diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index 4065b0ef3e..0f4ce6cb3a 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -39,4 +39,4 @@ jobs:
         git config --global --add safe.directory '*'
         git lfs pull
     - name: Push master-ci
-      run: BRANCH=__nightly release/build_devel.sh
+      run: BRANCH=__nightly release/build_stripped.sh
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 1684a0af46..cdafbbfede 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -27,7 +27,7 @@ env:
 
   RUN: docker run --shm-size 2G -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
 
-  PYTEST: pytest --continue-on-collection-errors --durations=0 --durations-min=5 -n logical
+  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
 
 jobs:
   build_release:
@@ -52,7 +52,7 @@ jobs:
         command: git lfs pull
     - name: Build devel
       timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
+      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
     - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot and run checks
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
@@ -161,7 +161,9 @@ jobs:
     - name: Run unit tests
       timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
       run: |
-        ${{ env.RUN }} "$PYTEST --collect-only -m 'not slow' &> /dev/null && \
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
+                        # Pre-compile Python bytecode so each pytest worker doesn't need to
+                        $PYTEST --collect-only -m 'not slow' -qq && \
                         MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
diff --git a/.gitignore b/.gitignore
index ac4021529b..8dc8f41de5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -13,9 +13,11 @@ venv/
 model2.png
 a.out
 .hypothesis
+.cache/
 
 /docs_site/
 
+*.mp4
 *.dylib
 *.DSYM
 *.d
diff --git a/Jenkinsfile b/Jenkinsfile
index a14bf59299..0905abd6da 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -167,7 +167,7 @@ node {
   env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
   def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'testing-closet*', 'hotfix-*']
+                         'release-tici', 'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
   if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
diff --git a/README.md b/README.md
index dcf645ff61..f3af58f85b 100644
--- a/README.md
+++ b/README.md
@@ -56,7 +56,6 @@ We have detailed instructions for [how to install the harness and device in a ca
 | `release3-staging` | openpilot-test.comma.ai                | This is the staging branch for releases. Use it to get new releases slightly early. |
 | `nightly`          | openpilot-nightly.comma.ai             | This is the bleeding edge development branch. Do not expect this to be stable.      |
 | `nightly-dev`      | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars.      |
-| `secretgoodopenpilot` | installer.comma.ai/commaai/secretgoodopenpilot | This is a preview branch from the autonomy team where new driving models get merged earlier than master. |
 
 To start developing openpilot
 ------
diff --git a/RELEASES.md b/RELEASES.md
index 58d0d07a74..dacf0eaa17 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,11 +1,22 @@
-Version 0.10.0 (2025-07-07)
+Version 0.10.1 (2025-09-08)
+========================
+* Record driving feedback using LKAS button
+* Honda City 2023 support thanks to drFritz!
+
+Version 0.10.0 (2025-08-05)
 ========================
 * New driving model
-  * Lead car ground-truth fixes
-  * Ported over VAE from the MLSIM stack
-  * New training architecture described in CVPR paper
+  * New training architecture
+     * Described in our CVPR paper: "Learning to Drive from a World Model"
+     * Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode
+     * Action from lateral MPC as training objective replaced by E2E planning from World Model
+  * Low-speed lead car ground-truth fixes
 * Enable live-learned steering actuation delay
 * Opt-in audio recording for dashcam video
+* Acura MDX 2025 support thanks to vanillagorillaa and MVL!
+* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
+* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL!
+* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL!
 
 Version 0.9.9 (2025-05-23)
 ========================
diff --git a/cereal/log.capnp b/cereal/log.capnp
index b9f4170265..e756843562 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -127,8 +127,9 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     espActive @90;
     personalityChanged @91;
     aeb @92;
-    userFlag @95;
+    userBookmark @95;
     excessiveActuation @96;
+    audioFeedback @97;
 
     soundsUnavailableDEPRECATED @47;
   }
@@ -2468,7 +2469,7 @@ struct DebugAlert {
   alertText2 @1 :Text;
 }
 
-struct UserFlag {
+struct UserBookmark @0xfe346a9de48d9b50 {
 }
 
 struct SoundPressure @0xdc24138990726023 {
@@ -2486,6 +2487,11 @@ struct AudioData {
   sampleRate @1 :UInt32;
 }
 
+struct AudioFeedback {
+  audio @0 :AudioData;
+  blockNum @1 :UInt16;
+}
+
 struct Touch {
   sec @0 :Int64;
   usec @1 :Int64;
@@ -2586,9 +2592,13 @@ struct Event {
     mapRenderState @105: MapRenderState;
 
     # UI services
-    userFlag @93 :UserFlag;
     uiDebug @102 :UIDebug;
 
+    # driving feedback
+    userBookmark @93 :UserBookmark;
+    bookmarkButton @148 :UserBookmark;
+    audioFeedback @149 :AudioFeedback;
+
     # *********** debug ***********
     testJoystick @52 :Joystick;
     roadEncodeData @86 :EncodeData;
diff --git a/cereal/messaging/tests/test_pub_sub_master.py b/cereal/messaging/tests/test_pub_sub_master.py
index e47e713393..5e26b49701 100644
--- a/cereal/messaging/tests/test_pub_sub_master.py
+++ b/cereal/messaging/tests/test_pub_sub_master.py
@@ -86,7 +86,7 @@ class TestSubMaster:
         "cameraOdometry": (20, 10),
         "liveCalibration": (4, 4),
         "carParams": (None, None),
-        "userFlag": (None, None),
+        "userBookmark": (None, None),
       }
 
       for service, (max_freq, min_freq) in checks.items():
diff --git a/cereal/services.py b/cereal/services.py
index a13fc810f4..a4c7463f20 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -72,9 +72,11 @@ _services: dict[str, tuple] = {
   "navRoute": (True, 0.),
   "navThumbnail": (True, 0.),
   "qRoadEncodeIdx": (False, 20.),
-  "userFlag": (True, 0., 1),
+  "userBookmark": (True, 0., 1),
   "soundPressure": (True, 10., 10),
   "rawAudioData": (False, 20.),
+  "bookmarkButton": (True, 0., 1),
+  "audioFeedback": (True, 0., 1),
 
   # debug
   "uiDebug": (True, 0., 1),
diff --git a/common/params_keys.h b/common/params_keys.h
index 5cd6f9691b..c54600462c 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -73,9 +73,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
     {"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
-    {"LastUpdateRouteCount", {PERSISTENT, INT}},
+    {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
     {"LastUpdateTime", {PERSISTENT, TIME}},
-    {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT}},
+    {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
     {"LiveDelay", {PERSISTENT, BYTES}},
     {"LiveParameters", {PERSISTENT, JSON}},
     {"LiveParametersV2", {PERSISTENT, BYTES}},
@@ -105,6 +105,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
     {"PrimeType", {PERSISTENT, INT}},
     {"RecordAudio", {PERSISTENT, BOOL}},
+    {"RecordAudioFeedback", {PERSISTENT, BOOL, "0"}},
     {"RecordFront", {PERSISTENT, BOOL}},
     {"RecordFrontLock", {PERSISTENT, BOOL}},  // for the internal fleet
     {"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},
diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
index 1c76e75846..93c550f22a 100644
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -102,14 +102,14 @@ cdef class Params:
       return cast(value)
     raise TypeError(f"Type mismatch while writing param {key}: {proposed_type=} {expected_type=} {value=}")
 
-  def cpp2python(self, t, value, default, key):
+  def _cpp2python(self, t, value, default, key):
     if value is None:
       return None
     try:
       return CPP_2_PYTHON[t](value)
     except (KeyError, TypeError, ValueError):
       cloudlog.warning(f"Failed to cast param {key} with {value=} from type {t=}")
-      return self.cpp2python(t, default, None, key)
+      return self._cpp2python(t, default, None, key)
 
   def get(self, key, bool block=False, bool return_default=False):
     cdef string k = self.check_key(key)
@@ -126,8 +126,8 @@ cdef class Params:
         # it means we got an interrupt while waiting
         raise KeyboardInterrupt
       else:
-        return self.cpp2python(t, default_val, None, key)
-    return self.cpp2python(t, val, default_val, key)
+        return self._cpp2python(t, default_val, None, key)
+    return self._cpp2python(t, val, default_val, key)
 
   def get_bool(self, key, bool block=False):
     cdef string k = self.check_key(key)
@@ -188,4 +188,9 @@ cdef class Params:
     cdef string k = self.check_key(key)
     cdef ParamKeyType t = self.p.getKeyType(k)
     cdef optional[string] default = self.p.getKeyDefaultValue(k)
-    return self.cpp2python(t, default.value(), None, key) if default.has_value() else None
+    return self._cpp2python(t, default.value(), None, key) if default.has_value() else None
+
+  def cpp2python(self, key, value):
+    cdef string k = self.check_key(key)
+    cdef ParamKeyType t = self.p.getKeyType(k)
+    return self._cpp2python(t, value, None, key)
diff --git a/common/pid.py b/common/pid.py
index f2ab935f45..99142280ca 100644
--- a/common/pid.py
+++ b/common/pid.py
@@ -14,10 +14,8 @@ class PIDController:
     if isinstance(self._k_d, Number):
       self._k_d = [[0], [self._k_d]]
 
-    self.pos_limit = pos_limit
-    self.neg_limit = neg_limit
+    self.set_limits(pos_limit, neg_limit)
 
-    self.i_unwind_rate = 0.3 / rate
     self.i_rate = 1.0 / rate
     self.speed = 0.0
 
@@ -35,10 +33,6 @@ class PIDController:
   def k_d(self):
     return np.interp(self.speed, self._k_d[0], self._k_d[1])
 
-  @property
-  def error_integral(self):
-    return self.i/self.k_i
-
   def reset(self):
     self.p = 0.0
     self.i = 0.0
@@ -46,25 +40,25 @@ class PIDController:
     self.f = 0.0
     self.control = 0
 
-  def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False):
-    self.speed = speed
+  def set_limits(self, pos_limit, neg_limit):
+    self.pos_limit = pos_limit
+    self.neg_limit = neg_limit
 
+  def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
+    self.speed = speed
     self.p = float(error) * self.k_p
     self.f = feedforward * self.k_f
     self.d = error_rate * self.k_d
 
-    if override:
-      self.i -= self.i_unwind_rate * float(np.sign(self.i))
-    else:
-      if not freeze_integrator:
-        self.i = self.i + error * self.k_i * self.i_rate
+    if not freeze_integrator:
+      i = self.i + error * self.k_i * self.i_rate
 
-        # Clip i to prevent exceeding control limits
-        control_no_i = self.p + self.d + self.f
-        control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
-        self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
+      # Don't allow windup if already clipping
+      test_control = self.p + i + self.d + self.f
+      i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit
+      i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit
+      self.i = np.clip(i, i_lowerbound, i_upperbound)
 
     control = self.p + self.i + self.d + self.f
-
     self.control = np.clip(control, self.neg_limit, self.pos_limit)
     return self.control
diff --git a/common/run.py b/common/run.py
index 06deb6388d..75395ead1f 100644
--- a/common/run.py
+++ b/common/run.py
@@ -1,4 +1,6 @@
 import subprocess
+from contextlib import contextmanager
+from subprocess import Popen, PIPE, TimeoutExpired
 
 
 def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
@@ -11,3 +13,16 @@ def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> st
   except subprocess.CalledProcessError:
     return default
 
+
+@contextmanager
+def managed_proc(cmd: list[str], env: dict[str, str]):
+  proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
+  try:
+    yield proc
+  finally:
+    if proc.poll() is None:
+      proc.terminate()
+    try:
+      proc.wait(timeout=5)
+    except TimeoutExpired:
+      proc.kill()
diff --git a/common/version.h b/common/version.h
index af827e20a6..669f303211 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.10.0"
+#define COMMA_VERSION "0.10.1"
diff --git a/docs/CARS.md b/docs/CARS.md
index d6107b726b..7269f25737 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,12 +4,13 @@
 
 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.
 
-# 313 Supported Cars
+# 321 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|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
+|Acura|MDX 2025|All except Type S|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
@@ -72,18 +73,24 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV80 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 M connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Accord 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2022-24|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 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic Hatchback 2017-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2022-24|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 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic Hatchback Hybrid 2025|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 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|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 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic Hybrid 2025|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 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic Hybrid 2025">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda CR-V 2023-25">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
@@ -94,6 +101,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
+|Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
 |Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
 |Hyundai|Azera 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 K connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
 |Hyundai|Azera Hybrid 2019|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 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md
index 1950db8a05..154734b7fc 100644
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -6,7 +6,7 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
 
 ### Getting Started
 
-* Setup your [development environment](../tools/)
+* Set up your [development environment](/tools/)
 * Join our [Discord](https://discord.comma.ai)
 * Docs are at https://docs.comma.ai and https://blog.comma.ai
 
diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md
index 64f4475dfa..13b3b03e80 100644
--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@@ -1,11 +1,11 @@
 # Turn the speed blue
 *A getting started guide for openpilot development*
 
-In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI.
+In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
 
 And if you have a comma 3/3X, we'll deploy the change to your device for testing.
 
