diff --git a/cereal b/cereal
index 7765176413..439429cad4 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 7765176413c0bb14143fe2469d5390ea0ea61a1e
+Subproject commit 439429cad4d1e2ab874520cb5d4db8b8d978cbde
diff --git a/poetry.lock b/poetry.lock
index 39fb78cf2a..6360f6f3ab 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -4414,7 +4414,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
 [metadata]
 lock-version = "1.1"
 python-versions = "~3.8"
-content-hash = "331a7b700c17c618a4f0fa7d0ec3e5b585c1dc467f6f03261c3778f729058f55"
+content-hash = "82e450801a9a1de9fd98615d7deb3d8f0aa5bd3ccf0cf8b258cd8f6e6e4c5309"
 
 [metadata.files]
 adal = [
@@ -5420,7 +5420,6 @@ gevent = [
     {file = "gevent-22.10.1-cp310-cp310-win_amd64.whl", hash = "sha256:d2ea4ce36c09355379bc038be2bd50118f97d2eb6381b7096de4d05aa4c3e241"},
     {file = "gevent-22.10.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3e73c9f71aa2a6795ecbec9b57282b002375e863e283558feb87b62840c8c1ac"},
     {file = "gevent-22.10.1-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:5bc3758f0dc95007c1780d28a9fd2150416a79c50f308f62a674d78a845ea1b9"},
-    {file = "gevent-22.10.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:03c10ca0beeab0c6be516030471ea630447ddd1f649d3335e5b162097cd4130a"},
     {file = "gevent-22.10.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:fe2c0ff095171c49f78f1d4e6dc89fa58253783c7b6dccab9f1d76e2ee391f10"},
     {file = "gevent-22.10.1-cp36-cp36m-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:d18fcc324f39a3b21795022eb47c7752d6e4f4ed89d8cca41f1cc604553265b3"},
     {file = "gevent-22.10.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:06ea39c70ce166c4a1d4386c7fae96cb8d84ad799527b3378406051104d15443"},
@@ -6795,7 +6794,6 @@ pycryptodome = [
     {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:7c9ed8aa31c146bef65d89a1b655f5f4eab5e1120f55fc297713c89c9e56ff0b"},
     {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:5099c9ca345b2f252f0c28e96904643153bae9258647585e5e6f649bb7a1844a"},
     {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2014_aarch64.whl", hash = "sha256:2ec709b0a58b539a4f9d33fb8508264c3678d7edb33a68b8906ba914f71e8c13"},
-    {file = "pycryptodome-3.15.0-cp27-cp27m-musllinux_1_1_aarch64.whl", hash = "sha256:2ae53125de5b0d2c95194d957db9bb2681da8c24d0fb0fe3b056de2bcaf5d837"},
     {file = "pycryptodome-3.15.0-cp27-cp27m-win32.whl", hash = "sha256:fd2184aae6ee2a944aaa49113e6f5787cdc5e4db1eb8edb1aea914bd75f33a0c"},
     {file = "pycryptodome-3.15.0-cp27-cp27m-win_amd64.whl", hash = "sha256:7e3a8f6ee405b3bd1c4da371b93c31f7027944b2bcce0697022801db93120d83"},
     {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux1_i686.whl", hash = "sha256:b9c5b1a1977491533dfd31e01550ee36ae0249d78aae7f632590db833a5012b8"},
@@ -6803,14 +6801,12 @@ pycryptodome = [
     {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:2aa55aae81f935a08d5a3c2042eb81741a43e044bd8a81ea7239448ad751f763"},
     {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:c3640deff4197fa064295aaac10ab49a0d55ef3d6a54ae1499c40d646655c89f"},
     {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2014_aarch64.whl", hash = "sha256:045d75527241d17e6ef13636d845a12e54660aa82e823b3b3341bcf5af03fa79"},
-    {file = "pycryptodome-3.15.0-cp27-cp27mu-musllinux_1_1_aarch64.whl", hash = "sha256:eb6fce570869e70cc8ebe68eaa1c26bed56d40ad0f93431ee61d400525433c54"},
     {file = "pycryptodome-3.15.0-cp35-abi3-macosx_10_9_x86_64.whl", hash = "sha256:9ee40e2168f1348ae476676a2e938ca80a2f57b14a249d8fe0d3cdf803e5a676"},
     {file = "pycryptodome-3.15.0-cp35-abi3-manylinux1_i686.whl", hash = "sha256:4c3ccad74eeb7b001f3538643c4225eac398c77d617ebb3e57571a897943c667"},
     {file = "pycryptodome-3.15.0-cp35-abi3-manylinux1_x86_64.whl", hash = "sha256:1b22bcd9ec55e9c74927f6b1f69843cb256fb5a465088ce62837f793d9ffea88"},
     {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2010_i686.whl", hash = "sha256:57f565acd2f0cf6fb3e1ba553d0cb1f33405ec1f9c5ded9b9a0a5320f2c0bd3d"},
     {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2010_x86_64.whl", hash = "sha256:4b52cb18b0ad46087caeb37a15e08040f3b4c2d444d58371b6f5d786d95534c2"},
     {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2014_aarch64.whl", hash = "sha256:092a26e78b73f2530b8bd6b3898e7453ab2f36e42fd85097d705d6aba2ec3e5e"},
-    {file = "pycryptodome-3.15.0-cp35-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:50ca7e587b8e541eb6c192acf92449d95377d1f88908c0a32ac5ac2703ebe28b"},
     {file = "pycryptodome-3.15.0-cp35-abi3-win32.whl", hash = "sha256:e244ab85c422260de91cda6379e8e986405b4f13dc97d2876497178707f87fc1"},
     {file = "pycryptodome-3.15.0-cp35-abi3-win_amd64.whl", hash = "sha256:c77126899c4b9c9827ddf50565e93955cb3996813c18900c16b2ea0474e130e9"},
     {file = "pycryptodome-3.15.0-pp27-pypy_73-macosx_10_9_x86_64.whl", hash = "sha256:9eaadc058106344a566dc51d3d3a758ab07f8edde013712bc8d22032a86b264f"},
diff --git a/pyproject.toml b/pyproject.toml
index d26fc7ff1d..a20868d877 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -12,7 +12,7 @@ documentation = "https://docs.comma.ai"
 [tool.poetry.dependencies]
 python = "~3.8"
 atomicwrites = "^1.4.0"
-casadi = { version = "==3.5.5", markers = "platform_system != 'Darwin'" }
+casadi = { version = "==3.5.5", platform = "linux" }
 cffi = "^1.15.1"
 crcmod = "^1.7"
 cryptography = "^37.0.4"
@@ -29,7 +29,7 @@ libusb1 = "^3.0.0"
 nose = "^1.3.7"
 numpy = "^1.23.0"
 onnx = "^1.12.0"
-onnxruntime-gpu = { version = "^1.11.1", markers = "platform_system != 'Darwin'" }
+onnxruntime-gpu = { version = "^1.11.1", platform = "linux" }
 pillow = "^9.2.0"
 poetry = "==1.2.2"
 protobuf = "==3.20.1"
@@ -50,20 +50,20 @@ setproctitle = "^1.2.3"
 six = "^1.16.0"
 smbus2 = "^0.4.2"
 sounddevice = "^0.4.5"
+spidev = { version = "^3.6", platform = "linux" }
 sympy = "^1.10.1"
 timezonefinder = "^6.0.1"
 tqdm = "^4.64.0"
 urllib3 = "^1.26.10"
 utm = "^0.7.0"
 websocket_client = "^1.3.3"
-spidev = "^3.6"
 
 
 [tool.poetry.group.dev.dependencies]
 av = "^9.2.0"
 azure-storage-blob = "~2.1"
 breathe = "^4.34.0"
-carla = "==0.9.13"
+carla = { version = "==0.9.13", platform = "linux" }
 control = "^0.9.2"
 coverage = "^6.4.1"
 dictdiffer = "^0.9.0"
@@ -81,7 +81,7 @@ mypy = "^0.961"
 myst-parser = "^0.18.0"
 natsort = "^8.1.0"
 numpy = "^1.23.0"
-opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl" }
+opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl", platform = "linux" }
 pandas = "^1.4.3"
 parameterized = "^0.8.1"
 paramiko = "^2.11.0"
@@ -119,7 +119,6 @@ azure-cli-core = "^2.38.0"
 azure-common = "^1.1.28"
 azure-core = "^1.24.2"
 azure-nspkg = "~3.0"
-azure-storage-blob = "~2.1"
 azure-storage-common = "~2.1"
 azure-storage-nspkg = "~3.1"
 blosc = "==1.9.2"
@@ -143,15 +142,12 @@ jupyter = "^1.0.0"
 jupyterlab = "^3.4.4"
 jupyterlab-vim = "^0.15.1"
 Markdown = "^3.4.1"
-mpld3 = "^0.5.8"
 msgpack-python = "^0.5.6"
 networkx = "~2.3"
 nvidia-ml-py3 = "^7.352.0"
 onnx2torch = "^1.5.4"
 onnxoptimizer = "^0.3.1"
-opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl" }
 osmium = "^3.3.0"
-pandas = "^1.4.3"
 pillow-avif-plugin = "^1.2.2"
 pipenv = "==2022.10.12"
 plotly = "^5.9.0"
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index 0d5d780bd3..00673a7e28 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -85,6 +85,7 @@ class CarController:
     new_actuators = CC.actuators.copy()
     new_actuators.accel = torque_l
     new_actuators.steer = torque_r
+    new_actuators.steerOutputCan = torque_r
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 879da88123..31cd01b654 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -78,5 +78,6 @@ class CarController:
 
     new_actuators = CC.actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
 
     return new_actuators, can_sends
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index a6cd2f19b9..d380abf8e3 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -158,6 +158,7 @@ class CarController:
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
     new_actuators.gas = self.apply_gas
     new_actuators.brake = self.apply_brake
 
