402, "TOYOTA C-HR HYBRID 2018": 0.8910235787356033}, "FRICTION": {"HONDA PILOT 2017": 0.2168217463499328, "HONDA CIVIC 2016": 0.28406761310944795, "TOYOTA CAMRY 2018": 0.1327947477896041, "TOYOTA COROLLA HYBRID TSS2 2019": 0.21792021497538405, "TOYOTA RAV4 2019": 0.12757022360707945, "HYUNDAI PALISADE 2020": 0.13391574986922777, "TOYOTA SIENNA 2018": 0.1853443239485906, "ACURA RDX 2020": 0.18058553315570297, "TOYOTA RAV4 2017": 0.14319170324556796, "HONDA RIDGELINE 2017": 0.2380553573913589, "TOYOTA PRIUS 2017": 0.2079869382946584, "TOYOTA HIGHLANDER HYBRID 2020": 0.14038812589302646, "HYUNDAI SONATA 2020": 0.08266051305053168, "KIA STINGER GT2 2018": 0.11909534626930472, "TOYOTA HIGHLANDER 2020": 0.14658637853444048, "HONDA ACCORD 2018": 0.21616610462729247, "TOYOTA PRIUS TSS2 2021": 0.20613763260512002, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 0.16250373743651828, "LEXUS NX 2020": 0.14404022591302845, "TOYOTA RAV4 HYBRID 2019": 0.1319247989758836, "HONDA CIVIC (BOSCH) 2019": 0.2575217845562353, "KIA NIRO HYBRID 2021": 0.14468633728800306, "HONDA ACCORD HYBRID 2018": 0.21150723931119184, "LEXUS NX HYBRID 2018": 0.16117151597250162, "TOYOTA COROLLA TSS2 2019": 0.21045927995242877, "VOLKSWAGEN ARTEON 1ST GEN": 0.17828895368353925, "TOYOTA CAMRY HYBRID 2021": 0.16283734136957057, "VOLKSWAGEN JETTA 7TH GEN": 0.19508489725001105, "HONDA INSIGHT 2019": 0.25750800088299297, "SUBARU FORESTER 2019": 0.11783702069698135, "HYUNDAI ELANTRA 2021": 0.09377564130711125, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 0.14740189509875762, "HYUNDAI KONA HYBRID 2020": 0.0863709736632968, "HONDA ODYSSEY 2018": 0.2125595696498247, "LEXUS RX 2016": 0.21475140622981923, "TOYOTA COROLLA 2017": 0.12325064090161544, "LEXUS ES 2019": 0.12757526660498053, "HYUNDAI SANTA FE 2019": 0.12230125806479573, "TOYOTA AVALON 2022": 0.11030226705639488, "JEEP GRAND CHEROKEE V6 2018": 0.12871972792344108, "CHEVROLET VOLT PREMIER 2017": 0.16697256960295873, "TOYOTA RAV4 HYBRID 2017": 0.14074453855329072, "LEXUS RX 2020": 0.2249895411716623, "TOYOTA HIGHLANDER HYBRID 2018": 0.16692807938039034, "TOYOTA CAMRY HYBRID 2018": 0.13418904852016877, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 0.19324413131475543, "TOYOTA MIRAI 2021": 0.20035237756713503, "LEXUS IS 2018": 0.073103111226694, "TOYOTA HIGHLANDER 2017": 0.17502689439420385, "HYUNDAI SONATA HYBRID 2021": 0.09518615688045734, "VOLKSWAGEN ATLAS 1ST GEN": 0.12761803335799474, "LEXUS ES HYBRID 2019": 0.1682771025433274, "HYUNDAI GENESIS 2015-2016": 0.10254237048034251, "JEEP GRAND CHEROKEE 2019": 0.15702739382013717, "SUBARU ASCENT LIMITED 2019": 0.12936982863095342, "HONDA CR-V 2017": 0.22518506713451308, "HONDA FIT 2018": 0.10803295063463647, "TOYOTA CAMRY 2021": 0.15512845523424743, "AUDI Q3 2ND GEN": 0.14083949977629878, "AUDI A3 3RD GEN": 0.1611945965384188, "LEXUS RX HYBRID 2017": 0.19322020114452776, "HONDA CIVIC 2022": 0.24279247053469405, "GENESIS G70 2018": 0.06869638264150804, "CHRYSLER PACIFICA HYBRID 2018": 0.13887505891474383, "VOLKSWAGEN PASSAT 8TH GEN": 0.21714039653367842, "HONDA CR-V 2016": 0.41726236462791455, "HYUNDAI IONIQ PHEV 2020": 0.13800461817330806, "GMC ACADIA DENALI 2018": 0.3447163106452739, "HYUNDAI SONATA 2019": 0.15371520337813344, "TOYOTA AVALON 2019": 0.10392921606262978, "TOYOTA C-HR 2018": 0.2015190716953846, "HONDA CR-V HYBRID 2019": 0.19595630321202379, "CHRYSLER PACIFICA 2020": 0.14337114313208268, "HYUNDAI IONIQ ELECTRIC 2020": 0.08104502306679212, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 0.1471001686544422, "KIA OPTIMA SX 2019 & 2016": 0.11703652166984638, "TOYOTA AVALON HYBRID 2019": 0.10863628402866225, "TOYOTA RAV4 HYBRID 2022": 0.14334213238415072, "HONDA PASSPORT 2021": 0.19826160782809032, "KIA K5 2021": 0.1027179720106188, "ACURA ILX 2016": 0.35663988815912573, "HYUNDAI IONIQ HYBRID 2017-2019": 0.12332151728479951, "KIA NIRO EV 2020": 0.0892074288578785, "SUBARU IMPREZA SPORT 2020": 0.15841234487251604, "CHRYSLER PACIFICA HYBRID 2017": 0.1345638758810282, "HYUNDAI KONA ELECTRIC 2019": 0.08503096350356723, "HYUNDAI ELANTRA HYBRID 2021": 0.09887804390243872, "HYUNDAI SANTA FE HYBRID 2022": 0.11171499761140577, "CHRYSLER PACIFICA 2018": 0.13611561752951415, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": 0.10502695501512567, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 0.21818156330777305, "MAZDA CX-9 2021": 0.1793735649504697, "HYUNDAI SANTA FE 2022": 0.09184808719698756, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 0.14050744688135813, "HONDA HRV 2019": 0.17840321248608593, "TOYOTA AVALON HYBRID 2022": 0.16159049452515487, "SUBARU IMPREZA LIMITED 2019": 0.20322553080306893, "GENESIS G80 2017": 0.07934444681782107, "VOLKSWAGEN TAOS 1ST GEN": 0.18276122764341485, "KIA FORTE E 2018 & GT 2021": 0.11406160665068436, "CADILLAC ESCALADE ESV 2016": 0.15063766975884627, "TOYOTA C-HR 2021": 0.22798633346500694, "TOYOTA C-HR HYBRID 2018": 0.2036375866375624}, "ERROR_RATIO": {"HONDA PILOT 2017": 0.6158457247286419, "HONDA CIVIC 2016": 2.0785618623350928, "TOYOTA CAMRY 2018": 0.17356565057429169, "TOYOTA COROLLA HYBRID TSS2 2019": 0.10094741777075293, "TOYOTA RAV4 2019": 0.11812042718338775, "HYUNDAI PALISADE 2020": 0.30639442561268304, "TOYOTA SIENNA 2018": 0.1117307389748361, "ACURA RDX 2020": 1.9801454495960717, "TOYOTA RAV4 2017": 0.08589486116378196, "HONDA RIDGELINE 2017": 0.4319851914417577, "TOYOTA PRIUS 2017": 0.17281316158588575, "TOYOTA HIGHLANDER HYBRID 2020": 0.046325388721577, "HYUNDAI SONATA 2020": 0.4109860794021653, "KIA STINGER GT2 2018": 0.3517628781488943, "TOYOTA HIGHLANDER 2020": 0.14155072865224166, "HONDA ACCORD 2018": 2.510398061115294, "TOYOTA PRIUS TSS2 2021": 0.13593456264106363, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 0.08794943266738546, "LEXUS NX 2020": 0.3743942573190866, "TOYOTA RAV4 HYBRID 2019": 0.0845492503791727, "HONDA CIVIC (BOSCH) 2019": 2.4329816697390063, "KIA NIRO HYBRID 2021": NaN, "HONDA ACCORD HYBRID 2018": 2.9252406767451804, "LEXUS NX HYBRID 2018": 0.23060712246809048, "TOYOTA COROLLA TSS2 2019": 0.13822363784977285, "VOLKSWAGEN ARTEON 1ST GEN": 0.009661691674299285, "TOYOTA CAMRY HYBRID 2021": 0.029451711159377333, "VOLKSWAGEN JETTA 7TH GEN": 0.16591473170144055, "HONDA INSIGHT 2019": 1.3398692842898896, "SUBARU FORESTER 2019": 0.5269683780697442, "HYUNDAI ELANTRA 2021": NaN, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 0.02971857401969039, "HYUNDAI KONA HYBRID 2020": NaN, "HONDA ODYSSEY 2018": 1.0245957242729038, "LEXUS RX 2016": 0.07392586589971588, "TOYOTA COROLLA 2017": 0.31336988069649124, "LEXUS ES 2019": 0.08933657038050916, "HYUNDAI SANTA FE 2019": 0.2276812089092099, "TOYOTA AVALON 2022": 0.07120118798045925, "JEEP GRAND CHEROKEE V6 2018": 0.2065164316228118, "CHEVROLET VOLT PREMIER 2017": 0.2316223989408518, "TOYOTA RAV4 HYBRID 2017": 0.055653752888652736, "LEXUS RX 2020": 0.047792182371008345, "TOYOTA HIGHLANDER HYBRID 2018": 0.019259474082467202, "TOYOTA CAMRY HYBRID 2018": 0.11949733140330816, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 0.1996863736436734, "TOYOTA MIRAI 2021": 0.11019259478417197, "LEXUS IS 2018": NaN, "TOYOTA HIGHLANDER 2017": 0.05279963713251727, "HYUNDAI SONATA HYBRID 2021": 0.3543918194389536, "VOLKSWAGEN ATLAS 1ST GEN": 0.21694647502209782, "LEXUS ES HYBRID 2019": 0.14775474433507507, "HYUNDAI GENESIS 2015-2016": 0.0814892037361157, "JEEP GRAND CHEROKEE 2019": 0.3126997097753535, "SUBARU ASCENT LIMITED 2019": NaN, "HONDA CR-V 2017": 5.652613829506629, "HONDA FIT 2018": 1.5217432826711779, "TOYOTA CAMRY 2021": 0.07910435053686729, "AUDI Q3 2ND GEN": 0.13535089102138698, "AUDI A3 3RD GEN": 0.14353941401245793, "LEXUS RX HYBRID 2017": 0.048663813961824696, "HONDA CIVIC 2022": 1.0748206908458815, "GENESIS G70 2018": 0.688303429295532, "CHRYSLER PACIFICA HYBRID 2018": 0.11083725786301112, "VOLKSWAGEN PASSAT 8TH GEN": 0.13315924904555493, "HONDA CR-V 2016": 0.488871482749128, "HYUNDAI IONIQ PHEV 2020": 0.2756096845519595, "GMC ACADIA DENALI 2018": 0.24055364003040136, "HYUNDAI SONATA 2019": 0.4473315280277132, "TOYOTA AVALON 2019": 0.026428086100632363, "TOYOTA C-HR 2018": 0.06075105822970755, "HONDA CR-V HYBRID 2019": 2.9906016360828276, "CHRYSLER PACIFICA 2020": 0.07748732608487266, "HYUNDAI IONIQ ELECTRIC 2020": NaN, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 0.16318394527060903, "KIA OPTIMA SX 2019 & 2016": 0.4378756841929454, "TOYOTA AVALON HYBRID 2019": NaN, "TOYOTA RAV4 HYBRID 2022": 0.36478548056633514, "HONDA PASSPORT 2021": 0.5993860184637646, "KIA K5 2021": 0.6271500841947655, "ACURA ILX 2016": 0.8435442647921855, "HYUNDAI IONIQ HYBRID 2017-2019": NaN, "KIA NIRO EV 2020": 0.40355577782011604, "SUBARU IMPREZA SPORT 2020": 0.11071291640854522, "CHRYSLER PACIFICA HYBRID 2017": 0.029812269495458284, "HYUNDAI KONA ELECTRIC 2019": NaN, "HYUNDAI ELANTRA HYBRID 2021": NaN, "HYUNDAI SANTA FE HYBRID 2022": NaN, "CHRYSLER PACIFICA 2018": 0.01705753895996445, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": NaN, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 0.05790668871480552, "MAZDA CX-9 2021": NaN, "HYUNDAI SANTA FE 2022": 0.018126919430513307, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 0.1331760659016062, "HONDA HRV 2019": 1.599688433820939, "TOYOTA AVALON HYBRID 2022": NaN, "SUBARU IMPREZA LIMITED 2019": 0.2514545160390271, "GENESIS G80 2017": NaN, "VOLKSWAGEN TAOS 1ST GEN": 0.09725484306423876, "KIA FORTE E 2018 & GT 2021": 0.20381871942480628, "CADILLAC ESCALADE ESV 2016": NaN, "TOYOTA C-HR 2021": 0.05016813984196128, "TOYOTA C-HR HYBRID 2018": 0.2521485862766935}}
\ No newline at end of file
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index a1ce8c4980..d0f4789775 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -2,6 +2,7 @@
 from cereal import car
 from common.conversions import Conversions as CV
 from panda import Panda
+from selfdrive.controls.lib.latcontrol_torque import set_torque_tune
 from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
 from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
@@ -31,6 +32,9 @@ class CarInterface(CarInterfaceBase):
     ret.stoppingControl = False  # Toyota starts braking more when it thinks you want to stop
 
     stop_and_go = False
+    torque_params = CarInterfaceBase.get_torque_params(candidate)
+    steering_angle_deadzone_deg = 0.0
+    set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
 
     if candidate == CAR.PRIUS:
       stop_and_go = True
@@ -38,8 +42,11 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 15.74   # unknown end-to-end spec
       tire_stiffness_factor = 0.6371   # hand-tune
       ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 1.7
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06)
+      # Only give steer angle deadzone to for bad angle sensor prius
+      for fw in car_fw:
+        if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
+          steering_angle_deadzone_deg = 1.0
+          set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
 
     elif candidate == CAR.PRIUS_V:
       stop_and_go = True
@@ -47,8 +54,10 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 17.4
       tire_stiffness_factor = 0.5533
       ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
+      # TODO override until there is enough data
       ret.maxLateralAccel = 1.8
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06)
+      torque_params = CarInterfaceBase.get_torque_params(CAR.PRIUS)
+      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
 
     elif candidate in (CAR.RAV4, CAR.RAV4H):
       stop_and_go = True if (candidate in CAR.RAV4H) else False
@@ -56,16 +65,12 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.88   # 14.5 is spec end-to-end
       tire_stiffness_factor = 0.5533
       ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      ret.maxLateralAccel = 1.8
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06)
 
     elif candidate == CAR.COROLLA:
       ret.wheelbase = 2.70
       ret.steerRatio = 18.27
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      ret.maxLateralAccel = 2.8
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.024)
 
     elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
       stop_and_go = True
@@ -74,7 +79,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelSpeedFactor = 1.035
       tire_stiffness_factor = 0.5533
       ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
-      ret.maxLateralAccel = 1.4
       set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
     elif candidate in (CAR.CHR, CAR.CHRH):
@@ -83,7 +87,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.6
       tire_stiffness_factor = 0.7933
       ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 1.3
       set_lat_tune(ret.lateralTuning, LatTunes.PID_F)
 
     elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
@@ -92,11 +95,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.7
       tire_stiffness_factor = 0.7933
       ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      if candidate in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
-        ret.maxLateralAccel = 2.4
-        set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.05)
-      else:
-        ret.maxLateralAccel = 2.0
+      if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
         set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
     elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
@@ -105,7 +104,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.0
       tire_stiffness_factor = 0.8
       ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG  # 4260 + 4-5 people
-      ret.maxLateralAccel = 2.0
       set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
 
     elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH):
@@ -114,7 +112,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.0
       tire_stiffness_factor = 0.8
       ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid limited
-      ret.maxLateralAccel = 1.8
       set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
 
     elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
@@ -125,7 +122,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.8  # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
       tire_stiffness_factor = 0.7983
       ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      ret.maxLateralAccel = 1.6
       set_lat_tune(ret.lateralTuning, LatTunes.PID_H)
 
     elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
@@ -134,9 +130,12 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.3
       tire_stiffness_factor = 0.7933
       ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG  # Average between ICE and Hybrid
-      ret.maxLateralAccel = 2.5
       set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
 
+      # TODO: remove once there's data
+      if candidate == CAR.RAV4_TSS2_2022:
+        ret.maxLateralAccel = CarInterfaceBase.get_torque_params(CAR.RAV4H_TSS2_2022)['MAX_LAT_ACCEL_MEASURED']
+
       # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
       # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
       for fw in car_fw:
@@ -150,8 +149,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.9
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 2.0
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.07)
 
     elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH):
       stop_and_go = True
@@ -159,7 +156,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.0  # not optimized
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
-      ret.maxLateralAccel = 2.2
       set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
 
     elif candidate == CAR.SIENNA:
@@ -168,7 +164,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 15.5
       tire_stiffness_factor = 0.444
       ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 1.6
       set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
 
     elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC):
@@ -186,13 +181,12 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
       set_lat_tune(ret.lateralTuning, LatTunes.PID_M)
 
-    elif candidate in (CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2):
+    elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.66
       ret.steerRatio = 14.7
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 2.0
       set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
     elif candidate == CAR.PRIUS_TSS2:
@@ -201,7 +195,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.4   # True steerRatio from older prius
       tire_stiffness_factor = 0.6371   # hand-tune
       ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 2.0
       set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
 
     elif candidate == CAR.MIRAI:
@@ -210,7 +203,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.8
       tire_stiffness_factor = 0.8
       ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 2.4
       set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
     elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
@@ -221,7 +213,6 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
       set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
 
-    ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
 
     # TODO: get actual value, for now starting with reasonable value for
diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py
index e97ed6b056..3de6daae21 100644
--- a/selfdrive/car/toyota/tunes.py
+++ b/selfdrive/car/toyota/tunes.py
@@ -50,9 +50,9 @@ def set_long_tune(tune, name):
 
 
 ###### LAT ######
-def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, use_steering_angle=True):
+def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0, use_steering_angle=True):
   if name == LatTunes.TORQUE:
-    set_torque_tune(tune, MAX_LAT_ACCEL, FRICTION)
+    set_torque_tune(tune, MAX_LAT_ACCEL, FRICTION, steering_angle_deadzone_deg)
   elif 'PID' in str(name):
     tune.init('pid')
     tune.pid.kiBP = [0.0]
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 3204d36b5a..2c151266cf 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -77,6 +77,7 @@ class CAR:
   LEXUS_NX = "LEXUS NX 2018"
   LEXUS_NXH = "LEXUS NX HYBRID 2018"
   LEXUS_NX_TSS2 = "LEXUS NX 2020"
+  LEXUS_NXH_TSS2 = "LEXUS NX HYBRID 2020"
   LEXUS_RC = "LEXUS RC 2020"
   LEXUS_RX = "LEXUS RX 2016"
   LEXUS_RXH = "LEXUS RX HYBRID 2017"
@@ -92,9 +93,6 @@ class Footnote(Enum):
   CAMRY = CarFootnote(
     "28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.",
     Column.FSR_LONGITUDINAL)
-  ANGLE_SENSOR = CarFootnote(
-    "An inaccurate steering wheel angle sensor makes precise control difficult.",
-    Column.STEERING_TORQUE, star=Star.HALF)
 
 
 @dataclass
@@ -132,10 +130,10 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19", footnotes=[Footnote.DSU]),
   CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"),
   CAR.PRIUS: [
-    ToyotaCarInfo("Toyota Prius 2016-20", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]),
-    ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]),
+    ToyotaCarInfo("Toyota Prius 2016-20", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
+    ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
   ],
-  CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "TSS-P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]),
+  CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "TSS-P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU]),
   CAR.PRIUS_TSS2: [
     ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
     ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
@@ -158,6 +156,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19", footnotes=[Footnote.DSU]),
   CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]),
   CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020"),
+  CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020"),
   CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2020"),
   CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-18", footnotes=[Footnote.DSU]),
   CAR.LEXUS_RXH: ToyotaCarInfo("Lexus RX Hybrid 2016-19", footnotes=[Footnote.DSU]),
@@ -558,6 +557,7 @@ FW_VERSIONS = {
       b'\x033F401100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203102\x00\x00\x00\x00',
       b'\x033F401200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
       b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
+      b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F0W01000    ',
@@ -1251,6 +1251,7 @@ FW_VERSIONS = {
       b'\x01F15260R220\x00\x00\x00\x00\x00\x00',
       b'\x01F15260R290\x00\x00\x00\x00\x00\x00',
       b'\x01F15260R300\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R302\x00\x00\x00\x00\x00\x00',
       b'\x01F152642551\x00\x00\x00\x00\x00\x00',
       b'\x01F152642561\x00\x00\x00\x00\x00\x00',
       b'\x01F152642700\x00\x00\x00\x00\x00\x00',
@@ -1583,6 +1584,23 @@ FW_VERSIONS = {
       b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
+  CAR.LEXUS_NXH_TSS2: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'F152678210\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B78120\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+    ],
+  },
   CAR.LEXUS_NXH: {
     (Ecu.engine, 0x7e0, None): [
       b'\x0237841000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1825,7 +1843,10 @@ FW_VERSIONS = {
   },
   CAR.MIRAI: {
     (Ecu.esp, 0x7D1, None): [b'\x01898A36203000\x00\x00\x00\x00',],
-    (Ecu.esp, 0x7B0, None): [b'\x01F15266203200\x00\x00\x00\x00',], # a second ESP ECU
+    (Ecu.esp, 0x7B0, None): [  # a second ESP ECU
+      b'\x01F15266203200\x00\x00\x00\x00',
+      b'\x01F15266203500\x00\x00\x00\x00',
+    ],
     (Ecu.eps, 0x7A1, None): [b'\x028965B6204100\x00\x00\x00\x008965B6203100\x00\x00\x00\x00',],
     (Ecu.fwdRadar, 0x750, 0xf): [b'\x018821F6201200\x00\x00\x00\x00',],
     (Ecu.fwdCamera, 0x750, 0x6d): [b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',],
@@ -1910,6 +1931,7 @@ DBC = {
   CAR.LEXUS_NXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
+  CAR.LEXUS_NXH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@@ -1922,7 +1944,7 @@ EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_I
 # Toyota/Lexus Safety Sense 2.0 and 2.5
 TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
             CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
-            CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2}
+            CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2}
 
 NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
 
@@ -1931,7 +1953,7 @@ RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022}
 
 EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS,
                  CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
-                 CAR.LEXUS_RXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2}
+                 CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2}
 
 # no resume button press required
 NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH}
diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py
index 2c5b623b06..7413c3f235 100755
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@@ -6,7 +6,7 @@ import cereal.messaging as messaging
 import panda.python.uds as uds
 from panda.python.uds import FUNCTIONAL_ADDRS
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 OBD_VIN_REQUEST = b'\x09\x02'
 OBD_VIN_RESPONSE = b'\x49\x02\x01'
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 90bbd6d889..6782105c16 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -45,7 +45,6 @@ class CarInterface(CarInterfaceBase):
     # Global lateral tuning defaults, can be overridden per-vehicle
 
     ret.steerActuatorDelay = 0.1
-    ret.steerRateCost = 1.0
     ret.steerLimitTimer = 0.4
     ret.steerRatio = 15.6  # Let the params learner figure this out
     tire_stiffness_factor = 1.0  # Let the params learner figure this out
@@ -64,17 +63,14 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.ATLAS_MK1:
       ret.mass = 2011 + STD_CARGO_KG
       ret.wheelbase = 2.98
-      ret.maxLateralAccel = 1.4
 
     elif candidate == CAR.GOLF_MK7:
       ret.mass = 1397 + STD_CARGO_KG
       ret.wheelbase = 2.62
-      ret.maxLateralAccel = 1.5
 
     elif candidate == CAR.JETTA_MK7:
       ret.mass = 1328 + STD_CARGO_KG
       ret.wheelbase = 2.71
-      ret.maxLateralAccel = 1.2
 
     elif candidate == CAR.PASSAT_MK8:
       ret.mass = 1551 + STD_CARGO_KG
@@ -95,7 +91,6 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.TIGUAN_MK2:
       ret.mass = 1715 + STD_CARGO_KG
       ret.wheelbase = 2.74
-      ret.maxLateralAccel = 1.1
 
     elif candidate == CAR.TOURAN_MK2:
       ret.mass = 1516 + STD_CARGO_KG
@@ -113,7 +108,6 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.AUDI_A3_MK3:
       ret.mass = 1335 + STD_CARGO_KG
       ret.wheelbase = 2.61
-      ret.maxLateralAccel = 1.7
 
     elif candidate == CAR.AUDI_Q2_MK1:
       ret.mass = 1205 + STD_CARGO_KG
@@ -122,7 +116,6 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.AUDI_Q3_MK2:
       ret.mass = 1623 + STD_CARGO_KG
       ret.wheelbase = 2.68
-      ret.maxLateralAccel = 1.6
 
     elif candidate == CAR.SEAT_ATECA_MK1:
       ret.mass = 1900 + STD_CARGO_KG
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 44743c948e..9b6f6a16c3 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -533,6 +533,7 @@ FW_VERSIONS = {
   },
   CAR.TIGUAN_MK2: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906027NB\xf1\x899504',
       b'\xf1\x8704L906026EJ\xf1\x893661',
       b'\xf1\x8704L906027G \xf1\x899893',
       b'\xf1\x875N0906259  \xf1\x890002',
@@ -544,6 +545,7 @@ FW_VERSIONS = {
       b'\xf1\x8709G927158DT\xf1\x893698',
       b'\xf1\x8709G927158GC\xf1\x893821',
       b'\xf1\x8709G927158GD\xf1\x893820',
+      b'\xf1\x870D9300043  \xf1\x895202',
       b'\xf1\x870DL300011N \xf1\x892001',
       b'\xf1\x870DL300011N \xf1\x892012',
       b'\xf1\x870DL300013A \xf1\x893005',
@@ -555,11 +557,14 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140013750379333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140573752379333423100',
       b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600',
       b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\00571A60634A1',
       b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1',
       b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1',
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index edb1538c31..033072aa73 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -11,7 +11,7 @@ from common.params import Params, put_nonblocking
 import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from panda import ALTERNATIVE_EXPERIENCE
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
 from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
@@ -27,7 +27,7 @@ from selfdrive.controls.lib.events import Events, ET
 from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.locationd.calibrationd import Calibration
-from selfdrive.hardware import HARDWARE
+from system.hardware import HARDWARE
 from selfdrive.manager.process_config import managed_processes
 
 SOFT_DISABLE_TIME = 3  # seconds
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 4afa8d89ed..1fecdd7c63 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -38,6 +38,16 @@ class MPC_COST_LAT:
   STEER_RATE = 1.0
 
 
+def apply_deadzone(error, deadzone):
+  if error > deadzone:
+    error -= deadzone
+  elif error < - deadzone:
+    error += deadzone
+  else:
+    error = 0.
+  return error
+
+
 def rate_limit(new_value, last_value, dw_step, up_step):
   return clip(new_value, last_value + dw_step, last_value + up_step)
 
@@ -97,26 +107,27 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
     psis = [0.0]*CONTROL_N
     curvatures = [0.0]*CONTROL_N
     curvature_rates = [0.0]*CONTROL_N
+  v_ego = max(v_ego, 0.1)
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays
   delay = CP.steerActuatorDelay + .2
-  current_curvature = curvatures[0]
-  psi = interp(delay, T_IDXS[:CONTROL_N], psis)
-  desired_curvature_rate = curvature_rates[0]
 
   # MPC can plan to turn the wheel and turn back before t_delay. This means
   # in high delay cases some corrections never even get commanded. So just use
   # psi to calculate a simple linearization of desired curvature
-  curvature_diff_from_psi = psi / (max(v_ego, 1e-1) * delay) - current_curvature
-  desired_curvature = current_curvature + 2 * curvature_diff_from_psi
+  current_curvature_desired = curvatures[0]
+  psi = interp(delay, T_IDXS[:CONTROL_N], psis)
+  average_curvature_desired = psi / (v_ego * delay)
+  desired_curvature = 2 * average_curvature_desired - current_curvature_desired
 
-  v_ego = max(v_ego, 0.1)
+  # This is the "desired rate of the setpoint" not an actual desired rate
+  desired_curvature_rate = curvature_rates[0]
   max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2)
   safe_desired_curvature_rate = clip(desired_curvature_rate,
                                           -max_curvature_rate,
                                           max_curvature_rate)
   safe_desired_curvature = clip(desired_curvature,
-                                     current_curvature - max_curvature_rate * DT_MDL,
-                                     current_curvature + max_curvature_rate * DT_MDL)
+                                     current_curvature_desired - max_curvature_rate * DT_MDL,
+                                     current_curvature_desired + max_curvature_rate * DT_MDL)
 
   return safe_desired_curvature, safe_desired_curvature_rate
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 7ca05cc744..cc63d4995d 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -8,7 +8,7 @@ import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from common.realtime import DT_CTRL
 from selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
-from selfdrive.version import get_short_branch
+from system.version import get_short_branch
 
 AlertSize = log.ControlsState.AlertSize
 AlertStatus = log.ControlsState.AlertStatus
diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py
index 9bbad59084..1facb66d63 100644
--- a/selfdrive/controls/lib/lane_planner.py
+++ b/selfdrive/controls/lib/lane_planner.py
@@ -3,7 +3,7 @@ from cereal import log
 from common.filter_simple import FirstOrderFilter
 from common.numpy_fast import interp
 from common.realtime import DT_MDL
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 
 TRAJECTORY_SIZE = 33
diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py
index b5041eb172..79c881d11b 100644
--- a/selfdrive/controls/lib/latcontrol_indi.py
+++ b/selfdrive/controls/lib/latcontrol_indi.py
@@ -78,6 +78,7 @@ class LatControlINDI(LatControl):
     steers_des += math.radians(params.angleOffsetDeg)
     indi_log.steeringAngleDesiredDeg = math.degrees(steers_des)
 
+    # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
     rate_des = VM.get_steer_from_curvature(-desired_curvature_rate, CS.vEgo, 0)
     indi_log.steeringRateDesiredDeg = math.degrees(rate_des)
 
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 8b41dbf402..f72ffc4b88 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -4,6 +4,7 @@ from cereal import log
 from common.numpy_fast import interp
 from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
 from selfdrive.controls.lib.pid import PIDController
+from selfdrive.controls.lib.drive_helpers import apply_deadzone
 from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 
 # At higher speeds (25+mph) we can assume:
@@ -18,17 +19,17 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 # move it at all, this is compensated for too.
 
 
-LOW_SPEED_FACTOR = 200
-JERK_THRESHOLD = 0.2
+FRICTION_THRESHOLD = 0.2
 
 
-def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=0.01):
+def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0):
   tune.init('torque')
   tune.torque.useSteeringAngle = True
   tune.torque.kp = 1.0 / MAX_LAT_ACCEL
   tune.torque.kf = 1.0 / MAX_LAT_ACCEL
   tune.torque.ki = 0.1 / MAX_LAT_ACCEL
   tune.torque.friction = FRICTION
+  tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
 
 
 class LatControlTorque(LatControl):
@@ -40,10 +41,7 @@ class LatControlTorque(LatControl):
     self.use_steering_angle = CP.lateralTuning.torque.useSteeringAngle
     self.friction = CP.lateralTuning.torque.friction
     self.kf = CP.lateralTuning.torque.kf
-
-  def reset(self):
-    super().reset()
-    self.pid.reset()
+    self.steering_angle_deadzone_deg = CP.lateralTuning.torque.steeringAngleDeadzoneDeg
 
   def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
@@ -54,22 +52,29 @@ class LatControlTorque(LatControl):
     else:
       if self.use_steering_angle:
         actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+        curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
       else:
         actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
         actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo
         actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk])
+        curvature_deadzone = 0.0
       desired_lateral_accel = desired_curvature * CS.vEgo ** 2
-      desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
+
+      # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
+      #desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
       actual_lateral_accel = actual_curvature * CS.vEgo ** 2
+      lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
+
 
-      setpoint = desired_lateral_accel + LOW_SPEED_FACTOR * desired_curvature
-      measurement = actual_lateral_accel + LOW_SPEED_FACTOR * actual_curvature
-      error = setpoint - measurement
+      low_speed_factor = interp(CS.vEgo, [0, 15], [500, 0])
+      setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
+      measurement = actual_lateral_accel + low_speed_factor * actual_curvature
+      error = apply_deadzone(setpoint - measurement, lateral_accel_deadzone)
       pid_log.error = error
 
       ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
       # convert friction into lateral accel units for feedforward
-      friction_compensation = interp(desired_lateral_jerk, [-JERK_THRESHOLD, JERK_THRESHOLD], [-self.friction, self.friction])
+      friction_compensation = interp(error, [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction])
       ff += friction_compensation / self.kf
       freeze_integrator = CS.steeringRateLimited or CS.steeringPressed or CS.vEgo < 5
       output_torque = self.pid.update(error,
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index 6349f05cc2..019a19fb1d 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -1,7 +1,7 @@
 import numpy as np
 from common.realtime import sec_since_boot, DT_MDL
 from common.numpy_fast import interp
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
 from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N, CAR_ROTATION_RADIUS
 from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE
@@ -11,13 +11,12 @@ from cereal import log
 
 
 class LateralPlanner:
-  def __init__(self, CP, use_lanelines=True, wide_camera=False):
+  def __init__(self, use_lanelines=True, wide_camera=False):
     self.use_lanelines = use_lanelines
     self.LP = LanePlanner(wide_camera)
     self.DH = DesireHelper()
 
     self.last_cloudlog_t = 0
-    self.steer_rate_cost = CP.steerRateCost
     self.solution_invalid_cnt = 0
 
     self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3))
@@ -59,12 +58,12 @@ class LateralPlanner:
     # Calculate final driving path and set MPC costs
     if self.use_lanelines:
       d_path_xyz = self.LP.get_d_path(v_ego, self.t_idxs, self.path_xyz)
-      self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, self.steer_rate_cost)
+      self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, MPC_COST_LAT.STEER_RATE)
     else:
       d_path_xyz = self.path_xyz
       # Heading cost is useful at low speed, otherwise end of plan can be off-heading
       heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.15])
-      self.lat_mpc.set_weights(MPC_COST_LAT.PATH, heading_cost, self.steer_rate_cost)
+      self.lat_mpc.set_weights(MPC_COST_LAT.PATH, heading_cost, MPC_COST_LAT.STEER_RATE)
 
     y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1])
     heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
@@ -79,6 +78,9 @@ class LateralPlanner:
                      y_pts,
                      heading_pts)
     # init state for next
+    # mpc.u_sol is the desired curvature rate given x0 curv state.
+    # with x0[3] = measured_curvature, this would be the actual desired rate.
+    # instead, interpolate x_sol so that x0[3] is the desired curvature for lat_control.
     self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3])
 
     #  Check for infeasible MPC solution
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index f2cd282198..e9458607d5 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -1,7 +1,7 @@
 from cereal import car
 from common.numpy_fast import clip, interp
 from common.realtime import DT_CTRL
-from selfdrive.controls.lib.drive_helpers import CONTROL_N
+from selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone
 from selfdrive.controls.lib.pid import PIDController
 from selfdrive.modeld.constants import T_IDXS
 
@@ -12,16 +12,6 @@ ACCEL_MIN_ISO = -3.5  # m/s^2
 ACCEL_MAX_ISO = 2.0  # m/s^2
 
 
-def apply_deadzone(error, deadzone):
-  if error > deadzone:
-    error -= deadzone
-  elif error < - deadzone:
-    error += deadzone
-  else:
-    error = 0.
-  return error
-
-
 def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
                              v_target_future, brake_pressed, cruise_standstill):
   """Update longitudinal control state machine"""
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index b99ee9e9ac..bc0fc9fea6 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -4,7 +4,7 @@ import numpy as np
 
 from common.realtime import sec_since_boot
 from common.numpy_fast import clip, interp
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.modeld.constants import index_function
 from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU
 
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 0d21c519a3..d4a6aaef8f 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -12,7 +12,7 @@ from selfdrive.controls.lib.longcontrol import LongCtrlState
 from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 LON_MPC_STEP = 0.2  # first step is 0.2s
 AWARENESS_DECEL = -0.2  # car smoothly decel at .2m/s^2 when user is distracted
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 083aeb79cc..9356a55d84 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -2,7 +2,7 @@
 from cereal import car
 from common.params import Params
 from common.realtime import Priority, config_realtime_process
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.controls.lib.longitudinal_planner import Planner
 from selfdrive.controls.lib.lateral_planner import LateralPlanner
 import cereal.messaging as messaging
@@ -22,7 +22,7 @@ def plannerd_thread(sm=None, pm=None):
   cloudlog.event("e2e mode", on=use_lanelines)
 
   longitudinal_planner = Planner(CP)
-  lateral_planner = LateralPlanner(CP, use_lanelines=use_lanelines, wide_camera=wide_camera)
+  lateral_planner = LateralPlanner(use_lanelines=use_lanelines, wide_camera=wide_camera)
 
   if sm is None:
     sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'modelV2'],
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 0e514193dc..b2c9914457 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -10,7 +10,7 @@ from common.params import Params
 from common.realtime import Ratekeeper, Priority, config_realtime_process
 from selfdrive.controls.lib.cluster.fastcluster_py import cluster_points_centroid
 from selfdrive.controls.lib.radar_helpers import Cluster, Track, RADAR_TO_CAMERA
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 
 class KalmanParams():
diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py
index 8b32ce9d21..c3870e0f9e 100755
--- a/selfdrive/debug/count_events.py
+++ b/selfdrive/debug/count_events.py
@@ -4,6 +4,7 @@ from collections import Counter
 from pprint import pprint
 from tqdm import tqdm
 
+from cereal.services import service_list
 from tools.lib.route import Route
 from tools.lib.logreader import LogReader
 
@@ -13,6 +14,9 @@ if __name__ == "__main__":
   cnt_valid: Counter = Counter()
   cnt_events: Counter = Counter()
 
+  cams = [s for s in service_list if s.endswith('CameraState')]
+  cnt_cameras = dict.fromkeys(cams, 0)
+
   for q in tqdm(r.qlog_paths()):
     if q is None:
       continue
@@ -21,12 +25,21 @@ if __name__ == "__main__":
       if msg.which() == 'carEvents':
         for e in msg.carEvents:
           cnt_events[e.name] += 1
+      elif msg.which() in cams:
+        cnt_cameras[msg.which()] += 1
+
       if not msg.valid:
         cnt_valid[msg.which()] += 1
 
+
   print("Events")
   pprint(cnt_events)
 
-  print("\n\n")
+  print("\n")
   print("Not valid")
   pprint(cnt_valid)
+
+  print("\n")
+  print("Cameras")
+  for k, v in cnt_cameras.items():
+    print("  ", k.ljust(20), v)
diff --git a/selfdrive/debug/disable_ecu.py b/selfdrive/debug/disable_ecu.py
index f0faf40017..af007207eb 100644
--- a/selfdrive/debug/disable_ecu.py
+++ b/selfdrive/debug/disable_ecu.py
@@ -3,7 +3,7 @@ import traceback
 
 import cereal.messaging as messaging
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 EXT_DIAG_REQUEST = b'\x10\x03'
 EXT_DIAG_RESPONSE = b'\x50\x03'
diff --git a/selfdrive/hardware b/selfdrive/hardware
new file mode 120000
index 0000000000..02a42c502f
--- /dev/null
+++ b/selfdrive/hardware
@@ -0,0 +1 @@
+../system/hardware/
\ No newline at end of file
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index d7bf36fb26..e092c939ae 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -20,7 +20,7 @@ from common.realtime import set_realtime_priority
 from common.transformations.model import model_height
 from common.transformations.camera import get_view_frame_from_road_frame
 from common.transformations.orientation import rot_from_euler, euler_from_rot
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS
 MAX_VEL_ANGLE_STD = np.radians(0.25)
diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index eee07e7805..8eb81345ff 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -1,104 +1,148 @@
 #!/usr/bin/env python3
-import threading
+import json
 import time
-from typing import List
+from concurrent.futures import Future, ProcessPoolExecutor
+from typing import List, Optional
 
 import numpy as np
 from collections import defaultdict
 
+import sympy
 from numpy.linalg import linalg
 
 from cereal import log, messaging
+from common.params import Params, put_nonblocking
 from laika import AstroDog
-from laika.constants import SECS_IN_HR, SECS_IN_MIN
-from laika.ephemeris import EphemerisType, convert_ublox_ephem
+from laika.constants import EARTH_ROTATION_RATE, SECS_IN_HR, SECS_IN_MIN, SPEED_OF_LIGHT
+from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem
 from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId
-from laika.raw_gnss import GNSSMeasurement, calc_pos_fix, correct_measurements, process_measurements, read_raw_ublox
+from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox
 from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind
 from selfdrive.locationd.models.gnss_kf import GNSSKalman
 from selfdrive.locationd.models.gnss_kf import States as GStates
-import common.transformations.coordinates as coord
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 MAX_TIME_GAP = 10
+EPHEMERIS_CACHE = 'LaikadEphemeris'
+CACHE_VERSION = 0.1
 
 
 class Laikad:
-
-  def __init__(self, valid_const=("GPS",), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV)):
-    self.astro_dog = AstroDog(valid_const=valid_const, use_internet=auto_update, valid_ephem_types=valid_ephem_types)
+  def __init__(self, valid_const=("GPS", "GLONASS"), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV),
+               save_ephemeris=False):
+    self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True)
     self.gnss_kf = GNSSKalman(GENERATED_DIR)
-    self.latest_epoch_fetched = GPSTime(0, 0)
-    self.latest_time_msg = None
-
-  def process_ublox_msg(self, ublox_msg, ublox_mono_time: int):
+    self.orbit_fetch_executor = ProcessPoolExecutor()
+    self.orbit_fetch_future: Optional[Future] = None
+    self.last_fetch_orbits_t = None
+    self.last_cached_t = None
+    self.save_ephemeris = save_ephemeris
+    self.load_cache()
+    self.posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)}
+
+  def load_cache(self):
+    cache = Params().get(EPHEMERIS_CACHE)
+    if not cache:
+      return
+    try:
+      cache = json.loads(cache, object_hook=deserialize_hook)
+      self.astro_dog.add_orbits(cache['orbits'])
+      self.astro_dog.add_navs(cache['nav'])
+      self.last_fetch_orbits_t = cache['last_fetch_orbits_t']
+    except json.decoder.JSONDecodeError:
+      cloudlog.exception("Error parsing cache")
+
+  def cache_ephemeris(self, t: GPSTime):
+    if self.save_ephemeris and (self.last_cached_t is None or t - self.last_cached_t > SECS_IN_MIN):
+      put_nonblocking(EPHEMERIS_CACHE, json.dumps(
+        {'version': CACHE_VERSION, 'last_fetch_orbits_t': self.last_fetch_orbits_t, 'orbits': self.astro_dog.orbits, 'nav': self.astro_dog.nav},
+        cls=CacheSerializer))
+      self.last_cached_t = t
+
+  def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False):
     if ublox_msg.which == 'measurementReport':
       report = ublox_msg.measurementReport
-      new_meas = read_raw_ublox(report)
       if report.gpsWeek > 0:
-        self.latest_time_msg = GPSTime(report.gpsWeek, report.rcvTow)
-      measurements = process_measurements(new_meas, self.astro_dog)
-      pos_fix = calc_pos_fix(measurements, min_measurements=4)
-      # To get a position fix a minimum of 5 measurements are needed.
-      # Each report can contain less and some measurements can't be processed.
-      corrected_measurements = []
-      if len(pos_fix) > 0 and linalg.norm(pos_fix[1]) < 100:
-        corrected_measurements = correct_measurements(measurements, pos_fix[0][:3], self.astro_dog)
+        latest_msg_t = GPSTime(report.gpsWeek, report.rcvTow)
+        self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block)
+      new_meas = read_raw_ublox(report)
+      processed_measurements = process_measurements(new_meas, self.astro_dog)
+
+      min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 4
+      pos_fix = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements)
 
       t = ublox_mono_time * 1e-9
-      self.update_localizer(pos_fix, t, corrected_measurements)
-      localizer_valid = self.localizer_valid(t)
+      kf_pos_std = None
+      if all(self.kf_valid(t)):
+        self.gnss_kf.predict(t)
+        kf_pos_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_POS].diagonal()))
+      # If localizer is valid use its position to correct measurements
+      if kf_pos_std is not None and linalg.norm(kf_pos_std) < 100:
+        est_pos = self.gnss_kf.x[GStates.ECEF_POS]
+      elif len(pos_fix) > 0 and abs(np.array(pos_fix[1])).mean() < 1000:
+        est_pos = pos_fix[0][:3]
+      else:
+        est_pos = None
+      corrected_measurements = []
+      if est_pos is not None:
+        corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog)
+
+      self.update_localizer(est_pos, t, corrected_measurements)
+      kf_valid = all(self.kf_valid(t))
 
       ecef_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
       ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist()
 
-      pos_std = self.gnss_kf.P[GStates.ECEF_POS].flatten().tolist()
-      vel_std = self.gnss_kf.P[GStates.ECEF_VELOCITY].flatten().tolist()
-
-      bearing_deg, bearing_std = get_bearing_from_gnss(ecef_pos, ecef_vel, vel_std)
+      pos_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_POS].diagonal())).tolist()
+      vel_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_VELOCITY].diagonal())).tolist()
 
       meas_msgs = [create_measurement_msg(m) for m in corrected_measurements]
       dat = messaging.new_message("gnssMeasurements")
       measurement_msg = log.LiveLocationKalman.Measurement.new_message
       dat.gnssMeasurements = {
-        "positionECEF": measurement_msg(value=ecef_pos, std=pos_std, valid=localizer_valid),
-        "velocityECEF": measurement_msg(value=ecef_vel, std=vel_std, valid=localizer_valid),
-        "bearingDeg": measurement_msg(value=[bearing_deg], std=[bearing_std], valid=localizer_valid),
+        "positionECEF": measurement_msg(value=ecef_pos, std=pos_std, valid=kf_valid),
+        "velocityECEF": measurement_msg(value=ecef_vel, std=vel_std, valid=kf_valid),
         "ubloxMonoTime": ublox_mono_time,
         "correctedMeasurements": meas_msgs
       }
       return dat
     elif ublox_msg.which == 'ephemeris':
       ephem = convert_ublox_ephem(ublox_msg.ephemeris)
-      self.astro_dog.add_ephems([ephem], self.astro_dog.nav)
+      self.astro_dog.add_navs({ephem.prn: [ephem]})
+      self.cache_ephemeris(t=ephem.epoch)
     # elif ublox_msg.which == 'ionoData':
     # todo add this. Needed to better correct messages offline. First fix ublox_msg.cc to sent them.
 
-  def update_localizer(self, pos_fix, t: float, measurements: List[GNSSMeasurement]):
+  def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]):
     # Check time and outputs are valid
-    if not self.localizer_valid(t):
-      # A position fix is needed when resetting the kalman filter.
-      if len(pos_fix) == 0:
-        return
-      post_est = pos_fix[0][:3].tolist()
-      filter_time = self.gnss_kf.filter.filter_time
-      if filter_time is None:
+    valid = self.kf_valid(t)
+    if not all(valid):
+      if not valid[0]:
         cloudlog.info("Init gnss kalman filter")
-      elif abs(t - filter_time) > MAX_TIME_GAP:
+      elif not valid[1]:
         cloudlog.error("Time gap of over 10s detected, gnss kalman reset")
-      else:
+      elif not valid[2]:
         cloudlog.error("Gnss kalman filter state is nan")
-      self.init_gnss_localizer(post_est)
+      else:
+        cloudlog.error("Gnss kalman std too far")
+
+      if est_pos is None:
+        cloudlog.info("Position fix not available when resetting kalman filter")
+        return
+      self.init_gnss_localizer(est_pos.tolist())
     if len(measurements) > 0:
       kf_add_observations(self.gnss_kf, t, measurements)
     else:
       # Ensure gnss filter is updated even with no new measurements
       self.gnss_kf.predict(t)
 
-  def localizer_valid(self, t: float):
+  def kf_valid(self, t: float):
     filter_time = self.gnss_kf.filter.filter_time
-    return filter_time is not None and (t - filter_time) < MAX_TIME_GAP and all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))
+    return [filter_time is not None,
+            filter_time is not None and abs(t - filter_time) < MAX_TIME_GAP,
+            all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS])),
+            linalg.norm(self.gnss_kf.P[GStates.ECEF_POS]) < 1e5]
 
   def init_gnss_localizer(self, est_pos):
     x_initial, p_initial_diag = np.copy(GNSSKalman.x_initial), np.copy(np.diagonal(GNSSKalman.P_initial))
@@ -107,21 +151,34 @@ class Laikad:
 
     self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag)
 
-  def orbit_thread(self, end_event: threading.Event):
-    while not end_event.is_set():
-      if self.latest_time_msg:
-        self.fetch_orbits(self.latest_time_msg)
-        time.sleep(0.1)
-
-  def fetch_orbits(self, t: GPSTime):
-    if self.latest_epoch_fetched < t + SECS_IN_MIN:
-      cloudlog.info("Start to download/parse orbits")
-      orbit_ephems = self.astro_dog.download_parse_orbit_data(t, skip_before_epoch=t - 2 * SECS_IN_HR)
-      if len(orbit_ephems) > 0:
-        cloudlog.info(f"downloaded and parsed correctly new orbits {len(orbit_ephems)}, Constellations:{set([e.prn[0] for e in orbit_ephems])}")
-        self.astro_dog.add_ephems(orbit_ephems, self.astro_dog.orbits)
-        latest_orbit = max(orbit_ephems, key=lambda e: e.epoch)  # type: ignore
-        self.latest_epoch_fetched = latest_orbit.epoch
+  def fetch_orbits(self, t: GPSTime, block):
+    if t not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or t - self.last_fetch_orbits_t > SECS_IN_HR):
+      astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types
+      if self.orbit_fetch_future is None:
+        self.orbit_fetch_future = self.orbit_fetch_executor.submit(get_orbit_data, t, *astro_dog_vars)
+        if block:
+          self.orbit_fetch_future.result()
+      if self.orbit_fetch_future.done():
+        ret = self.orbit_fetch_future.result()
+        self.last_fetch_orbits_t = t
+        if ret:
+          self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret
+          self.cache_ephemeris(t=t)
+        self.orbit_fetch_future = None
+
+
+def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types):
+  astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types)
+  cloudlog.info(f"Start to download/parse orbits for time {t.as_datetime()}")
+  start_time = time.monotonic()
+  data = None
+  try:
+    astro_dog.get_orbit_data(t, only_predictions=True)
+    data = (astro_dog.orbits, astro_dog.orbit_fetched_times)
+  except RuntimeError as e:
+    cloudlog.info(f"No orbit data found. {e}")
+  cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s")
+  return data
 
 
 def create_measurement_msg(meas: GNSSMeasurement):
@@ -153,36 +210,123 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe
     gnss_kf.predict_and_observe(t, kind, data)
 
 
-def get_bearing_from_gnss(ecef_pos, ecef_vel, vel_std):
-  # init orientation with direction of velocity
-  converter = coord.LocalCoord.from_ecef(ecef_pos)
+class CacheSerializer(json.JSONEncoder):
+
+  def default(self, o):
+    if isinstance(o, Ephemeris):
+      return o.to_json()
+    if isinstance(o, GPSTime):
+      return o.__dict__
+    if isinstance(o, np.ndarray):
+      return o.tolist()
+    return json.JSONEncoder.default(self, o)
+
+
+def deserialize_hook(dct):
+  if 'ephemeris' in dct:
+    return Ephemeris.from_json(dct)
+  if 'week' in dct:
+    return GPSTime(dct['week'], dct['tow'])
+  return dct
 
-  ned_vel = np.einsum('ij,j ->i', converter.ned_from_ecef_matrix, ecef_vel)
-  bearing = np.arctan2(ned_vel[1], ned_vel[0])
-  bearing_std = np.arctan2(np.linalg.norm(vel_std), np.linalg.norm(ned_vel))
-  return float(np.rad2deg(bearing)), float(bearing_std)
+
+def calc_pos_fix_gauss_newton(measurements, posfix_functions, x0=None, signal='C1C', min_measurements=6):
+  '''
+  Calculates gps fix using gauss newton method
+  To solve the problem a minimal of 4 measurements are required.
+    If Glonass is included 5 are required to solve for the additional free variable.
+  returns:
+  0 -> list with positions
+  '''
+  if x0 is None:
+    x0 = [0, 0, 0, 0, 0]
+  n = len(measurements)
+  if n < min_measurements:
+    return []
+
+  Fx_pos = pr_residual(measurements, posfix_functions, signal=signal)
+  x = gauss_newton(Fx_pos, x0)
+  residual, _ = Fx_pos(x, weight=1.0)
+  return x, residual
+
+
+def pr_residual(measurements, posfix_functions, signal='C1C'):
+  def Fx_pos(inp, weight=None):
+    vals, gradients = [], []
+
+    for meas in measurements:
+      pr = meas.observables[signal]
+      pr += meas.sat_clock_err * SPEED_OF_LIGHT
+
+      w = (1 / meas.observables_std[signal]) if weight is None else weight
+
+      val, *gradient = posfix_functions[meas.constellation_id](*inp, pr, *meas.sat_pos, w)
+      vals.append(val)
+      gradients.append(gradient)
+    return np.asarray(vals), np.asarray(gradients)
+
+  return Fx_pos
+
+
+def gauss_newton(fun, b, xtol=1e-8, max_n=25):
+  for _ in range(max_n):
+    # Compute function and jacobian on current estimate
+    r, J = fun(b)
+
+    # Update estimate
+    delta = np.linalg.pinv(J) @ r
+    b -= delta
+
+    # Check step size for stopping condition
+    if np.linalg.norm(delta) < xtol:
+      break
+  return b
+
+
+def get_posfix_sympy_fun(constellation):
+  # Unknowns
+  x, y, z = sympy.Symbol('x'), sympy.Symbol('y'), sympy.Symbol('z')
+  bc = sympy.Symbol('bc')
+  bg = sympy.Symbol('bg')
+  var = [x, y, z, bc, bg]
+
+  # Knowns
+  pr = sympy.Symbol('pr')
+  sat_x, sat_y, sat_z = sympy.Symbol('sat_x'), sympy.Symbol('sat_y'), sympy.Symbol('sat_z')
+  weight = sympy.Symbol('weight')
+
+  theta = EARTH_ROTATION_RATE * (pr - bc) / SPEED_OF_LIGHT
+  val = sympy.sqrt(
+    (sat_x * sympy.cos(theta) + sat_y * sympy.sin(theta) - x) ** 2 +
+    (sat_y * sympy.cos(theta) - sat_x * sympy.sin(theta) - y) ** 2 +
+    (sat_z - z) ** 2
+  )
+
+  if constellation == ConstellationId.GLONASS:
+    res = weight * (val - (pr - bc - bg))
+  elif constellation == ConstellationId.GPS:
+    res = weight * (val - (pr - bc))
+  else:
+    raise NotImplementedError(f"Constellation {constellation} not supported")
+
+  res = [res] + [sympy.diff(res, v) for v in var]
+
+  return sympy.lambdify([x, y, z, bc, bg, pr, sat_x, sat_y, sat_z, weight], res)
 
 
 def main():
   sm = messaging.SubMaster(['ubloxGnss'])
   pm = messaging.PubMaster(['gnssMeasurements'])
 
-  laikad = Laikad()
+  laikad = Laikad(save_ephemeris=True)
+  while True:
+    sm.update()
 
-  end_event = threading.Event()
-  threading.Thread(target=laikad.orbit_thread, args=(end_event,)).start()
-  try:
-    while not end_event.is_set():
-      sm.update()
-
-      if sm.updated['ubloxGnss']:
-        ublox_msg = sm['ubloxGnss']
-        msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss'])
-        if msg is not None:
-          pm.send('gnssMeasurements', msg)
-  except (KeyboardInterrupt, SystemExit):
-    end_event.set()
-    raise
+    if sm.updated['ubloxGnss']:
+      ublox_msg = sm['ubloxGnss']
+      msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss'])
+      if msg is not None:
+        pm.send('gnssMeasurements', msg)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py
index 75534efa5a..fe7d2e650b 100755
--- a/selfdrive/locationd/models/car_kf.py
+++ b/selfdrive/locationd/models/car_kf.py
@@ -7,7 +7,7 @@ import numpy as np
 
 from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from selfdrive.locationd.models.constants import ObservationKind
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 from rednose.helpers.kalmanfilter import KalmanFilter
 
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 0e83728e5c..ae67dc28ab 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -10,7 +10,7 @@ from common.realtime import config_realtime_process, DT_MDL
 from common.numpy_fast import clip
 from selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
 from selfdrive.locationd.models.constants import GENERATED_DIR
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 
 MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL  # Max 20 deg/s
diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py
index baa17792bd..01ea8fee27 100755
--- a/selfdrive/locationd/test/test_laikad.py
+++ b/selfdrive/locationd/test/test_laikad.py
@@ -1,12 +1,16 @@
 #!/usr/bin/env python3
+import time
 import unittest
 from datetime import datetime
+from unittest import mock
+from unittest.mock import Mock, patch
 
+from common.params import Params
 from laika.ephemeris import EphemerisType
 from laika.gps_time import GPSTime
-from laika.helpers import ConstellationId
+from laika.helpers import ConstellationId, TimeRangeHolder
 from laika.raw_gnss import GNSSMeasurement, read_raw_ublox
-from selfdrive.locationd.laikad import Laikad, create_measurement_msg
+from selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad, create_measurement_msg
 from selfdrive.test.openpilotci import get_url
 from tools.lib.logreader import LogReader
 
@@ -18,12 +22,14 @@ def get_log(segs=range(0)):
   return [m for m in logs if m.which() == 'ubloxGnss']
 
 
-def verify_messages(lr, laikad):
+def verify_messages(lr, laikad, return_one_success=False):
   good_msgs = []
   for m in lr:
-    msg = laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime)
+    msg = laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime, block=True)
     if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0:
       good_msgs.append(msg)
+      if return_one_success:
+        return msg
   return good_msgs
 
 
@@ -33,6 +39,9 @@ class TestLaikad(unittest.TestCase):
   def setUpClass(cls):
     cls.logs = get_log(range(1))
 
