diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py
index 26c35c0c18..0dc2e44eee 100644
--- a/selfdrive/test/fuzzy_generation.py
+++ b/selfdrive/test/fuzzy_generation.py
@@ -2,6 +2,7 @@ import capnp
 import hypothesis.strategies as st
 from typing import Any
 from collections.abc import Callable
+from functools import cache
 
 from cereal import log
 
@@ -11,67 +12,62 @@ DrawType = Callable[[st.SearchStrategy], Any]
 class FuzzyGenerator:
   def __init__(self, draw: DrawType, real_floats: bool):
     self.draw = draw
-    self.real_floats = real_floats
+    self.native_type_map = FuzzyGenerator._get_native_type_map(real_floats)
 
   def generate_native_type(self, field: str) -> st.SearchStrategy[bool | int | float | str | bytes]:
-    def floats(**kwargs) -> st.SearchStrategy[float]:
-      allow_nan = not self.real_floats
-      allow_infinity = not self.real_floats
-      return st.floats(**kwargs, allow_nan=allow_nan, allow_infinity=allow_infinity)
-
-    if field == 'bool':
-      return st.booleans()
-    elif field == 'int8':
-      return st.integers(min_value=-2**7, max_value=2**7-1)
-    elif field == 'int16':
-      return st.integers(min_value=-2**15, max_value=2**15-1)
-    elif field == 'int32':
-      return st.integers(min_value=-2**31, max_value=2**31-1)
-    elif field == 'int64':
-      return st.integers(min_value=-2**63, max_value=2**63-1)
-    elif field == 'uint8':
-      return st.integers(min_value=0, max_value=2**8-1)
-    elif field == 'uint16':
-      return st.integers(min_value=0, max_value=2**16-1)
-    elif field == 'uint32':
-      return st.integers(min_value=0, max_value=2**32-1)
-    elif field == 'uint64':
-      return st.integers(min_value=0, max_value=2**64-1)
-    elif field == 'float32':
-      return floats(width=32)
-    elif field == 'float64':
-      return floats(width=64)
-    elif field == 'text':
-      return st.text(max_size=1000)
-    elif field == 'data':
-      return st.binary(max_size=1000)
-    elif field == 'anyPointer':
-      return st.text()
+    value_func = self.native_type_map.get(field)
+    if value_func:
+      return value_func
     else:
-      raise NotImplementedError(f'Invalid type : {field}')
+      raise NotImplementedError(f'Invalid type: {field}')
 
   def generate_field(self, field: capnp.lib.capnp._StructSchemaField) -> st.SearchStrategy:
     def rec(field_type: capnp.lib.capnp._DynamicStructReader) -> st.SearchStrategy:
-      if field_type.which() == 'struct':
+      type_which = field_type.which()
+      if type_which == 'struct':
         return self.generate_struct(field.schema.elementType if base_type == 'list' else field.schema)
-      elif field_type.which() == 'list':
+      elif type_which == 'list':
         return st.lists(rec(field_type.list.elementType))
-      elif field_type.which() == 'enum':
+      elif type_which == 'enum':
         schema = field.schema.elementType if base_type == 'list' else field.schema
         return st.sampled_from(list(schema.enumerants.keys()))
       else:
-        return self.generate_native_type(field_type.which())
+        return self.generate_native_type(type_which)
 
-    if 'slot' in field.proto.to_dict():
-      base_type = field.proto.slot.type.which()
-      return rec(field.proto.slot.type)
-    else:
+    try:
+      if hasattr(field.proto, 'slot'):
+        slot_type =  field.proto.slot.type
+        base_type = slot_type.which()
+        return rec(slot_type)
+      else:
+        return self.generate_struct(field.schema)
+    except capnp.lib.capnp.KjException:
       return self.generate_struct(field.schema)
 
   def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str = None) -> st.SearchStrategy[dict[str, Any]]:
-    full_fill: list[str] = list(schema.non_union_fields)
-    single_fill: list[str] = [event] if event else [self.draw(st.sampled_from(schema.union_fields))] if schema.union_fields else []
-    return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in full_fill + single_fill})
+    single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else ()
+    fields_to_generate = schema.non_union_fields + single_fill
+    return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate if not field.endswith('DEPRECATED')})
+
+  @staticmethod
+  @cache
+  def _get_native_type_map(real_floats: bool) -> dict[str, st.SearchStrategy]:
+    return {
+      'bool': st.booleans(),
+      'int8': st.integers(min_value=-2**7, max_value=2**7-1),
+      'int16': st.integers(min_value=-2**15, max_value=2**15-1),
+      'int32': st.integers(min_value=-2**31, max_value=2**31-1),
+      'int64': st.integers(min_value=-2**63, max_value=2**63-1),
+      'uint8': st.integers(min_value=0, max_value=2**8-1),
+      'uint16': st.integers(min_value=0, max_value=2**16-1),
+      'uint32': st.integers(min_value=0, max_value=2**32-1),
+      'uint64': st.integers(min_value=0, max_value=2**64-1),
+      'float32': st.floats(width=32, allow_nan=not real_floats, allow_infinity=not real_floats),
+      'float64': st.floats(width=64, allow_nan=not real_floats, allow_infinity=not real_floats),
+      'text': st.text(max_size=1000),
+      'data': st.binary(max_size=1000),
+      'anyPointer': st.text(),  # Note: No need to define a separate function for anyPointer
+    }
 
   @classmethod
   def get_random_msg(cls, draw: DrawType, struct: capnp.lib.capnp._StructModule, real_floats: bool = False) -> dict[str, Any]: