diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 347216f2fb..1eb5f632b9 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -24,18 +24,14 @@ repos:
         # if you've got a short variable name that's getting flagged, add it here
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
--   repo: https://github.com/pre-commit/mirrors-mypy
-    rev: v0.931
+-   repo: local
     hooks:
     -   id: mypy
-        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/|(tinygrad/)|(tinygrad_repo/)'
-        additional_dependencies: ['types-PyYAML', 'lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
-        args:
-        - --warn-redundant-casts
-        - --warn-return-any
-        - --warn-unreachable
-        - --warn-unused-ignores
-        #- --html-report=/home/batman/openpilot
+        name: mypy
+        entry: mypy
+        language: system
+        types: [python]
+        exclude: '^(pyextra/)|(cereal/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
 -   repo: https://github.com/PyCQA/flake8
     rev: 4.0.1
     hooks:
diff --git a/Pipfile b/Pipfile
index 644fd2a90b..778cf8c33c 100644
--- a/Pipfile
+++ b/Pipfile
@@ -43,6 +43,12 @@ carla = {version = "==0.9.13", markers="platform_system != 'Darwin'"}
 ft4222 = "*"
 pandas = "*"
 tabulate = "*"
+types-pyyaml = "*"
+lxml = "*"
+types-atomicwrites = "*"
+types-pycurl = "*"
+types-requests = "*"
+types-certifi = "*"
 
 [packages]
 atomicwrites = "*"
diff --git a/Pipfile.lock b/Pipfile.lock
index e6f05fbcd4..d033a517cb 100644
--- a/Pipfile.lock
+++ b/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "adf64558652d394d9de8e45777f1a2f50ed1ac37b75664206e7957792832b5a4"
+            "sha256": "c406463198490fc40dcac3dd438c77cf36f6fe681793072e96fdecf089ff7639"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -18,11 +18,11 @@
     "default": {
         "astroid": {
             "hashes": [
-                "sha256:396c88d0a58d7f8daadf730b2ce90838bf338c6752558db719ec6f99c18ec20e",
-                "sha256:d612609242996c4365aeb0345e61edba34363eaaba55f1c0addf6a98f073bef6"
+                "sha256:81f870105d892e73bf535da77a8261aa5bde838fa4ed12bb2f435291a098c581",
+                "sha256:997e0c735df60d4a4caff27080a3afc51f9bdd693d3572a4a0b7090b645c36c5"
             ],
             "markers": "python_full_version >= '3.7.2'",
-            "version": "==2.12.5"
+            "version": "==2.12.10"
         },
         "atomicwrites": {
             "hashes": [
@@ -78,11 +78,11 @@
         },
         "certifi": {
             "hashes": [
-                "sha256:84c85a9078b11105f04f3036a9482ae10e4621616db313fe045dd24743a0820d",
-                "sha256:fe86415d55e84719d75f8b69414f6438ac3547d2078ab91b67e779ef69378412"
+                "sha256:0d9c601124e5a6ba9712dbc60d9c53c21e34f5f641fe83002317394311bdce14",
+                "sha256:90c1a32f1d68f940488354e36370f6cca89f0f106db09518524c88d6ed83f382"
             ],
             "markers": "python_version >= '3.6'",
-            "version": "==2022.6.15"
+            "version": "==2022.9.24"
         },
         "cffi": {
             "hashes": [
@@ -190,31 +190,35 @@
         },
         "cryptography": {
             "hashes": [
-                "sha256:190f82f3e87033821828f60787cfa42bff98404483577b591429ed99bed39d59",
-                "sha256:2be53f9f5505673eeda5f2736bea736c40f051a739bfae2f92d18aed1eb54596",
-                "sha256:30788e070800fec9bbcf9faa71ea6d8068f5136f60029759fd8c3efec3c9dcb3",
-                "sha256:3d41b965b3380f10e4611dbae366f6dc3cefc7c9ac4e8842a806b9672ae9add5",
-                "sha256:4c590ec31550a724ef893c50f9a97a0c14e9c851c85621c5650d699a7b88f7ab",
-                "sha256:549153378611c0cca1042f20fd9c5030d37a72f634c9326e225c9f666d472884",
-                "sha256:63f9c17c0e2474ccbebc9302ce2f07b55b3b3fcb211ded18a42d5764f5c10a82",