-## 1. Setup your development environment
+## 1. Set up your development environment
 
 Run this to clone openpilot and install all the dependencies:
 ```bash
diff --git a/launch_env.sh b/launch_env.sh
index b0bff4e57f..4c011c6ac0 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.4"
+  export AGNOS_VERSION="12.8"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/opendbc_repo b/opendbc_repo
index 22b8df68fb..43006b9a41 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 22b8df68fb6d8aa197fb9b432a428da6dd96c98c
+Subproject commit 43006b9a41e233325cb7cbcb6ff40de0234217a0
diff --git a/panda b/panda
index c2723b2f6b..3dc2138623 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit c2723b2f6bcce7e2d97f685db1ec2472a8dd28f5
+Subproject commit 3dc21386239e3073a623156b75901aa302340d6c
diff --git a/pyproject.toml b/pyproject.toml
index e50b73e0dd..7103163458 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -120,7 +120,6 @@ dev = [
 
 tools = [
   "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
-  #"rerun-sdk >= 0.18",  # this is pretty big, so only enable once we use it
 ]
 
 [project.urls]
diff --git a/release/README.md b/release/README.md
index 06404be6ab..fb651fa05a 100644
--- a/release/README.md
+++ b/release/README.md
@@ -3,29 +3,34 @@
 ```
 ## release checklist
 
-**Go to `devel-staging`**
+### Go to staging
+- [ ] make a GitHub issue to track release
+- [ ] create release master branch
 - [ ] update RELEASES.md
-- [ ] update `devel-staging`: `git reset --hard origin/master-ci`
-- [ ] open a pull request from `devel-staging` to `devel`
-- [ ] post on Discord
-
-**Go to `devel`**
 - [ ] bump version on master: `common/version.h` and `RELEASES.md`
-- [ ] before merging the pull request
+- [ ] build new userdata partition from `release3-staging`
+- [ ] post on Discord, tag `@release crew`
+
+Updating staging:
+1. either rebase on master or cherry-pick changes
+2. run this to update: `BRANCH=devel-staging release/build_devel.sh`
+3. build new userdata partition from `release3-staging`
+
+### Go to release
+- [ ] before going to release, test the following:
   - [ ] update from previous release -> new release
   - [ ] update from new release -> previous release
   - [ ] fresh install with `openpilot-test.comma.ai`
   - [ ] drive on fresh install
   - [ ] no submodules or LFS
   - [ ] check sentry, MTBF, etc.
-
-**Go to `release3`**
+  - [ ] stress test passes in production
 - [ ] publish the blog post
 - [ ] `git reset --hard origin/release3-staging`
 - [ ] tag the release: `git tag v0.X.X <commit-hash> && git push origin v0.X.X`
 - [ ] create GitHub release
 - [ ] final test install on `openpilot.comma.ai`
 - [ ] update factory provisioning
-- [ ] close out milestone
+- [ ] close out milestone and issue
 - [ ] post on Discord, X, etc.
 ```
diff --git a/release/build_devel.sh b/release/build_stripped.sh
similarity index 83%
rename from release/build_devel.sh
rename to release/build_stripped.sh
index 05dcaafcaa..6f1a568c25 100755
--- a/release/build_devel.sh
+++ b/release/build_stripped.sh
@@ -17,28 +17,23 @@ rm -rf $TARGET_DIR
 mkdir -p $TARGET_DIR
 cd $TARGET_DIR
 cp -r $SOURCE_DIR/.git $TARGET_DIR
-pre-commit uninstall || true
 
-echo "[-] bringing __nightly and devel in sync T=$SECONDS"
+echo "[-] setting up stripped branch sync T=$SECONDS"
 cd $TARGET_DIR
 
-git fetch --depth 1 origin __nightly
-git fetch --depth 1 origin devel
-
-git checkout -f --track origin/__nightly
-git reset --hard __nightly
-git checkout __nightly
-git reset --hard origin/devel
-git clean -xdff
-git lfs uninstall
+# tmp branch
+git checkout --orphan tmp
 
 # remove everything except .git
 echo "[-] erasing old openpilot T=$SECONDS"
+git submodule deinit -f --all
+git rm -rf --cached .
 find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
 
-# reset source tree
+# cleanup before the copy
 cd $SOURCE_DIR
 git clean -xdff
+git submodule foreach --recursive git clean -xdff
 
 # do the files copy
 echo "[-] copying files T=$SECONDS"
@@ -47,6 +42,7 @@ cp -pR --parents $(./release/release_files.py) $TARGET_DIR/
 
 # in the directory
 cd $TARGET_DIR
+rm -rf .git/modules/
 rm -f panda/board/obj/panda.bin.signed
 
 # include source commit hash and build date in commit
@@ -85,7 +81,7 @@ fi
 
 if [ ! -z "$BRANCH" ]; then
   echo "[-] Pushing to $BRANCH T=$SECONDS"
-  git push -f origin __nightly:$BRANCH
+  git push -f origin tmp:$BRANCH
 fi
 
 echo "[-] done T=$SECONDS, ready at $TARGET_DIR"
diff --git a/selfdrive/assets/icons/link.png b/selfdrive/assets/icons/link.png
new file mode 100644
index 0000000000..8a795c05b8
--- /dev/null
+++ b/selfdrive/assets/icons/link.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a69514fe68dd1b4c73f28771640dcba10fc40989d1c7e771cb48bfd830fef206
+size 5713
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index dd7968b732..029d16e59e 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -40,7 +40,7 @@ class Controls:
                                    'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='selfdriveState')
     self.pm = messaging.PubMaster(['carControl', 'controlsState'])
 
-    self.steer_limited_by_controls = False
+    self.steer_limited_by_safety = False
     self.curvature = 0.0
     self.desired_curvature = 0.0
 
@@ -120,7 +120,7 @@ class Controls:
 
     actuators.curvature = self.desired_curvature
     steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
-                                                       self.steer_limited_by_controls, self.desired_curvature,
+                                                       self.steer_limited_by_safety, self.desired_curvature,
                                                        curvature_limited)  # TODO what if not available
     actuators.torque = float(steer)
     actuators.steeringAngleDeg = float(steeringAngleDeg)
@@ -167,10 +167,10 @@ class Controls:
     if self.sm['selfdriveState'].active:
       CO = self.sm['carOutput']
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-        self.steer_limited_by_controls = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
+        self.steer_limited_by_safety = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
                                               STEER_ANGLE_SATURATION_THRESHOLD
       else:
-        self.steer_limited_by_controls = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
+        self.steer_limited_by_safety = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
 
     # TODO: both controlsState and carControl valids should be set by
     #       sm.all_checks(), but this creates a circular dependency
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index d67a4aa959..2a8b873e2e 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -15,15 +15,15 @@ class LatControl(ABC):
     self.steer_max = 1.0
 
   @abstractmethod
-  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
     pass
 
   def reset(self):
     self.sat_count = 0.
 
-  def _check_saturation(self, saturated, CS, steer_limited_by_controls, curvature_limited):
+  def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited):
     # Saturated only if control output is not being limited by car torque/angle rate limits
-    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_controls and not CS.steeringPressed:
+    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_safety and not CS.steeringPressed:
       self.sat_count += self.sat_count_rate
     else:
       self.sat_count -= self.sat_count_rate
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index 807161735c..ac35151487 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -3,6 +3,7 @@ import math
 from cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 
+# TODO This is speed dependent
 STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
 
 
@@ -10,9 +11,9 @@ class LatControlAngle(LatControl):
   def __init__(self, CP, CI):
     super().__init__(CP, CI)
     self.sat_check_min_speed = 5.
-    self.use_steer_limited_by_controls = CP.brand == "tesla"
+    self.use_steer_limited_by_safety = CP.brand == "tesla"
 
-  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
     if not active:
@@ -23,9 +24,9 @@ class LatControlAngle(LatControl):
       angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
       angle_steers_des += params.angleOffsetDeg
 
-    if self.use_steer_limited_by_controls:
+    if self.use_steer_limited_by_safety:
       # these cars' carcontrollers calculate max lateral accel and jerk, so we can rely on carOutput for saturation
-      angle_control_saturated = steer_limited_by_controls
+      angle_control_saturated = steer_limited_by_safety
     else:
       # for cars which use a method of limiting torque such as a torque signal (Nissan and Toyota)
       # or relying on EPS (Ford Q3), carOutput does not capture maxing out torque  # TODO: this can be improved
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index 4e4e0772fe..00a083509f 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -13,11 +13,7 @@ class LatControlPID(LatControl):
                              k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.get_steer_feedforward = CI.get_steer_feedforward_function()
 
-  def reset(self):
-    super().reset()
-    self.pid.reset()
-
-  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     pid_log.steeringRateDeg = float(CS.steeringRateDeg)
@@ -29,20 +25,24 @@ class LatControlPID(LatControl):
     pid_log.steeringAngleDesiredDeg = angle_steers_des
     pid_log.angleError = error
     if not active:
-      output_steer = 0.0
+      output_torque = 0.0
       pid_log.active = False
-      self.pid.reset()
+
     else:
       # offset does not contribute to resistive torque
-      steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
+      ff = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+
+      output_torque = self.pid.update(error,
+                                feedforward=ff,
+                                speed=CS.vEgo,
+                                freeze_integrator=freeze_integrator)
 
-      output_steer = self.pid.update(error, override=CS.steeringPressed,
-                                     feedforward=steer_feedforward, speed=CS.vEgo)
       pid_log.active = True
       pid_log.p = float(self.pid.p)
       pid_log.i = float(self.pid.i)
       pid_log.f = float(self.pid.f)
-      pid_log.output = float(output_steer)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
+      pid_log.output = float(output_torque)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
 
-    return output_steer, angle_steers_des, pid_log
+    return output_torque, angle_steers_des, pid_log
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 991ac3439b..dffe85c473 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -3,7 +3,6 @@ import numpy as np
 
 from cereal import log
 from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
-from opendbc.car.interfaces import LatControlInputs
 from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
@@ -27,17 +26,24 @@ class LatControlTorque(LatControl):
   def __init__(self, CP, CI):
     super().__init__(CP, CI)
     self.torque_params = CP.lateralTuning.torque.as_builder()
-    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
-                             k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
+    self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
+    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
+                             k_f=self.torque_params.kf)
+    self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
 
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
     self.torque_params.latAccelFactor = latAccelFactor
     self.torque_params.latAccelOffset = latAccelOffset
     self.torque_params.friction = friction
+    self.update_limits()
 
-  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, curvature_limited):
+  def update_limits(self):
+    self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
+                        self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
+
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
     if not active:
       output_torque = 0.0
@@ -57,30 +63,28 @@ class LatControlTorque(LatControl):
       setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
       measurement = actual_lateral_accel + low_speed_factor * actual_curvature
       gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
-      torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
-                                                            gravity_adjusted=False)
-      torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
-                                                               gravity_adjusted=False)
-      pid_log.error = float(torque_from_setpoint - torque_from_measurement)
-      ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
-                                          gravity_adjusted=True)
+
+      # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
+      pid_log.error = float(setpoint - measurement)
+      ff = gravity_adjusted_lateral_accel
       ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
-      freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
-      output_torque = self.pid.update(pid_log.error,
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+      output_lataccel = self.pid.update(pid_log.error,
                                       feedforward=ff,
                                       speed=CS.vEgo,
                                       freeze_integrator=freeze_integrator)
+      output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
 
       pid_log.active = True
       pid_log.p = float(self.pid.p)
       pid_log.i = float(self.pid.i)
       pid_log.d = float(self.pid.d)
       pid_log.f = float(self.pid.f)
-      pid_log.output = float(-output_torque)
+      pid_log.output = float(-output_torque)  # TODO: log lat accel?
       pid_log.actualLateralAccel = float(actual_lateral_accel)
       pid_log.desiredLateralAccel = float(desired_lateral_accel)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
 
     # TODO left is positive in this convention
     return -output_torque, 0.0, pid_log
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 2149e60078..34fc85f8a5 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -19,7 +19,7 @@ LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
-ALLOW_THROTTLE_THRESHOLD = 0.5
+ALLOW_THROTTLE_THRESHOLD = 0.4
 MIN_ALLOW_THROTTLE_SPEED = 2.5
 
 # Lookup table for turns
@@ -90,7 +90,7 @@ class LongitudinalPlanner:
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
-    self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
+    mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -113,7 +113,7 @@ class LongitudinalPlanner:
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
-    if self.mode == 'acc':
+    if mode == 'acc':
       accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
       steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
       accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
@@ -163,7 +163,7 @@ class LongitudinalPlanner:
     output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
     output_should_stop_e2e = sm['modelV2'].action.shouldStop
 
-    if self.mode == 'acc':
+    if mode == 'acc':
       output_a_target = output_a_target_mpc
       self.output_should_stop = output_should_stop_mpc
     else:
diff --git a/selfdrive/controls/lib/tests/__init__.py b/selfdrive/controls/lib/tests/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
similarity index 88%
rename from selfdrive/controls/lib/tests/test_latcontrol.py
rename to selfdrive/controls/tests/test_latcontrol.py
index f32e20b1e5..0ce06dc996 100644
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -5,6 +5,7 @@ from opendbc.car.car_helpers import interfaces
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
+from opendbc.car.gm.values import CAR as GM
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
@@ -13,7 +14,8 @@ from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 
 class TestLatControl:
 
-  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),  (NISSAN.NISSAN_LEAF, LatControlAngle)])
+  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
+                         (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
   def test_saturation(self, car_name, controller):
     CarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 3aafbd591d..71b5291dfb 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -32,7 +32,7 @@ MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100])
 MIN_ENGAGE_BUFFER = 2  # secs
 
 VERSION = 1  # bump this to invalidate old parameter caches
-ALLOWED_CARS = ['toyota', 'hyundai', 'rivian']
+ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda']
 
 
 def slope2rot(slope):
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 707b221bb9..8bc8bf01ab 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -102,15 +102,12 @@ class ModelState:
 
     self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
     self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
-    self.full_prev_desired_curv = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
     self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP)
 
     # policy inputs
     self.numpy_inputs = {
       'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
       'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
-      'prev_desired_curv': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
       'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
     }
 
@@ -143,7 +140,6 @@ class ModelState:
     self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)
 
     self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
-    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
     imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}
 
     if TICI and not USBGPU:
@@ -169,11 +165,6 @@ class ModelState:
     self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
     policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
 
-    # TODO model only uses last value now
-    self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
-    self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
-    self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
-
     combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
     if SEND_RAW_PRED:
       combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
@@ -292,7 +283,6 @@ def main(demo=False):
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
     lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
-    lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -325,7 +315,6 @@ def main(demo=False):
     inputs:dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
-      'lateral_control_params': lateral_control_params,
     }
 
     mt1 = time.perf_counter()
diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx
index 187a3b2ecf..867a0d3b9b 100644
--- a/selfdrive/modeld/models/driving_policy.onnx
+++ b/selfdrive/modeld/models/driving_policy.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:22aec22a10ce09384d4a4af2a0bbff08d54af7e0c888503508f356fae4ff0e29
-size 15583374
+oid sha256:04b763fb71efe57a8a4c4168a8043ecd58939015026ded0dc755ded6905ac251