+  def setUp(self):
+    Params().delete(EPHEMERIS_CACHE)
+
   def test_create_msg_without_errors(self):
     gpstime = GPSTime.from_datetime(datetime.now())
     meas = GNSSMeasurement(ConstellationId.GPS, 1, gpstime.week, gpstime.tow, {'C1C': 0., 'D1C': 0.}, {'C1C': 0., 'D1C': 0.})
@@ -52,53 +61,107 @@ class TestLaikad(unittest.TestCase):
 
   def test_laika_online_nav_only(self):
     laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV)
+    # Disable fetch_orbits to test NAV only
+    laikad.fetch_orbits = Mock()
     correct_msgs = verify_messages(self.logs, laikad)
-
     correct_msgs_expected = 560
     self.assertEqual(correct_msgs_expected, len(correct_msgs))
     self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
-  def test_laika_offline(self):
-    # Set auto_update to false forces to use ephemeris messages
+  @mock.patch('laika.downloader.download_and_cache_file')
+  def test_laika_offline(self, downloader_mock):
+    downloader_mock.side_effect = IOError
     laikad = Laikad(auto_update=False)
     correct_msgs = verify_messages(self.logs, laikad)
-
     self.assertEqual(256, len(correct_msgs))
     self.assertEqual(256, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
-  def test_laika_offline_ephem_at_start(self):
-    # Test offline but process ephemeris msgs of segment first
-    laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV)
-    ephemeris_logs = [m for m in self.logs if m.ubloxGnss.which() == 'ephemeris']
-    correct_msgs = verify_messages(ephemeris_logs+self.logs, laikad)
-
-    self.assertEqual(554, len(correct_msgs))
-    self.assertGreaterEqual(554, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
-
-  def test_laika_get_orbits(self):
-    laikad = Laikad(auto_update=False)
-    first_gps_time = None
+  def get_first_gps_time(self):
     for m in self.logs:
       if m.ubloxGnss.which == 'measurementReport':
         new_meas = read_raw_ublox(m.ubloxGnss.measurementReport)
         if len(new_meas) != 0:
-          first_gps_time = new_meas[0].recv_time
-          break
-    # Pretend thread has loaded the orbits on startup by using the time of the first gps message.
-    laikad.fetch_orbits(first_gps_time)
-    self.assertEqual(31, len(laikad.astro_dog.orbits.keys()))
-    correct_msgs = verify_messages(self.logs, laikad)
-    correct_msgs_expected = 560
-    self.assertEqual(correct_msgs_expected, len(correct_msgs))
-    self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
+          return new_meas[0].recv_time
+
+  def test_laika_get_orbits(self):
+    laikad = Laikad(auto_update=False)
+    first_gps_time = self.get_first_gps_time()
+    # Pretend process has loaded the orbits on startup by using the time of the first gps message.
+    laikad.fetch_orbits(first_gps_time, block=True)
+    self.dict_has_values(laikad.astro_dog.orbits)
 
   @unittest.skip("Use to debug live data")
   def test_laika_get_orbits_now(self):
     laikad = Laikad(auto_update=False)
-    laikad.fetch_orbits(GPSTime.from_datetime(datetime.utcnow()))
-    print(laikad.latest_epoch_fetched.as_datetime())
-
-    print(min(laikad.astro_dog.orbits[list(laikad.astro_dog.orbits.keys())[0]], key=lambda e: e.epoch).epoch.as_datetime())
+    laikad.fetch_orbits(GPSTime.from_datetime(datetime.utcnow()), block=True)
+    prn = "G01"
+    self.assertGreater(len(laikad.astro_dog.orbits[prn]), 0)
+    prn = "R01"
+    self.assertGreater(len(laikad.astro_dog.orbits[prn]), 0)
+    print(min(laikad.astro_dog.orbits[prn], key=lambda e: e.epoch).epoch.as_datetime())
+
+  def test_get_orbits_in_process(self):
+    laikad = Laikad(auto_update=False)
+    has_orbits = False
+    for m in self.logs:
+      laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime, block=False)
+      if laikad.orbit_fetch_future is not None:
+        laikad.orbit_fetch_future.result()
+      vals = laikad.astro_dog.orbits.values()
+      has_orbits = len(vals) > 0 and max([len(v) for v in vals]) > 0
+      if has_orbits:
+        break
+    self.assertTrue(has_orbits)
+    self.assertGreater(len(laikad.astro_dog.orbit_fetched_times._ranges), 0)
+    self.assertEqual(None, laikad.orbit_fetch_future)
+
+  def test_cache(self):
+    laikad = Laikad(auto_update=True, save_ephemeris=True)
+    first_gps_time = self.get_first_gps_time()
+
+    def wait_for_cache():
+      max_time = 2
+      while Params().get(EPHEMERIS_CACHE) is None:
+        time.sleep(0.1)
+        max_time -= 0.1
+        if max_time == 0:
+          self.fail("Cache has not been written after 2 seconds")
+    # Test cache with no ephemeris
+    laikad.cache_ephemeris(t=GPSTime(0, 0))
+    wait_for_cache()
+    Params().delete(EPHEMERIS_CACHE)
+
+    laikad.astro_dog.get_navs(first_gps_time)
+    laikad.fetch_orbits(first_gps_time, block=True)
+
+    # Wait for cache to save
+    wait_for_cache()
+
+    # Check both nav and orbits separate
+    laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV)
+    # Verify orbits and nav are loaded from cache
+    self.dict_has_values(laikad.astro_dog.orbits)
+    self.dict_has_values(laikad.astro_dog.nav)
+    # Verify cache is working for only nav by running a segment
+    msg = verify_messages(self.logs, laikad, return_one_success=True)
+    self.assertIsNotNone(msg)
+
+    with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method:
+      # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently
+      laikad.astro_dog.orbit_fetched_times = TimeRangeHolder()
+      laikad.fetch_orbits(first_gps_time, block=False)
+      mock_method.assert_not_called()
+
+      # Verify cache is working for only orbits by running a segment
+      laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT)
+      msg = verify_messages(self.logs, laikad, return_one_success=True)
+      self.assertIsNotNone(msg)
+      # Verify orbit data is not downloaded
+      mock_method.assert_not_called()
+
+  def dict_has_values(self, dct):
+    self.assertGreater(len(dct), 0)
+    self.assertGreater(min([len(v) for v in dct.values()]), 0)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/loggerd/config.py b/selfdrive/loggerd/config.py
index 6cd20a68ab..168c9fba91 100644
--- a/selfdrive/loggerd/config.py
+++ b/selfdrive/loggerd/config.py
@@ -1,6 +1,6 @@
 import os
 from pathlib import Path
-from selfdrive.hardware import PC
+from system.hardware import PC
 
 if os.environ.get('LOG_ROOT', False):
   ROOT = os.environ['LOG_ROOT']
diff --git a/selfdrive/loggerd/deleter.py b/selfdrive/loggerd/deleter.py
index d745e91fb5..5606288024 100644
--- a/selfdrive/loggerd/deleter.py
+++ b/selfdrive/loggerd/deleter.py
@@ -2,7 +2,7 @@
 import os
 import shutil
 import threading
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.loggerd.config import ROOT, get_available_bytes, get_available_percent
 from selfdrive.loggerd.uploader import listdir_by_creation
 
diff --git a/selfdrive/loggerd/logger.h b/selfdrive/loggerd/logger.h
index ca08e64717..e7594cee88 100644
--- a/selfdrive/loggerd/logger.h
+++ b/selfdrive/loggerd/logger.h
@@ -13,7 +13,7 @@
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
 #include "common/swaglog.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 const std::string LOG_ROOT = Path::log_root();
 
diff --git a/selfdrive/loggerd/loggerd.h b/selfdrive/loggerd/loggerd.h
index 3b9b01a0fc..7e13e90e63 100644
--- a/selfdrive/loggerd/loggerd.h
+++ b/selfdrive/loggerd/loggerd.h
@@ -20,7 +20,7 @@
 #include "common/swaglog.h"
 #include "common/timing.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #include "selfdrive/loggerd/encoder/encoder.h"
 #include "selfdrive/loggerd/logger.h"
diff --git a/selfdrive/loggerd/tests/test_encoder.py b/selfdrive/loggerd/tests/test_encoder.py
index 49baa8a6e3..1b9bcef2d7 100755
--- a/selfdrive/loggerd/tests/test_encoder.py
+++ b/selfdrive/loggerd/tests/test_encoder.py
@@ -13,7 +13,7 @@ from tqdm import trange
 
 from common.params import Params
 from common.timeout import Timeout
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.loggerd.config import ROOT
 from selfdrive.manager.process_config import managed_processes
 from tools.lib.logreader import LogReader
diff --git a/selfdrive/loggerd/tests/test_loggerd.py b/selfdrive/loggerd/tests/test_loggerd.py
index 54f7aaaa2b..9dbc7ac332 100755
--- a/selfdrive/loggerd/tests/test_loggerd.py
+++ b/selfdrive/loggerd/tests/test_loggerd.py
@@ -17,7 +17,7 @@ from common.params import Params
 from common.timeout import Timeout
 from selfdrive.loggerd.config import ROOT
 from selfdrive.manager.process_config import managed_processes
-from selfdrive.version import get_version
+from system.version import get_version
 from tools.lib.logreader import LogReader
 from cereal.visionipc import VisionIpcServer, VisionStreamType
 from common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size
diff --git a/selfdrive/loggerd/tests/test_uploader.py b/selfdrive/loggerd/tests/test_uploader.py
index b8c01776ae..6090bbe2aa 100755
--- a/selfdrive/loggerd/tests/test_uploader.py
+++ b/selfdrive/loggerd/tests/test_uploader.py
@@ -6,7 +6,7 @@ import unittest
 import logging
 import json
 
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 import selfdrive.loggerd.uploader as uploader
 
 from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase
diff --git a/selfdrive/loggerd/uploader.py b/selfdrive/loggerd/uploader.py
index b7d8df861a..f97bafecb9 100644
--- a/selfdrive/loggerd/uploader.py
+++ b/selfdrive/loggerd/uploader.py
@@ -15,10 +15,10 @@ import cereal.messaging as messaging
 from common.api import Api
 from common.params import Params
 from common.realtime import set_core_affinity
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.loggerd.config import ROOT
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 NetworkType = log.DeviceState.NetworkType
 UPLOAD_ATTR_NAME = 'user.upload'
diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py
index 8421605a55..10b4c0a4b8 100755
--- a/selfdrive/manager/build.py
+++ b/selfdrive/manager/build.py
@@ -10,9 +10,9 @@ from pathlib import Path
 from common.basedir import BASEDIR
 from common.spinner import Spinner
 from common.text_window import TextWindow
-from selfdrive.hardware import AGNOS
-from selfdrive.swaglog import cloudlog, add_file_handler
-from selfdrive.version import is_dirty
+from system.hardware import AGNOS
+from system.swaglog import cloudlog, add_file_handler
+from system.version import is_dirty
 
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index cd7817fa97..140c7f1d44 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -13,13 +13,13 @@ from common.basedir import BASEDIR
 from common.params import Params, ParamKeyType
 from common.text_window import TextWindow
 from selfdrive.boardd.set_time import set_time
-from selfdrive.hardware import HARDWARE, PC
+from system.hardware import HARDWARE, PC
 from selfdrive.manager.helpers import unblock_stdout
 from selfdrive.manager.process import ensure_running
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
-from selfdrive.swaglog import cloudlog, add_file_handler
-from selfdrive.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
+from system.swaglog import cloudlog, add_file_handler
+from system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
                               terms_version, training_version
 
 
diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py
index e2bb41c217..dabfbe4ee0 100644
--- a/selfdrive/manager/process.py
+++ b/selfdrive/manager/process.py
@@ -16,8 +16,8 @@ from cereal import car
 from common.basedir import BASEDIR
 from common.params import Params
 from common.realtime import sec_since_boot
-from selfdrive.swaglog import cloudlog
-from selfdrive.hardware import HARDWARE
+from system.swaglog import cloudlog
+from system.hardware import HARDWARE
 from cereal import log
 
 WATCHDOG_FN = "/dev/shm/wd_"
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index 5d996d1169..b3efe7e2de 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -2,7 +2,7 @@ import os
 
 from cereal import car
 from common.params import Params
-from selfdrive.hardware import PC
+from system.hardware import PC
 from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
@@ -18,16 +18,19 @@ def logging(started, params, CP: car.CarParams) -> bool:
   return started and run
 
 procs = [
+  NativeProcess("clocksd", "system/clocksd", ["./clocksd"]),
+  NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),
+  NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),
+  PythonProcess("logmessaged", "system.logmessaged", offroad=True),
+  PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True),
+
   DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
   # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
   NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], unkillable=True, callback=driverview),
-  NativeProcess("clocksd", "system/clocksd", ["./clocksd"]),
   NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
-  NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),
   NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]),
   NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
-  NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),
   NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC),
   NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),
@@ -38,14 +41,12 @@ procs = [
   PythonProcess("controlsd", "selfdrive.controls.controlsd"),
   PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview),
-  PythonProcess("logmessaged", "selfdrive.logmessaged", offroad=True),
   PythonProcess("navd", "selfdrive.navd.navd"),
   PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
   PythonProcess("plannerd", "selfdrive.controls.plannerd"),
   PythonProcess("radard", "selfdrive.controls.radard"),
   PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True),
-  PythonProcess("timezoned", "selfdrive.timezoned", enabled=not PC, offroad=True),
   PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True),
   PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True),
   PythonProcess("uploader", "selfdrive.loggerd.uploader", offroad=True),
diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py
index 31949de0b9..a84ff264d2 100755
--- a/selfdrive/manager/test/test_manager.py
+++ b/selfdrive/manager/test/test_manager.py
@@ -5,14 +5,13 @@ import time
 import unittest
 
 import selfdrive.manager.manager as manager
-from selfdrive.hardware import AGNOS, HARDWARE
 from selfdrive.manager.process import DaemonProcess
 from selfdrive.manager.process_config import managed_processes
+from system.hardware import AGNOS, HARDWARE
 
 os.environ['FAKEUPLOAD'] = "1"
 
-# TODO: make eon fast
-MAX_STARTUP_TIME = 15
+MAX_STARTUP_TIME = 3
 ALL_PROCESSES = [p.name for p in managed_processes.values() if (type(p) is not DaemonProcess) and p.enabled and (p.name not in ['updated', 'pandad'])]
 
 
@@ -54,9 +53,6 @@ class TestManager(unittest.TestCase):
         # TODO: make Qt UI exit gracefully
         continue
 
-      # Make sure the process is actually dead
-      managed_processes[p].stop()
-
       # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code
       exit_codes = [0, 1]
       if managed_processes[p].sigkill:
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 1f1c661c8b..3e9738d864 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -65,22 +65,14 @@ common_model = lenv.Object(common_src)
 if use_thneed and arch == "larch64":
   fn = File("models/supercombo").abspath
   compiler = lenv.Program('thneed/compile', ["thneed/compile.cc"]+common_model, LIBS=libs)
-  cmd = f"cd {Dir('.').abspath} && {compiler[0].abspath} --in {fn}.dlc --out {fn}_badweights.thneed --binary --optimize"
+  cmd = f"cd {Dir('.').abspath} && {compiler[0].abspath} --in {fn}.dlc --out {fn}.thneed --binary --optimize"
 
   lib_paths = ':'.join(Dir(p).abspath for p in lenv["LIBPATH"])
   kernel_path = os.path.join(Dir('.').abspath, "thneed", "kernels")
   cenv = Environment(ENV={'LD_LIBRARY_PATH': f"{lib_paths}:{lenv['ENV']['LD_LIBRARY_PATH']}", 'KERNEL_PATH': kernel_path})
 
   kernels = [os.path.join(kernel_path, x) for x in os.listdir(kernel_path) if x.endswith(".cl")]
-  cenv.Command(fn + "_badweights.thneed", [fn + ".dlc", kernels, compiler], cmd)
-
-  from selfdrive.modeld.thneed.weights_fixup import weights_fixup
-  def weights_fixup_action(target, source, env):
-    weights_fixup(target[0].abspath, source[0].abspath, source[1].abspath)
-
-  env = Environment(BUILDERS = {'WeightFixup' : Builder(action = weights_fixup_action)})
-  env.WeightFixup(target=fn + ".thneed", source=[fn+"_badweights.thneed", fn+".dlc"])
-
+  cenv.Command(fn + ".thneed", [fn + ".dlc", kernels, compiler], cmd)
 
 lenv.Program('_dmonitoringmodeld', [
     "dmonitoringmodeld.cc",
diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index 10cc2fe56e..0aac9b3c4a 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -11,7 +11,7 @@
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/modeld/models/driving.h"
 
 ExitHandler do_exit;
diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc
index e134ad3a5a..71da8dad53 100644
--- a/selfdrive/modeld/models/dmonitoring.cc
+++ b/selfdrive/modeld/models/dmonitoring.cc
@@ -6,7 +6,7 @@
 #include "common/modeldata.h"
 #include "common/params.h"
 #include "common/timing.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #include "selfdrive/modeld/models/dmonitoring.h"
 
diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index 97e65fbc0e..a691051636 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -245,7 +245,7 @@ struct ModelOutput {
 
 constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float);
 #ifdef TEMPORAL
-  constexpr int TEMPORAL_SIZE = 512;
+  constexpr int TEMPORAL_SIZE = 512+256;
 #else
   constexpr int TEMPORAL_SIZE = 0;
 #endif
diff --git a/selfdrive/modeld/models/supercombo.dlc b/selfdrive/modeld/models/supercombo.dlc
index 23f6d904fb..90f7a2e65b 100644
--- a/selfdrive/modeld/models/supercombo.dlc
+++ b/selfdrive/modeld/models/supercombo.dlc
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:027cbb1fabae369878271cb0e3505071a8bdaa07473fad9a0b2e8d695c5dc1ff
-size 76725611
+oid sha256:4c2cb3a3054f3292bbe538d6b793908dc2e234c200802d41b6766d3cb51b0b44
+size 101662751
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 9023c18dd7..0493398560 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:484976ea5bd4ddcabc82e95faf30d7311a27802c1e337472558699fa2395a499
-size 77472267
+oid sha256:96b60d0bfd1386c93b4f79195aa1c5e77b23e0250578a308ee2c58857ed5eb49
+size 102570834
diff --git a/selfdrive/modeld/thneed/compile.cc b/selfdrive/modeld/thneed/compile.cc
index 8698ce482e..a2f55ffd97 100644
--- a/selfdrive/modeld/thneed/compile.cc
+++ b/selfdrive/modeld/thneed/compile.cc
@@ -3,9 +3,9 @@
 
 #include "selfdrive/modeld/runners/snpemodel.h"
 #include "selfdrive/modeld/thneed/thneed.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
-#define TEMPORAL_SIZE 512
+#define TEMPORAL_SIZE 512+256
 #define DESIRE_LEN 8
 #define TRAFFIC_CONVENTION_LEN 2
 
diff --git a/selfdrive/modeld/thneed/optimizer.cc b/selfdrive/modeld/thneed/optimizer.cc
index 03d20ff386..39737d3d76 100644
--- a/selfdrive/modeld/thneed/optimizer.cc
+++ b/selfdrive/modeld/thneed/optimizer.cc
@@ -9,7 +9,7 @@
 
 extern map<cl_program, string> g_program_source;
 