-                "sha256:6bc95ed67b6741b2607298f9ea4932ff157e570ef456ef7ff0ef4884a134cc4b",
-                "sha256:7099a8d55cd49b737ffc99c17de504f2257e3787e02abe6d1a6d136574873441",
-                "sha256:75976c217f10d48a8b5a8de3d70c454c249e4b91851f6838a4e48b8f41eb71aa",
-                "sha256:7bc997818309f56c0038a33b8da5c0bfbb3f1f067f315f9abd6fc07ad359398d",
-                "sha256:80f49023dd13ba35f7c34072fa17f604d2f19bf0989f292cedf7ab5770b87a0b",
-                "sha256:91ce48d35f4e3d3f1d83e29ef4a9267246e6a3be51864a5b7d2247d5086fa99a",
-                "sha256:a958c52505c8adf0d3822703078580d2c0456dd1d27fabfb6f76fe63d2971cd6",
-                "sha256:b62439d7cd1222f3da897e9a9fe53bbf5c104fff4d60893ad1355d4c14a24157",
-                "sha256:b7f8dd0d4c1f21759695c05a5ec8536c12f31611541f8904083f3dc582604280",
-                "sha256:d204833f3c8a33bbe11eda63a54b1aad7aa7456ed769a982f21ec599ba5fa282",
-                "sha256:e007f052ed10cc316df59bc90fbb7ff7950d7e2919c9757fd42a2b8ecf8a5f67",
-                "sha256:f2dcb0b3b63afb6df7fd94ec6fbddac81b5492513f7b0436210d390c14d46ee8",
-                "sha256:f721d1885ecae9078c3f6bbe8a88bc0786b6e749bf32ccec1ef2b18929a05046",
-                "sha256:f7a6de3e98771e183645181b3627e2563dcde3ce94a9e42a3f427d2255190327",
-                "sha256:f8c0a6e9e1dd3eb0414ba320f85da6b0dcbd543126e30fcc546e7372a7fbf3b9"
-            ],
-            "index": "pypi",
-            "version": "==37.0.4"
+                "sha256:0297ffc478bdd237f5ca3a7dc96fc0d315670bfa099c04dc3a4a2172008a405a",
+                "sha256:10d1f29d6292fc95acb597bacefd5b9e812099d75a6469004fd38ba5471a977f",
+                "sha256:16fa61e7481f4b77ef53991075de29fc5bacb582a1244046d2e8b4bb72ef66d0",
+                "sha256:194044c6b89a2f9f169df475cc167f6157eb9151cc69af8a2a163481d45cc407",
+                "sha256:1db3d807a14931fa317f96435695d9ec386be7b84b618cc61cfa5d08b0ae33d7",
+                "sha256:3261725c0ef84e7592597606f6583385fed2a5ec3909f43bc475ade9729a41d6",
+                "sha256:3b72c360427889b40f36dc214630e688c2fe03e16c162ef0aa41da7ab1455153",
+                "sha256:3e3a2599e640927089f932295a9a247fc40a5bdf69b0484532f530471a382750",
+                "sha256:3fc26e22840b77326a764ceb5f02ca2d342305fba08f002a8c1f139540cdfaad",
+                "sha256:5067ee7f2bce36b11d0e334abcd1ccf8c541fc0bbdaf57cdd511fdee53e879b6",
+                "sha256:52e7bee800ec869b4031093875279f1ff2ed12c1e2f74923e8f49c916afd1d3b",
+                "sha256:64760ba5331e3f1794d0bcaabc0d0c39e8c60bf67d09c93dc0e54189dfd7cfe5",
+                "sha256:765fa194a0f3372d83005ab83ab35d7c5526c4e22951e46059b8ac678b44fa5a",
+                "sha256:79473cf8a5cbc471979bd9378c9f425384980fcf2ab6534b18ed7d0d9843987d",
+                "sha256:896dd3a66959d3a5ddcfc140a53391f69ff1e8f25d93f0e2e7830c6de90ceb9d",
+                "sha256:89ed49784ba88c221756ff4d4755dbc03b3c8d2c5103f6d6b4f83a0fb1e85294",
+                "sha256:ac7e48f7e7261207d750fa7e55eac2d45f720027d5703cd9007e9b37bbb59ac0",
+                "sha256:ad7353f6ddf285aeadfaf79e5a6829110106ff8189391704c1d8801aa0bae45a",
+                "sha256:b0163a849b6f315bf52815e238bc2b2346604413fa7c1601eea84bcddb5fb9ac",
+                "sha256:b6c9b706316d7b5a137c35e14f4103e2115b088c412140fdbd5f87c73284df61",
+                "sha256:c2e5856248a416767322c8668ef1845ad46ee62629266f84a8f007a317141013",
+                "sha256:ca9f6784ea96b55ff41708b92c3f6aeaebde4c560308e5fbbd3173fbc466e94e",
+                "sha256:d1a5bd52d684e49a36582193e0b89ff267704cd4025abefb9e26803adeb3e5fb",
+                "sha256:d3971e2749a723e9084dd507584e2a2761f78ad2c638aa31e80bc7a15c9db4f9",
+                "sha256:d4ef6cc305394ed669d4d9eebf10d3a101059bdcf2669c366ec1d14e4fb227bd",
+                "sha256:d9e69ae01f99abe6ad646947bba8941e896cb3aa805be2597a0400e0764b5818"
+            ],
