diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index aaa6be829a..2c10762496 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,8 +1,5 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 
-# remove gitconfig if exists, since its gonna be replaced by host one
-RUN rm -f /root/.gitconfig
-
 RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux
 RUN pip install ipython jupyter jupyterlab
 
diff --git a/.devcontainer/container_post_create.sh b/.devcontainer/container_post_create.sh
index 52a4b5f858..4446eff8bc 100755
--- a/.devcontainer/container_post_create.sh
+++ b/.devcontainer/container_post_create.sh
@@ -12,3 +12,9 @@ if [ -n "\$DISPLAY" ]; then
 fi
 EOF
 fi
+
+# These lines are temporary, to remain backwards compatible with old devcontainers
+# that were running as root and therefore had their caches written as root
+USER=batman
+sudo chown -R $USER: /tmp/scons_cache
+sudo chown -R $USER: /tmp/comma_download_cache
\ No newline at end of file
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index ef6534c1ae..44e2451c3e 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -14,13 +14,23 @@
   },
   "runArgs": [
     "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
-    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/root/.Xauthority",
-    "--volume=${localEnv:HOME}/.comma:/root/.comma",
+    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
+    "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
     "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
     "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache",
     "--shm-size=1G",
     "--add-host=host.docker.internal:host-gateway" // required to use host.docker.internal on linux
   ],
+  "features": {
+    "ghcr.io/devcontainers/features/common-utils:2": {
+      "installZsh": false,
+      "installOhMyZsh": false,
+      "upgradePackages": false,
+      "username": "batman"
+    }
+  },
+  "containerUser": "root",
+  "remoteUser": "batman",
   "customizations": {
     "vscode": {
       "extensions": [
diff --git a/.devcontainer/host_setup.sh b/.devcontainer/host_setup.sh
index e8a0781a2c..b3119185a4 100755
--- a/.devcontainer/host_setup.sh
+++ b/.devcontainer/host_setup.sh
@@ -1,7 +1,9 @@
 #!/usr/bin/env bash
 
 # pull base image
-docker pull ghcr.io/commaai/openpilot-base:latest
+if [[ -z $USE_LOCAL_IMAGE ]]; then
+  docker pull ghcr.io/commaai/openpilot-base:latest
+fi
 
 # setup .host dir
 mkdir -p .devcontainer/.host
diff --git a/.gitattributes b/.gitattributes
index 2d1df43fd3..97721befb2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1,3 +1,5 @@
 *.dlc filter=lfs diff=lfs merge=lfs -text
 *.onnx filter=lfs diff=lfs merge=lfs -text
+selfdrive/assets/fonts/* filter=lfs diff=lfs -text
+selfdrive/assets/training/* filter=lfs diff=lfs -text
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index c7a5f80c3b..1dea47f638 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -90,11 +90,22 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+      with:
+        git_lfs: false
+    - name: Use local image for testing devcontainer with latest base image
+      run: |
+        echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV"
     - name: Setup Dev Container CLI
       run: npm install -g @devcontainers/cli
     - name: Build dev container image
       run: devcontainer build --workspace-folder .
     - name: Run dev container
-      run: devcontainer up --workspace-folder .
+      run: |
+        mkdir -p /tmp/devcontainer_scons_cache/
+        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/* /tmp/devcontainer_scons_cache/
+        devcontainer up --workspace-folder .
     - name: Test environment
-      run: devcontainer exec --workspace-folder . scons --dry-run
+      run: |
+        devcontainer exec --workspace-folder . scons -j$(nproc)
+        devcontainer exec --workspace-folder . pip install pip-install-test
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index e0581bd46e..be151678b3 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -22,18 +22,24 @@ RUN cd /tmp && \
     rm -rf arm/ && \
     rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
+ARG USER=batman
+ARG USER_UID=1000
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+USER $USER
+
 ENV POETRY_VIRTUALENVS_CREATE=false
 ENV PYENV_VERSION=3.11.4
-ENV PYENV_ROOT="/root/.pyenv"
+ENV PYENV_ROOT="/home/$USER/pyenv"
 ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
 
-COPY pyproject.toml poetry.lock .python-version /tmp/
-COPY tools/install_python_dependencies.sh /tmp/tools/
+COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/
+COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
 
 RUN cd /tmp && \
     tools/install_python_dependencies.sh && \
     rm -rf /tmp/* && \
-    rm -rf /root/.cache && \
+    rm -rf /home/$USER/.cache && \
     pip uninstall -y poetry
 