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 66a1485dc6..ab944a30aa 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -262,6 +262,7 @@ class CarController:
     new_actuators.gas = self.gas
     new_actuators.brake = self.brake
     new_actuators.steer = self.last_steer
+    new_actuators.steerOutputCan = apply_steer
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 3f128b1598..ebb67b0e2e 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -83,11 +83,16 @@ class CarController:
 
     # tester present - w/ no response (keeps relevant ECU disabled)
     if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl:
+      # for longitudinal control, either radar or ADAS driving ECU
       addr, bus = 0x7d0, 0
       if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, 5
       can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
 
+      # for blinkers
+      if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
+        can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 5])
+
     # >90 degree steering fault prevention
     # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
     if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE:
@@ -118,6 +123,10 @@ class CarController:
       if self.frame % 5 == 0 and (not hda2 or hda2_long):
         can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.enabled))
 
+      # blinkers
+      if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
+        can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.frame, False, False))
+
       if self.CP.openpilotLongitudinalControl:
         if hda2:
           can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame))
@@ -186,6 +195,7 @@ class CarController:
 
     new_actuators = actuators.copy()
     new_actuators.steer = apply_steer / self.params.STEER_MAX
+    new_actuators.steerOutputCan = apply_steer
     new_actuators.accel = accel
 
     self.frame += 1
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index 8b53e7c378..c492e6a5ff 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -1,7 +1,6 @@
 from common.numpy_fast import clip
 from selfdrive.car.hyundai.values import HyundaiFlags
 
-
 def get_e_can_bus(CP):
   # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
   # have a different harness than the HDA1 and non-HDA variants in order to split
@@ -98,6 +97,25 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
   return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values)
 
 
+def create_spas_messages(packer, frame, left_blink, right_blink):
+  ret = []
+
+  values = {
+  }
+  ret.append(packer.make_can_msg("SPAS1", 5, values))
+
+  blink = 0
+  if left_blink:
+    blink = 3
+  elif right_blink:
+    blink = 4
+  values = {
+    "BLINKER_CONTROL": blink,
+  }
+  ret.append(packer.make_can_msg("SPAS2", 5, values))
+
+  return ret
+
 
 def create_adrv_messages(packer, frame):
   # messages needed to car happy after disabling
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index b9f6b8fc58..e271dc0e7d 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -287,6 +287,10 @@ class CarInterface(CarInterfaceBase):
         addr, bus = 0x730, 5
       disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
 
+    # for blinkers
+    if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
+      disable_ecu(logcan, sendcan, bus=5, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
+
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 1e9d0f7f62..41b6a58eca 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -58,6 +58,8 @@ class HyundaiFlags(IntFlag):
 
   ALT_LIMITS = 16
 
+  ENABLE_BLINKERS = 32
+
 
 class CAR:
   # Hyundai
@@ -845,6 +847,7 @@ FW_VERSIONS = {
       b'\xf1\x00LX2_ SCC FHCUP      1.00 1.04 99110-S8100         ',
       b'\xf1\x00LX2_ SCC FHCUP      1.00 1.05 99110-S8100         ',
       b'\xf1\x00ON__ FCA FHCUP      1.00 1.02 99110-S9100         ',
+      b'\xf1\x00ON__ FCA FHCUP      1.00 1.01 99110-S9110         ',
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360',
@@ -858,6 +861,7 @@ FW_VERSIONS = {
       b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360',
       b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360',
       b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320',
+      b'\xf1\x00ON ESC \x01 101\x19\t\x08 58910-S9360',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -880,11 +884,13 @@ FW_VERSIONS = {
       b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.01 99211-S9100 181105',
       b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.03 99211-S9100 200720',
       b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.00 99211-S8110 210226',
+      b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.04 99211-S9100 211227',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
       b'\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
       b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
+      b'\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00TON2G38NB5j\x94.\xde',
       b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1',
       b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
       b'\xf1\x87LBLUFN655162KF36\x98\x88\x88\x88\x98\x88\x88\x88x\x99\xa7\x89x\x99\xa7\x89x\x99\x97\x89g\x7f\xf7\xffwU_\xff\xe9!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 2add59ccb0..027822cc3f 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -59,6 +59,7 @@ class CarController:
 
     new_actuators = CC.actuators.copy()
     new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
+    new_actuators.steerOutputCan = apply_steer
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index b5429daef2..a56e63408e 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -87,6 +87,7 @@ class CarController:
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml
index 3b212c6507..eb1a04cee6 100644
--- a/selfdrive/car/torque_data/params.yaml
+++ b/selfdrive/car/torque_data/params.yaml
@@ -27,7 +27,7 @@ HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
 HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
 HYUNDAI ELANTRA 2021: [3.169, 2.1259108157250735, 0.0819]
 HYUNDAI GENESIS 2015-2016: [1.8466226943929824, 1.5552063647830634, 0.0984484465421171]
-HYUNDAI IONIQ 5 2022: [3.172929, 3.0, 0.096019]
+HYUNDAI IONIQ 5 2022: [3.172929, 2.713050, 0.096019]
 HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
 HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
 HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
@@ -42,7 +42,7 @@ HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488
 HYUNDAI TUCSON HYBRID 4TH GEN: [2.035545, 2.035545, 0.110272]
 JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185]
 JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003]
-KIA EV6 2022: [3.2, 3.0, 0.05]
+KIA EV6 2022: [3.2, 2.093457, 0.05]
 KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716]
 KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
 KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index ffda8c1712..cedd414d1c 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -192,8 +192,9 @@ class CarController:
         can_sends.append(make_can_msg(addr, vl, bus))
 
     new_actuators = actuators.copy()
-    new_actuators.steer = apply_steer / self.params.STEER_MAX
+    new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
     new_actuators.steeringAngleDeg = apply_angle
+    new_actuators.steerOutputCan = apply_steer
     new_actuators.accel = self.accel
     new_actuators.gas = self.gas
 
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index a102b005b8..db5382676a 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -6,7 +6,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.toyota.values import ToyotaFlags, DBC, STEER_THRESHOLD, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
+from selfdrive.car.toyota.values import ToyotaFlags, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
 
 
 class CarState(CarStateBase):
@@ -130,7 +130,9 @@ class CarState(CarStateBase):
       self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2
 
     self.pcm_acc_status = cp.vl["PCM_CRUISE"]["CRUISE_STATE"]
-    ret.cruiseState.standstill = self.pcm_acc_status == 7
+    if self.CP.carFingerprint not in (NO_STOP_TIMER_CAR - TSS2_CAR):
+      # ignore standstill state in certain vehicles, since pcm allows to restart with just an acceleration request
+      ret.cruiseState.standstill = self.pcm_acc_status == 7
     ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"])
     ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6)
 
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index ad06a5a726..542204deb6 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -249,6 +249,8 @@ class CarInterface(CarInterfaceBase):
       tune.kiBP = [0., 5., 12., 20., 27.]
       tune.kiV = [.35, .23, .20, .17, .1]
       if candidate in TSS2_CAR:
+        ret.vEgoStopping = 0.25
+        ret.vEgoStarting = 0.25
         ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
     else:
       tune.kpBP = [0., 5., 35.]
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index ca96a437a0..317f1177db 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1672,6 +1672,7 @@ FW_VERSIONS = {
       b'\x018966378B2100\x00\x00\x00\x00',
       b'\x018966378B3000\x00\x00\x00\x00',
       b'\x018966378G3000\x00\x00\x00\x00',
+      b'\x018966378B2000\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F152678221\x00\x00\x00\x00\x00\x00',
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index fff5548671..628962de75 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -2,6 +2,7 @@ from cereal import car
 from opendbc.can.packer import CANPacker
 from common.numpy_fast import clip
 from common.conversions import Conversions as CV
+from common.realtime import DT_CTRL
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.volkswagen import mqbcan, pqcan
 from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams
@@ -88,10 +89,13 @@ class CarController:
                                                        CS.out.steeringPressed, hud_alert, hud_control))
 
     if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
+      lead_distance = 0
+      if hud_control.leadVisible and self.frame * DT_CTRL > 1.0:  # Don't display lead until we know the scaling factor
+        lead_distance = 512 if CS.upscale_lead_car_signal else 8
       acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
       set_speed = hud_control.setSpeed * CV.MS_TO_KPH  # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
       can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed,
-                                                       hud_control.leadVisible))
+                                                       lead_distance))
 
     # **** Stock ACC Button Controls **************************************** #
 
@@ -103,6 +107,7 @@ class CarController:
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
 
     self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
     self.frame += 1
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 263edbfc9d..7ea9aa871b 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -13,6 +13,7 @@ class CarState(CarStateBase):
     self.CCP = CarControllerParams(CP)
     self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
     self.esp_hold_confirmation = False
+    self.upscale_lead_car_signal = False
 
   def create_button_events(self, pt_cp, buttons):
     button_events = []
@@ -141,6 +142,9 @@ class CarState(CarStateBase):
     # Additional safety checks performed in CarInterface.
     ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
 
