diff --git a/.vscode/settings.json b/.vscode/settings.json
index daf74ca777..811306f399 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -12,5 +12,15 @@
     "**/.git": true,
     "**/.venv": true,
     "**/__pycache__": true
-  }
-}
\ No newline at end of file
+  },
+  "python.analysis.exclude": [
+    "**/.git",
+    "**/.venv",
+    "**/__pycache__",
+    // exclude directories that should be using the symlinked version
+    "common/**",
+    "selfdrive/**",
+    "system/**",
+    "tools/**",
+  ]
+}
diff --git a/pyproject.toml b/pyproject.toml
index 8894d5eca2..10b99a9ddc 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -177,6 +177,8 @@ lint.ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"]
 line-length = 160
 target-version="py311"
 exclude = [
+  "body",
+  "cereal",
   "panda",
   "opendbc",
   "rednose_repo",
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 9231794a6c..82335500d8 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -70,7 +70,7 @@ class CarD:
     if prev_cp is not None:
       self.params.put("CarParamsPrevRoute", prev_cp)
 
-    # Write CarParams for radard
+    # Write CarParams for controls and radard
     cp_bytes = self.CP.to_bytes()
     self.params.put("CarParams", cp_bytes)
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 199e0bba4d..e79da0f473 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -710,7 +710,8 @@ PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
 # TODO: there are date codes in the ABS firmware versions in hex
 DATE_FW_ECUS = [Ecu.fwdCamera]
 
-ALL_HYUNDAI_ECUS = [Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.engine, Ecu.parkingAdas, Ecu.transmission, Ecu.adas, Ecu.hvac, Ecu.cornerRadar]
+ALL_HYUNDAI_ECUS = [Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.engine, Ecu.parkingAdas,
+                    Ecu.transmission, Ecu.adas, Ecu.hvac, Ecu.cornerRadar, Ecu.combinationMeter]
 
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
@@ -810,10 +811,11 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Ecu.abs: [CAR.PALISADE, CAR.SONATA],
   },
   extra_ecus=[
-    (Ecu.adas, 0x730, None),         # ADAS Driving ECU on HDA2 platforms
-    (Ecu.parkingAdas, 0x7b1, None),  # ADAS Parking ECU (may exist on all platforms)
-    (Ecu.hvac, 0x7b3, None),         # HVAC Control Assembly
+    (Ecu.adas, 0x730, None),              # ADAS Driving ECU on HDA2 platforms
+    (Ecu.parkingAdas, 0x7b1, None),       # ADAS Parking ECU (may exist on all platforms)
+    (Ecu.hvac, 0x7b3, None),              # HVAC Control Assembly
     (Ecu.cornerRadar, 0x7b7, None),
+    (Ecu.combinationMeter, 0x7c6, None),  # CAN FD Instrument cluster
   ],
   # Custom fuzzy fingerprinting function using platform codes, part numbers + FW dates:
   match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index a94b97de20..60cc3a0090 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -30,11 +30,6 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
 
-    buttonEvents = []
-    be = car.CarState.ButtonEvent.new_message()
-    be.type = car.CarState.ButtonEvent.Type.accelCruise
-    buttonEvents.append(be)
-
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
 
     if self.CS.lkas_enabled:
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index ebf0ca9062..821ff2c151 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -29,6 +29,16 @@ class CarState(CarStateBase):
       cp_brakes = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
       ret.brakePressed = cp_brakes.vl["Brake_Status"]["Brake"] == 1
 
+    cp_es_distance = cp_body if self.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID) else cp_cam
+    if not (self.CP.flags & SubaruFlags.HYBRID):
+      eyesight_fault = bool(cp_es_distance.vl["ES_Distance"]["Cruise_Fault"])
+
+      # if openpilot is controlling long, an eyesight fault is a non-critical fault. otherwise it's an ACC fault
+      if self.CP.openpilotLongitudinalControl:
+        ret.carFaultedNonCritical = eyesight_fault
+      else:
+        ret.accFaulted = eyesight_fault
+
     cp_wheels = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
     ret.wheelSpeeds = self.get_wheel_speeds(
       cp_wheels.vl["Wheel_Speeds"]["FL"],
@@ -84,7 +94,6 @@ class CarState(CarStateBase):
                         cp.vl["BodyInfo"]["DOOR_OPEN_FL"]])
     ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1
 
-    cp_es_distance = cp_body if self.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID) else cp_cam
     if self.CP.flags & SubaruFlags.PREGLOBAL:
       self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"]
       self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index cc963404b7..5e135ca658 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -234,21 +234,24 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
+      logging=True,
     ),
+    # Non-OBD requests
     # Some Eyesight modules fail on TESTER_PRESENT_REQUEST
     # TODO: check if this resolves the fingerprinting issue for the 2023 Ascent and other new Subaru cars
     Request(
       [SUBARU_VERSION_REQUEST],
       [SUBARU_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.fwdCamera],
+      bus=0,
     ),
-    # Non-OBD requests
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
       bus=0,
     ),
+    # GEN2 powertrain bus query
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 92ee7fa923..265f052b16 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -10,6 +10,7 @@ from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
 from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
 from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.car.values import Platform
 from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
 from openpilot.selfdrive.car.tesla.values import CAR as TESLA
 from openpilot.selfdrive.car.body.values import CAR as COMMA
@@ -29,7 +30,7 @@ non_tested_cars = [
 
 class CarTestRoute(NamedTuple):
   route: str
-  car_model: str | None
+  car_model: Platform | None
   segment: int | None = None
 
 
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index b7d20e5a83..1ef8c5b676 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -19,6 +19,7 @@ from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
+from openpilot.selfdrive.car.values import PLATFORMS, Platform
 from openpilot.selfdrive.controls.controlsd import Controls
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -64,7 +65,7 @@ def get_test_cases() -> list[tuple[str, CarTestRoute | None]]:
 @pytest.mark.slow
 @pytest.mark.shared_download_cache
 class TestCarModelBase(unittest.TestCase):
-  car_model: str | None = None
+  platform: Platform | None = None
   test_route: CarTestRoute | None = None
   test_route_on_bucket: bool = True  # whether the route is on the preserved CI bucket
 
@@ -93,8 +94,8 @@ class TestCarModelBase(unittest.TestCase):
         car_fw = msg.carParams.carFw
         if msg.carParams.openpilotLongitudinalControl:
           experimental_long = True
-        if cls.car_model is None and not cls.ci:
-          cls.car_model = msg.carParams.carFingerprint
+        if cls.platform is None and not cls.ci:
+          cls.platform = PLATFORMS.get(msg.carParams.carFingerprint)
 
       # Log which can frame the panda safety mode left ELM327, for CAN validity checks
       elif msg.which() == 'pandaStates':
@@ -155,15 +156,11 @@ class TestCarModelBase(unittest.TestCase):
     if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'):
       raise unittest.SkipTest
 
-    if 'FILTER' in os.environ:
-      if not cls.car_model.startswith(tuple(os.environ.get('FILTER').split(','))):
-        raise unittest.SkipTest
-
     if cls.test_route is None:
-      if cls.car_model in non_tested_cars:
-        print(f"Skipping tests for {cls.car_model}: missing route")
+      if cls.platform in non_tested_cars:
+        print(f"Skipping tests for {cls.platform}: missing route")
         raise unittest.SkipTest
-      raise Exception(f"missing test route for {cls.car_model}")
+      raise Exception(f"missing test route for {cls.platform}")
 
     car_fw, can_msgs, experimental_long = cls.get_testing_data()
 
@@ -172,10 +169,10 @@ class TestCarModelBase(unittest.TestCase):
 
     cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
 
-    cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
-    cls.CP = cls.CarInterface.get_params(cls.car_model, cls.fingerprint, car_fw, experimental_long, docs=False)
+    cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.platform]
+    cls.CP = cls.CarInterface.get_params(cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
     assert cls.CP
-    assert cls.CP.carFingerprint == cls.car_model
+    assert cls.CP.carFingerprint == cls.platform
 
     os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
 
@@ -478,7 +475,7 @@ class TestCarModelBase(unittest.TestCase):
                     "This is fine to fail for WIP car ports, just let us know and we can upload your routes to the CI bucket.")
 
 
-@parameterized_class(('car_model', 'test_route'), get_test_cases())
+@parameterized_class(('platform', 'test_route'), get_test_cases())
 @pytest.mark.xdist_group_class_property('test_route')
 class TestCarModel(TestCarModelBase):
   pass
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index d960114f1b..8e8e0292f2 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -37,6 +37,7 @@ class CarController(CarControllerBase):
     self.last_standstill = False
     self.standstill_req = False
     self.steer_rate_counter = 0
+    self.distance_button = 0
 
     self.packer = CANPacker(dbc_name)
     self.gas = 0
@@ -139,14 +140,23 @@ class CarController(CarControllerBase):
     if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
       lead = hud_control.leadVisible or CS.out.vEgo < 12.  # at low speed we always assume the lead is present so ACC can be engaged
 
+      # Press distance button until we are at the correct bar length. Only change while enabled to avoid skipping startup popup
+      if self.frame % 6 == 0:
+        if CS.pcm_follow_distance_values.get(CS.pcm_follow_distance, "UNKNOWN") != "FAR" and CS.out.cruiseState.enabled and \
+          self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
+          self.distance_button = not self.distance_button
+        else:
+          self.distance_button = 0
+
       # Lexus IS uses a different cancellation message
       if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
         can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
       elif self.CP.openpilotLongitudinalControl:
-        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert))
+        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert,
+                                                        self.distance_button))
         self.accel = pcm_accel_cmd
       else:
-        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False))
+        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.distance_button))
 
     if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
       # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 166f6735a0..65fced80f4 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -43,6 +43,9 @@ class CarState(CarStateBase):
     self.prev_distance_button = 0
     self.distance_button = 0
 
+    self.pcm_follow_distance = 0
+    self.pcm_follow_distance_values = can_define.dv['PCM_CRUISE_2']['PCM_FOLLOW_DISTANCE']
+
     self.low_speed_lockout = False
     self.acc_type = 1
     self.lkas_hud = {}
@@ -166,13 +169,16 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint != CAR.PRIUS_V:
       self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
 
-    # distance button is wired to the ACC module (camera or radar)
-    self.prev_distance_button = self.distance_button
-    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
-      self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
+    if self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
+      self.pcm_follow_distance = cp.vl["PCM_CRUISE_2"]["PCM_FOLLOW_DISTANCE"]
 
-    elif self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER:
-      self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
+    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
+      # distance button is wired to the ACC module (camera or radar)
+      self.prev_distance_button = self.distance_button
+      if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
+        self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
+      else:
+        self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
 
     return ret
 
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index e14e3e53a0..1cc99b41b5 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -33,12 +33,12 @@ def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req,
   return packer.make_can_msg("STEERING_LTA", 0, values)
 
 
-def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert):
+def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, distance):
   # TODO: find the exact canceling bit that does not create a chime
   values = {
     "ACCEL_CMD": accel,
     "ACC_TYPE": acc_type,
-    "DISTANCE": 0,
+    "DISTANCE": distance,
     "MINI_CAR": lead,
     "PERMIT_BRAKING": 1,
     "RELEASE_STANDSTILL": not standstill_req,
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 018768f248..2b1fd01112 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -63,8 +63,8 @@ class LongitudinalPlanner:
     self.solverExecutionTime = 0.0
     self.params = Params()
     self.param_read_counter = 0
-    self.read_param()
     self.personality = log.LongitudinalPersonality.standard
+    self.read_param()
 
   def read_param(self):
     try:
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index b345b929ec..c157b98b62 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -88,23 +88,28 @@ def read_segment_list(segment_list_path):
   return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)]
 
 
+@contextlib.contextmanager
+def http_server_context(handler, setup=None):
+  host = '127.0.0.1'
+  server = http.server.HTTPServer((host, 0), handler)
+  port = server.server_port
+  t = threading.Thread(target=server.serve_forever)
+  t.start()
+
+  if setup is not None:
+    setup(host, port)
+
+  try:
+    yield (host, port)
+  finally:
+    server.shutdown()
+    server.server_close()
+    t.join()
+
+
 def with_http_server(func, handler=http.server.BaseHTTPRequestHandler, setup=None):
   @wraps(func)
   def inner(*args, **kwargs):
-    host = '127.0.0.1'
-    server = http.server.HTTPServer((host, 0), handler)
-    port = server.server_port
-    t = threading.Thread(target=server.serve_forever)
-    t.start()
-
-    if setup is not None:
-      setup(host, port)
-
-    try:
-      return func(*args, f'http://{host}:{port}', **kwargs)
-    finally:
-      server.shutdown()
-      server.server_close()
-      t.join()
-
+    with http_server_context(handler, setup) as (host, port):
+      return func(*args, f"http://{host}:{port}", **kwargs)
   return inner
diff --git a/selfdrive/updated/tests/test_updated.py b/selfdrive/updated/tests/test_updated.py
index d8ce9f3394..93b6e11383 100755
--- a/selfdrive/updated/tests/test_updated.py
+++ b/selfdrive/updated/tests/test_updated.py
@@ -21,7 +21,7 @@ def run(args, **kwargs):
   return subprocess.run(args, **kwargs, check=True)
 
 
-def update_release(directory, name, version, release_notes):
+def update_release(directory, name, version, agnos_version, release_notes):
   with open(directory / "RELEASES.md", "w") as f:
     f.write(release_notes)
 
@@ -30,6 +30,9 @@ def update_release(directory, name, version, release_notes):
   with open(directory / "common" / "version.h", "w") as f:
     f.write(f'#define COMMA_VERSION "{version}"')
 
+  with open(directory / "launch_env.sh", "w") as f:
+    f.write(f'export AGNOS_VERSION="{agnos_version}"')
+
   run(["git", "add", "."], cwd=directory)
   run(["git", "commit", "-m", f"openpilot release {version}"], cwd=directory)
 
@@ -60,8 +63,8 @@ class TestUpdateD(unittest.TestCase):
     os.environ["UPDATER_LOCK_FILE"] = str(self.mock_update_path / "safe_staging_overlay.lock")
 
     self.MOCK_RELEASES = {
-      "release3": ("0.1.2", "0.1.2 release notes"),
-      "master": ("0.1.3", "0.1.3 release notes"),
+      "release3": ("0.1.2", "1.2", "0.1.2 release notes"),
+      "master": ("0.1.3", "1.2", "0.1.3 release notes"),
     }
 
   def set_target_branch(self, branch):
@@ -97,7 +100,7 @@ class TestUpdateD(unittest.TestCase):
     self.assertEqual(self.params.get_bool("UpdaterFetchAvailable"), fetch_available)
     self.assertEqual(self.params.get_bool("UpdateAvailable"), update_available)
 
-  def _test_update_params(self, branch, version, release_notes):
+  def _test_update_params(self, branch, version, agnos_version, release_notes):
     self.assertTrue(self.params.get("UpdaterNewDescription", encoding="utf-8").startswith(f"{version} / {branch}"))
     self.assertEqual(self.params.get("UpdaterNewReleaseNotes", encoding="utf-8"), f"<p>{release_notes}</p>\n")
 
@@ -116,6 +119,22 @@ class TestUpdateD(unittest.TestCase):
 
       time.sleep(1)
 
+  def test_no_update(self):
+    # Start on release3, ensure we don't fetch any updates
+    self.setup_remote_release("release3")
+    self.setup_basedir_release("release3")
+
+    with processes_context(["updated"]) as [updated]:
+      self._test_params("release3", False, False)
+      time.sleep(1)
+      self._test_params("release3", False, False)
+
+      self.send_check_for_updates_signal(updated)
+
+      self.wait_for_idle()
+
+      self._test_params("release3", False, False)
+
   def test_new_release(self):
     # Start on release3, simulate a release3 commit, ensure we fetch that update properly
     self.setup_remote_release("release3")
@@ -126,7 +145,7 @@ class TestUpdateD(unittest.TestCase):
       time.sleep(1)
       self._test_params("release3", False, False)
 
-      self.MOCK_RELEASES["release3"] = ("0.1.3", "0.1.3 release notes")
+      self.MOCK_RELEASES["release3"] = ("0.1.3", "1.2", "0.1.3 release notes")
       self.update_remote_release("release3")
 
       self.send_check_for_updates_signal(updated)
@@ -167,6 +186,37 @@ class TestUpdateD(unittest.TestCase):
       self._test_params("master", False, True)
       self._test_update_params("master", *self.MOCK_RELEASES["master"])
 
+  def test_agnos_update(self):
+    # Start on release3, push an update with an agnos change
+    self.setup_remote_release("release3")
+    self.setup_basedir_release("release3")
+
+    with mock.patch("openpilot.system.hardware.AGNOS", "True"), \
+         mock.patch("openpilot.system.hardware.tici.hardware.Tici.get_os_version", "1.2"), \
+         mock.patch("openpilot.system.hardware.tici.agnos.get_target_slot_number"), \
+         mock.patch("openpilot.system.hardware.tici.agnos.flash_agnos_update"), \
+          processes_context(["updated"]) as [updated]:
+
+      self._test_params("release3", False, False)
+      time.sleep(1)
+      self._test_params("release3", False, False)
+
+      self.MOCK_RELEASES["release3"] = ("0.1.3", "1.3", "0.1.3 release notes")
+      self.update_remote_release("release3")
+
+      self.send_check_for_updates_signal(updated)
+
+      self.wait_for_idle()
+
+      self._test_params("release3", True, False)
+
+      self.send_download_signal(updated)
+
+      self.wait_for_idle()
+
+      self._test_params("release3", False, True)
+      self._test_update_params("release3", *self.MOCK_RELEASES["release3"])
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index 33ee8c1850..832a227798 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -44,7 +44,9 @@ class FakeResponse:
 
 
 def get_directory_sort(d: str) -> list[str]:
-  return [s.rjust(10, '0') for s in d.rsplit('--', 1)]
+  # ensure old format is sorted sooner
+  o = ["0", ] if d.startswith("2024-") else ["1", ]
+  return o + [s.rjust(10, '0') for s in d.rsplit('--', 1)]
 
 def listdir_by_creation(d: str) -> list[str]:
   if not os.path.isdir(d):
diff --git a/system/qcomgpsd/cgpsd.py b/system/qcomgpsd/cgpsd.py
new file mode 100755
index 0000000000..c0edc721fa
--- /dev/null
+++ b/system/qcomgpsd/cgpsd.py
@@ -0,0 +1,119 @@
+#!/usr/bin/env python3
+import time
+import datetime
+from collections import defaultdict
+
+from cereal import log
+import cereal.messaging as messaging
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem
+
+# https://campar.in.tum.de/twiki/pub/Chair/NaviGpsDemon/nmea.html#RMC
+"""
+AT+CGPSGPOS=1
+response: '$GNGGA,220212.00,3245.09188,N,11711.76362,W,1,06,24.54,0.0,M,,M,,*77'
+
+AT+CGPSGPOS=2
+response: '$GNGSA,A,3,06,17,19,22,,,,,,,,,14.11,8.95,10.91,1*01
+$GNGSA,A,3,29,26,,,,,,,,,,,14.11,8.95,10.91,4*03'
+
+AT+CGPSGPOS=3
+response: '$GPGSV,3,1,11,06,55,047,22,19,29,053,20,22,19,115,14,05,01,177,,0*68
+$GPGSV,3,2,11,11,77,156,23,12,47,322,17,17,08,066,10,20,25,151,,0*6D
+$GPGSV,3,3,11,24,44,232,,25,16,312,,29,02,260,,0*5D'
+
+AT+CGPSGPOS=4
+response: '$GBGSV,1,1,03,26,75,242,20,29,19,049,16,35,,,24,0*7D'
+
+AT+CGPSGPOS=5
+response: '$GNRMC,220216.00,A,3245.09531,N,11711.76043,W,,,070324,,,A,V*20'
+"""
+
+
+def sfloat(n: str):
+  return float(n) if len(n) > 0 else 0
+
+def checksum(s: str):
+  ret = 0
+  for c in s[1:-3]:
+    ret ^= ord(c)
+  return format(ret, '02X')
+
+def main():
+  wait_for_modem("AT+CGPS?")
+
+  cmds = [
+    "AT+GPSPORT=1",
+    "AT+CGPS=1",
+  ]
+  for c in cmds:
+    at_cmd(c)
+
+  nmea = defaultdict(list)
+  pm = messaging.PubMaster(['gpsLocation'])
+  while True:
+    time.sleep(1)
+    try:
+      # TODO: read from streaming AT port instead of polling
+      out = at_cmd("AT+CGPS?")
+
+      sentences = out.split("'")[1].splitlines()
+      new = {l.split(',')[0]: l.split(',') for l in sentences if l.startswith('$G')}
+      nmea.update(new)
+      if '$GNRMC' not in new:
+        print(f"no GNRMC:\n{out}\n")
+        continue
+
+      # validate checksums
+      for s in nmea.values():
+        sent = ','.join(s)
+        if checksum(sent) != s[-1].split('*')[1]:
+          cloudlog.error(f"invalid checksum: {repr(sent)}")
+          continue
+
+      gnrmc = nmea['$GNRMC']
+      #print(gnrmc)
+
+      msg = messaging.new_message('gpsLocation', valid=True)
+      gps = msg.gpsLocation
+      gps.latitude = (sfloat(gnrmc[3][:2]) + (sfloat(gnrmc[3][2:]) / 60)) * (1 if gnrmc[4] == "N" else -2)
+      gps.longitude = (sfloat(gnrmc[5][:3]) + (sfloat(gnrmc[5][3:]) / 60)) * (1 if gnrmc[6] == "E" else -1)
+
+      date = gnrmc[9][:6]
+      dt = datetime.datetime.strptime(f"{date} {gnrmc[1]}", '%d%m%y %H%M%S.%f')
+      gps.unixTimestampMillis = dt.timestamp()*1e3
+
+      gps.flags = 1 if gnrmc[1] == 'A' else 0
+
+      # TODO: make our own source
+      gps.source = log.GpsLocationData.SensorSource.qcomdiag
+
+      gps.speed = sfloat(gnrmc[7])
+      gps.bearingDeg = sfloat(gnrmc[8])
+
+      if len(nmea['$GNGGA']):
+        gngga = nmea['$GNGGA']
+        if gngga[10] == 'M':
+          gps.altitude = sfloat(gngga[9])
+
+      if len(nmea['$GNGSA']):
+        # TODO: this is only for GPS sats
+        gngsa = nmea['$GNGSA']
+        gps.horizontalAccuracy = sfloat(gngsa[4])
+        gps.verticalAccuracy = sfloat(gngsa[5])
+
+      # TODO: set these from the module
+      gps.bearingAccuracyDeg = 5.
+      gps.speedAccuracy = 3.
+
+      # TODO: can we get this from the NMEA sentences?
+      #gps.vNED = vNED
+
+      pm.send('gpsLocation', msg)
+
+    except Exception:
+      cloudlog.exception("gps.issue")
+
+
+if __name__ == "__main__":
+  main()
diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py
index e8c407a627..25b547cf5e 100755
--- a/system/qcomgpsd/qcomgpsd.py
+++ b/system/qcomgpsd/qcomgpsd.py
@@ -205,10 +205,10 @@ def teardown_quectel(diag):
   try_setup_logs(diag, [])
 
 
-def wait_for_modem():
+def wait_for_modem(cmd="AT+QGPS?"):
   cloudlog.warning("waiting for modem to come up")
   while True:
-    ret = subprocess.call("mmcli -m any --timeout 10 --command=\"AT+QGPS?\"", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
+    ret = subprocess.call(f"mmcli -m any --timeout 10 --command=\"{cmd}\"", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
     if ret == 0:
       return
     time.sleep(0.1)
diff --git a/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py
index 86980b054b..1dfac7dcf3 100755
--- a/tools/car_porting/test_car_model.py
+++ b/tools/car_porting/test_car_model.py
@@ -5,6 +5,7 @@ import unittest
 
 from openpilot.selfdrive.car.tests.routes import CarTestRoute
 from openpilot.selfdrive.car.tests.test_models import TestCarModel
+from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.tools.lib.route import SegmentName
 
 
@@ -31,7 +32,10 @@ if __name__ == "__main__":
 
   route_or_segment_name = SegmentName(args.route_or_segment_name.strip(), allow_route_name=True)
   segment_num = route_or_segment_name.segment_num if route_or_segment_name.segment_num != -1 else None
-  test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, args.car, segment=segment_num)
+
+  platform = PLATFORMS.get(args.car)
+
+  test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, platform, segment=segment_num)
   test_suite = create_test_models_suite([test_route], ci=args.ci)
 
   unittest.TextTestRunner().run(test_suite)
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 6247bbc9db..7a1e972e19 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -248,7 +248,7 @@ are uploaded or auto fallback to qlogs with '/a' selector at the end of the rout
 
   def _get_lr(self, i):
     if i not in self.__lrs:
-      self.__lrs[i] = _LogFileReader(self.logreader_identifiers[i])
+      self.__lrs[i] = _LogFileReader(self.logreader_identifiers[i], sort_by_time=self.sort_by_time, only_union_types=self.only_union_types)
     return self.__lrs[i]
 
   def __iter__(self):
diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py
index 2141915b87..fc72202b26 100755
--- a/tools/lib/tests/test_logreader.py
+++ b/tools/lib/tests/test_logreader.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import capnp
 import contextlib
 import io
 import shutil
@@ -11,6 +12,7 @@ import requests
 from parameterized import parameterized
 from unittest import mock
 
+from cereal import log as capnp_log
 from openpilot.tools.lib.logreader import LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException
 from openpilot.tools.lib.route import SegmentRange
 from openpilot.tools.lib.url_file import URLFileException
@@ -216,6 +218,43 @@ class TestLogReader(unittest.TestCase):
       log_len = len(list(lr))
       self.assertEqual(qlog_len, log_len)
 
+  @pytest.mark.slow
+  def test_sort_by_time(self):
+    msgs = list(LogReader(f"{TEST_ROUTE}/0/q"))
+    self.assertNotEqual(msgs, sorted(msgs, key=lambda m: m.logMonoTime))
+
+    msgs = list(LogReader(f"{TEST_ROUTE}/0/q", sort_by_time=True))
+    self.assertEqual(msgs, sorted(msgs, key=lambda m: m.logMonoTime))
+
+  def test_only_union_types(self):
+    with tempfile.NamedTemporaryFile() as qlog:
+      # write valid Event messages
+      num_msgs = 100
+      with open(qlog.name, "wb") as f:
+        f.write(b"".join(capnp_log.Event.new_message().to_bytes() for _ in range(num_msgs)))
+
+      msgs = list(LogReader(qlog.name))
+      self.assertEqual(len(msgs), num_msgs)
+      [m.which() for m in msgs]
+
+      # append non-union Event message
+      event_msg = capnp_log.Event.new_message()
+      non_union_bytes = bytearray(event_msg.to_bytes())
+      non_union_bytes[event_msg.total_size.word_count * 8] = 0xff  # set discriminant value out of range using Event word offset
+      with open(qlog.name, "ab") as f:
+        f.write(non_union_bytes)
+
+      # ensure new message is added, but is not a union type
+      msgs = list(LogReader(qlog.name))
+      self.assertEqual(len(msgs), num_msgs + 1)
+      with self.assertRaises(capnp.KjException):
+        [m.which() for m in msgs]
+
+      # should not be added when only_union_types=True
+      msgs = list(LogReader(qlog.name, only_union_types=True))
+      self.assertEqual(len(msgs), num_msgs)
+      [m.which() for m in msgs]
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index d0ddf7f3c8..d5847a94b8 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -18,7 +18,7 @@ Route::Route(const QString &route, const QString &data_dir) : data_dir_(data_dir
 }
 
 RouteIdentifier Route::parseRoute(const QString &str) {
-  QRegExp rx(R"(^(?:([a-z0-9]{16})([|_/]))?(\d{4}-\d{2}-\d{2}--\d{2}-\d{2}-\d{2})(?:(--|/)(\d*))?$)");
+  QRegExp rx(R"(^(?:([a-z0-9]{16})([|_/]))?(.{20})(?:(--|/)(\d*))?$)");
   if (rx.indexIn(str) == -1) return {};
 
   const QStringList list = rx.capturedTexts();