diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 9456914371..6e17f5a480 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -48,7 +48,7 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
-      timeout-minutes: 1
+      timeout-minutes: 3
       run: release/check-submodules.sh
     - name: Build openpilot and run checks
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
@@ -56,7 +56,7 @@ jobs:
         cd $STRIPPED_DIR
         ${{ env.RUN }} "python3 system/manager/build.py"
     - name: Run tests
-      timeout-minutes: 3
+      timeout-minutes: 1
       run: |
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
@@ -76,7 +76,9 @@ jobs:
            ((github.repository == 'commaai/openpilot') &&
               ((github.event_name != 'pull_request') ||
                (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
+    runs-on: ${{ ((matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8') ||
+                 ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') ||
+                   'ubuntu-latest'}}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -144,11 +146,12 @@ jobs:
       PYTHONWARNINGS: default
     steps:
     - uses: actions/checkout@v4
-    - name: Setup
-      run: tools/op.sh setup
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
     - name: Static analysis
       timeout-minutes: 1
-      run: tools/op.sh lint
+      run: ${{ env.RUN }} "scripts/lint/lint.sh"
 
   unit_tests:
     name: unit tests
@@ -327,24 +330,54 @@ jobs:
               comment_id: ${{ steps.fc.outputs.comment-id }}
             })
 
+  simulator_driving:
+    name: simulator driving
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Driving test
+      timeout-minutes: 1
+      run: |
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
+                        source selfdrive/test/setup_vsound.sh && \
+                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
+
   create_ui_report:
     # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
     name: Create UI Report
-    runs-on: ubuntu-latest
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
     steps:
       - uses: actions/checkout@v4
         with:
           submodules: true
       - uses: ./.github/workflows/setup-with-retry
+      - name: caching frames
+        id: frames-cache
+        uses: actions/cache@v4
+        with:
+          path: .ci_cache/comma_download_cache
+          key: ui_screenshots_test_${{ hashFiles('selfdrive/ui/tests/test_ui/run.py') }}
       - name: Build openpilot
         run: ${{ env.RUN }} "scons -j$(nproc)"
       - name: Create Test Report
+        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 1 || 3) }}
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&
-                            python3 selfdrive/ui/tests/test_ui/run.py"
+                            CACHE_ROOT=/tmp/comma_download_cache python3 selfdrive/ui/tests/test_ui/run.py &&
+                            chmod -R 777 /tmp/comma_download_cache"
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
           path: selfdrive/ui/tests/test_ui/report_1/screenshots
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index c1c3552472..493671051f 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -25,24 +25,6 @@ env:
 
 
 jobs:
-  simulator_driving:
-    name: simulator driving
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run bridge test
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
-
   devcontainer:
     name: devcontainer
     runs-on: ubuntu-latest
diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 4f25a71452..1842ef21e9 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -52,7 +52,7 @@ jobs:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           run_id: ${{ steps.get_run_id.outputs.run_id }}
           search_artifacts: true
-          name: report-${{ env.REPORT_NAME }}
+          name: report-1-${{ env.REPORT_NAME }}
           path: ${{ github.workspace }}/pr_ui
 
       - name: Getting master ui
diff --git a/docs/CARS.md b/docs/CARS.md
index 84efe3c041..44c9327378 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -30,7 +30,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
-|Ford|Bronco Sport 2021-23|Co-Pilot360 Assist+|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 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-23">Buy Here</a></sub></details>||
+|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|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 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|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 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|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 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|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 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
@@ -184,8 +184,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
 |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
-|Lincoln|Aviator 2020-23|Co-Pilot360 Plus|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 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
-|Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|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 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
+|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|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 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
+|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|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 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
 |MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
diff --git a/opendbc_repo b/opendbc_repo
index 4aae6d02be..c4114772ba 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 4aae6d02bece759b6f25666db6b9428ae5011161
+Subproject commit c4114772ba9d77bf03b97972611591e0bf8e4a25
diff --git a/panda b/panda
index 3066f93d8a..0b364ece1e 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 3066f93d8a1db92ac900e6ccc64ff68c154deafb
+Subproject commit 0b364ece1eafa2e66b71be7cade3fdfb56a3014e
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index fa6d5542bd..65e1421d77 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -347,7 +347,8 @@ class LongitudinalMpc:
     lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
 
     self.params[:,0] = ACCEL_MIN
-    self.params[:,1] = self.max_a
+    # negative accel constraint causes problems because negative speed is not allowed
+    self.params[:,1] = max(0.0, self.max_a)
 