+size 12343523
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
index 18f63358db..ce0dc927e7 100644
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c824f68646a3b94f117f01c70dc8316fb466e05fbd42ccdba440b8a8dc86914b
-size 46265993
+oid sha256:e66bb8d53eced3786ed71a59b55ffc6810944cb217f0518621cc76303260a1ef
+size 46271991
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index b89de27594..038f51ca9c 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -22,9 +22,10 @@ class Parser:
     self.ignore_missing = ignore_missing
 
   def check_missing(self, outs, name):
-    if name not in outs and not self.ignore_missing:
+    missing = name not in outs
+    if missing and not self.ignore_missing:
       raise ValueError(f"Missing output {name}")
-    return name not in outs
+    return missing
 
   def parse_categorical_crossentropy(self, name, outs, out_shape=None):
     if self.check_missing(outs, name):
@@ -84,6 +85,13 @@ class Parser:
     outs[name] = pred_mu_final.reshape(final_shape)
     outs[name + '_stds'] = pred_std_final.reshape(final_shape)
 
+  def is_mhp(self, outs, name, shape):
+    if self.check_missing(outs, name):
+      return False
+    if outs[name].shape[1] == 2 * shape:
+      return False
+    return True
+
   def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
@@ -94,17 +102,17 @@ class Parser:
     self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
     self.parse_binary_crossentropy('meta', outs)
     self.parse_binary_crossentropy('lead_prob', outs)
-    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-      out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
+    lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
+    lead_out_shape = (ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) if lead_mhp else \
+        (ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH)
+    self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-      out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    if 'lat_planner_solution' in outs:
-      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
-    if 'desired_curvature' in outs:
-      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
+    plan_mhp = self.is_mhp(outs, 'plan',  ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
+    plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
+    self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
     return outs
 
diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index b33ffb6473..4e49813f5d 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -87,7 +87,7 @@ def main() -> None:
 
       # TODO: remove this in the next AGNOS
       # wait until USB is up before counting
-      if time.monotonic() < 35.:
+      if time.monotonic() < 60.:
         no_internal_panda_count = 0
 
       # Handle missing internal panda
diff --git a/selfdrive/selfdrived/alerts_offroad.json b/selfdrive/selfdrived/alerts_offroad.json
index 7c97f5a1c2..42aca22008 100644
--- a/selfdrive/selfdrived/alerts_offroad.json
+++ b/selfdrive/selfdrived/alerts_offroad.json
@@ -42,7 +42,7 @@
     "severity": 0
   },
   "Offroad_ExcessiveActuation": {
-    "text": "openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.",
+    "text": "openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting.",
     "severity": 1,
     "_comment": "Set extra field to lateral or longitudinal."
   }
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 49c2cea4ac..9da7125dd8 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -11,6 +11,8 @@ from openpilot.common.constants import CV
 from openpilot.common.git import get_short_branch
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
+from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
+from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION
 
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
@@ -198,6 +200,7 @@ class StartupAlert(Alert):
                      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),
 
 
+
 # ********** helper functions **********
 def get_display_speed(speed_ms: float, metric: bool) -> str:
   speed = int(round(speed_ms * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)))
@@ -252,6 +255,14 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag
     Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
 
 
+def audio_feedback_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  duration = FEEDBACK_MAX_DURATION - ((sm['audioFeedback'].blockNum + 1) * SAMPLE_BUFFER / SAMPLE_RATE)
+  return NormalPermanentAlert(
+    "Recording Audio Feedback",
+    f"{round(duration)} second{'s' if round(duration) != 1 else ''} remaining. Press again to save early.",
+    priority=Priority.LOW)
+
+
 # *** debug alerts ***
 
 def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
@@ -370,6 +381,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
   return NormalPermanentAlert("Invalid LKAS setting", text)
 
 
+
 EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # ********** events with no alerts **********
 
@@ -991,9 +1003,13 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.WARNING: personality_changed_alert,
   },
 
-  EventName.userFlag: {
+  EventName.userBookmark: {
     ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5),
   },
+
+  EventName.audioFeedback: {
+    ET.PERMANENT: audio_feedback_alert,
+  },
 }
 
 
diff --git a/selfdrive/selfdrived/helpers.py b/selfdrive/selfdrived/helpers.py
new file mode 100644
index 0000000000..f7468cbe43
--- /dev/null
+++ b/selfdrive/selfdrived/helpers.py
@@ -0,0 +1,54 @@
+import math
+from enum import StrEnum, auto
+
+from cereal import car, messaging
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.locationd.helpers import Pose
+from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
+from opendbc.car.lateral import ISO_LATERAL_ACCEL
+from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
+
+MIN_EXCESSIVE_ACTUATION_COUNT = int(0.25 / DT_CTRL)
+MIN_LATERAL_ENGAGE_BUFFER = int(1 / DT_CTRL)
+
+
+class ExcessiveActuationType(StrEnum):
+  LONGITUDINAL = auto()
+  LATERAL = auto()
+
+
+class ExcessiveActuationCheck:
+  def __init__(self):
+    self._excessive_counter = 0
+    self._engaged_counter = 0
+
+  def update(self, sm: messaging.SubMaster, CS: car.CarState, calibrated_pose: Pose) -> ExcessiveActuationType | None:
+    # CS.aEgo can be noisy to bumps in the road, transitioning from standstill, losing traction, etc.
+    # longitudinal
+    accel_calibrated = calibrated_pose.acceleration.x
+    excessive_long_actuation = sm['carControl'].longActive and (accel_calibrated > ACCEL_MAX * 2 or accel_calibrated < ACCEL_MIN * 2)
+
+    # lateral
+    yaw_rate = calibrated_pose.angular_velocity.yaw
+    roll = sm['liveParameters'].roll
+    roll_compensated_lateral_accel = (CS.vEgo * yaw_rate) - (math.sin(roll) * ACCELERATION_DUE_TO_GRAVITY)
+
+    # Prevent false positives after overriding
+    excessive_lat_actuation = False
+    self._engaged_counter = self._engaged_counter + 1 if sm['carControl'].latActive and not CS.steeringPressed else 0
+    if self._engaged_counter > MIN_LATERAL_ENGAGE_BUFFER:
+      if abs(roll_compensated_lateral_accel) > ISO_LATERAL_ACCEL * 2:
+        excessive_lat_actuation = True
+
+    # livePose acceleration can be noisy due to bad mounting or aliased livePose measurements
+    livepose_valid = abs(CS.aEgo - accel_calibrated) < 2
+    self._excessive_counter = self._excessive_counter + 1 if livepose_valid and (excessive_long_actuation or excessive_lat_actuation) else 0
+
+    excessive_type = None
+    if self._excessive_counter > MIN_EXCESSIVE_ACTUATION_COUNT:
+      if excessive_long_actuation:
+        excessive_type = ExcessiveActuationType.LONGITUDINAL
+      else:
+        excessive_type = ExcessiveActuationType.LATERAL
+
+    return excessive_type
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 96077414de..cf22040e84 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -7,7 +7,6 @@ import cereal.messaging as messaging
 
 from cereal import car, log
 from msgq.visionipc import VisionIpcClient, VisionStreamType
-from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 
 
 from openpilot.common.params import Params
@@ -18,6 +17,7 @@ from openpilot.common.gps import get_gps_location_service
 from openpilot.selfdrive.car.car_specific import CarSpecificEvents
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 from openpilot.selfdrive.selfdrived.events import Events, ET
+from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
 
@@ -29,7 +29,6 @@ SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
 
 LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}
-MIN_EXCESSIVE_ACTUATION_COUNT = int(0.25 / DT_CTRL)
 
 ThermalStatus = log.DeviceState.ThermalStatus
 State = log.SelfdriveState.OpenpilotState
@@ -43,19 +42,6 @@ SafetyModel = car.CarParams.SafetyModel
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
 
-def check_excessive_actuation(sm: messaging.SubMaster, CS: car.CarState, calibrated_pose: Pose, counter: int) -> tuple[int, bool]:
-  # CS.aEgo can be noisy to bumps in the road, transitioning from standstill, losing traction, etc.
-  accel_calibrated = calibrated_pose.acceleration.x
-
-  # livePose acceleration can be noisy due to bad mounting or aliased livePose measurements
-  accel_valid = abs(CS.aEgo - accel_calibrated) < 2
-
-  excessive_actuation = accel_calibrated > ACCEL_MAX * 2 or accel_calibrated < ACCEL_MIN * 2
-  counter = counter + 1 if sm['carControl'].longActive and excessive_actuation and accel_valid else 0
-
-  return counter, counter > MIN_EXCESSIVE_ACTUATION_COUNT
-
-
 class SelfdriveD:
   def __init__(self, CP=None):
     self.params = Params()
@@ -74,6 +60,8 @@ class SelfdriveD:
 
     self.pose_calibrator = PoseCalibrator()
     self.calibrated_pose: Pose | None = None
+    self.excessive_actuation_check = ExcessiveActuationCheck()
+    self.excessive_actuation = self.params.get("Offroad_ExcessiveActuation") is not None
 
     # Setup sockets
     self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'])
@@ -95,7 +83,7 @@ class SelfdriveD:
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userFlag'] + \
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -131,8 +119,6 @@ class SelfdriveD:
     self.experimental_mode = False
     self.personality = self.params.get("LongitudinalPersonality", return_default=True)
     self.recalibrating_seen = False
-    self.excessive_actuation = self.params.get("Offroad_ExcessiveActuation") is not None
-    self.excessive_actuation_counter = 0
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
@@ -181,9 +167,12 @@ class SelfdriveD:
       self.events.add(EventName.selfdriveInitializing)
       return
 
-    # Check for user flag (bookmark) press
-    if self.sm.updated['userFlag']:
-      self.events.add(EventName.userFlag)
+    # Check for user bookmark press (bookmark button or end of LKAS button feedback)
+    if self.sm.updated['userBookmark']:
+      self.events.add(EventName.userBookmark)
+
+    if self.sm.updated['audioFeedback']:
+      self.events.add(EventName.audioFeedback)
 
     # Don't add any more events while in dashcam mode
     if self.CP.passive:
@@ -249,7 +238,10 @@ class SelfdriveD:
       if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
         self.events.add(EventName.ldw)
 
-    # Check for excessive (longitudinal) actuation
+    # ******************************************************************************************
+    #  NOTE: To fork maintainers.
+    #  Disabling or nerfing safety features will get you and your users banned from our servers.
+    #  We recommend that you do not change these numbers from the defaults.
     if self.sm.updated['liveCalibration']:
       self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
     if self.sm.updated['livePose']:
@@ -257,13 +249,14 @@ class SelfdriveD:
       self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose)
 
     if self.calibrated_pose is not None:
-      self.excessive_actuation_counter, excessive_actuation = check_excessive_actuation(self.sm, CS, self.calibrated_pose, self.excessive_actuation_counter)
-      if not self.excessive_actuation and excessive_actuation:
-        set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text="longitudinal")
+      excessive_actuation = self.excessive_actuation_check.update(self.sm, CS, self.calibrated_pose)
+      if not self.excessive_actuation and excessive_actuation is not None:
+        set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text=str(excessive_actuation))
         self.excessive_actuation = True
 
     if self.excessive_actuation:
       self.events.add(EventName.excessiveActuation)
+    # ******************************************************************************************
 
     # Handle lane change
     if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 29a268b452..56a0fdb61a 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -418,10 +418,10 @@ CONFIGS = [
     proc_name="selfdrived",
     pubs=[
       "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
-      "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState",
-      "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
-      "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
-      "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug",
+      "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState", "modelV2",
+      "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", "liveTorqueParameters",
+      "accelerometer", "gyroscope", "carOutput", "gpsLocationExternal", "gpsLocation", "controlsState",
+      "carControl", "driverAssistance", "alertDebug", "audioFeedback",
     ],
     subs=["selfdriveState", "onroadEvents"],
     ignore=["logMonoTime"],
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index eb178b0562..a4297096c0 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-8ff1b4c9c7a34589142a07579b0051acddfe7699
\ No newline at end of file
+6d3219bca9f66a229b38a5382d301a92b0147edb
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 54e7039a4e..5868ca4c1c 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -61,7 +61,7 @@ segments = [
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "body"]
+excluded_interfaces = ["mock", "body", "psa"]
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index d717698514..98909bfb52 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -54,6 +54,7 @@ while true; do
   #  /data/ciui.py &
   #fi
 
+  awk '{print \$1}' /proc/uptime > /var/tmp/power_watchdog
   sleep 5s
 done
 
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index cd702377e7..0149653c84 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -55,6 +55,7 @@ PROCS = {
   "selfdrive.locationd.paramsd": 9.0,
   "selfdrive.locationd.lagd": 11.0,
   "selfdrive.ui.soundd": 3.0,
+  "selfdrive.ui.feedback.feedbackd": 1.0,
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 2.0,
   "system.logmessaged": 1.0,
@@ -332,20 +333,18 @@ class TestOnroad:
             assert np.all(eof_sof_diff > 0)
             assert np.all(eof_sof_diff < 50*1e6)
 
-        first_fid = {c: min(self.ts[c]['frameId']) for c in cams}
+        first_fid = {min(self.ts[c]['frameId']) for c in cams}
+        assert len(first_fid) == 1, "Cameras don't start on same frame ID"
         if cam.endswith('CameraState'):
           # camerad guarantees that all cams start on frame ID 0
           # (note loggerd also needs to start up fast enough to catch it)
-          assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0"
-        else:
-          # encoder guarantees all cams start on the same frame ID
-          assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID"
+          assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high"
 
         # we don't do a full segment rotation, so these might not match exactly
-        last_fid = {c: max(self.ts[c]['frameId']) for c in cams}
-        assert max(last_fid.values()) - min(last_fid.values()) < 10
+        last_fid = {max(self.ts[c]['frameId']) for c in cams}
+        assert max(last_fid) - min(last_fid) < 10
 
-        start, end = min(first_fid.values()), min(last_fid.values())
+        start, end = min(first_fid), min(last_fid)
         for i in range(end-start):
           ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
           diff = (max(ts.values()) - min(ts.values()))
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 9d59e2bd48..ba9fa8b7a6 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -63,14 +63,8 @@ if GetOption('extras'):
   qt_src.remove("main.cc")  # replaced by test_runner
   qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)
 
-  qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)
-
-  # setup
-  qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],
-                 LIBS=qt_libs + ['curl', 'common'])
-
+  # build installers
   if arch != "Darwin":
-    # build installers
     raylib_env = env.Clone()
     raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
     raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')
@@ -102,7 +96,3 @@ if GetOption('extras'):
       f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter], LIBS=raylib_libs)
       # keep installers small
       assert f[0].get_size() < 1900*1e3, f[0].get_size()
-
-# build watch3
-if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
-  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'msgq', 'visionipc'])
diff --git a/selfdrive/ui/feedback/feedbackd.py b/selfdrive/ui/feedback/feedbackd.py
new file mode 100755
index 0000000000..2d131a0d5e
--- /dev/null
+++ b/selfdrive/ui/feedback/feedbackd.py
@@ -0,0 +1,71 @@
+#!/usr/bin/env python3
+import cereal.messaging as messaging
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from cereal import car
+from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
+
+FEEDBACK_MAX_DURATION = 10.0
+ButtonType = car.CarState.ButtonEvent.Type
+
+