+            "index": "pypi",
+            "version": "==38.0.1"
         },
         "cython": {
             "hashes": [
@@ -373,11 +377,11 @@
         },
         "idna": {
             "hashes": [
-                "sha256:84d9dd047ffa80596e0f246e2eab0b391788b0503584e8945f2368256d2735ff",
-                "sha256:9d643ff0a55b762d5cdb124b8eaa99c66322e2157b69160bc32796e824360e6d"
+                "sha256:814f528e8dead7d329833b91c5faa87d60bf71824cd12a7530b5526063d02cb4",
+                "sha256:90b77e79eaa3eba6de819a0c442c0b4ceefc341a7a2ab77d7562bf49f425c5c2"
             ],
             "markers": "python_version >= '3.5'",
-            "version": "==3.3"
+            "version": "==3.4"
         },
         "importlib-metadata": {
             "hashes": [
@@ -400,7 +404,7 @@
                 "sha256:6f62d78e2f89b4500b080fe3a81690850cd254227f27f75c3a0c491a1f351ba7",
                 "sha256:e8443a5e7a020e9d7f97f1d7d9cd17c88bcb3bc7e218bf9cf5095fe550be2951"
             ],
-            "markers": "python_version < '4.0' and python_full_version >= '3.6.1'",
+            "markers": "python_version < '4' and python_full_version >= '3.6.1'",
             "version": "==5.10.1"
         },
         "itsdangerous": {
@@ -593,37 +597,37 @@
         },
         "numpy": {
             "hashes": [
-                "sha256:17e5226674f6ea79e14e3b91bfbc153fdf3ac13f5cc54ee7bc8fdbe820a32da0",
-                "sha256:2bd879d3ca4b6f39b7770829f73278b7c5e248c91d538aab1e506c628353e47f",
-                "sha256:4f41f5bf20d9a521f8cab3a34557cd77b6f205ab2116651f12959714494268b0",
-                "sha256:5593f67e66dea4e237f5af998d31a43e447786b2154ba1ad833676c788f37cde",
-                "sha256:5e28cd64624dc2354a349152599e55308eb6ca95a13ce6a7d5679ebff2962913",
-                "sha256:633679a472934b1c20a12ed0c9a6c9eb167fbb4cb89031939bfd03dd9dbc62b8",
-                "sha256:806970e69106556d1dd200e26647e9bee5e2b3f1814f9da104a943e8d548ca38",
-                "sha256:806cc25d5c43e240db709875e947076b2826f47c2c340a5a2f36da5bb10c58d6",
-                "sha256:8247f01c4721479e482cc2f9f7d973f3f47810cbc8c65e38fd1bbd3141cc9842",
-                "sha256:8ebf7e194b89bc66b78475bd3624d92980fca4e5bb86dda08d677d786fefc414",
-                "sha256:8ecb818231afe5f0f568c81f12ce50f2b828ff2b27487520d85eb44c71313b9e",
-                "sha256:8f9d84a24889ebb4c641a9b99e54adb8cab50972f0166a3abc14c3b93163f074",
-                "sha256:909c56c4d4341ec8315291a105169d8aae732cfb4c250fbc375a1efb7a844f8f",
-                "sha256:9b83d48e464f393d46e8dd8171687394d39bc5abfe2978896b77dc2604e8635d",
-                "sha256:ac987b35df8c2a2eab495ee206658117e9ce867acf3ccb376a19e83070e69418",
-                "sha256:b78d00e48261fbbd04aa0d7427cf78d18401ee0abd89c7559bbf422e5b1c7d01",
-                "sha256:b8b97a8a87cadcd3f94659b4ef6ec056261fa1e1c3317f4193ac231d4df70215",
-                "sha256:bd5b7ccae24e3d8501ee5563e82febc1771e73bd268eef82a1e8d2b4d556ae66",
-                "sha256:bdc02c0235b261925102b1bd586579b7158e9d0d07ecb61148a1799214a4afd5",
-                "sha256:be6b350dfbc7f708d9d853663772a9310783ea58f6035eec649fb9c4371b5389",
-                "sha256:c403c81bb8ffb1c993d0165a11493fd4bf1353d258f6997b3ee288b0a48fce77",
-                "sha256:cf8c6aed12a935abf2e290860af8e77b26a042eb7f2582ff83dc7ed5f963340c",
-                "sha256:d98addfd3c8728ee8b2c49126f3c44c703e2b005d4a95998e2167af176a9e722",
-                "sha256:dc76bca1ca98f4b122114435f83f1fcf3c0fe48e4e6f660e07996abf2f53903c",
-                "sha256:dec198619b7dbd6db58603cd256e092bcadef22a796f778bf87f8592b468441d",
-                "sha256:df28dda02c9328e122661f399f7655cdcbcf22ea42daa3650a26bce08a187450",
-                "sha256:e603ca1fb47b913942f3e660a15e55a9ebca906857edfea476ae5f0fe9b457d5",
-                "sha256:ecfdd68d334a6b97472ed032b5b37a30d8217c097acfff15e8452c710e775524"