     # Update in ACC mode or ACC/e2e blend
     if self.mode == 'acc':
@@ -356,6 +357,7 @@ class LongitudinalMpc:
       # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
       # when the leads are no factor.
       v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05)
+      # TODO does this make sense when max_a is negative?
       v_upper = v_ego + (T_IDXS * self.max_a * 1.05)
       v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
                                  v_lower,
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 5f47cebb1f..f1637d960c 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -22,7 +22,7 @@ A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 ALLOW_THROTTLE_THRESHOLD = 0.5
-ACCEL_LIMIT_MARGIN = 0.05
+MIN_ALLOW_THROTTLE_SPEED = 2.5
 
 # Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]
@@ -151,12 +151,12 @@ class LongitudinalPlanner:
     self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
     x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error)
     # Don't clip at low speeds since throttle_prob doesn't account for creep
-    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= 5.0
+    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
 
     if not self.allow_throttle:
-      # MPC breaks when accel limits would cause negative velocity within the MPC horizon, so we clip the max accel limit at vEgo/T_MAX plus a bit of margin
-      clipped_accel_coast = max(accel_coast, accel_limits_turns[0], -v_ego / T_IDXS_MPC[-1] + ACCEL_LIMIT_MARGIN)
-      accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast)
+      clipped_accel_coast = max(accel_coast, accel_limits_turns[0])
+      clipped_accel_coast_interp = interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_limits_turns[1], clipped_accel_coast])
+      accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast_interp)
 
     if force_slow_decel:
       v_cruise = 0.0
diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
index 7eea44aae6..4bc1ebba8f 100644
--- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
@@ -108,18 +108,6 @@ def create_maneuvers(kwargs):
       breakpoints=[0.0, 2., 2.01],
       **kwargs,
     ),
-    Maneuver(
-      "slow to 5m/s with allow_throttle = False and pitch = +0.1",
-      duration=25.,
-      initial_speed=20.,
-      lead_relevancy=False,
-      prob_throttle_values=[1., 0., 0.],
-      cruise_values=[20., 20., 20.],
-      pitch_values=[0., 0.1, 0.1],
-      breakpoints=[0.0, 2., 2.01],
-      ensure_slowdown=True,
-      **kwargs,
-    ),
     Maneuver(
       "approach slower cut-in car at 20m/s",
       duration=20.,
@@ -163,6 +151,20 @@ def create_maneuvers(kwargs):
       **kwargs,
     ),
   ]
+  if not kwargs['e2e']:
+    # allow_throttle won't trigger with e2e
+    maneuvers.append(Maneuver(
+      "slow to 5m/s with allow_throttle = False and pitch = +0.1",
+      duration=30.,
+      initial_speed=20.,
+      lead_relevancy=False,
+      prob_throttle_values=[1., 0., 0.],
+      cruise_values=[20., 20., 20.],
+      pitch_values=[0., 0.1, 0.1],
+      breakpoints=[0.0, 2., 2.01],
+      ensure_slowdown=True,
+      **kwargs,
+    ))
   if not kwargs['force_decel']:
     # controls relies on planner commanding to move for stock-ACC resume spamming
     maneuvers.append(Maneuver(
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 6842530946..2f565836fd 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-8f9dba78b0a2a4fbf8122f61d49e9529dba9b3b4
\ No newline at end of file
+992ac80ef848afb85562ca24b1c5a3d410aacd05
\ No newline at end of file
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index e6fd9a016a..8cd5f1930d 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -3,11 +3,10 @@ import capnp
 import pathlib
 import shutil
 import sys
-import jinja2
-import matplotlib.pyplot as plt
-import numpy as np
 import os
 import pywinctl
+import pyautogui
+import pickle
 import time
 
 from cereal import log
@@ -23,8 +22,9 @@ from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_c
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.cache import DEFAULT_CACHE_DIR
 
-UI_DELAY = 0.5 # may be slower on CI?
+UI_DELAY = 0.1 # may be slower on CI?
 TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 
 STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []
@@ -222,41 +222,20 @@ class TestUI:
       print(f"failed to find ui window, assuming that it's in the top left (for Xvfb) {e}")
       self.ui = namedtuple("bb", ["left", "top", "width", "height"])(0,0,2160,1080)
 
-  def screenshot(self):
-    import pyautogui
-    im = pyautogui.screenshot(region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height))
+  def screenshot(self, name):
+    im = pyautogui.screenshot(SCREENSHOTS_DIR / f"{name}.png", region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height))
     assert im.width == 2160
     assert im.height == 1080
-    img = np.array(im)
-    im.close()
-    return img
 
   def click(self, x, y, *args, **kwargs):
-    import pyautogui
     pyautogui.click(self.ui.left + x, self.ui.top + y, *args, **kwargs)
     time.sleep(UI_DELAY) # give enough time for the UI to react
 