-static int is_same_size_image(cl_mem a, cl_mem b) {
+/*static int is_same_size_image(cl_mem a, cl_mem b) {
   size_t a_width, a_height, a_depth, a_array_size, a_row_pitch, a_slice_pitch;
   clGetImageInfo(a, CL_IMAGE_WIDTH, sizeof(a_width), &a_width, NULL);
   clGetImageInfo(a, CL_IMAGE_HEIGHT, sizeof(a_height), &a_height, NULL);
@@ -29,7 +29,7 @@ static int is_same_size_image(cl_mem a, cl_mem b) {
   return (a_width == b_width) && (a_height == b_height) &&
     (a_depth == b_depth) && (a_array_size == b_array_size) &&
     (a_row_pitch == b_row_pitch) && (a_slice_pitch == b_slice_pitch);
-}
+}*/
 
 static cl_mem make_image_like(cl_context context, cl_mem val) {
   cl_image_format format;
@@ -138,7 +138,7 @@ int Thneed::optimize() {
 
       // delete useless copy layers
       // saves ~0.7 ms
-      if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") {
+      /*if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") {
         string in = kq[i]->args[kq[i]->get_arg_num("input")];
         string out = kq[i]->args[kq[i]->get_arg_num("output")];
         if (is_same_size_image(*(cl_mem*)in.data(), *(cl_mem*)out.data())) {
@@ -148,7 +148,7 @@ int Thneed::optimize() {
 
           kq.erase(kq.begin()+i); --i;
         }
-      }
+      }*/
 
       // NOTE: if activations/accumulation are done in the wrong order, this will be wrong
 
diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
index 52db9b1d08..509653a46d 100755
--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@@ -14,7 +14,7 @@ from selfdrive.navd.helpers import (Coordinate, coordinate_from_param,
                                     distance_along_geometry, maxspeed_to_ms,
                                     minimum_distance,
                                     parse_banner_instructions)
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 REROUTE_DISTANCE = 25
 MANEUVER_TRANSITION_THRESHOLD = 10
@@ -32,6 +32,7 @@ class RouteEngine:
     self.last_bearing = None
 
     self.gps_ok = False
+    self.localizer_valid = False
 
     self.nav_destination = None
     self.step_idx = None
@@ -73,9 +74,9 @@ class RouteEngine:
     location = self.sm['liveLocationKalman']
     self.gps_ok = location.gpsOK
 
-    localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
+    self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
 
-    if localizer_valid:
+    if self.localizer_valid:
       self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
       self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
 
@@ -202,7 +203,7 @@ class RouteEngine:
       if along_geometry < distance_along_geometry(geometry, geometry[closest_idx]):
         closest = geometry[closest_idx - 1]
 
-    if 'maxspeed' in closest.annotations:
+    if ('maxspeed' in closest.annotations) and self.localizer_valid:
       msg.navInstruction.speedLimit = closest.annotations['maxspeed']
 
     # Speed limit sign type
diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py
index e0861c0d9a..3aa6d4b072 100755
--- a/selfdrive/sensord/rawgps/rawgpsd.py
+++ b/selfdrive/sensord/rawgps/rawgpsd.py
@@ -10,7 +10,7 @@ from struct import unpack_from, calcsize, pack
 
 import cereal.messaging as messaging
 from cereal import log
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
 from selfdrive.sensord.rawgps.structs import dict_unpacker
diff --git a/selfdrive/sensord/test/test_sensord.py b/selfdrive/sensord/test/test_sensord.py
index 96d8891265..9fd918c971 100755
--- a/selfdrive/sensord/test/test_sensord.py
+++ b/selfdrive/sensord/test/test_sensord.py
@@ -4,7 +4,7 @@ import time
 import unittest
 
 import cereal.messaging as messaging
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.test.helpers import with_processes
 
 TEST_TIMESPAN = 10
diff --git a/selfdrive/sentry.py b/selfdrive/sentry.py
index 5f22bf18e0..aa409ea394 100644
--- a/selfdrive/sentry.py
+++ b/selfdrive/sentry.py
@@ -5,9 +5,9 @@ from sentry_sdk.integrations.threading import ThreadingIntegration
 
 from common.params import Params
 from selfdrive.athena.registration import is_registered_device
-from selfdrive.hardware import HARDWARE, PC
-from selfdrive.swaglog import cloudlog
-from selfdrive.version import get_branch, get_commit, get_origin, get_version, \
+from system.hardware import HARDWARE, PC
+from system.swaglog import cloudlog
+from system.version import get_branch, get_commit, get_origin, get_version, \
                               is_comma_remote, is_dirty, is_tested_branch
 
 
diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py
index 5755e5111b..7dc002727e 100755
--- a/selfdrive/statsd.py
+++ b/selfdrive/statsd.py
@@ -9,10 +9,10 @@ from typing import NoReturn, Union, List, Dict
 
 from common.params import Params
 from cereal.messaging import SubMaster
-from selfdrive.swaglog import cloudlog
-from selfdrive.hardware import HARDWARE
+from system.swaglog import cloudlog
+from system.hardware import HARDWARE
 from common.file_helpers import atomic_write_in_dir
-from selfdrive.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty
+from system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty
 from selfdrive.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
 
 
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index 5abc0d964f..8cc996c28d 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -2,9 +2,9 @@ import os
 import time
 from functools import wraps
 
-from selfdrive.hardware import PC
+from system.hardware import PC
 from selfdrive.manager.process_config import managed_processes
-from selfdrive.version import training_version, terms_version
+from system.version import training_version, terms_version
 
 
 def set_params_enabled():
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index b83629c76a..f3bb286635 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -11,12 +11,12 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType
 from common.spinner import Spinner
 from common.timeout import Timeout
 from common.transformations.camera import get_view_frame_from_road_frame, tici_f_frame_size, tici_d_frame_size
-from selfdrive.hardware import PC
+from system.hardware import PC
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.test.openpilotci import BASE_URL, get_url
 from selfdrive.test.process_replay.compare_logs import compare_logs, save_log
 from selfdrive.test.process_replay.test_processes import format_diff
-from selfdrive.version import get_commit
+from system.version import get_commit
 from tools.lib.framereader import FrameReader
 from tools.lib.logreader import LogReader
 
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 90520f2619..54c2ed54ad 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-f74ab97371be93fdc28333e5ea12bbb78c3a32d0
+629eaa7b26d1721a71547f9de880f99732cb27f3
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 1eda9bc7f5..b016eb1c9f 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -14,6 +14,7 @@ from cereal import car, log
 from cereal.services import service_list
 from common.params import Params
 from common.timeout import Timeout
+from panda.python import ALTERNATIVE_EXPERIENCE
 from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.car.car_helpers import get_car, interfaces
 from selfdrive.test.process_replay.helpers import OpenpilotPrefix
@@ -347,7 +348,7 @@ def replay_process(cfg, lr, fingerprint=None):
     else:
       return cpp_replay_process(cfg, lr, fingerprint)
 
-def setup_env(simulation=False):
+def setup_env(simulation=False, CP=None):
   params = Params()
   params.clear_all()
   params.put_bool("OpenpilotEnabledToggle", True)
@@ -358,12 +359,25 @@ def setup_env(simulation=False):
 
   os.environ["NO_RADAR_SLEEP"] = "1"
   os.environ["REPLAY"] = "1"
+  os.environ['SKIP_FW_QUERY'] = ""
+  os.environ['FINGERPRINT'] = ""
 
   if simulation:
     os.environ["SIMULATION"] = "1"
   elif "SIMULATION" in os.environ:
     del os.environ["SIMULATION"]
 
+  # Regen or python process
+  if CP is not None:
+    if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS:
+      params.put_bool("DisengageOnAccelerator", False)
+
+    if CP.fingerprintSource == "fw" and CP.carFingerprint in FW_VERSIONS:
+      params.put("CarParamsCache", CP.as_builder().to_bytes())
+    else:
+      os.environ['SKIP_FW_QUERY'] = "1"
+      os.environ['FINGERPRINT'] = CP.carFingerprint
+
 def python_replay_process(cfg, lr, fingerprint=None):
   sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
   pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can']
@@ -378,30 +392,13 @@ def python_replay_process(cfg, lr, fingerprint=None):
   all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
   pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
 
-  setup_env()
-
-  # TODO: remove after getting new route for civic & accord
-  migration = {
-    "HONDA CIVIC 2016 TOURING": "HONDA CIVIC 2016",
-    "HONDA ACCORD 2018 SPORT 2T": "HONDA ACCORD 2018",
-    "HONDA ACCORD 2T 2018": "HONDA ACCORD 2018",
-    "Mazda CX-9 2021": "MAZDA CX-9 2021",
-  }
-
   if fingerprint is not None:
     os.environ['SKIP_FW_QUERY'] = "1"
     os.environ['FINGERPRINT'] = fingerprint
+    setup_env()
   else:
-    os.environ['SKIP_FW_QUERY'] = ""
-    os.environ['FINGERPRINT'] = ""
-    for msg in lr:
-      if msg.which() == 'carParams':
-        car_fingerprint = migration.get(msg.carParams.carFingerprint, msg.carParams.carFingerprint)
-        if msg.carParams.fingerprintSource == "fw" and (car_fingerprint in FW_VERSIONS):
-          Params().put("CarParamsCache", msg.carParams.as_builder().to_bytes())
-        else:
-          os.environ['SKIP_FW_QUERY'] = "1"
-          os.environ['FINGERPRINT'] = car_fingerprint
+    CP = [m for m in lr if m.which() == 'carParams'][0].carParams
+    setup_env(CP=CP)
 
   assert(type(managed_processes[cfg.proc_name]) is PythonProcess)
   managed_processes[cfg.proc_name].prepare()
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 3a9b1d9479..8ed68d5bdd 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-0e18bb3317437f2cad6d0a5782a9222eda655d58
+ed1dfb8b155ebcd8fdad4e06462b3bb7869fc67b
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index 653efaf32c..dfc62a4558 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -15,7 +15,6 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType
 from common.params import Params
 from common.realtime import Ratekeeper, DT_MDL, DT_DMON, sec_since_boot
 from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size, tici_d_frame_size
-from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.manager.process import ensure_running
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.test.process_replay.process_replay import FAKEDATA, setup_env, check_enabled
@@ -181,28 +180,12 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
   if frs is None:
     frs = dict()
 
-  setup_env()
   params = Params()
-
   os.environ["LOG_ROOT"] = outdir
-  os.environ['SKIP_FW_QUERY'] = ""
-  os.environ['FINGERPRINT'] = ""
-
-  # TODO: remove after getting new route for Mazda
-  fp_migration = {
-    "Mazda CX-9 2021": "MAZDA CX-9 2021",
-  }
-  # TODO: remove after getting new route for Subaru
-  fingerprint_problem = ["SUBARU IMPREZA LIMITED 2019"]
 
   for msg in lr:
     if msg.which() == 'carParams':
-      car_fingerprint = fp_migration.get(msg.carParams.carFingerprint, msg.carParams.carFingerprint)
-      if len(msg.carParams.carFw) and (car_fingerprint in FW_VERSIONS) and (car_fingerprint not in fingerprint_problem):
-        params.put("CarParamsCache", msg.carParams.as_builder().to_bytes())
-      else:
-        os.environ['SKIP_FW_QUERY'] = "1"
-        os.environ['FINGERPRINT'] = car_fingerprint
+      setup_env(CP=msg.carParams)
     elif msg.which() == 'liveCalibration':
       params.put("CalibrationParams", msg.as_builder().to_bytes())
 
diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py
index 765e5c3b68..c3ea1d41e1 100755
--- a/selfdrive/test/process_replay/regen_all.py
+++ b/selfdrive/test/process_replay/regen_all.py
@@ -8,26 +8,28 @@ from tqdm import tqdm
 from selfdrive.test.process_replay.helpers import OpenpilotPrefix
 from selfdrive.test.process_replay.regen import regen_and_save
 from selfdrive.test.process_replay.test_processes import FAKEDATA, original_segments as segments
+from tools.lib.route import SegmentName
 
-def regen_job(segment):
+
+def regen_job(segment, disable_tqdm):
   with OpenpilotPrefix():
-    route = segment[1].rsplit('--', 1)[0]
-    sidx = int(segment[1].rsplit('--', 1)[1])
-    fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for i in range(11))
+    sn = SegmentName(segment[1])
+    fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11))
     try:
-      relr = regen_and_save(route, sidx, upload=True, use_route_meta=False, outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=True)
+      relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=True, use_route_meta=False, outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm)
       relr = '|'.join(relr.split('/')[-2:])
       return f'  ("{segment[0]}", "{relr}"), '
     except Exception as e:
       return f"  {segment} failed: {str(e)}"
 
+
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Generate new segments from old ones")
   parser.add_argument("-j", "--jobs", type=int, default=1)
   args = parser.parse_args()
 
   with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
-    p = list(pool.map(regen_job, segments))
+    p = list(pool.map(regen_job, segments, [args.jobs > 1] * args.jobs))
     msg = "Copy these new segments into test_processes.py:"
     for seg in tqdm(p, desc="Generating segments"):
       msg += "\n" + str(seg)
diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py
index a17c71b602..eff77fc479 100755
--- a/selfdrive/test/process_replay/test_debayer.py
+++ b/selfdrive/test/process_replay/test_debayer.py
@@ -6,10 +6,10 @@ import numpy as np
 
 import pyopencl as cl  # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip install pyopencl`
 
-from selfdrive.hardware import PC, TICI
+from system.hardware import PC, TICI
 from common.basedir import BASEDIR
 from selfdrive.test.openpilotci import BASE_URL, get_url
-from selfdrive.version import get_commit
+from system.version import get_commit
 from selfdrive.camerad.snapshot.snapshot import yuv_to_rgb
 from tools.lib.logreader import LogReader
 from tools.lib.filereader import FileReader
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index c1b5b85391..25fbd210cc 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -11,7 +11,7 @@ from selfdrive.car.car_helpers import interface_names
 from selfdrive.test.openpilotci import get_url, upload_file
 from selfdrive.test.process_replay.compare_logs import compare_logs, save_log
 from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_enabled, replay_process
-from selfdrive.version import get_commit
+from system.version import get_commit
 from tools.lib.filereader import FileReader
 from tools.lib.logreader import LogReader
 
@@ -93,8 +93,7 @@ def test_process(cfg, lr, ref_log_path, ignore_fields=None, ignore_msgs=None):
   # check to make sure openpilot is engaged in the route
   if cfg.proc_name == "controlsd":
     if not check_enabled(log_msgs):
-      segment = os.path.basename(ref_log_path).split("/")[-1].split("_")[0]
-      raise Exception(f"Route never enabled: {segment}")
+      raise Exception(f"Route never enabled: {ref_log_path}")
 
   try:
     return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 6cf53a046e..3586f86f12 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -27,7 +27,7 @@ PROCS = {
   "./camerad": 16.5,
   "./locationd": 9.1,
   "selfdrive.controls.plannerd": 11.7,
-  "./_ui": 26.4,
+  "./_ui": 19.2,
   "selfdrive.locationd.paramsd": 9.0,
   "./_sensord": 6.17,
   "selfdrive.controls.radard": 4.5,
@@ -39,7 +39,7 @@ PROCS = {
   "./_soundd": 1.0,
   "selfdrive.monitoring.dmonitoringd": 1.90,
   "./proclogd": 1.54,
-  "selfdrive.logmessaged": 0.2,
+  "system.logmessaged": 0.2,
   "./clocksd": 0.02,
   "./ubloxd": 0.02,
   "selfdrive.tombstoned": 0,
diff --git a/selfdrive/thermald/fan_controller.py b/selfdrive/thermald/fan_controller.py
index b1c7013297..2094faeaa7 100644
--- a/selfdrive/thermald/fan_controller.py
+++ b/selfdrive/thermald/fan_controller.py
@@ -3,7 +3,7 @@ from abc import ABC, abstractmethod
 
 from common.realtime import DT_TRML
 from common.numpy_fast import interp
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.controls.lib.pid import PIDController
 
 class BaseFanController(ABC):
diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py
index d7a1f2a360..9f009d3265 100644
--- a/selfdrive/thermald/power_monitoring.py
+++ b/selfdrive/thermald/power_monitoring.py
@@ -4,8 +4,8 @@ from typing import Optional
 from cereal import log
 from common.params import Params, put_nonblocking
 from common.realtime import sec_since_boot
-from selfdrive.hardware import HARDWARE
-from selfdrive.swaglog import cloudlog
+from system.hardware import HARDWARE
+from system.swaglog import cloudlog
 from selfdrive.statsd import statlog
 
 CAR_VOLTAGE_LOW_PASS_K = 0.091 # LPF gain for 5s tau (dt/tau / (dt/tau + 1))
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 4df1e072b8..6cf5c428a8 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -17,13 +17,13 @@ from common.filter_simple import FirstOrderFilter
 from common.params import Params
 from common.realtime import DT_TRML, sec_since_boot
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
-from selfdrive.hardware import HARDWARE, TICI, AGNOS
+from system.hardware import HARDWARE, TICI, AGNOS
 from selfdrive.loggerd.config import get_available_percent
 from selfdrive.statsd import statlog
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.thermald.power_monitoring import PowerMonitoring
 from selfdrive.thermald.fan_controller import TiciFanController
-from selfdrive.version import terms_version, training_version
+from system.version import terms_version, training_version
 
 ThermalStatus = log.DeviceState.ThermalStatus
 NetworkType = log.DeviceState.NetworkType
@@ -220,7 +220,7 @@ def thermald_thread(end_event, hw_queue):
         if TICI:
           fan_controller = TiciFanController()
 
-    elif (sec_since_boot() - sm.rcv_time['pandaStates']/1e9) > DISCONNECT_TIMEOUT:
+    elif (sec_since_boot() - sm.rcv_time['pandaStates']) > DISCONNECT_TIMEOUT:
       if onroad_conditions["ignition"]:
         onroad_conditions["ignition"] = False
         cloudlog.error("panda timed out onroad")
@@ -249,7 +249,7 @@ def thermald_thread(end_event, hw_queue):
     current_filter.update(msg.deviceState.batteryCurrent / 1e6)
 
     max_comp_temp = temp_filter.update(
-      max(max(msg.deviceState.cpuTempC), msg.deviceState.memoryTempC, max(msg.deviceState.gpuTempC), max(msg.deviceState.pmicTempC))
+      max(max(msg.deviceState.cpuTempC), msg.deviceState.memoryTempC, max(msg.deviceState.gpuTempC))
     )
 
     if fan_controller is not None:
diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py
index 1d0f8532db..0045e0766c 100755
--- a/selfdrive/tombstoned.py
+++ b/selfdrive/tombstoned.py
@@ -12,8 +12,8 @@ from typing import NoReturn
 from common.file_helpers import mkdirs_exists_ok
 from selfdrive.loggerd.config import ROOT
 import selfdrive.sentry as sentry
-from selfdrive.swaglog import cloudlog
-from selfdrive.version import get_commit
+from system.swaglog import cloudlog
+from system.version import get_commit
 
 MAX_SIZE = 1_000_000 * 100  # allow up to 100M
 MAX_TOMBSTONE_FN_LEN = 62  # 85 - 23 ("<dongle id>/crash/")
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 47c4ac2a51..28fcc5f56f 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -5,6 +5,9 @@ Import('qt_env', 'arch', 'common', 'messaging', 'visionipc',
 base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
              'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
 
+if arch == 'larch64':
+  base_libs.append('EGL')
+
 maps = arch in ['larch64', 'x86_64']
 
 if maps and arch == 'x86_64':
diff --git a/selfdrive/ui/main.cc b/selfdrive/ui/main.cc
index cffa459622..1eecd78b19 100644
--- a/selfdrive/ui/main.cc
+++ b/selfdrive/ui/main.cc
@@ -2,7 +2,7 @@
 
 #include <QApplication>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/window.h"
diff --git a/selfdrive/ui/qt/api.cc b/selfdrive/ui/qt/api.cc
index 94beb12186..84e1a4032e 100644
--- a/selfdrive/ui/qt/api.cc
+++ b/selfdrive/ui/qt/api.cc
@@ -14,7 +14,7 @@
 