-            ],
-            "index": "pypi",
-            "version": "==1.23.2"
+                "sha256:004f0efcb2fe1c0bd6ae1fcfc69cc8b6bf2407e0f18be308612007a0762b4089",
+                "sha256:09f6b7bdffe57fc61d869a22f506049825d707b288039d30f26a0d0d8ea05164",
+                "sha256:0ea3f98a0ffce3f8f57675eb9119f3f4edb81888b6874bc1953f91e0b1d4f440",
+                "sha256:17c0e467ade9bda685d5ac7f5fa729d8d3e76b23195471adae2d6a6941bd2c18",
+                "sha256:1f27b5322ac4067e67c8f9378b41c746d8feac8bdd0e0ffede5324667b8a075c",
+                "sha256:22d43376ee0acd547f3149b9ec12eec2f0ca4a6ab2f61753c5b29bb3e795ac4d",
+                "sha256:2ad3ec9a748a8943e6eb4358201f7e1c12ede35f510b1a2221b70af4bb64295c",
+                "sha256:301c00cf5e60e08e04d842fc47df641d4a181e651c7135c50dc2762ffe293dbd",
+                "sha256:39a664e3d26ea854211867d20ebcc8023257c1800ae89773cbba9f9e97bae036",
+                "sha256:51bf49c0cd1d52be0a240aa66f3458afc4b95d8993d2d04f0d91fa60c10af6cd",
+                "sha256:78a63d2df1d947bd9d1b11d35564c2f9e4b57898aae4626638056ec1a231c40c",
+                "sha256:7cd1328e5bdf0dee621912f5833648e2daca72e3839ec1d6695e91089625f0b4",
+                "sha256:8355fc10fd33a5a70981a5b8a0de51d10af3688d7a9e4a34fcc8fa0d7467bb7f",
+                "sha256:8c79d7cf86d049d0c5089231a5bcd31edb03555bd93d81a16870aa98c6cfb79d",
+                "sha256:91b8d6768a75247026e951dce3b2aac79dc7e78622fc148329135ba189813584",
+                "sha256:94c15ca4e52671a59219146ff584488907b1f9b3fc232622b47e2cf832e94fb8",
+                "sha256:98dcbc02e39b1658dc4b4508442a560fe3ca5ca0d989f0df062534e5ca3a5c1a",
+                "sha256:a64403f634e5ffdcd85e0b12c08f04b3080d3e840aef118721021f9b48fc1460",
+                "sha256:bc6e8da415f359b578b00bcfb1d08411c96e9a97f9e6c7adada554a0812a6cc6",
+                "sha256:bdc9febce3e68b697d931941b263c59e0c74e8f18861f4064c1f712562903411",
+                "sha256:c1ba66c48b19cc9c2975c0d354f24058888cdc674bebadceb3cdc9ec403fb5d1",
+                "sha256:c9f707b5bb73bf277d812ded9896f9512a43edff72712f31667d0a8c2f8e71ee",
+                "sha256:d5422d6a1ea9b15577a9432e26608c73a78faf0b9039437b075cf322c92e98e7",
+                "sha256:e5d5420053bbb3dd64c30e58f9363d7a9c27444c3648e61460c1237f9ec3fa14",
+                "sha256:e868b0389c5ccfc092031a861d4e158ea164d8b7fdbb10e3b5689b4fc6498df6",
+                "sha256:efd9d3abe5774404becdb0748178b48a218f1d8c44e0375475732211ea47c67e",
+                "sha256:f8c02ec3c4c4fcb718fdf89a6c6f709b14949408e8cf2a2be5bfa9c49548fd85",
+                "sha256:ffcf105ecdd9396e05a8e58e81faaaf34d3f9875f137c7372450baa5d77c9a54"
+            ],
+            "index": "pypi",
+            "version": "==1.23.3"
         },
         "onnx": {
             "hashes": [
@@ -692,6 +696,7 @@
                 "sha256:2ad0d4df0f5ef2247e27fc790d5c9b5a0af8ade9ba340db4a73bb1a4a3e5fb4f",
                 "sha256:2c58b24e3a63efd22554c676d81b0e57f80e0a7d3a5874a7e14ce90ec40d3069",
                 "sha256:2d33a11f601213dcd5718109c09a52c2a1c893e7461f0be2d6febc2879ec2402",
+                "sha256:336b9036127eab855beec9662ac3ea13a4544a523ae273cbf108b228ecac8437",
                 "sha256:337a74fd2f291c607d220c793a8135273c4c2ab001b03e601c36766005f36885",
                 "sha256:37ff6b522a26d0538b753f0b4e8e164fdada12db6c6f00f62145d732d8a3152e",
                 "sha256:3d1f14f5f691f55e1b47f824ca4fdcb4b19b4323fe43cc7bb105988cad7496be",
@@ -720,6 +725,7 @@
                 "sha256:a647c0d4478b995c5e54615a2e5360ccedd2f85e70ab57fbe817ca613d5e63b8",
                 "sha256:a9c9bc489f8ab30906d7a85afac4b4944a572a7432e00698a7239f44a44e6efb",
                 "sha256:ad2277b185ebce47a63f4dc6302e30f05762b688f8dc3de55dbae4651872cdf3",
+                "sha256:adabc0bce035467fb537ef3e5e74f2847c8af217ee0be0455d4fec8adc0462fc",