   @with_processes(["ui"])
   def test_ui(self, name, setup_case):
     self.setup()
-
     setup_case(self.click, self.pm)
-
-    im = self.screenshot()
-    plt.imsave(SCREENSHOTS_DIR / f"{name}.png", im)
-
-
-def create_html_report():
-  OUTPUT_FILE = TEST_OUTPUT_DIR / "index.html"
-
-  with open(TEST_DIR / "template.html") as f:
-    template = jinja2.Template(f.read())
-
-  cases = {f.stem: (str(f.relative_to(TEST_OUTPUT_DIR)), "reference.png") for f in SCREENSHOTS_DIR.glob("*.png")}
-  cases = dict(sorted(cases.items()))
-
-  with open(OUTPUT_FILE, "w") as f:
-    f.write(template.render(cases=cases))
+    self.screenshot(name)
 
 def create_screenshots():
   if TEST_OUTPUT_DIR.exists():
@@ -277,13 +256,23 @@ def create_screenshots():
       break
 
   cam = DEVICE_CAMERAS[("tici", "ar0231")]
-  road_img = FrameReader(route.camera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
-  STREAMS.append((VisionStreamType.VISION_STREAM_ROAD, cam.fcam, road_img.flatten().tobytes()))
 
-  wide_road_img = FrameReader(route.ecamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
-  STREAMS.append((VisionStreamType.VISION_STREAM_WIDE_ROAD, cam.ecam, wide_road_img.flatten().tobytes()))
+  frames_cache = f'{DEFAULT_CACHE_DIR}/ui_frames'
+  if os.path.isfile(frames_cache):
+    with open(frames_cache, 'rb') as f:
+      frames = pickle.load(f)
+      road_img = frames[0]
+      wide_road_img = frames[1]
+      driver_img = frames[2]
+  else:
+    with open(frames_cache, 'wb') as f:
+      road_img = FrameReader(route.camera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
+      wide_road_img = FrameReader(route.ecamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
+      driver_img = FrameReader(route.dcamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
+      pickle.dump([road_img, wide_road_img, driver_img], f)
 
-  driver_img = FrameReader(route.dcamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
+  STREAMS.append((VisionStreamType.VISION_STREAM_ROAD, cam.fcam, road_img.flatten().tobytes()))
+  STREAMS.append((VisionStreamType.VISION_STREAM_WIDE_ROAD, cam.ecam, wide_road_img.flatten().tobytes()))
   STREAMS.append((VisionStreamType.VISION_STREAM_DRIVER, cam.dcam, driver_img.flatten().tobytes()))
 
   t = TestUI()
@@ -302,6 +291,3 @@ def create_screenshots():
 if __name__ == "__main__":
   print("creating test screenshots")
   create_screenshots()
-
-  print("creating html report")
-  create_html_report()
diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h
index 70a448dd1f..1616196a3f 100644
--- a/system/camerad/cameras/ife.h
+++ b/system/camerad/cameras/ife.h
@@ -167,16 +167,16 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector<uint32_t
 