+def main():
+  params = Params()
+  pm = messaging.PubMaster(['userBookmark', 'audioFeedback'])
+  sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'carState'])
+  should_record_audio = False
+  block_num = 0
+  waiting_for_release = False
+  early_stop_triggered = False
+
+  while True:
+    sm.update()
+    should_send_bookmark = False
+
+    # TODO: https://github.com/commaai/openpilot/issues/36015
+    if False and sm.updated['carState'] and sm['carState'].canValid:
+      for be in sm['carState'].buttonEvents:
+        if be.type == ButtonType.lkas:
+          if be.pressed:
+            if not should_record_audio:
+              if params.get_bool("RecordAudioFeedback"):  # Start recording on first press if toggle set
+                should_record_audio = True
+                block_num = 0
+                waiting_for_release = False
+                early_stop_triggered = False
+                cloudlog.info("LKAS button pressed - starting 10-second audio feedback")
+              else:
+                should_send_bookmark = True  # immediately send bookmark if toggle false
+                cloudlog.info("LKAS button pressed - bookmarking")
+            elif should_record_audio and not waiting_for_release:  # Wait for release of second press to stop recording early
+              waiting_for_release = True
+          elif waiting_for_release:  # Second press released
+            waiting_for_release = False
+            early_stop_triggered = True
+            cloudlog.info("LKAS button released - ending recording early")
+
+    if should_record_audio and sm.updated['rawAudioData']:
+      raw_audio = sm['rawAudioData']
+      msg = messaging.new_message('audioFeedback', valid=True)
+      msg.audioFeedback.audio.data = raw_audio.data
+      msg.audioFeedback.audio.sampleRate = raw_audio.sampleRate
+      msg.audioFeedback.blockNum = block_num
+      block_num += 1
+      if (block_num * SAMPLE_BUFFER / SAMPLE_RATE) >= FEEDBACK_MAX_DURATION or early_stop_triggered:  # Check for timeout or early stop
+        should_send_bookmark = True  # send bookmark at end of audio segment
+        should_record_audio = False
+        early_stop_triggered = False
+        cloudlog.info("10-second recording completed or second button press - stopping audio feedback")
+      pm.send('audioFeedback', msg)
+
+    if sm.updated['bookmarkButton']:
+      cloudlog.info("Bookmark button pressed!")
+      should_send_bookmark = True
+
+    if should_send_bookmark:
+      msg = messaging.new_message('userBookmark', valid=True)
+      pm.send('userBookmark', msg)
+
+
+if __name__ == '__main__':
+  main()
diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc
index 7326e089ab..a9b84b5c06 100644
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -24,11 +24,13 @@ const std::string BRANCH_STR = get_str(BRANCH "?
 #define GIT_SSH_URL "git@github.com:commaai/openpilot.git"
 #define CONTINUE_PATH "/data/continue.sh"
 
-const std::string CACHE_PATH = "/data/openpilot.cache";
+const std::string INSTALL_PATH = "/data/openpilot";
+const std::string VALID_CACHE_PATH = "/data/.openpilot_cache";
 
-#define INSTALL_PATH "/data/openpilot"
 #define TMP_INSTALL_PATH "/data/tmppilot"
 
+const int FONT_SIZE = 120;
+
 extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start");
 extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end");
 extern const uint8_t inter_ttf[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_start");
@@ -41,6 +43,16 @@ void run(const char* cmd) {
   assert(err == 0);
 }
 
+void finishInstall() {
+  BeginDrawing();
+    ClearBackground(BLACK);
+    const char *m = "Finishing install...";
+    int text_width = MeasureText(m, FONT_SIZE);
+    DrawTextEx(font, m, (Vector2){(float)(GetScreenWidth() - text_width)/2 + FONT_SIZE, (float)(GetScreenHeight() - FONT_SIZE)/2}, FONT_SIZE, 0, WHITE);
+  EndDrawing();
+  util::sleep_for(60 * 1000);
+}
+
 void renderProgress(int progress) {
   BeginDrawing();
     ClearBackground(BLACK);
@@ -62,11 +74,11 @@ int doInstall() {
   }
 
   // cleanup previous install attempts
-  run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH);
+  run("rm -rf " TMP_INSTALL_PATH);
 
   // do the install
-  if (util::file_exists(CACHE_PATH)) {
-    return cachedFetch(CACHE_PATH);
+  if (util::file_exists(INSTALL_PATH) && util::file_exists(VALID_CACHE_PATH)) {
+    return cachedFetch(INSTALL_PATH);
   } else {
     return freshClone();
   }
@@ -135,7 +147,9 @@ void cloneFinished(int exitCode) {
   run("git submodule update --init");
 
   // move into place
-  run("mv " TMP_INSTALL_PATH " " INSTALL_PATH);
+  run(("rm -f " + VALID_CACHE_PATH).c_str());
+  run(("rm -rf " + INSTALL_PATH).c_str());
+  run(util::string_format("mv %s %s", TMP_INSTALL_PATH, INSTALL_PATH.c_str()).c_str());
 
 #ifdef INTERNAL
   run("mkdir -p /data/params/d/");
@@ -153,9 +167,9 @@ void cloneFinished(int exitCode) {
     param << value;
     param.close();
   }
-  run("cd " INSTALL_PATH " && "
+  run(("cd " + INSTALL_PATH + " && "
       "git remote set-url origin --push " GIT_SSH_URL " && "
-      "git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"");
+      "git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"").c_str());
 #endif
 
   // write continue.sh
@@ -171,16 +185,22 @@ void cloneFinished(int exitCode) {
   run("mv /data/continue.sh.new " CONTINUE_PATH);
 
   // wait for the installed software's UI to take over
-  util::sleep_for(60 * 1000);
+  finishInstall();
 }
 
 int main(int argc, char *argv[]) {
   InitWindow(2160, 1080, "Installer");
-  font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, 120, NULL, 0);
+  font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, FONT_SIZE, NULL, 0);
   SetTextureFilter(font.texture, TEXTURE_FILTER_BILINEAR);
-  renderProgress(0);
-  int result = doInstall();
-  cloneFinished(result);
+
+  if (util::file_exists(CONTINUE_PATH)) {
+    finishInstall();
+  } else {
+    renderProgress(0);
+    int result = doInstall();
+    cloneFinished(result);
+  }
+
   CloseWindow();
   UnloadFont(font);
   return 0;
diff --git a/selfdrive/ui/layouts/main.py b/selfdrive/ui/layouts/main.py
index 144d34e02f..3ab8525d33 100644
--- a/selfdrive/ui/layouts/main.py
+++ b/selfdrive/ui/layouts/main.py
@@ -19,7 +19,7 @@ class MainLayout(Widget):
   def __init__(self):
     super().__init__()
 
-    self._pm = messaging.PubMaster(['userFlag'])
+    self._pm = messaging.PubMaster(['bookmarkButton'])
 
     self._sidebar = Sidebar()
     self._current_mode = MainState.HOME
@@ -40,7 +40,7 @@ class MainLayout(Widget):
 
   def _setup_callbacks(self):
     self._sidebar.set_callbacks(on_settings=self._on_settings_clicked,
-                                on_flag=self._on_flag_clicked)
+                                on_flag=self._on_bookmark_clicked)
     self._layouts[MainState.HOME]._setup_widget.set_open_settings_callback(lambda: self.open_settings(PanelType.FIREHOSE))
     self._layouts[MainState.SETTINGS].set_callbacks(on_close=self._set_mode_for_state)
     self._layouts[MainState.ONROAD].set_callbacks(on_click=self._on_onroad_clicked)
@@ -76,10 +76,10 @@ class MainLayout(Widget):
   def _on_settings_clicked(self):
     self.open_settings(PanelType.DEVICE)
 
-  def _on_flag_clicked(self):
-    user_flag = messaging.new_message('userFlag')
-    user_flag.valid = True
-    self._pm.send('userFlag', user_flag)
+  def _on_bookmark_clicked(self):
+    user_bookmark = messaging.new_message('bookmarkButton')
+    user_bookmark.valid = True
+    self._pm.send('bookmarkButton', user_bookmark)
 
   def _on_onroad_clicked(self):
     self._sidebar.set_visible(not self._sidebar.is_visible)
diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py
index a322f21e80..674e5005f4 100644
--- a/selfdrive/ui/layouts/settings/settings.py
+++ b/selfdrive/ui/layouts/settings/settings.py
@@ -28,7 +28,7 @@ PANEL_COLOR = rl.Color(41, 41, 41, 255)
 CLOSE_BTN_COLOR = rl.Color(41, 41, 41, 255)
 CLOSE_BTN_PRESSED = rl.Color(59, 59, 59, 255)
 TEXT_NORMAL = rl.Color(128, 128, 128, 255)
-TEXT_SELECTED = rl.Color(255, 255, 255, 255)
+TEXT_SELECTED = rl.WHITE
 
 
 class PanelType(IntEnum):
diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py
index 82d499716d..cdbfa4c04c 100644
--- a/selfdrive/ui/layouts/sidebar.py
+++ b/selfdrive/ui/layouts/sidebar.py
@@ -24,18 +24,18 @@ NetworkType = log.DeviceState.NetworkType
 # Color scheme
 class Colors:
   SIDEBAR_BG = rl.Color(57, 57, 57, 255)
-  WHITE = rl.Color(255, 255, 255, 255)
+  WHITE = rl.WHITE
   WHITE_DIM = rl.Color(255, 255, 255, 85)
   GRAY = rl.Color(84, 84, 84, 255)
 
   # Status colors
-  GOOD = rl.Color(255, 255, 255, 255)
+  GOOD = rl.WHITE
   WARNING = rl.Color(218, 202, 37, 255)
   DANGER = rl.Color(201, 34, 49, 255)
 
   # UI elements
   METRIC_BORDER = rl.Color(255, 255, 255, 85)
-  BUTTON_NORMAL = rl.Color(255, 255, 255, 255)
+  BUTTON_NORMAL = rl.WHITE
   BUTTON_PRESSED = rl.Color(255, 255, 255, 166)
 
 
@@ -146,7 +146,7 @@ class Sidebar(Widget):
 
   def _draw_buttons(self, rect: rl.Rectangle):
     mouse_pos = rl.get_mouse_position()
-    mouse_down = self._is_pressed and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT)
+    mouse_down = self.is_pressed and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT)
 
     # Settings button
     settings_down = mouse_down and rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN)
diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py
index b6c0d88469..da2ff899dd 100644
--- a/selfdrive/ui/lib/prime_state.py
+++ b/selfdrive/ui/lib/prime_state.py
@@ -2,12 +2,15 @@ from enum import IntEnum
 import os
 import threading
 import time
+from functools import lru_cache
 
 from openpilot.common.api import Api, api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 
+TOKEN_EXPIRY_HOURS = 2
+
 
 class PrimeType(IntEnum):
   UNKNOWN = -2,
@@ -20,6 +23,12 @@ class PrimeType(IntEnum):
   PURPLE = 5,
 
 
+@lru_cache(maxsize=1)
+def get_token(dongle_id: str, t: int):
+  print('getting token')
+  return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
+
+
 class PrimeState:
   FETCH_INTERVAL = 5.0  # seconds between API calls
   API_TIMEOUT = 10.0  # seconds for API requests
@@ -49,13 +58,15 @@ class PrimeState:
       return
 
     try:
-      identity_token = Api(dongle_id).get_token()
+      identity_token = get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))
       response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
       if response.status_code == 200:
         data = response.json()
         is_paired = data.get("is_paired", False)
         prime_type = data.get("prime_type", 0)
         self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED)
+      elif response.status_code == 401:
+        get_token.cache_clear()
     except Exception as e:
       cloudlog.error(f"Failed to fetch prime status: {e}")
 
diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py
index cc2c6b4fe7..ca031e2f17 100644
--- a/selfdrive/ui/onroad/cameraview.py
+++ b/selfdrive/ui/onroad/cameraview.py
@@ -141,6 +141,9 @@ class CameraView(Widget):
 
     self.client = None
 
+  def __del__(self):
+    self.close()
+
   def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
     if not self.frame:
       return np.eye(3)
@@ -337,16 +340,7 @@ class CameraView(Widget):
 
 
 if __name__ == "__main__":
-  gui_app.init_window("watch3")
-  road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
-  driver_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
-  wide_road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD)
-  try:
-    for _ in gui_app.render():
-      road_camera_view.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2))
-      driver_camera_view.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
-      wide_road_camera_view.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
-  finally:
-    road_camera_view.close()
-    driver_camera_view.close()
-    wide_road_camera_view.close()
+  gui_app.init_window("camera view")
+  road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+  for _ in gui_app.render():
+    road.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
diff --git a/selfdrive/ui/onroad/exp_button.py b/selfdrive/ui/onroad/exp_button.py
index e6748e4e09..27f5763077 100644
--- a/selfdrive/ui/onroad/exp_button.py
+++ b/selfdrive/ui/onroad/exp_button.py
@@ -50,7 +50,7 @@ class ExpButton(Widget):
     center_y = int(self._rect.y + self._rect.height // 2)
 
     mouse_over = rl.check_collision_point_rec(rl.get_mouse_position(), self._rect)
-    mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._is_pressed
+    mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self.is_pressed
     self._white_color.a = 180 if (mouse_down and mouse_over) or not self._engageable else 255
 
     texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel
diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py
index 4ae713d9db..536d993389 100644
--- a/selfdrive/ui/onroad/hud_renderer.py
+++ b/selfdrive/ui/onroad/hud_renderer.py
@@ -34,7 +34,7 @@ class FontSizes:
 
 @dataclass(frozen=True)
 class Colors:
-  white: rl.Color = rl.Color(255, 255, 255, 255)
+  white: rl.Color = rl.WHITE
   disengaged: rl.Color = rl.Color(145, 155, 149, 255)
   override: rl.Color = rl.Color(145, 155, 149, 255)  # Added
   engaged: rl.Color = rl.Color(128, 216, 166, 255)
@@ -47,7 +47,7 @@ class Colors:
   white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
   border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
   header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
-  header_gradient_end: rl.Color = rl.Color(0, 0, 0, 0)
+  header_gradient_end: rl.Color = rl.BLANK
 
 
 UI_CONFIG = UIConfig()
diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py
index 4439141a40..932773755d 100644
--- a/selfdrive/ui/onroad/model_renderer.py
+++ b/selfdrive/ui/onroad/model_renderer.py
@@ -187,9 +187,9 @@ class ModelRenderer(Widget):
       self._path.raw_points, 0.9, self._path_offset_z, max_idx, allow_invert=False
     )
 
-    self._update_experimental_gradient(self._rect.height)
+    self._update_experimental_gradient()
 
-  def _update_experimental_gradient(self, height):
+  def _update_experimental_gradient(self):
     """Pre-calculate experimental mode gradient colors"""
     if not self._experimental_mode:
       return
@@ -201,22 +201,21 @@ class ModelRenderer(Widget):
 
     i = 0
     while i < max_len:
-      track_idx = max_len - i - 1  # flip idx to start from bottom right
-      track_y = self._path.projected_points[track_idx][1]
-      if track_y < 0 or track_y > height:
+      # Some points (screen space) are out of frame (rect space)
+      track_y = self._path.projected_points[i][1]
+      if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height):
         i += 1
         continue
 
-      # Calculate color based on acceleration
-      lin_grad_point = (height - track_y) / height
+      # Calculate color based on acceleration (0 is bottom, 1 is top)
+      lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height
 
       # speed up: 120, slow down: 0
-      path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0)
-      path_hue = int(path_hue * 100 + 0.5) / 100
+      path_hue = np.clip(60 + self._acceleration_x[i] * 35, 0, 120)
 
       saturation = min(abs(self._acceleration_x[i] * 1.5), 1)
-      lightness = self._map_val(saturation, 0.0, 1.0, 0.95, 0.62)
-      alpha = self._map_val(lin_grad_point, 0.75 / 2.0, 0.75, 0.4, 0.0)
+      lightness = np.interp(saturation, [0.0, 1.0], [0.95, 0.62])
+      alpha = np.interp(lin_grad_point, [0.75 / 2.0, 0.75], [0.4, 0.0])
 
       # Use HSL to RGB conversion
       color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha)
@@ -280,7 +279,7 @@ class ModelRenderer(Widget):
 
     if self._experimental_mode:
       # Draw with acceleration coloring
-      if len(self._exp_gradient['colors']) > 2:
+      if len(self._exp_gradient['colors']) > 1:
         draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
       else:
         draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30))
@@ -409,13 +408,6 @@ class ModelRenderer(Widget):
 
     return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32)
 
-  @staticmethod
-  def _map_val(x, x0, x1, y0, y1):
-    x = np.clip(x, x0, x1)
-    ra = x1 - x0
-    rb = y1 - y0
-    return (x - x0) * rb / ra + y0 if ra != 0 else y0
-
   @staticmethod
   def _hsla_to_color(h, s, l, a):
     rgb = colorsys.hls_to_rgb(h, l, s)
diff --git a/selfdrive/ui/qt/python_helpers.py b/selfdrive/ui/qt/python_helpers.py
deleted file mode 100644
index 1f6d43f309..0000000000
--- a/selfdrive/ui/qt/python_helpers.py
+++ /dev/null
@@ -1,23 +0,0 @@
-import os
-import platform
-from cffi import FFI
-
-import sip
-
-from openpilot.common.basedir import BASEDIR
-
-def suffix():
-  return ".dylib" if platform.system() == "Darwin" else ".so"
-
-
-def get_ffi():
-  lib = os.path.join(BASEDIR, "selfdrive", "ui", "qt", "libpython_helpers" + suffix())
-
-  ffi = FFI()
-  ffi.cdef("void set_main_window(void *w);")
-  return ffi, ffi.dlopen(lib)
-
-
-def set_main_window(widget):
-  ffi, lib = get_ffi()
-  lib.set_main_window(ffi.cast('void*', sip.unwrapinstance(widget)))
diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc
deleted file mode 100644
index 38955bf59d..0000000000
--- a/selfdrive/ui/qt/setup/setup.cc
+++ /dev/null
@@ -1,541 +0,0 @@
-#include "selfdrive/ui/qt/setup/setup.h"
-
-#include <cstdio>
-#include <cstdlib>
-#include <sstream>
-#include <string>
-
-#include <QApplication>
-#include <QLabel>
-#include <QVBoxLayout>
-
-#include <curl/curl.h>
-
-#include "common/util.h"
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/api.h"
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/network/networking.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/input.h"
-
-const std::string USER_AGENT = "AGNOSSetup-";
-const QString OPENPILOT_URL = "https://openpilot.comma.ai";
-
-bool is_elf(char *fname) {