 #include "common/params.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/util.h"
 
 namespace CommaApi {
diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc
index 83576eb630..2b2c27418e 100644
--- a/selfdrive/ui/qt/maps/map_helpers.cc
+++ b/selfdrive/ui/qt/maps/map_helpers.cc
@@ -4,7 +4,7 @@
 #include <QJsonObject>
 
 #include "common/params.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/api.h"
 
 QString get_mapbox_token() {
diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc
index 9c2088b1d7..418ccd3179 100644
--- a/selfdrive/ui/qt/offroad/networking.cc
+++ b/selfdrive/ui/qt/offroad/networking.cc
@@ -28,9 +28,9 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) {
   vlayout->setContentsMargins(20, 20, 20, 20);
   if (show_advanced) {
     QPushButton* advancedSettings = new QPushButton("Advanced");
-    advancedSettings->setObjectName("advancedBtn");
+    advancedSettings->setObjectName("advanced_btn");
     advancedSettings->setStyleSheet("margin-right: 30px;");
-    advancedSettings->setFixedSize(350, 100);
+    advancedSettings->setFixedSize(400, 100);
     connect(advancedSettings, &QPushButton::clicked, [=]() { main_layout->setCurrentWidget(an); });
     vlayout->addSpacing(10);
     vlayout->addWidget(advancedSettings, 0, Qt::AlignRight);
@@ -55,16 +55,18 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) {
   setAutoFillBackground(true);
   setPalette(pal);
 
-  // TODO: revisit pressed colors
   setStyleSheet(R"(
-    #wifiWidget > QPushButton, #back_btn, #advancedBtn {
+    #wifiWidget > QPushButton, #back_btn, #advanced_btn {
       font-size: 50px;
       margin: 0px;
       padding: 15px;
       border-width: 0;
       border-radius: 30px;
       color: #dddddd;
-      background-color: #444444;
+      background-color: #393939;
+    }
+    #back_btn:pressed, #advanced_btn:pressed {
+      background-color:  #4a4a4a;
     }
   )");
   main_layout->setCurrentWidget(wifiScreen);
@@ -118,7 +120,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   // Back button
   QPushButton* back = new QPushButton("Back");
   back->setObjectName("back_btn");
-  back->setFixedSize(500, 100);
+  back->setFixedSize(400, 100);
   connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
   main_layout->addWidget(back, 0, Qt::AlignLeft);
 
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index ac6f1f1ba0..175e6cf5a3 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -14,7 +14,7 @@
 
 #include "common/params.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
 #include "selfdrive/ui/qt/widgets/input.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index ce61c094bd..38541ef2d5 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -174,17 +174,24 @@ void NvgWindow::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
   const auto cs = sm["controlsState"].getControlsState();
 
-  float maxspeed = cs.getVCruise();
-  bool cruise_set = maxspeed > 0 && (int)maxspeed != SET_SPEED_NA;
+  float set_speed = cs.getVCruise();
+  bool cruise_set = set_speed > 0 && (int)set_speed != SET_SPEED_NA;
   if (cruise_set && !s.scene.is_metric) {
-    maxspeed *= KM_TO_MILE;
+    set_speed *= KM_TO_MILE;
   }
-  QString maxspeed_str = cruise_set ? QString::number(std::nearbyint(maxspeed)) : "N/A";
   float cur_speed = std::max(0.0, sm["carState"].getCarState().getVEgo() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH));
 
+  auto speed_limit_sign = sm["navInstruction"].getNavInstruction().getSpeedLimitSign();
+  float speed_limit = sm["navInstruction"].getValid() ? sm["navInstruction"].getNavInstruction().getSpeedLimit() : 0.0;
+  speed_limit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
+
+  setProperty("speedLimit", speed_limit);
+  setProperty("has_us_speed_limit", speed_limit > 1 && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD);
+  setProperty("has_eu_speed_limit", speed_limit > 1 && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
+
   setProperty("is_cruise_set", cruise_set);
-  setProperty("speed", QString::number(std::nearbyint(cur_speed)));
-  setProperty("maxSpeed", maxspeed_str);
+  setProperty("speed", cur_speed);
+  setProperty("setSpeed", set_speed);
   setProperty("speedUnit", s.scene.is_metric ? "km/h" : "mph");
   setProperty("hideDM", cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE);
   setProperty("status", s.status);
@@ -205,26 +212,139 @@ void NvgWindow::drawHud(QPainter &p) {
   bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
   p.fillRect(0, 0, width(), header_h, bg);
 
-  // max speed
-  QRect rc(bdr_s * 2, bdr_s * 1.5, 184, 202);
-  p.setPen(QPen(QColor(0xff, 0xff, 0xff, 100), 10));
-  p.setBrush(QColor(0, 0, 0, 100));
-  p.drawRoundedRect(rc, 20, 20);
-  p.setPen(Qt::NoPen);
+  QString speedLimitStr = QString::number(std::nearbyint(speedLimit));
+  QString speedStr = QString::number(std::nearbyint(speed));
+  QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–";
+
+  // Draw outer box + border to contain set speed and speed limit
+  int default_rect_width = 172;
+  int rect_width = default_rect_width;
+  if (has_us_speed_limit && speedLimitStr.size() >= 3) rect_width = 223;
+  else if (has_eu_speed_limit) rect_width = 200;
+
+  int rect_height = 204;
+  if (has_us_speed_limit) rect_height = 402;
+  else if (has_eu_speed_limit) rect_height = 392;
 
-  configFont(p, "Open Sans", 48, "Regular");
-  drawText(p, rc.center().x(), 118, "MAX", is_cruise_set ? 200 : 100);
+  int top_radius = 32;
+  int bottom_radius = has_eu_speed_limit ? 100 : 32;
+
+  QRect set_speed_rect(60 + default_rect_width / 2 - rect_width / 2, 45, rect_width, rect_height);
+  p.setPen(QPen(whiteColor(75), 6));
+  p.setBrush(blackColor(166));
+  drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);
+
+  // Draw set speed
   if (is_cruise_set) {
-    configFont(p, "Open Sans", 88, "Bold");
-    drawText(p, rc.center().x(), 212, maxSpeed, 255);
+    if (speedLimit > 0 && status != STATUS_DISENGAGED && status != STATUS_OVERRIDE) {
+      p.setPen(interpColor(
+        setSpeed,
+        {speedLimit + 5, speedLimit + 15, speedLimit + 25},
+        {whiteColor(), QColor(0xff, 0x95, 0x00, 0xff), QColor(0xff, 0x00, 0x00, 0xff)}
+      ));
+    } else {
+      p.setPen(whiteColor());
+    }
   } else {
-    configFont(p, "Open Sans", 80, "SemiBold");
-    drawText(p, rc.center().x(), 212, maxSpeed, 100);
+    p.setPen(QColor(0x72, 0x72, 0x72, 0xff));
+  }
+  configFont(p, "Open Sans", 90, "Bold");
+  QRect speed_rect = getTextRect(p, Qt::AlignCenter, setSpeedStr);
+  speed_rect.moveCenter({set_speed_rect.center().x(), 0});
+  speed_rect.moveTop(set_speed_rect.top() + 8);
+  p.drawText(speed_rect, Qt::AlignCenter, setSpeedStr);
+
+  // Draw MAX
+  if (is_cruise_set) {
+    if (status == STATUS_DISENGAGED) {
+      p.setPen(whiteColor());
+    } else if (status == STATUS_OVERRIDE) {
+      p.setPen(QColor(0x91, 0x9b, 0x95, 0xff));
+    } else if (speedLimit > 0) {
+      p.setPen(interpColor(
+        setSpeed,
+        {speedLimit + 5, speedLimit + 15, speedLimit + 25},
+        {QColor(0x80, 0xd8, 0xa6, 0xff), QColor(0xff, 0xe4, 0xbf, 0xff), QColor(0xff, 0xbf, 0xbf, 0xff)}
+      ));
+    } else {
+      p.setPen(QColor(0x80, 0xd8, 0xa6, 0xff));
+    }
+  } else {
+    p.setPen(QColor(0xa6, 0xa6, 0xa6, 0xff));
+  }
+  configFont(p, "Open Sans", 40, "SemiBold");
+  QRect max_rect = getTextRect(p, Qt::AlignCenter, "MAX");
+  max_rect.moveCenter({set_speed_rect.center().x(), 0});
+  max_rect.moveTop(set_speed_rect.top() + 123);
+  p.drawText(max_rect, Qt::AlignCenter, "MAX");
+
+  // US/Canada (MUTCD style) sign
+  if (has_us_speed_limit) {
+    const int border_width = 6;
+    const int sign_width = (speedLimitStr.size() >= 3) ? 199 : 148;
+    const int sign_height = 186;
+
+    // White outer square
+    QRect sign_rect_outer(set_speed_rect.left() + 12, set_speed_rect.bottom() - 11 - sign_height, sign_width, sign_height);
+    p.setPen(Qt::NoPen);
+    p.setBrush(whiteColor());
+    p.drawRoundedRect(sign_rect_outer, 24, 24);
+
+    // Smaller white square with black border
+    QRect sign_rect(sign_rect_outer.left() + 1.5 * border_width, sign_rect_outer.top() + 1.5 * border_width, sign_width - 3 * border_width, sign_height - 3 * border_width);
+    p.setPen(QPen(blackColor(), border_width));
+    p.setBrush(whiteColor());
+    p.drawRoundedRect(sign_rect, 16, 16);
+
+    // "SPEED"
+    configFont(p, "Open Sans", 28, "SemiBold");
+    QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, "SPEED");
+    text_speed_rect.moveCenter({sign_rect.center().x(), 0});
+    text_speed_rect.moveTop(sign_rect_outer.top() + 20);
+    p.drawText(text_speed_rect, Qt::AlignCenter, "SPEED");
+
+    // "LIMIT"
+    QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, "LIMIT");
+    text_limit_rect.moveCenter({sign_rect.center().x(), 0});
+    text_limit_rect.moveTop(sign_rect_outer.top() + 48);
+    p.drawText(text_limit_rect, Qt::AlignCenter, "LIMIT");
+
+    // Speed limit value
+    configFont(p, "Open Sans", 70, "Bold");
+    QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr);
+    speed_limit_rect.moveCenter({sign_rect.center().x(), 0});
+    speed_limit_rect.moveTop(sign_rect.top() + 70);
+    p.drawText(speed_limit_rect, Qt::AlignCenter, speedLimitStr);
+  }
+
+  // EU (Vienna style) sign
+  if (has_eu_speed_limit) {
+    int outer_radius = 176 / 2;
+    int inner_radius_1 = outer_radius - 6; // White outer border
+    int inner_radius_2 = inner_radius_1 - 20; // Red circle
+
+    // Draw white circle with red border
+    QPoint center(set_speed_rect.center().x() + 1, set_speed_rect.top() + 204 + outer_radius);
+    p.setPen(Qt::NoPen);
+    p.setBrush(whiteColor());
+    p.drawEllipse(center, outer_radius, outer_radius);
+    p.setBrush(QColor(255, 0, 0, 255));
+    p.drawEllipse(center, inner_radius_1, inner_radius_1);
+    p.setBrush(whiteColor());
+    p.drawEllipse(center, inner_radius_2, inner_radius_2);
+
+    // Speed limit value
+    int font_size = (speedLimitStr.size() >= 3) ? 62 : 70;
+    configFont(p, "Open Sans", font_size, "Bold");
+    QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr);
+    speed_limit_rect.moveCenter(center);
+    p.setPen(blackColor());
+    p.drawText(speed_limit_rect, Qt::AlignCenter, speedLimitStr);
   }
 
   // current speed
   configFont(p, "Open Sans", 176, "Bold");
-  drawText(p, rect().center().x(), 210, speed);
+  drawText(p, rect().center().x(), 210, speedStr);
   configFont(p, "Open Sans", 66, "Regular");
   drawText(p, rect().center().x(), 290, speedUnit, 200);
 
@@ -237,15 +357,13 @@ void NvgWindow::drawHud(QPainter &p) {
   // dm icon
   if (!hideDM) {
     drawIcon(p, radius / 2 + (bdr_s * 2), rect().bottom() - footer_h / 2,
-             dm_img, QColor(0, 0, 0, 70), dmActive ? 1.0 : 0.2);
+             dm_img, blackColor(70), dmActive ? 1.0 : 0.2);
   }
   p.restore();
 }
 
 void NvgWindow::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
-  QFontMetrics fm(p.font());
-  QRect init_rect = fm.boundingRect(text);
-  QRect real_rect = fm.boundingRect(init_rect, 0, text);
+  QRect real_rect = getTextRect(p, 0, text);
   real_rect.moveCenter({x, y - real_rect.height() / 2});
 
   p.setPen(QColor(0xff, 0xff, 0xff, alpha));
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 6ca2b3c738..e58d7a7972 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -27,10 +27,14 @@ private:
 // container window for the NVG UI
 class NvgWindow : public CameraViewWidget {
   Q_OBJECT
-  Q_PROPERTY(QString speed MEMBER speed);
+  Q_PROPERTY(float speed MEMBER speed);
   Q_PROPERTY(QString speedUnit MEMBER speedUnit);
-  Q_PROPERTY(QString maxSpeed MEMBER maxSpeed);
+  Q_PROPERTY(float setSpeed MEMBER setSpeed);
+  Q_PROPERTY(float speedLimit MEMBER speedLimit);
   Q_PROPERTY(bool is_cruise_set MEMBER is_cruise_set);
+  Q_PROPERTY(bool has_eu_speed_limit MEMBER has_eu_speed_limit);
+  Q_PROPERTY(bool has_us_speed_limit MEMBER has_us_speed_limit);
+
   Q_PROPERTY(bool engageable MEMBER engageable);
   Q_PROPERTY(bool dmActive MEMBER dmActive);
   Q_PROPERTY(bool hideDM MEMBER hideDM);
@@ -48,13 +52,16 @@ private:
   QPixmap dm_img;
   const int radius = 192;
   const int img_size = (radius / 2) * 1.5;
-  QString speed;
+  float speed;
   QString speedUnit;
-  QString maxSpeed;
+  float setSpeed;
+  float speedLimit;
   bool is_cruise_set = false;
   bool engageable = false;
   bool dmActive = false;
   bool hideDM = false;
+  bool has_us_speed_limit = false;
+  bool has_eu_speed_limit = false;
   int status = STATUS_DISENGAGED;
 
 protected:
@@ -67,6 +74,7 @@ protected:
   void drawHud(QPainter &p);
   inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
   inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); }
+  inline QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); }
 
   double prev_draw_t = 0;
   FirstOrderFilter fps_filter;
diff --git a/selfdrive/ui/qt/qt_window.h b/selfdrive/ui/qt/qt_window.h
index 2c9a24e55b..02d127e7ff 100644
--- a/selfdrive/ui/qt/qt_window.h
+++ b/selfdrive/ui/qt/qt_window.h
@@ -12,7 +12,7 @@
 #include <QPlatformSurfaceEvent>
 #endif
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 const QString ASSET_PATH = ":/";
 
diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc
index 0da1752fed..10a2d05f34 100644
--- a/selfdrive/ui/qt/setup/setup.cc
+++ b/selfdrive/ui/qt/setup/setup.cc
@@ -11,7 +11,7 @@
 #include <curl/curl.h>
 
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/api.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/offroad/networking.h"
diff --git a/selfdrive/ui/qt/setup/updater.cc b/selfdrive/ui/qt/setup/updater.cc
index b906b5739d..6e8189f4ba 100644
--- a/selfdrive/ui/qt/setup/updater.cc
+++ b/selfdrive/ui/qt/setup/updater.cc
@@ -2,7 +2,7 @@
 #include <QTimer>
 #include <QVBoxLayout>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/setup/updater.h"
diff --git a/selfdrive/ui/qt/spinner.cc b/selfdrive/ui/qt/spinner.cc
index e0b263227b..8f13576fb2 100644
--- a/selfdrive/ui/qt/spinner.cc
+++ b/selfdrive/ui/qt/spinner.cc
@@ -10,7 +10,7 @@
 #include <QString>
 #include <QTransform>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/util.h"
 
diff --git a/selfdrive/ui/qt/text.cc b/selfdrive/ui/qt/text.cc
index 04fda35483..ac8e7bcd18 100644
--- a/selfdrive/ui/qt/text.cc
+++ b/selfdrive/ui/qt/text.cc
@@ -5,7 +5,7 @@
 #include <QVBoxLayout>
 #include <QWidget>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index 7ce7a267df..366aa76f49 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -3,10 +3,11 @@
 #include <QApplication>
 #include <QLayoutItem>
 #include <QStyleOption>
+#include <QPainterPath>
 
 #include "common/params.h"
 #include "common/swaglog.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 QString getVersion() {
   static QString version =  QString::fromStdString(Params().get("Version"));
@@ -135,3 +136,64 @@ QPixmap loadPixmap(const QString &fileName, const QSize &size, Qt::AspectRatioMo
     return QPixmap(fileName).scaled(size, aspectRatioMode, Qt::SmoothTransformation);
   }
 }
+
+QRect getTextRect(QPainter &p, int flags, QString text) {
+  QFontMetrics fm(p.font());
+  QRect init_rect = fm.boundingRect(text);
+  return fm.boundingRect(init_rect, flags, text);
+}
+
+void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom){
+  qreal w_2 = rect.width() / 2;
+  qreal h_2 = rect.height() / 2;
+
+  xRadiusTop = 100 * qMin(xRadiusTop, w_2) / w_2;
+  yRadiusTop = 100 * qMin(yRadiusTop, h_2) / h_2;
+
+  xRadiusBottom = 100 * qMin(xRadiusBottom, w_2) / w_2;
+  yRadiusBottom = 100 * qMin(yRadiusBottom, h_2) / h_2;
+
+  qreal x = rect.x();
+  qreal y = rect.y();
+  qreal w = rect.width();
+  qreal h = rect.height();
+
+  qreal rxx2Top = w*xRadiusTop/100;
+  qreal ryy2Top = h*yRadiusTop/100;
+
+  qreal rxx2Bottom = w*xRadiusBottom/100;
+  qreal ryy2Bottom = h*yRadiusBottom/100;
+
+  QPainterPath path;
+  path.arcMoveTo(x, y, rxx2Top, ryy2Top, 180);
+  path.arcTo(x, y, rxx2Top, ryy2Top, 180, -90);
+  path.arcTo(x+w-rxx2Top, y, rxx2Top, ryy2Top, 90, -90);
+  path.arcTo(x+w-rxx2Bottom, y+h-ryy2Bottom, rxx2Bottom, ryy2Bottom, 0, -90);
+  path.arcTo(x, y+h-ryy2Bottom, rxx2Bottom, ryy2Bottom, 270, -90);
+  path.closeSubpath();
+
+  painter.drawPath(path);
+}
+
+QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp) {
+  assert(xp.size() == fp.size());
+
+  int N = xp.size();
+  int hi = 0;
+
+  while (hi < N and xv > xp[hi]) hi++;
+  int low = hi - 1;
+
+  if (hi == N && xv > xp[low]) {
+    return fp[fp.size() - 1];
+  } else if (hi == 0){
+    return fp[0];
+  } else {
+    return QColor(
+      (xv - xp[low]) * (fp[hi].red() - fp[low].red()) / (xp[hi] - xp[low]) + fp[low].red(),
+      (xv - xp[low]) * (fp[hi].green() - fp[low].green()) / (xp[hi] - xp[low]) + fp[low].green(),
+      (xv - xp[low]) * (fp[hi].blue() - fp[low].blue()) / (xp[hi] - xp[low]) + fp[low].blue(),
+      (xv - xp[low]) * (fp[hi].alpha() - fp[low].alpha()) / (xp[hi] - xp[low]) + fp[low].alpha()
+    );
+  }
+}
diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h
index 813777710a..9491c6798e 100644
--- a/selfdrive/ui/qt/util.h
+++ b/selfdrive/ui/qt/util.h
@@ -22,3 +22,7 @@ void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, co
 void initApp(int argc, char *argv[]);
 QWidget* topWidget (QWidget* widget);
 QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
+
+QRect getTextRect(QPainter &p, int flags, QString text);
+void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom);
+QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp);
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index f16e8e4e0d..000ac48475 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -26,6 +26,18 @@ const char frame_vertex_shader[] =
   "  vTexCoord = aTexCoord;\n"
   "}\n";
 