   // YUV
   dst += write_cont(dst, 0xf30, {
-    0x00750259,
-    0x00000132,
-    0x00000000,
+    0x00680208,
+    0x00000108,
+    0x00400000,
     0x03ff0000,
-    0x01fe1eae,
-    0x00001f54,
+    0x01c01ed8,
+    0x00001f68,
     0x02000000,
     0x03ff0000,
-    0x1fad1e55,
-    0x000001fe,
+    0x1fb81e88,
+    0x000001c0,
     0x02000000,
     0x03ff0000,
   });
diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
index a107a6e1b9..e4ef3af404 100644
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@@ -126,8 +126,8 @@ AR0231::AR0231() {
     0x00000fbc, 0x000000bb, 0x00000009,
     0x00000fb6, 0x00000fe0, 0x000000ea,
   };
-  for (int i = 0; i < 64; i++) {
-    float fx = i / 63.0;
+  for (int i = 0; i < 65; i++) {
+    float fx = i / 64.0;
     const float gamma_k = 0.75;
     const float gamma_b = 0.125;
     const float mp = 0.01; // ideally midpoint should be adaptive
@@ -138,6 +138,7 @@ AR0231::AR0231() {
       ((rk * (fx-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(fx-mp))) + gamma_k*mp + gamma_b);
     gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5));
   }
+  prepare_gamma_lut();
   linearization_lut = {
     0x02000000, 0x02000000, 0x02000000, 0x02000000,
     0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 08530989fe..53ac37f08a 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -68,10 +68,11 @@ OS04C10::OS04C10() {
     0x00000fa7, 0x000000d9, 0x00001000,
     0x00000fca, 0x00000fef, 0x000000c7,
   };
-  for (int i = 0; i < 64; i++) {
-    float fx = i / 63.0;
+  for (int i = 0; i < 65; i++) {
+    float fx = i / 64.0;
     gamma_lut_rgb.push_back((uint32_t)(pow(fx, 0.7)*1023.0 + 0.5));
   }
+  prepare_gamma_lut();
   linearization_lut = {
     0x02000000, 0x02000000, 0x02000000, 0x02000000,
     0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index 16ab0a65bc..19742661b1 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -70,11 +70,12 @@ OX03C10::OX03C10() {
     0x00000fcc, 0x000000b9, 0x00000ffb,
     0x00000fc2, 0x00000ff6, 0x000000c9,
   };
-  for (int i = 0; i < 64; i++) {
-    float fx = i / 63.0;
+  for (int i = 0; i < 65; i++) {
+    float fx = i / 64.0;
     fx = -0.507089*exp(-12.54124638*fx) + 0.9655*pow(fx, 0.5) - 0.472597*fx + 0.507089;
     gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5));
   }
+  prepare_gamma_lut();
   linearization_lut = {
     0x00200000, 0x00200000, 0x00200000, 0x00200000,
     0x00404080, 0x00404080, 0x00404080, 0x00404080,
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index d94cd57c8d..dc2aadfe13 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -72,6 +72,12 @@ public:
   uint32_t black_level;
   std::vector<uint32_t> color_correct_matrix;  // 3x3
   std::vector<uint32_t> gamma_lut_rgb;         // gamma LUTs are length 64 * sizeof(uint32_t); same for r/g/b here
+  void prepare_gamma_lut() {
+    for (int i = 0; i < 64; i++) {
+      gamma_lut_rgb[i] |= ((uint32_t)(gamma_lut_rgb[i+1] - gamma_lut_rgb[i]) << 10);
+    }
+    gamma_lut_rgb.pop_back();
+  }
   std::vector<uint32_t> linearization_lut;     // length 288
   std::vector<uint32_t> linearization_pts;     // length 4
   std::vector<uint32_t> vignetting_lut;        // 2x length 884
diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py
index af82067467..f6b29ec0ce 100755
--- a/system/hardware/tici/amplifier.py
+++ b/system/hardware/tici/amplifier.py
@@ -125,13 +125,15 @@ class Amplifier:
   def set_configs(self, configs: list[AmpConfig]) -> bool:
     # retry in case panda is using the amp
     tries = 15
-    for i in range(15):
+    backoff = 0.
+    for i in range(tries):
       try:
         self._set_configs(configs)
         return True
       except OSError:
+        backoff += 0.1
+        time.sleep(backoff)
         print(f"Failed to set amp config, {tries - i - 1} retries left")
-        time.sleep(0.02)
     return False
 
   def set_global_shutdown(self, amp_disabled: bool) -> bool:
diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py
index 5bb4555dc1..a34d270994 100644
--- a/tools/sim/bridge/metadrive/metadrive_world.py
+++ b/tools/sim/bridge/metadrive/metadrive_world.py
@@ -105,7 +105,7 @@ class MetaDriveWorld(World):
       if x_dist >= dist_threshold or y_dist >= dist_threshold: # position not the same during staying still, > threshold is considered moving
         self.distance_moved += x_dist + y_dist
 
-      time_check_threshold = 30
+      time_check_threshold = 15
       current_time = time.monotonic()
       since_last_check = current_time - self.last_check_timestamp
       if since_last_check >= time_check_threshold:
diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py
index 8849e901cb..04ce5d584f 100644
--- a/tools/sim/tests/test_metadrive_bridge.py
+++ b/tools/sim/tests/test_metadrive_bridge.py
@@ -12,10 +12,7 @@ from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase
 class TestMetaDriveBridge(TestSimBridgeBase):
   @pytest.fixture(autouse=True)
   def setup_create_bridge(self, test_duration):
-    # run bridge test for at least 60s, since not-moving check runs every 30s
-    if test_duration < 60:
-      test_duration = 60
-    self.test_duration = test_duration
+    self.test_duration = 30
 
   def create_bridge(self):
     return MetaDriveBridge(False, False, self.test_duration, True)
diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py
index 12f38b86c3..d58cddff7f 100644
--- a/tools/sim/tests/test_sim_bridge.py
+++ b/tools/sim/tests/test_sim_bridge.py
@@ -89,7 +89,4 @@ class TestSimBridgeBase:
       p.terminate()
 
     for p in reversed(self.processes):
-      if isinstance(p, subprocess.Popen):
-        p.wait(15)
-      else:
-        p.join(15)
+      p.kill()