-  FILE *fp = fopen(fname, "rb");
-  if (fp == NULL) {
-    return false;
-  }
-  char buf[4];
-  size_t n = fread(buf, 1, 4, fp);
-  fclose(fp);
-  return n == 4 && buf[0] == 0x7f && buf[1] == 'E' && buf[2] == 'L' && buf[3] == 'F';
-}
-
-void Setup::download(QString url) {
-  // autocomplete incomplete urls
-  if (QRegularExpression("^([^/.]+)/([^/]+)$").match(url).hasMatch()) {
-    url.prepend("https://installer.comma.ai/");
-  }
-
-  CURL *curl = curl_easy_init();
-  if (!curl) {
-    emit finished(url, tr("Something went wrong. Reboot the device."));
-    return;
-  }
-
-  auto version = util::read_file("/VERSION");
-
-  struct curl_slist *list = NULL;
-  std::string header = "X-openpilot-serial: " + Hardware::get_serial();
-  list = curl_slist_append(list, header.c_str());
-
-  char tmpfile[] = "/tmp/installer_XXXXXX";
-  FILE *fp = fdopen(mkstemp(tmpfile), "wb");
-
-  curl_easy_setopt(curl, CURLOPT_URL, url.toStdString().c_str());
-  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, NULL);
-  curl_easy_setopt(curl, CURLOPT_WRITEDATA, fp);
-  curl_easy_setopt(curl, CURLOPT_VERBOSE, 1L);
-  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L);
-  curl_easy_setopt(curl, CURLOPT_USERAGENT, (USER_AGENT + version).c_str());
-  curl_easy_setopt(curl, CURLOPT_HTTPHEADER, list);
-  curl_easy_setopt(curl, CURLOPT_TIMEOUT, 30L);
-
-  int ret = curl_easy_perform(curl);
-  long res_status = 0;
-  curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &res_status);
-
-  if (ret != CURLE_OK || res_status != 200) {
-    emit finished(url, tr("Ensure the entered URL is valid, and the device’s internet connection is good."));
-  } else if (!is_elf(tmpfile)) {
-    emit finished(url, tr("No custom software found at this URL."));
-  } else {
-    rename(tmpfile, "/tmp/installer");
-
-    FILE *fp_url = fopen("/tmp/installer_url", "w");
-    fprintf(fp_url, "%s", url.toStdString().c_str());
-    fclose(fp_url);
-
-    emit finished(url);
-  }
-
-  curl_slist_free_all(list);
-  curl_easy_cleanup(curl);
-  fclose(fp);
-}
-
-QWidget * Setup::low_voltage() {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 0, 55, 55);
-  main_layout->setSpacing(0);
-
-  // inner text layout: warning icon, title, and body
-  QVBoxLayout *inner_layout = new QVBoxLayout();
-  inner_layout->setContentsMargins(110, 144, 365, 0);
-  main_layout->addLayout(inner_layout);
-
-  QLabel *triangle = new QLabel();
-  triangle->setPixmap(QPixmap(ASSET_PATH + "icons/warning.png"));
-  inner_layout->addWidget(triangle, 0, Qt::AlignTop | Qt::AlignLeft);
-  inner_layout->addSpacing(80);
-
-  QLabel *title = new QLabel(tr("WARNING: Low Voltage"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;");
-  inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  inner_layout->addSpacing(25);
-
-  QLabel *body = new QLabel(tr("Power your device in a car with a harness or proceed at your own risk."));
-  body->setWordWrap(true);
-  body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
-  body->setStyleSheet("font-size: 80px; font-weight: 300;");
-  inner_layout->addWidget(body);
-
-  inner_layout->addStretch();
-
-  // power off + continue buttons
-  QHBoxLayout *blayout = new QHBoxLayout();
-  blayout->setSpacing(50);
-  main_layout->addLayout(blayout, 0);
-
-  QPushButton *poweroff = new QPushButton(tr("Power off"));
-  poweroff->setObjectName("navBtn");
-  blayout->addWidget(poweroff);
-  QObject::connect(poweroff, &QPushButton::clicked, this, [=]() {
-    Hardware::poweroff();
-  });
-
-  QPushButton *cont = new QPushButton(tr("Continue"));
-  cont->setObjectName("navBtn");
-  blayout->addWidget(cont);
-  QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage);
-
-  return widget;
-}
-
-QWidget * Setup::custom_software_warning() {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 0, 55, 55);
-  main_layout->setSpacing(0);
-
-  QVBoxLayout *inner_layout = new QVBoxLayout();
-  inner_layout->setContentsMargins(110, 110, 300, 0);
-  main_layout->addLayout(inner_layout);
-
-  QLabel *title = new QLabel(tr("WARNING: Custom Software"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;");
-  inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  inner_layout->addSpacing(25);
-
-  QLabel *body = new QLabel(tr("Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.\n\nIf you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later."));
-  body->setWordWrap(true);
-  body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
-  body->setStyleSheet("font-size: 65px; font-weight: 300;");
-  inner_layout->addWidget(body);
-
-  inner_layout->addStretch();
-
-  QHBoxLayout *blayout = new QHBoxLayout();
-  blayout->setSpacing(50);
-  main_layout->addLayout(blayout, 0);
-
-  QPushButton *back = new QPushButton(tr("Back"));
-  back->setObjectName("navBtn");
-  blayout->addWidget(back);
-  QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
-
-  QPushButton *cont = new QPushButton(tr("Continue"));
-  cont->setObjectName("navBtn");
-  blayout->addWidget(cont);
-  QObject::connect(cont, &QPushButton::clicked, this, [=]() {
-    QTimer::singleShot(0, [=]() {
-      setCurrentWidget(downloading_widget);
-    });
-    QString url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software"));
-    if (!url.isEmpty()) {
-      QTimer::singleShot(1000, this, [=]() {
-        download(url);
-      });
-    } else {
-      setCurrentWidget(software_selection_widget);
-    }
-  });
-
-  return widget;
-}
-
-QWidget * Setup::getting_started() {
-  QWidget *widget = new QWidget();
-
-  QHBoxLayout *main_layout = new QHBoxLayout(widget);
-  main_layout->setMargin(0);
-
-  QVBoxLayout *vlayout = new QVBoxLayout();
-  vlayout->setContentsMargins(165, 280, 100, 0);
-  main_layout->addLayout(vlayout);
-
-  QLabel *title = new QLabel(tr("Getting Started"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500;");
-  vlayout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  vlayout->addSpacing(90);
-  QLabel *desc = new QLabel(tr("Before we get on the road, let’s finish installation and cover some details."));
-  desc->setWordWrap(true);
-  desc->setStyleSheet("font-size: 80px; font-weight: 300;");
-  vlayout->addWidget(desc, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  vlayout->addStretch();
-
-  QPushButton *btn = new QPushButton();
-  btn->setIcon(QIcon(":/images/button_continue_triangle.svg"));
-  btn->setIconSize(QSize(54, 106));
-  btn->setFixedSize(310, 1080);
-  btn->setProperty("primary", true);
-  btn->setStyleSheet("border: none;");
-  main_layout->addWidget(btn, 0, Qt::AlignRight);
-  QObject::connect(btn, &QPushButton::clicked, this, &Setup::nextPage);
-
-  return widget;
-}
-
-QWidget * Setup::network_setup() {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 50, 55, 50);
-
-  // title
-  QLabel *title = new QLabel(tr("Connect to Wi-Fi"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500;");
-  main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
-
-  main_layout->addSpacing(25);
-
-  // wifi widget
-  Networking *networking = new Networking(this, false);
-  networking->setStyleSheet("Networking {background-color: #292929; border-radius: 13px;}");
-  main_layout->addWidget(networking, 1);
-
-  main_layout->addSpacing(35);
-
-  // back + continue buttons
-  QHBoxLayout *blayout = new QHBoxLayout;
-  main_layout->addLayout(blayout);
-  blayout->setSpacing(50);
-
-  QPushButton *back = new QPushButton(tr("Back"));
-  back->setObjectName("navBtn");
-  QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
-  blayout->addWidget(back);
-
-  QPushButton *cont = new QPushButton();
-  cont->setObjectName("navBtn");
-  cont->setProperty("primary", true);
-  cont->setEnabled(false);
-  QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage);
-  blayout->addWidget(cont);
-
-  // setup timer for testing internet connection
-  HttpRequest *request = new HttpRequest(this, false, 2500);
-  QObject::connect(request, &HttpRequest::requestDone, [=](const QString &, bool success) {
-    cont->setEnabled(success);
-    if (success) {
-      const bool wifi = networking->wifi->currentNetworkType() == NetworkType::WIFI;
-      cont->setText(wifi ? tr("Continue") : tr("Continue without Wi-Fi"));
-    } else {
-      cont->setText(tr("Waiting for internet"));
-    }
-    repaint();
-  });
-  request->sendRequest(OPENPILOT_URL);
-  QTimer *timer = new QTimer(this);
-  QObject::connect(timer, &QTimer::timeout, [=]() {
-    if (!request->active() && cont->isVisible()) {
-      request->sendRequest(OPENPILOT_URL);
-    }
-  });
-  timer->start(1000);
-
-  return widget;
-}
-
-QWidget * radio_button(QString title, QButtonGroup *group) {
-  QPushButton *btn = new QPushButton(title);
-  btn->setCheckable(true);
-  group->addButton(btn);
-  btn->setStyleSheet(R"(
-    QPushButton {
-      height: 230;
-      padding-left: 100px;
-      padding-right: 100px;
-      text-align: left;
-      font-size: 80px;
-      font-weight: 400;
-      border-radius: 10px;
-      background-color: #4F4F4F;
-    }
-    QPushButton:checked {
-      background-color: #465BEA;
-    }
-  )");
-
-  // checkmark icon
-  QPixmap pix(":/icons/circled_check.svg");
-  btn->setIcon(pix);
-  btn->setIconSize(QSize(0, 0));
-  btn->setLayoutDirection(Qt::RightToLeft);
-  QObject::connect(btn, &QPushButton::toggled, [=](bool checked) {
-    btn->setIconSize(checked ? QSize(104, 104) : QSize(0, 0));
-  });
-  return btn;
-}
-
-QWidget * Setup::software_selection() {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 50, 55, 50);
-  main_layout->setSpacing(0);
-
-  // title
-  QLabel *title = new QLabel(tr("Choose Software to Install"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500;");
-  main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
-
-  main_layout->addSpacing(50);
-
-  // openpilot + custom radio buttons
-  QButtonGroup *group = new QButtonGroup(widget);
-  group->setExclusive(true);
-
-  QWidget *openpilot = radio_button(tr("openpilot"), group);
-  main_layout->addWidget(openpilot);
-
-  main_layout->addSpacing(30);
-
-  QWidget *custom = radio_button(tr("Custom Software"), group);
-  main_layout->addWidget(custom);
-
-  main_layout->addStretch();
-
-  // back + continue buttons
-  QHBoxLayout *blayout = new QHBoxLayout;
-  main_layout->addLayout(blayout);
-  blayout->setSpacing(50);
-
-  QPushButton *back = new QPushButton(tr("Back"));
-  back->setObjectName("navBtn");
-  QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
-  blayout->addWidget(back);
-
-  QPushButton *cont = new QPushButton(tr("Continue"));
-  cont->setObjectName("navBtn");
-  cont->setEnabled(false);
-  cont->setProperty("primary", true);
-  blayout->addWidget(cont);
-
-  QObject::connect(cont, &QPushButton::clicked, [=]() {
-    if (group->checkedButton() != openpilot) {
-      QTimer::singleShot(0, [=]() {
-        setCurrentWidget(custom_software_warning_widget);
-      });
-    } else {
-      QTimer::singleShot(0, [=]() {
-        setCurrentWidget(downloading_widget);
-      });
-      QTimer::singleShot(1000, this, [=]() {
-        download(OPENPILOT_URL);
-      });
-    }
-  });
-
-  connect(group, QOverload<QAbstractButton *>::of(&QButtonGroup::buttonClicked), [=](QAbstractButton *btn) {
-    btn->setChecked(true);
-    cont->setEnabled(true);
-  });
-
-  return widget;
-}
-
-QWidget * Setup::downloading() {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  QLabel *txt = new QLabel(tr("Downloading..."));
-  txt->setStyleSheet("font-size: 90px; font-weight: 500;");
-  main_layout->addWidget(txt, 0, Qt::AlignCenter);
-  return widget;
-}
-
-QWidget * Setup::download_failed(QLabel *url, QLabel *body) {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 185, 55, 55);
-  main_layout->setSpacing(0);
-
-  QLabel *title = new QLabel(tr("Download Failed"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500;");
-  main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  main_layout->addSpacing(67);
-
-  url->setWordWrap(true);
-  url->setAlignment(Qt::AlignTop | Qt::AlignLeft);
-  url->setStyleSheet("font-family: \"JetBrains Mono\"; font-size: 64px; font-weight: 400; margin-right: 100px;");
-  main_layout->addWidget(url);
-
-  main_layout->addSpacing(48);
-
-  body->setWordWrap(true);
-  body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
-  body->setStyleSheet("font-size: 80px; font-weight: 300; margin-right: 100px;");
-  main_layout->addWidget(body);
-
-  main_layout->addStretch();
-
-  // reboot + start over buttons
-  QHBoxLayout *blayout = new QHBoxLayout();
-  blayout->setSpacing(50);
-  main_layout->addLayout(blayout, 0);
-
-  QPushButton *reboot = new QPushButton(tr("Reboot device"));
-  reboot->setObjectName("navBtn");
-  blayout->addWidget(reboot);
-  QObject::connect(reboot, &QPushButton::clicked, this, [=]() {
-    Hardware::reboot();
-  });
-
-  QPushButton *restart = new QPushButton(tr("Start over"));
-  restart->setObjectName("navBtn");
-  restart->setProperty("primary", true);
-  blayout->addWidget(restart);
-  QObject::connect(restart, &QPushButton::clicked, this, [=]() {
-    setCurrentIndex(1);
-  });
-
-  widget->setStyleSheet(R"(
-    QLabel {
-      margin-left: 117;
-    }
-  )");
-  return widget;
-}
-
-void Setup::prevPage() {
-  setCurrentIndex(currentIndex() - 1);
-}
-
-void Setup::nextPage() {
-  setCurrentIndex(currentIndex() + 1);
-}
-
-Setup::Setup(QWidget *parent) : QStackedWidget(parent) {
-  if (std::getenv("MULTILANG")) {
-    selectLanguage();
-  }
-
-  std::stringstream buffer;
-  buffer << std::ifstream("/sys/class/hwmon/hwmon1/in1_input").rdbuf();
-  float voltage = (float)std::atoi(buffer.str().c_str()) / 1000.;
-  if (voltage < 7) {
-    addWidget(low_voltage());
-  }
-
-  addWidget(getting_started());
-  addWidget(network_setup());
-  software_selection_widget = software_selection();
-  addWidget(software_selection_widget);
-  custom_software_warning_widget = custom_software_warning();
-  addWidget(custom_software_warning_widget);
-  downloading_widget = downloading();
-  addWidget(downloading_widget);
-
-  QLabel *url_label = new QLabel();
-  QLabel *body_label = new QLabel();
-  failed_widget = download_failed(url_label, body_label);
-  addWidget(failed_widget);
-
-  QObject::connect(this, &Setup::finished, [=](const QString &url, const QString &error) {
-    qDebug() << "finished" << url << error;
-    if (error.isEmpty()) {
-      // hide setup on success
-      QTimer::singleShot(3000, this, &QWidget::hide);
-    } else {
-      url_label->setText(url);
-      body_label->setText(error);
-      setCurrentWidget(failed_widget);
-    }
-  });
-
-  // TODO: revisit pressed bg color
-  setStyleSheet(R"(
-    * {
-      color: white;
-      font-family: Inter;
-    }
-    Setup {
-      background-color: black;
-    }
-    QPushButton#navBtn {
-      height: 160;
-      font-size: 55px;
-      font-weight: 400;
-      border-radius: 10px;
-      background-color: #333333;
-    }
-    QPushButton#navBtn:disabled, QPushButton[primary='true']:disabled {
-      color: #808080;
-      background-color: #333333;
-    }
-    QPushButton#navBtn:pressed {
-      background-color: #444444;
-    }
-    QPushButton[primary='true'], #navBtn[primary='true'] {
-      background-color: #465BEA;
-    }
-    QPushButton[primary='true']:pressed, #navBtn:pressed[primary='true'] {
-      background-color: #3049F4;
-    }
-  )");
-}
-
-void Setup::selectLanguage() {
-  QMap<QString, QString> langs = getSupportedLanguages();
-  QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), "", this);
-  if (!selection.isEmpty()) {
-    QString selectedLang = langs[selection];
-    Params().put("LanguageSetting", selectedLang.toStdString());
-    if (translator.load(":/" + selectedLang)) {
-      qApp->installTranslator(&translator);
-    }
-  }
-}
-
-int main(int argc, char *argv[]) {
-  QApplication a(argc, argv);
-  Setup setup;
-  setMainWindow(&setup);
-  return a.exec();
-}
diff --git a/selfdrive/ui/qt/setup/setup.h b/selfdrive/ui/qt/setup/setup.h
deleted file mode 100644
index 986956c902..0000000000
--- a/selfdrive/ui/qt/setup/setup.h
+++ /dev/null
@@ -1,38 +0,0 @@
-#pragma once
-
-#include <QLabel>
-#include <QStackedWidget>
-#include <QString>
-#include <QTranslator>
-#include <QWidget>
-
-class Setup : public QStackedWidget {
-  Q_OBJECT
-
-public:
-  explicit Setup(QWidget *parent = 0);
-
-private:
-  void selectLanguage();
-  QWidget *low_voltage();
-  QWidget *custom_software_warning();
-  QWidget *getting_started();
-  QWidget *network_setup();
-  QWidget *software_selection();
-  QWidget *downloading();
-  QWidget *download_failed(QLabel *url, QLabel *body);
-
-  QWidget *failed_widget;
-  QWidget *downloading_widget;
-  QWidget *custom_software_warning_widget;
-  QWidget *software_selection_widget;
-  QTranslator translator;
-
-signals:
-  void finished(const QString &url, const QString &error = "");
-
-public slots:
-  void nextPage();
-  void prevPage();
-  void download(QString url);
-};
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index e3b83573da..e9c6a2f7c0 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -29,6 +29,7 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
   flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size());
   settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio);
   mic_img = loadPixmap("../assets/icons/microphone.png", QSize(30, 30));
+  link_img = loadPixmap("../assets/icons/link.png", QSize(60, 60));
 
   connect(this, &Sidebar::valueChanged, [=] { update(); });
 
@@ -38,7 +39,7 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
 
   QObject::connect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState);
 
-  pm = std::make_unique<PubMaster>(std::vector<const char*>{"userFlag"});
+  pm = std::make_unique<PubMaster>(std::vector<const char*>{"bookmarkButton"});
 }
 
 void Sidebar::mousePressEvent(QMouseEvent *event) {
@@ -61,8 +62,8 @@ void Sidebar::mouseReleaseEvent(QMouseEvent *event) {
   }