+    # Digital instrument clusters expect the ACC HUD lead car distance to be scaled differently
+    self.upscale_lead_car_signal = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"])
+
     return ret
 
   def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type):
@@ -281,6 +285,7 @@ class CarState(CarStateBase):
       ("ESP_Tastung_passiv", "ESP_21"),          # Stability control disabled
       ("ESP_Haltebestaetigung", "ESP_21"),       # ESP hold confirmation
       ("KBI_Handbremse", "Kombi_01"),            # Manual handbrake applied
+      ("KBI_Variante", "Kombi_03"),              # Digital/full-screen instrument cluster installed
       ("TSK_Status", "TSK_06"),                  # ACC engagement status from drivetrain coordinator
       ("GRA_Hauptschalter", "GRA_ACC_01"),       # ACC button, on/off
       ("GRA_Abbrechen", "GRA_ACC_01"),           # ACC button, cancel
@@ -312,6 +317,7 @@ class CarState(CarStateBase):
       ("Airbag_02", 5),     # From J234 Airbag control module
       ("Kombi_01", 2),      # From J285 Instrument cluster
       ("Blinkmodi_02", 1),  # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
+      ("Kombi_03", 0),      # From J285 instrument cluster (not present on older cars, 1Hz when present)
     ]
 
     if CP.transmissionType == TransmissionType.automatic:
diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py
index 25a710dbb8..30a51f6fe6 100644
--- a/selfdrive/car/volkswagen/mqbcan.py
+++ b/selfdrive/car/volkswagen/mqbcan.py
@@ -96,13 +96,13 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control,
   return commands
 
 
-def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible):
+def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance):
   values = {
     "ACC_Status_Anzeige": acc_hud_status,
     "ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36,
     "ACC_Gesetzte_Zeitluecke": 3,
     "ACC_Display_Prio": 3,
-    # TODO: ACC_Abstandsindex for lead car distance, must determine analog vs digital cluster for scaling
+    "ACC_Abstandsindex": lead_distance,
   }
 
   return packer.make_can_msg("ACC_02", bus, values)
diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
index 6beb90c092..130f107950 100644
--- a/selfdrive/car/volkswagen/pqcan.py
+++ b/selfdrive/car/volkswagen/pqcan.py
@@ -77,12 +77,12 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control,
   return commands
 
 
-def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible):
+def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance):
   values = {
     "ACA_StaACC": acc_hud_status,
     "ACA_Zeitluecke": 2,
     "ACA_V_Wunsch": set_speed,
-    "ACA_gemZeitl": 8 if lead_visible else 0,
+    "ACA_gemZeitl": lead_distance,
     # TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke
     # display/display-prio handling probably needed to stop confusing the instrument cluster
     # kmh_mph handling probably needed to resolve rounding errors in displayed setpoint
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index fcebeae8d3..6daf5b0bed 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -21,7 +21,7 @@ from selfdrive.controls.lib.latcontrol import LatControl
 from selfdrive.controls.lib.longcontrol import LongControl
 from selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
-from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
+from selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
 from selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from selfdrive.controls.lib.events import Events, ET
 from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
@@ -723,7 +723,11 @@ class Controls:
       self.last_actuators, can_sends = self.CI.apply(CC)
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
       CC.actuatorsOutput = self.last_actuators
-      self.steer_limited = abs(CC.actuators.steer - CC.actuatorsOutput.steer) > 1e-2
+      if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
+        self.steer_limited = abs(CC.actuators.steeringAngleDeg - CC.actuatorsOutput.steeringAngleDeg) > \
+                             STEER_ANGLE_SATURATION_THRESHOLD
+      else:
+        self.steer_limited = abs(CC.actuators.steer - CC.actuatorsOutput.steer) > 1e-2
 
     force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
                   (self.state == State.softDisabling)
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 5578a83a23..9fbf565328 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -500,9 +500,9 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
 
   EventName.resumeRequired: {
     ET.WARNING: Alert(
-      "STOPPED",
       "Press Resume to Exit Standstill",
-      AlertStatus.userPrompt, AlertSize.mid,
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
   },
 
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index fabb41d99c..edf8f9232a 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -12,6 +12,7 @@ class LatControl(ABC):
     self.sat_count_rate = 1.0 * DT_CTRL
     self.sat_limit = self.CP.steerLimitTimer
     self.sat_count = 0.
+    self.sat_check_min_speed = 10.
 
     # we define the steer torque scale as [-1.0...1.0]
     self.steer_max = 1.0
@@ -24,7 +25,7 @@ class LatControl(ABC):
     self.sat_count = 0.
 
   def _check_saturation(self, saturated, CS, steer_limited):
-    if saturated and CS.vEgo > 10. and not steer_limited and not CS.steeringPressed:
+    if saturated and CS.vEgo > self.sat_check_min_speed and not steer_limited and not CS.steeringPressed:
       self.sat_count += self.sat_count_rate
     else:
       self.sat_count -= self.sat_count_rate
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index 0e5be4a977..d692f80b4b 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -7,6 +7,10 @@ STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
 
 
 class LatControlAngle(LatControl):
+  def __init__(self, CP, CI):
+    super().__init__(CP, CI)
+    self.sat_check_min_speed = 5.
+
   def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
@@ -19,7 +23,7 @@ class LatControlAngle(LatControl):
       angle_steers_des += params.angleOffsetDeg
 
     angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
-    angle_log.saturated = self._check_saturation(angle_control_saturated, CS, steer_limited)
+    angle_log.saturated = self._check_saturation(angle_control_saturated, CS, False)
     angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     angle_log.steeringAngleDesiredDeg = angle_steers_des
     return 0, float(angle_steers_des), angle_log
diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index cfc71a0e27..0a8a8d6358 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -15,6 +15,7 @@
 #include "common/util.h"
 #include "system/hardware/hw.h"
 #include "selfdrive/modeld/models/driving.h"
+#include "selfdrive/modeld/models/nav.h"
 
 
 ExitHandler do_exit;
@@ -72,6 +73,8 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
   mat3 model_transform_main = {};
   mat3 model_transform_extra = {};
   bool live_calib_seen = false;
+  float driving_style[DRIVING_STYLE_LEN] = {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0};
+  float nav_features[NAV_FEATURE_LEN] = {0};
 
   VisionBuf *buf_main = nullptr;
   VisionBuf *buf_extra = nullptr;
@@ -151,7 +154,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
     }
 
     double mt1 = millis_since_boot();
-    ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, prepare_only);
+    ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, driving_style, nav_features, prepare_only);
     double mt2 = millis_since_boot();
     float model_execution_time = (mt2 - mt1) / 1000.0;
 
diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
index 9cb216ff19..ac101bfee7 100644
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@@ -46,10 +46,19 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) {
 #ifdef TRAFFIC_CONVENTION
   s->m->addTrafficConvention(s->traffic_convention, TRAFFIC_CONVENTION_LEN);
 #endif
+
+#ifdef DRIVING_STYLE
+  s->m->addDrivingStyle(s->driving_style, DRIVING_STYLE_LEN);
+#endif
+
+#ifdef NAV
+  s->m->addNavFeatures(s->nav_features, NAV_FEATURE_LEN);
+#endif
+
 }
 
 ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf,
-                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, bool prepare_only) {
+                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, float *driving_style, float *nav_features, bool prepare_only) {
 #ifdef DESIRE
   std::memmove(&s->pulse_desire[0], &s->pulse_desire[DESIRE_LEN], sizeof(float) * DESIRE_LEN*HISTORY_BUFFER_LEN);
   if (desire_in != NULL) {
@@ -67,6 +76,14 @@ ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf,
 LOGT("Desire enqueued");
 #endif
 
+#ifdef NAV
+  std::memcpy(s->nav_features, nav_features, sizeof(float)*NAV_FEATURE_LEN);
+#endif
+
+#ifdef DRIVING_STYLE
+  std::memcpy(s->driving_style, driving_style, sizeof(float)*DRIVING_STYLE_LEN);
+#endif
+
   int rhd_idx = is_rhd;
   s->traffic_convention[rhd_idx] = 1.0;
   s->traffic_convention[1-rhd_idx] = 0.0;
diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index b23691a56a..5734c68cb9 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -14,6 +14,7 @@
 #include "common/modeldata.h"
 #include "common/util.h"
 #include "selfdrive/modeld/models/commonmodel.h"
+#include "selfdrive/modeld/models/nav.h"
 #include "selfdrive/modeld/runners/run.h"
 
 constexpr int FEATURE_LEN = 128;
@@ -21,6 +22,7 @@ constexpr int HISTORY_BUFFER_LEN = 99;
 constexpr int DESIRE_LEN = 8;
 constexpr int DESIRE_PRED_LEN = 4;
 constexpr int TRAFFIC_CONVENTION_LEN = 2;
+constexpr int DRIVING_STYLE_LEN = 12;
 constexpr int MODEL_FREQ = 20;
 
 constexpr int DISENGAGE_LEN = 5;
@@ -259,11 +261,17 @@ struct ModelState {
 #ifdef TRAFFIC_CONVENTION
   float traffic_convention[TRAFFIC_CONVENTION_LEN] = {};
 #endif
+#ifdef DRIVING_STYLE
+  float driving_style[DRIVING_STYLE_LEN] = {};
+#endif
+#ifdef NAV
+  float nav_features[NAV_FEATURE_LEN] = {};
+#endif
 };
 
 void model_init(ModelState* s, cl_device_id device_id, cl_context context);
 ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide,
-                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, bool prepare_only);
+                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, float *driving_style, float *nav_features, bool prepare_only);
 void model_free(ModelState* s);
 void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop,
                    const ModelOutput &net_outputs, uint64_t timestamp_eof,
diff --git a/selfdrive/modeld/models/nav.cc b/selfdrive/modeld/models/nav.cc
index dae87c7ce5..861795e172 100644
--- a/selfdrive/modeld/models/nav.cc
+++ b/selfdrive/modeld/models/nav.cc
@@ -9,11 +9,11 @@
 
 
 void navmodel_init(NavModelState* s) {
-#ifdef USE_ONNX_MODEL
-  s->m = new ONNXModel("models/navmodel.onnx", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
-#else
-  s->m = new SNPEModel("models/navmodel_q.dlc", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
-#endif
+  #ifdef USE_ONNX_MODEL
+    s->m = new ONNXModel("models/navmodel.onnx", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
+  #else
+    s->m = new SNPEModel("models/navmodel_q.dlc", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
+  #endif
 }
 
 NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf) {
@@ -56,7 +56,7 @@ void navmodel_publish(PubMaster &pm, uint32_t frame_id, const NavModelResult &mo
   framed.setDspExecutionTime(model_res.dsp_execution_time);
   framed.setFeatures(to_kj_array_ptr(model_res.features.values));
   framed.setDesirePrediction(to_kj_array_ptr(model_res.desire_pred.values));
-  fill_plan(framed, model_res.plans.get_best_prediction());
+  fill_plan(framed, model_res.plan);
 
   pm.send("navModel", msg);
 }
diff --git a/selfdrive/modeld/models/nav.h b/selfdrive/modeld/models/nav.h
index b469f75987..b2955ad2c5 100644
--- a/selfdrive/modeld/models/nav.h
+++ b/selfdrive/modeld/models/nav.h
@@ -10,7 +10,6 @@
 constexpr int NAV_INPUT_SIZE = 256*256;
 constexpr int NAV_FEATURE_LEN = 64;
 constexpr int NAV_DESIRE_LEN = 32;
-constexpr int NAV_PLAN_MHP_N = 5;
 
 struct NavModelOutputXY {
   float x;
@@ -21,24 +20,8 @@ static_assert(sizeof(NavModelOutputXY) == sizeof(float)*2);
 struct NavModelOutputPlan {
   std::array<NavModelOutputXY, TRAJECTORY_SIZE> mean;
   std::array<NavModelOutputXY, TRAJECTORY_SIZE> std;
-  float prob;
 };
-static_assert(sizeof(NavModelOutputPlan) == sizeof(NavModelOutputXY)*TRAJECTORY_SIZE*2 + sizeof(float));
-
-struct NavModelOutputPlans {
-  std::array<NavModelOutputPlan, NAV_PLAN_MHP_N> predictions;
-
-  constexpr const NavModelOutputPlan &get_best_prediction() const {
-    int max_idx = 0;
-    for (int i = 1; i < predictions.size(); i++) {
-      if (predictions[i].prob > predictions[max_idx].prob) {
-        max_idx = i;
-      }
-    }
-    return predictions[max_idx];
-  }
-};
-static_assert(sizeof(NavModelOutputPlans) == sizeof(NavModelOutputPlan)*NAV_PLAN_MHP_N);
+static_assert(sizeof(NavModelOutputPlan) == sizeof(NavModelOutputXY)*TRAJECTORY_SIZE*2);
 
 struct NavModelOutputDesirePrediction {
   std::array<float, NAV_DESIRE_LEN> values;
@@ -51,12 +34,12 @@ struct NavModelOutputFeatures {
 static_assert(sizeof(NavModelOutputFeatures) == sizeof(float)*NAV_FEATURE_LEN);
 
 struct NavModelResult {
-  const NavModelOutputPlans plans;
+  const NavModelOutputPlan plan;
   const NavModelOutputDesirePrediction desire_pred;
   const NavModelOutputFeatures features;
   float dsp_execution_time;
 };
-static_assert(sizeof(NavModelResult) == sizeof(NavModelOutputPlans) + sizeof(NavModelOutputDesirePrediction) + sizeof(NavModelOutputFeatures) + sizeof(float));
+static_assert(sizeof(NavModelResult) == sizeof(NavModelOutputPlan) + sizeof(NavModelOutputDesirePrediction) + sizeof(NavModelOutputFeatures) + sizeof(float));
 
 constexpr int NAV_OUTPUT_SIZE = sizeof(NavModelResult) / sizeof(float);
 constexpr int NAV_NET_OUTPUT_SIZE = NAV_OUTPUT_SIZE - 1;
diff --git a/selfdrive/modeld/models/navmodel.onnx b/selfdrive/modeld/models/navmodel.onnx
index 60dd8c0e7f..397b8d90e2 100644
--- a/selfdrive/modeld/models/navmodel.onnx
+++ b/selfdrive/modeld/models/navmodel.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:eab4b986e14d7d842d6d5487011c329d356fb56995b2ae7dc7188aefe6df9d97
-size 12285002
+oid sha256:9028b36a591763724e95205b48f37f09260b4434fb1f3c6f228db1710a401aa8
+size 12258591
diff --git a/selfdrive/modeld/models/navmodel_q.dlc b/selfdrive/modeld/models/navmodel_q.dlc
index 7d9b36ed4d..984cf0a553 100644
--- a/selfdrive/modeld/models/navmodel_q.dlc
+++ b/selfdrive/modeld/models/navmodel_q.dlc
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:83d53efc40053b02fe7d3da4ef6213a4a5a1ae4d1bd49c121b9beb6a54ea1148
-size 3154868
+oid sha256:bc7ade56bb4f9525c84a46df22252ea1e321a0518cbcef8bdfc76ccd8ad10b41
+size 3154304
diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc
index 447d90fd7e..5616a6c9c7 100644
--- a/selfdrive/modeld/runners/onnxmodel.cc
+++ b/selfdrive/modeld/runners/onnxmodel.cc
@@ -97,6 +97,16 @@ void ONNXModel::addDesire(float *state, int state_size) {
   desire_state_size = state_size;
 }
 
+void ONNXModel::addNavFeatures(float *state, int state_size) {
+  nav_features_input_buf = state;
+  nav_features_size = state_size;
+}
+
+void ONNXModel::addDrivingStyle(float *state, int state_size) {
+    driving_style_input_buf = state;
+    driving_style_size = state_size;
+}
+
 void ONNXModel::addTrafficConvention(float *state, int state_size) {
   traffic_convention_input_buf = state;
   traffic_convention_size = state_size;
@@ -128,7 +138,13 @@ void ONNXModel::execute() {
   if (desire_input_buf != NULL) {
     pwrite(desire_input_buf, desire_state_size);
   }
-  if (traffic_convention_input_buf != NULL) {
+  if (nav_features_input_buf != NULL) {
+    pwrite(nav_features_input_buf, nav_features_size);
+  }
+  if (driving_style_input_buf != NULL) {
+    pwrite(driving_style_input_buf, driving_style_size);
+  }
+   if (traffic_convention_input_buf != NULL) {
     pwrite(traffic_convention_input_buf, traffic_convention_size);
   }
   if (calib_input_buf != NULL) {
diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h
index d5b7bfecf0..9990bf1b45 100644
--- a/selfdrive/modeld/runners/onnxmodel.h
+++ b/selfdrive/modeld/runners/onnxmodel.h
@@ -10,6 +10,8 @@ public:
 	~ONNXModel();
   void addRecurrent(float *state, int state_size);
   void addDesire(float *state, int state_size);
+  void addNavFeatures(float *state, int state_size);
+  void addDrivingStyle(float *state, int state_size);
   void addTrafficConvention(float *state, int state_size);
   void addCalib(float *state, int state_size);
   void addImage(float *image_buf, int buf_size);
@@ -25,6 +27,10 @@ private:
   int rnn_state_size;
   float *desire_input_buf = NULL;
   int desire_state_size;
+  float *nav_features_input_buf = NULL;
+  int nav_features_size;
+  float *driving_style_input_buf = NULL;
+  int driving_style_size;
   float *traffic_convention_input_buf = NULL;
   int traffic_convention_size;
   float *calib_input_buf = NULL;
diff --git a/selfdrive/modeld/runners/runmodel.h b/selfdrive/modeld/runners/runmodel.h
index c607811401..673ddb50b5 100644
--- a/selfdrive/modeld/runners/runmodel.h
+++ b/selfdrive/modeld/runners/runmodel.h
@@ -5,6 +5,8 @@ public:
   virtual ~RunModel() {}
   virtual void addRecurrent(float *state, int state_size) {}
   virtual void addDesire(float *state, int state_size) {}
+  virtual void addNavFeatures(float *state, int state_size) {}
+  virtual void addDrivingStyle(float *state, int state_size) {}
   virtual void addTrafficConvention(float *state, int state_size) {}
   virtual void addCalib(float *state, int state_size) {}
   virtual void addImage(float *image_buf, int buf_size) {}
diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc
index ff4adcd8d3..609a7a6657 100644
--- a/selfdrive/modeld/runners/snpemodel.cc
+++ b/selfdrive/modeld/runners/snpemodel.cc
@@ -153,6 +153,16 @@ void SNPEModel::addDesire(float *state, int state_size) {
   desireBuffer = this->addExtra(state, state_size, 1);
 }
 
+void SNPEModel::addNavFeatures(float *state, int state_size) {
+  navFeatures = state;
+  navFeaturesBuffer = this->addExtra(state, state_size, 1);
+}
+
+void SNPEModel::addDrivingStyle(float *state, int state_size) {
+    drivingStyle = state;
+    drivingStyleBuffer = this->addExtra(state, state_size, 2);
+}
+
 void SNPEModel::addCalib(float *state, int state_size) {
   calib = state;
   calibBuffer = this->addExtra(state, state_size, 1);
diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h
index 08ae16c2b1..0d84d1d482 100644
--- a/selfdrive/modeld/runners/snpemodel.h
+++ b/selfdrive/modeld/runners/snpemodel.h
@@ -28,6 +28,8 @@ public:
   void addTrafficConvention(float *state, int state_size);
   void addCalib(float *state, int state_size);
   void addDesire(float *state, int state_size);
+  void addDrivingStyle(float *state, int state_size);
+  void addNavFeatures(float *state, int state_size);
   void addImage(float *image_buf, int buf_size);
   void addExtra(float *image_buf, int buf_size);
   void execute();
@@ -75,6 +77,10 @@ private:
   std::unique_ptr<zdl::DlSystem::IUserBuffer> trafficConventionBuffer;
   float *desire;
   std::unique_ptr<zdl::DlSystem::IUserBuffer> desireBuffer;
+  float *navFeatures;
+  std::unique_ptr<zdl::DlSystem::IUserBuffer> navFeaturesBuffer;
+  float *drivingStyle;
+  std::unique_ptr<zdl::DlSystem::IUserBuffer> drivingStyleBuffer;
   float *calib;
   std::unique_ptr<zdl::DlSystem::IUserBuffer> calibBuffer;
 };
diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc
index 67db01bb95..4fdd7ca466 100644
--- a/selfdrive/modeld/runners/thneedmodel.cc
+++ b/selfdrive/modeld/runners/thneedmodel.cc
@@ -24,6 +24,14 @@ void ThneedModel::addDesire(float *state, int state_size) {
   desire = state;
 }
 