-RUN sudo git config --global --add safe.directory /tmp/openpilot
+USER root
+RUN sudo git config --global --add safe.directory /tmp/openpilot
\ No newline at end of file
diff --git a/selfdrive/assets/fonts/.gitattributes b/selfdrive/assets/fonts/.gitattributes
new file mode 100644
index 0000000000..505d8b4a7e
--- /dev/null
+++ b/selfdrive/assets/fonts/.gitattributes
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b19422590f5a1995f18f5097aa43f1d721e15a3980aa23236f612511bbb1247
+size 542
diff --git a/selfdrive/assets/fonts/Inter-Black.ttf b/selfdrive/assets/fonts/Inter-Black.ttf
index 5653757735..6bfd108896 100644
Binary files a/selfdrive/assets/fonts/Inter-Black.ttf and b/selfdrive/assets/fonts/Inter-Black.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-Bold.ttf b/selfdrive/assets/fonts/Inter-Bold.ttf
index e98b84ce87..240f73d344 100644
Binary files a/selfdrive/assets/fonts/Inter-Bold.ttf and b/selfdrive/assets/fonts/Inter-Bold.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-ExtraBold.ttf b/selfdrive/assets/fonts/Inter-ExtraBold.ttf
index 7f16a0f0f5..8cb343bc40 100644
Binary files a/selfdrive/assets/fonts/Inter-ExtraBold.ttf and b/selfdrive/assets/fonts/Inter-ExtraBold.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-ExtraLight.ttf b/selfdrive/assets/fonts/Inter-ExtraLight.ttf
index 69426a3eb5..9ab6117be9 100644
Binary files a/selfdrive/assets/fonts/Inter-ExtraLight.ttf and b/selfdrive/assets/fonts/Inter-ExtraLight.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-Light.ttf b/selfdrive/assets/fonts/Inter-Light.ttf
index a5f073690d..a09fccdb3d 100644
Binary files a/selfdrive/assets/fonts/Inter-Light.ttf and b/selfdrive/assets/fonts/Inter-Light.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-Medium.ttf b/selfdrive/assets/fonts/Inter-Medium.ttf
index 721147d831..e3a0591ed1 100644
Binary files a/selfdrive/assets/fonts/Inter-Medium.ttf and b/selfdrive/assets/fonts/Inter-Medium.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-Regular.ttf b/selfdrive/assets/fonts/Inter-Regular.ttf
index 96fd6a12d0..3d153fa567 100644
Binary files a/selfdrive/assets/fonts/Inter-Regular.ttf and b/selfdrive/assets/fonts/Inter-Regular.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-SemiBold.ttf b/selfdrive/assets/fonts/Inter-SemiBold.ttf
index ddb279290b..ec7ef519d0 100644
Binary files a/selfdrive/assets/fonts/Inter-SemiBold.ttf and b/selfdrive/assets/fonts/Inter-SemiBold.ttf differ
diff --git a/selfdrive/assets/fonts/Inter-Thin.ttf b/selfdrive/assets/fonts/Inter-Thin.ttf
index 76be6252b9..abcfac0b75 100644
Binary files a/selfdrive/assets/fonts/Inter-Thin.ttf and b/selfdrive/assets/fonts/Inter-Thin.ttf differ
diff --git a/selfdrive/assets/fonts/JetBrainsMono-Medium.ttf b/selfdrive/assets/fonts/JetBrainsMono-Medium.ttf
index a6ba5529af..34cd543d94 100644
Binary files a/selfdrive/assets/fonts/JetBrainsMono-Medium.ttf and b/selfdrive/assets/fonts/JetBrainsMono-Medium.ttf differ
diff --git a/selfdrive/assets/training/.gitattributes b/selfdrive/assets/training/.gitattributes
new file mode 100644
index 0000000000..dde9e38b07
--- /dev/null
+++ b/selfdrive/assets/training/.gitattributes
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:949bc01262fb0c894157a2f0d2bb01297a276c11acf55460d4c87c84b7832af4
+size 883
diff --git a/selfdrive/assets/training/step0.png b/selfdrive/assets/training/step0.png
index 3c2c5c72a0..fb869e317d 100644
Binary files a/selfdrive/assets/training/step0.png and b/selfdrive/assets/training/step0.png differ
diff --git a/selfdrive/assets/training/step1.png b/selfdrive/assets/training/step1.png
index 0857893118..8bd9fbaa67 100644
Binary files a/selfdrive/assets/training/step1.png and b/selfdrive/assets/training/step1.png differ
diff --git a/selfdrive/assets/training/step10.png b/selfdrive/assets/training/step10.png
index 2941316d17..da71f97e83 100644
Binary files a/selfdrive/assets/training/step10.png and b/selfdrive/assets/training/step10.png differ
diff --git a/selfdrive/assets/training/step11.png b/selfdrive/assets/training/step11.png
index 7a7c72e3df..aa3791304e 100644
Binary files a/selfdrive/assets/training/step11.png and b/selfdrive/assets/training/step11.png differ
diff --git a/selfdrive/assets/training/step12.png b/selfdrive/assets/training/step12.png
index 0d6f64eb84..745a8d0553 100644
