diff --git a/docs/CARS.md b/docs/CARS.md
index d6107b726b..a0a4fd6bd7 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 313 Supported Cars
+# 314 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -72,6 +72,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Accord 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
diff --git a/opendbc_repo b/opendbc_repo
index adb6001649..cea3fb692e 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit adb6001649c0cc022873739187652b0014483dd3
+Subproject commit cea3fb692eb629b873e86450a786bcd2121352e9
diff --git a/panda b/panda
index c2723b2f6b..5b0f1a2eca 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit c2723b2f6bcce7e2d97f685db1ec2472a8dd28f5
+Subproject commit 5b0f1a2eca710121ef7573f1d183d4bc6c07b6ec
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index ab1124df13..8996ad6460 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -430,9 +430,7 @@ class TestCarModelBase(unittest.TestCase):
         if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
           brake_pressed = False
       checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
-      # TODO: remove this exception before closing commaai/opendbc#1100
-      if not (self.CP.brand == "honda" and self.CP.flags & HondaFlags.BOSCH):
-        checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
+      checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
       checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
 
       if self.CP.pcmCruise:
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 9d59e2bd48..ba9fa8b7a6 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -63,14 +63,8 @@ if GetOption('extras'):
   qt_src.remove("main.cc")  # replaced by test_runner
   qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)
 
-  qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)
-
-  # setup
-  qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],
-                 LIBS=qt_libs + ['curl', 'common'])
-
+  # build installers
   if arch != "Darwin":
-    # build installers
     raylib_env = env.Clone()
     raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
     raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')
@@ -102,7 +96,3 @@ if GetOption('extras'):
       f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter], LIBS=raylib_libs)
       # keep installers small
       assert f[0].get_size() < 1900*1e3, f[0].get_size()
-
-# build watch3
-if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
-  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'msgq', 'visionipc'])
diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py
index cc2c6b4fe7..ca031e2f17 100644
--- a/selfdrive/ui/onroad/cameraview.py
+++ b/selfdrive/ui/onroad/cameraview.py
@@ -141,6 +141,9 @@ class CameraView(Widget):
 
     self.client = None
 
+  def __del__(self):
+    self.close()
+
   def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
     if not self.frame:
       return np.eye(3)
@@ -337,16 +340,7 @@ class CameraView(Widget):
 
 
 if __name__ == "__main__":
-  gui_app.init_window("watch3")
-  road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
-  driver_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
-  wide_road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD)
-  try:
-    for _ in gui_app.render():
-      road_camera_view.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2))
-      driver_camera_view.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
-      wide_road_camera_view.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
-  finally:
-    road_camera_view.close()
-    driver_camera_view.close()
-    wide_road_camera_view.close()
+  gui_app.init_window("camera view")
+  road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+  for _ in gui_app.render():
+    road.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
diff --git a/selfdrive/ui/qt/python_helpers.py b/selfdrive/ui/qt/python_helpers.py
deleted file mode 100644
index 1f6d43f309..0000000000
--- a/selfdrive/ui/qt/python_helpers.py
+++ /dev/null
@@ -1,23 +0,0 @@
-import os
-import platform
-from cffi import FFI
-
-import sip
-
-from openpilot.common.basedir import BASEDIR
-
-def suffix():
-  return ".dylib" if platform.system() == "Darwin" else ".so"
-
-
-def get_ffi():
-  lib = os.path.join(BASEDIR, "selfdrive", "ui", "qt", "libpython_helpers" + suffix())
-
-  ffi = FFI()
-  ffi.cdef("void set_main_window(void *w);")
-  return ffi, ffi.dlopen(lib)
-
-
-def set_main_window(widget):
-  ffi, lib = get_ffi()
-  lib.set_main_window(ffi.cast('void*', sip.unwrapinstance(widget)))
diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc
deleted file mode 100644
index 38955bf59d..0000000000
--- a/selfdrive/ui/qt/setup/setup.cc
+++ /dev/null
@@ -1,541 +0,0 @@
-#include "selfdrive/ui/qt/setup/setup.h"
-
-#include <cstdio>
-#include <cstdlib>
-#include <sstream>
-#include <string>
-
-#include <QApplication>
-#include <QLabel>
-#include <QVBoxLayout>
-
-#include <curl/curl.h>
-
-#include "common/util.h"
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/api.h"
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/network/networking.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/input.h"
-
-const std::string USER_AGENT = "AGNOSSetup-";
-const QString OPENPILOT_URL = "https://openpilot.comma.ai";
-
-bool is_elf(char *fname) {
-  FILE *fp = fopen(fname, "rb");
-  if (fp == NULL) {
-    return false;
-  }
-  char buf[4];
-  size_t n = fread(buf, 1, 4, fp);
-  fclose(fp);
-  return n == 4 && buf[0] == 0x7f && buf[1] == 'E' && buf[2] == 'L' && buf[3] == 'F';
-}
-
-void Setup::download(QString url) {
-  // autocomplete incomplete urls
-  if (QRegularExpression("^([^/.]+)/([^/]+)$").match(url).hasMatch()) {
-    url.prepend("https://installer.comma.ai/");
-  }
-
-  CURL *curl = curl_easy_init();
-  if (!curl) {
-    emit finished(url, tr("Something went wrong. Reboot the device."));
-    return;
-  }
-
-  auto version = util::read_file("/VERSION");
-
-  struct curl_slist *list = NULL;
-  std::string header = "X-openpilot-serial: " + Hardware::get_serial();
-  list = curl_slist_append(list, header.c_str());
-
-  char tmpfile[] = "/tmp/installer_XXXXXX";
-  FILE *fp = fdopen(mkstemp(tmpfile), "wb");
-
-  curl_easy_setopt(curl, CURLOPT_URL, url.toStdString().c_str());
-  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, NULL);
-  curl_easy_setopt(curl, CURLOPT_WRITEDATA, fp);
-  curl_easy_setopt(curl, CURLOPT_VERBOSE, 1L);
-  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L);
-  curl_easy_setopt(curl, CURLOPT_USERAGENT, (USER_AGENT + version).c_str());
-  curl_easy_setopt(curl, CURLOPT_HTTPHEADER, list);
-  curl_easy_setopt(curl, CURLOPT_TIMEOUT, 30L);
-
-  int ret = curl_easy_perform(curl);
-  long res_status = 0;
-  curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &res_status);
-
-  if (ret != CURLE_OK || res_status != 200) {
-    emit finished(url, tr("Ensure the entered URL is valid, and the device’s internet connection is good."));
-  } else if (!is_elf(tmpfile)) {
-    emit finished(url, tr("No custom software found at this URL."));
-  } else {
-    rename(tmpfile, "/tmp/installer");
-
-    FILE *fp_url = fopen("/tmp/installer_url", "w");
-    fprintf(fp_url, "%s", url.toStdString().c_str());
-    fclose(fp_url);
-
-    emit finished(url);
-  }
-
-  curl_slist_free_all(list);
-  curl_easy_cleanup(curl);
-  fclose(fp);
-}
-
-QWidget * Setup::low_voltage() {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 0, 55, 55);
-  main_layout->setSpacing(0);
-
-  // inner text layout: warning icon, title, and body
-  QVBoxLayout *inner_layout = new QVBoxLayout();
-  inner_layout->setContentsMargins(110, 144, 365, 0);
-  main_layout->addLayout(inner_layout);
-
-  QLabel *triangle = new QLabel();
-  triangle->setPixmap(QPixmap(ASSET_PATH + "icons/warning.png"));
-  inner_layout->addWidget(triangle, 0, Qt::AlignTop | Qt::AlignLeft);
-  inner_layout->addSpacing(80);
-
-  QLabel *title = new QLabel(tr("WARNING: Low Voltage"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;");
-  inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  inner_layout->addSpacing(25);
-
-  QLabel *body = new QLabel(tr("Power your device in a car with a harness or proceed at your own risk."));
-  body->setWordWrap(true);
-  body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
-  body->setStyleSheet("font-size: 80px; font-weight: 300;");
-  inner_layout->addWidget(body);
-
-  inner_layout->addStretch();
-
-  // power off + continue buttons
-  QHBoxLayout *blayout = new QHBoxLayout();
-  blayout->setSpacing(50);
-  main_layout->addLayout(blayout, 0);
-
-  QPushButton *poweroff = new QPushButton(tr("Power off"));
-  poweroff->setObjectName("navBtn");
-  blayout->addWidget(poweroff);
-  QObject::connect(poweroff, &QPushButton::clicked, this, [=]() {
-    Hardware::poweroff();
-  });
-
-  QPushButton *cont = new QPushButton(tr("Continue"));
-  cont->setObjectName("navBtn");
-  blayout->addWidget(cont);
-  QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage);
-
-  return widget;
-}
-
-QWidget * Setup::custom_software_warning() {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 0, 55, 55);
-  main_layout->setSpacing(0);
-
-  QVBoxLayout *inner_layout = new QVBoxLayout();
-  inner_layout->setContentsMargins(110, 110, 300, 0);
-  main_layout->addLayout(inner_layout);
-
-  QLabel *title = new QLabel(tr("WARNING: Custom Software"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;");
-  inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  inner_layout->addSpacing(25);
-
-  QLabel *body = new QLabel(tr("Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.\n\nIf you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later."));
-  body->setWordWrap(true);
-  body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
-  body->setStyleSheet("font-size: 65px; font-weight: 300;");
-  inner_layout->addWidget(body);
-
-  inner_layout->addStretch();
-
-  QHBoxLayout *blayout = new QHBoxLayout();
-  blayout->setSpacing(50);
-  main_layout->addLayout(blayout, 0);
-
-  QPushButton *back = new QPushButton(tr("Back"));
-  back->setObjectName("navBtn");
-  blayout->addWidget(back);
-  QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
-
-  QPushButton *cont = new QPushButton(tr("Continue"));
-  cont->setObjectName("navBtn");
-  blayout->addWidget(cont);
-  QObject::connect(cont, &QPushButton::clicked, this, [=]() {
-    QTimer::singleShot(0, [=]() {
-      setCurrentWidget(downloading_widget);
-    });
-    QString url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software"));
-    if (!url.isEmpty()) {
-      QTimer::singleShot(1000, this, [=]() {
-        download(url);
-      });
-    } else {
-      setCurrentWidget(software_selection_widget);
-    }
-  });
-
-  return widget;
-}
-
-QWidget * Setup::getting_started() {
-  QWidget *widget = new QWidget();
-
-  QHBoxLayout *main_layout = new QHBoxLayout(widget);
-  main_layout->setMargin(0);
-
-  QVBoxLayout *vlayout = new QVBoxLayout();
-  vlayout->setContentsMargins(165, 280, 100, 0);
-  main_layout->addLayout(vlayout);
-
-  QLabel *title = new QLabel(tr("Getting Started"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500;");
-  vlayout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  vlayout->addSpacing(90);
-  QLabel *desc = new QLabel(tr("Before we get on the road, let’s finish installation and cover some details."));
-  desc->setWordWrap(true);
-  desc->setStyleSheet("font-size: 80px; font-weight: 300;");
-  vlayout->addWidget(desc, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  vlayout->addStretch();
-
-  QPushButton *btn = new QPushButton();
-  btn->setIcon(QIcon(":/images/button_continue_triangle.svg"));
-  btn->setIconSize(QSize(54, 106));
-  btn->setFixedSize(310, 1080);
-  btn->setProperty("primary", true);
-  btn->setStyleSheet("border: none;");
-  main_layout->addWidget(btn, 0, Qt::AlignRight);
-  QObject::connect(btn, &QPushButton::clicked, this, &Setup::nextPage);
-
-  return widget;
-}
-
-QWidget * Setup::network_setup() {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 50, 55, 50);
-
-  // title
-  QLabel *title = new QLabel(tr("Connect to Wi-Fi"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500;");
-  main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
-
-  main_layout->addSpacing(25);
-
-  // wifi widget
-  Networking *networking = new Networking(this, false);
-  networking->setStyleSheet("Networking {background-color: #292929; border-radius: 13px;}");
-  main_layout->addWidget(networking, 1);
-
-  main_layout->addSpacing(35);
-
-  // back + continue buttons
-  QHBoxLayout *blayout = new QHBoxLayout;
-  main_layout->addLayout(blayout);
-  blayout->setSpacing(50);
-
-  QPushButton *back = new QPushButton(tr("Back"));
-  back->setObjectName("navBtn");
-  QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
-  blayout->addWidget(back);
-
-  QPushButton *cont = new QPushButton();
-  cont->setObjectName("navBtn");
-  cont->setProperty("primary", true);
-  cont->setEnabled(false);
-  QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage);
-  blayout->addWidget(cont);
-
-  // setup timer for testing internet connection
-  HttpRequest *request = new HttpRequest(this, false, 2500);
-  QObject::connect(request, &HttpRequest::requestDone, [=](const QString &, bool success) {
-    cont->setEnabled(success);
-    if (success) {
-      const bool wifi = networking->wifi->currentNetworkType() == NetworkType::WIFI;
-      cont->setText(wifi ? tr("Continue") : tr("Continue without Wi-Fi"));
-    } else {
-      cont->setText(tr("Waiting for internet"));
-    }
-    repaint();
-  });
-  request->sendRequest(OPENPILOT_URL);
-  QTimer *timer = new QTimer(this);
-  QObject::connect(timer, &QTimer::timeout, [=]() {
-    if (!request->active() && cont->isVisible()) {
-      request->sendRequest(OPENPILOT_URL);
-    }
-  });
-  timer->start(1000);
-
-  return widget;
-}
-
-QWidget * radio_button(QString title, QButtonGroup *group) {
-  QPushButton *btn = new QPushButton(title);
-  btn->setCheckable(true);
-  group->addButton(btn);
-  btn->setStyleSheet(R"(
-    QPushButton {
-      height: 230;
-      padding-left: 100px;
-      padding-right: 100px;
-      text-align: left;
-      font-size: 80px;
-      font-weight: 400;
-      border-radius: 10px;
-      background-color: #4F4F4F;
-    }
-    QPushButton:checked {
-      background-color: #465BEA;
-    }
-  )");
-
-  // checkmark icon
-  QPixmap pix(":/icons/circled_check.svg");
-  btn->setIcon(pix);
-  btn->setIconSize(QSize(0, 0));
-  btn->setLayoutDirection(Qt::RightToLeft);
-  QObject::connect(btn, &QPushButton::toggled, [=](bool checked) {
-    btn->setIconSize(checked ? QSize(104, 104) : QSize(0, 0));
-  });
-  return btn;
-}
-
-QWidget * Setup::software_selection() {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 50, 55, 50);
-  main_layout->setSpacing(0);
-
-  // title
-  QLabel *title = new QLabel(tr("Choose Software to Install"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500;");
-  main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
-
-  main_layout->addSpacing(50);
-
-  // openpilot + custom radio buttons
-  QButtonGroup *group = new QButtonGroup(widget);
-  group->setExclusive(true);
-
-  QWidget *openpilot = radio_button(tr("openpilot"), group);
-  main_layout->addWidget(openpilot);
-
-  main_layout->addSpacing(30);
-
-  QWidget *custom = radio_button(tr("Custom Software"), group);
-  main_layout->addWidget(custom);
-
-  main_layout->addStretch();
-
-  // back + continue buttons
-  QHBoxLayout *blayout = new QHBoxLayout;
-  main_layout->addLayout(blayout);
-  blayout->setSpacing(50);
-
-  QPushButton *back = new QPushButton(tr("Back"));
-  back->setObjectName("navBtn");
-  QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
-  blayout->addWidget(back);
-
-  QPushButton *cont = new QPushButton(tr("Continue"));
-  cont->setObjectName("navBtn");
-  cont->setEnabled(false);
-  cont->setProperty("primary", true);
-  blayout->addWidget(cont);
-
-  QObject::connect(cont, &QPushButton::clicked, [=]() {
-    if (group->checkedButton() != openpilot) {
-      QTimer::singleShot(0, [=]() {
-        setCurrentWidget(custom_software_warning_widget);
-      });
-    } else {
-      QTimer::singleShot(0, [=]() {
-        setCurrentWidget(downloading_widget);
-      });
-      QTimer::singleShot(1000, this, [=]() {
-        download(OPENPILOT_URL);
-      });
-    }
-  });
-
-  connect(group, QOverload<QAbstractButton *>::of(&QButtonGroup::buttonClicked), [=](QAbstractButton *btn) {
-    btn->setChecked(true);
-    cont->setEnabled(true);
-  });
-
-  return widget;
-}
-
-QWidget * Setup::downloading() {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  QLabel *txt = new QLabel(tr("Downloading..."));
-  txt->setStyleSheet("font-size: 90px; font-weight: 500;");
-  main_layout->addWidget(txt, 0, Qt::AlignCenter);
-  return widget;
-}
-
-QWidget * Setup::download_failed(QLabel *url, QLabel *body) {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 185, 55, 55);
-  main_layout->setSpacing(0);
-
-  QLabel *title = new QLabel(tr("Download Failed"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500;");
-  main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  main_layout->addSpacing(67);
