diff --git a/.github/labeler.yaml b/.github/labeler.yaml
index cf7a70a3f5..47d0d480a9 100644
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -1,69 +1,79 @@
 CI / testing:
-  - all:
-    - changed-files: ['.github/**', '**/test_*', 'Jenkinsfile']
+  - changed-files:
+    - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
 
-car: 
-  - all:
-    - changed-files: ['selfdrive/car/**']
+car:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/**'
 
 body:
-  - all:
-    - changed-files: ['selfdrive/car/body/*']
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/body/*'
+
 chrysler:
-  - all:
-    - changed-files: ['selfdrive/car/chrysler/*']
-ford: 
-  - all:
-    - changed-files: ['selfdrive/car/ford/*']
-gm: 
-  - all:
-    - changed-files: ['selfdrive/car/gm/*']
-honda: 
-  - all:
-    - changed-files: ['selfdrive/car/honda/*']
-hyundai: 
-  - all:
-    - changed-files: ['selfdrive/car/hyundai/*']
-mazda: 
-  - all:
-    - changed-files: ['selfdrive/car/mazda/*']
-nissan: 
-  - all:
-    - changed-files: ['selfdrive/car/nissan/*']
-subaru: 
-  - all:
-    - changed-files: ['selfdrive/car/subaru/*']
-tesla: 
-  - all:
-    - changed-files: ['selfdrive/car/tesla/*']
-toyota: 
-  - all:
-    - changed-files: ['selfdrive/car/toyota/*']
-volkswagen: 
-  - all:
-    - changed-files: ['selfdrive/car/volkswagen/*']
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/chrysler/*'
+
+ford:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/ford/*'
+
+gm:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/gm/*'
+
+honda:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/honda/*'
+
+hyundai:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/hyundai/*'
+
+mazda:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/mazda/*'
+
+nissan:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/nissan/*'
+
+subaru:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/subaru/*'
+
+tesla:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/telsa/*'
+
+toyota:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/toyota/*'
+
+volkswagen:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/volkswagen/*'
 
 fingerprint:
-  - all:
-    - changed-files: ['selfdrive/car/*/fingerprints.py']
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/*/fingerprints.py'
 
 simulation:
-  - all:
-    - changed-files: ['tools/sim/**']
+  - changed-files:
+    - any-glob-to-all-files: 'tools/sim/**'
+
 ui:
-  - all:
-    - changed-files: ['selfdrive/ui/**']
-tools: 
-  - all:
-    - changed-files: ['tools/**']
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/ui/**'
+
+tools:
+  - changed-files:
+    - any-glob-to-all-files: 'tools/**'
 
 multilanguage:
-  - all:
-    - changed-files: ['selfdrive/ui/translations/**']
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
 
 research:
-  - all:
-    - changed-files: [
-        'selfdrive/modeld/models/**',
-        'selfdrive/test/process_replay/model_replay_ref_commit',
-      ]
+  - changed-files:
+    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"
diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index fd95592e91..0b748063bc 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -13,7 +13,7 @@ jobs:
     - uses: actions/checkout@v4
       with:
         submodules: false
-    - uses: actions/labeler@v5.0.0-alpha.1
+    - uses: actions/labeler@v5.0.0
       with:
         dot: true
         configuration-path: .github/labeler.yaml
diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
index 923e249849..2f1a7d67c4 100644
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@@ -14,6 +14,8 @@ jobs:
     name: create badges
     runs-on: ubuntu-20.04
     if: github.repository == 'commaai/openpilot'
+    permissions:
+      contents: write
     steps:
     - uses: actions/checkout@v4
       with:
@@ -23,6 +25,8 @@ jobs:
       run: |
         ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"
 
+        rm .gitattributes
+
         git checkout --orphan badges
         git rm -rf --cached .
         git config user.email "badge-researcher@comma.ai"
diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
index f5b0b8c558..990be73f72 100644
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -15,14 +15,19 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     env:
       PUSH_IMAGE: true
+    permissions:
+      checks: read
+      contents: read
+      packages: write
     steps:
     - name: Wait for green check mark
       if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
+      uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f
       with:
         ref: master
         wait-interval: 30
         running-workflow-name: 'build prebuilt'
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
         check-regexp: ^((?!.*(build master-ci).*).)*$
     - uses: actions/checkout@v4
       with:
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index 7c36410b32..38dbf07a47 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -14,6 +14,9 @@ jobs:
       image: ghcr.io/commaai/openpilot-base:latest
     runs-on: ubuntu-20.04
     if: github.repository == 'commaai/openpilot'
+    permissions:
+      checks: read
+      contents: write
     steps:
     - name: Install wait-on-check-action dependencies
       run: |
@@ -21,11 +24,12 @@ jobs:
         sudo apt-get install -y libyaml-dev
     - name: Wait for green check mark
       if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
+      uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f
       with:
         ref: master
         wait-interval: 30
         running-workflow-name: 'build master-ci'
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
         check-regexp: ^((?!.*(build prebuilt).*).)*$
     - uses: actions/checkout@v4
       with:
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index d037011701..3c95d8055b 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -20,11 +20,11 @@ env:
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
   BUILD_CL: selfdrive/test/docker_build.sh cl
 
-  RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/bash -c
+  RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/bash -c
 
   PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0
 
@@ -51,7 +51,7 @@ jobs:
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: |
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py"
+        ${{ env.RUN }} "python selfdrive/manager/build.py"
     - name: Run tests
       timeout-minutes: 3
       run: |
@@ -213,7 +213,7 @@ jobs:
     - name: Run replay
       timeout-minutes: 30
       run: |
-        ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+        ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                         chmod -R 777 /tmp/comma_download_cache && \
                         coverage combine && \
                         coverage xml"
@@ -230,7 +230,7 @@ jobs:
     - name: Upload reference logs
       if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
       run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v3
       with:
@@ -286,7 +286,7 @@ jobs:
       timeout-minutes: 4
       run: |
         ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
-                           ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
+                           ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
                            coverage combine && \
                            coverage xml"
     - name: Run unit tests
diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml
index f2a24e4368..2d60d2f0e9 100644
--- a/.github/workflows/stale.yaml
+++ b/.github/workflows/stale.yaml
@@ -20,7 +20,7 @@ jobs:
           stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
           close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
           delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
+          exempt-pr-labels: "ignore stale,needs testing,car port" # if wip or it needs testing from the community, don't mark as stale
           days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
           days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
 
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 9f1ba1ab97..0a92b9d38e 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -39,10 +39,12 @@ repos:
         entry: mypy
         language: system
         types: [python]
-        args: ['--explicit-package-bases', '--local-partial-types']
+        args:
+        - --local-partial-types
+        - --explicit-package-bases
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.1.6
+    rev: v0.1.11
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -87,7 +89,7 @@ repos:
         args:
         - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.27.2
+    rev: 0.27.3
     hooks:
     -   id: check-github-workflows
 # -   repo: local
diff --git a/Jenkinsfile b/Jenkinsfile
index 9868777dfb..0ae5f5076d 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -110,18 +110,20 @@ def pcStage(String stageName, Closure body) {
       return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
     }
 
-    openpilot_base.inside(dockerArgs) {
-      timeout(time: 20, unit: 'MINUTES') {
-        try {
-          retryWithDelay (3, 15) {
-            sh "git config --global --add safe.directory '*'"
-            sh "git submodule update --init --recursive"
-            sh "git lfs pull"
-          }
-          body()
-        } finally {
-            sh "rm -rf ${env.WORKSPACE}/* || true"
-            sh "rm -rf .* || true"
+    lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) {
+      openpilot_base.inside(dockerArgs) {
+        timeout(time: 20, unit: 'MINUTES') {
+          try {
+            retryWithDelay (3, 15) {
+              sh "git config --global --add safe.directory '*'"
+              sh "git submodule update --init --recursive"
+              sh "git lfs pull"
+            }
+            body()
+          } finally {
+              sh "rm -rf ${env.WORKSPACE}/* || true"
+              sh "rm -rf .* || true"
+            }
           }
         }
       }
@@ -241,7 +243,7 @@ node {
       'replay': {
         deviceStage("tici", "tici-replay", ["UNSAFE=1"], [
           ["build", "cd selfdrive/manager && ./build.py"],
-          ["model replay", "selfdrive/test/process_replay/model_replay.py", ["tinygrad/", "selfdrive/modeld/"]],
+          ["model replay", "selfdrive/test/process_replay/model_replay.py"],
         ])
       },
       'tizi': {
diff --git a/RELEASES.md b/RELEASES.md
index 226a272824..36a4a89dd2 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -7,8 +7,8 @@ Version 0.9.6 (20XX-XX-XX)
 * comma body streaming and controls over WebRTC
 * Hyundai Staria 2023 support thanks to sunnyhaibin!
 * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
-* Toyota RAV4 2023 support
-* Toyota RAV4 Hybrid 2023 support
+* Toyota RAV4 2023-24 support
+* Toyota RAV4 Hybrid 2023-24 support
 
 Version 0.9.5 (2023-11-17)
 ========================
diff --git a/SConstruct b/SConstruct
index 8790221315..11b95702c3 100644
--- a/SConstruct
+++ b/SConstruct
@@ -9,11 +9,16 @@ import SCons.Errors
 
 SCons.Warnings.warningAsException(True)
 
+# pending upstream fix - https://github.com/SCons/scons/issues/4461
+#SetOption('warn', 'all')
+
 TICI = os.path.isfile('/TICI')
 AGNOS = TICI
 
 Decider('MD5-timestamp')
 
+SetOption('num_jobs', int(os.cpu_count()/2))
+
 AddOption('--kaitai',
           action='store_true',
           help='Regenerate kaitai struct parsers')
@@ -37,7 +42,7 @@ AddOption('--clazy',
 AddOption('--compile_db',
           action='store_true',
           help='build clang compilation database')
-          
+
 AddOption('--ccflags',
           action='store',
           type='string',
diff --git a/cereal b/cereal
index bceb8b942d..d81d86e7cd 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit bceb8b942d3e622c2476e197102950efc4fe0bfd
+Subproject commit d81d86e7cd83d1eb40314964a4d194231381d557
diff --git a/common/params.cc b/common/params.cc
index 620cd42641..7b14ac6955 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -199,7 +199,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UbloxAvailable", PERSISTENT},
     {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
-    {"UpdaterAvailableBranches", CLEAR_ON_MANAGER_START},
+    {"UpdaterAvailableBranches", PERSISTENT},
     {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
     {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
     {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
diff --git a/common/profiler.py b/common/profiler.py
deleted file mode 100644
index 8b1a7a8cfa..0000000000
--- a/common/profiler.py
+++ /dev/null
@@ -1,45 +0,0 @@
-import time
-
-class Profiler():
-  def __init__(self, enabled=False):
-    self.enabled = enabled
-    self.cp = {}
-    self.cp_ignored = []
-    self.iter = 0
-    self.start_time = time.time()
-    self.last_time = self.start_time
-    self.tot = 0.
-
-  def reset(self, enabled=False):
-    self.enabled = enabled
-    self.cp = {}
-    self.cp_ignored = []
-    self.iter = 0
-    self.start_time = time.time()
-    self.last_time = self.start_time
-
-  def checkpoint(self, name, ignore=False):
-    # ignore flag needed when benchmarking threads with ratekeeper
-    if not self.enabled:
-      return
-    tt = time.time()
-    if name not in self.cp:
-      self.cp[name] = 0.
-      if ignore:
-        self.cp_ignored.append(name)
-    self.cp[name] += tt - self.last_time
-    if not ignore:
-      self.tot += tt - self.last_time
-    self.last_time = tt
-
-  def display(self):
-    if not self.enabled:
-      return
-    self.iter += 1
-    print("******* Profiling %d *******" % self.iter)
-    for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
-      if n in self.cp_ignored:
-        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f   IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
-      else:
-        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
-    print(f"Iter clock: {self.tot / self.iter:2.6f}   TOTAL: {self.tot:2.2f}")
diff --git a/common/realtime.py b/common/realtime.py
index 05e19e770f..a398146166 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -78,7 +78,7 @@ class Ratekeeper:
       time.sleep(self._remaining)
     return lagged
 
-  # this only monitor the cumulative lag, but does not enforce a rate
+  # Monitors the cumulative lag, but does not enforce a rate
   def monitor_time(self) -> bool:
     prev = self._last_monitor_time
     self._last_monitor_time = time.monotonic()
diff --git a/docs/BOUNTIES.md b/docs/BOUNTIES.md
index 9d6f8bc97b..a927a33b89 100644
--- a/docs/BOUNTIES.md
+++ b/docs/BOUNTIES.md
@@ -10,11 +10,11 @@ Get paid to improve openpilot!
 * open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim
 * get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit
 
-New bounties can be proposed in the **#contributing** channel in Discord.
+New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord.
 
 ## Issue bounties
 
-We've tagged bounty eligible issues across openpilot and the rest of our repos; check out all the open ones [here](https://github.com/orgs/commaai/projects/26/views/1). These bounties roughly work out like this:
+We've tagged bounty-eligible issues across openpilot and the rest of our repos; check out all the open ones [here](https://github.com/orgs/commaai/projects/26/views/1). These bounties roughly work out like this:
 * **$100** - a few hours of work for an experienced openpilot developer; a good intro for someone new to openpilot
 * **$300** - a day of work for an experienced openpilot developer
 * **$500** - a few days of work for an experienced openpilot developer
diff --git a/docs/CARS.md b/docs/CARS.md
index e48f4765bb..407c1d8cc7 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 273 Supported Cars
+# 274 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -132,7 +132,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Niro EV 2021|All|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 Hyundai C 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=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2022|All|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 Hyundai H 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=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2023[<sup>6</sup>](#footnotes)|All|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 Hyundai A 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=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|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 Hyundai F 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=Kia&model=Niro Hybrid 2021-22">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|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 Hyundai D 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=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|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 Hyundai F 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=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|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 Hyundai A 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=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C 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=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
 |Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D 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=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
@@ -239,12 +240,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 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=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
 |Toyota|RAV4 2019-21|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=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 2022|All|Stock|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=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
-|Toyota|RAV4 2023|All|Stock|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=Toyota&model=RAV4 2023">Buy Here</a></sub></details>||
+|Toyota|RAV4 2023-24|All|Stock|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=Toyota&model=RAV4 2023-24">Buy Here</a></sub></details>||
 |Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|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=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|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=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2019-21|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=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
 |Toyota|RAV4 Hybrid 2022|All|Stock|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=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2023|All|Stock|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=Toyota&model=RAV4 Hybrid 2023">Buy Here</a></sub></details>||
+|Toyota|RAV4 Hybrid 2023-24|All|Stock|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=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 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=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<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=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md
index fa80e760de..30f4e0dfd3 100644
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -11,7 +11,7 @@ Our software is open source so you can solve your own problems without needing h
 
 ## What contributions are we looking for?
 
-**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and **all** developoment is towards that goal. 
+**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and **all** development is towards that goal. 
 
 ### What gets merged?
 
diff --git a/opendbc b/opendbc
index 0cff7a8aa2..40d9c723d4 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 0cff7a8aa2df3be711cab4570bb422cd8661cb8b
+Subproject commit 40d9c723d48496229fecc436046538a53af19c11
diff --git a/panda b/panda
index 114b85a649..2a0536c631 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 114b85a649341d55d6beb36d7414eda5e6d324a2
+Subproject commit 2a0536c63148a02add52555386b5533f3555ef58
diff --git a/poetry.lock b/poetry.lock
index 2731ff1c48..597ed19b28 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.7.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
@@ -171,99 +171,122 @@ frozenlist = ">=1.1.0"
 
 [[package]]
 name = "alabaster"
-version = "0.7.13"
-description = "A configurable sidebar-enabled Sphinx theme"
+version = "0.7.15"
+description = "A light, configurable Sphinx theme"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.9"
 files = [
-    {file = "alabaster-0.7.13-py3-none-any.whl", hash = "sha256:1ee19aca801bbabb5ba3f5f258e4422dfa86f82f3e9cefb0859b283cdd7f62a3"},
-    {file = "alabaster-0.7.13.tar.gz", hash = "sha256:a27a4a084d5e690e16e01e03ad2b2e552c61a65469419b907243193de1a84ae2"},
+    {file = "alabaster-0.7.15-py3-none-any.whl", hash = "sha256:d99c6fd0f7a86fca68ecc5231c9de45227991c10ee6facfb894cf6afb953b142"},
+    {file = "alabaster-0.7.15.tar.gz", hash = "sha256:0127f4b1db0afc914883f930e3d40763131aebac295522fc4a04d9e77c703705"},
 ]
 
+[[package]]
+name = "anyio"
+version = "4.2.0"
+description = "High level compatibility layer for multiple asynchronous event loop implementations"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "anyio-4.2.0-py3-none-any.whl", hash = "sha256:745843b39e829e108e518c489b31dc757de7d2131d53fac32bd8df268227bfee"},
+    {file = "anyio-4.2.0.tar.gz", hash = "sha256:e1875bb4b4e2de1669f4bc7869b6d3f54231cdced71605e6e64c9be77e3be50f"},
+]
+
+[package.dependencies]
+idna = ">=2.8"
+sniffio = ">=1.1"
+
+[package.extras]
+doc = ["Sphinx (>=7)", "packaging", "sphinx-autodoc-typehints (>=1.2.0)", "sphinx-rtd-theme"]
+test = ["anyio[trio]", "coverage[toml] (>=7)", "exceptiongroup (>=1.2.0)", "hypothesis (>=4.0)", "psutil (>=5.9)", "pytest (>=7.0)", "pytest-mock (>=3.6.1)", "trustme", "uvloop (>=0.17)"]
+trio = ["trio (>=0.23)"]
+
 [[package]]
 name = "attrs"
-version = "23.1.0"
+version = "23.2.0"
 description = "Classes Without Boilerplate"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "attrs-23.1.0-py3-none-any.whl", hash = "sha256:1f28b4522cdc2fb4256ac1a020c78acf9cba2c6b461ccd2c126f3aa8e8335d04"},
-    {file = "attrs-23.1.0.tar.gz", hash = "sha256:6279836d581513a26f1bf235f9acd333bc9115683f14f7e8fae46c98fc50e015"},
+    {file = "attrs-23.2.0-py3-none-any.whl", hash = "sha256:99b87a485a5820b23b879f04c2305b44b951b502fd64be915879d77a7e8fc6f1"},
+    {file = "attrs-23.2.0.tar.gz", hash = "sha256:935dc3b529c262f6cf76e50877d35a4bd3c1de194fd41f47a2b7ae8f19971f30"},
 ]
 
 [package.extras]
 cov = ["attrs[tests]", "coverage[toml] (>=5.3)"]
-dev = ["attrs[docs,tests]", "pre-commit"]
+dev = ["attrs[tests]", "pre-commit"]
 docs = ["furo", "myst-parser", "sphinx", "sphinx-notfound-page", "sphinxcontrib-towncrier", "towncrier", "zope-interface"]
 tests = ["attrs[tests-no-zope]", "zope-interface"]
-tests-no-zope = ["cloudpickle", "hypothesis", "mypy (>=1.1.1)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "pytest-xdist[psutil]"]
+tests-mypy = ["mypy (>=1.6)", "pytest-mypy-plugins"]
+tests-no-zope = ["attrs[tests-mypy]", "cloudpickle", "hypothesis", "pympler", "pytest (>=4.3.0)", "pytest-xdist[psutil]"]
 
 [[package]]
 name = "av"
-version = "10.0.0"
+version = "11.0.0"
 description = "Pythonic bindings for FFmpeg's libraries."
 optional = false
-python-versions = "*"
+python-versions = ">=3.8"
 files = [
-    {file = "av-10.0.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:d19bb54197155d045a2b683d993026d4bcb06e31c2acad0327e3e8711571899c"},
-    {file = "av-10.0.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:7dba96a85cd37315529998e6dbbe3fa05c2344eb19a431dc24996be030a904ee"},
-    {file = "av-10.0.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:27d6d38c7c8d46d578c008ffcb8aad1eae14d0621fff41f4ad62395589045fe4"},
-    {file = "av-10.0.0-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:51037f4bde03daf924236af4f444e17345792ad7f6f70760a5e5863407e14f2b"},
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-    {file = "av-10.0.0-cp310-cp310-win_amd64.whl", hash = "sha256:07c971573035d22ce50069d3f2bbdb4d6d02d626ab13db12fda3ce519cda3f22"},
-    {file = "av-10.0.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:e5085d11345484c0097898994bb3f515002e7e1deeb43dd11d30dd6f45402c49"},
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 [[package]]
 name = "azure-core"
-version = "1.29.5"
+version = "1.29.6"
 description = "Microsoft Azure Core Library for Python"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
-requests = ">=2.18.4"
+anyio = ">=3.0,<5.0"
+requests = ">=2.21.0"
 six = ">=1.11.0"
 typing-extensions = ">=4.6.0"
 
@@ -309,13 +332,13 @@ aio = ["azure-core[aio] (>=1.28.0,<2.0.0)"]
 
 [[package]]
 name = "babel"
-version = "2.13.1"
+version = "2.14.0"
 description = "Internationalization utilities"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.extras]
@@ -749,63 +772,63 @@ test = ["pytest", "pytest-timeout"]
 
 [[package]]
 name = "coverage"
-version = "7.3.2"
+version = "7.4.0"
 description = "Code coverage measurement for Python"
 optional = false
 python-versions = ">=3.8"
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 [package.dependencies]
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 [[package]]
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 [[package]]
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 [package.extras]
 cssselect = ["cssselect (>=0.7)"]
 html5 = ["html5lib"]
 htmlsoup = ["BeautifulSoup4"]
-source = ["Cython (>=0.29.35)"]
+source = ["Cython (>=3.0.7)"]
 
 [[package]]
 name = "markdown-it-py"
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@@ -2177,6 +2181,7 @@ files = []
 develop = false
 
 [package.dependencies]
+filelock = "*"
 geopandas = "*"
 gymnasium = ">=0.28,<0.29"
 lxml = "*"
@@ -2185,12 +2190,12 @@ numpy = ">=1.21.6,<=1.24.2"
 opencv-python = "*"
 panda3d = "1.10.13"
 panda3d-gltf = "0.13"
-panda3d-simplepbr = "*"
 pandas = "*"
 pillow = "*"
 progressbar = "*"
 psutil = "*"
 pygame = "*"
+Pygments = "*"
 pytest = "*"
 requests = "*"
 scipy = "*"
@@ -2200,27 +2205,25 @@ tqdm = "*"
 yapf = "*"
 
 [package.extras]
-all = ["PyOpenGL (==3.1.6)", "PyOpenGL-accelerate (==3.1.6)", "aioboto3", "aiofiles", "bokeh (==2.4)", "boto3", "chardet", "cuda-python (==12.0.0)", "glfw", "hydra-core", "pyarrow", "pyrr (==0.10.3)", "retry"]
 cuda = ["PyOpenGL (==3.1.6)", "PyOpenGL-accelerate (==3.1.6)", "cuda-python (==12.0.0)", "glfw", "pyrr (==0.10.3)"]
 gym = ["gym (>=0.19.0,<=0.26.0)"]
-nuplan = ["aioboto3", "aiofiles", "bokeh (==2.4)", "boto3", "chardet", "hydra-core", "pyarrow", "retry"]
-waymo = ["waymo-open-dataset-tf-2.11.0 (==1.5.0)"]
+ros = ["zmq"]
 
 [package.source]
 type = "git"
 url = "https://github.com/metadriverse/metadrive.git"
-reference = "72e842cd1d025bf676e4af8797a01e4aa282109f"
-resolved_reference = "72e842cd1d025bf676e4af8797a01e4aa282109f"
+reference = "main"
+resolved_reference = "9276a2cc3a149614d528e7e2a36c9d7a1307fb50"
 