   if (onroad && home_btn.contains(event->pos())) {
     MessageBuilder msg;
-    msg.initEvent().initUserFlag();
-    pm->send("userFlag", msg);
+    msg.initEvent().initBookmarkButton();
+    pm->send("bookmarkButton", msg);
   } else if (settings_btn.contains(event->pos())) {
     emit openSettings();
   } else if (recording_audio && mic_indicator_btn.contains(event->pos())) {
@@ -150,7 +151,12 @@ void Sidebar::paintEvent(QPaintEvent *event) {
   p.setFont(InterFont(35));
   p.setPen(QColor(0xff, 0xff, 0xff));
   const QRect r = QRect(58, 247, width() - 100, 50);
-  p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
+
+  if (net_type == "Hotspot") {
+    p.drawPixmap(r.x(), r.y() + (r.height() - link_img.height()) / 2, link_img);
+  } else {
+    p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
+  }
 
   // metrics
   drawMetric(p, temp_status.first, temp_status.second, 338);
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
index f05a4ab201..6a2b7b6951 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -37,7 +37,7 @@ protected:
   void mouseReleaseEvent(QMouseEvent *event) override;
   void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
 
-  QPixmap home_img, flag_img, settings_img, mic_img;
+  QPixmap home_img, flag_img, settings_img, mic_img, link_img;
   bool onroad, recording_audio, flag_pressed, settings_pressed, mic_indicator_pressed;
   const QMap<cereal::DeviceState::NetworkType, QString> network_type = {
     {cereal::DeviceState::NetworkType::NONE, tr("--")},
diff --git a/selfdrive/ui/tests/test_feedbackd.py b/selfdrive/ui/tests/test_feedbackd.py
new file mode 100644
index 0000000000..6b7ec44863
--- /dev/null
+++ b/selfdrive/ui/tests/test_feedbackd.py
@@ -0,0 +1,53 @@
+import pytest
+import cereal.messaging as messaging
+from cereal import car
+from openpilot.common.params import Params
+from openpilot.system.manager.process_config import managed_processes
+
+
+@pytest.mark.skip("tmp disabled")
+class TestFeedbackd:
+  def setup_method(self):
+    self.pm = messaging.PubMaster(['carState', 'rawAudioData'])
+    self.sm = messaging.SubMaster(['audioFeedback'])
+
+  def _send_lkas_button(self, pressed: bool):
+    msg = messaging.new_message('carState')
+    msg.carState.canValid = True
+    msg.carState.buttonEvents = [{'type': car.CarState.ButtonEvent.Type.lkas, 'pressed': pressed}]
+    self.pm.send('carState', msg)
+
+  def _send_audio_data(self, count: int = 5):
+    for _ in range(count):
+      audio_msg = messaging.new_message('rawAudioData')
+      audio_msg.rawAudioData.data = bytes(1600)  # 800 samples of int16
+      audio_msg.rawAudioData.sampleRate = 16000
+      self.pm.send('rawAudioData', audio_msg)
+      self.sm.update(timeout=100)
+
+  @pytest.mark.parametrize("record_feedback", [False, True])
+  def test_audio_feedback(self, record_feedback):
+    Params().put_bool("RecordAudioFeedback", record_feedback)
+
+    managed_processes["feedbackd"].start()
+    assert self.pm.wait_for_readers_to_update('carState', timeout=5)
+    assert self.pm.wait_for_readers_to_update('rawAudioData', timeout=5)
+
+    self._send_lkas_button(pressed=True)
+    self._send_audio_data()
+    self._send_lkas_button(pressed=False)
+    self._send_audio_data()
+
+    if record_feedback:
+      assert self.sm.updated['audioFeedback'], "audioFeedback should be published when enabled"
+    else:
+      assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published when disabled"
+
+    self._send_lkas_button(pressed=True)
+    self._send_audio_data()
+    self._send_lkas_button(pressed=False)
+    self._send_audio_data()
+
+    assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published after second press"
+
+    managed_processes["feedbackd"].stop()
diff --git a/selfdrive/ui/tests/test_raylib_ui.py b/selfdrive/ui/tests/test_raylib_ui.py
new file mode 100644
index 0000000000..3f23301972
--- /dev/null
+++ b/selfdrive/ui/tests/test_raylib_ui.py
@@ -0,0 +1,8 @@
+import time
+from openpilot.selfdrive.test.helpers import with_processes
+
+
+@with_processes(["raylib_ui"])
+def test_raylib_ui():
+  """Test initialization of the UI widgets is successful."""
+  time.sleep(1)
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 7d3d9edd05..ff2e7ab05c 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -507,7 +507,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished">تأخير التحديث</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -700,111 +700,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>خرطوم الحريق</translation>
     </message>
 </context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>تحذير: الجهد منخفض</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>شغل جهازك في السيارة عن طريق شرطان التوصيل، أو تابع على مسؤوليتك.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>إيقاف التشغيل</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>متابعة</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>البدء</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>قبل أن ننطلق في الطريق، دعنا ننتهي من التثبيت ونغطي بعض التفاصيل.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>الاتصال بشبكة الواي فاي</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>السابق</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>المتابعة بدون شبكة الواي فاي</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>بانتظار الاتصال بالإنترنت</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>أدخل رابط URL</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>للبرامج المخصصة</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>يتم الآن التنزيل...</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>فشل التنزيل</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>تأكد من أن رابط URL الذي أدخلته صالح، وأن اتصال الجهاز بالإنترنت جيد.</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>إعادة التشغيل</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>البدء من جديد</translation>
-    </message>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>حدث خطأ ما. أعد التشغيل الجهاز.</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>لم يتم العثور على برنامج خاص لعنوان URL ها.</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>اختر لغة</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>اختر البرنامج للتثبيت</translation>
-    </message>
-    <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>البرمجيات المخصصة</translation>
-    </message>
-    <message>
-        <source>WARNING: Custom Software</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>SetupWidget</name>
     <message>
@@ -1157,6 +1052,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 3489b4860e..52fe55720d 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -499,7 +499,7 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
         <translation type="unfinished">Update pausieren</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -680,111 +680,6 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
         <translation>Firehose</translation>
     </message>
 </context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>Warnung: Batteriespannung niedrig</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>Versorge dein Gerät über einen Kabelbaum im Auto mit Strom, oder fahre auf eigene Gefahr fort.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>Ausschalten</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>Fortsetzen</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>Loslegen</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>Bevor wir uns auf die Straße begeben, lass uns die Installation fertigstellen und einige Details prüfen.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Mit WLAN verbinden</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Zurück</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Ohne WLAN fortsetzen</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>Auf Internet warten</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>URL eingeben</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>für spezifische Software</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>Herunterladen...</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>Herunterladen fehlgeschlagen</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>Stelle sicher, dass die eingegebene URL korrekt ist und dein Gerät eine stabile Internetverbindung hat.</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>Gerät neustarten</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>Von neuem beginnen</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>Keine benutzerdefinierte Software unter dieser URL gefunden.</translation>
-    </message>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>Etwas ist schiefgelaufen. Starte das Gerät neu.</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>Sprache wählen</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>Wähle die zu installierende Software</translation>
-    </message>
-    <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>Benutzerdefinierte Software</translation>
-    </message>
-    <message>
-        <source>WARNING: Custom Software</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>SetupWidget</name>
     <message>
@@ -1139,6 +1034,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 5807accb92..145eb7ae67 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -503,7 +503,7 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para
         <translation type="unfinished">Posponer Actualización</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -684,113 +684,6 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para
         <translation>Firehose</translation>
     </message>
 </context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>Algo ha ido mal. Reinicie el dispositivo.</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>Asegúrese de que la URL insertada es válida y que el dispositivo tiene buena conexión.</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>No encontramos software personalizado en esta URL.</translation>
-    </message>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>ALERTA: Voltaje bajo</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>Encienda su dispositivo en un auto con el arnés o proceda bajo su propio riesgo.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>Apagar</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>Continuar</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>Comenzando</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>Antes de ponernos en marcha, terminemos la instalación y cubramos algunos detalles.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Conectarse al Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Volver</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Continuar sin Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>Esperando conexión a internet</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>Elija el software a instalar</translation>
-    </message>
-    <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>Software personalizado</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>Insertar URL</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>para Software personalizado</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>Descargando...</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>Descarga fallida</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>Reiniciar Dispositivo</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>Comenzar de nuevo</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>Seleccione un idioma</translation>
-    </message>
-    <message>
-        <source>WARNING: Custom Software</source>
-        <translation>ADVERTENCIA: Software personalizado</translation>
-    </message>
-    <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation>Tenga cuidado al instalar software de terceros. El software de terceros no ha sido probado por comma y puede causar daños a su dispositivo y/o vehículo.
-
-Si desea continuar, utilice https://flash.comma.ai para restaurar su dispositivo a un estado de fábrica más tarde.</translation>
-    </message>
-</context>
 <context>
     <name>SetupWidget</name>
     <message>
@@ -1143,6 +1036,16 @@ Si desea continuar, utilice https://flash.comma.ai para restaurar su dispositivo
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>Graba y almacena el audio del micrófono mientras conduces. El audio se incluirá en el video de la cámara del tablero en comma connect.</translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index ba1eb93b30..297d936139 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -497,7 +497,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished">Reporter la mise à jour</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -678,111 +678,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
 </context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>Un problème est survenu. Redémarrez l&apos;appareil.</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>Assurez-vous que l&apos;URL saisie est valide et que la connexion internet de l&apos;appareil est bonne.</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>Aucun logiciel personnalisé trouvé à cette URL.</translation>
-    </message>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>ATTENTION : Tension faible</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>Alimentez votre appareil dans une voiture avec un harness ou continuez à vos risques et périls.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>Éteindre</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>Continuer</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>Commencer</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>Avant de prendre la route, terminons l&apos;installation et passons en revue quelques détails.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Se connecter au Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Retour</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>Entrer l&apos;URL</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>pour logiciel personnalisé</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Continuer sans Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>En attente d&apos;internet</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>Téléchargement...</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>Échec du téléchargement</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>Redémarrer l&apos;appareil</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>Recommencer</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>Choisir une langue</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>Choisir le logiciel à installer</translation>
-    </message>
-    <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>Logiciel personnalisé</translation>
-    </message>
-    <message>
-        <source>WARNING: Custom Software</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>SetupWidget</name>
     <message>
@@ -1135,6 +1030,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index fea6e51c07..7bb5c5364f 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -501,8 +501,8 @@ Firehoseモードを有効にすると学習データを最大限アップロー
         <translation>また後で更新する</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
-        <translation>openpilotが過剰な%1の作動を検出しました。ソフトウェアの不具合の可能性があります。https://comma.ai/support からサポートへご連絡下さい。</translation>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -679,113 +679,6 @@ Firehoseモードを有効にすると学習データを最大限アップロー
         <translation>データ学習</translation>
     </message>
 </context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>警告：電圧低下</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>ハーネスを使って車でデバイスに電源を供給するか、自己責任でこのまま継続して下さい。</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>電源を切る</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>続ける</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>はじめに</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>出発する前に、インストールを完了させて少し詳細を確認しましょう。</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Wi-Fiに接続</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>戻る</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Wi-Fiに接続せずに続行</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>インターネット接続を待機中</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>URLの入力</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>カスタムソフトウェア</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>ダウンロード中...</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>ダウンロードに失敗しました</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>入力されたURLが正しいかどうか、インターネットに正常に接続できているかを確認してください。</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>デバイスを再起動</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>やり直す</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>このURLはカスタムソフトウェアではありません。</translation>
-    </message>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>何かの問題が発生しました。デバイスを再起動してください。</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>言語を選択</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>インストールするソフトウェアを選択してください。</translation>
-    </message>
-    <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>カスタムソフトウェア</translation>
-    </message>
-    <message>
-        <source>WARNING: Custom Software</source>
-        <translation>警告: カスタムソフトウェア</translation>
-    </message>
-    <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation>サードパーティ製ソフトウェアをインストールする際は注意してください。サードパーティ製ソフトウェアはcommaによってテストされておらず、あなたのデバイスや車両に損害を与える可能性があります。
-
-続行したい場合は、後でデバイスを工場出荷時の状態に戻すために https://flash.comma.ai を使用してください。</translation>
-    </message>
-</context>
 <context>
     <name>SetupWidget</name>
     <message>
@@ -1138,6 +1031,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>運転中にマイク音声を録音・保存します。音声は comma connect のドライブレコーダー映像に含まれます。</translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index aaefdb92b0..807996f182 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -501,8 +501,8 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>업데이트 일시 중지</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