+#ifdef QCOM2
+const char frame_fragment_shader[] =
+  "#version 300 es\n"
+  "#extension GL_OES_EGL_image_external_essl3 : enable\n"
+  "precision mediump float;\n"
+  "uniform samplerExternalOES uTexture;\n"
+  "in vec2 vTexCoord;\n"
+  "out vec4 colorOut;\n"
+  "void main() {\n"
+  "  colorOut = texture(uTexture, vTexCoord);\n"
+  "}\n";
+#else
 const char frame_fragment_shader[] =
 #ifdef __APPLE__
   "#version 330 core\n"
@@ -45,6 +57,7 @@ const char frame_fragment_shader[] =
   "  float b = y + 1.772 * uv.x;\n"
   "  colorOut = vec4(r, g, b, 1.0);\n"
   "}\n";
+#endif
 
 const mat4 device_transform = {{
   1.0,  0.0, 0.0, 0.0,
@@ -99,7 +112,7 @@ CameraViewWidget::~CameraViewWidget() {
     glDeleteVertexArrays(1, &frame_vao);
     glDeleteBuffers(1, &frame_vbo);
     glDeleteBuffers(1, &frame_ibo);
-    glDeleteBuffers(3, textures);
+    glDeleteBuffers(2, textures);
   }
   doneCurrent();
 }
@@ -143,10 +156,15 @@ void CameraViewWidget::initializeGL() {
   glBindBuffer(GL_ARRAY_BUFFER, 0);
   glBindVertexArray(0);
 
-  glGenTextures(3, textures);
   glUseProgram(program->programId());
+
+#ifdef QCOM2
+  glUniform1i(program->uniformLocation("uTexture"), 0);
+#else
+  glGenTextures(2, textures);
   glUniform1i(program->uniformLocation("uTextureY"), 0);
   glUniform1i(program->uniformLocation("uTextureUV"), 1);
+#endif
 }
 
 void CameraViewWidget::showEvent(QShowEvent *event) {
@@ -207,29 +225,33 @@ void CameraViewWidget::paintGL() {
   for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) {
     if (frames[frame_idx].first == draw_frame_id) break;
   }
-  VisionBuf *frame = frames[frame_idx].second;
 
-  glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
-  glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride);
   glViewport(0, 0, width(), height());
   glBindVertexArray(frame_vao);
-
   glUseProgram(program->programId());
+  glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
 
+  VisionBuf *frame = frames[frame_idx].second;
+
+#ifdef QCOM2
+  glActiveTexture(GL_TEXTURE0);
+  glEGLImageTargetTexture2DOES(GL_TEXTURE_EXTERNAL_OES, egl_images[frame->idx]);
+  assert(glGetError() == GL_NO_ERROR);
+#else
+  glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride);
   glActiveTexture(GL_TEXTURE0);
   glBindTexture(GL_TEXTURE_2D, textures[0]);
   glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width, stream_height, GL_RED, GL_UNSIGNED_BYTE, frame->y);
   assert(glGetError() == GL_NO_ERROR);
 
   glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride/2);
-
   glActiveTexture(GL_TEXTURE0 + 1);
   glBindTexture(GL_TEXTURE_2D, textures[1]);
   glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width/2, stream_height/2, GL_RG, GL_UNSIGNED_BYTE, frame->uv);
   assert(glGetError() == GL_NO_ERROR);
+#endif
 
   glUniformMatrix4fv(program->uniformLocation("uTransform"), 1, GL_TRUE, frame_mat.v);
-  assert(glGetError() == GL_NO_ERROR);
   glEnableVertexAttribArray(0);
   glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0);
   glDisableVertexAttribArray(0);
@@ -247,6 +269,32 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
   stream_height = vipc_client->buffers[0].height;
   stream_stride = vipc_client->buffers[0].stride;
 
+#ifdef QCOM2
+  egl_display = eglGetCurrentDisplay();
+
+  for (auto &pair : egl_images) {
+    eglDestroyImageKHR(egl_display, pair.second);
+  }
+  egl_images.clear();
+
+  for (int i = 0; i < vipc_client->num_buffers; i++) {  // import buffers into OpenGL
+    int fd = dup(vipc_client->buffers[i].fd);  // eglDestroyImageKHR will close, so duplicate
+    EGLint img_attrs[] = {
+      EGL_WIDTH, (int)vipc_client->buffers[i].width,
+      EGL_HEIGHT, (int)vipc_client->buffers[i].height,
+      EGL_LINUX_DRM_FOURCC_EXT, DRM_FORMAT_NV12,
+      EGL_DMA_BUF_PLANE0_FD_EXT, fd,
+      EGL_DMA_BUF_PLANE0_OFFSET_EXT, 0,
+      EGL_DMA_BUF_PLANE0_PITCH_EXT, (int)vipc_client->buffers[i].stride,
+      EGL_DMA_BUF_PLANE1_FD_EXT, fd,
+      EGL_DMA_BUF_PLANE1_OFFSET_EXT, (int)vipc_client->buffers[i].uv_offset,
+      EGL_DMA_BUF_PLANE1_PITCH_EXT, (int)vipc_client->buffers[i].stride,
+      EGL_NONE
+    };
+    egl_images[i] = eglCreateImageKHR(egl_display, EGL_NO_CONTEXT, EGL_LINUX_DMA_BUF_EXT, 0, img_attrs);
+    assert(eglGetError() == EGL_SUCCESS);
+  }
+#else
   glBindTexture(GL_TEXTURE_2D, textures[0]);
   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
@@ -262,6 +310,7 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
   glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
   glTexImage2D(GL_TEXTURE_2D, 0, GL_RG8, stream_width/2, stream_height/2, 0, GL_RG, GL_UNSIGNED_BYTE, nullptr);
   assert(glGetError() == GL_NO_ERROR);
+#endif
 
   updateFrameMat(width(), height());
 }
@@ -297,4 +346,11 @@ void CameraViewWidget::vipcThread() {
       emit vipcThreadFrameReceived(buf, meta_main.frame_id);
     }
   }
+
+#ifdef QCOM2
+  for (auto &pair : egl_images) {
+    eglDestroyImageKHR(egl_display, pair.second);
+  }
+  egl_images.clear();
+#endif
 }
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index 953cbed00b..ddc3fc253b 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -6,6 +6,16 @@
 #include <QOpenGLShaderProgram>
 #include <QOpenGLWidget>
 #include <QThread>
+
+#ifdef QCOM2
+#define EGL_EGLEXT_PROTOTYPES
+#define EGL_NO_X11
+#define GL_TEXTURE_EXTERNAL_OES 0x8D65
+#include <EGL/egl.h>
+#include <EGL/eglext.h>
+#include <drm/drm_fourcc.h>
+#endif
+
 #include "cereal/visionipc/visionipc_client.h"
 #include "selfdrive/camerad/cameras/camera_common.h"
 #include "selfdrive/ui/ui.h"
@@ -41,11 +51,16 @@ protected:
 
   bool zoomed_view;
   GLuint frame_vao, frame_vbo, frame_ibo;
-  GLuint textures[3];
+  GLuint textures[2];
   mat4 frame_mat;
   std::unique_ptr<QOpenGLShaderProgram> program;
   QColor bg = QColor("#000000");
 
+#ifdef QCOM2
+  EGLDisplay egl_display;
+  std::map<int, EGLImageKHR> egl_images;
+#endif
+
   std::string stream_name;
   int stream_width = 0;
   int stream_height = 0;
diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc
index 1122faf4c7..8a5d492804 100644
--- a/selfdrive/ui/qt/widgets/input.cc
+++ b/selfdrive/ui/qt/widgets/input.cc
@@ -2,7 +2,7 @@
 
 #include <QPushButton>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc
index 53f7eb677c..433193df5d 100644
--- a/selfdrive/ui/qt/widgets/offroad_alerts.cc
+++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc
@@ -5,7 +5,7 @@
 #include <QJsonObject>
 
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
 
 AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent) {
diff --git a/selfdrive/ui/qt/widgets/ssh_keys.h b/selfdrive/ui/qt/widgets/ssh_keys.h
index 0614e8c1d8..596d1d83b9 100644
--- a/selfdrive/ui/qt/widgets/ssh_keys.h
+++ b/selfdrive/ui/qt/widgets/ssh_keys.h
@@ -2,7 +2,7 @@
 
 #include <QPushButton>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
 
 // SSH enable toggle
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index fb21f6f7af..d9613df0d0 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -2,7 +2,7 @@
 
 #include <QFontDatabase>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   main_layout = new QStackedLayout(this);
diff --git a/selfdrive/ui/replay/replay.cc b/selfdrive/ui/replay/replay.cc
index 4036086e1b..5eb7469c92 100644
--- a/selfdrive/ui/replay/replay.cc
+++ b/selfdrive/ui/replay/replay.cc
@@ -7,7 +7,7 @@
 #include "cereal/services.h"
 #include "common/params.h"
 #include "common/timing.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/replay/util.h"
 
 Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent)
diff --git a/selfdrive/ui/replay/route.cc b/selfdrive/ui/replay/route.cc
index ad93263ae9..3d595141cd 100644
--- a/selfdrive/ui/replay/route.cc
+++ b/selfdrive/ui/replay/route.cc
@@ -9,7 +9,7 @@
 
 #include <array>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/api.h"
 #include "selfdrive/ui/replay/replay.h"
 #include "selfdrive/ui/replay/util.h"
diff --git a/selfdrive/ui/soundd/sound.h b/selfdrive/ui/soundd/sound.h
index 82b360fd38..7e009d28ad 100644
--- a/selfdrive/ui/soundd/sound.h
+++ b/selfdrive/ui/soundd/sound.h
@@ -2,7 +2,7 @@
 #include <QSoundEffect>
 #include <QString>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/ui.h"
 
 const std::tuple<AudibleAlert, QString, int> sound_list[] = {
diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py
index cba0f6dbd1..8cc9215b74 100755
--- a/selfdrive/ui/tests/test_soundd.py
+++ b/selfdrive/ui/tests/test_soundd.py
@@ -8,7 +8,7 @@ import cereal.messaging as messaging
 from selfdrive.test.helpers import phone_only, with_processes
 # TODO: rewrite for unittest
 from common.realtime import DT_CTRL
-from selfdrive.hardware import HARDWARE
+from system.hardware import HARDWARE
 
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index c1af4ed6f4..4d1e1ab746 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -10,7 +10,7 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "common/watchdog.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #define BACKLIGHT_DT 0.05
 #define BACKLIGHT_TS 10.00
diff --git a/selfdrive/updated.py b/selfdrive/updated.py
index f835522cdb..bdec383f52 100755
--- a/selfdrive/updated.py
+++ b/selfdrive/updated.py
@@ -37,10 +37,10 @@ from markdown_it import MarkdownIt
 
 from common.basedir import BASEDIR
 from common.params import Params
-from selfdrive.hardware import AGNOS, HARDWARE
-from selfdrive.swaglog import cloudlog
+from system.hardware import AGNOS, HARDWARE
+from system.swaglog import cloudlog
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
-from selfdrive.version import is_tested_branch
+from system.version import is_tested_branch
 
 LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock")
 STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging")
@@ -265,7 +265,7 @@ def finalize_update(wait_helper: WaitTimeHelper) -> None:
 
 
 def handle_agnos_update(wait_helper: WaitTimeHelper) -> None:
-  from selfdrive.hardware.tici.agnos import flash_agnos_update, get_target_slot_number
+  from system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number
 
   cur_version = HARDWARE.get_os_version()
   updated_version = run(["bash", "-c", r"unset AGNOS_VERSION && source launch_env.sh && \
@@ -281,7 +281,7 @@ def handle_agnos_update(wait_helper: WaitTimeHelper) -> None:
   cloudlog.info(f"Beginning background installation for AGNOS {updated_version}")
   set_offroad_alert("Offroad_NeosUpdate", True)
 
-  manifest_path = os.path.join(OVERLAY_MERGED, "selfdrive/hardware/tici/agnos.json")
+  manifest_path = os.path.join(OVERLAY_MERGED, "system/hardware/tici/agnos.json")
   target_slot_number = get_target_slot_number()
   flash_agnos_update(manifest_path, target_slot_number, cloudlog)
   set_offroad_alert("Offroad_NeosUpdate", False)
diff --git a/selfdrive/hardware/pc/__init__.py b/system/__init__.py
similarity index 100%
rename from selfdrive/hardware/pc/__init__.py
rename to system/__init__.py
diff --git a/selfdrive/hardware/.gitignore b/system/hardware/.gitignore
similarity index 100%
rename from selfdrive/hardware/.gitignore
rename to system/hardware/.gitignore
diff --git a/selfdrive/hardware/__init__.py b/system/hardware/__init__.py
similarity index 51%
rename from selfdrive/hardware/__init__.py
rename to system/hardware/__init__.py
index a1bf2e912f..77bb0e5e2a 100644
--- a/selfdrive/hardware/__init__.py
+++ b/system/hardware/__init__.py
@@ -1,12 +1,12 @@
 import os
 from typing import cast
 
-from selfdrive.hardware.base import HardwareBase
-from selfdrive.hardware.tici.hardware import Tici
-from selfdrive.hardware.pc.hardware import Pc
+from system.hardware.base import HardwareBase
+from system.hardware.tici.hardware import Tici
+from system.hardware.pc.hardware import Pc
 
 TICI = os.path.isfile('/TICI')
-AGNOS = TICI
+AGNOS = os.path.isfile('/AGNOS')
 PC = not TICI
 
 
diff --git a/selfdrive/hardware/base.h b/system/hardware/base.h
similarity index 100%
rename from selfdrive/hardware/base.h
rename to system/hardware/base.h
diff --git a/selfdrive/hardware/base.py b/system/hardware/base.py
similarity index 100%
rename from selfdrive/hardware/base.py
rename to system/hardware/base.py
diff --git a/selfdrive/hardware/hw.h b/system/hardware/hw.h
similarity index 92%
rename from selfdrive/hardware/hw.h
rename to system/hardware/hw.h
index 364a1c5c33..f50e94abe1 100644
--- a/selfdrive/hardware/hw.h
+++ b/system/hardware/hw.h
@@ -1,10 +1,10 @@
 #pragma once
 
-#include "selfdrive/hardware/base.h"
+#include "system/hardware/base.h"
 #include "common/util.h"
 
 #if QCOM2
-#include "selfdrive/hardware/tici/hardware.h"
+#include "system/hardware/tici/hardware.h"
 #define Hardware HardwareTici
 #else
 class HardwarePC : public HardwareNone {
diff --git a/selfdrive/hardware/tici/__init__.py b/system/hardware/pc/__init__.py
similarity index 100%
rename from selfdrive/hardware/tici/__init__.py
rename to system/hardware/pc/__init__.py
diff --git a/selfdrive/hardware/pc/hardware.py b/system/hardware/pc/hardware.py
similarity index 96%
rename from selfdrive/hardware/pc/hardware.py
rename to system/hardware/pc/hardware.py
index 2f5db925a9..b2c4a4343b 100644
--- a/selfdrive/hardware/pc/hardware.py
+++ b/system/hardware/pc/hardware.py
@@ -1,7 +1,7 @@
 import random
 
 from cereal import log
-from selfdrive.hardware.base import HardwareBase, ThermalConfig
+from system.hardware.base import HardwareBase, ThermalConfig
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
diff --git a/tools/sim/test/__init__.py b/system/hardware/tici/__init__.py
similarity index 100%
rename from tools/sim/test/__init__.py
rename to system/hardware/tici/__init__.py
diff --git a/selfdrive/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
similarity index 100%
rename from selfdrive/hardware/tici/agnos.json
rename to system/hardware/tici/agnos.json
diff --git a/selfdrive/hardware/tici/agnos.py b/system/hardware/tici/agnos.py
similarity index 100%
rename from selfdrive/hardware/tici/agnos.py
rename to system/hardware/tici/agnos.py
diff --git a/selfdrive/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py
similarity index 100%
rename from selfdrive/hardware/tici/amplifier.py
rename to system/hardware/tici/amplifier.py
diff --git a/selfdrive/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
similarity index 97%
rename from selfdrive/hardware/tici/hardware.h
rename to system/hardware/tici/hardware.h
index b11a0a5bb0..dcccb9f3d1 100644
--- a/selfdrive/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -5,7 +5,7 @@
 
 #include "common/params.h"
 #include "common/util.h"
-#include "selfdrive/hardware/base.h"
+#include "system/hardware/base.h"
 
 class HardwareTici : public HardwareNone {
 public:
diff --git a/selfdrive/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
similarity index 98%
rename from selfdrive/hardware/tici/hardware.py
rename to system/hardware/tici/hardware.py
index 0a92340598..a69d3eb743 100644
--- a/selfdrive/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -9,10 +9,10 @@ from pathlib import Path
 
 from cereal import log
 from common.gpio import gpio_set, gpio_init
-from selfdrive.hardware.base import HardwareBase, ThermalConfig
-from selfdrive.hardware.tici import iwlist
-from selfdrive.hardware.tici.pins import GPIO
-from selfdrive.hardware.tici.amplifier import Amplifier
+from system.hardware.base import HardwareBase, ThermalConfig
+from system.hardware.tici import iwlist
+from system.hardware.tici.pins import GPIO
+from system.hardware.tici.amplifier import Amplifier
 
 NM = 'org.freedesktop.NetworkManager'
 NM_CON_ACT = NM + '.Connection.Active'
diff --git a/selfdrive/hardware/tici/iwlist.py b/system/hardware/tici/iwlist.py
similarity index 100%
rename from selfdrive/hardware/tici/iwlist.py
rename to system/hardware/tici/iwlist.py
diff --git a/selfdrive/hardware/tici/pins.py b/system/hardware/tici/pins.py
similarity index 100%
rename from selfdrive/hardware/tici/pins.py
rename to system/hardware/tici/pins.py
diff --git a/selfdrive/hardware/tici/power_draw_test.py b/system/hardware/tici/power_draw_test.py
similarity index 97%
rename from selfdrive/hardware/tici/power_draw_test.py
rename to system/hardware/tici/power_draw_test.py
index 1af51fc018..bde92ae4a5 100755
--- a/selfdrive/hardware/tici/power_draw_test.py
+++ b/system/hardware/tici/power_draw_test.py
@@ -2,8 +2,8 @@
 import os
 import time
 import numpy as np
-from selfdrive.hardware.tici.hardware import Tici
-from selfdrive.hardware.tici.pins import GPIO
+from system.hardware.tici.hardware import Tici
+from system.hardware.tici.pins import GPIO
 from common.gpio import gpio_init, gpio_set
 
 def read_power():
diff --git a/selfdrive/hardware/tici/power_monitor.py b/system/hardware/tici/power_monitor.py
similarity index 100%
rename from selfdrive/hardware/tici/power_monitor.py
rename to system/hardware/tici/power_monitor.py
diff --git a/selfdrive/hardware/tici/precise_power_measure.py b/system/hardware/tici/precise_power_measure.py
similarity index 77%
rename from selfdrive/hardware/tici/precise_power_measure.py
rename to system/hardware/tici/precise_power_measure.py
index c66936aef8..5d68851367 100755
--- a/selfdrive/hardware/tici/precise_power_measure.py
+++ b/system/hardware/tici/precise_power_measure.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import numpy as np
-from selfdrive.hardware.tici.power_monitor import sample_power
+from system.hardware.tici.power_monitor import sample_power
 
 if __name__ == '__main__':
   print("measuring for 5 seconds")
diff --git a/selfdrive/hardware/tici/restart_modem.sh b/system/hardware/tici/restart_modem.sh
similarity index 100%
rename from selfdrive/hardware/tici/restart_modem.sh
rename to system/hardware/tici/restart_modem.sh
diff --git a/selfdrive/hardware/tici/test_agnos_updater.py b/system/hardware/tici/test_agnos_updater.py
similarity index 100%
rename from selfdrive/hardware/tici/test_agnos_updater.py
rename to system/hardware/tici/test_agnos_updater.py
diff --git a/selfdrive/hardware/tici/test_power_draw.py b/system/hardware/tici/test_power_draw.py
similarity index 91%
rename from selfdrive/hardware/tici/test_power_draw.py
rename to system/hardware/tici/test_power_draw.py
index ab2d691a09..b6b5c735fa 100755
--- a/selfdrive/hardware/tici/test_power_draw.py
+++ b/system/hardware/tici/test_power_draw.py
@@ -4,8 +4,8 @@ import time
 import math
 from dataclasses import dataclass
 