                 "sha256:b6d5e92df2b77665e07ddb2e4dbd6d644b78e4c0d2e9272a852627cdba0d75cf",
                 "sha256:bc431b065722a5ad1dfb4df354fb9333b7a582a5ee39a90e6ffff688d72f27a1",
                 "sha256:bdd0de2d64688ecae88dd8935012c4a72681e5df632af903a1dca8c5e7aa871a",
@@ -793,41 +799,41 @@
         },
         "psutil": {
             "hashes": [
-                "sha256:068935df39055bf27a29824b95c801c7a5130f118b806eee663cad28dca97685",
-                "sha256:0904727e0b0a038830b019551cf3204dd48ef5c6868adc776e06e93d615fc5fc",
-                "sha256:0f15a19a05f39a09327345bc279c1ba4a8cfb0172cc0d3c7f7d16c813b2e7d36",
-                "sha256:19f36c16012ba9cfc742604df189f2f28d2720e23ff7d1e81602dbe066be9fd1",
-                "sha256:20b27771b077dcaa0de1de3ad52d22538fe101f9946d6dc7869e6f694f079329",
-                "sha256:28976df6c64ddd6320d281128817f32c29b539a52bdae5e192537bc338a9ec81",
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-                "sha256:fea896b54f3a4ae6f790ac1d017101252c93f6fe075d0e7571543510f11d2676"
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-            "index": "pypi",
-            "version": "==5.9.1"
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+                "sha256:b3591616fa07b15050b2f87e1cdefd06a554382e72866fcc0ab2be9d116486c8",
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+                "sha256:f40ba362fefc11d6bea4403f070078d60053ed422255bd838cd86a40674364c9",
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+                "sha256:f7929a516125f62399d6e8e026129c8835f6c5a3aab88c3fff1a05ee8feb840d",
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+            ],
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+            "version": "==5.9.2"
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         "pycapnp": {
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@@ -909,62 +915,62 @@
         },
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             ],
             "index": "pypi",
-            "version": "==2.4.0"
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             "index": "pypi",
-            "version": "==2.15.0"
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@@ -1011,6 +1017,7 @@
         },
         "pyyaml": {
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@@ -1022,26 +1029,32 @@
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@@ -1145,11 +1159,11 @@
         },
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@@ -1219,11 +1233,11 @@
         },
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+                "sha256:a8f6e213b4b0661f590ccf40de95d28a177cd747d098624ad3f69c40287297e9",
+                "sha256:c2d2709550f15aab6c9110196ea312f468f41cd546bceb24127a1be6fdcaeeb1"
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             "markers": "python_version >= '3.7'",
-            "version": "==65.3.0"
+            "version": "==65.4.0"
         },
         "shiboken2": {
             "hashes": [
@@ -1255,19 +1269,19 @@
         },
         "sympy": {
             "hashes": [
-                "sha256:1fe96b4c56bb7a7630cdf150a6cd98bc97a79e6be233e30502aba1cf54dee33d",
-                "sha256:b53069f5f30e4a4690b57cdb8e3d0d9065fff42627239db718214f804e442481"
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-            "version": "==1.11"
+            "version": "==1.11.1"
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-                "sha256:406bea77a7baec5e2b1c2b4793ff8f40c174b6d8e894631e60864d956139afef"
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-            "version": "==6.1.1"
+            "version": "==6.1.3"
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@@ -1282,16 +1296,16 @@
                 "sha256:25d4e2e446c453be6360c67ddfb88838cfc42026322770ba13d1fbd403a93a5c",