 [[package]]
 name = "mpld3"
-version = "0.5.9"
+version = "0.5.10"
 description = "D3 Viewer for Matplotlib"
 optional = false
 python-versions = "*"
 files = [
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 ]
 
 [package.dependencies]
@@ -2246,13 +2249,13 @@ tests = ["pytest (>=4.6)"]
 
 [[package]]
 name = "msal"
-version = "1.25.0"
-description = "The Microsoft Authentication Library (MSAL) for Python library"
+version = "1.26.0"
+description = "The Microsoft Authentication Library (MSAL) for Python library enables your app to access the Microsoft Cloud by supporting authentication of users with Microsoft Azure Active Directory accounts (AAD) and Microsoft Accounts (MSA) using industry standard OAuth2 and OpenID Connect."
 optional = false
 python-versions = ">=2.7"
 files = [
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+    {file = "msal-1.26.0.tar.gz", hash = "sha256:224756079fe338be838737682b49f8ebc20a87c1c5eeaf590daae4532b83de15"},
 ]
 
 [package.dependencies]
@@ -2265,20 +2268,21 @@ broker = ["pymsalruntime (>=0.13.2,<0.14)"]
 
 [[package]]
 name = "msal-extensions"
-version = "1.0.0"
+version = "1.1.0"
 description = "Microsoft Authentication Library extensions (MSAL EX) provides a persistence API that can save your data on disk, encrypted on Windows, macOS and Linux. Concurrent data access will be coordinated by a file lock mechanism."
 optional = false
-python-versions = "*"
+python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
 msal = ">=0.4.1,<2.0.0"
+packaging = "*"
 portalocker = [
-    {version = ">=1.0,<3", markers = "python_version >= \"3.5\" and platform_system != \"Windows\""},
-    {version = ">=1.6,<3", markers = "python_version >= \"3.5\" and platform_system == \"Windows\""},
+    {version = ">=1.0,<3", markers = "platform_system != \"Windows\""},
+    {version = ">=1.6,<3", markers = "platform_system == \"Windows\""},
 ]
 
 [[package]]
@@ -2366,38 +2370,38 @@ files = [
 
 [[package]]
 name = "mypy"
-version = "1.7.1"
+version = "1.8.0"
 description = "Optional static typing for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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 [package.dependencies]
@@ -2622,18 +2626,18 @@ sympy = "*"
 
 [[package]]
 name = "opencv-python"
-version = "4.8.1.78"
+version = "4.9.0.80"
 description = "Wrapper package for OpenCV python bindings."
 optional = false
 python-versions = ">=3.6"
 files = [
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 ]
 
 [package.dependencies]
@@ -2641,18 +2645,18 @@ numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
 
 [[package]]
 name = "opencv-python-headless"
-version = "4.8.1.78"
+version = "4.9.0.80"
 description = "Wrapper package for OpenCV python bindings."
 optional = false
 python-versions = ">=3.6"
 files = [
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 ]
 
 [package.dependencies]
@@ -2771,53 +2775,54 @@ panda3d-simplepbr = ">=0.6"
 
 [[package]]
 name = "panda3d-simplepbr"
-version = "0.10"
+version = "0.11.2"
 description = "A simple, lightweight PBR render pipeline for Panda3D"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
 panda3d = ">=1.10.8"
+typing-extensions = ">=4.7,<5.0"
 
 [package.extras]
-test = ["pylint (==2.4.*)", "pytest", "pytest-pylint"]
+test = ["pylint (>=3.0.0,<3.1.0)", "pytest", "pytest-pylint"]
 
 [[package]]
 name = "pandas"
-version = "2.1.3"
+version = "2.1.4"
 description = "Powerful data structures for data analysis, time series, and statistics"
 optional = false
 python-versions = ">=3.9"
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 [[package]]
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 [package.dependencies]
 cffi = ">=1.0.0"
 
+[package.extras]
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+
 [[package]]
 name = "pyopencl"
 version = "2023.1.4"
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 [[package]]
 name = "pytest"
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 description = "pytest: simple powerful testing with Python"
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 python-versions = ">=3.7"
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 [[package]]
@@ -4028,13 +4017,13 @@ test = ["asv", "gmpy2", "mpmath", "pooch", "pytest", "pytest-cov", "pytest-timeo
 
 [[package]]
 name = "scons"
-version = "4.6.0"
+version = "4.6.0.post1"
 description = "Open Source next-generation build tool."
 optional = false
 python-versions = ">=3.6"
 files = [
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 ]
 
 [package.dependencies]
@@ -4042,17 +4031,17 @@ setuptools = "*"
 
 [[package]]
 name = "seaborn"
-version = "0.13.0"
+version = "0.13.1"
 description = "Statistical data visualization"
 optional = false
 python-versions = ">=3.8"
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 ]
 
 [package.dependencies]
-matplotlib = ">=3.3,<3.6.1 || >3.6.1"
+matplotlib = ">=3.4,<3.6.1 || >3.6.1"
 numpy = ">=1.20,<1.24.0 || >1.24.0"
 pandas = ">=1.2"
 
@@ -4205,13 +4194,13 @@ test = ["pytest"]
 
 [[package]]
 name = "setuptools"
-version = "69.0.2"
+version = "69.0.3"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 optional = false
 python-versions = ">=3.8"
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 ]
 
 [package.extras]
@@ -4303,6 +4292,17 @@ docs = ["sphinx (>=1.5.3)"]
 qa = ["flake8"]
 test = ["mock", "nose"]
 
+[[package]]
+name = "sniffio"
+version = "1.3.0"
+description = "Sniff out which async library your code is running under"
+optional = false
+python-versions = ">=3.7"
+files = [
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+]
+
 [[package]]
 name = "snowballstemmer"
 version = "2.2.0"
@@ -4381,18 +4381,18 @@ test = ["cython (>=3.0)", "filelock", "html5lib", "pytest (>=4.6)", "setuptools
 
 [[package]]
 name = "sphinx-rtd-theme"
-version = "1.3.0"
+version = "2.0.0"
 description = "Read the Docs theme for Sphinx"
 optional = false
-python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,>=2.7"
+python-versions = ">=3.6"
 files = [
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 ]
 
 [package.dependencies]
-docutils = "<0.19"
-sphinx = ">=1.6,<8"
+docutils = "<0.21"
+sphinx = ">=5,<8"
 sphinxcontrib-jquery = ">=4,<5"
 
 [package.extras]
@@ -4637,13 +4637,13 @@ telegram = ["requests"]
 
 [[package]]
 name = "types-requests"
-version = "2.31.0.10"
+version = "2.31.0.20240106"
 description = "Typing stubs for requests"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
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 [package.dependencies]
@@ -4651,35 +4651,35 @@ urllib3 = ">=2"
 
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-version = "0.9.0.3"
+version = "0.9.0.20240106"
 description = "Typing stubs for tabulate"
 optional = false
-python-versions = "*"
+python-versions = ">=3.8"
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-version = "4.8.0"
+version = "4.9.0"
 description = "Backported and Experimental Type Hints for Python 3.8+"
 optional = false
 python-versions = ">=3.8"
 files = [
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 name = "tzdata"
-version = "2023.3"
+version = "2023.4"
 description = "Provider of IANA time zone data"
 optional = false
 python-versions = ">=2"
 files = [
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 [[package]]
@@ -4700,13 +4700,13 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.24.7"
+version = "20.25.0"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.7"
 files = [
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 [package.dependencies]
@@ -4720,13 +4720,13 @@ test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess
 
 [[package]]
 name = "websocket-client"
-version = "1.6.4"
+version = "1.7.0"
 description = "WebSocket client for Python with low level API options"
 optional = false
 python-versions = ">=3.8"
 files = [
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 [package.extras]
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+version = "1.9.4"
 description = "Yet another URL library"
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 python-versions = ">=3.7"
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+    {file = "yarl-1.9.4-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:6ad6d10ed9b67a382b45f29ea028f92d25bc0bc1daf6c5b801b90b5aa70fb9ec"},
+    {file = "yarl-1.9.4-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:6fe79f998a4052d79e1c30eeb7d6c1c1056ad33300f682465e1b4e9b5a188b78"},
+    {file = "yarl-1.9.4-cp38-cp38-musllinux_1_1_s390x.whl", hash = "sha256:a825ec844298c791fd28ed14ed1bffc56a98d15b8c58a20e0e08c1f5f2bea1be"},
+    {file = "yarl-1.9.4-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:8619d6915b3b0b34420cf9b2bb6d81ef59d984cb0fde7544e9ece32b4b3043c3"},
+    {file = "yarl-1.9.4-cp38-cp38-win32.whl", hash = "sha256:686a0c2f85f83463272ddffd4deb5e591c98aac1897d65e92319f729c320eece"},
+    {file = "yarl-1.9.4-cp38-cp38-win_amd64.whl", hash = "sha256:a00862fb23195b6b8322f7d781b0dc1d82cb3bcac346d1e38689370cc1cc398b"},
+    {file = "yarl-1.9.4-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:604f31d97fa493083ea21bd9b92c419012531c4e17ea6da0f65cacdcf5d0bd27"},
+    {file = "yarl-1.9.4-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:8a854227cf581330ffa2c4824d96e52ee621dd571078a252c25e3a3b3d94a1b1"},
+    {file = "yarl-1.9.4-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:ba6f52cbc7809cd8d74604cce9c14868306ae4aa0282016b641c661f981a6e91"},
+    {file = "yarl-1.9.4-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a6327976c7c2f4ee6816eff196e25385ccc02cb81427952414a64811037bbc8b"},
+    {file = "yarl-1.9.4-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:8397a3817d7dcdd14bb266283cd1d6fc7264a48c186b986f32e86d86d35fbac5"},
+    {file = "yarl-1.9.4-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:e0381b4ce23ff92f8170080c97678040fc5b08da85e9e292292aba67fdac6c34"},
+    {file = "yarl-1.9.4-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:23d32a2594cb5d565d358a92e151315d1b2268bc10f4610d098f96b147370136"},
+    {file = "yarl-1.9.4-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ddb2a5c08a4eaaba605340fdee8fc08e406c56617566d9643ad8bf6852778fc7"},
+    {file = "yarl-1.9.4-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:26a1dc6285e03f3cc9e839a2da83bcbf31dcb0d004c72d0730e755b33466c30e"},
+    {file = "yarl-1.9.4-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:18580f672e44ce1238b82f7fb87d727c4a131f3a9d33a5e0e82b793362bf18b4"},
+    {file = "yarl-1.9.4-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:29e0f83f37610f173eb7e7b5562dd71467993495e568e708d99e9d1944f561ec"},
+    {file = "yarl-1.9.4-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:1f23e4fe1e8794f74b6027d7cf19dc25f8b63af1483d91d595d4a07eca1fb26c"},
+    {file = "yarl-1.9.4-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:db8e58b9d79200c76956cefd14d5c90af54416ff5353c5bfd7cbe58818e26ef0"},
+    {file = "yarl-1.9.4-cp39-cp39-win32.whl", hash = "sha256:c7224cab95645c7ab53791022ae77a4509472613e839dab722a72abe5a684575"},
+    {file = "yarl-1.9.4-cp39-cp39-win_amd64.whl", hash = "sha256:824d6c50492add5da9374875ce72db7a0733b29c2394890aef23d533106e2b15"},
+    {file = "yarl-1.9.4-py3-none-any.whl", hash = "sha256:928cecb0ef9d5a7946eb6ff58417ad2fe9375762382f1bf5c55e61645f2c43ad"},
+    {file = "yarl-1.9.4.tar.gz", hash = "sha256:566db86717cf8080b99b58b083b773a908ae40f06681e87e589a976faf8246bf"},
 ]
 
 [package.dependencies]
@@ -4871,4 +4871,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "3ab4ab63ba35d780759581d6572a6d6359c019a1be419f3c72ff3f0ee6008095"
+content-hash = "ddef5baa3e9a1f50713ddc370ead968173200467a56df6a718ef3d2ada95e832"
diff --git a/pyproject.toml b/pyproject.toml
index 474c11e705..2fec88f244 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -125,7 +125,7 @@ inputs = "*"
 Jinja2 = "*"
 lru-dict = "*"
 matplotlib = "*"
-metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="72e842cd1d025bf676e4af8797a01e4aa282109f", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="main", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"
diff --git a/rednose_repo b/rednose_repo
index 44e8a891a2..18b91458fd 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 44e8a891a2810f274a1fa980775155d9463e87b9
+Subproject commit 18b91458fd396530d43e1a2fe9a3ac9055fa9109
diff --git a/release/files_common b/release/files_common
index 0facb5cc5f..71c096716b 100644
--- a/release/files_common
+++ b/release/files_common
@@ -291,11 +291,8 @@ system/camerad/main.cc
 system/camerad/snapshot/*
 system/camerad/cameras/camera_common.h
 system/camerad/cameras/camera_common.cc
-system/camerad/sensors/ar0231.cc
-system/camerad/sensors/ar0231_registers.h
-system/camerad/sensors/ox03c10.cc
-system/camerad/sensors/ox03c10_registers.h
-system/camerad/sensors/sensor.h
+system/camerad/sensors/*.h
+system/camerad/sensors/*.cc
 
 selfdrive/manager/__init__.py
 selfdrive/manager/build.py
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index 719d50c1ab..ce9e64188b 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -637,6 +637,8 @@ def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket
   while not (end_event.is_set() or global_end_event.is_set()):
     try:
       data = ws.recv()
+      if isinstance(data, str):
+        data = data.encode("utf-8")
       local_sock.sendall(data)
     except WebSocketTimeoutException:
       pass
@@ -728,10 +730,11 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
     if onroad != onroad_prev:
       onroad_prev = onroad
 
-      sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0)
-      sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
-      sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10)
-      sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3)
+      if sock is not None:
+        sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0)
+        sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
+        sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10)
+        sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3)
 
     if end_event.wait(5):
       break
diff --git a/selfdrive/car/README.md b/selfdrive/car/README.md
index f77bea205b..2c49cf2051 100644
--- a/selfdrive/car/README.md
+++ b/selfdrive/car/README.md
@@ -1,63 +1,3 @@
-# selfdrive/car
-
-Check out [this blog post](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) for a high-level overview of porting a car.
-
-## Useful car porting utilities
-
-Testing car ports in your car is very time-consuming. Check out these utilities to do basic checks on your work before running it in your car.
-
-### [Cabana](/tools/cabana/README.md)
-
-View your car's CAN signals through DBC files, which openpilot uses to parse and create messages that talk to the car.
-
-Example:
-```bash
-> tools/cabana/cabana '1bbe6bf2d62f58a8|2022-07-14--17-11-43'
-```
-
-### [selfdrive/debug/auto_fingerprint.py](/selfdrive/debug/auto_fingerprint.py)
-
-Given a route and platform, automatically inserts FW fingerprints from the platform into the correct place in values.py
-
-Example:
-```bash
-> python selfdrive/debug/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'SUBARU OUTBACK 6TH GEN'
-Attempting to add fw version for:  SUBARU OUTBACK 6TH GEN
-```
-
-### [selfdrive/car/tests/test_car_interfaces.py](/selfdrive/car/tests/test_car_interfaces.py)
-
-Finds common bugs for car interfaces, without even requiring a route.
-
-
-#### Example: Typo in signal name
-```bash
-> pytest selfdrive/car/tests/test_car_interfaces.py -k subaru  # replace with the brand you are working on
-
-=====================================================================
-FAILED selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS'
-
-```
-
-### [selfdrive/debug/test_car_model.py](/selfdrive/debug/test_car_model.py)
-
-Given a route, runs most of the car interface to check for common errors like missing signals, blocked panda messages, and safety mismatches.
-
-#### Example: panda safety mismatch for gasPressed
-```bash
-> python selfdrive/debug/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21'
-
-=====================================================================
-FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_carstate)
-Assert that panda safety matches openpilot's carState
-----------------------------------------------------------------------
-Traceback (most recent call last):
-  File "/home/batman/xx/openpilot/openpilot/selfdrive/car/tests/test_models.py", line 380, in test_panda_safety_carstate
-    self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
-AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116}
-```
-
-
 ## Car port structure
 
 ### interface.py
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 2e80dde010..f2ce743607 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -244,10 +244,13 @@ class CarInfo:
   # all the parts needed for the supported car
   car_parts: CarParts = field(default_factory=CarParts)
 
+  def __post_init__(self):
+    self.make, self.model, self.years = split_name(self.name)
+    self.year_list = get_year_list(self.years)
+
   def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
     self.car_name = CP.carName
     self.car_fingerprint = CP.carFingerprint
-    self.make, self.model, self.years = split_name(self.name)
 
     # longitudinal column
     op_long = "Stock"
@@ -309,7 +312,6 @@ class CarInfo:
       self.row[Column.STEERING_TORQUE] = Star.FULL
 
     self.all_footnotes = all_footnotes
-    self.year_list = get_year_list(self.years)
     self.detail_sentence = self.get_detail_sentence(CP)
 
     return self
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index f51cb75372..6c7e8007f2 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -154,21 +154,6 @@ class CarController:
       if self.frame % 10 == 0:
         can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
 
-    # Show green icon when LKA torque is applied, and
-    # alarming orange icon when approaching torque limit.
-    # If not sent again, LKA icon disappears in about 5 seconds.
-    # Conveniently, sending camera message periodically also works as a keepalive.
-    lka_active = CS.lkas_status == 1
-    lka_critical = lka_active and abs(actuators.steer) > 0.9
-    lka_icon_status = (lka_active, lka_critical)
-
-    # SW_GMLAN not yet on cam harness, no HUD alerts
-    if self.CP.networkLocation != NetworkLocation.fwdCamera and \
-      (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
-      steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
-      can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
-      self.lka_icon_status_last = lka_icon_status
-
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
     new_actuators.steerOutputCan = self.apply_steer_last
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 2a8577164f..dbbf15100f 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -139,7 +139,6 @@ class CanBus:
   OBSTACLE = 1
   CAMERA = 2
   CHASSIS = 2
-  SW_GMLAN = 3
   LOOPBACK = 128
   DROPPED = 192
 
diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py
index 1667b46188..543a283e47 100644
--- a/selfdrive/car/honda/fingerprints.py
+++ b/selfdrive/car/honda/fingerprints.py
@@ -744,9 +744,6 @@ FW_VERSIONS = {
       b'78109-TPG-A110\x00\x00',
       b'78109-TPG-A210\x00\x00',
     ],
-    (Ecu.hud, 0x18da61f1, None): [
-      b'78209-TLA-X010\x00\x00',
-    ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TMB-H040\x00\x00',
       b'36802-TPA-E040\x00\x00',
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index edc9e4855f..2f1fb10804 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -147,8 +147,9 @@ class CarState(CarStateBase):
       aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
       aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
       aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
+      scc_warning = cp_cruise.vl["SCC12"]["TakeOverReq"] == 1  # sometimes only SCC system shows an FCW
       aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0
-      ret.stockFcw = aeb_warning and not aeb_braking
+      ret.stockFcw = (aeb_warning or scc_warning) and not aeb_braking
       ret.stockAeb = aeb_warning and aeb_braking
 
     if self.CP.enableBsm:
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 371478f429..4b92bc5a49 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -251,7 +251,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.KIA_NIRO_PHEV_2022: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
   CAR.KIA_NIRO_HEV_2021: [
-    HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])),  # TODO: 2021 could be hyundai_d, verify
+    HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
+    HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
   ],
   CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 8a33ce5e24..1296aead5e 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -122,7 +122,7 @@ class CarInterface(CarInterfaceBase):
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
 
     if candidate in GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
-      ret.flags |= SubaruFlags.DISABLE_EYESIGHT
+      ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value
 
     if ret.openpilotLongitudinalControl:
       ret.longitudinalTuning.kpBP = [0., 5., 35.]
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index b851bcc088..290737c3e6 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -48,8 +48,7 @@ def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long
     values["Cruise_Soft_Disable"] = 0
     values["Cruise_Fault"] = 0
 
-    if brake_cmd:
-      values["Cruise_Brake_Active"] = 1
+    values["Cruise_Brake_Active"] = brake_cmd
 
   if pcm_cancel_cmd:
     values["Cruise_Cancel"] = 1
@@ -153,14 +152,14 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l
 
   values["COUNTER"] = frame % 0x10
 
-  if enabled and long_active:
+  if long_enabled:
     values["Cruise_State"] = 0
-    values["Cruise_Activated"] = 1
+    values["Cruise_Activated"] = enabled
     values["Cruise_Disengaged"] = 0
     values["Car_Follow"] = int(lead_visible)
 
-  if long_enabled:
     values["PCB_Off"] = 1 # AEB is not presevered, so show the PCB_Off on dash
+    values["LDW_Off"] = 0
     values["Cruise_Fault"] = 0
 
   # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
@@ -186,15 +185,12 @@ def create_es_brake(packer, frame, es_brake_msg, long_enabled, long_active, brak
 
   if long_enabled:
     values["Cruise_Brake_Fault"] = 0
+    values["Cruise_Activated"] = long_active
 
-    if long_active:
-      values["Cruise_Activated"] = 1
+    values["Brake_Pressure"] = brake_value
 
-  values["Brake_Pressure"] = brake_value
-
-  if brake_value > 0:
-    values["Cruise_Brake_Active"] = 1
-    values["Cruise_Brake_Lights"] = 1 if brake_value >= 70 else 0
+    values["Cruise_Brake_Active"] = brake_value > 0
+    values["Cruise_Brake_Lights"] = brake_value >= 70
 
   return packer.make_can_msg("ES_Brake", CanBus.main, values)
 
@@ -204,7 +200,6 @@ def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cr
     "Signal1",
     "Cruise_Fault",
     "Cruise_RPM",
-    "Signal2",
     "Cruise_Activated",
     "Brake_Lights",
     "Cruise_Hold",
@@ -217,8 +212,7 @@ def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cr
     values["Cruise_RPM"] = cruise_rpm
     values["Cruise_Fault"] = 0
 
-    if long_active:
-      values["Cruise_Activated"] = 1
+    values["Cruise_Activated"] = long_active
 
   return packer.make_can_msg("ES_Status", CanBus.main, values)
 
diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
index 1fc626972f..10e24ff4c5 100755
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ b/selfdrive/car/tests/test_lateral_limits.py
@@ -95,8 +95,8 @@ if __name__ == "__main__":
                 _jerks["down_jerk"] > MAX_LAT_JERK_DOWN
     violation_str = " - VIOLATION" if violation else ""
 
-    print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} \
-              m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}")
+    print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} " +
+          f"m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}")
 
   # exit with test result
   sys.exit(not result.result.wasSuccessful())
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 7306962fa6..253841877f 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -21,6 +21,7 @@ from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from openpilot.selfdrive.controls.controlsd import Controls
+from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.selfdrive.test.openpilotci import get_url
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import Route, SegmentName, RouteName
@@ -36,9 +37,9 @@ JOB_ID = int(os.environ.get("JOB_ID", "0"))
 INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "")
 INTERNAL_SEG_CNT = int(os.environ.get("INTERNAL_SEG_CNT", "0"))
 MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "50"))
-
 CI = os.environ.get("CI", None) is not None
 