-from selfdrive.hardware import HARDWARE, TICI
-from selfdrive.hardware.tici.power_monitor import get_power
+from system.hardware import HARDWARE, TICI
+from system.hardware.tici.power_monitor import get_power
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.manager.manager import manager_cleanup
 
@@ -20,7 +20,7 @@ class Proc:
 
 PROCS = [
   Proc('camerad', 2.15),
-  Proc('modeld', 1.0),
+  Proc('modeld', 1.0, atol=0.15),
   Proc('dmonitoringmodeld', 0.25),
   Proc('encoderd', 0.23),
 ]
diff --git a/selfdrive/hardware/tici/updater b/system/hardware/tici/updater
similarity index 100%
rename from selfdrive/hardware/tici/updater
rename to system/hardware/tici/updater
diff --git a/selfdrive/logmessaged.py b/system/logmessaged.py
similarity index 95%
rename from selfdrive/logmessaged.py
rename to system/logmessaged.py
index 1d1fab5162..280a23cf1d 100755
--- a/selfdrive/logmessaged.py
+++ b/system/logmessaged.py
@@ -4,7 +4,7 @@ from typing import NoReturn
 
 import cereal.messaging as messaging
 from common.logging_extra import SwagLogFileFormatter
-from selfdrive.swaglog import get_file_handler
+from system.swaglog import get_file_handler
 
 
 def main() -> NoReturn:
diff --git a/selfdrive/swaglog.py b/system/swaglog.py
similarity index 99%
rename from selfdrive/swaglog.py
rename to system/swaglog.py
index a987bfe72c..68664330a5 100644
--- a/selfdrive/swaglog.py
+++ b/system/swaglog.py
@@ -7,7 +7,7 @@ from logging.handlers import BaseRotatingHandler
 import zmq
 
 from common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter
-from selfdrive.hardware import PC
+from system.hardware import PC
 
 if PC:
   SWAGLOG_DIR = os.path.join(str(Path.home()), ".comma", "log")
diff --git a/selfdrive/timezoned.py b/system/timezoned.py
similarity index 97%
rename from selfdrive/timezoned.py
rename to system/timezoned.py
index fc1ca92cdf..884a5c3812 100755
--- a/selfdrive/timezoned.py
+++ b/system/timezoned.py
@@ -9,8 +9,8 @@ import requests
 from timezonefinder import TimezoneFinder
 
 from common.params import Params
-from selfdrive.hardware import AGNOS
-from selfdrive.swaglog import cloudlog
+from system.hardware import AGNOS
+from system.swaglog import cloudlog
 
 
 def set_timezone(valid_timezones, timezone):
diff --git a/selfdrive/version.py b/system/version.py
similarity index 99%
rename from selfdrive/version.py
rename to system/version.py
index 08ab097344..f0817b3a9f 100644
--- a/selfdrive/version.py
+++ b/system/version.py
@@ -5,7 +5,7 @@ from typing import List, Optional
 from functools import lru_cache
 
 from common.basedir import BASEDIR
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 TESTED_BRANCHES = ['devel', 'release3-staging', 'dashcam3-staging', 'release3', 'dashcam3']
 
diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh
index 0b14a4cec9..a4246fbda6 100755
--- a/third_party/acados/build.sh
+++ b/third_party/acados/build.sh
@@ -1,4 +1,5 @@
-#!/usr/bin/bash -e
+#!/usr/bin/env bash
+set -e
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 
@@ -9,6 +10,13 @@ if [ -f /TICI ]; then
   BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
 fi
 
+ACADOS_FLAGS="-DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET"
+
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64"
+  ARCHNAME="Darwin"
+fi
+
 if [ ! -d acados_repo/ ]; then
   git clone https://github.com/acados/acados.git $DIR/acados_repo
   # git clone https://github.com/commaai/acados.git $DIR/acados_repo
@@ -21,7 +29,7 @@ git submodule update --recursive --init
 # build
 mkdir -p build
 cd build
-cmake -DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET ..
+cmake $ACADOS_FLAGS ..
 make -j20 install
 
 INSTALL_DIR="$DIR/$ARCHNAME"
diff --git a/tools/lib/auth_config.py b/tools/lib/auth_config.py
index 1699d94e53..7952fee495 100644
--- a/tools/lib/auth_config.py
+++ b/tools/lib/auth_config.py
@@ -1,7 +1,7 @@
 import json
 import os
 from common.file_helpers import mkdirs_exists_ok
-from selfdrive.hardware import PC
+from system.hardware import PC
 
 
 class MissingAuthConfigError(Exception):
diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/tools/plotjuggler/layouts/torque-controller.xml
new file mode 100644
index 0000000000..661bfe094d
--- /dev/null
+++ b/tools/plotjuggler/layouts/torque-controller.xml
@@ -0,0 +1,88 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab tab_name="tab1" containers="1">
+   <Container>
+    <DockSplitter count="4" sizes="0.250401;0.249599;0.250401;0.249599" orientation="-">
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+       <range top="4.389691" right="179.991353" bottom="-0.521339" left="0.000000"/>
+       <limitY/>
+       <curve name="/controlsState/lateralControlState/torqueState/actualLateralAccel" color="#1f77b4"/>
+       <curve name="/controlsState/lateralControlState/torqueState/desiredLateralAccel" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+       <range top="4.066465" right="179.991353" bottom="-0.758832" left="0.000000"/>
+       <limitY/>
+       <curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
+       <curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+       <range top="0.921389" right="179.991353" bottom="-0.211878" left="0.000000"/>
+       <limitY/>
+       <curve name="/carControl/actuatorsOutput/steer" color="#9467bd">
+        <transform alias="/carControl/actuatorsOutput/steer[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="-1" value_offset="0" time_offset="0"/>
+        </transform>
+       </curve>
+       <curve name="/controlsState/lateralControlState/torqueState/f" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockSplitter count="2" sizes="0.5;0.5" orientation="|">
+      <DockArea name="...">
+       <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+        <range top="1.025000" right="179.991353" bottom="-0.025000" left="0.000000"/>
+        <limitY/>
+        <curve name="/carControl/latActive" color="#1ac938"/>
+        <curve name="/carState/steeringPressed" color="#ff7f0e"/>
+       </plot>
+      </DockArea>
+      <DockArea name="...">
+       <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+        <range top="29.131291" right="179.991353" bottom="-0.711681" left="0.000000"/>
+        <limitY/>
+        <curve name="/carState/vEgo" color="#f14cc1"/>
+       </plot>
+      </DockArea>
+     </DockSplitter>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="Cereal Subscriber"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <snippet name="Actual lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="Desired lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index 1807fb7747..bbcd49061e 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -118,7 +118,7 @@ def ui_thread(addr):
 
     imgff = np.frombuffer(yuv_img_raw, dtype=np.uint8).reshape((vipc_client.height * 3 // 2, vipc_client.width))
     num_px = vipc_client.width * vipc_client.height
-    bgr = cv2.cvtColor(imgff, cv2.COLOR_YUV2RGB_I420)
+    bgr = cv2.cvtColor(imgff, cv2.COLOR_YUV2RGB_NV12)
 
     zoom_matrix = _BB_TO_FULL_FRAME[num_px]
     cv2.warpAffine(bgr, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim
index d869db90a6..0d6e8e584c 100644
--- a/tools/sim/Dockerfile.sim
+++ b/tools/sim/Dockerfile.sim
@@ -1,9 +1,9 @@
 FROM ghcr.io/commaai/openpilot-base-cl:latest
 
-RUN apt-get update && apt-get install -y --no-install-recommends\
-    tmux \
-    vim \
-  && rm -rf /var/lib/apt/lists/*
+RUN apt-get update && apt-get install -y --no-install-recommends \
+      tmux \
+      vim \
+    && rm -rf /var/lib/apt/lists/*
 
 # get same tmux config used on NEOS for debugging
 RUN cd $HOME && \
@@ -27,6 +27,6 @@ COPY ./system $HOME/openpilot/system
 COPY ./tools $HOME/openpilot/tools
 
 WORKDIR $HOME/openpilot
-RUN scons -j$(nproc)
+RUN scons --cache-readonly -j12
 
 RUN python -c "from selfdrive.test.helpers import set_params_enabled; set_params_enabled()"
diff --git a/tools/sim/Dockerfile.sim_nvidia b/tools/sim/Dockerfile.sim_nvidia
new file mode 100644
index 0000000000..5e5dd263da
--- /dev/null
+++ b/tools/sim/Dockerfile.sim_nvidia
@@ -0,0 +1,21 @@
+FROM ubuntu:20.04
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+      apt-utils \
+      sudo \
+      ssh \
+      curl \
+      ca-certificates \
+      git \
+      git-lfs && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN curl -fsSL https://get.docker.com -o get-docker.sh && \
+    sudo sh get-docker.sh && \
+    distribution=$(. /etc/os-release;echo $ID$VERSION_ID) && \
+    curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - && \
+    curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list && \
+    sudo apt-get update && \
+    sudo apt-get install -y nvidia-docker2
diff --git a/tools/sim/build_container.sh b/tools/sim/build_container.sh
index 451277d590..81afb82d83 100755
--- a/tools/sim/build_container.sh
+++ b/tools/sim/build_container.sh
@@ -3,7 +3,7 @@
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 cd $DIR/../../
 
-docker pull ghcr.io/commaai/openpilot-base:latest
+docker pull ghcr.io/commaai/openpilot-base-cl:latest
 docker build \
   --cache-from ghcr.io/commaai/openpilot-sim:latest \
   -t ghcr.io/commaai/openpilot-sim:latest \
diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh
index 82fc4a71ac..15f45b4cc2 100755
--- a/tools/sim/launch_openpilot.sh
+++ b/tools/sim/launch_openpilot.sh
@@ -6,6 +6,10 @@ export SIMULATION="1"
 export FINGERPRINT="HONDA CIVIC 2016"
 
 export BLOCK="camerad,loggerd,encoderd"
+if [[ "$CI" ]]; then
+  # TODO: offscreen UI should work
+  export BLOCK="${BLOCK},ui"
+fi
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 cd ../../selfdrive/manager && exec ./manager.py
diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py
index af0f415bbc..2b1048fef2 100755
--- a/tools/sim/lib/can.py
+++ b/tools/sim/lib/can.py
@@ -63,6 +63,7 @@ def can_function(pm, speed, angle, idx, cruise_button, is_engaged):
   msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}, idx))
   msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}, idx))
   msg.append(packer.make_can_msg("HUD_SETTING", 0, {}))
+  msg.append(packer.make_can_msg("CAR_SPEED", 0, {}))
 
   # *** cam bus ***
   msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx))
diff --git a/tools/sim/start_carla.sh b/tools/sim/start_carla.sh
index 912c7d6f08..67ced7eb21 100755
--- a/tools/sim/start_carla.sh
+++ b/tools/sim/start_carla.sh
@@ -15,7 +15,12 @@ if ! $(apt list --installed | grep -q nvidia-container-toolkit); then
   fi
 fi
 
-docker pull carlasim/carla:0.9.12
+docker pull carlasim/carla:0.9.13
+
+EXTRA_ARGS="-it"
+if [[ "$DETACH" ]]; then
+  EXTRA_ARGS="-d"
+fi
 
 docker run \
   --name carla_sim \
@@ -23,6 +28,6 @@ docker run \
   --gpus all \
   --net=host \
   -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
-  -it \
-  carlasim/carla:0.9.12 \
+  $EXTRA_ARGS \
+  carlasim/carla:0.9.13 \
   /bin/bash ./CarlaUE4.sh -opengl -nosound -RenderOffScreen -benchmark -fps=20 -quality-level=Low
diff --git a/tools/sim/start_openpilot_docker.sh b/tools/sim/start_openpilot_docker.sh
index 106dbdeccb..e48e63574d 100755
--- a/tools/sim/start_openpilot_docker.sh
+++ b/tools/sim/start_openpilot_docker.sh
@@ -3,22 +3,26 @@
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 cd $DIR
 
-# expose X to the container
-xhost +local:root
-
-docker pull ghcr.io/commaai/openpilot-sim:latest
-
 OPENPILOT_DIR="/openpilot"
-if ! [[ -z "$MOUNT_OPENPILOT" ]]
-then
+if ! [[ -z "$MOUNT_OPENPILOT" ]]; then
   OPENPILOT_DIR="$(dirname $(dirname $DIR))"
   EXTRA_ARGS="-v $OPENPILOT_DIR:$OPENPILOT_DIR -e PYTHONPATH=$OPENPILOT_DIR:$PYTHONPATH"
 fi
 
+if [[ "$CI" ]]; then
+  CMD="CI=1 ${OPENPILOT_DIR}/tools/sim/tests/test_carla_integration.py"
+else
+  # expose X to the container
+  xhost +local:root
+
+  docker pull ghcr.io/commaai/openpilot-sim:latest
+  CMD="./tmux_script.sh $*"
+  EXTRA_ARGS="${EXTRA_ARGS} -it"
+fi
+
 docker run --net=host\
   --name openpilot_client \
   --rm \
-  -it \
   --gpus all \
   --device=/dev/dri:/dev/dri \
   --device=/dev/input:/dev/input \
@@ -29,4 +33,4 @@ docker run --net=host\
   -w "$OPENPILOT_DIR/tools/sim" \
   $EXTRA_ARGS \
   ghcr.io/commaai/openpilot-sim:latest \
-  /bin/bash -c "./tmux_script.sh $*"
+  /bin/bash -c "$CMD"
diff --git a/tools/sim/tests/__init__.py b/tools/sim/tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/tools/sim/test/test_carla_integration.py b/tools/sim/tests/test_carla_integration.py
similarity index 85%
rename from tools/sim/test/test_carla_integration.py
rename to tools/sim/tests/test_carla_integration.py
index 8f76abb561..43db783f4e 100755
--- a/tools/sim/test/test_carla_integration.py
+++ b/tools/sim/tests/test_carla_integration.py
@@ -2,13 +2,18 @@
 import subprocess
 import time
 import unittest
+import os
 from multiprocessing import Queue
 
 from cereal import messaging
+from common.basedir import BASEDIR
 from selfdrive.manager.helpers import unblock_stdout
 from tools.sim import bridge
 from tools.sim.bridge import CarlaBridge
 
+CI = "CI" in os.environ
+
+SIM_DIR = os.path.join(BASEDIR, "tools/sim")
 
 class TestCarlaIntegration(unittest.TestCase):
   """
@@ -19,10 +24,12 @@ class TestCarlaIntegration(unittest.TestCase):
 
   def setUp(self):
     self.processes = []
-    # We want to make sure that carla_sim docker isn't still running.
-    subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
 
-    self.carla_process = subprocess.Popen(".././start_carla.sh")
+    if not CI:
+      # We want to make sure that carla_sim docker isn't still running.
+      subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
+      self.carla_process = subprocess.Popen("./start_carla.sh", cwd=SIM_DIR)
+
     # Too many lagging messages in bridge.py can cause a crash. This prevents it.
     unblock_stdout()
     # Wait 10 seconds to startup carla
@@ -30,16 +37,16 @@ class TestCarlaIntegration(unittest.TestCase):
 
   def test_engage(self):
     # Startup manager and bridge.py. Check processes are running, then engage and verify.
-    p_manager = subprocess.Popen("./launch_openpilot.sh", cwd='../')
+    p_manager = subprocess.Popen("./launch_openpilot.sh", cwd=SIM_DIR)
     self.processes.append(p_manager)
 
     sm = messaging.SubMaster(['controlsState', 'carEvents', 'managerState'])
     q = Queue()
     carla_bridge = CarlaBridge(bridge.parse_args([]))
-    p_bridge = carla_bridge.run(q, retries=3)
+    p_bridge = carla_bridge.run(q, retries=10)
     self.processes.append(p_bridge)
 
-    max_time_per_step = 20
+    max_time_per_step = 60
 
     # Wait for bridge to startup
     start_waiting = time.monotonic()
diff --git a/tools/zookeeper/__init__.py b/tools/zookeeper/__init__.py
old mode 100755
new mode 100644
index cd64d3a1fb..42438cb209
--- a/tools/zookeeper/__init__.py
+++ b/tools/zookeeper/__init__.py
@@ -1,9 +1,6 @@
 #!/usr/bin/env python3
-
-# Python library to control Zookeeper
-
-import ft4222  # pylint: disable=import-error
-import ft4222.I2CMaster  # pylint: disable=import-error
+import ft4222
+import ft4222.I2CMaster
 
 DEBUG = False
 
diff --git a/tools/zookeeper/power_monitor.py b/tools/zookeeper/power_monitor.py
index f2796bad31..d3bdd6679f 100755
--- a/tools/zookeeper/power_monitor.py
+++ b/tools/zookeeper/power_monitor.py
@@ -1,30 +1,30 @@
-#!/usr/bin/env python
-
+#!/usr/bin/env python3
 import sys
 import time
-from tools.zookeeper import Zookeeper
 
-# Usage: check_consumption.py <averaging_time_sec> <max_average_power_W>
-# Exit code: 0 -> passed
-#	           1 -> failed
+from common.realtime import Ratekeeper
+from common.filter_simple import FirstOrderFilter
+from tools.zookeeper import Zookeeper
 
 if __name__ == "__main__":
   z = Zookeeper()
+  z.set_device_power(True)
+  z.set_device_ignition(False)
 
   duration = None
   if len(sys.argv) > 1:
     duration = int(sys.argv[1])
 
+  rate = 123
+  rk = Ratekeeper(rate, print_delay_threshold=None)
+  fltr = FirstOrderFilter(0, 5, 1. / rate, initialized=False)
+
   try:
     start_time = time.monotonic()
-    measurements = []
     while duration is None or time.monotonic() - start_time < duration:
-      p = z.read_power()
-      print(round(p, 3), "W")
-      measurements.append(p)
-      time.sleep(0.25)
+      fltr.update(z.read_power())
+      if rk.frame % rate == 0:
+        print(f"{fltr.x:.2f} W")
+      rk.keep_time()
   except KeyboardInterrupt:
     pass
-  finally:
-    average_power = sum(measurements)/len(measurements)
-    print(f"Average power: {round(average_power, 4)}W")
diff --git a/tools/zookeeper/requirements.txt b/tools/zookeeper/requirements.txt
deleted file mode 100644
index 6f70576caf..0000000000
--- a/tools/zookeeper/requirements.txt
+++ /dev/null
@@ -1 +0,0 @@
-ft4222==1.2.1
\ No newline at end of file