diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index aba630f67c..6ab55f6add 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -27,7 +27,6 @@ env:
   RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
 
   PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0
-  XDIST: -n auto --dist=loadscope
 
 jobs:
   build_release:
@@ -58,7 +57,7 @@ jobs:
       run: |
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
-                        MAX_EXAMPLES=5 $PYTEST $XDIST selfdrive/car"
+                        MAX_EXAMPLES=5 $PYTEST selfdrive/car"
     - name: pre-commit
       timeout-minutes: 3
       run: |
@@ -176,7 +175,7 @@ jobs:
     - name: Run unit tests
       timeout-minutes: 15
       run: |
-        ${{ env.RUN }} "$PYTEST $XDIST --timeout 30 -o cpp_files=test_* -m 'not slow' && \
+        ${{ env.RUN }} "$PYTEST --timeout 30 -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         ./selfdrive/ui/tests/test_translations.py && \
@@ -258,7 +257,7 @@ jobs:
     - name: Run regen
       timeout-minutes: 30
       run: |
-        ${{ env.RUN_CL }} "ONNXCPU=1 $PYTEST $XDIST selfdrive/test/process_replay/test_regen.py && \
+        ${{ env.RUN_CL }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
                            chmod -R 777 /tmp/comma_download_cache"
 
   test_modeld:
@@ -318,7 +317,7 @@ jobs:
     - name: Test car models
       timeout-minutes: 25
       run: |
-        ${{ env.RUN }} "$PYTEST $XDIST selfdrive/car/tests/test_models.py && \
+        ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
         NUM_JOBS: 5
diff --git a/Jenkinsfile b/Jenkinsfile
index 6857ce36e1..1e1d485b10 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -14,6 +14,8 @@ export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
 export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
+export PYTEST_ADDOPTS="-c selfdrive/test/pytest-tici.ini --rootdir ."
+
 
 export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 
@@ -159,7 +161,7 @@ node {
           ["build openpilot", "cd selfdrive/manager && ./build.py"],
           ["check dirty", "release/check-dirty.sh"],
           ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
-          ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
+          ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
         ])
       },
       'HW + Unit Tests': {
@@ -194,17 +196,17 @@ node {
       'sensord': {
         deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
           ["build", "cd selfdrive/manager && ./build.py"],
-          ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
+          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
         ])
         deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
           ["build", "cd selfdrive/manager && ./build.py"],
-          ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
+          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
         ])
       },
       'replay': {
         deviceStage("tici", "tici-replay", ["UNSAFE=1"], [
           ["build", "cd selfdrive/manager && ./build.py"],
-          ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+          ["model replay", "selfdrive/test/process_replay/model_replay.py"],
         ])
       },
       'tizi': {
@@ -231,7 +233,7 @@ node {
           sh label: "build", script: "selfdrive/manager/build.py"
           sh label: "test_models.py", script: "INTERNAL_SEG_CNT=250 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
               pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py"
-          sh label: "test_car_interfaces.py", script: "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py"
+          sh label: "test_car_interfaces.py", script: "MAX_EXAMPLES=100 pytest -n42 --dist=load selfdrive/car/tests/test_car_interfaces.py"
         }
       },
 
diff --git a/pyproject.toml b/pyproject.toml
index 16dad2c643..4e494e65fc 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,7 +1,7 @@
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers --durations=10"
-#cpp_files = "test_*" # uncomment when agnos has pytest-cpp and remove from CI
+addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadscope"
+cpp_files = "test_*"
 python_files = "test_*.py"
 #timeout = "30"  # you get this long by default
 markers = [
diff --git a/release/files_common b/release/files_common
index 5a076f2b1a..b2623e0113 100644
--- a/release/files_common
+++ b/release/files_common
@@ -293,6 +293,7 @@ selfdrive/test/helpers.py
 selfdrive/test/setup_device_ci.sh
 selfdrive/test/test_onroad.py
 selfdrive/test/test_time_to_onroad.py
+selfdrive/test/pytest-tici.ini
 
 selfdrive/ui/.gitignore
 selfdrive/ui/SConscript
diff --git a/selfdrive/test/pytest-tici.ini b/selfdrive/test/pytest-tici.ini
new file mode 100644
index 0000000000..a553018309
--- /dev/null
+++ b/selfdrive/test/pytest-tici.ini
@@ -0,0 +1,5 @@
+[pytest]
+addopts = -Werror --strict-config --strict-markers
+markers = 
+  slow: tests that take awhile to run and can be skipped with -m 'not slow'
+  tici: tests that are only meant to run on the C3/C3X
diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
index 0905248071..3075c8a343 100755
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -106,7 +106,7 @@ class TestSensord(unittest.TestCase):
     os.environ["LSM_SELF_TEST"] = "1"
 
     # read initial sensor values every test case can use
-    os.system("pkill -f ./sensord")
+    os.system("pkill -f \\\\./sensord")
     try:
       managed_processes["sensord"].start()
       cls.sample_secs = int(os.getenv("SAMPLE_SECS", "10"))