+
 def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
   # build list of test cases
   test_cases = []
@@ -52,12 +53,9 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
         test_cases.extend(sorted((c.value, r) for r in routes_by_car.get(c, (None,))))
 
   else:
-    with open(os.path.join(BASEDIR, INTERNAL_SEG_LIST), "r") as f:
-      seg_list = f.read().splitlines()
-
-    seg_list_grouped = [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)]
-    seg_list_grouped = random.sample(seg_list_grouped, INTERNAL_SEG_CNT or len(seg_list_grouped))
-    for platform, segment in seg_list_grouped:
+    segment_list = read_segment_list(os.path.join(BASEDIR, INTERNAL_SEG_LIST))
+    segment_list = random.sample(segment_list, INTERNAL_SEG_CNT or len(segment_list))
+    for platform, segment in segment_list:
       segment_name = SegmentName(segment)
       test_cases.append((platform, CarTestRoute(segment_name.route_name.canonical_name, platform,
                                                 segment=segment_name.segment_num)))
@@ -68,7 +66,7 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
 class TestCarModelBase(unittest.TestCase):
   car_model: Optional[str] = None
   test_route: Optional[CarTestRoute] = None
-  test_route_on_bucket: bool = True # whether the route is on the preserved CI bucket
+  test_route_on_bucket: bool = True  # whether the route is on the preserved CI bucket
 
   can_msgs: List[capnp.lib.capnp._DynamicStructReader]
   fingerprint: dict[int, dict[int, int]]
@@ -81,19 +79,80 @@ class TestCarModelBase(unittest.TestCase):
       route_name = RouteName(cls.test_route.route)
       return LogReader(f"cd:/{route_name.dongle_id}/{route_name.time_str}/{seg}/rlog.bz2")
     else:
-      # Attempt to use CI bucket first
-      try:
-        return LogReader(get_url(cls.test_route.route, seg))
-      except Exception:
-        cls.test_route_on_bucket = False
+      return LogReader(get_url(cls.test_route.route, seg))
+
+  @classmethod
+  def get_testing_data_from_logreader(cls, lr):
+    car_fw = []
+    can_msgs = []
+    cls.elm_frame = None
+    cls.car_safety_mode_frame = None
+    cls.fingerprint = gen_empty_fingerprint()
+    experimental_long = False
+    for msg in lr:
+      if msg.which() == "can":
+        can_msgs.append(msg)
+        if len(can_msgs) <= FRAME_FINGERPRINT:
+          for m in msg.can:
+            if m.src < 64:
+              cls.fingerprint[m.src][m.address] = len(m.dat)
+
+      elif msg.which() == "carParams":
+        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
+
+      # Log which can frame the panda safety mode left ELM327, for CAN validity checks
+      elif msg.which() == 'pandaStates':
+        for ps in msg.pandaStates:
+          if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327:
+            cls.elm_frame = len(can_msgs)
+          if cls.car_safety_mode_frame is None and ps.safetyModel not in \
+            (SafetyModel.elm327, SafetyModel.noOutput):
+            cls.car_safety_mode_frame = len(can_msgs)
 
-      # Fallback to public route, which will fail the test_route_on_ci_bucket when running in CI
+      elif msg.which() == 'pandaStateDEPRECATED':
+        if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327:
+          cls.elm_frame = len(can_msgs)
+        if cls.car_safety_mode_frame is None and msg.pandaStateDEPRECATED.safetyModel not in \
+          (SafetyModel.elm327, SafetyModel.noOutput):
+          cls.car_safety_mode_frame = len(can_msgs)
+
+    if len(can_msgs) > int(50 / DT_CTRL):
+      return car_fw, can_msgs, experimental_long
+
+    raise Exception("no can data found")
+
+  @classmethod
+  def get_testing_data(cls):
+    test_segs = (2, 1, 0)
+    if cls.test_route.segment is not None:
+      test_segs = (cls.test_route.segment,)
+
+    # Try the primary method first (CI or internal)
+    for seg in test_segs:
       try:
-        return LogReader(Route(cls.test_route.route).log_paths()[seg])
+        lr = cls.get_logreader(seg)
+        return cls.get_testing_data_from_logreader(lr)
       except Exception:
         pass
 
-      raise Exception("Unable to get route. Check that the route is valid, and either public or uploaded to the CI bucket.")
+    # Route is not in CI bucket, assume either user has access (private), or it is public
+    # test_route_on_ci_bucket will fail when running in CI
+    if not len(INTERNAL_SEG_LIST):
+      cls.test_route_on_bucket = False
+
+      for seg in test_segs:
+        try:
+          lr = LogReader(Route(cls.test_route.route).log_paths()[seg])
+          return cls.get_testing_data_from_logreader(lr)
+        except Exception:
+          pass
+
+    raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded and public?")
+
 
   @classmethod
   def setUpClass(cls):
@@ -110,57 +169,7 @@ class TestCarModelBase(unittest.TestCase):
         raise unittest.SkipTest
       raise Exception(f"missing test route for {cls.car_model}")
 
-    test_segs = (2, 1, 0)
-    if cls.test_route.segment is not None:
-      test_segs = (cls.test_route.segment,)
-
-    for seg in test_segs:
-      try:
-        lr = cls.get_logreader(seg)
-      except Exception:
-        continue
-
-      car_fw = []
-      can_msgs = []
-      cls.elm_frame = None
-      cls.car_safety_mode_frame = None
-      cls.fingerprint = gen_empty_fingerprint()
-      experimental_long = False
-      for msg in lr:
-        if msg.which() == "can":
-          can_msgs.append(msg)
-          if len(can_msgs) <= FRAME_FINGERPRINT:
-            for m in msg.can:
-              if m.src < 64:
-                cls.fingerprint[m.src][m.address] = len(m.dat)
-
-        elif msg.which() == "carParams":
-          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
-
-        # Log which can frame the panda safety mode left ELM327, for CAN validity checks
-        elif msg.which() == 'pandaStates':
-          for ps in msg.pandaStates:
-            if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327:
-              cls.elm_frame = len(can_msgs)
-            if cls.car_safety_mode_frame is None and ps.safetyModel not in \
-              (SafetyModel.elm327, SafetyModel.noOutput):
-              cls.car_safety_mode_frame = len(can_msgs)
-
-        elif msg.which() == 'pandaStateDEPRECATED':
-          if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327:
-            cls.elm_frame = len(can_msgs)
-          if cls.car_safety_mode_frame is None and msg.pandaStateDEPRECATED.safetyModel not in \
-            (SafetyModel.elm327, SafetyModel.noOutput):
-            cls.car_safety_mode_frame = len(can_msgs)
-
-      if len(can_msgs) > int(50 / DT_CTRL):
-        break
-    else:
-      raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded and public?")
+    car_fw, can_msgs, experimental_long = cls.get_testing_data()
 
     # if relay is expected to be open in the route
     cls.openpilot_enabled = cls.car_safety_mode_frame is not None
@@ -466,10 +475,10 @@ class TestCarModelBase(unittest.TestCase):
     failed_checks = {k: v for k, v in checks.items() if v > 0}
     self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
 
-  @pytest.mark.skipif(not CI, reason="When running in CI we want to make sure all the routes are uploaded to the preserved CI bucket.")
+  @unittest.skipIf(not CI, "Accessing non CI-bucket routes is allowed only when not in CI")
   def test_route_on_ci_bucket(self):
-    assert self.test_route_on_bucket, "Route not on CI bucket. \
-                                       This is fine to fail for WIP car ports, just let us know and we can upload your routes to the CI bucket."
+    self.assertTrue(self.test_route_on_bucket, "Route not on CI bucket. " +
+                    "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())
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index e7f3fe27ad..c72766f40a 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -23,6 +23,7 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F4702000\x00\x00\x00\x00',
       b'8821F4702100\x00\x00\x00\x00',
+      b'8821F4702300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'8646F0701100\x00\x00\x00\x00',
@@ -51,6 +52,7 @@ FW_VERSIONS = {
       b'8965B41090\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
+      b'\x01896630725100\x00\x00\x00\x00',
       b'\x01896630725200\x00\x00\x00\x00',
       b'\x01896630725300\x00\x00\x00\x00',
       b'\x01896630735100\x00\x00\x00\x00',
@@ -142,6 +144,8 @@ FW_VERSIONS = {
     (Ecu.dsu, 0x791, None): [
       b'8821F0601200    ',
       b'8821F0601300    ',
+      b'8821F0601400    ',
+      b'8821F0601500    ',
       b'8821F0602000    ',
       b'8821F0603300    ',
       b'8821F0603400    ',
@@ -185,6 +189,8 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F0601200    ',
       b'8821F0601300    ',
+      b'8821F0601400    ',
+      b'8821F0601500    ',
       b'8821F0602000    ',
       b'8821F0603300    ',
       b'8821F0603400    ',
@@ -497,6 +503,7 @@ FW_VERSIONS = {
       b'\x018965B12510\x00\x00\x00\x00\x00\x00',
       b'\x018965B12520\x00\x00\x00\x00\x00\x00',
       b'\x018965B12530\x00\x00\x00\x00\x00\x00',
+      b'\x018965B1254000\x00\x00\x00\x00',
       b'\x018965B1255000\x00\x00\x00\x00',
       b'\x018965B1256000\x00\x00\x00\x00',
       b'8965B12361\x00\x00\x00\x00\x00\x00',
@@ -571,6 +578,7 @@ FW_VERSIONS = {
       b'\x028646F1202000\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
+      b'\x028646F1206000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
       b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F1601200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
@@ -578,6 +586,7 @@ FW_VERSIONS = {
       b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F7603100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F7603200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F7603300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F7605100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
@@ -588,6 +597,7 @@ FW_VERSIONS = {
       b'\x01896630E43100\x00\x00\x00\x00',
       b'\x01896630E43200\x00\x00\x00\x00',
       b'\x01896630E44200\x00\x00\x00\x00',
+      b'\x01896630E44400\x00\x00\x00\x00',
       b'\x01896630E45000\x00\x00\x00\x00',
       b'\x01896630E45100\x00\x00\x00\x00',
       b'\x01896630E45200\x00\x00\x00\x00',
@@ -728,6 +738,7 @@ FW_VERSIONS = {
       b'\x018966353Q4000\x00\x00\x00\x00',
       b'\x018966353R1100\x00\x00\x00\x00',
       b'\x018966353R7100\x00\x00\x00\x00',
+      b'\x018966353R8000\x00\x00\x00\x00',
       b'\x018966353R8100\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
@@ -792,6 +803,7 @@ FW_VERSIONS = {
       b'\x02896634761100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634761200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634762000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634762100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634763000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634763100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634765000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@@ -800,6 +812,7 @@ FW_VERSIONS = {
       b'\x02896634769100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634769200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634770000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634770100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634774000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634774100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634774200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@@ -812,6 +825,7 @@ FW_VERSIONS = {
       b'\x03896634759100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
       b'\x03896634759200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
       b'\x03896634759200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
+      b'\x03896634759300\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
       b'\x03896634759300\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
       b'\x03896634760000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701002\x00\x00\x00\x00',
       b'\x03896634760000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
@@ -1123,9 +1137,11 @@ FW_VERSIONS = {
   CAR.RAV4_TSS2_2023: {
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R51000\x00\x00\x00\x00',
       b'\x01F15264283200\x00\x00\x00\x00',
       b'\x01F15264283300\x00\x00\x00\x00',
       b'\x01F152642F1000\x00\x00\x00\x00',
+      b'\x01F152642F8000\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
@@ -1137,6 +1153,7 @@ FW_VERSIONS = {
       b'\x01896634AE1001\x00\x00\x00\x00',
       b'\x01896634AF0000\x00\x00\x00\x00',
       b'\x01896634AJ2000\x00\x00\x00\x00',
+      b'\x01896634AL5000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F0R03100\x00\x00\x00\x00',
@@ -1144,6 +1161,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
       b'\x028646F0R05200\x00\x00\x00\x008646G0R02200\x00\x00\x00\x00',
+      b'\x028646F0R11000\x00\x00\x00\x008646G0R04000\x00\x00\x00\x00',
     ],
   },
   CAR.SIENNA: {
@@ -1237,6 +1255,7 @@ FW_VERSIONS = {
       b'\x018821F3301200\x00\x00\x00\x00',
       b'\x018821F3301300\x00\x00\x00\x00',
       b'\x018821F3301400\x00\x00\x00\x00',
+      b'\x018821F6201200\x00\x00\x00\x00',
       b'\x018821F6201300\x00\x00\x00\x00',
       b'\x018821F6201400\x00\x00\x00\x00',
     ],
@@ -1249,6 +1268,7 @@ FW_VERSIONS = {
       b'\x028646F3304200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F3304300\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
       b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+      b'\x028646F3309100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
     ],
   },
   CAR.LEXUS_ES: {
@@ -1319,6 +1339,7 @@ FW_VERSIONS = {
       b'\x01896637851000\x00\x00\x00\x00',
       b'\x01896637852000\x00\x00\x00\x00',
       b'\x01896637854000\x00\x00\x00\x00',
+      b'\x01896637873000\x00\x00\x00\x00',
       b'\x01896637878000\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
@@ -1391,6 +1412,7 @@ FW_VERSIONS = {
   CAR.LEXUS_RC: {
     (Ecu.engine, 0x700, None): [
       b'\x01896632461100\x00\x00\x00\x00',
+      b'\x01896632478100\x00\x00\x00\x00',
       b'\x01896632478200\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
@@ -1439,6 +1461,7 @@ FW_VERSIONS = {
       b'\x018966348R1300\x00\x00\x00\x00',
       b'\x018966348R8500\x00\x00\x00\x00',
       b'\x018966348W1300\x00\x00\x00\x00',
+      b'\x018966348W2300\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152648472\x00\x00\x00\x00\x00\x00',
@@ -1483,6 +1506,7 @@ FW_VERSIONS = {
       b'\x02348Q4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348Q4100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348T1100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348T1200\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348T3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348V6000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348Z3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1503,6 +1527,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x7a1, None): [
       b'8965B0E011\x00\x00\x00\x00\x00\x00',
       b'8965B0E012\x00\x00\x00\x00\x00\x00',
+      b'8965B48102\x00\x00\x00\x00\x00\x00',
       b'8965B48111\x00\x00\x00\x00\x00\x00',
       b'8965B48112\x00\x00\x00\x00\x00\x00',
     ],
@@ -1638,6 +1663,7 @@ FW_VERSIONS = {
       b'8965B58052\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
+      b'F152658320\x00\x00\x00\x00\x00\x00',
       b'F152658341\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index a087e25934..b3b6fd7377 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -180,8 +180,8 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
     ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
   ],
   CAR.RAV4_TSS2_2023: [
-    ToyotaCarInfo("Toyota RAV4 2023"),
-    ToyotaCarInfo("Toyota RAV4 Hybrid 2023"),
+    ToyotaCarInfo("Toyota RAV4 2023-24"),
+    ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"),
   ],
   CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"),
   CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED),
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index e7a7f2a998..0cee2c7fce 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -5,7 +5,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
-from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams
+from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams, VolkswagenFlags
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -65,13 +65,22 @@ class CarController:
       self.apply_steer_last = apply_steer
       can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hca_enabled))
 
+      if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
+        # Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque
+        # to the greatest of actual driver input or 2x openpilot's output (1x openpilot output is not enough to
+        # consistently reset inactivity detection on straight level roads). See commaai/openpilot#23274 for background.
+        ea_simulated_torque = clip(apply_steer * 2, -self.CCP.STEER_MAX, self.CCP.STEER_MAX)
+        if abs(CS.out.steeringTorque) > abs(ea_simulated_torque):
+          ea_simulated_torque = CS.out.steeringTorque
+        can_sends.append(self.CCS.create_eps_update(self.packer_pt, CANBUS.cam, CS.eps_stock_values, ea_simulated_torque))
+
     # **** Acceleration Controls ******************************************** #
 
     if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl:
       acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
       accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
       stopping = actuators.longControlState == LongCtrlState.stopping
-      starting = actuators.longControlState == LongCtrlState.starting
+      starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)
       can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel,
                                                          acc_control, stopping, starting, CS.esp_hold_confirmation))
 
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index cbe8918d48..25c5bc04bc 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -4,7 +4,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \
-                                            CarControllerParams
+                                            CarControllerParams, VolkswagenFlags
 
 
 class CarState(CarStateBase):
@@ -14,6 +14,7 @@ class CarState(CarStateBase):
     self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
     self.esp_hold_confirmation = False
     self.upscale_lead_car_signal = False
+    self.eps_stock_values = False
 
   def create_button_events(self, pt_cp, buttons):
     button_events = []
@@ -59,6 +60,11 @@ class CarState(CarStateBase):
     ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT")
     ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED")
 
+    # VW Emergency Assist status tracking and mitigation
+    self.eps_stock_values = pt_cp.vl["LH_EPS_03"]
+    if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
+      ret.carFaultedNonCritical = bool(cam_cp.vl["HCA_01"]["EA_Ruckfreigabe"]) or cam_cp.vl["HCA_01"]["EA_ACC_Sollstatus"] > 0
+
     # Update gas, brakes, and gearshift.
     ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0
     ret.gasPressed = ret.gas > 0
@@ -293,6 +299,11 @@ class CarState(CarStateBase):
 
     messages = []
 
+    if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
+      messages += [
+        ("HCA_01", 1),  # From R242 Driver assistance camera, 50Hz if steering/1Hz if not
+      ]
+
     if CP.networkLocation == NetworkLocation.fwdCamera:
       messages += [
         # sig_address, frequency
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index d5377453c1..710e779d0a 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -3,7 +3,7 @@ from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter
+from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -67,6 +67,9 @@ class CarInterface(CarInterfaceBase):
       else:
         ret.networkLocation = NetworkLocation.fwdCamera
 
+      if 0x126 in fingerprint[2]:  # HCA_01
+        ret.flags |= VolkswagenFlags.STOCK_HCA_PRESENT.value
+
     # Global lateral tuning defaults, can be overridden per-vehicle
 
     ret.steerActuatorDelay = 0.1
@@ -90,11 +93,9 @@ class CarInterface(CarInterfaceBase):
 
     ret.pcmCruise = not ret.openpilotLongitudinalControl
     ret.stoppingControl = True
-    ret.startingState = True
-    ret.startAccel = 1.0
     ret.stopAccel = -0.55
-    ret.vEgoStarting = 1.0
-    ret.vEgoStopping = 1.0
+    ret.vEgoStarting = 0.1
+    ret.vEgoStopping = 0.5
     ret.longitudinalTuning.kpV = [0.1]
     ret.longitudinalTuning.kiV = [0.0]
 
diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py
index 849d99592f..787c7de530 100644
--- a/selfdrive/car/volkswagen/mqbcan.py
+++ b/selfdrive/car/volkswagen/mqbcan.py
@@ -10,6 +10,24 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled):
   return packer.make_can_msg("HCA_01", bus, values)
 
 
+def create_eps_update(packer, bus, eps_stock_values, ea_simulated_torque):
+  values = {s: eps_stock_values[s] for s in [
+    "COUNTER",                     # Sync counter value to EPS output
+    "EPS_Lenkungstyp",             # EPS rack type
+    "EPS_Berechneter_LW",          # Absolute raw steering angle
+    "EPS_VZ_BLW",                  # Raw steering angle sign
+    "EPS_HCA_Status",              # EPS HCA control status
+  ]}
+
+  values.update({
+    # Absolute driver torque input and sign, with EA inactivity mitigation
+    "EPS_Lenkmoment": abs(ea_simulated_torque),
+    "EPS_VZ_Lenkmoment": 1 if ea_simulated_torque < 0 else 0,
+  })
+
+  return packer.make_can_msg("LH_EPS_03", bus, values)
+
+
 def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
   values = {}
   if len(ldw_stock_values):
@@ -94,7 +112,7 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_cont
     acc_hold_type = 0
 
   acc_07_values = {
-    "ACC_Anhalteweg": 0.75 if stopping else 20.46,  # Distance to stop (stopping coordinator handles terminal roll-out)
+    "ACC_Anhalteweg": 0.3 if stopping else 20.46,  # Distance to stop (stopping coordinator handles terminal roll-out)
     "ACC_Freilauf_Info": 2 if acc_enabled else 0,
     "ACC_Folgebeschl": 3.02,  # Not using secondary controller accel unless and until we understand its impact
     "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01,
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 35e88895db..f4809e4523 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -1,6 +1,6 @@
 from collections import defaultdict, namedtuple
 from dataclasses import dataclass, field
-from enum import Enum, StrEnum
+from enum import Enum, IntFlag, StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
@@ -109,6 +109,10 @@ class CANBUS:
   cam = 2
 
 
+class VolkswagenFlags(IntFlag):
+  STOCK_HCA_PRESENT = 1
+
+
 # Check the 7th and 8th characters of the VIN before adding a new CAR. If the
 # chassis code is already listed below, don't add a new CAR, just add to the
 # FW_VERSIONS for that existing CAR.
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 46a0b7f462..698c149515 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -8,7 +8,6 @@ from typing import SupportsFloat
 from cereal import car, log
 from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
-from openpilot.common.profiler import Profiler
 from openpilot.common.params import Params
 import cereal.messaging as messaging
 from cereal.visionipc import VisionIpcClient, VisionStreamType
@@ -195,7 +194,6 @@ class Controls:
 
     # controlsd is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
-    self.prof = Profiler(False)  # off by default
 
   def set_initial_state(self):
     if REPLAY:
@@ -851,12 +849,10 @@ class Controls:
 
   def step(self):
     start_time = time.monotonic()
-    self.prof.checkpoint("Ratekeeper", ignore=True)
 
     # Sample data from sockets and get a carState
     CS = self.data_sample()
     cloudlog.timestamp("Data sampled")
-    self.prof.checkpoint("Sample")
 
     self.update_events(CS)
     cloudlog.timestamp("Events updated")
@@ -864,16 +860,12 @@ class Controls:
     if not self.CP.passive and self.initialized:
       # Update control state
       self.state_transition(CS)
-      self.prof.checkpoint("State transition")
 
     # Compute actuators (runs PID loops and lateral MPC)
     CC, lac_log = self.state_control(CS)
 
-    self.prof.checkpoint("State Control")
-
     # Publish data
     self.publish_logs(CS, start_time, CC, lac_log)
-    self.prof.checkpoint("Sent")
 
     self.CS_prev = CS
 
@@ -893,7 +885,6 @@ class Controls:
       while True:
         self.step()
         self.rk.monitor_time()
-        self.prof.display()
     except SystemExit:
       e.set()
       t.join()
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 13127b4634..018768f248 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -47,13 +47,14 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
 
 
 class LongitudinalPlanner:
-  def __init__(self, CP, init_v=0.0, init_a=0.0):
+  def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc()
     self.fcw = False
+    self.dt = dt
 
     self.a_desired = init_a
-    self.v_desired_filter = FirstOrderFilter(init_v, 2.0, DT_MDL)
+    self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
     self.v_model_error = 0.0
 
     self.v_desired_trajectory = np.zeros(CONTROL_N)
@@ -148,8 +149,8 @@ class LongitudinalPlanner:
 
     # Interpolate 0.05 seconds and save as starting point for next iteration
     a_prev = self.a_desired
-    self.a_desired = float(interp(DT_MDL, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory))
-    self.v_desired_filter.x = self.v_desired_filter.x + DT_MDL * (self.a_desired + a_prev) / 2.0
+    self.a_desired = float(interp(self.dt, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory))
+    self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
   def publish(self, sm, pm):
     plan_send = messaging.new_message('longitudinalPlan')
diff --git a/selfdrive/debug/can_print_changes.py b/selfdrive/debug/can_print_changes.py
index ea1160d60b..20fe502efc 100755
--- a/selfdrive/debug/can_print_changes.py
+++ b/selfdrive/debug/can_print_changes.py
@@ -3,10 +3,12 @@ import argparse
 import binascii
 import time
 from collections import defaultdict
+from typing import Optional
 
 import cereal.messaging as messaging
 from openpilot.selfdrive.debug.can_table import can_table
-from openpilot.tools.lib.logreader import logreader_from_route_or_segment
+from openpilot.tools.lib.logreader import LogIterable
+from openpilot.tools.lib.srreader import SegmentRangeReader
 
 RED = '\033[91m'
 CLEAR = '\033[0m'
@@ -95,13 +97,15 @@ if __name__ == "__main__":
 
   args = parser.parse_args()
 
-  init_lr, new_lr = None, None
+  init_lr: Optional[LogIterable] = None
+  new_lr: Optional[LogIterable] = None
+
   if args.init:
     if args.init == '':
       init_lr = []
     else:
-      init_lr = logreader_from_route_or_segment(args.init)
+      init_lr = SegmentRangeReader(args.init)
   if args.comp:
-    new_lr = logreader_from_route_or_segment(args.comp)
+    new_lr = SegmentRangeReader(args.comp)
 
   can_printer(args.bus, init_msgs=init_lr, new_msgs=new_lr, table=args.table)
diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py
index a2c3576b6f..70f412bff1 100755
--- a/selfdrive/debug/count_events.py
+++ b/selfdrive/debug/count_events.py
@@ -4,16 +4,12 @@ import math
 import datetime
 from collections import Counter
 from pprint import pprint
-from tqdm import tqdm
 from typing import List, Tuple, cast
 
 from cereal.services import SERVICE_LIST
-from openpilot.tools.lib.route import Route
-from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.srreader import SegmentRangeReader, ReadMode
 
 if __name__ == "__main__":
-  r = Route(sys.argv[1])
-
   cnt_valid: Counter = Counter()
   cnt_events: Counter = Counter()
 
@@ -24,31 +20,29 @@ if __name__ == "__main__":
   start_time = math.inf
   end_time = -math.inf
   ignition_off = None
-  for q in tqdm(r.qlog_paths()):
-    if q is None:
-      continue
-    lr = list(LogReader(q))
-    for msg in lr:
-      end_time = max(end_time, msg.logMonoTime)
-      start_time = min(start_time, msg.logMonoTime)
+  for msg in SegmentRangeReader(sys.argv[1], ReadMode.QLOG):
+    end_time = max(end_time, msg.logMonoTime)
+    start_time = min(start_time, msg.logMonoTime)
 
-      if msg.which() == 'onroadEvents':
-        for e in msg.onroadEvents:
-          cnt_events[e.name] += 1
-      elif msg.which() == 'controlsState':
-        if len(alerts) == 0 or alerts[-1][1] != msg.controlsState.alertType:
+    if msg.which() == 'onroadEvents':
+      for e in msg.onroadEvents:
+        cnt_events[e.name] += 1
+    elif msg.which() == 'controlsState':
+      at = msg.controlsState.alertType
+      if "/override" not in at or "lanechange" in at.lower():
+        if len(alerts) == 0 or alerts[-1][1] != at:
           t = (msg.logMonoTime - start_time) / 1e9
-          alerts.append((t, msg.controlsState.alertType))
-      elif msg.which() == 'pandaStates':
-        if ignition_off is None:
-          ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates)
-          if not ign:
-            ignition_off = msg.logMonoTime
-      elif msg.which() in cams:
-        cnt_cameras[msg.which()] += 1
+          alerts.append((t, at))
+    elif msg.which() == 'pandaStates':
+      if ignition_off is None:
+        ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates)
+        if not ign:
+          ignition_off = msg.logMonoTime
+    elif msg.which() in cams:
+      cnt_cameras[msg.which()] += 1
 
-      if not msg.valid:
-        cnt_valid[msg.which()] += 1
+    if not msg.valid:
+      cnt_valid[msg.which()] += 1
 
   duration = (end_time - start_time) / 1e9
 
diff --git a/selfdrive/debug/filter_log_message.py b/selfdrive/debug/filter_log_message.py
index 20cef0fcc0..f8e78c8b98 100755
--- a/selfdrive/debug/filter_log_message.py
+++ b/selfdrive/debug/filter_log_message.py
@@ -1,11 +1,9 @@
 #!/usr/bin/env python3
-import os
 import argparse
 import json
 
 import cereal.messaging as messaging
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.srreader import SegmentRangeReader
 
 LEVELS = {
   "DEBUG": 10,
@@ -53,31 +51,18 @@ if __name__ == "__main__":
   parser.add_argument("route", type=str, nargs='*', help="route name + segment number for offline usage")
   args = parser.parse_args()
 
-  logs = None
-  if len(args.route):
-    if os.path.exists(args.route[0]):
-      logs = [args.route[0]]
-    else:
-      r = Route(args.route[0])
-      logs = [q_log if r_log is None else r_log for (q_log, r_log) in zip(r.qlog_paths(), r.log_paths(), strict=True)]
-
-  if len(args.route) == 2 and logs:
-    n = int(args.route[1])
-    logs = [logs[n]]
-
   min_level = LEVELS[args.level]
 
-  if logs:
-    for log in logs:
-      if log:
-        lr = LogReader(log)
-        for m in lr:
-          if m.which() == 'logMessage':
-            print_logmessage(m.logMonoTime, m.logMessage, min_level)
-          elif m.which() == 'errorLogMessage' and 'qlog' in log:
-            print_logmessage(m.logMonoTime, m.errorLogMessage, min_level)
-          elif m.which() == 'androidLog':
-            print_androidlog(m.logMonoTime, m.androidLog)
+  if args.route:
+    for route in args.route:
+      lr = SegmentRangeReader(route)
+      for m in lr:
+        if m.which() == 'logMessage':
+          print_logmessage(m.logMonoTime, m.logMessage, min_level)
+        elif m.which() == 'errorLogMessage':
+          print_logmessage(m.logMonoTime, m.errorLogMessage, min_level)
+        elif m.which() == 'androidLog':
+          print_androidlog(m.logMonoTime, m.androidLog)
   else:
     sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr)
     while True:
diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py
index c2bff7c638..7126a282c9 100755
--- a/selfdrive/debug/fingerprint_from_route.py
+++ b/selfdrive/debug/fingerprint_from_route.py
@@ -1,8 +1,7 @@
 #!/usr/bin/env python3
 
 import sys
-from openpilot.tools.lib.route import Route
-from openpilot.tools.lib.logreader import MultiLogIterator
+from openpilot.tools.lib.srreader import ReadMode, SegmentRangeReader
 
 
 def get_fingerprint(lr):
@@ -40,6 +39,5 @@ if __name__ == "__main__":
     print("Usage: ./fingerprint_from_route.py <route>")
     sys.exit(1)
 
-  route = Route(sys.argv[1])
-  lr = MultiLogIterator(route.log_paths()[:5])
+  lr = SegmentRangeReader(sys.argv[1], ReadMode.QLOG)
   get_fingerprint(lr)
diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py
index 8fb6277d3b..3d35532496 100755
--- a/selfdrive/debug/print_docs_diff.py
+++ b/selfdrive/debug/print_docs_diff.py
@@ -8,9 +8,10 @@ from openpilot.selfdrive.car.docs import get_all_car_info
 from openpilot.selfdrive.car.docs_definitions import Column
 
 FOOTNOTE_TAG = "<sup>{}</sup>"
-STAR_ICON = '<a href="##"><img valign="top" src="https://raw.githubusercontent.com/commaai/openpilot/master/docs/assets/icon-star-{}.svg" width="22" /></a>'
-VIDEO_ICON = '<a href="{}" target="_blank">\
-                          <img height="18px" src="https://raw.githubusercontent.com/commaai/openpilot/master/docs/assets/icon-youtube.svg"></img></a>'
+STAR_ICON = '<a href="##"><img valign="top" ' + \
+            'src="https://media.githubusercontent.com/media/commaai/openpilot/master/docs/assets/icon-star-{}.svg" width="22" /></a>'
+VIDEO_ICON = '<a href="{}" target="_blank">' + \
+             '<img height="18px" src="https://media.githubusercontent.com/media/commaai/openpilot/master/docs/assets/icon-youtube.svg"></img></a>'
 COLUMNS = "|" + "|".join([column.value for column in Column]) + "|"
 COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3)))
 ARROW_SYMBOL = "➡️"
diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py
index 8209b409ca..51ba06ec14 100755
--- a/selfdrive/debug/run_process_on_route.py
+++ b/selfdrive/debug/run_process_on_route.py
@@ -3,14 +3,12 @@
 import argparse
 
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
-from openpilot.tools.lib.logreader import MultiLogIterator
-from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.helpers import save_log
+from openpilot.tools.lib.srreader import SegmentRangeReader
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Run process on route and create new logs",
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-  parser.add_argument("--qlog", help="Use qlog instead of log", action="store_true")
   parser.add_argument("--fingerprint", help="The fingerprint to use")
   parser.add_argument("route", help="The route name to use")
   parser.add_argument("process", help="The process to run")
@@ -18,8 +16,7 @@ if __name__ == "__main__":
 
   cfg = [c for c in CONFIGS if c.proc_name == args.process][0]
 
-  route = Route(args.route)
-  lr = MultiLogIterator(route.qlog_paths() if args.qlog else route.log_paths())
+  lr = SegmentRangeReader(args.route)
   inputs = list(lr)
 
   outputs = replay_process(cfg, inputs, fingerprint=args.fingerprint)
@@ -29,5 +26,5 @@ if __name__ == "__main__":
   inputs = [i for i in inputs if i.which() not in produces]
   outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)
 
-  fn = f"{args.route}_{args.process}.bz2"
+  fn = f"{args.route.replace('/', '_')}_{args.process}.bz2"
   save_log(fn, outputs)
diff --git a/selfdrive/debug/sensor_data_to_hist.py b/selfdrive/debug/sensor_data_to_hist.py
deleted file mode 100755
index 73f98b285c..0000000000
--- a/selfdrive/debug/sensor_data_to_hist.py
+++ /dev/null
@@ -1,111 +0,0 @@
-#!/usr/bin/env python3
-'''
-printing the gap between interrupts in a histogram to check if the
-frequency is what we expect, the bmx is not interrupt driven for as we
-get interrupts in a 2kHz rate.
-'''
-
-import argparse
-import sys
-import numpy as np
-from collections import defaultdict
-
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.route import Route
-
-import matplotlib.pyplot as plt
-
-SRC_BMX = "bmx055"
-SRC_LSM = "lsm6ds3"
-
-
-def parseEvents(log_reader):
-  bmx_data = defaultdict(list)
-  lsm_data = defaultdict(list)
-
-  for m in log_reader:
-    if m.which() not in ['accelerometer', 'gyroscope']:
-      continue
-
-    d = getattr(m, m.which()).to_dict()
-
-    if d["source"] == SRC_BMX and "acceleration" in d:
-      bmx_data["accel"].append(d["timestamp"] / 1e9)
-
-    if d["source"] == SRC_BMX and "gyroUncalibrated" in d:
-      bmx_data["gyro"].append(d["timestamp"] / 1e9)
-
-    if d["source"] == SRC_LSM and "acceleration" in d:
-      lsm_data["accel"].append(d["timestamp"] / 1e9)
-
-    if d["source"] == SRC_LSM and "gyroUncalibrated" in d:
-      lsm_data["gyro"].append(d["timestamp"] / 1e9)
-
-  return bmx_data, lsm_data
-
-
-def cleanData(data):
-  if len(data) == 0:
-    return [], []
-
-  data.sort()
-  diffs = np.diff(data)
-  return data, diffs
-
-
-def logAvgValues(data, sensor):
-  if len(data) == 0:
-    print(f"{sensor}: no data to average")
-    return
-
-  avg = sum(data) / len(data)
-  hz  = 1 / avg
-  print(f"{sensor}: data_points: {len(data)} avg [ns]: {avg} avg [Hz]: {hz}")
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("route", type=str, help="route name")
-  parser.add_argument("segment", type=int, help="segment number")
-  args = parser.parse_args()
-
-  r = Route(args.route)
-  logs = r.log_paths()
-
-  if len(logs) == 0:
-    print("NO data routes")
-    sys.exit(0)
-
-  if args.segment >= len(logs):
-    print(f"RouteID: {args.segment} out of range, max: {len(logs) -1}")
-    sys.exit(0)
-
-  lr = LogReader(logs[args.segment])
-  bmx_data, lsm_data = parseEvents(lr)
-
-  # sort bmx accel data, and then cal all the diffs, and to a histogram of those
-  bmx_accel, bmx_accel_diffs = cleanData(bmx_data["accel"])
-  bmx_gyro, bmx_gyro_diffs = cleanData(bmx_data["gyro"])
-  lsm_accel, lsm_accel_diffs = cleanData(lsm_data["accel"])
-  lsm_gyro, lsm_gyro_diffs = cleanData(lsm_data["gyro"])
-
-  # get out the averages
-  logAvgValues(bmx_accel_diffs, "bmx accel")
-  logAvgValues(bmx_gyro_diffs, "bmx gyro ")
-  logAvgValues(lsm_accel_diffs, "lsm accel")
-  logAvgValues(lsm_gyro_diffs, "lsm gyro ")
-
-  fig, axs = plt.subplots(1, 2, tight_layout=True)
-  axs[0].hist(bmx_accel_diffs, bins=50)
-  axs[0].set_title("bmx_accel")
-  axs[1].hist(bmx_gyro_diffs, bins=50)
-  axs[1].set_title("bmx_gyro")
-
-  figl, axsl = plt.subplots(1, 2, tight_layout=True)
-  axsl[0].hist(lsm_accel_diffs, bins=50)
-  axsl[0].set_title("lsm_accel")
-  axsl[1].hist(lsm_gyro_diffs, bins=50)
-  axsl[1].set_title("lsm_gyro")
-
-  print("check plot...")
-  plt.show()
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index 83e173244e..20c5486c32 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -112,8 +112,8 @@ if __name__ == "__main__":
           padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw])
           for version in sorted(car_fw, key=lambda fw: fw.brand):
             subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-            print(f"  Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - \
-                      (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
+            print(f"  Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - " +
+                  "(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
 
           print("Mismatches")
           found = False
diff --git a/selfdrive/debug/toyota_eps_factor.py b/selfdrive/debug/toyota_eps_factor.py
index d60d2d372b..1f72fa296a 100755
--- a/selfdrive/debug/toyota_eps_factor.py
+++ b/selfdrive/debug/toyota_eps_factor.py
@@ -5,8 +5,7 @@ import matplotlib.pyplot as plt
 from sklearn import linear_model
 from openpilot.selfdrive.car.toyota.values import STEER_THRESHOLD
 
-from openpilot.tools.lib.route import Route
-from openpilot.tools.lib.logreader import MultiLogIterator
+from openpilot.tools.lib.srreader import SegmentRangeReader
 
 MIN_SAMPLES = 30 * 100
 
@@ -58,7 +57,6 @@ def get_eps_factor(lr, plot=False):
 
 
 if __name__ == "__main__":
-  r = Route(sys.argv[1])
-  lr = MultiLogIterator(r.log_paths())
+  lr = SegmentRangeReader(sys.argv[1])
   n = get_eps_factor(lr, plot="--plot" in sys.argv)
   print("EPS torque factor: ", n)
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index 37947a9a03..8b9bba4a47 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -229,6 +229,8 @@ if __name__ == "__main__":
 
   try:
     main()
+  except KeyboardInterrupt:
+    print("got CTRL-C, exiting")
   except Exception:
     add_file_handler(cloudlog)
     cloudlog.exception("Manager failed to start")
diff --git a/selfdrive/modeld/models/navmodel.onnx b/selfdrive/modeld/models/navmodel.onnx
index 3b0961537e..93edb593cc 100644
--- a/selfdrive/modeld/models/navmodel.onnx
+++ b/selfdrive/modeld/models/navmodel.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:adc5aca6753b6ae0a1469f3e5bcb943d00cc9de75218489f2e4c3d960e7af048
-size 14138061
+oid sha256:4971931accb5ba2e534bb3e0c591826ee507e2988df2eccf1fe862c303ddf9c5
+size 14221074
diff --git a/selfdrive/modeld/models/navmodel_q.dlc b/selfdrive/modeld/models/navmodel_q.dlc
index e878ec25af..cb6e55b75f 100644
--- a/selfdrive/modeld/models/navmodel_q.dlc
+++ b/selfdrive/modeld/models/navmodel_q.dlc
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c808717d073a0bb347f9ba929953c0b2b792ce9997f343f7e44a0b2b0e139132
+oid sha256:fa346ada6f8c6326a5ee5fcd27e45e3e710049358079413c6a4624b20c6e1e47
 size 3630942
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 9697c01793..ca8642093d 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cf6133c5bff295a3ee69eeb01297ba77adb6b83dbc1d774442a48117dbaf4626
-size 48457192
+oid sha256:ae44fe832fe48b89998f09cebb1bcd129864a8f51497b636cd38e66e46d69a89
+size 48457850
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index 78b01c983f..693604442d 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -8,6 +8,7 @@ from openpilot.common.params import Params
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.system.hardware import PC
 from openpilot.system.version import training_version, terms_version
+from openpilot.tools.lib.logreader import LogIterable
 
 
 def set_params_enabled():
@@ -72,3 +73,18 @@ def with_processes(processes, init_time=0, ignore_stopped=None):
 
 def noop(*args, **kwargs):
   pass
+
+
+def read_segment_list(segment_list_path):
+  with open(segment_list_path, "r") as f:
+    seg_list = f.read().splitlines()
+
+  return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)]
+
+
+# Utilities for sanitizing routes of only essential data for testing car ports and doing validation.
+
+PRESERVE_SERVICES = ["can", "carParams", "pandaStates", "pandaStateDEPRECATED"]
+
+def sanitize(lr: LogIterable) -> LogIterable:
+  return filter(lambda msg: msg.which() in PRESERVE_SERVICES, lr)
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index bb111e22e2..1be0aaf8c3 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-91cd2bf71771c2770c0effc26c0bb23d27208138
+ad64b6f38c1362e9d184f3fc95299284eacb56d4
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 559749be14..9163bcae75 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-ea96f935a7a16c53623c3b03e70c0fbfa6b249e7
+1b981ce7f817974d4a7a28b06f01f727a5a7ea7b
\ No newline at end of file
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 3f97ef6bc6..bc12234c9c 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -34,7 +34,7 @@ PROCS = {
   "./encoderd": 17.0,
   "./camerad": 14.5,
   "./locationd": 11.0,
-  "./mapsd": (1.0, 10.0),
+  "./mapsd": (0.5, 10.0),
   "selfdrive.controls.plannerd": 11.0,
   "./ui": 18.0,
   "selfdrive.locationd.paramsd": 9.0,
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 8b51aedbdb..7011ff0a99 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -312,6 +312,9 @@ def thermald_thread(end_event, hw_queue) -> None:
     # must be at an engageable thermal band to go onroad
     startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.red
 
+    # ensure device is fully booted
+    startup_conditions["device_booted"] = startup_conditions.get("device_booted", False) or HARDWARE.booted()
+
     # if the temperature enters the danger zone, go offroad to cool down
     onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
     extra_text = f"{offroad_comp_temp:.1f}C"
diff --git a/selfdrive/ui/qt/maps/map_eta.cc b/selfdrive/ui/qt/maps/map_eta.cc
index 322861ed15..161844c618 100644
--- a/selfdrive/ui/qt/maps/map_eta.cc
+++ b/selfdrive/ui/qt/maps/map_eta.cc
@@ -20,7 +20,7 @@ void MapETA::paintEvent(QPaintEvent *event) {
     QPainter p(this);
     p.setRenderHint(QPainter::Antialiasing);
     p.setPen(Qt::NoPen);
-    p.setBrush(QColor(0, 0, 0, 150));
+    p.setBrush(QColor(0, 0, 0, 255));
     QSizeF txt_size = eta_doc.size();
     p.drawRoundedRect((width() - txt_size.width()) / 2 - UI_BORDER_SIZE, 0, txt_size.width() + UI_BORDER_SIZE * 2, height() + 25, 25, 25);
     p.translate((width() - txt_size.width()) / 2, (height() - txt_size.height()) / 2);
diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
index 622d198f7d..9ba9054ea1 100755
--- a/selfdrive/ui/tests/test_translations.py
+++ b/selfdrive/ui/tests/test_translations.py
@@ -2,30 +2,28 @@
 import json
 import os
 import re
-import shutil
 import unittest
+import shutil
+import tempfile
 import xml.etree.ElementTree as ET
+import string
+import requests
+from parameterized import parameterized_class
 
 from openpilot.selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations
 
-TMP_TRANSLATIONS_DIR = os.path.join(TRANSLATIONS_DIR, "tmp")
+with open(LANGUAGES_FILE, "r") as f:
+  translation_files = json.load(f)
+
 UNFINISHED_TRANSLATION_TAG = "<translation type=\"unfinished\""  # non-empty translations can be marked unfinished
 LOCATION_TAG = "<location "
 FORMAT_ARG = re.compile("%[0-9]+")
 
 
+@parameterized_class(("name", "file"), translation_files.items())
 class TestTranslations(unittest.TestCase):
-  @classmethod
-  def setUpClass(cls):
-    with open(LANGUAGES_FILE, "r") as f:
-      cls.translation_files = json.load(f)
-
-    # Set up temp directory
-    shutil.copytree(TRANSLATIONS_DIR, TMP_TRANSLATIONS_DIR, dirs_exist_ok=True)
-
-  @classmethod
-  def tearDownClass(cls):
-    shutil.rmtree(TMP_TRANSLATIONS_DIR, ignore_errors=True)
+  name: str
+  file: str
 
   @staticmethod
   def _read_translation_file(path, file):
@@ -34,39 +32,29 @@ class TestTranslations(unittest.TestCase):
       return f.read()
 
   def test_missing_translation_files(self):
-    for name, file in self.translation_files.items():
-      with self.subTest(name=name, file=file):
-        self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")),
-                        f"{name} has no XML translation file, run selfdrive/ui/update_translations.py")
+    self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")),
+                    f"{self.name} has no XML translation file, run selfdrive/ui/update_translations.py")
 
   def test_translations_updated(self):
-    update_translations(plural_only=["main_en"], translations_dir=TMP_TRANSLATIONS_DIR)
-
-    for name, file in self.translation_files.items():
-      with self.subTest(name=name, file=file):
-        # caught by test_missing_translation_files
-        if not os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")):
-          self.skipTest(f"{name} missing translation file")
+    with tempfile.TemporaryDirectory() as tmpdir:
+      shutil.copytree(TRANSLATIONS_DIR, tmpdir, dirs_exist_ok=True)
+      update_translations(translation_files=[self.file], translations_dir=tmpdir)
 
-        cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file)
-        new_translations = self._read_translation_file(TMP_TRANSLATIONS_DIR, file)
-        self.assertEqual(cur_translations, new_translations,
-                         f"{file} ({name}) XML translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files")
+      cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
+      new_translations = self._read_translation_file(tmpdir, self.file)
+      self.assertEqual(cur_translations, new_translations,
+                       f"{self.file} ({self.name}) XML translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files")
 
   @unittest.skip("Only test unfinished translations before going to release")
   def test_unfinished_translations(self):
-    for name, file in self.translation_files.items():
-      with self.subTest(name=name, file=file):
-        cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file)
-        self.assertTrue(UNFINISHED_TRANSLATION_TAG not in cur_translations,
-                        f"{file} ({name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist")
+    cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
+    self.assertTrue(UNFINISHED_TRANSLATION_TAG not in cur_translations,
+                    f"{self.file} ({self.name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist")
 
   def test_vanished_translations(self):
-    for name, file in self.translation_files.items():
-      with self.subTest(name=name, file=file):
-        cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file)
-        self.assertTrue("<translation type=\"vanished\">" not in cur_translations,
-                        f"{file} ({name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them")
+    cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
+    self.assertTrue("<translation type=\"vanished\">" not in cur_translations,
+                    f"{self.file} ({self.name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them")
 
   def test_finished_translations(self):
     """
@@ -78,48 +66,68 @@ class TestTranslations(unittest.TestCase):
       - that translation is not empty
       - that translation format arguments are consistent
     """
-    for name, file in self.translation_files.items():
-      with self.subTest(name=name, file=file):
-        tr_xml = ET.parse(os.path.join(TRANSLATIONS_DIR, f"{file}.ts"))
+    tr_xml = ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts"))
 