-
-  url->setWordWrap(true);
-  url->setAlignment(Qt::AlignTop | Qt::AlignLeft);
-  url->setStyleSheet("font-family: \"JetBrains Mono\"; font-size: 64px; font-weight: 400; margin-right: 100px;");
-  main_layout->addWidget(url);
-
-  main_layout->addSpacing(48);
-
-  body->setWordWrap(true);
-  body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
-  body->setStyleSheet("font-size: 80px; font-weight: 300; margin-right: 100px;");
-  main_layout->addWidget(body);
-
-  main_layout->addStretch();
-
-  // reboot + start over buttons
-  QHBoxLayout *blayout = new QHBoxLayout();
-  blayout->setSpacing(50);
-  main_layout->addLayout(blayout, 0);
-
-  QPushButton *reboot = new QPushButton(tr("Reboot device"));
-  reboot->setObjectName("navBtn");
-  blayout->addWidget(reboot);
-  QObject::connect(reboot, &QPushButton::clicked, this, [=]() {
-    Hardware::reboot();
-  });
-
-  QPushButton *restart = new QPushButton(tr("Start over"));
-  restart->setObjectName("navBtn");
-  restart->setProperty("primary", true);
-  blayout->addWidget(restart);
-  QObject::connect(restart, &QPushButton::clicked, this, [=]() {
-    setCurrentIndex(1);
-  });
-
-  widget->setStyleSheet(R"(
-    QLabel {
-      margin-left: 117;
-    }
-  )");
-  return widget;
-}
-
-void Setup::prevPage() {
-  setCurrentIndex(currentIndex() - 1);
-}
-
-void Setup::nextPage() {
-  setCurrentIndex(currentIndex() + 1);
-}
-
-Setup::Setup(QWidget *parent) : QStackedWidget(parent) {
-  if (std::getenv("MULTILANG")) {
-    selectLanguage();
-  }
-
-  std::stringstream buffer;
-  buffer << std::ifstream("/sys/class/hwmon/hwmon1/in1_input").rdbuf();
-  float voltage = (float)std::atoi(buffer.str().c_str()) / 1000.;
-  if (voltage < 7) {
-    addWidget(low_voltage());
-  }
-
-  addWidget(getting_started());
-  addWidget(network_setup());
-  software_selection_widget = software_selection();
-  addWidget(software_selection_widget);
-  custom_software_warning_widget = custom_software_warning();
-  addWidget(custom_software_warning_widget);
-  downloading_widget = downloading();
-  addWidget(downloading_widget);
-
-  QLabel *url_label = new QLabel();
-  QLabel *body_label = new QLabel();
-  failed_widget = download_failed(url_label, body_label);
-  addWidget(failed_widget);
-
-  QObject::connect(this, &Setup::finished, [=](const QString &url, const QString &error) {
-    qDebug() << "finished" << url << error;
-    if (error.isEmpty()) {
-      // hide setup on success
-      QTimer::singleShot(3000, this, &QWidget::hide);
-    } else {
-      url_label->setText(url);
-      body_label->setText(error);
-      setCurrentWidget(failed_widget);
-    }
-  });
-
-  // TODO: revisit pressed bg color
-  setStyleSheet(R"(
-    * {
-      color: white;
-      font-family: Inter;
-    }
-    Setup {
-      background-color: black;
-    }
-    QPushButton#navBtn {
-      height: 160;
-      font-size: 55px;
-      font-weight: 400;
-      border-radius: 10px;
-      background-color: #333333;
-    }
-    QPushButton#navBtn:disabled, QPushButton[primary='true']:disabled {
-      color: #808080;
-      background-color: #333333;
-    }
-    QPushButton#navBtn:pressed {
-      background-color: #444444;
-    }
-    QPushButton[primary='true'], #navBtn[primary='true'] {
-      background-color: #465BEA;
-    }
-    QPushButton[primary='true']:pressed, #navBtn:pressed[primary='true'] {
-      background-color: #3049F4;
-    }
-  )");
-}
-
-void Setup::selectLanguage() {
-  QMap<QString, QString> langs = getSupportedLanguages();
-  QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), "", this);
-  if (!selection.isEmpty()) {
-    QString selectedLang = langs[selection];
-    Params().put("LanguageSetting", selectedLang.toStdString());
-    if (translator.load(":/" + selectedLang)) {
-      qApp->installTranslator(&translator);
-    }
-  }
-}
-
-int main(int argc, char *argv[]) {
-  QApplication a(argc, argv);
-  Setup setup;
-  setMainWindow(&setup);
-  return a.exec();
-}
diff --git a/selfdrive/ui/qt/setup/setup.h b/selfdrive/ui/qt/setup/setup.h
deleted file mode 100644
index 986956c902..0000000000
--- a/selfdrive/ui/qt/setup/setup.h
+++ /dev/null
@@ -1,38 +0,0 @@
-#pragma once
-
-#include <QLabel>
-#include <QStackedWidget>
-#include <QString>
-#include <QTranslator>
-#include <QWidget>
-