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+            "markers": "python_version >= '3.6' and python_version < '4'",
             "version": "==0.11.4"
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-            "version": "==4.64.0"
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@@ -1318,11 +1332,11 @@
         },
         "websocket-client": {
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-            "version": "==1.4.0"
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@@ -1543,11 +1557,11 @@
         },
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@@ -1635,6 +1649,81 @@
             "markers": "python_version >= '3.6'",
             "version": "==2.1.1"
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                 "sha256:0891d2d32d6006ac1faa4e238ed8223ca342a4721d202dfeccae24fb02563183"
@@ -1700,31 +1789,35 @@
         },
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@@ -1818,11 +1911,11 @@
         },
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@@ -1876,19 +1969,19 @@
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@@ -2113,44 +2282,50 @@
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@@ -2178,32 +2353,12 @@
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@@ -2222,11 +2377,11 @@
         },
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@@ -2238,37 +2393,37 @@
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@@ -2293,30 +2448,36 @@
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@@ -2351,6 +2512,7 @@
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@@ -2379,6 +2541,7 @@
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@@ -2556,11 +2719,11 @@
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@@ -2595,6 +2758,7 @@
         },
         "pyyaml": {
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@@ -2606,26 +2770,32 @@
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                 "sha256:897b80890765f037df3403d22bab41627ca8811ae55e9a722fd0392850ec4d86",
                 "sha256:98c4d36e99714e55cfbaaee6dd5badbc9a1ec339ebfc3b1f52e293aee6bb71a4",
                 "sha256:9df7ed3b3d2e0ecfe09e14741b857df43adb5a3ddadc919a2d94fbdf78fea53c",
                 "sha256:9fa600030013c4de8165339db93d182b9431076eb98eb40ee068700c9c813e34",
                 "sha256:a80a78046a72361de73f8f395f1f1e49f956c6be882eed58505a15f3e430962b",
+                "sha256:afa17f5bc4d1b10afd4466fd3a44dc0e245382deca5b3c353d8b757f9e3ecb8d",
                 "sha256:b3d267842bf12586ba6c734f89d1f5b871df0273157918b0ccefa29deb05c21c",
                 "sha256:b5b9eccad747aabaaffbc6064800670f0c297e52c12754eb1d976c57e4f74dcb",
+                "sha256:bfaef573a63ba8923503d27530362590ff4f576c626d86a9fed95822a8255fd7",
                 "sha256:c5687b8d43cf58545ade1fe3e055f70eac7a5a1a0bf42824308d868289a95737",
                 "sha256:cba8c411ef271aa037d7357a2bc8f9ee8b58b9965831d9e51baf703280dc73d3",
                 "sha256:d15a181d1ecd0d4270dc32edb46f7cb7733c7c508857278d3d378d14d606db2d",
+                "sha256:d4b0ba9512519522b118090257be113b9468d804b19d63c71dbcf4a48fa32358",
                 "sha256:d4db7c7aef085872ef65a8fd7d6d09a14ae91f691dec3e87ee5ee0539d516f53",
                 "sha256:d4eccecf9adf6fbcc6861a38015c2a64f38b9d94838ac1810a9023a0609e1b78",
                 "sha256:d67d839ede4ed1b28a4e8909735fc992a923cdb84e618544973d7dfc71540803",
                 "sha256:daf496c58a8c52083df09b80c860005194014c3698698d1a57cbcfa182142a3a",
+                "sha256:dbad0e9d368bb989f4515da330b88a057617d16b6a8245084f1b05400f24609f",
                 "sha256:e61ceaab6f49fb8bdfaa0f92c4b57bcfbea54c09277b1b4f7ac376bfb7a7c174",
                 "sha256:f84fbc98b019fef2ee9a1cb3ce93e3187a6df0b2538a651bfb890254ba9f90b5"
             ],
@@ -2678,11 +2848,11 @@
         },
         "setuptools": {
             "hashes": [