-        for context in tr_xml.getroot():
-          for message in context.iterfind("message"):
-            translation = message.find("translation")
-            source_text = message.find("source").text
+    for context in tr_xml.getroot():
+      for message in context.iterfind("message"):
+        translation = message.find("translation")
+        source_text = message.find("source").text
 
-            # Do not test unfinished translations
-            if translation.get("type") == "unfinished":
-              continue
+        # Do not test unfinished translations
+        if translation.get("type") == "unfinished":
+          continue
 
-            if message.get("numerus") == "yes":
-              numerusform = [t.text for t in translation.findall("numerusform")]
+        if message.get("numerus") == "yes":
+          numerusform = [t.text for t in translation.findall("numerusform")]
 
-              for nf in numerusform:
-                self.assertIsNotNone(nf, f"Ensure all plural translation forms are completed: {source_text}")
-                self.assertIn("%n", nf, "Ensure numerus argument (%n) exists in translation.")
-                self.assertIsNone(FORMAT_ARG.search(nf), "Plural translations must use %n, not %1, %2, etc.: {}".format(numerusform))
+          for nf in numerusform:
+            self.assertIsNotNone(nf, f"Ensure all plural translation forms are completed: {source_text}")
+            self.assertIn("%n", nf, "Ensure numerus argument (%n) exists in translation.")
+            self.assertIsNone(FORMAT_ARG.search(nf), "Plural translations must use %n, not %1, %2, etc.: {}".format(numerusform))
 
-            else:
-              self.assertIsNotNone(translation.text, f"Ensure translation is completed: {source_text}")
+        else:
+          self.assertIsNotNone(translation.text, f"Ensure translation is completed: {source_text}")
 
-              source_args = FORMAT_ARG.findall(source_text)
-              translation_args = FORMAT_ARG.findall(translation.text)
-              self.assertEqual(sorted(source_args), sorted(translation_args),
-                               f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`")
+          source_args = FORMAT_ARG.findall(source_text)
+          translation_args = FORMAT_ARG.findall(translation.text)
+          self.assertEqual(sorted(source_args), sorted(translation_args),
+                           f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`")
 
   def test_no_locations(self):
-    for name, file in self.translation_files.items():
-      with self.subTest(name=name, file=file):
-        for line in self._read_translation_file(TRANSLATIONS_DIR, file).splitlines():
-          self.assertFalse(line.strip().startswith(LOCATION_TAG),
-                           f"Line contains location tag: {line.strip()}, remove all line numbers.")
+    for line in self._read_translation_file(TRANSLATIONS_DIR, self.file).splitlines():
+      self.assertFalse(line.strip().startswith(LOCATION_TAG),
+                       f"Line contains location tag: {line.strip()}, remove all line numbers.")
 
   def test_entities_error(self):
-    for name, file in self.translation_files.items():
-      with self.subTest(name=name, file=file):
-        cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file)
-        matches = re.findall(r'@(\w+);', cur_translations)
-        self.assertEqual(len(matches), 0, f"The string(s) {matches} were found with '@' instead of '&'")
+    cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
+    matches = re.findall(r'@(\w+);', cur_translations)
+    self.assertEqual(len(matches), 0, f"The string(s) {matches} were found with '@' instead of '&'")
+
+  def test_bad_language(self):
+    IGNORED_WORDS = {'pédale'}
+
+    match = re.search(r'_([a-zA-Z]{2,3})', self.file)
+    assert match, f"{self.name} - could not parse language"
+
+    response = requests.get(f"https://raw.githubusercontent.com/LDNOOBW/List-of-Dirty-Naughty-Obscene-and-Otherwise-Bad-Words/master/{match.group(1)}")
+    response.raise_for_status()
+
+    banned_words = {line.strip() for line in response.text.splitlines()}
+
+    for context in ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")).getroot():
+      for message in context.iterfind("message"):
+        translation = message.find("translation")
+        if translation.get("type") == "unfinished":
+          continue
+
+        translation_text = " ".join([t.text for t in translation.findall("numerusform")]) if message.get("numerus") == "yes" else translation.text
+
+        if not translation_text:
+          continue
+
+        words = set(translation_text.translate(str.maketrans('', '', string.punctuation + '%n')).lower().split())
+        bad_words_found = words & (banned_words - IGNORED_WORDS)
+        assert not bad_words_found, f"Bad language found in {self.name}: '{translation_text}'. Bad word(s): {', '.join(bad_words_found)}"
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/ui/translations/auto_translate.py b/selfdrive/ui/translations/auto_translate.py
new file mode 100755
index 0000000000..8613feb245
--- /dev/null
+++ b/selfdrive/ui/translations/auto_translate.py
@@ -0,0 +1,138 @@
+#!/usr/bin/env python3
+
+import argparse
+import json
+import os
+import pathlib
+import xml.etree.ElementTree as ET
+from typing import cast
+
+import requests
+
+TRANSLATIONS_DIR = pathlib.Path(__file__).resolve().parent
+TRANSLATIONS_LANGUAGES = TRANSLATIONS_DIR / "languages.json"
+
+OPENAI_MODEL = "gpt-4"
+OPENAI_API_KEY = os.environ.get("OPENAI_API_KEY")
+OPENAI_PROMPT = "You are a professional translator from English to {language} (ISO 639 language code). " + \
+                "The following sentence or word is in the GUI of a software called openpilot, translate it accordingly."
+
+
+def get_language_files(languages: list[str] | None = None) -> dict[str, pathlib.Path]:
+  files = {}
+
+  with open(TRANSLATIONS_LANGUAGES) as fp:
+    language_dict = json.load(fp)
+
+    for filename in language_dict.values():
+      path = TRANSLATIONS_DIR / f"{filename}.ts"
+      language = path.stem.split("main_")[1]
+
+      if languages is None or language in languages:
+        files[language] = path
+
+  return files
+
+
+def translate_phrase(text: str, language: str) -> str:
+  response = requests.post(
+    "https://api.openai.com/v1/chat/completions",
+    json={
+      "model": OPENAI_MODEL,
+      "messages": [
+        {
+          "role": "system",
+          "content": OPENAI_PROMPT.format(language=language),
+        },
+        {
+          "role": "user",
+          "content": text,
+        },
+      ],
+      "temperature": 0.8,
+      "max_tokens": 1024,
+      "top_p": 1,
+    },
+    headers={
+      "Authorization": f"Bearer {OPENAI_API_KEY}",
+      "Content-Type": "application/json",
+    },
+  )
+
+  if 400 <= response.status_code < 600:
+    raise requests.HTTPError(f'Error {response.status_code}: {response.json()}', response=response)
+
+  data = response.json()
+
+  return cast(str, data["choices"][0]["message"]["content"])
+
+
+def translate_file(path: pathlib.Path, language: str, all_: bool) -> None:
+  tree = ET.parse(path)
+
+  root = tree.getroot()
+
+  for context in root.findall("./context"):
+    name = context.find("name")
+    if name is None:
+      raise ValueError("name not found")
+
+    print(f"Context: {name.text}")
+
+    for message in context.findall("./message"):
+      source = message.find("source")
+      translation = message.find("translation")
+
+      if source is None or translation is None:
+        raise ValueError("source or translation not found")
+
+      if not all_ and translation.attrib.get("type") != "unfinished":
+        continue
+
+      llm_translation = translate_phrase(cast(str, source.text), language)
+
+      print(f"Source: {source.text}\n" +
+            f"Current translation: {translation.text}\n" +
+            f"LLM translation: {llm_translation}")
+
+      translation.text = llm_translation
+
+  with path.open("w", encoding="utf-8") as fp:
+    fp.write('<?xml version="1.0" encoding="utf-8"?>\n' +
+             '<!DOCTYPE TS>\n' +
+             ET.tostring(root, encoding="utf-8").decode())
+
+
+def main():
+  arg_parser = argparse.ArgumentParser("Auto translate")
+
+  group = arg_parser.add_mutually_exclusive_group(required=True)
+  group.add_argument("-a", "--all-files", action="store_true", help="Translate all files")
+  group.add_argument("-f", "--file", nargs="+", help="Translate the selected files. (Example: -f fr de)")
+
+  arg_parser.add_argument("-t", "--all-translations", action="store_true", default=False, help="Translate all sections. (Default: only unfinished)")
+
+  args = arg_parser.parse_args()
+
+  if OPENAI_API_KEY is None:
+    print("OpenAI API key is missing. (Hint: use `export OPENAI_API_KEY=YOUR-KEY` before you run the script).\n" +
+          "If you don't have one go to: https://beta.openai.com/account/api-keys.")
+    exit(1)
+
+  files = get_language_files(None if args.all_files else args.file)
+
+  if args.file:
+    missing_files = set(args.file) - set(files)
+    if len(missing_files):
+      print(f"No language files found: {missing_files}")
+      exit(1)
+
+  print(f"Translation mode: {'all' if args.all_translations else 'only unfinished'}. Files: {list(files)}")
+
+  for lang, path in files.items():
+    print(f"Translate {lang} ({path})")
+    translate_file(path, lang, args.all_translations)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py
index a1b2ecb289..f6c8aae448 100755
--- a/selfdrive/ui/translations/create_badges.py
+++ b/selfdrive/ui/translations/create_badges.py
@@ -54,8 +54,8 @@ if __name__ == "__main__":
 
     badge_svg.extend([f'<g transform="translate(0, {idx * BADGE_HEIGHT})">', content_svg, "</g>"])
 
-  badge_svg.insert(0, f'<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" \
-                             height="{len(translation_files) * BADGE_HEIGHT}" width="{max_badge_width}">')
+  badge_svg.insert(0, '<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" ' +
+                   f'height="{len(translation_files) * BADGE_HEIGHT}" width="{max_badge_width}">')
   badge_svg.append("</svg>")
 
   with open(os.path.join(BASEDIR, "translation_badge.svg"), "w") as badge_f:
diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py
index 004c6425dc..e988a13b7f 100755
--- a/selfdrive/ui/update_translations.py
+++ b/selfdrive/ui/update_translations.py
@@ -9,6 +9,7 @@ UI_DIR = os.path.join(BASEDIR, "selfdrive", "ui")
 TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations")
 LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json")
 TRANSLATIONS_INCLUDE_FILE = os.path.join(TRANSLATIONS_DIR, "alerts_generated.h")
+PLURAL_ONLY = ["main_en"]  # base language, only create entries for strings with plural forms
 
 
 def generate_translations_include():
@@ -22,21 +23,20 @@ def generate_translations_include():
   with open(TRANSLATIONS_INCLUDE_FILE, "w") as f:
     f.write(content)
 
-def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLATIONS_DIR):
-  generate_translations_include()
 
-  if plural_only is None:
-    plural_only = []
+def update_translations(vanish: bool = False, translation_files: None | list[str] = None, translations_dir: str = TRANSLATIONS_DIR):
+  generate_translations_include()
 
-  with open(LANGUAGES_FILE, "r") as f:
-    translation_files = json.load(f)
+  if translation_files is None:
+    with open(LANGUAGES_FILE, "r") as f:
+      translation_files = json.load(f).values()
 
-  for file in translation_files.values():
+  for file in translation_files:
     tr_file = os.path.join(translations_dir, f"{file}.ts")
     args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file} -I {BASEDIR}"
     if vanish:
       args += " -no-obsolete"
-    if file in plural_only:
+    if file in PLURAL_ONLY:
       args += " -pluralonly"
     ret = os.system(args)
     assert ret == 0
@@ -46,8 +46,6 @@ if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Update translation files for UI",
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
   parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found")
-  parser.add_argument("--plural-only", type=str, nargs="*", default=["main_en"],
-                      help="Translation codes to only create plural translations for (ie. the base language)")
   args = parser.parse_args()
 
-  update_translations(args.vanish, args.plural_only)
+  update_translations(args.vanish)
diff --git a/selfdrive/updated.py b/selfdrive/updated.py
index db6a06dc9e..a623aaefc8 100755
--- a/selfdrive/updated.py
+++ b/selfdrive/updated.py
@@ -230,7 +230,6 @@ class Updater:
     b: Union[str, None] = self.params.get("UpdaterTargetBranch", encoding='utf-8')
     if b is None:
       b = self.get_branch(BASEDIR)
-      self.params.put("UpdaterTargetBranch", b)
     return b
 
   @property
@@ -245,7 +244,7 @@ class Updater:
 
   @property
   def update_available(self) -> bool:
-    if os.path.isdir(OVERLAY_MERGED):
+    if os.path.isdir(OVERLAY_MERGED) and len(self.branches) > 0:
       hash_mismatch = self.get_commit_hash(OVERLAY_MERGED) != self.branches[self.target_branch]
       branch_mismatch = self.get_branch(OVERLAY_MERGED) != self.target_branch
       return hash_mismatch or branch_mismatch
@@ -259,9 +258,11 @@ class Updater:
 
   def set_params(self, update_success: bool, failed_count: int, exception: Optional[str]) -> None:
     self.params.put("UpdateFailedCount", str(failed_count))
+    self.params.put("UpdaterTargetBranch", self.target_branch)
 
     self.params.put_bool("UpdaterFetchAvailable", self.update_available)
-    self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys()))
+    if len(self.branches):
+      self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys()))
 
     last_update = datetime.datetime.utcnow()
     if update_success:
@@ -428,10 +429,11 @@ def main() -> None:
   # invalidate old finalized update
   set_consistent_flag(False)
 
-  # wait a bit before first cycle
-  wait_helper.sleep(60)
+  # set initial state
+  params.put("UpdaterState", "idle")
 
   # Run the update loop
+  first_run = True
   while True:
     wait_helper.ready_event.clear()
 
@@ -444,7 +446,8 @@ def main() -> None:
       # ensure we have some params written soon after startup
       updater.set_params(False, update_failed_count, exception)
 
-      if not system_time_valid():
+      if not system_time_valid() or first_run:
+        first_run = False
         wait_helper.sleep(60)
         continue
 
diff --git a/system/camerad/SConscript b/system/camerad/SConscript
index a0056c1f9f..60a8f261e5 100644
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@@ -3,7 +3,7 @@ Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc')
 libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon, 'atomic']
 
 camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc',
-                         'sensors/ar0231.cc', 'sensors/ox03c10.cc'])
+                         'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
 env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
 
 if GetOption("extras") and arch == "x86_64":
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index f74fb15bff..91c6d44f84 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -136,6 +136,7 @@ void CameraBuf::queue(size_t buf_idx) {
 
 void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c) {
   framed.setFrameId(frame_data.frame_id);
+  framed.setRequestId(frame_data.request_id);
   framed.setTimestampEof(frame_data.timestamp_eof);
   framed.setTimestampSof(frame_data.timestamp_sof);
   framed.setIntegLines(frame_data.integ_lines);
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 029d69990c..f98691ef00 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -26,6 +26,7 @@ const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL;
 
 typedef struct FrameMetadata {
   uint32_t frame_id;
+  uint32_t request_id;
 
   // Timestamps
   uint64_t timestamp_sof;
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 7915ad21fc..e17203a7dd 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -150,7 +150,7 @@ int CameraState::sensors_init() {
   power->count = 1;
   power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
   power->power_settings[0].power_seq_type = 0;
-  power->power_settings[0].config_val_low = ci->power_config_val_low;
+  power->power_settings[0].config_val_low = ci->mclk_frequency;
   power = power_set_wait(power, 1);
 
   // reset high
@@ -316,10 +316,10 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
       .h_init = 0x0,
       .v_init = 0x0,
     };
-    io_cfg[0].format = CAM_FORMAT_MIPI_RAW_12;             // CAM_FORMAT_UBWC_TP10 for YUV
+    io_cfg[0].format = ci->mipi_format;                    // CAM_FORMAT_UBWC_TP10 for YUV
     io_cfg[0].color_space = CAM_COLOR_SPACE_BASE;          // CAM_COLOR_SPACE_BT601_FULL for YUV
     io_cfg[0].color_pattern = 0x5;                         // 0x0 for YUV
-    io_cfg[0].bpp = 0xc;
+    io_cfg[0].bpp = (ci->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc);  // bits per pixel
     io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0;   // CAM_ISP_IFE_OUT_RES_FULL for YUV
     io_cfg[0].fence = fence;
     io_cfg[0].direction = CAM_BUF_OUTPUT;
@@ -459,7 +459,8 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
 
   // Try different sensors one by one until it success.
   if (!init_sensor_lambda(new AR0231) &&
-      !init_sensor_lambda(new OX03C10)) {
+      !init_sensor_lambda(new OX03C10) &&
+      !init_sensor_lambda(new OS04C10)) {
     LOGE("** sensor %d FAILED bringup, disabling", camera_num);
     enabled = false;
     return;
@@ -481,7 +482,6 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
 
   LOG("-- Configuring sensor");
   sensors_i2c(ci->init_reg_array.data(), ci->init_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word);
-  printf("dt is %x\n", ci->in_port_info_dt);
 
   // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c
   // If you don't do this, the strobe GPIO is an output (even in reset it seems!)
@@ -495,8 +495,8 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
     .lane_cfg = 0x3210,
 
     .vc = 0x0,
-    .dt = ci->in_port_info_dt,
-    .format = CAM_FORMAT_MIPI_RAW_12,
+    .dt = ci->frame_data_type,
+    .format = ci->mipi_format,
 
     .test_pattern = 0x2,  // 0x3?
     .usage_type = 0x0,
@@ -522,7 +522,7 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
     .num_out_res = 0x1,
     .data[0] = (struct cam_isp_out_port_info){
       .res_type = CAM_ISP_IFE_OUT_RES_RDI_0,
-      .format = CAM_FORMAT_MIPI_RAW_12,
+      .format = ci->mipi_format,
       .width = ci->frame_width,
       .height = ci->frame_height + ci->extra_height,
       .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
@@ -766,6 +766,7 @@ void CameraState::handle_camera_event(void *evdat) {
 
     auto &meta_data = buf.camera_bufs_metadata[buf_idx];
     meta_data.frame_id = main_id - idx_offset;
+    meta_data.request_id = real_id;
     meta_data.timestamp_sof = timestamp;
     exp_lock.lock();
     meta_data.gain = analog_gain_frac * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight);
@@ -970,6 +971,9 @@ void cameras_run(MultiCameraState *s) {
                  event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp/1e6, event_data->u.frame_msg.sof_status);
         }
 
+        // for debugging
+        //do_exit = do_exit || event_data->u.frame_msg.frame_id > (30*20);
+
         if (event_data->session_hdl == s->road_cam.session_handle) {
           s->road_cam.handle_camera_event(event_data);
         } else if (event_data->session_hdl == s->wide_road_cam.session_handle) {
@@ -980,6 +984,8 @@ void cameras_run(MultiCameraState *s) {
           LOGE("Unknown vidioc event source");
           assert(false);
         }
+      } else {
+        LOGE("unhandled event %d\n", ev.type);
       }
     } else {
       LOGE("VIDIOC_DQEVENT failed, errno=%d", errno);
diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
index 559370ca62..1ca4b3f1ad 100644
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@@ -93,8 +93,9 @@ AR0231::AR0231() {
   init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231));
   probe_reg_addr = 0x3000;
   probe_expected_data = 0x354;
-  in_port_info_dt = 0x12;  // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
-  power_config_val_low = 19200000; //Hz
+  mipi_format = CAM_FORMAT_MIPI_RAW_12;
+  frame_data_type = 0x12;  // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
+  mclk_frequency = 19200000; //Hz
 
   dc_gain_factor = 2.5;
   dc_gain_min_weight = 0;
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
new file mode 100644
index 0000000000..449e06be83
--- /dev/null
+++ b/system/camerad/sensors/os04c10.cc
@@ -0,0 +1,105 @@
+#include "system/camerad/sensors/sensor.h"
+
+namespace {
+
+const float sensor_analog_gains_OS04C10[] = {
+    1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875,
+    1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0,
+    3.125, 3.375, 3.625, 3.875, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5,
+    5.75, 6.0, 6.25, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0,
+    10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5};
+
+const uint32_t os04c10_analog_gains_reg[] = {
+    0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180, 0x190, 0x1B0,
+    0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0, 0x2E0, 0x300,
+    0x320, 0x360, 0x3A0, 0x3E0, 0x400, 0x440, 0x480, 0x4C0, 0x500, 0x540, 0x580,
+    0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00,
+    0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80};
+
+const uint32_t VS_TIME_MIN_OS04C10 = 1;
+//const uint32_t VS_TIME_MAX_OS04C10 = 34;  // vs < 35
+
+}  // namespace
+
+OS04C10::OS04C10() {
+  image_sensor = cereal::FrameData::ImageSensor::OS04C10;
+  data_word = false;
+
+  frame_width = 1920;
+  frame_height = 1080;
+  frame_stride = (1920*10/8);
+
+  /*
+  frame_width = 0xa80;
+  frame_height = 0x5f0;
+  frame_stride = 0xd20;
+  */
+
+  extra_height = 0;
+  frame_offset = 0;
+
+  start_reg_array.assign(std::begin(start_reg_array_os04c10), std::end(start_reg_array_os04c10));
+  init_reg_array.assign(std::begin(init_array_os04c10), std::end(init_array_os04c10));
+  probe_reg_addr = 0x300a;
+  probe_expected_data = 0x5304;
+  mipi_format = CAM_FORMAT_MIPI_RAW_10;
+  frame_data_type = 0x2b;
+  mclk_frequency = 24000000; // Hz
+
+  dc_gain_factor = 7.32;
+  dc_gain_min_weight = 1;  // always on is fine
+  dc_gain_max_weight = 1;
+  dc_gain_on_grey = 0.9;
+  dc_gain_off_grey = 1.0;
+  exposure_time_min = 2;  // 1x
+  exposure_time_max = 2016;
+  analog_gain_min_idx = 0x0;
+  analog_gain_rec_idx = 0x0;  // 1x
+  analog_gain_max_idx = 0x36;
+  analog_gain_cost_delta = -1;
+  analog_gain_cost_low = 0.4;
+  analog_gain_cost_high = 6.4;
+  for (int i = 0; i <= analog_gain_max_idx; i++) {
+    sensor_analog_gains[i] = sensor_analog_gains_OS04C10[i];
+  }
+  min_ev = (exposure_time_min + VS_TIME_MIN_OS04C10) * sensor_analog_gains[analog_gain_min_idx];
+  max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
+  target_grey_factor = 0.01;
+}
+
+std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
+  // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD
+  uint32_t hcg_time = exposure_time;
+  //uint32_t lcg_time = hcg_time;
+  //uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OS04C10) / 3), exposure_time_max + VS_TIME_MAX_OS04C10);
+  //uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OS04C10), VS_TIME_MAX_OS04C10);
+
+  uint32_t real_gain = os04c10_analog_gains_reg[new_exp_g];
+
+  hcg_time = 100;
+  real_gain = 0x320;
+
+  return {
+    {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF},
+    //{0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF},
+    //{0x3541, spd_time>>8}, {0x3542, spd_time&0xFF},
+    //{0x35c2, vs_time&0xFF},
+
+    {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF},
+  };
+}
+
+int OS04C10::getSlaveAddress(int port) const {
+  assert(port >= 0 && port <= 2);
+  return (int[]){0x6C, 0x20, 0x6C}[port];
+}
+
+float OS04C10::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {
+  float score = std::abs(desired_ev - (exp_t * exp_gain));
+  float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
+  score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
+  score += ((1 - analog_gain_cost_delta) +
+            analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) *
+           std::abs(exp_g_idx - gain_idx) * 5.0;
+  return score;
+}
diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h
new file mode 100644
index 0000000000..c92389d1e1
--- /dev/null
+++ b/system/camerad/sensors/os04c10_registers.h
@@ -0,0 +1,298 @@
+#pragma once
+
+const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}};
+const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}};
+
+const struct i2c_random_wr_payload init_array_os04c10[] = {
+  // OS04C10_AA_00_02_17_wAO_1920x1080_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
+  {0x0103, 0x01},
+  {0x0301, 0x84},
+  {0x0303, 0x01},
+  {0x0305, 0x5b},
+  {0x0306, 0x01},
+  {0x0307, 0x17},
+  {0x0323, 0x04},
+  {0x0324, 0x01},
+  {0x0325, 0x62},
+  {0x3012, 0x06},
+  {0x3013, 0x02},
+  {0x3016, 0x72},
+  {0x3021, 0x03},
+  {0x3106, 0x21},
+  {0x3107, 0xa1},
+  {0x3500, 0x00},
+  {0x3501, 0x00},
+  {0x3502, 0x40},
+  {0x3503, 0x88},
+  {0x3508, 0x07},
+  {0x3509, 0xc0},
+  {0x350a, 0x04},
+  {0x350b, 0x00},
+  {0x350c, 0x07},
+  {0x350d, 0xc0},
+  {0x350e, 0x04},
+  {0x350f, 0x00},
+  {0x3510, 0x00},
+  {0x3511, 0x00},
+  {0x3512, 0x20},
+  {0x3624, 0x00},
+  {0x3625, 0x4c},
+  {0x3660, 0x00},
+  {0x3666, 0xa5},
+  {0x3667, 0xa5},
+  {0x366a, 0x64},
+  {0x3673, 0x0d},
+  {0x3672, 0x0d},
+  {0x3671, 0x0d},
+  {0x3670, 0x0d},
+  {0x3685, 0x00},
+  {0x3694, 0x0d},
+  {0x3693, 0x0d},
+  {0x3692, 0x0d},
+  {0x3691, 0x0d},
+  {0x3696, 0x4c},
+  {0x3697, 0x4c},
+  {0x3698, 0x40},
+  {0x3699, 0x80},
+  {0x369a, 0x18},
+  {0x369b, 0x1f},
+  {0x369c, 0x14},
+  {0x369d, 0x80},
+  {0x369e, 0x40},
+  {0x369f, 0x21},
+  {0x36a0, 0x12},
+  {0x36a1, 0x5d},
+  {0x36a2, 0x66},
+  {0x370a, 0x00},
+  {0x370e, 0x0c},
+  {0x3710, 0x00},
+  {0x3713, 0x00},
+  {0x3725, 0x02},
+  {0x372a, 0x03},
+  {0x3738, 0xce},
+  {0x3748, 0x00},
+  {0x374a, 0x00},
+  {0x374c, 0x00},
+  {0x374e, 0x00},
+  {0x3756, 0x00},
+  {0x3757, 0x0e},
+  {0x3767, 0x00},
+  {0x3771, 0x00},
+  {0x377b, 0x20},
+  {0x377c, 0x00},
+  {0x377d, 0x0c},
+  {0x3781, 0x03},
+  {0x3782, 0x00},
+  {0x3789, 0x14},
+  {0x3795, 0x02},
+  {0x379c, 0x00},
+  {0x379d, 0x00},
+  {0x37b8, 0x04},
+  {0x37ba, 0x03},
+  {0x37bb, 0x00},
+  {0x37bc, 0x04},
+  {0x37be, 0x08},
+  {0x37c4, 0x11},
+  {0x37c5, 0x80},
+  {0x37c6, 0x14},
+  {0x37c7, 0x08},
+  {0x37da, 0x11},
+  {0x381f, 0x08},
+  {0x3829, 0x03},
+  {0x3881, 0x00},
+  {0x3888, 0x04},
+  {0x388b, 0x00},
+  {0x3c80, 0x10},
+  {0x3c86, 0x00},
+  {0x3c8c, 0x20},
+  {0x3c9f, 0x01},
+  {0x3d85, 0x1b},
+  {0x3d8c, 0x71},
+  {0x3d8d, 0xe2},
+  {0x3f00, 0x0b},
+  {0x3f06, 0x04},
+  {0x400a, 0x01},
+  {0x400b, 0x50},
+  {0x400e, 0x08},
+  {0x4043, 0x7e},
+  {0x4045, 0x7e},
+  {0x4047, 0x7e},
+  {0x4049, 0x7e},
+  {0x4090, 0x14},
+  {0x40b0, 0x00},
+  {0x40b1, 0x00},
+  {0x40b2, 0x00},
+  {0x40b3, 0x00},
+  {0x40b4, 0x00},
+  {0x40b5, 0x00},
+  {0x40b7, 0x00},
+  {0x40b8, 0x00},
+  {0x40b9, 0x00},
+  {0x40ba, 0x00},
+  {0x4301, 0x00},
+  {0x4303, 0x00},
+  {0x4502, 0x04},
+  {0x4503, 0x00},
+  {0x4504, 0x06},
+  {0x4506, 0x00},
+  {0x4507, 0x64},
+  {0x4803, 0x00},
+  {0x480c, 0x32},
+  {0x480e, 0x00},
+  {0x4813, 0x00},
+  {0x4819, 0x70},
+  {0x481f, 0x30},
+  {0x4823, 0x3f},
+  {0x4825, 0x30},
+  {0x4833, 0x10},
+  {0x484b, 0x07},
+  {0x488b, 0x00},
+  {0x4d00, 0x04},
+  {0x4d01, 0xad},
+  {0x4d02, 0xbc},
+  {0x4d03, 0xa1},
+  {0x4d04, 0x1f},
+  {0x4d05, 0x4c},
+  {0x4d0b, 0x01},
+  {0x4e00, 0x2a},
+  {0x4e0d, 0x00},
+  {0x5001, 0x09},
+  {0x5004, 0x00},
+  {0x5080, 0x04},
+  {0x5036, 0x00},
+  {0x5180, 0x70},
+  {0x5181, 0x10},
+  {0x520a, 0x03},
+  {0x520b, 0x06},
+  {0x520c, 0x0c},
+  {0x580b, 0x0f},
+  {0x580d, 0x00},
+  {0x580f, 0x00},
+  {0x5820, 0x00},
+  {0x5821, 0x00},
+  {0x301c, 0xf8},
+  {0x301e, 0xb4},
+  {0x301f, 0xd0},
+  {0x3022, 0x01},
+  {0x3109, 0xe7},
+  {0x3600, 0x00},
+  {0x3610, 0x65},
+  {0x3611, 0x85},
+  {0x3613, 0x3a},
+  {0x3615, 0x60},
+  {0x3621, 0x90},
+  {0x3620, 0x0c},
+  {0x3629, 0x00},
+  {0x3661, 0x04},
+  {0x3664, 0x70},
+  {0x3665, 0x00},
+  {0x3681, 0xa6},
+  {0x3682, 0x53},
+  {0x3683, 0x2a},
+  {0x3684, 0x15},
+  {0x3700, 0x2a},
+  {0x3701, 0x12},
+  {0x3703, 0x28},
+  {0x3704, 0x0e},
+  {0x3706, 0x4a},
+  {0x3709, 0x4a},
+  {0x370b, 0xa2},
+  {0x370c, 0x01},
+  {0x370f, 0x04},
+  {0x3714, 0x24},
+  {0x3716, 0x24},
+  {0x3719, 0x11},
+  {0x371a, 0x1e},
+  {0x3720, 0x00},
+  {0x3724, 0x13},
+  {0x373f, 0xb0},
+  {0x3741, 0x4a},
+  {0x3743, 0x4a},
+  {0x3745, 0x4a},
+  {0x3747, 0x4a},
+  {0x3749, 0xa2},
+  {0x374b, 0xa2},
+  {0x374d, 0xa2},
+  {0x374f, 0xa2},
+  {0x3755, 0x10},
+  {0x376c, 0x00},
+  {0x378d, 0x30},
+  {0x3790, 0x4a},
+  {0x3791, 0xa2},
+  {0x3798, 0x40},
+  {0x379e, 0x00},
+  {0x379f, 0x04},
+  {0x37a1, 0x10},
+  {0x37a2, 0x1e},
+  {0x37a8, 0x10},
+  {0x37a9, 0x1e},
+  {0x37ac, 0xa0},
+  {0x37b9, 0x01},
+  {0x37bd, 0x01},
+  {0x37bf, 0x26},
+  {0x37c0, 0x11},
+  {0x37c2, 0x04},
+  {0x37cd, 0x19},
+  {0x37e0, 0x08},
+  {0x37e6, 0x04},
+  {0x37e5, 0x02},
+  {0x37e1, 0x0c},
+  {0x3737, 0x04},
+  {0x37d8, 0x02},
+  {0x37e2, 0x10},
+  {0x3739, 0x10},
+  {0x3662, 0x10},
+  {0x37e4, 0x20},
+  {0x37e3, 0x08},
+  {0x37d9, 0x08},
+  {0x4040, 0x00},
+  {0x4041, 0x07},
+  {0x4008, 0x02},
+  {0x4009, 0x0d},
+  {0x3800, 0x01},
+  {0x3801, 0x80},
+  {0x3802, 0x00},
+  {0x3803, 0xdc},
+  {0x3804, 0x09},
+  {0x3805, 0x0f},
+  {0x3806, 0x05},
+  {0x3807, 0x23},
+  {0x3808, 0x07},
+  {0x3809, 0x80},
+  {0x380a, 0x04},
+  {0x380b, 0x38},
+  {0x380c, 0x04},
+  {0x380d, 0x2e},
+  {0x380e, 0x12},
+  {0x380f, 0x70},
+  {0x3811, 0x08},
+  {0x3813, 0x08},
+  {0x3814, 0x01},
+  {0x3815, 0x01},
+  {0x3816, 0x01},
+  {0x3817, 0x01},
+  {0x3820, 0x88},
+  {0x3821, 0x00},
+  {0x3880, 0x25},
+  {0x3882, 0x20},
+  {0x3c91, 0x0b},
+  {0x3c94, 0x45},
+  {0x3cad, 0x00},
+  {0x3cae, 0x00},
+  {0x4000, 0xf3},
+  {0x4001, 0x60},
+  {0x4003, 0x40},
+  {0x4300, 0xff},
+  {0x4302, 0x0f},
+  {0x4305, 0x83},
+  {0x4505, 0x84},
+  {0x4809, 0x1e},
+  {0x480a, 0x04},
+  {0x4837, 0x15},
+  {0x4c00, 0x08},
+  {0x4c01, 0x08},
+  {0x4c04, 0x00},
+  {0x4c05, 0x00},
+  {0x5000, 0xf9},
+  {0x3c8c, 0x10},
+};
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index 2bad50cff9..1f0609820b 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -34,8 +34,9 @@ OX03C10::OX03C10() {
   init_reg_array.assign(std::begin(init_array_ox03c10), std::end(init_array_ox03c10));
   probe_reg_addr = 0x300a;
   probe_expected_data = 0x5803;
-  in_port_info_dt = 0x2c; // one is 0x2a, two are 0x2b
-  power_config_val_low = 24000000; //Hz
+  mipi_format = CAM_FORMAT_MIPI_RAW_12;
+  frame_data_type = 0x2c; // one is 0x2a, two are 0x2b
+  mclk_frequency = 24000000; //Hz
 
   dc_gain_factor = 7.32;
   dc_gain_min_weight = 1;  // always on is fine
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index 06d3a43a21..4e2194d914 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -9,12 +9,14 @@
 #include "system/camerad/cameras/camera_common.h"
 #include "system/camerad/sensors/ar0231_registers.h"
 #include "system/camerad/sensors/ox03c10_registers.h"
+#include "system/camerad/sensors/os04c10_registers.h"
 
 #define ANALOG_GAIN_MAX_CNT 55
 const size_t FRAME_WIDTH = 1928;
 const size_t FRAME_HEIGHT = 1208;
 const size_t FRAME_STRIDE = 2896;  // for 12 bit output. 1928 * 12 / 8 + 4 (alignment)
 
+
 class SensorInfo {
 public:
   SensorInfo() = default;
@@ -56,8 +58,10 @@ public:
   uint32_t probe_expected_data;
   std::vector<i2c_random_wr_payload> start_reg_array;
   std::vector<i2c_random_wr_payload> init_reg_array;
-  uint32_t in_port_info_dt;
-  uint32_t power_config_val_low;
+
+  uint32_t mipi_format;
+  uint32_t mclk_frequency;
+  uint32_t frame_data_type;
 };
 
 class AR0231 : public SensorInfo {
@@ -79,3 +83,11 @@ public:
   float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
   int getSlaveAddress(int port) const override;
 };
+
+class OS04C10 : public SensorInfo {
+public:
+  OS04C10();
+  std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
+  float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
+  int getSlaveAddress(int port) const override;
+};
diff --git a/system/camerad/test/get_thumbnails_for_segment.py b/system/camerad/test/get_thumbnails_for_segment.py
index 43f543f1bd..95d865e4e4 100755
--- a/system/camerad/test/get_thumbnails_for_segment.py
+++ b/system/camerad/test/get_thumbnails_for_segment.py
@@ -1,26 +1,19 @@
 #!/usr/bin/env python3
-
+import argparse
 import os
-
 from tqdm import tqdm
 
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.route import Route
-
-import argparse
+from openpilot.tools.lib.srreader import SegmentRangeReader
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser()
   parser.add_argument("route", help="The route name")
-  parser.add_argument("segment", type=int,  help="The index of the segment")
   args = parser.parse_args()
 
-  out_path = os.path.join("jpegs", f"{args.route.replace('|', '_')}_{args.segment}")
+  out_path = os.path.join("jpegs", f"{args.route.replace('|', '_').replace('/', '_')}")
   os.makedirs(out_path, exist_ok=True)
 
-  r = Route(args.route)
-  path = r.log_paths()[args.segment] or r.qlog_paths()[args.segment]
-  lr = list(LogReader(path))
+  lr = SegmentRangeReader(args.route)
 
   for msg in tqdm(lr):
     if msg.which() == 'thumbnail':
diff --git a/system/hardware/base.py b/system/hardware/base.py
index 0b6ca44c3c..b432a41907 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -23,6 +23,9 @@ class HardwareBase(ABC):
     except Exception:
       return default
 
+  def booted(self) -> bool:
+    return True
+
   @abstractmethod
   def reboot(self, reason=None):
     pass
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index f895bbc508..d1ac52c8dc 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -74,6 +74,11 @@ def sudo_write(val, path):
       # fallback for debugfs files
       os.system(f"sudo su -c 'echo {val} > {path}'")
 
+def sudo_read(path: str) -> str:
+  try:
+    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8')
+  except Exception:
+    return ""
 
 def affine_irq(val, action):
   irqs = get_irqs_for_action(action)
@@ -554,6 +559,12 @@ class Tici(HardwareBase):
     time.sleep(0.5)
     gpio_set(GPIO.STM_BOOT0, 0)
 
+  def booted(self):
+    # this normally boots within 8s, but on rare occasions takes 30+s
+    encoder_state = sudo_read("/sys/kernel/debug/msm_vidc/core0/info")
+    if "Core state: 0" in encoder_state and (time.monotonic() < 60*2):
+      return False
+    return True
 
 if __name__ == "__main__":
   t = Tici()
diff --git a/system/timezoned.py b/system/timezoned.py
index 546405c9a0..2cfc0076e9 100755
--- a/system/timezoned.py
+++ b/system/timezoned.py
@@ -5,7 +5,6 @@ import time
 import subprocess
 from typing import NoReturn
 
-import requests
 from timezonefinder import TimezoneFinder
 
 from openpilot.common.params import Params
@@ -41,39 +40,18 @@ def main() -> NoReturn:
   # Get allowed timezones
   valid_timezones = subprocess.check_output('timedatectl list-timezones', shell=True, encoding='utf8').strip().split('\n')
 
+  timezone = params.get("Timezone", encoding='utf8')
+  if timezone is not None:
+    cloudlog.debug("Setting timezone based on param")
+    set_timezone(valid_timezones, timezone)
+
   while True:
     time.sleep(60)
 
-    is_onroad = not params.get_bool("IsOffroad")
-    if is_onroad:
-      continue
-
-    # Set based on param
-    timezone = params.get("Timezone", encoding='utf8')
-    if timezone is not None:
-      cloudlog.debug("Setting timezone based on param")
-      set_timezone(valid_timezones, timezone)
-      continue
-
     location = params.get("LastGPSPosition", encoding='utf8')
 
-    # Find timezone based on IP geolocation if no gps location is available
-    if location is None:
-      cloudlog.debug("Setting timezone based on IP lookup")
-      try:
-        r = requests.get("https://ipapi.co/timezone", headers=REQUEST_HEADERS, timeout=10)
-        if r.status_code == 200:
-          set_timezone(valid_timezones, r.text)
-        else:
-          cloudlog.error(f"Unexpected status code from api {r.status_code}")
-
-        time.sleep(3600)  # Don't make too many API requests
-      except requests.exceptions.RequestException:
-        cloudlog.exception("Error getting timezone based on IP")
-        continue
-
     # Find timezone by reverse geocoding the last known gps location
-    else:
+    if location is not None:
       cloudlog.debug("Setting timezone based on GPS location")
       try:
         location = json.loads(location)
diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc
index 42608c030f..34bc76b7c4 100644
--- a/tools/cabana/chart/sparkline.cc
+++ b/tools/cabana/chart/sparkline.cc
@@ -13,23 +13,30 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl
   auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), first_ts, CompareCanEvent());
   auto last = std::upper_bound(first, msgs.cend(), ts, CompareCanEvent());
 
-  if (first != last && !size.isEmpty()) {
-    points.clear();
-    double value = 0;
-    for (auto it = first; it != last; ++it) {
-      if (sig->getValue((*it)->dat, (*it)->size, &value)) {
-        points.emplace_back(((*it)->mono_time - (*first)->mono_time) / 1e9, value);
-      }
+  if (first == last || size.isEmpty()) {
+    pixmap = QPixmap();
+    return;
+  }
+
+  points.clear();
+  double value = 0;
+  for (auto it = first; it != last; ++it) {
+    if (sig->getValue((*it)->dat, (*it)->size, &value)) {
+      points.emplace_back(((*it)->mono_time - (*first)->mono_time) / 1e9, value);
     }
-    const auto [min, max] = std::minmax_element(points.begin(), points.end(),
-                                                [](auto &l, auto &r) { return l.y() < r.y(); });
-    min_val = min->y() == max->y() ? min->y() - 1 : min->y();
-    max_val = min->y() == max->y() ? max->y() + 1 : max->y();
-    freq_ = points.size() / std::max(points.back().x() - points.front().x(), 1.0);
-    render(sig->color, range, size);
-  } else {
+  }
+
+  if (points.empty()) {
     pixmap = QPixmap();
+    return;
   }
+
+  const auto [min, max] = std::minmax_element(points.begin(), points.end(),
+                                              [](auto &l, auto &r) { return l.y() < r.y(); });
+  min_val = min->y() == max->y() ? min->y() - 1 : min->y();
+  max_val = min->y() == max->y() ? max->y() + 1 : max->y();
+  freq_ = points.size() / std::max(points.back().x() - points.front().x(), 1.0);
+  render(sig->color, range, size);
 }
 
 void Sparkline::render(const QColor &color, int range, QSize size) {
diff --git a/tools/car_porting/README.md b/tools/car_porting/README.md
new file mode 100644
index 0000000000..4197e3ab76
--- /dev/null
+++ b/tools/car_porting/README.md
@@ -0,0 +1,74 @@
+# tools/car_porting
+
+Check out [this blog post](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) for a high-level overview of porting a car.
+
+## Useful car porting utilities
+
+Testing car ports in your car is very time-consuming. Check out these utilities to do basic checks on your work before running it in your car.
+
+### [Cabana](/tools/cabana/README.md)
+
+View your car's CAN signals through DBC files, which openpilot uses to parse and create messages that talk to the car.
+
+Example:
+```bash
+> tools/cabana/cabana '1bbe6bf2d62f58a8|2022-07-14--17-11-43'
+```
+
+### [tools/car_porting/auto_fingerprint.py](/tools/car_porting/auto_fingerprint.py)
+
+Given a route and platform, automatically inserts FW fingerprints from the platform into the correct place in fingerprints.py
+
+Example:
+```bash
+> python tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'SUBARU OUTBACK 6TH GEN'
+Attempting to add fw version for:  SUBARU OUTBACK 6TH GEN
+```
+
+### [selfdrive/car/tests/test_car_interfaces.py](/selfdrive/car/tests/test_car_interfaces.py)
+
+Finds common bugs for car interfaces, without even requiring a route.
+
+
+#### Example: Typo in signal name
+```bash
+> pytest selfdrive/car/tests/test_car_interfaces.py -k subaru  # replace with the brand you are working on
+
+=====================================================================
+FAILED selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS'
+
+```
+
+### [tools/car_porting/test_car_model.py](/tools/car_porting/test_car_model.py)
+
+Given a route, runs most of the car interface to check for common errors like missing signals, blocked panda messages, and safety mismatches.
+
+#### Example: panda safety mismatch for gasPressed
+```bash
+> python tools/car_porting/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21'
+
+=====================================================================
+FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_carstate)
+Assert that panda safety matches openpilot's carState
+----------------------------------------------------------------------
+Traceback (most recent call last):
+  File "/home/batman/xx/openpilot/openpilot/selfdrive/car/tests/test_models.py", line 380, in test_panda_safety_carstate
+    self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
+AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116}
+```
+
+### [tools/car_porting/examples/subaru_steer_temp_fault.ipynb](/tools/car_porting/examples/subaru_steer_temp_fault.ipynb)
+
+An example of searching through a database of segments for a specific condition, and plotting the results.
+
+![steer warning example](https://github.com/commaai/openpilot/assets/9648890/d60ad120-4b44-4974-ac79-adc660fb8fe2)
+
+*a plot of the steer_warning vs steering angle, where we can see it is clearly caused by a large steering angle change*
+
+### [tools/car_porting/examples/subaru_long_accel.ipynb](/tools/car_porting/examples/subaru_long_accel.ipynb)
+
+An example of plotting the response of an actuator when it is active.
+
+![brake pressure example](https://github.com/commaai/openpilot/assets/9648890/8f32cf1d-8fc0-4407-b540-70625ebbf082)
+
+*a plot of the brake_pressure vs acceleration, where we can see it is a fairly linear response.*
\ No newline at end of file
diff --git a/selfdrive/debug/auto_fingerprint.py b/tools/car_porting/auto_fingerprint.py
similarity index 93%
rename from selfdrive/debug/auto_fingerprint.py
rename to tools/car_porting/auto_fingerprint.py
index 1870dcba80..ef3efc1cf3 100755
--- a/selfdrive/debug/auto_fingerprint.py
+++ b/tools/car_porting/auto_fingerprint.py
@@ -5,10 +5,9 @@ from collections import defaultdict
 from typing import Optional
 from openpilot.selfdrive.debug.format_fingerprints import format_brand_fw_versions
 
-from openpilot.tools.lib.logreader import MultiLogIterator
-from openpilot.tools.lib.route import Route
 from openpilot.selfdrive.car.fw_versions import match_fw_to_car
 from openpilot.selfdrive.car.interfaces import get_interface_attr
+from openpilot.tools.lib.srreader import SegmentRangeReader, ReadMode
 
 
 ALL_FW_VERSIONS = get_interface_attr("FW_VERSIONS")
@@ -25,8 +24,7 @@ if __name__ == "__main__":
   parser.add_argument("platform", help="The platform, or leave empty to auto-determine using fuzzy", default=None, nargs='?')
   args = parser.parse_args()
 
-  route = Route(args.route)
-  lr = MultiLogIterator(route.qlog_paths())
+  lr = SegmentRangeReader(args.route, ReadMode.QLOG)
 
   carFw = None
   carVin = None
diff --git a/tools/car_porting/examples/subaru_long_accel.ipynb b/tools/car_porting/examples/subaru_long_accel.ipynb
new file mode 100644
index 0000000000..ea685dcd4f
--- /dev/null
+++ b/tools/car_porting/examples/subaru_long_accel.ipynb
@@ -0,0 +1,120 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "segments = [\n",
+    "  \"d9df6f87e8feff94|2023-03-28--17-41-10/1:12\"\n",
+    "]\n",
+    "platform = \"SUBARU OUTBACK 6TH GEN\"\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import copy\n",
+    "import numpy as np\n",
+    "\n",
+    "from opendbc.can.parser import CANParser\n",
+    "\n",
+    "from openpilot.selfdrive.car.subaru.values import DBC\n",
+    "from openpilot.tools.lib.srreader import SegmentRangeReader\n",
+    "\n",
+    "\"\"\"\n",
+    "In this example, we plot the relationship between Cruise_Brake and Acceleration for stock eyesight.\n",
+    "\"\"\"\n",
+    "\n",
+    "for segment in segments:\n",
+    "  lr = SegmentRangeReader(segment)\n",
+    "\n",
+    "  messages = [\n",
+    "    (\"ES_Distance\", 20),\n",
+    "    (\"ES_Brake\", 20),\n",
+    "    (\"ES_Status\", 20),\n",
+    "  ]\n",
+    "\n",
+    "  cp = CANParser(DBC[platform][\"pt\"], messages, 1)\n",
+    "\n",
+    "  es_distance_history = []\n",
+    "  es_status_history = []\n",
+    "  es_brake_history = []\n",
+    "  acceleration_history = []\n",
+    "\n",
+    "  last_acc = 0\n",
+    "\n",
+    "  for msg in lr:\n",
+    "    if msg.which() == \"can\":\n",
+    "      cp.update_strings([msg.as_builder().to_bytes()])\n",
+    "      es_distance_history.append(copy.copy(cp.vl[\"ES_Distance\"]))\n",
+    "      es_brake_history.append(copy.copy(cp.vl[\"ES_Brake\"]))\n",
+    "      es_status_history.append(copy.copy(cp.vl[\"ES_Status\"]))\n",
+    "\n",
+    "      acceleration_history.append(last_acc)\n",
+    "    \n",
+    "    if msg.which() == \"carState\":\n",
+    "      last_acc = msg.carState.aEgo"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def process(history, func):\n",
+    "  return np.array([func(h) for h in history])\n",
+    "\n",
+    "cruise_activated = process(es_status_history, lambda es_status: es_status[\"Cruise_Activated\"])\n",
+    "cruise_throttle = process(es_distance_history, lambda es_distance: es_distance[\"Cruise_Throttle\"])\n",
+    "cruise_rpm = process(es_status_history, lambda es_status: es_status[\"Cruise_RPM\"])\n",
+    "cruise_brake = process(es_brake_history, lambda es_brake: es_brake[\"Brake_Pressure\"])\n",
+    "acceleration = process(acceleration_history, lambda acc: acc)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import matplotlib.pyplot as plt\n",
+    "\n",
+    "valid_brake = (cruise_activated==1) & (cruise_brake>0) # only when cruise is activated and eyesight is braking\n",
+    "\n",
+    "ax = plt.figure().add_subplot()\n",
+    "\n",
+    "ax.set_title(\"Brake_Pressure vs Acceleration\")\n",
+    "ax.set_xlabel(\"Brake_Pessure\")\n",
+    "ax.set_ylabel(\"Acceleration\")\n",
+    "ax.scatter(cruise_brake[valid_brake], -acceleration[valid_brake])"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.11.4"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
new file mode 100644
index 0000000000..b60915e6ec
--- /dev/null
+++ b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
@@ -0,0 +1,110 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# An example of searching through a database of segments for a specific condition, and plotting the results.\n",
+    "\n",
+    "segments = [\n",
+    "  \"c3d1ccb52f5f9d65|2023-07-22--01-23-20/6:10\",\n",
+    "]\n",
+    "platform = \"SUBARU OUTBACK 6TH GEN\""
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import copy\n",
+    "import matplotlib.pyplot as plt\n",
+    "import numpy as np\n",
+    "\n",
+    "from opendbc.can.parser import CANParser\n",
+    "\n",
+    "from openpilot.selfdrive.car.subaru.values import CanBus, DBC\n",
+    "from openpilot.tools.lib.srreader import SegmentRangeReader\n",
+    "\n",
+    "\"\"\"\n",
+    "In this example, we search for positive transitions of Steer_Warning, which indicate that the EPS\n",
+    "has stopped responding to our messages. This analysis would allow you to find the cause of these\n",
+    "steer warnings and potentially work around them.\n",
+    "\"\"\"\n",
+    "\n",
+    "for segment in segments:\n",
+    "  lr = SegmentRangeReader(segment)\n",
+    "\n",
+    "  can_msgs = [msg for msg in lr if msg.which() == \"can\"]\n",
+    "\n",
+    "  messages = [\n",
+    "    (\"Steering_Torque\", 50)\n",
+    "  ]\n",
+    "\n",
+    "  cp = CANParser(DBC[platform][\"pt\"], messages, CanBus.main)\n",
+    "\n",
+    "  steering_torque_history = []\n",
+    "  examples = []\n",
+    "\n",
+    "  for msg in can_msgs:\n",
+    "    cp.update_strings([msg.as_builder().to_bytes()])\n",
+    "    steering_torque_history.append(copy.copy(cp.vl[\"Steering_Torque\"]))\n",
+    "  \n",
+    "  steer_warning_last = False\n",
+    "  for i, steering_torque_msg in enumerate(steering_torque_history):\n",
+    "    steer_warning = steering_torque_msg[\"Steer_Warning\"]\n",
+    "\n",
+    "    steer_angle = steering_torque_msg[\"Steering_Angle\"]\n",
+    "\n",
+    "    if steer_warning and not steer_warning_last: # positive transition of \"Steer_Warning\"\n",
+    "      examples.append(i)\n",
+    "\n",
+    "    steer_warning_last = steer_warning\n",
+    "\n",
+    "  FRAME_DELTA = 100 # plot this many frames around the positive transition\n",
+    "\n",
+    "  for example in examples:\n",
+    "    fig, axs = plt.subplots(2)\n",
+    "\n",
+    "    min_frame = int(example-FRAME_DELTA/2)\n",
+    "    max_frame = int(example+FRAME_DELTA/2)\n",
+    "\n",
+    "    steering_angle_history = [msg[\"Steering_Angle\"] for msg in steering_torque_history[min_frame:max_frame]]\n",
+    "    steering_warning_history = [msg[\"Steer_Warning\"] for msg in steering_torque_history[min_frame:max_frame]]\n",
+    "\n",
+    "    xs = np.arange(-FRAME_DELTA/2, FRAME_DELTA/2)\n",
+    "\n",
+    "    axs[0].plot(xs, steering_angle_history)\n",
+    "    axs[0].set_ylabel(\"Steering Angle (deg)\")\n",
+    "    axs[1].plot(xs, steering_warning_history)\n",
+    "    axs[1].set_ylabel(\"Steer Warning\")\n",
+    "\n",
+    "    plt.show()\n"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.11.4"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/selfdrive/debug/test_car_model.py b/tools/car_porting/test_car_model.py
similarity index 100%
rename from selfdrive/debug/test_car_model.py
rename to tools/car_porting/test_car_model.py
diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index c6024bf5e4..176ff25be6 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -47,7 +47,7 @@ class Joystick:
     else:
       self.cancel_button = 'BTN_TRIGGER'
       accel_axis = 'ABS_Y'
-      steer_axis = 'ABS_RZ'
+      steer_axis = 'ABS_RX'
     self.min_axis_value = {accel_axis: 0., steer_axis: 0.}
     self.max_axis_value = {accel_axis: 255., steer_axis: 255.}
     self.axes_values = {accel_axis: 0., steer_axis: 0.}
diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py
index f2adc97e01..29d4889d35 100755
--- a/tools/latencylogger/latency_logger.py
+++ b/tools/latencylogger/latency_logger.py
@@ -8,7 +8,7 @@ import sys
 from bisect import bisect_left, bisect_right
 from collections import defaultdict
 
-from openpilot.tools.lib.logreader import logreader_from_route_or_segment
+from openpilot.tools.lib.srreader import SegmentRangeReader
 
 DEMO_ROUTE = "9f583b1d93915c31|2022-05-18--10-49-51--0"
 
@@ -236,7 +236,7 @@ if __name__ == "__main__":
   args = parser.parse_args()
 
   r = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
-  lr = logreader_from_route_or_segment(r, sort_by_time=True)
+  lr = SegmentRangeReader(r, sort_by_time=True)
 
   data, _ = get_timestamps(lr)
   print_timestamps(data['timestamp'], data['duration'], data['start'], args.relative)
diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py
index 067b64b6ac..c184efe6a2 100644
--- a/tools/lib/helpers.py
+++ b/tools/lib/helpers.py
@@ -7,8 +7,11 @@ TIME_FMT = "%Y-%m-%d--%H-%M-%S"
 class RE:
   DONGLE_ID =  r'(?P<dongle_id>[a-z0-9]{16})'
   TIMESTAMP = r'(?P<timestamp>[0-9]{4}-[0-9]{2}-[0-9]{2}--[0-9]{2}-[0-9]{2}-[0-9]{2})'
-  ROUTE_NAME = r'{}[|_/]{}'.format(DONGLE_ID, TIMESTAMP)
+  ROUTE_NAME = r'(?P<route_name>{}[|_/]{})'.format(DONGLE_ID, TIMESTAMP)
   SEGMENT_NAME = r'{}(?:--|/)(?P<segment_num>[0-9]+)'.format(ROUTE_NAME)
+  INDEX = r'-?[0-9]+'
+  SLICE = r'(?P<start>{})?:?(?P<end>{})?:?(?P<step>{})?'.format(INDEX, INDEX, INDEX)
+  SEGMENT_RANGE = r'{}(?:--|/)?(?P<slice>({}))?/?(?P<selector>([qr]))?'.format(ROUTE_NAME, SLICE)
   BOOTLOG_NAME = ROUTE_NAME
 
   EXPLORER_FILE = r'^(?P<segment_name>{})--(?P<file_name>[a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME)
diff --git a/tools/lib/route.py b/tools/lib/route.py
index e37b7d4434..d3df93ccda 100644
--- a/tools/lib/route.py
+++ b/tools/lib/route.py
@@ -229,3 +229,29 @@ class SegmentName:
   def data_dir(self) -> Optional[str]: return self._data_dir
 
   def __str__(self) -> str: return self._canonical_name
+
+
+class SegmentRange:
+  def __init__(self, segment_range: str):
+    self.m = re.fullmatch(RE.SEGMENT_RANGE, segment_range)
+    assert self.m, f"Segment range is not valid {segment_range}"
+
+  @property
+  def route_name(self):
+    return self.m.group("route_name")
+
+  @property
+  def dongle_id(self):
+    return self.m.group("dongle_id")
+
+  @property
+  def timestamp(self):
+    return self.m.group("timestamp")
+
+  @property
+  def _slice(self):
+    return self.m.group("slice")
+
+  @property
+  def selector(self):
+    return self.m.group("selector")
diff --git a/tools/lib/srreader.py b/tools/lib/srreader.py
new file mode 100644
index 0000000000..db2ebd1936
--- /dev/null
+++ b/tools/lib/srreader.py
@@ -0,0 +1,141 @@
+import enum
+import numpy as np
+import pathlib
+import re
+from urllib.parse import parse_qs, urlparse
+
+from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.tools.lib.helpers import RE
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.route import Route, SegmentRange
+
+class ReadMode(enum.StrEnum):
+  RLOG = "r" # only read rlogs
+  QLOG = "q" # only read qlogs
+  #AUTO = "a" # default to rlogs, fallback to qlogs, not supported yet
+
+
+def create_slice_from_string(s: str):
+  m = re.fullmatch(RE.SLICE, s)
+  assert m is not None, f"Invalid slice: {s}"
+  start, end, step = m.groups()
+  start = int(start) if start is not None else None
+  end = int(end) if end is not None else None
+  step = int(step) if step is not None else None
+
+  if start is not None and ":" not in s and end is None and step is None:
+    return start
+  return slice(start, end, step)
+
+
+def parse_slice(sr: SegmentRange):
+  route = Route(sr.route_name)
+  segs = np.arange(route.max_seg_number+1)
+  s = create_slice_from_string(sr._slice)
+  return segs[s] if isinstance(s, slice) else [segs[s]]
+
+def comma_api_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False):
+  segs = parse_slice(sr)
+  route = Route(sr.route_name)
+
+  log_paths = route.log_paths() if mode == ReadMode.RLOG else route.qlog_paths()
+
+  invalid_segs = [seg for seg in segs if log_paths[seg] is None]
+
+  assert not len(invalid_segs), f"Some of the requested segments are not available: {invalid_segs}"
+
+  for seg in segs:
+    yield LogReader(log_paths[seg], sort_by_time=sort_by_time)
+
+def internal_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False):
+  segs = parse_slice(sr)
+
+  for seg in segs:
+    yield LogReader(f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{'rlog' if mode == ReadMode.RLOG else 'qlog'}.bz2", sort_by_time=sort_by_time)
+
+def openpilotci_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False):
+  segs = parse_slice(sr)
+
+  for seg in segs:
+    yield LogReader(get_url(sr.route_name, seg, 'rlog' if mode == ReadMode.RLOG else 'qlog'), sort_by_time=sort_by_time)
+
+def direct_source(file_or_url, sort_by_time):
+  yield LogReader(file_or_url, sort_by_time=sort_by_time)
+
+def auto_source(*args, **kwargs):
+  # Automatically determine viable source
+
+  try:
+    next(internal_source(*args, **kwargs))
+    return internal_source(*args, **kwargs)
+  except Exception:
+    pass
+
+  try:
+    next(openpilotci_source(*args, **kwargs))
+    return openpilotci_source(*args, **kwargs)
+  except Exception:
+    pass
+
+  return comma_api_source(*args, **kwargs)
+
+def parse_useradmin(identifier):
+  if "useradmin.comma.ai" in identifier:
+    query = parse_qs(urlparse(identifier).query)
+    return query["onebox"][0]
+  return None
+
+def parse_cabana(identifier):
+  if "cabana.comma.ai" in identifier:
+    query = parse_qs(urlparse(identifier).query)
+    return query["route"][0]
+  return None
+
+def parse_cd(identifier):
+  if "cd:/" in identifier:
+    return identifier.replace("cd:/", "")
+  return None
+
+def parse_direct(identifier):
+  if "https://" in identifier or "http://" in identifier or pathlib.Path(identifier).exists():
+    return identifier
+  return None
+
+def parse_indirect(identifier):
+  parsed = parse_useradmin(identifier) or parse_cabana(identifier)
+
+  if parsed is not None:
+    return parsed, comma_api_source, True
+
+  parsed = parse_cd(identifier)
+  if parsed is not None:
+    return parsed, internal_source, True
+
+  return identifier, None, False
+
+class SegmentRangeReader:
+  def _logreaders_from_identifier(self, identifier):
+    parsed, source, is_indirect = parse_indirect(identifier)
+
+    if not is_indirect:
+      direct_parsed = parse_direct(identifier)
+      if direct_parsed is not None:
+        return direct_source(identifier, sort_by_time=self.sort_by_time)
+
+    sr = SegmentRange(parsed)
+    mode = self.default_mode if sr.selector is None else ReadMode(sr.selector)
+    source = self.default_source if source is None else source
+
+    return source(sr, mode, sort_by_time=self.sort_by_time)
+
+  def __init__(self, identifier: str, default_mode=ReadMode.RLOG, default_source=auto_source, sort_by_time=False):
+    self.default_mode = default_mode
+    self.default_source = default_source
+    self.sort_by_time = sort_by_time
+
+    self.lrs = self._logreaders_from_identifier(identifier)
+
+  def __iter__(self):
+    for lr in self.lrs:
+      for m in lr:
+        yield m
diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py
index 73ed843869..294c5a2233 100755
--- a/tools/lib/tests/test_caching.py
+++ b/tools/lib/tests/test_caching.py
@@ -1,15 +1,58 @@
 #!/usr/bin/env python3
+from functools import wraps
+import http.server
 import os
+import threading
+import time
 import unittest
 
-from pathlib import Path
 from parameterized import parameterized
-from unittest import mock
 
-from openpilot.system.hardware.hw import Paths
 from openpilot.tools.lib.url_file import URLFile
 
 
+class CachingTestRequestHandler(http.server.BaseHTTPRequestHandler):
+  FILE_EXISTS = True
+
+  def do_GET(self):
+    if self.FILE_EXISTS:
+      self.send_response(200, b'1234')
+    else:
+      self.send_response(404)
+    self.end_headers()
+
+  def do_HEAD(self):
+    if self.FILE_EXISTS:
+      self.send_response(200)
+      self.send_header("Content-Length", "4")
+    else:
+      self.send_response(404)
+    self.end_headers()
+
+
+class CachingTestServer(threading.Thread):
+  def run(self):
+    self.server = http.server.HTTPServer(("127.0.0.1", 0), CachingTestRequestHandler)
+    self.port = self.server.server_port
+    self.server.serve_forever()
+
+  def stop(self):
+    self.server.server_close()
+    self.server.shutdown()
+
+def with_caching_server(func):
+  @wraps(func)
+  def wrapper(*args, **kwargs):
+    server = CachingTestServer()
+    server.start()
+    time.sleep(0.25) # wait for server to get it's port
+    try:
+      func(*args, **kwargs, port=server.port)
+    finally:
+      server.stop()
+  return wrapper
+
+
 class TestFileDownload(unittest.TestCase):
 
   def compare_loads(self, url, start=0, length=None):
@@ -66,32 +109,20 @@ class TestFileDownload(unittest.TestCase):
     self.compare_loads(large_file_url)
 
   @parameterized.expand([(True, ), (False, )])
-  def test_recover_from_missing_file(self, cache_enabled):
+  @with_caching_server
+  def test_recover_from_missing_file(self, cache_enabled, port):
     os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
 
-    file_url = "http://localhost:5001/test.png"
+    file_url = f"http://localhost:{port}/test.png"
 
-    file_exists = False
+    CachingTestRequestHandler.FILE_EXISTS = False
+    length = URLFile(file_url).get_length()
+    self.assertEqual(length, -1)
 
-    def get_length_online_mock(self):
-      if file_exists:
-        return 4
-      return -1
+    CachingTestRequestHandler.FILE_EXISTS = True
+    length = URLFile(file_url).get_length()
+    self.assertEqual(length, 4)
 
-    patch_length = mock.patch.object(URLFile, "get_length_online", get_length_online_mock)
-    patch_length.start()
-    try:
-      length = URLFile(file_url).get_length()
-      self.assertEqual(length, -1)
-
-      file_exists = True
-      length = URLFile(file_url).get_length()
-      self.assertEqual(length, 4)
-    finally:
-      tempfile_length = Path(Paths.download_cache_root()) / "ba2119904385654cb0105a2da174875f8e7648db175f202ecae6d6428b0e838f_length"
-      if tempfile_length.exists():
-        tempfile_length.unlink()
-      patch_length.stop()
 
 
 if __name__ == "__main__":
diff --git a/tools/lib/tests/test_srreader.py b/tools/lib/tests/test_srreader.py
new file mode 100644
index 0000000000..b22599dee8
--- /dev/null
+++ b/tools/lib/tests/test_srreader.py
@@ -0,0 +1,88 @@
+import shutil
+import tempfile
+import numpy as np
+import unittest
+from parameterized import parameterized
+import requests
+
+from openpilot.tools.lib.route import SegmentRange
+from openpilot.tools.lib.srreader import ReadMode, SegmentRangeReader, parse_slice, parse_indirect
+
+NUM_SEGS = 17 # number of segments in the test route
+ALL_SEGS = list(np.arange(NUM_SEGS))
+TEST_ROUTE = "344c5c15b34f2d8a/2024-01-03--09-37-12"
+QLOG_FILE = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2"
+
+class TestSegmentRangeReader(unittest.TestCase):
+  @parameterized.expand([
+    (f"{TEST_ROUTE}", ALL_SEGS),
+    (f"{TEST_ROUTE.replace('/', '|')}", ALL_SEGS),
+    (f"{TEST_ROUTE}--0", [0]),
+    (f"{TEST_ROUTE}--5", [5]),
+    (f"{TEST_ROUTE}/0", [0]),
+    (f"{TEST_ROUTE}/5", [5]),
+    (f"{TEST_ROUTE}/0:10", ALL_SEGS[0:10]),
+    (f"{TEST_ROUTE}/0:0", []),
+    (f"{TEST_ROUTE}/4:6", ALL_SEGS[4:6]),
+    (f"{TEST_ROUTE}/0:-1", ALL_SEGS[0:-1]),
+    (f"{TEST_ROUTE}/:5", ALL_SEGS[:5]),
+    (f"{TEST_ROUTE}/2:", ALL_SEGS[2:]),
+    (f"{TEST_ROUTE}/2:-1", ALL_SEGS[2:-1]),
+    (f"{TEST_ROUTE}/-1", [ALL_SEGS[-1]]),
+    (f"{TEST_ROUTE}/-2", [ALL_SEGS[-2]]),
+    (f"{TEST_ROUTE}/-2:-1", ALL_SEGS[-2:-1]),
+    (f"{TEST_ROUTE}/-4:-2", ALL_SEGS[-4:-2]),
+    (f"{TEST_ROUTE}/:10:2", ALL_SEGS[:10:2]),
+    (f"{TEST_ROUTE}/5::2", ALL_SEGS[5::2]),
+    (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE}", ALL_SEGS),
+    (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE.replace('/', '|')}", ALL_SEGS),
+    (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE.replace('/', '%7C')}", ALL_SEGS),
+    (f"https://cabana.comma.ai/?route={TEST_ROUTE}", ALL_SEGS),
+    (f"cd:/{TEST_ROUTE}", ALL_SEGS),
+  ])
+  def test_indirect_parsing(self, identifier, expected):
+    parsed, _, _ = parse_indirect(identifier)
+    sr = SegmentRange(parsed)
+    segs = parse_slice(sr)
+    self.assertListEqual(list(segs), expected)
+
+  def test_direct_parsing(self):
+    qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False)
+
+    with requests.get(QLOG_FILE, stream=True) as r:
+      with qlog as f:
+        shutil.copyfileobj(r.raw, f)
+
+    for f in [QLOG_FILE, qlog.name]:
+      l = len(list(SegmentRangeReader(f)))
+      self.assertGreater(l, 100)
+
+  @parameterized.expand([
+    (f"{TEST_ROUTE}///",),
+    (f"{TEST_ROUTE}---",),
+    (f"{TEST_ROUTE}/-4:--2",),
+    (f"{TEST_ROUTE}/-a",),
+    (f"{TEST_ROUTE}/j",),
+    (f"{TEST_ROUTE}/0:1:2:3",),
+    (f"{TEST_ROUTE}/:::3",),
+  ])
+  def test_bad_ranges(self, segment_range):
+    with self.assertRaises(AssertionError):
+      sr = SegmentRange(segment_range)
+      parse_slice(sr)
+
+  def test_modes(self):
+    qlog_len = len(list(SegmentRangeReader(f"{TEST_ROUTE}/0", ReadMode.QLOG)))
+    rlog_len = len(list(SegmentRangeReader(f"{TEST_ROUTE}/0", ReadMode.RLOG)))
+
+    self.assertLess(qlog_len * 6, rlog_len)
+
+  def test_modes_from_name(self):
+    qlog_len = len(list(SegmentRangeReader(f"{TEST_ROUTE}/0/q")))
+    rlog_len = len(list(SegmentRangeReader(f"{TEST_ROUTE}/0/r")))
+
+    self.assertLess(qlog_len * 6, rlog_len)
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py
index d055f86577..97c0a639a7 100644
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -57,6 +57,8 @@ class URLFile:
   def get_length_online(self):
     timeout = Timeout(connect=50.0, read=500.0)
     response = self._http_client.request('HEAD', self._url, timeout=timeout, preload_content=False)
+    if not (200 <= response.status <= 299):
+      return -1
     length = response.headers.get('content-length', 0)
     return int(length)
 
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 02858b1edf..3df777c959 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
+import multiprocessing
 import os
 import sys
-import multiprocessing
 import platform
 import shutil
 import subprocess
@@ -9,13 +9,12 @@ import tarfile
 import tempfile
 import requests
 import argparse
+from functools import partial
 
 from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.test.openpilotci import get_url
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.route import Route, SegmentName
 from openpilot.tools.lib.helpers import save_log
-from urllib.parse import urlparse, parse_qs
+
+from openpilot.tools.lib.srreader import SegmentRangeReader
 
 juggle_dir = os.path.dirname(os.path.realpath(__file__))
 
@@ -53,17 +52,6 @@ def get_plotjuggler_version():
   return tuple(map(int, version.split(".")))
 
 
-def load_segment(segment_name):
-  if segment_name is None:
-    return []
-
-  try:
-    return list(LogReader(segment_name))
-  except (AssertionError, ValueError) as e:
-    print(f"Error parsing {segment_name}: {e}")
-    return []
-
-
 def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None):
   env = os.environ.copy()
   env["BASEDIR"] = BASEDIR
@@ -82,48 +70,16 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None):
   cmd = f'{PLOTJUGGLER_BIN} --buffer_size {MAX_STREAMING_BUFFER_SIZE} --plugin_folders {INSTALL_DIR}{extra_args}'
   subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir)
 
+def process(can, lr):
+  return [d for d in lr if can or d.which() not in ['can', 'sendcan']]
 
-def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=None, ci=False):
-  segment_start = 0
-  if 'cabana' in route_or_segment_name:
-    query = parse_qs(urlparse(route_or_segment_name).query)
-    route_or_segment_name = query["route"][0]
+def juggle_route(route_or_segment_name, can, layout, dbc=None):
+  sr = SegmentRangeReader(route_or_segment_name)
 
-  if route_or_segment_name.startswith(("http://", "https://", "cd:/")) or os.path.isfile(route_or_segment_name):
-    logs = [route_or_segment_name]
-  elif ci:
-    route_or_segment_name = SegmentName(route_or_segment_name, allow_route_name=True)
-    route = route_or_segment_name.route_name.canonical_name
-    segment_start = max(route_or_segment_name.segment_num, 0)
-    logs = [get_url(route, i) for i in range(100)]  # Assume there not more than 100 segments
-  else:
-    route_or_segment_name = SegmentName(route_or_segment_name, allow_route_name=True)
-    segment_start = max(route_or_segment_name.segment_num, 0)
-
-    if route_or_segment_name.segment_num != -1 and segment_count is None:
-      segment_count = 1
-
-    r = Route(route_or_segment_name.route_name.canonical_name, route_or_segment_name.data_dir)
-    logs = r.qlog_paths() if qlog else r.log_paths()
-
-  segment_end = segment_start + segment_count if segment_count else None
-  logs = logs[segment_start:segment_end]
-
-  if None in logs:
-    resp = input(f"{logs.count(None)}/{len(logs)} of the rlogs in this segment are missing, would you like to fall back to the qlogs? (y/n) ")
-    if resp == 'y':
-      logs = r.qlog_paths()[segment_start:segment_end]
-    else:
-      print("Please try a different route or segment")
-      return
-
-  all_data = []
   with multiprocessing.Pool(24) as pool:
-    for d in pool.map(load_segment, logs):
-      all_data += d
-
-  if not can:
-    all_data = [d for d in all_data if d.which() not in ['can', 'sendcan']]
+    all_data = []
+    for p in pool.map(partial(process, can), sr.lrs):
+      all_data.extend(p)
 
   # Infer DBC name from logs
   if dbc is None:
@@ -146,15 +102,12 @@ if __name__ == "__main__":
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
 
   parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
-  parser.add_argument("--qlog", action="store_true", help="Use qlogs")
-  parser.add_argument("--ci", action="store_true", help="Download data from openpilot CI bucket")
   parser.add_argument("--can", action="store_true", help="Parse CAN data")
   parser.add_argument("--stream", action="store_true", help="Start PlotJuggler in streaming mode")
   parser.add_argument("--layout", nargs='?', help="Run PlotJuggler with a pre-defined layout")
   parser.add_argument("--install", action="store_true", help="Install or update PlotJuggler + plugins")
   parser.add_argument("--dbc", help="Set the DBC name to load for parsing CAN data. If not set, the DBC will be automatically inferred from the logs.")
   parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot (cabana share URL accepted)")
-  parser.add_argument("segment_count", type=int, nargs='?', help="The number of segments to plot")
 
   if len(sys.argv) == 1:
     parser.print_help()
@@ -177,4 +130,4 @@ if __name__ == "__main__":
     start_juggler(layout=args.layout)
   else:
     route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
-    juggle_route(route_or_segment_name, args.segment_count, args.qlog, args.can, args.layout, args.dbc, args.ci)
+    juggle_route(route_or_segment_name, args.can, args.layout, args.dbc)
diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py
index b002331cd7..1cb2dc0674 100755
--- a/tools/plotjuggler/test_plotjuggler.py
+++ b/tools/plotjuggler/test_plotjuggler.py
@@ -8,7 +8,7 @@ import unittest
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.timeout import Timeout
-from openpilot.tools.plotjuggler.juggle import install
+from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE, install
 
 PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler")
 
@@ -18,8 +18,8 @@ class TestPlotJuggler(unittest.TestCase):
     install()
 
     pj = os.path.join(PJ_DIR, "juggle.py")
-    with subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} --demo None 1 --qlog',
-                          stderr=subprocess.PIPE, shell=True, start_new_session=True) as p:
+    with subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} "{DEMO_ROUTE}/:2"',
+                           stderr=subprocess.PIPE, shell=True, start_new_session=True) as p:
       # Wait for "Done reading Rlog data" signal from the plugin
       output = "\n"
       with Timeout(180, error_msg=output):
diff --git a/selfdrive/debug/profiling/clpeak/.gitignore b/tools/profiling/clpeak/.gitignore
similarity index 100%
rename from selfdrive/debug/profiling/clpeak/.gitignore
rename to tools/profiling/clpeak/.gitignore
diff --git a/selfdrive/debug/profiling/clpeak/build.sh b/tools/profiling/clpeak/build.sh
similarity index 100%
rename from selfdrive/debug/profiling/clpeak/build.sh
rename to tools/profiling/clpeak/build.sh
diff --git a/selfdrive/debug/profiling/clpeak/no_print.patch b/tools/profiling/clpeak/no_print.patch
similarity index 100%
rename from selfdrive/debug/profiling/clpeak/no_print.patch
rename to tools/profiling/clpeak/no_print.patch
diff --git a/selfdrive/debug/profiling/clpeak/run_continuously.patch b/tools/profiling/clpeak/run_continuously.patch
similarity index 100%
rename from selfdrive/debug/profiling/clpeak/run_continuously.patch
rename to tools/profiling/clpeak/run_continuously.patch
diff --git a/selfdrive/debug/profiling/ftrace.sh b/tools/profiling/ftrace.sh
similarity index 100%
rename from selfdrive/debug/profiling/ftrace.sh
rename to tools/profiling/ftrace.sh
diff --git a/selfdrive/debug/profiling/palanteer/.gitignore b/tools/profiling/palanteer/.gitignore
similarity index 100%
rename from selfdrive/debug/profiling/palanteer/.gitignore
rename to tools/profiling/palanteer/.gitignore
diff --git a/selfdrive/debug/profiling/palanteer/setup.sh b/tools/profiling/palanteer/setup.sh
similarity index 100%
rename from selfdrive/debug/profiling/palanteer/setup.sh
rename to tools/profiling/palanteer/setup.sh
diff --git a/selfdrive/debug/profiling/perfetto/.gitignore b/tools/profiling/perfetto/.gitignore
similarity index 100%
rename from selfdrive/debug/profiling/perfetto/.gitignore
rename to tools/profiling/perfetto/.gitignore
diff --git a/selfdrive/debug/profiling/perfetto/build.sh b/tools/profiling/perfetto/build.sh
similarity index 100%
rename from selfdrive/debug/profiling/perfetto/build.sh
rename to tools/profiling/perfetto/build.sh
diff --git a/selfdrive/debug/profiling/perfetto/copy.sh b/tools/profiling/perfetto/copy.sh
similarity index 100%
rename from selfdrive/debug/profiling/perfetto/copy.sh
rename to tools/profiling/perfetto/copy.sh
diff --git a/selfdrive/debug/profiling/perfetto/record.sh b/tools/profiling/perfetto/record.sh
similarity index 100%
rename from selfdrive/debug/profiling/perfetto/record.sh
rename to tools/profiling/perfetto/record.sh
diff --git a/selfdrive/debug/profiling/perfetto/server.sh b/tools/profiling/perfetto/server.sh
similarity index 100%
rename from selfdrive/debug/profiling/perfetto/server.sh
rename to tools/profiling/perfetto/server.sh
diff --git a/selfdrive/debug/profiling/perfetto/traces.sh b/tools/profiling/perfetto/traces.sh
similarity index 100%
rename from selfdrive/debug/profiling/perfetto/traces.sh
rename to tools/profiling/perfetto/traces.sh
diff --git a/selfdrive/debug/profiling/py-spy/profile.sh b/tools/profiling/py-spy/profile.sh
similarity index 100%
rename from selfdrive/debug/profiling/py-spy/profile.sh
rename to tools/profiling/py-spy/profile.sh
diff --git a/selfdrive/debug/profiling/snapdragon/.gitignore b/tools/profiling/snapdragon/.gitignore
similarity index 100%
rename from selfdrive/debug/profiling/snapdragon/.gitignore
rename to tools/profiling/snapdragon/.gitignore
diff --git a/selfdrive/debug/profiling/snapdragon/README.md b/tools/profiling/snapdragon/README.md
similarity index 100%
rename from selfdrive/debug/profiling/snapdragon/README.md
rename to tools/profiling/snapdragon/README.md
diff --git a/selfdrive/debug/profiling/snapdragon/setup-agnos.sh b/tools/profiling/snapdragon/setup-agnos.sh
similarity index 100%
rename from selfdrive/debug/profiling/snapdragon/setup-agnos.sh
rename to tools/profiling/snapdragon/setup-agnos.sh
diff --git a/selfdrive/debug/profiling/snapdragon/setup-profiler.sh b/tools/profiling/snapdragon/setup-profiler.sh
similarity index 100%
rename from selfdrive/debug/profiling/snapdragon/setup-profiler.sh
rename to tools/profiling/snapdragon/setup-profiler.sh
diff --git a/selfdrive/debug/profiling/watch-irqs.sh b/tools/profiling/watch-irqs.sh
similarity index 100%
rename from selfdrive/debug/profiling/watch-irqs.sh
rename to tools/profiling/watch-irqs.sh
diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index 0827ca799f..4be516a108 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -4,14 +4,12 @@ import os
 import time
 import threading
 import multiprocessing
-from tqdm import tqdm
 
 os.environ['FILEREADER_CACHE'] = '1'
 
 from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
 from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list
-from openpilot.tools.plotjuggler.juggle import load_segment
-from openpilot.tools.lib.logreader import logreader_from_route_or_segment
+from openpilot.tools.lib.srreader import SegmentRangeReader
 from panda import Panda, PandaJungle
 
 def send_thread(s, flock):
@@ -92,18 +90,21 @@ if __name__ == "__main__":
   parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to replay. If not specified, a default public route will be used.")
   args = parser.parse_args()
 
+  def process(lr):
+    return [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
+
   print("Loading log...")
   if args.route_or_segment_name is None:
-    ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
-    REPLAY_SEGS = list(range(10, 16))  # route has 82 segments available
+    args.route_or_segment_name = "77611a1fac303767/2020-03-24--09-50-38/10:16"
+
+  sr = SegmentRangeReader(args.route_or_segment_name)
+
+  with multiprocessing.Pool(24) as pool:
     CAN_MSGS = []
-    logs = [f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" for i in REPLAY_SEGS]
-    with multiprocessing.Pool(24) as pool:
-      for lr in tqdm(pool.map(load_segment, logs)):
-        CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
-  else:
-    lr = logreader_from_route_or_segment(args.route_or_segment_name)
-    CAN_MSGS = [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
+    for p in pool.map(process, sr.lrs):
+      CAN_MSGS.extend(p)
+
+  print("Finished loading...")
 
   # set both to cycle ignition
   IGN_ON = int(os.getenv("ON", "0"))
diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py
index c8d59ff5e6..b99596ac62 100644
--- a/tools/sim/bridge/metadrive/metadrive_bridge.py
+++ b/tools/sim/bridge/metadrive/metadrive_bridge.py
@@ -10,7 +10,7 @@ from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld
 from openpilot.tools.sim.lib.camerad import W, H
 
 
-C3_POSITION = Vec3(0, 0, 1)
+C3_POSITION = Vec3(0.0, 1.0, 1.22)
 
 
 class CopyRamRGBCamera(RGBCamera):
diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py
index 2a12ef791a..850fd83bac 100644
--- a/tools/sim/tests/test_sim_bridge.py
+++ b/tools/sim/tests/test_sim_bridge.py
@@ -3,7 +3,7 @@ import subprocess
 import time
 import unittest
 
-from multiprocessing import Queue
+from multiprocessing import Queue, Value
 
 from cereal import messaging
 from openpilot.common.basedir import BASEDIR
@@ -27,6 +27,7 @@ class TestSimBridgeBase(unittest.TestCase):
     sm = messaging.SubMaster(['controlsState', 'onroadEvents', 'managerState'])
     q = Queue()
     bridge = self.create_bridge()
+    bridge.started = Value('b', False)
     p_bridge = bridge.run(q, retries=10)
     self.processes.append(p_bridge)
 
diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py
index c615608852..de4de46c2a 100755
--- a/tools/tuning/measure_steering_accuracy.py
+++ b/tools/tuning/measure_steering_accuracy.py
@@ -8,7 +8,7 @@ import signal
 from collections import defaultdict
 
 import cereal.messaging as messaging
-from openpilot.tools.lib.logreader import logreader_from_route_or_segment
+from openpilot.tools.lib.srreader import SegmentRangeReader
 
 def sigint_handler(signal, frame):
   exit(0)
@@ -105,10 +105,10 @@ class SteeringAccuracyTool:
           print(f"  {'-'*118}")
           for k in sorted(self.speed_group_stats[group].keys()):
             v = self.speed_group_stats[group][k]
-            print(f'  {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% \
-                              | error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% \
-                              | =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} \
-                              | sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}')
+            print(f'  {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% ' +
+                  f'| error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% ' +
+                  f'| =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} ' +
+                  f'| sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}')
           print("")
 
 
@@ -128,7 +128,7 @@ if __name__ == "__main__":
 
   if args.route is not None:
     print(f"loading {args.route}...")
-    lr = logreader_from_route_or_segment(args.route, sort_by_time=True)
+    lr = SegmentRangeReader(args.route, sort_by_time=True)
 
     sm = {}
     for msg in lr:
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
index 237e07cdb6..bdf39b8145 100644
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -1,5 +1,3 @@
-# NOTE: this README is outdated. #24590 tracks adding back webcam support
-
 # Run openpilot with webcam on PC
 
 What's needed:
@@ -24,9 +22,6 @@ git clone https://github.com/commaai/openpilot.git
 ## Build openpilot for webcam
 ```
 cd ~/openpilot
-```
-- check out system/camerad/cameras/camera_webcam.cc lines 72 and 146 before building if any camera is upside down
-```
 USE_WEBCAM=1 scons -j$(nproc)
 ```
 
diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py
new file mode 100644
index 0000000000..22438f0c98
--- /dev/null
+++ b/tools/webcam/camera.py
@@ -0,0 +1,29 @@
+import cv2 as cv
+import numpy as np
+
+class Camera:
+  def __init__(self, cam_type_state, stream_type, camera_id):
+    self.cam_type_state = cam_type_state
+    self.stream_type = stream_type
+    self.cur_frame_id = 0
+
+    self.cap = cv.VideoCapture(camera_id)
+    self.W = self.cap.get(cv.CAP_PROP_FRAME_WIDTH)
+    self.H = self.cap.get(cv.CAP_PROP_FRAME_HEIGHT)
+
+  @classmethod
+  def bgr2nv12(self, bgr):
+    yuv = cv.cvtColor(bgr, cv.COLOR_BGR2YUV_I420)
+    uv_row_cnt = yuv.shape[0] // 3
+    uv_plane = np.transpose(yuv[uv_row_cnt * 2:].reshape(2, -1), [1, 0])
+    yuv[uv_row_cnt * 2:] = uv_plane.reshape(uv_row_cnt, -1)
+    return yuv
+
+  def read_frames(self):
+    while True:
+      sts , frame = self.cap.read()
+      if not sts:
+        break
+      yuv = Camera.bgr2nv12(frame)
+      yield yuv.data.tobytes()
+    self.cap.release()
diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py
new file mode 100755
index 0000000000..caf044e7b6
--- /dev/null
+++ b/tools/webcam/camerad.py
@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+import threading
+import os
+from collections import namedtuple
+
+from cereal.visionipc import VisionIpcServer, VisionStreamType
+from cereal import messaging
+
+from openpilot.tools.webcam.camera import Camera
+from openpilot.common.realtime import Ratekeeper
+
+DUAL_CAM = os.getenv("DUAL_CAMERA")
+CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"])
+CAMERAS = [
+  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("CAMERA_ROAD_ID", "0")),
+  CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("CAMERA_DRIVER_ID", "1")),
+]
+if DUAL_CAM:
+  CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, DUAL_CAM))
+
+class Camerad:
+  def __init__(self):
+    self.pm = messaging.PubMaster([c.msg_name for c in CAMERAS])
+    self.vipc_server = VisionIpcServer("camerad")
+
+    self.cameras = []
+    for c in CAMERAS:
+      cam = Camera(c.msg_name, c.stream_type, int(c.cam_id))
+      assert cam.cap.isOpened(), f"Can't find camera {c}"
+      self.cameras.append(cam)
+      self.vipc_server.create_buffers(c.stream_type, 20, False, cam.W, cam.H)
+
+    self.vipc_server.start_listener()
+
+  def _send_yuv(self, yuv, frame_id, pub_type, yuv_type):
+    eof = int(frame_id * 0.05 * 1e9)
+    self.vipc_server.send(yuv_type, yuv, frame_id, eof, eof)
+    dat = messaging.new_message(pub_type, valid=True)
+    msg = {
+      "frameId": frame_id,
+      "transform": [1.0, 0.0, 0.0,
+                    0.0, 1.0, 0.0,
+                    0.0, 0.0, 1.0]
+    }
+    setattr(dat, pub_type, msg)
+    self.pm.send(pub_type, dat)
+
+  def camera_runner(self, cam):
+    rk = Ratekeeper(20, None)
+    while cam.cap.isOpened():
+      for yuv in cam.read_frames():
+        self._send_yuv(yuv, cam.cur_frame_id, cam.cam_type_state, cam.stream_type)
+        cam.cur_frame_id += 1
+        rk.keep_time()
+
+  def run(self):
+    threads = []
+    for cam in self.cameras:
+      cam_thread = threading.Thread(target=self.camera_runner, args=(cam,))
+      cam_thread.start()
+      threads.append(cam_thread)
+
+    for t in threads:
+      t.join()
+
+if __name__ == "__main__":
+  camerad = Camerad()
+  camerad.run()
diff --git a/tools/webcam/front_mount_helper.py b/tools/webcam/front_mount_helper.py
deleted file mode 100755
index 0b7b676f6e..0000000000
--- a/tools/webcam/front_mount_helper.py
+++ /dev/null
@@ -1,35 +0,0 @@
-#!/usr/bin/env python
-import numpy as np
-
-# copied from openpilot.common.transformations/camera.py
-eon_dcam_focal_length = 860.0  # pixels
-webcam_focal_length = 908.0  # pixels
-
-eon_dcam_intrinsics = np.array([
-  [eon_dcam_focal_length,   0,   1152/2.],
-  [  0,  eon_dcam_focal_length,  864/2.],
-  [  0,    0,     1]])
-
-webcam_intrinsics = np.array([
-  [webcam_focal_length,   0.,   1280/2.],
-  [  0.,  webcam_focal_length,  720/2.],
-  [  0.,    0.,     1.]])
-
-cam_id = 2
-
-if __name__ == "__main__":
-  import cv2
-
-  trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics))
-
-  cap = cv2.VideoCapture(cam_id)
-  cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
-  cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
-
-  while (True):
-    ret, img = cap.read()
-    if ret:
-      img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1152, 864), borderMode=cv2.BORDER_CONSTANT, borderValue=0)
-      img = img[:, -864//2:, :]
-      cv2.imshow('preview', img)
-      cv2.waitKey(10)
diff --git a/tools/webcam/start_camerad.sh b/tools/webcam/start_camerad.sh
new file mode 100755
index 0000000000..fbda2be9f3
--- /dev/null
+++ b/tools/webcam/start_camerad.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+
+# export the block below when call manager.py
+export BLOCK="${BLOCK},camerad"
+export USE_WEBCAM="1"
+
+# Change camera index according to your setting
+export CAMERA_ROAD_ID="0"
+export CAMERA_DRIVER_ID="1"
+export DUAL_CAMERA="2" # camera index for wide road camera
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+
+$DIR/camerad.py
diff --git a/tools/webcam/warp_vis.py b/tools/webcam/warp_vis.py
deleted file mode 100755
index e3f1284a45..0000000000
--- a/tools/webcam/warp_vis.py
+++ /dev/null
@@ -1,43 +0,0 @@
-#!/usr/bin/env python
-import numpy as np
-
-# copied from openpilot.common.transformations/camera.py
-eon_focal_length = 910.0  # pixels
-eon_dcam_focal_length = 860.0  # pixels
-
-webcam_focal_length = -908.0/1.5  # pixels
-
-eon_intrinsics = np.array([
-  [eon_focal_length,   0.,   1164/2.],
-  [  0.,  eon_focal_length,  874/2.],
-  [  0.,    0.,     1.]])
-
-eon_dcam_intrinsics = np.array([
-  [eon_dcam_focal_length,   0,   1152/2.],
-  [  0,  eon_dcam_focal_length,  864/2.],
-  [  0,    0,     1]])
-
-webcam_intrinsics = np.array([
-  [webcam_focal_length,   0.,   1280/2/1.5],
-  [  0.,  webcam_focal_length,  720/2/1.5],
-  [  0.,    0.,     1.]])
-
-if __name__ == "__main__":
-  import cv2
-  trans_webcam_to_eon_rear = np.dot(eon_intrinsics, np.linalg.inv(webcam_intrinsics))
-  trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics))
-  print("trans_webcam_to_eon_rear:\n", trans_webcam_to_eon_rear)
-  print("trans_webcam_to_eon_front:\n", trans_webcam_to_eon_front)
-
-  cap = cv2.VideoCapture(1)
-  cap.set(cv2.CAP_PROP_FRAME_WIDTH, 853)
-  cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
-
-  while (True):
-    ret, img = cap.read()
-    if ret:
-      # img = cv2.warpPerspective(img, trans_webcam_to_eon_rear, (1164,874), borderMode=cv2.BORDER_CONSTANT, borderValue=0)
-      img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1164, 874), borderMode=cv2.BORDER_CONSTANT, borderValue=0)
-      print(img.shape, end='\r')
-      cv2.imshow('preview', img)
-      cv2.waitKey(10)