+void ThneedModel::addDrivingStyle(float *state, int state_size) {
+    drivingStyle = state;
+}
+
+void ThneedModel::addNavFeatures(float *state, int state_size) {
+  navFeatures = state;
+}
+
 void ThneedModel::addImage(float *image_input_buf, int buf_size) {
   input = image_input_buf;
 }
diff --git a/selfdrive/modeld/runners/thneedmodel.h b/selfdrive/modeld/runners/thneedmodel.h
index f3f34dc7f4..63712f1d00 100644
--- a/selfdrive/modeld/runners/thneedmodel.h
+++ b/selfdrive/modeld/runners/thneedmodel.h
@@ -9,6 +9,8 @@ public:
   void addRecurrent(float *state, int state_size);
   void addTrafficConvention(float *state, int state_size);
   void addDesire(float *state, int state_size);
+  void addNavFeatures(float *state, int state_size);
+  void addDrivingStyle(float *state, int state_size);
   void addImage(float *image_buf, int buf_size);
   void addExtra(float *image_buf, int buf_size);
   void execute();
@@ -26,6 +28,8 @@ private:
   // recurrent and desire
   float *recurrent;
   float *trafficConvention;
+  float *drivingStyle;
   float *desire;
+  float *navFeatures;
 };
 
diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc
index a9c34b5bd5..91f31d06dc 100644
--- a/selfdrive/navd/map_renderer.cc
+++ b/selfdrive/navd/map_renderer.cc
@@ -17,6 +17,9 @@ const int NUM_VIPC_BUFFERS = 4;
 const int EARTH_CIRCUMFERENCE_METERS = 40075000;
 const int PIXELS_PER_TILE = 256;
 
+const bool TEST_MODE = getenv("MAP_RENDER_TEST_MODE");
+const int LLK_DECIMATION = TEST_MODE ? 1 : 10;
+
 float get_zoom_level_for_scale(float lat, float meters_per_pixel) {
   float meters_per_tile = meters_per_pixel * PIXELS_PER_TILE;
   float num_tiles = cos(DEG2RAD(lat)) * EARTH_CIRCUMFERENCE_METERS / meters_per_tile;
@@ -56,16 +59,21 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set
   m_map->setFramebufferObject(fbo->handle(), fbo->size());
   gl_functions->glViewport(0, 0, WIDTH, HEIGHT);
 
+  QObject::connect(m_map.data(), &QMapboxGL::mapChanged, [=](QMapboxGL::MapChange change) {
+    // https://github.com/mapbox/mapbox-gl-native/blob/cf734a2fec960025350d8de0d01ad38aeae155a0/platform/qt/include/qmapboxgl.hpp#L116
+    //LOGD("new state %d", change);
+  });
+
   QObject::connect(m_map.data(), &QMapboxGL::mapLoadingFailed, [=](QMapboxGL::MapLoadingFailure err_code, const QString &reason) {
     LOGE("Map loading failed with %d: '%s'\n", err_code, reason.toStdString().c_str());
   });
 
   if (online) {
     vipc_server.reset(new VisionIpcServer("navd"));
-    vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH, HEIGHT);
+    vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH/2, HEIGHT/2);
     vipc_server->start_listener();
 
-    pm.reset(new PubMaster({"navThumbnail"}));
+    pm.reset(new PubMaster({"navThumbnail", "mapRenderState"}));
     sm.reset(new SubMaster({"liveLocationKalman", "navRoute"}, {"liveLocationKalman"}));
 
     timer = new QTimer(this);
@@ -84,8 +92,21 @@ void MapRenderer::msgUpdate() {
     auto orientation = location.getCalibratedOrientationNED();
 
     bool localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid();
-    if (localizer_valid && (sm->rcv_frame("liveLocationKalman") % 10) == 0) {
+    if (localizer_valid && (sm->rcv_frame("liveLocationKalman") % LLK_DECIMATION) == 0) {
       updatePosition(QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]), RAD2DEG(orientation.getValue()[2]));
+
+      // TODO: use the static rendering mode
+      if (!loaded() && frame_id > 0) {
+        for (int i = 0; i < 5 && !loaded(); i++) {
+          LOGW("map render retry #%d, %d", i+1, m_map.isNull());
+          QApplication::processEvents(QEventLoop::AllEvents, 100);
+          update();
+        }
+
+        if (!loaded()) {
+          LOGE("failed to render map after retry");
+        }
+      }
     }
   }
 
@@ -122,24 +143,33 @@ bool MapRenderer::loaded() {
 }
 
 void MapRenderer::update() {
+  double start_t = millis_since_boot();
   gl_functions->glClear(GL_COLOR_BUFFER_BIT);
   m_map->render();
   gl_functions->glFlush();
+  double end_t = millis_since_boot();
 
-  sendVipc();
+  if ((vipc_server != nullptr) && loaded()) {
+    publish((end_t - start_t) / 1000.0);
+  }
 }
 
-void MapRenderer::sendVipc() {
-  if (!vipc_server || !loaded()) {
-    return;
-  }
+void MapRenderer::sendThumbnail(const uint64_t ts, const kj::Array<capnp::byte> &buf) {
+  MessageBuilder msg;
+  auto thumbnaild = msg.initEvent().initNavThumbnail();
+  thumbnaild.setFrameId(frame_id);
+  thumbnaild.setTimestampEof(ts);
+  thumbnaild.setThumbnail(buf);
+  pm->send("navThumbnail", msg);
+}
 
+void MapRenderer::publish(const double render_time) {
   QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor);
   uint64_t ts = nanos_since_boot();
   VisionBuf* buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_MAP);
   VisionIpcBufExtra extra = {
     .frame_id = frame_id,
-    .timestamp_sof = ts,
+    .timestamp_sof = sm->rcv_time("liveLocationKalman"),
     .timestamp_eof = ts,
   };
 
@@ -147,15 +177,22 @@ void MapRenderer::sendVipc() {
   uint8_t* dst = (uint8_t*)buf->addr;
   uint8_t* src = cap.bits();
 
-  // RGB to greyscale
+  // RGB to greyscale and crop
   memset(dst, 128, buf->len);
-  for (int i = 0; i < WIDTH * HEIGHT; i++) {
-    dst[i] = src[i * 3];
+  for (int r = 0; r < HEIGHT/2; r++) {
+    for (int c = 0; c < WIDTH/2; c++) {
+      dst[r*WIDTH/2 + c] = src[((HEIGHT/4 + r)*WIDTH + (c+WIDTH/4)) * 3];
+    }
   }
 
   vipc_server->send(buf, &extra);
 
-  if (frame_id % 100 == 0) {
+  // Send thumbnail
+  if (TEST_MODE) {
+    // Full image in thumbnails in test mode
+    kj::Array<capnp::byte> buffer_kj = kj::heapArray<capnp::byte>((const capnp::byte*)cap.bits(), cap.sizeInBytes());
+    sendThumbnail(ts, buffer_kj);
+  } else if (frame_id % 100 == 0) {
     // Write jpeg into buffer
     QByteArray buffer_bytes;
     QBuffer buffer(&buffer_bytes);
@@ -163,16 +200,17 @@ void MapRenderer::sendVipc() {
     cap.save(&buffer, "JPG", 50);
 
     kj::Array<capnp::byte> buffer_kj = kj::heapArray<capnp::byte>((const capnp::byte*)buffer_bytes.constData(), buffer_bytes.size());
-
-    // Send thumbnail
-    MessageBuilder msg;
-    auto thumbnaild = msg.initEvent().initNavThumbnail();
-    thumbnaild.setFrameId(frame_id);
-    thumbnaild.setTimestampEof(ts);
-    thumbnaild.setThumbnail(buffer_kj);
-    pm->send("navThumbnail", msg);
+    sendThumbnail(ts, buffer_kj);
   }
 
+  // Send state msg
+  MessageBuilder msg;
+  auto state = msg.initEvent().initMapRenderState();
+  state.setLocationMonoTime(sm->rcv_time("liveLocationKalman"));
+  state.setRenderTime(render_time);
+  state.setFrameId(frame_id);
+  pm->send("mapRenderState", msg);
+
   frame_id++;
 }
 
diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h
index 7f725c93fe..0019030b6d 100644
--- a/selfdrive/navd/map_renderer.h
+++ b/selfdrive/navd/map_renderer.h
@@ -34,7 +34,8 @@ private:
   std::unique_ptr<VisionIpcServer> vipc_server;
   std::unique_ptr<PubMaster> pm;
   std::unique_ptr<SubMaster> sm;
-  void sendVipc();
+  void publish(const double render_time);
+  void sendThumbnail(const uint64_t ts, const kj::Array<capnp::byte> &buf);
 
   QMapboxGLSettings m_settings;
   QScopedPointer<QMapboxGL> m_map;
diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py
index e5e21a6fef..c96e624421 100755
--- a/selfdrive/test/process_replay/compare_logs.py
+++ b/selfdrive/test/process_replay/compare_logs.py
@@ -80,7 +80,7 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
   diff = []
   for msg1, msg2 in zip(log1, log2):
     if msg1.which() != msg2.which():
-      print(msg1, msg2)
+      print(msg1.which(), msg2.which())
       raise Exception("msgs not aligned between logs")
 
     msg1 = remove_ignored_fields(msg1, ignore_fields)
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 1f43bb791a..ce861b37e6 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -23,7 +23,7 @@ from tools.lib.logreader import LogReader
 TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
 SEGMENT = 6
 MAX_FRAMES = 100 if PC else 600
-NAV_FRAMES = 20
+NAV_FRAMES = 50
 