-                "sha256:2e24e0bec025f035a2e72cdd1961119f557d78ad331bb00ff82efb2ab8da8e82",
-                "sha256:7732871f4f7fa58fb6bdcaeadb0161b2bd046c85905dbaa066bdcbcc81953b57"
+                "sha256:a8f6e213b4b0661f590ccf40de95d28a177cd747d098624ad3f69c40287297e9",
+                "sha256:c2d2709550f15aab6c9110196ea312f468f41cd546bceb24127a1be6fdcaeeb1"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==65.3.0"
+            "version": "==65.4.0"
         },
         "six": {
             "hashes": [
@@ -2708,11 +2878,11 @@
         },
         "sphinx": {
             "hashes": [
-                "sha256:309a8da80cb6da9f4713438e5b55861877d5d7976b69d87e336733637ea12693",
-                "sha256:ba3224a4e206e1fbdecf98a4fae4992ef9b24b85ebf7b584bb340156eaf08d89"
+                "sha256:3dcf00fcf82cf91118db9b7177edea4fc01998976f893928d0ab0c58c54be2ca",
+                "sha256:c009bb2e9ac5db487bcf53f015504005a330ff7c631bb6ab2604e0d65bae8b54"
             ],
             "index": "pypi",
-            "version": "==5.1.1"
+            "version": "==5.2.1"
         },
         "sphinx-rtd-theme": {
             "hashes": [
@@ -2797,11 +2967,11 @@
         },
         "tenacity": {
             "hashes": [
-                "sha256:43242a20e3e73291a28bcbcacfd6e000b02d3857a9a9fff56b297a27afdc932f",
-                "sha256:f78f4ea81b0fabc06728c11dc2a8c01277bfc5181b321a4770471902e3eb844a"
+                "sha256:35525cd47f82830069f0d6b73f7eb83bc5b73ee2fff0437952cedf98b27653ac",
+                "sha256:e48c437fdf9340f5666b92cd7990e96bc5fc955e1298baf4a907e3972067a445"
             ],
             "index": "pypi",
-            "version": "==8.0.1"
+            "version": "==8.1.0"
         },
         "toml": {
             "hashes": [
@@ -2819,6 +2989,53 @@
             "markers": "python_version < '3.11'",
             "version": "==2.0.1"
         },
+        "types-atomicwrites": {
+            "hashes": [
+                "sha256:458a985b2cfaa963becec21ba63faaa5dd241e237ba8bf024732b37b18690de6",
+                "sha256:ef824f7e639c178e3e571f60d228c7745198756ebfcc5d249a0e3e02e04b2858"
+            ],
+            "index": "pypi",
+            "version": "==1.4.5"
+        },
+        "types-certifi": {
+            "hashes": [
+                "sha256:72cf7798d165bc0b76e1c10dd1ea3097c7063c42c21d664523b928e88b554a4f",
+                "sha256:b2d1e325e69f71f7c78e5943d410e650b4707bb0ef32e4ddf3da37f54176e88a"
+            ],
+            "index": "pypi",
+            "version": "==2021.10.8.3"
+        },
+        "types-pycurl": {
+            "hashes": [
+                "sha256:82e00aa2981595bfa55e5a3bac42221eb3435b0026dffbe1177f6ac9f2d51200",
+                "sha256:9eab3414da4a1b1e9a628bd288fc5172b8c182e1d9fb6d8d082441b0fd64baed"
+            ],
+            "index": "pypi",
+            "version": "==7.45.1"
+        },
+        "types-pyyaml": {
+            "hashes": [
+                "sha256:7f7da2fd11e9bc1e5e9eb3ea1be84f4849747017a59fc2eee0ea34ed1147c2e0",
+                "sha256:8f890028123607379c63550179ddaec4517dc751f4c527a52bb61934bf495989"
+            ],
+            "index": "pypi",
+            "version": "==6.0.11"
+        },
+        "types-requests": {
+            "hashes": [
+                "sha256:7ee827eb8ce611b02b5117cfec5da6455365b6a575f5e3ff19f655ba603e6b4e",
+                "sha256:af5f55e803cabcfb836dad752bd6d8a0fc8ef1cd84243061c0e27dee04ccf4fd"
+            ],
+            "index": "pypi",
+            "version": "==2.28.11"
+        },
+        "types-urllib3": {
+            "hashes": [
+                "sha256:a1b3aaea7dda3eb1b51699ee723aadd235488e4dc4648e030f09bc429ecff42f",
+                "sha256:cf7918503d02d3576e503bbfb419b0e047c4617653bba09624756ab7175e15c9"
+            ],
+            "version": "==1.26.24"
+        },
         "typing-extensions": {
             "hashes": [
                 "sha256:25642c956049920a5aa49edcdd6ab1e06d7e5d467fc00e0506c44ac86fbfca02",
@@ -2837,11 +3054,11 @@
         },
         "virtualenv": {
             "hashes": [
-                "sha256:4193b7bc8a6cd23e4eb251ac64f29b4398ab2c233531e66e40b19a6b7b0d30c1",
-                "sha256:d86ea0bb50e06252d79e6c241507cb904fcd66090c3271381372d6221a3970f9"
+                "sha256:227ea1b9994fdc5ea31977ba3383ef296d7472ea85be9d6732e42a91c04e80da",
+                "sha256:d07dfc5df5e4e0dbc92862350ad87a36ed505b978f6c39609dc489eadd5b0d27"
             ],
             "markers": "python_version >= '3.6'",
-            "version": "==20.16.3"
+            "version": "==20.16.5"
         },
         "zipp": {
             "hashes": [
diff --git a/common/realtime.py b/common/realtime.py
index 8a79d8d39f..7dd2eb98a6 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -31,7 +31,7 @@ class Priority:
 
 def set_realtime_priority(level: int) -> None:
   if not PC:
-    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # type: ignore[attr-defined] # pylint: disable=no-member
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # pylint: disable=no-member
 
 
 def set_core_affinity(cores: List[int]) -> None:
diff --git a/mypy.ini b/mypy.ini
index e2da60f926..39b1b007a7 100644
--- a/mypy.ini
+++ b/mypy.ini
@@ -1,4 +1,16 @@
 [mypy]
 python_version = 3.8
-ignore_missing_imports = True
 plugins = numpy.typing.mypy_plugin
+files = body, common, docs, scripts, selfdrive, site_scons, system, tools
+exclude = ^(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)
+
+; third-party packages
+ignore_missing_imports = True
+
+; helpful warnings
+warn_redundant_casts = True
+warn_unreachable = True
+warn_unused_ignores = True
+
+; restrict dynamic typing
+warn_return_any = True
diff --git a/selfdrive/debug/check_freq.py b/selfdrive/debug/check_freq.py
index b6f3c91bd0..6436abb4f1 100755
--- a/selfdrive/debug/check_freq.py
+++ b/selfdrive/debug/check_freq.py
@@ -2,7 +2,7 @@
 import argparse
 import numpy as np
 from collections import defaultdict, deque
-from typing import DefaultDict, Deque
+from typing import DefaultDict, Deque, MutableSequence
 
 from common.realtime import sec_since_boot
 import cereal.messaging as messaging
@@ -19,7 +19,7 @@ if __name__ == "__main__":
   socket_names = args.socket
   sockets = {}
 
-  rcv_times: DefaultDict[str, Deque[float]] = defaultdict(lambda: deque(maxlen=100))
+  rcv_times: DefaultDict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100))
   valids: DefaultDict[str, Deque[bool]] = defaultdict(lambda: deque(maxlen=100))
 
   t = sec_since_boot()
diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py
index 69304f97b5..083e084ca7 100755
--- a/selfdrive/debug/check_timings.py
+++ b/selfdrive/debug/check_timings.py
@@ -3,13 +3,13 @@
 import sys
 import time
 import numpy as np
-from typing import DefaultDict, Deque
+from typing import DefaultDict, MutableSequence
 from collections import defaultdict, deque
 
 import cereal.messaging as messaging
 
 socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]}
-ts: DefaultDict[str, Deque[float]] = defaultdict(lambda: deque(maxlen=100))
+ts: DefaultDict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100))
 
 if __name__ == "__main__":
   while True:
diff --git a/system/hardware/tici/casync.py b/system/hardware/tici/casync.py
index 8ae42fa714..993336616d 100755
--- a/system/hardware/tici/casync.py
+++ b/system/hardware/tici/casync.py
@@ -86,6 +86,7 @@ class RemoteChunkReader(ChunkReader):
 def parse_caibx(caibx_path: str) -> List[Chunk]:
   """Parses the chunks from a caibx file. Can handle both local and remote files.
   Returns a list of chunks with hash, offset and length"""
+  caibx: io.BufferedIOBase
   if os.path.isfile(caibx_path):
     caibx = open(caibx_path, 'rb')
   else: