diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
index c19be4c563..923e249849 100644
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@@ -7,7 +7,7 @@ on:
 env:
   BASE_IMAGE: openpilot-base
   DOCKER_REGISTRY: ghcr.io/commaai
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -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 $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/sh -c
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -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 $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
 
 jobs:
   badges:
diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index c1d4eae52f..6ad273a14d 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -15,7 +15,7 @@ env:
 
   BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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/sh -c
+  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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
 
 jobs:
   docs:
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index c47947f90d..708f16368f 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/sh -c
+  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
 
   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/sh -c
+  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
 
   PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0
 
@@ -175,7 +175,9 @@ jobs:
     - name: Run unit tests
       timeout-minutes: 15
       run: |
-        ${{ env.RUN }} "$PYTEST --timeout 30 -m 'not slow' && \
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
+                        export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
+                        $PYTEST --timeout 30 -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         ./selfdrive/ui/tests/test_translations.py && \
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 75a34b3c55..d564606c3e 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -17,11 +17,11 @@ env:
 
   BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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/sh -c
+  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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 $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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/sh -c
+  RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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
 
 
 jobs:
diff --git a/Jenkinsfile b/Jenkinsfile
index 2118c4c4ed..926a9bbfc8 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -187,7 +187,6 @@ node {
           ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
           ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
           ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
-          ["test nav", "pytest selfdrive/navd/tests/"],
         ])
       },
       'loopback': {
diff --git a/pyproject.toml b/pyproject.toml
index 58c506e378..07cf9a2233 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -17,6 +17,7 @@ testpaths = [
   "selfdrive/controls",
   "selfdrive/locationd",
   "selfdrive/monitoring",
+  "selfdrive/navd/tests",
   "selfdrive/thermald",
   "selfdrive/test/longitudinal_maneuvers",
   "system/hardware/tici",
diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py
index dbd6add995..d336ffb651 100755
--- a/selfdrive/navd/tests/test_map_renderer.py
+++ b/selfdrive/navd/tests/test_map_renderer.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import time
 import numpy as np
 import os
 import pytest
@@ -10,7 +11,7 @@ import cereal.messaging as messaging
 
 from typing import Any
 from cereal.visionipc import VisionIpcClient, VisionStreamType
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.selfdrive.test.helpers import with_processes
 
 LLK_DECIMATION = 10
 CACHE_PATH = "/data/mbgl-cache-navd.db"
@@ -18,7 +19,8 @@ CACHE_PATH = "/data/mbgl-cache-navd.db"
 LOCATION1 = (32.7174, -117.16277)
 LOCATION2 = (32.7558, -117.2037)
 
-DEFAULT_ITERATIONS = 30 * LLK_DECIMATION
+RENDER_FRAMES = 15
+DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION
 
 LOCATION1_REPEATED = [LOCATION1] * DEFAULT_ITERATIONS
 LOCATION2_REPEATED = [LOCATION2] * DEFAULT_ITERATIONS
@@ -60,7 +62,8 @@ class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
 
 class MapBoxInternetDisabledServer(threading.Thread):
   def run(self):
-    self.server = http.server.HTTPServer(("127.0.0.1", 5000), MapBoxInternetDisabledRequestHandler)
+    self.server = http.server.HTTPServer(("127.0.0.1", 0), MapBoxInternetDisabledRequestHandler)
+    self.port = self.server.server_port
     self.server.serve_forever()
 
   def stop(self):
@@ -74,13 +77,15 @@ class MapBoxInternetDisabledServer(threading.Thread):
 
 
 class TestMapRenderer(unittest.TestCase):
-  server = MapBoxInternetDisabledServer()
+  server: MapBoxInternetDisabledServer
 
   @classmethod
   def setUpClass(cls):
     assert "MAPBOX_TOKEN" in os.environ
     cls.original_token = os.environ["MAPBOX_TOKEN"]
+    cls.server = MapBoxInternetDisabledServer()
     cls.server.start()
+    time.sleep(0.5) # wait for server to startup
 
   @classmethod
   def tearDownClass(cls) -> None:
@@ -88,7 +93,7 @@ class TestMapRenderer(unittest.TestCase):
 
   def setUp(self):
     self.server.enable_internet()
-    os.environ['MAPS_HOST'] = 'http://localhost:5000'
+    os.environ['MAPS_HOST'] = f'http://localhost:{self.server.port}'
 
     self.sm = messaging.SubMaster(['mapRenderState'])
     self.pm = messaging.PubMaster(['liveLocationKalman'])
@@ -97,15 +102,11 @@ class TestMapRenderer(unittest.TestCase):
     if os.path.exists(CACHE_PATH):
       os.remove(CACHE_PATH)
 
-  def tearDown(self):
-    managed_processes['mapsd'].stop()
-
   def _setup_test(self):
-    # start + sync up
-    managed_processes['mapsd'].start()
-
     assert self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
 
+    time.sleep(0.5)
+
     assert VisionIpcClient.available_streams("navd", False) == {VisionStreamType.VISION_STREAM_MAP, }
     assert self.vipc.connect(False)
     self.vipc.recv()
@@ -164,17 +165,22 @@ class TestMapRenderer(unittest.TestCase):
       assert self.vipc.timestamp_sof == llk.logMonoTime
       assert self.vipc.frame_id == self.sm['mapRenderState'].frameId
 
+    assert frames_since_test_start >= RENDER_FRAMES
+
     return render_times
 
+  @with_processes(["mapsd"])
   def test_with_internet(self):
     self._setup_test()
     self._run_test(True)
 
+  @with_processes(["mapsd"])
   def test_with_no_internet(self):
     self.server.disable_internet()
     self._setup_test()
     self._run_test(False)
 
+  @with_processes(["mapsd"])
   def test_recover_from_no_internet(self):
     self._setup_test()
     self._run_test(True)
@@ -187,8 +193,7 @@ class TestMapRenderer(unittest.TestCase):
     self.server.enable_internet()
     self._run_test(True, LOCATION2_REPEATED)
 
-    self._run_test(True, LOCATION2_REPEATED)
-
+  @with_processes(["mapsd"])
   @pytest.mark.tici
   def test_render_time_distribution(self):
     self._setup_test()
diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh
new file mode 100755
index 0000000000..2c79adec4a
--- /dev/null
+++ b/selfdrive/test/setup_xvfb.sh
@@ -0,0 +1,15 @@
+#!/bin/bash
+
+# Sets up a virtual display for running map renderer and simulator without an X11 display
+
+DISP_ID=99
+export DISPLAY=:$DISP_ID
+
+sudo Xvfb $DISPLAY -screen 0 2160x1080x24 &
+
+# check for x11 socket for the specified display ID
+while [ ! -S /tmp/.X11-unix/X$DISP_ID ]
+do
+  echo "Waiting for Xvfb..."
+  sleep 1
+done
\ No newline at end of file