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diff --git a/selfdrive/assets/training/step13.png b/selfdrive/assets/training/step13.png
index 565e02fa3f..68638ffec1 100644
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diff --git a/selfdrive/assets/training/step14.png b/selfdrive/assets/training/step14.png
index 225231cbaa..2f5956b1ff 100644
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diff --git a/selfdrive/assets/training/step15.png b/selfdrive/assets/training/step15.png
index 929c759b26..798e01d00a 100644
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diff --git a/selfdrive/assets/training/step16.png b/selfdrive/assets/training/step16.png
index 161af863aa..2728814181 100644
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diff --git a/selfdrive/assets/training/step17.png b/selfdrive/assets/training/step17.png
index 1b0cdb6fbc..ab54f9c992 100644
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diff --git a/selfdrive/assets/training/step18.png b/selfdrive/assets/training/step18.png
index 0e3b64bab5..8149e79364 100644
Binary files a/selfdrive/assets/training/step18.png and b/selfdrive/assets/training/step18.png differ
diff --git a/selfdrive/assets/training/step2.png b/selfdrive/assets/training/step2.png
index 55814b8ef9..35d65c9b01 100644
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diff --git a/selfdrive/assets/training/step3.png b/selfdrive/assets/training/step3.png
index 831095b0ae..0d3a6bbecb 100644
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diff --git a/selfdrive/assets/training/step4.png b/selfdrive/assets/training/step4.png
index 5433034939..1d4da570b1 100644
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diff --git a/selfdrive/assets/training/step5.png b/selfdrive/assets/training/step5.png
index 7191b63a0c..1ce43e28dc 100644
Binary files a/selfdrive/assets/training/step5.png and b/selfdrive/assets/training/step5.png differ
diff --git a/selfdrive/assets/training/step6.png b/selfdrive/assets/training/step6.png
index 8eafd4a198..d0e06469c7 100644
Binary files a/selfdrive/assets/training/step6.png and b/selfdrive/assets/training/step6.png differ
diff --git a/selfdrive/assets/training/step7.png b/selfdrive/assets/training/step7.png
index 502f5f1b2e..63e6e27e07 100644
Binary files a/selfdrive/assets/training/step7.png and b/selfdrive/assets/training/step7.png differ
diff --git a/selfdrive/assets/training/step8.png b/selfdrive/assets/training/step8.png
index 77ff9d7368..de881446dc 100644
Binary files a/selfdrive/assets/training/step8.png and b/selfdrive/assets/training/step8.png differ
diff --git a/selfdrive/assets/training/step9.png b/selfdrive/assets/training/step9.png
index 84eae3a066..43ca1d03df 100644
Binary files a/selfdrive/assets/training/step9.png and b/selfdrive/assets/training/step9.png differ
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 2831b3bc4e..c504179f2b 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -960,6 +960,7 @@ FW_VERSIONS = {
       b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
       b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
       b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0',
+      b'\xf1\x00TM ESC   103!\x030 58910-S1MA0',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50',
@@ -973,12 +974,15 @@ FW_VERSIONS = {
       b'\xf1\x81HM6M2_0a0_G00',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
       b'\xf1\x8739101-2STN8\xf1\x81HM6M1_0a0_M00',
+      b'\xf1\x87           \xf1\x81           ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56370-S2AA0 0B19',
       b'\xf1\x00TM  MDPS C 1.00 1.01 56310-S1AB0 4TSDC101',
+      b'\xf1\x00TM  MDPS C 1.00 1.01 56310-S1EB0 4TSDC101',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TM  MFC  AT MES LHD 1.00 1.05 99211-S1500 220126',
       b'\xf1\x00TMA MFC  AT MEX LHD 1.00 1.01 99211-S2500 210205',
       b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.00 99211-S2500 200720',
       b'\xf1\x00TM  MFC  AT EUR LHD 1.00 1.03 99211-S1500 210224',
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 1ee9fe1f9d..d9a6b6b7b6 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -2027,6 +2027,7 @@ FW_VERSIONS = {
       b'\x018966378G2000\x00\x00\x00\x00',
       b'\x018966378G3000\x00\x00\x00\x00',
       b'\x018966378B2000\x00\x00\x00\x00',
+      b'\x018966378B3100\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F152678221\x00\x00\x00\x00\x00\x00',