 NO_NAV = "NO_NAV" in os.environ  # TODO: make map renderer work in CI
 SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0"))
@@ -43,39 +43,46 @@ def replace_calib(msg, calib):
 
 
 def nav_model_replay(lr):
+  sm = messaging.SubMaster(['navModel', 'navThumbnail'])
   pm = messaging.PubMaster(['liveLocationKalman', 'navRoute'])
-  sock = messaging.sub_sock('navModel', conflate=False, timeout=1000)
+
+  nav = [m for m in lr if m.which() == 'navRoute']
+  llk = [m for m in lr if m.which() == 'liveLocationKalman']
+  assert len(nav) > 0 and len(llk) >= NAV_FRAMES
 
   log_msgs = []
   try:
+    assert "MAPBOX_TOKEN" in os.environ
+    os.environ['MAP_RENDER_TEST_MODE'] = '1'
     managed_processes['mapsd'].start()
     managed_processes['navmodeld'].start()
 
     # setup position and route
-    nav = [m for m in lr if m.which() == 'navRoute']
-    llk = [m for m in lr if m.which() == 'liveLocationKalman']
-    assert len(nav) > 0 and len(llk) > 0
-
-    for _ in range(30):
+    for _ in range(10):
       for s in (llk, nav):
-        msg = s[0]
-        pm.send(msg.which(), msg.as_builder().to_bytes())
-      if messaging.recv_one(sock) is not None:
+        pm.send(s[0].which(), s[0].as_builder().to_bytes())
+      sm.update(1000)
+      if sm.updated['navModel']:
         break
-    else:
-      raise Exception("no navmodeld outputs")
+      time.sleep(1)
+
+    if not sm.updated['navModel']:
+      raise Exception("no navmodeld outputs, failed to initialize")
 
+    # drain
     time.sleep(2)
-    messaging.drain_sock_raw(sock)
+    sm.update(0)
 
     # run replay
-    for _ in range(NAV_FRAMES):
-      # 2Hz decimation
-      for _ in range(10):
-        pm.send(llk[0].which(), llk[0].as_builder().to_bytes())
-        time.sleep(0.1)
-      with Timeout(5, "timed out waiting for nav model outputs"):
-        log_msgs.append(messaging.recv_one_retry(sock))
+    for n in range(NAV_FRAMES):
+      pm.send(llk[n].which(), llk[n].as_builder().to_bytes())
+      m = messaging.recv_one(sm.sock['navThumbnail'])
+      assert m is not None, f"no navThumbnail, frame={n}"
+      log_msgs.append(m)
+
+      m = messaging.recv_one(sm.sock['navModel'])
+      assert m is not None, f"no navModel response, frame={n}"
+      log_msgs.append(m)
   finally:
     managed_processes['mapsd'].stop()
     managed_processes['navmodeld'].stop()
@@ -212,7 +219,7 @@ if __name__ == "__main__":
     try:
       expected_msgs = 2*MAX_FRAMES
       if not NO_NAV:
-        expected_msgs += NAV_FRAMES
+        expected_msgs += NAV_FRAMES*2
       cmp_log = list(LogReader(BASE_URL + log_fn))[:expected_msgs]
 
       ignore = [
@@ -223,6 +230,7 @@ if __name__ == "__main__":
         'driverStateV2.dspExecutionTime',
         'navModel.dspExecutionTime',
         'navModel.modelExecutionTime',
+        'navThumbnail.timestampEof',
       ]
       if PC:
         ignore += [
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index b58cca1aaf..aa204e0f8a 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-4b2c6516cd460ee443b9006f01233168edf3d170
\ No newline at end of file
+4ff972367fdb9546be68ee0ba0d45cf4f839dae7
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 4641299458..80385710a9 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-f17412941a0e8229eea308c33189a5bdb1a17ae8
+6681ca22053b019a65930e76a396535d0cddf39c
\ No newline at end of file
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index fed59ef123..95ad813dff 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -31,6 +31,11 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
     split->insertWidget(0, arCam);
   }
 
+  if (getenv("MAP_RENDER_VIEW")) {
+    CameraWidget *map_render = new CameraWidget("navd", VISION_STREAM_MAP, false, this);
+    split->insertWidget(0, map_render);
+  }
+
   stacked_layout->addWidget(split_wrapper);
 
   alerts = new OnroadAlerts(this);
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index aa256b4ce1..b98c75d452 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -10,7 +10,7 @@
 
 // BinaryView
 
-const int CELL_HEIGHT = 26;
+const int CELL_HEIGHT = 36;
 
 inline int get_bit_index(const QModelIndex &index, bool little_endian) {
   return index.row() * 8 + (little_endian ? 7 - index.column() : index.column());
@@ -24,14 +24,13 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
   horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
   verticalHeader()->setSectionsClickable(false);
   verticalHeader()->setSectionResizeMode(QHeaderView::Fixed);
+  verticalHeader()->setDefaultSectionSize(CELL_HEIGHT);
   horizontalHeader()->hide();
-  setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
-  setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
-  setSizeAdjustPolicy(QAbstractScrollArea::AdjustToContents);
   setFrameShape(QFrame::NoFrame);
   setShowGrid(false);
-  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum);
   setMouseTracking(true);
+  setSizeAdjustPolicy(QAbstractScrollArea::AdjustToContents);
+  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
 }
 
 void BinaryView::highlight(const Signal *sig) {
@@ -57,7 +56,7 @@ void BinaryView::setSelection(const QRect &rect, QItemSelectionModel::SelectionF
 }
 
 void BinaryView::mousePressEvent(QMouseEvent *event) {
-  delegate->setSelectionColor(style()->standardPalette().color(QPalette::Active, QPalette::Highlight));
+  delegate->selection_color = (palette().color(QPalette::Active, QPalette::Highlight));
   if (auto index = indexAt(event->pos()); index.isValid() && index.column() != 8) {
     anchor_index = index;
     auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer();
@@ -66,7 +65,7 @@ void BinaryView::mousePressEvent(QMouseEvent *event) {
       if (bit_idx == s->lsb || bit_idx == s->msb) {
         anchor_index = model->bitIndex(bit_idx == s->lsb ? s->msb : s->lsb, true);
         resize_sig = s;
-        delegate->setSelectionColor(item->bg_color);
+        delegate->selection_color = item->bg_color;
         break;
       }
     }
@@ -79,8 +78,7 @@ void BinaryView::highlightPosition(const QPoint &pos) {
     auto item = (BinaryViewModel::Item *)index.internalPointer();
     const Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back();
     highlight(sig);
-    sig ? QToolTip::showText(pos, sig->name.c_str(), this, rect())
-        : QToolTip::hideText();
+    QToolTip::showText(pos, sig ? sig->name.c_str() : "", this, rect());
   }
 }
 
@@ -214,7 +212,7 @@ QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, i
   if (orientation == Qt::Vertical) {
     switch (role) {
       case Qt::DisplayRole: return section;
-      case Qt::SizeHintRole: return QSize(30, CELL_HEIGHT);
+      case Qt::SizeHintRole: return QSize(30, 0);
       case Qt::TextAlignmentRole: return Qt::AlignCenter;
     }
   }
@@ -224,16 +222,9 @@ QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, i
 // BinaryItemDelegate
 
 BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(parent) {
-  // cache fonts and color
-  small_font.setPointSize(6);
+  small_font.setPixelSize(8);
   hex_font = QFontDatabase::systemFont(QFontDatabase::FixedFont);
   hex_font.setBold(true);
-  selection_color = QApplication::style()->standardPalette().color(QPalette::Active, QPalette::Highlight);
-}
-
-QSize BinaryItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const {
-  QSize sz = QStyledItemDelegate::sizeHint(option, index);
-  return {sz.width(), CELL_HEIGHT};
 }
 
 void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@@ -245,12 +236,10 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
     painter->setFont(hex_font);
   } else if (option.state & QStyle::State_Selected) {
     painter->fillRect(option.rect, selection_color);
-    painter->setPen(QApplication::style()->standardPalette().color(QPalette::BrightText));
+    painter->setPen(option.palette.color(QPalette::BrightText));
   } else if (!item->sigs.isEmpty() && (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig))) {
     painter->fillRect(option.rect, item->bg_color);
-    painter->setPen(item->sigs.contains(bin_view->hovered_sig)
-                        ? QApplication::style()->standardPalette().color(QPalette::BrightText)
-                        : Qt::black);
+    painter->setPen(item->sigs.contains(bin_view->hovered_sig) ? option.palette.color(QPalette::BrightText) : Qt::black);
   }
 
   painter->drawText(option.rect, Qt::AlignCenter, item->val);
@@ -258,6 +247,5 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
     painter->setFont(small_font);
     painter->drawText(option.rect, Qt::AlignHCenter | Qt::AlignBottom, item->is_msb ? "MSB" : "LSB");
   }
-
   painter->restore();
 }
diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h
index c37b378e44..e936efc658 100644
--- a/tools/cabana/binaryview.h
+++ b/tools/cabana/binaryview.h
@@ -9,22 +9,16 @@
 #include "tools/cabana/dbcmanager.h"
 
 class BinaryItemDelegate : public QStyledItemDelegate {
-  Q_OBJECT
-
 public:
   BinaryItemDelegate(QObject *parent);
   void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
-  QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   void setSelectionColor(const QColor &color) { selection_color = color; }
 
-private:
   QFont small_font, hex_font;
   QColor selection_color;
 };
 
 class BinaryViewModel : public QAbstractTableModel {
-  Q_OBJECT
-
 public:
   BinaryViewModel(QObject *parent) : QAbstractTableModel(parent) {}
   void setMessage(const QString &message_id);
@@ -52,7 +46,7 @@ public:
 
 private:
   QString msg_id;
-  const DBCMsg *dbc_msg;
+  const DBCMsg *dbc_msg = nullptr;
   int row_count = 0;
   const int column_count = 9;
 };
diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index 79b40133a5..b177bb0b81 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -3,9 +3,9 @@
 #include <QFutureSynchronizer>
 #include <QGraphicsLayout>
 #include <QRubberBand>
-#include <QTimer>
 #include <QToolBar>
 #include <QToolButton>
+#include <QToolTip>
 #include <QtConcurrent>
 
 // ChartsWidget
@@ -19,6 +19,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
   title_label = new QLabel();
   title_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
   toolbar->addWidget(title_label);
+  show_all_values_btn = toolbar->addAction("");
   toolbar->addWidget(range_label = new QLabel());
   reset_zoom_btn = toolbar->addAction("⟲");
   reset_zoom_btn->setToolTip(tr("Reset zoom (drag on chart to zoom X-Axis)"));
@@ -26,7 +27,6 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
   remove_all_btn->setToolTip(tr("Remove all charts"));
   dock_btn = toolbar->addAction("");
   main_layout->addWidget(toolbar);
-  updateToolBar();
 
   // charts
   QWidget *charts_container = new QWidget(this);
@@ -37,14 +37,16 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
   charts_scroll->setWidgetResizable(true);
   charts_scroll->setWidget(charts_container);
   charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
-
   main_layout->addWidget(charts_scroll);
 
+  max_chart_range = settings.max_chart_x_range;
   use_dark_theme = palette().color(QPalette::WindowText).value() > palette().color(QPalette::Background).value();
+  updateToolBar();
 
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
   QObject::connect(can, &CANMessages::eventsMerged, this, &ChartsWidget::eventsMerged);
   QObject::connect(can, &CANMessages::updated, this, &ChartsWidget::updateState);
+  QObject::connect(show_all_values_btn, &QAction::triggered, this, &ChartsWidget::showAllData);
   QObject::connect(remove_all_btn, &QAction::triggered, this, &ChartsWidget::removeAll);
   QObject::connect(reset_zoom_btn, &QAction::triggered, this, &ChartsWidget::zoomReset);
   QObject::connect(dock_btn, &QAction::triggered, [this]() {
@@ -58,7 +60,7 @@ void ChartsWidget::eventsMerged() {
   if (auto events = can->events(); events && !events->empty()) {
     event_range.first = (events->front()->mono_time / (double)1e9) - can->routeStartTime();
     event_range.second = (events->back()->mono_time / (double)1e9) - can->routeStartTime();
-    updateDisplayRange();
+    updateState();
   }
 }
 
@@ -69,8 +71,8 @@ void ChartsWidget::updateDisplayRange() {
     // reached the end, or seeked to a timestamp out of range.
     display_range.first = current_sec - 5;
   }
-  display_range.first = std::max(display_range.first, event_range.first);
-  display_range.second = std::min(display_range.first + settings.max_chart_x_range, event_range.second);
+  display_range.first = std::floor(std::max(display_range.first, event_range.first) * 10.0) / 10.0;
+  display_range.second = std::floor(std::min(display_range.first + max_chart_range, event_range.second) * 10.0) / 10.0;
   if (prev_range != display_range) {
     QFutureSynchronizer<void> future_synchronizer;
     for (auto c : charts)
@@ -100,13 +102,29 @@ void ChartsWidget::updateState() {
   }
 
   const auto &range = is_zoomed ? zoomed_range : display_range;
+  setUpdatesEnabled(false);
   for (auto c : charts) {
     c->setDisplayRange(range.first, range.second);
     c->scene()->invalidate({}, QGraphicsScene::ForegroundLayer);
   }
+  setUpdatesEnabled(true);
+}
+
+void ChartsWidget::showAllData() {
+  bool switch_to_show_all = max_chart_range == settings.max_chart_x_range;
+  max_chart_range = switch_to_show_all ? settings.cached_segment_limit * 60
+                                       : settings.max_chart_x_range;
+  max_chart_range = std::min(max_chart_range, (uint32_t)can->totalSeconds());
+  updateToolBar();
+  updateState();
 }
 
 void ChartsWidget::updateToolBar() {
+  int min_range = std::min(settings.max_chart_x_range, (int)can->totalSeconds());
+  bool displaying_all = max_chart_range != min_range;
+  show_all_values_btn->setText(tr("%1 minutes").arg(max_chart_range / 60));
+  show_all_values_btn->setToolTip(tr("Click to display %1 data").arg(displaying_all ? tr("%1 minutes").arg(min_range / 60) : tr("ALL cached")));
+  show_all_values_btn->setVisible(!is_zoomed);
   remove_all_btn->setEnabled(!charts.isEmpty());
   reset_zoom_btn->setEnabled(is_zoomed);
   range_label->setText(is_zoomed ? tr("%1 - %2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2) : "");
@@ -179,15 +197,6 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) {
   chart->layout()->setContentsMargins(0, 0, 0, 0);
   chart->setMargins(QMargins(20, 11, 11, 11));
 
-  track_line = new QGraphicsLineItem(chart);
-  track_line->setPen(QPen(Qt::darkGray, 1, Qt::DashLine));
-  track_ellipse = new QGraphicsEllipseItem(chart);
-  track_ellipse->setBrush(Qt::darkGray);
-  value_text = new QGraphicsTextItem(chart);
-  item_group = scene()->createItemGroup({track_line, track_ellipse, value_text});
-  item_group->setZValue(chart->zValue() + 10);
-
-  // title
   QToolButton *remove_btn = new QToolButton();
   remove_btn->setText("X");
   remove_btn->setAutoRaise(true);
@@ -225,6 +234,7 @@ ChartView::~ChartView() {
 
 void ChartView::addSeries(const QString &msg_id, const Signal *sig) {
   QLineSeries *series = new QLineSeries(this);
+  series->setUseOpenGL(true);
   chart()->addSeries(series);
   series->attachAxis(axis_x);
   series->attachAxis(axis_y);
@@ -232,6 +242,7 @@ void ChartView::addSeries(const QString &msg_id, const Signal *sig) {
   sigs.push_back({.msg_id = msg_id, .address = address, .source = source, .sig = sig, .series = series});
   updateTitle();
   updateSeries(sig);
+  updateAxisY();
 }
 
 void ChartView::removeSeries(const QString &msg_id, const Signal *sig) {
@@ -242,8 +253,7 @@ void ChartView::removeSeries(const QString &msg_id, const Signal *sig) {
 }
 
 bool ChartView::hasSeries(const QString &msg_id, const Signal *sig) const {
-  auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; });
-  return it != sigs.end();
+  return std::any_of(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; });
 }
 
 QList<ChartView::SigItem>::iterator ChartView::removeSeries(const QList<ChartView::SigItem>::iterator &it) {
@@ -261,11 +271,11 @@ QList<ChartView::SigItem>::iterator ChartView::removeSeries(const QList<ChartVie
 }
 
 void ChartView::signalUpdated(const Signal *sig) {
-  auto it = std::find_if(sigs.begin(), sigs.end(), [=](auto &s) { return s.sig == sig; });
-  if (it != sigs.end()) {
+  if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.sig == sig; })) {
     updateTitle();
     // TODO: don't update series if only name changed.
     updateSeries(sig);
+    updateAxisY();
   }
 }
 
@@ -276,8 +286,7 @@ void ChartView::signalRemoved(const Signal *sig) {
 }
 
 void ChartView::msgUpdated(uint32_t address) {
-  auto it = std::find_if(sigs.begin(), sigs.end(), [=](auto &s) { return s.address == address; });
-  if (it != sigs.end())
+  if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.address == address; }))
     updateTitle();
 }
 
@@ -392,7 +401,6 @@ void ChartView::updateSeries(const Signal *sig) {
       s.series->replace(s.vals);
     }
   }
-  updateAxisY();
 }
 
 // auto zoom on yaxis
@@ -422,15 +430,44 @@ void ChartView::updateAxisY() {
     axis_y->setRange(min_y - 1, max_y + 1);
   } else {
     double range = max_y - min_y;
-    axis_y->setRange(min_y - range * 0.05, max_y + range * 0.05);
-    axis_y->applyNiceNumbers();
+    applyNiceNumbers(min_y - range * 0.05, max_y + range * 0.05);
   }
 
-  QTimer::singleShot(0, this, &ChartView::adjustChartMargins);
+  adjustChartMargins();
+}
+
+void ChartView::applyNiceNumbers(qreal min, qreal max) {
+  int tick_count = axis_y->tickCount();
+  qreal range = niceNumber((max - min), true);  // range with ceiling
+  qreal step = niceNumber(range / (tick_count - 1), false);
+  min = qFloor(min / step);
+  max = qCeil(max / step);
+  tick_count = int(max - min) + 1;
+  axis_y->setRange(min * step, max * step);
+  axis_y->setTickCount(tick_count);
+}
+
+// nice numbers can be expressed as form of 1*10^n, 2* 10^n or 5*10^n
+qreal ChartView::niceNumber(qreal x, bool ceiling) {
+  qreal z = qPow(10, qFloor(std::log10(x))); //find corresponding number of the form of 10^n than is smaller than x
+  qreal q = x / z; //q<10 && q>=1;
+  if (ceiling) {
+    if (q <= 1.0) q = 1;
+    else if (q <= 2.0) q = 2;
+    else if (q <= 5.0) q = 5;
+    else q = 10;
+  } else {
+    if (q < 1.5) q = 1;
+    else if (q < 3.0) q = 2;
+    else if (q < 7.0) q = 5;
+    else q = 10;
+  }
+  return q * z;
 }
 
 void ChartView::leaveEvent(QEvent *event) {
-  item_group->setVisible(false);
+  track_pt = {0, 0};
+  scene()->update();
   QChartView::leaveEvent(event);
 }
 
@@ -461,10 +498,9 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
   auto rubber = findChild<QRubberBand *>();
   bool is_zooming = rubber && rubber->isVisible();
   const auto plot_area = chart()->plotArea();
-
+  track_pt = {0, 0};
   if (!is_zooming && plot_area.contains(ev->pos())) {
     QStringList text_list;
-    QPointF pos = {};
     const double sec = chart()->mapToValue(ev->pos()).x();
     for (auto &s : sigs) {
       QString value = "--";
@@ -473,35 +509,35 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
       if (it != s.vals.rend() && it->x() >= axis_x->min()) {
         value = QString::number(it->y());
         auto value_pos = chart()->mapToPosition(*it);
-        if (value_pos.x() > pos.x()) pos = value_pos;
+        if (value_pos.x() > track_pt.x()) track_pt = value_pos;
       }
       text_list.push_back(QString("&nbsp;%1 : %2&nbsp;").arg(sigs.size() > 1 ? s.sig->name.c_str() : "Value").arg(value));
     }
-    if (pos.x() == 0) pos = ev->pos();
-
-    QString time = QString::number(chart()->mapToValue(pos).x(), 'f', 3);
-    value_text->setHtml(QString("<div style=\"background-color: darkGray;color: white;\">&nbsp;Time: %1 &nbsp;<br />%2</div>")
-                            .arg(time).arg(text_list.join("<br />")));
-
-    QRectF text_rect = value_text->boundingRect();
-    int text_x = pos.x() + 8;
-    if ((text_x + text_rect.width()) > plot_area.right()) {
-      text_x = pos.x() - text_rect.width() - 8;
-    }
-    value_text->setPos(text_x, pos.y() - text_rect.height() / 2);
-    track_line->setLine(pos.x(), plot_area.top(), pos.x(), plot_area.bottom());
-    track_ellipse->setRect(pos.x() - 5, pos.y() - 5, 10, 10);
-    item_group->setVisible(true);
+    if (track_pt.x() == 0) track_pt = ev->pos();
+    QString text = QString("<div style=\"background-color: darkGray;color: white;\">&nbsp;Time: %1 &nbsp;<br />%2</div>")
+                       .arg(chart()->mapToValue(track_pt).x(), 0, 'f', 3)
+                       .arg(text_list.join("<br />"));
+    QPoint pt((int)track_pt.x() + 20, plot_area.top() - 20);
+    QToolTip::showText(mapToGlobal(pt), text, this, plot_area.toRect());
+    scene()->update();
   } else {
-    item_group->setVisible(false);
+    QToolTip::hideText();
   }
   QChartView::mouseMoveEvent(ev);
 }
 
 void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
   qreal x = chart()->mapToPosition(QPointF{can->currentSec(), 0}).x();
+  qreal y1 = chart()->plotArea().top() - 2;
+  qreal y2 = chart()->plotArea().bottom() + 2;
   painter->setPen(QPen(chart()->titleBrush().color(), 2));
-  painter->drawLine(QPointF{x, chart()->plotArea().top() - 2}, QPointF{x, chart()->plotArea().bottom() + 2});
+  painter->drawLine(QPointF{x, y1}, QPointF{x, y2});
+  if (!track_pt.isNull()) {
+    painter->setPen(QPen(Qt::darkGray, 1, Qt::DashLine));
+    painter->drawLine(QPointF{track_pt.x(), y1}, QPointF{track_pt.x(), y2});
+    painter->setBrush(Qt::darkGray);
+    painter->drawEllipse(track_pt, 5, 5);
+  }
 }
 
 // SeriesSelector
@@ -570,7 +606,7 @@ void SeriesSelector::addSignal(QListWidgetItem *item) {
   addSeries(data[0], data[1], data[2]);
 }
 
-void SeriesSelector::addSeries(const QString &id, const QString& msg_name, const QString &sig_name) {
+void SeriesSelector::addSeries(const QString &id, const QString &msg_name, const QString &sig_name) {
   QStringList data({id, msg_name, sig_name});
   for (int i = 0; i < chart_series->count(); ++i) {
     if (chart_series->item(i)->data(Qt::UserRole).toStringList() == data) {
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
index 3e3277c5b8..3f9cf877a9 100644
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -4,10 +4,7 @@
 #include <QDialogButtonBox>
 #include <QLabel>
 #include <QListWidget>
-#include <QGraphicsEllipseItem>
-#include <QGraphicsLineItem>
 #include <QGraphicsProxyWidget>
-#include <QGraphicsTextItem>
 #include <QVBoxLayout>
 #include <QtCharts/QChartView>
 #include <QtCharts/QLineSeries>
@@ -66,13 +63,12 @@ private:
   void updateTitle();
   void updateFromSettings();
   void drawForeground(QPainter *painter, const QRectF &rect) override;
+  void applyNiceNumbers(qreal min, qreal max);
+  qreal niceNumber(qreal x, bool ceiling);
 
   QValueAxis *axis_x;
   QValueAxis *axis_y;
-  QGraphicsItemGroup *item_group;
-  QGraphicsLineItem *track_line;
-  QGraphicsEllipseItem *track_ellipse;
-  QGraphicsTextItem *value_text;
+  QPointF track_pt;
   QGraphicsProxyWidget *close_btn_proxy;
   QGraphicsProxyWidget *manage_btn_proxy;
   std::pair<double, double> events_range = {0, 0};
@@ -102,17 +98,20 @@ private:
   void zoomReset();
   void updateToolBar();
   void removeAll();
+  void showAllData();
   bool eventFilter(QObject *obj, QEvent *event) override;
   ChartView *findChart(const QString &id, const Signal *sig);
 
   QLabel *title_label;
   QLabel *range_label;
   bool docking = true;
+  QAction *show_all_values_btn;
   QAction *dock_btn;
   QAction *reset_zoom_btn;
   QAction *remove_all_btn;
   QVBoxLayout *charts_layout;
   QList<ChartView *> charts;
+  uint32_t max_chart_range = 0;
   bool is_zoomed = false;
   std::pair<double, double> event_range;
   std::pair<double, double> display_range;
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 5457555db4..ec9a0b011c 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -68,9 +68,11 @@ void HistoryLogModel::updateState() {
 // HeaderView
 
 QSize HeaderView::sectionSizeFromContents(int logicalIndex) const {
+  int default_size = qMax(100, rect().width() / model()->columnCount());
   const QString text = model()->headerData(logicalIndex, this->orientation(), Qt::DisplayRole).toString();
-  const QRect rect = fontMetrics().boundingRect(QRect(0, 0, sectionSize(logicalIndex), 1000), defaultAlignment(), text);
-  return rect.size() + QSize{10, 6};
+  const QRect rect = fontMetrics().boundingRect({0, 0, default_size, 2000}, defaultAlignment(), text);
+  QSize size = rect.size() + QSize{10, 6};
+  return {qMax(size.width(), default_size), size.height()};
 }
 
 void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalIndex) const {
@@ -81,7 +83,7 @@ void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalI
     painter->fillRect(rect, bg_role.value<QBrush>());
   }
   QString text = model()->headerData(logicalIndex, Qt::Horizontal, Qt::DisplayRole).toString();
-  painter->drawText(rect.adjusted(5, 3, 5, 3), defaultAlignment(), text);
+  painter->drawText(rect.adjusted(5, 3, -5, -3), defaultAlignment(), text);
 }
 
 // HistoryLog
@@ -90,15 +92,13 @@ HistoryLog::HistoryLog(QWidget *parent) : QTableView(parent) {
   model = new HistoryLogModel(this);
   setModel(model);
   setHorizontalHeader(new HeaderView(Qt::Horizontal, this));
-  horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
   horizontalHeader()->setDefaultAlignment(Qt::AlignLeft | (Qt::Alignment)Qt::TextWordWrap);
-  horizontalHeader()->setSectionResizeMode(0, QHeaderView::ResizeToContents);
+  horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
   verticalHeader()->setVisible(false);
   setFrameShape(QFrame::NoFrame);
   setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
 }
 
 int HistoryLog::sizeHintForColumn(int column) const {
-  // sizeHintForColumn is only called for column 0 (ResizeToContents)
-  return itemDelegate()->sizeHint(viewOptions(), model->index(0, 0)).width() + 5;
+  return -1;
 }
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index bbcd49061e..43cbef5bd6 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -128,8 +128,8 @@ def ui_thread(addr):
     sm.update(0)
 
     w = sm['controlsState'].lateralControlState.which()
-    if w == 'lqrState':
-      angle_steers_k = sm['controlsState'].lateralControlState.lqrState.steeringAngleDeg
+    if w == 'lqrStateDEPRECATED':
+      angle_steers_k = sm['controlsState'].lateralControlState.lqrStateDEPRECATED.steeringAngleDeg
     elif w == 'indiState':
       angle_steers_k = sm['controlsState'].lateralControlState.indiState.steeringAngleDeg
     else:
diff --git a/update_requirements.sh b/update_requirements.sh
index 9195799ca3..e5dedea7a6 100755
--- a/update_requirements.sh
+++ b/update_requirements.sh
@@ -45,7 +45,7 @@ fi
 eval "$(pyenv init --path)"
 
 echo "update pip"
-pip install pip==22.3
+pip install pip==22.3.1
 pip install poetry==1.2.2
 
 poetry config virtualenvs.prefer-active-python true --local