-class Setup : public QStackedWidget {
-  Q_OBJECT
-
-public:
-  explicit Setup(QWidget *parent = 0);
-
-private:
-  void selectLanguage();
-  QWidget *low_voltage();
-  QWidget *custom_software_warning();
-  QWidget *getting_started();
-  QWidget *network_setup();
-  QWidget *software_selection();
-  QWidget *downloading();
-  QWidget *download_failed(QLabel *url, QLabel *body);
-
-  QWidget *failed_widget;
-  QWidget *downloading_widget;
-  QWidget *custom_software_warning_widget;
-  QWidget *software_selection_widget;
-  QTranslator translator;
-
-signals:
-  void finished(const QString &url, const QString &error = "");
-
-public slots:
-  void nextPage();
-  void prevPage();
-  void download(QString url);
-};
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 7d3d9edd05..eac3b561f7 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -507,7 +507,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished">تأخير التحديث</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1157,6 +1157,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 3489b4860e..b91c0e23ce 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -499,7 +499,7 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
         <translation type="unfinished">Update pausieren</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1139,6 +1139,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 5807accb92..79b10f316f 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -503,7 +503,7 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para
         <translation type="unfinished">Posponer Actualización</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1143,6 +1143,16 @@ Si desea continuar, utilice https://flash.comma.ai para restaurar su dispositivo
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>Graba y almacena el audio del micrófono mientras conduces. El audio se incluirá en el video de la cámara del tablero en comma connect.</translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index ba1eb93b30..a4effb2a45 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -497,7 +497,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished">Reporter la mise à jour</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1135,6 +1135,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index fea6e51c07..8d0b2cb75b 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -501,8 +501,8 @@ Firehoseモードを有効にすると学習データを最大限アップロー
         <translation>また後で更新する</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
-        <translation>openpilotが過剰な%1の作動を検出しました。ソフトウェアの不具合の可能性があります。https://comma.ai/support からサポートへご連絡下さい。</translation>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -1138,6 +1138,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>運転中にマイク音声を録音・保存します。音声は comma connect のドライブレコーダー映像に含まれます。</translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index aaefdb92b0..3cffab10b2 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -501,8 +501,8 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>업데이트 일시 중지</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
-        <translation>오픈파일럿은 과도한 %1 작동을 감지했습니다. 소프트웨어 버그 때문일 수 있습니다. https://comma.ai/support 에 문의하여 지원받으세요.</translation>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -1138,6 +1138,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>운전 중에 마이크 오디오를 녹음하고 저장하십시오. 오디오는 comma connect의 대시캠 비디오에 포함됩니다.</translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 976fc711db..e16872c758 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -503,8 +503,8 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar
         <translation>Adiar Atualização</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
-        <translation>O openpilot detectou uma atuação excessiva de %1. Isso pode ser causado por uma falha no software. Por favor, entre em contato com o suporte em https://comma.ai/support.</translation>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -1143,6 +1143,16 @@ Se quiser continuar, use https://flash.comma.ai para restaurar seu dispositivo a
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>Grave e armazene o áudio do microfone enquanto estiver dirigindo. O áudio será incluído ao vídeo dashcam no comma connect.</translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 3821b3b806..87cb8bc2e2 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -497,7 +497,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished">เลื่อนการอัปเดต</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1132,6 +1132,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 6cafb1dffc..6112698e31 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -494,7 +494,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished">Güncellemeyi sessize al</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1129,6 +1129,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 5e5b9da311..a1d1602373 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -501,7 +501,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished">暂停更新</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1138,6 +1138,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>在驾驶时录制并存储麦克风音频。该音频将会包含在 comma connect 的行车记录仪视频中。</translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 630dbf2a08..a094dd4182 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -501,7 +501,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished">暫停更新</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1138,6 +1138,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>在駕駛時錄製並儲存麥克風音訊。此音訊將會收錄在 comma connect 的行車記錄器影片中。</translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc
deleted file mode 100644
index 258e2a7bd6..0000000000
--- a/selfdrive/ui/watch3.cc
+++ /dev/null
@@ -1,33 +0,0 @@
-#include <QApplication>
-#include <QtWidgets>
-
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/cameraview.h"
-
-int main(int argc, char *argv[]) {
-  initApp(argc, argv);
-
-  QApplication a(argc, argv);
-  QWidget w;
-  setMainWindow(&w);
-
-  QVBoxLayout *layout = new QVBoxLayout(&w);
-  layout->setMargin(0);
-  layout->setSpacing(0);
-
-  {
-    QHBoxLayout *hlayout = new QHBoxLayout();
-    layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD));
-  }
-
-  {
-    QHBoxLayout *hlayout = new QHBoxLayout();
-    layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER));
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD));
-  }
-
-  return a.exec();
-}
diff --git a/selfdrive/ui/watch3.py b/selfdrive/ui/watch3.py
new file mode 100755
index 0000000000..bb64cdc4d5
--- /dev/null
+++ b/selfdrive/ui/watch3.py
@@ -0,0 +1,17 @@
+#!/usr/bin/env python3
+import pyray as rl
+
+from msgq.visionipc import VisionStreamType
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.selfdrive.ui.onroad.cameraview import CameraView
+
+
+if __name__ == "__main__":
+  gui_app.init_window("watch3")
+  road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+  driver = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+  wide = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD)
+  for _ in gui_app.render():
+    road.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2))
+    driver.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
+    wide.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
diff --git a/tinygrad_repo b/tinygrad_repo
index 06af9f9236..14f99ff1a1 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 06af9f9236b33419f89ef3b3a5ba4cce0adecc2d
+Subproject commit 14f99ff1a16aeb20e9e7b7bf4101002bc9fef737
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 5915f1dde3..cc84c8b52e 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -49,8 +49,46 @@ def decompress_stream(data: bytes):
 
   return decompressed_data
 
+
+class CachedEventReader:
+  __slots__ = ('_evt', '_enum')
+
+  def __init__(self, evt: capnp._DynamicStructReader, _enum: str | None = None):
+    """All capnp attribute accesses are expensive, and which() is often called multiple times"""
+    self._evt = evt
+    self._enum: str | None = _enum
+
+  # fast pickle support
+  def __reduce__(self):
+    return CachedEventReader._reducer, (self._evt.as_builder().to_bytes(), self._enum)
+
+  @staticmethod
+  def _reducer(data: bytes, _enum: str | None = None):
+    with capnp_log.Event.from_bytes(data) as evt:
+      return CachedEventReader(evt, _enum)
+
+  def __repr__(self):
+    return self._evt.__repr__()
+
+  def __str__(self):
+    return self._evt.__str__()
+
+  def __dir__(self):
+    return dir(self._evt)
+
+  def which(self) -> str:
+    if self._enum is None:
+      self._enum = self._evt.which()
+    return self._enum
+
+  def __getattr__(self, name: str):
+    if name.startswith("__") and name.endswith("__"):
+      return getattr(self, name)
+    return getattr(self._evt, name)
+
+
 class _LogFileReader:
-  def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None):
+  def __init__(self, fn, only_union_types=False, sort_by_time=False, dat=None):
     self.data_version = None
     self._only_union_types = only_union_types
 
@@ -75,7 +113,7 @@ class _LogFileReader:
     self._ents = []
     try:
       for e in ents:
-        self._ents.append(e)
+        self._ents.append(CachedEventReader(e))
     except capnp.KjException:
       warnings.warn("Corrupted events detected", RuntimeWarning, stacklevel=1)
 
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index 2a7f83baae..19ef77e01c 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -50,7 +50,7 @@ brew "zeromq"
 cask "gcc-arm-embedded"
 brew "portaudio"
 brew "gcc@13"
-brew "font-noto-color-emoji"
+cask "font-noto-color-emoji"
 EOS
 
 echo "[ ] finished brew install t=$SECONDS"
diff --git a/uv.lock b/uv.lock
index dc016a0d3f..f1749bd9b2 100644
--- a/uv.lock
+++ b/uv.lock
@@ -166,7 +166,7 @@ wheels = [
 
 [[package]]
 name = "azure-identity"
-version = "1.23.1"
+version = "1.24.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "azure-core" },
@@ -175,9 +175,9 @@ dependencies = [
     { name = "msal-extensions" },
     { name = "typing-extensions" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/b5/29/1201ffbb6a57a16524dd91f3e741b4c828a70aaba436578bdcb3fbcb438c/azure_identity-1.23.1.tar.gz", hash = "sha256:226c1ef982a9f8d5dcf6e0f9ed35eaef2a4d971e7dd86317e9b9d52e70a035e4", size = 266185, upload-time = "2025-07-15T19:16:38.077Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/b5/44/f3ee20bacb220b6b4a2b0a6cf7e742eecb383a5ccf604dd79ec27c286b7e/azure_identity-1.24.0.tar.gz", hash = "sha256:6c3a40b2a70af831e920b89e6421e8dcd4af78a0cb38b9642d86c67643d4930c", size = 271630, upload-time = "2025-08-07T22:27:36.258Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/99/b3/e2d7ab810eb68575a5c7569b03c0228b8f4ce927ffa6211471b526f270c9/azure_identity-1.23.1-py3-none-any.whl", hash = "sha256:7eed28baa0097a47e3fb53bd35a63b769e6b085bb3cb616dfce2b67f28a004a1", size = 186810, upload-time = "2025-07-15T19:16:40.184Z" },
+    { url = "https://files.pythonhosted.org/packages/a9/74/17428cb429e8d52f6d0d69ed685f4760a545cb0156594963a9337b53b6c9/azure_identity-1.24.0-py3-none-any.whl", hash = "sha256:9e04997cde0ab02ed66422c74748548e620b7b29361c72ce622acab0267ff7c4", size = 187890, upload-time = "2025-08-07T22:27:38.033Z" },
 ]
 
 [[package]]
@@ -263,37 +263,33 @@ wheels = [
 
 [[package]]
 name = "charset-normalizer"
-version = "3.4.2"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/e4/33/89c2ced2b67d1c2a61c19c6751aa8902d46ce3dacb23600a283619f5a12d/charset_normalizer-3.4.2.tar.gz", hash = "sha256:5baececa9ecba31eff645232d59845c07aa030f0c81ee70184a90d35099a0e63", size = 126367, upload-time = "2025-05-02T08:34:42.01Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/05/85/4c40d00dcc6284a1c1ad5de5e0996b06f39d8232f1031cd23c2f5c07ee86/charset_normalizer-3.4.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:be1e352acbe3c78727a16a455126d9ff83ea2dfdcbc83148d2982305a04714c2", size = 198794, upload-time = "2025-05-02T08:32:11.945Z" },
-    { url = "https://files.pythonhosted.org/packages/41/d9/7a6c0b9db952598e97e93cbdfcb91bacd89b9b88c7c983250a77c008703c/charset_normalizer-3.4.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:aa88ca0b1932e93f2d961bf3addbb2db902198dca337d88c89e1559e066e7645", size = 142846, upload-time = "2025-05-02T08:32:13.946Z" },
-    { url = "https://files.pythonhosted.org/packages/66/82/a37989cda2ace7e37f36c1a8ed16c58cf48965a79c2142713244bf945c89/charset_normalizer-3.4.2-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:d524ba3f1581b35c03cb42beebab4a13e6cdad7b36246bd22541fa585a56cccd", size = 153350, upload-time = "2025-05-02T08:32:15.873Z" },
-    { url = "https://files.pythonhosted.org/packages/df/68/a576b31b694d07b53807269d05ec3f6f1093e9545e8607121995ba7a8313/charset_normalizer-3.4.2-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:28a1005facc94196e1fb3e82a3d442a9d9110b8434fc1ded7a24a2983c9888d8", size = 145657, upload-time = "2025-05-02T08:32:17.283Z" },
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