-        <translation>오픈파일럿은 과도한 %1 작동을 감지했습니다. 소프트웨어 버그 때문일 수 있습니다. https://comma.ai/support 에 문의하여 지원받으세요.</translation>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -679,113 +679,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>파이어호스</translation>
     </message>
 </context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>경고: 전압이 낮습니다</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>장치를 하네스를 통해 차량 전원에 연결하세요. USB 전원에서는 예상치 못한 문제가 생길 수 있습니다.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>전원 끄기</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>계속</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>시작하기</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>출발 전 설정을 완료하고 세부 사항을 살펴봅니다.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Wi-Fi 연결</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>뒤로</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Wi-Fi 연결 없이 진행</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>인터넷 연결 대기 중</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>URL 입력</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>커스텀 소프트웨어</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>다운로드 중...</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>다운로드 실패</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>입력된 URL이 유효하고 인터넷 연결이 원활한지 확인하세요.</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>장치 재부팅</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>다시 시작</translation>
-    </message>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>문제가 발생했습니다. 장치를 재부팅하세요.</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>이 URL에서 커스텀 소프트웨어를 찾을 수 없습니다.</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>언어를 선택하세요</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>설치할 소프트웨어 선택</translation>
-    </message>
-    <message>
-        <source>openpilot</source>
-        <translation>오픈파일럿</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>커스텀 소프트웨어</translation>
-    </message>
-    <message>
-        <source>WARNING: Custom Software</source>
-        <translation>경고: 커스텀 소프트웨어</translation>
-    </message>
-    <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation>타사 소프트웨어를 설치할 때는 주의하십시오. 타사 소프트웨어는 comma에 의해 테스트되지 않았으며 장치나 차량에 손상을 줄 수 있습니다.
-
-진행하려면 https://flash.comma.ai를 사용하여 나중에 장치를 공장 초기화하세요.</translation>
-    </message>
-</context>
 <context>
     <name>SetupWidget</name>
     <message>
@@ -1138,6 +1031,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>운전 중에 마이크 오디오를 녹음하고 저장하십시오. 오디오는 comma connect의 대시캠 비디오에 포함됩니다.</translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 976fc711db..7f41588e8f 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -503,8 +503,8 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar
         <translation>Adiar Atualização</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
-        <translation>O openpilot detectou uma atuação excessiva de %1. Isso pode ser causado por uma falha no software. Por favor, entre em contato com o suporte em https://comma.ai/support.</translation>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <translation>openpilot detectou atuação excessiva de %1 na sua última condução. Entre em contato com o suporte em https://comma.ai/support e compartilhe o Dongle ID do seu dispositivo para solução de problemas.</translation>
     </message>
 </context>
 <context>
@@ -684,113 +684,6 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar
         <translation>Firehose</translation>
     </message>
 </context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>ALERTA: Baixa Voltagem</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>Ligue seu dispositivo em um carro com um chicote ou prossiga por sua conta e risco.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>Desligar</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>Continuar</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>Começando</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>Antes de pegarmos a estrada, vamos terminar a instalação e cobrir alguns detalhes.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Conectar ao Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Voltar</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Continuar sem Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>Esperando pela internet</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>Preencher URL</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>para o Software Customizado</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>Baixando...</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>Download Falhou</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>Garanta que a URL inserida é valida, e uma boa conexão à internet.</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>Reiniciar Dispositivo</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>Inicializar</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>Não há software personalizado nesta URL.</translation>
-    </message>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>Algo deu errado. Reinicie o dispositivo.</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>Selecione o Idioma</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>Escolha o Software a ser Instalado</translation>
-    </message>
-    <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>Software Customizado</translation>
-    </message>
-    <message>
-        <source>WARNING: Custom Software</source>
-        <translation>AVISO: Software Personalizado</translation>
-    </message>
-    <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation>Tenha cuidado ao instalar software de terceiros. Softwares de terceiros não foram testados pela comma e podem causar danos ao seu dispositivo e/ou veículo.
-
-Se quiser continuar, use https://flash.comma.ai para restaurar seu dispositivo ao estado de fábrica mais tarde.</translation>
-    </message>
-</context>
 <context>
     <name>SetupWidget</name>
     <message>
@@ -1143,6 +1036,18 @@ Se quiser continuar, use https://flash.comma.ai para restaurar seu dispositivo a
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>Grave e armazene o áudio do microfone enquanto estiver dirigindo. O áudio será incluído ao vídeo dashcam no comma connect.</translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation>Gravar feedback de áudio com o botão LKAS</translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation>Pressione o botão LKAS para gravar e compartilhar feedback de direção com a equipe do openpilot. Quando esta opção estiver desativada, o botão funcionará como um botão de marcador. O evento será destacado no comma connect e o segmento será preservado no armazenamento do seu dispositivo.
+
+Observe que este recurso é compatível apenas com alguns modelos de carros.</translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 3821b3b806..34824c2680 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -497,7 +497,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished">เลื่อนการอัปเดต</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -675,111 +675,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>สายยางดับเพลิง</translation>
     </message>
 </context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>คำเตือน: แรงดันแบตเตอรี่ต่ำ</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>โปรดต่ออุปกรณ์ของคุณเข้ากับสายควบคุมในรถยนต์ หรือดำเนินการด้วยความเสี่ยงของคุณเอง</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>ปิดเครื่อง</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>ดำเนินการต่อ</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>เริ่มกันเลย</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>ก่อนออกเดินทาง เรามาทำการติดตั้งซอฟต์แวร์ และตรวจสอบการตั้งค่า</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>เชื่อมต่อ Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>ย้อนกลับ</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>ดำเนินการต่อโดยไม่ใช้ Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>กำลังรอสัญญาณอินเตอร์เน็ต</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>ป้อน URL</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>สำหรับซอฟต์แวร์ที่กำหนดเอง</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>กำลังดาวน์โหลด...</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>ดาวน์โหลดล้มเหลว</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>ตรวจสอบให้แน่ใจว่า URL ที่ป้อนนั้นถูกต้อง และอุปกรณ์เชื่อมต่ออินเทอร์เน็ตอยู่</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>รีบูตอุปกรณ์</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>เริ่มต้นใหม่</translation>
-    </message>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>มีบางอย่างผิดพลาด รีบูตอุปกรณ์</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>ไม่พบซอฟต์แวร์ที่กำหนดเองที่ URL นี้</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>เลือกภาษา</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>เลือกซอฟต์แวร์ที่จะติดตั้ง</translation>
-    </message>
-    <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>ซอฟต์แวร์ที่กำหนดเอง</translation>
-    </message>
-    <message>
-        <source>WARNING: Custom Software</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>SetupWidget</name>
     <message>
@@ -1132,6 +1027,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 6cafb1dffc..db6c4283a8 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -494,7 +494,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished">Güncellemeyi sessize al</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -672,111 +672,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
 </context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>UYARI: Düşük voltaj</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>Cihazınızı emniyet kemeri olan bir arabada çalıştırın veya riski kabul ederek devam edin.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>Sistemi kapat</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>Devam et</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>Başlarken</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>Yola çıkmadan önce kurulumu bitirin ve bazı detayları gözden geçirin..</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Wi-Fi ile bağlan</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Geri</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Wi-Fi bağlantısı olmadan devam edin</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>İnternet bağlantısı bekleniyor.</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>URL girin</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>özel yazılım için</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>İndiriliyor...</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>İndirme başarısız.</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>Girilen URL nin geçerli olduğundan ve cihazın internet bağlantısının olduğunu kontrol edin</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>Cihazı yeniden başlat</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>Zacznij od początku</translation>
-    </message>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>Dil seçin</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>openpilot</source>
-        <translation type="unfinished">openpilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: Custom Software</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>SetupWidget</name>
     <message>
@@ -1129,6 +1024,16 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 5e5b9da311..667d81ddd4 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -494,15 +494,15 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
     <message>
         <source>Acknowledge Excessive Actuation</source>
-        <translation type="unfinished"></translation>
+        <translation>确认过度作动</translation>
     </message>
     <message>
         <source>Snooze Update</source>
-        <translation type="unfinished">暂停更新</translation>
+        <translation>推迟更新</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
-        <translation type="unfinished"></translation>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <translation>openpilot 在您上一次驾驶中，检测到过度的 %1 作动。请访问 https://comma.ai/support 联系客服，并提供您设备的 Dongle ID 以便进行故障排查。</translation>
     </message>
 </context>
 <context>
@@ -679,113 +679,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>Firehose</translation>
     </message>
 </context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>警告：低电压</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>请使用car harness线束为您的设备供电，或自行承担风险。</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>关机</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>继续</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>开始设置</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>开始旅程之前，让我们完成安装并介绍一些细节。</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>连接到WiFi</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>返回</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>不连接WiFi并继续</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>等待网络连接</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>输入网址</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>以下载自定义软件</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>正在下载……</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>下载失败</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>请确保互联网连接良好且输入的URL有效。</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>重启设备</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>重来</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>在此网址找不到自定义软件。</translation>
-    </message>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>发生了一些错误。请重新启动您的设备。</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>选择语言</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>选择要安装的软件</translation>
-    </message>
-    <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>定制软件</translation>
-    </message>
-    <message>
-        <source>WARNING: Custom Software</source>
-        <translation>警告：自定义软件</translation>
-    </message>
-    <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation>请谨慎安装第三方软件。第三方软件未经 comma 测试，可能会损害您的设备和车辆。
-
-如果您决定继续，后续可通过 https://flash.comma.ai 将设备恢复到出厂状态。</translation>
-    </message>
-</context>
 <context>
     <name>SetupWidget</name>
     <message>
@@ -1138,6 +1031,18 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>在驾驶时录制并存储麦克风音频。该音频将会包含在 comma connect 的行车记录仪视频中。</translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation>使用“车道保持”按钮录制音频反馈</translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation>按下“车道保持”按钮，即可录制并分享驾驶反馈给 openpilot 团队。当此开关禁用时，该按钮将用作书签按钮。该事件将在 comma connect 中高亮显示，且对应的视频片段将被保留在您的设备存储空间中。
+
+请注意，此功能仅兼容部分车型。</translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 630dbf2a08..a0f1997a00 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -494,15 +494,15 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
     <message>
         <source>Acknowledge Excessive Actuation</source>
-        <translation type="unfinished"></translation>
+        <translation>確認過度作動</translation>
     </message>
     <message>
         <source>Snooze Update</source>
-        <translation type="unfinished">暫停更新</translation>
+        <translation>延後更新</translation>
     </message>
     <message>
-        <source>openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.</source>
-        <translation type="unfinished"></translation>
+        <source>openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device&apos;s Dongle ID for troubleshooting.</source>
+        <translation>openpilot 在您上次的駕駛中，偵測到過度的 %1 作動。請至 https://comma.ai/support 聯絡客服，並提供您裝置的 Dongle ID 以進行故障排除。</translation>
     </message>
 </context>
 <context>
@@ -679,113 +679,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>Firehose</translation>
     </message>
 </context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>警告：電壓過低</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>請使用車上 harness 提供的電源，若繼續的話您需要自擔風險。</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>關機</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>繼續</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>入門</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>在我們上路之前，讓我們完成安裝並介紹一些細節。</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>連接到無線網路</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>回上頁</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>在沒有 Wi-Fi 的情況下繼續</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>連接至網路中</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>輸入網址</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>訂製的軟體</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>下載中…</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>下載失敗</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>請確定您輸入的是有效的安裝網址，並且確定裝置的網路連線狀態良好。</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>重新啟動</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>重新開始</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>在此網址找不到自訂軟體。</translation>
-    </message>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>發生了一些錯誤。請重新啟動您的裝置。</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>選擇語言</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>選擇要安裝的軟體</translation>
-    </message>
-    <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>自訂軟體</translation>
-    </message>
-    <message>
-        <source>WARNING: Custom Software</source>
-        <translation>警告：自訂軟體</translation>
-    </message>
-    <message>
-        <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
-
-If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
-        <translation>請謹慎安裝第三方軟體。第三方軟體未經 comma 測試，可能會損壞您的裝置及車輛。
-
-若您仍要繼續，日後可使用 https://flash.comma.ai 將您的裝置恢復至出廠狀態。</translation>
-    </message>
-</context>
 <context>
     <name>SetupWidget</name>
     <message>
@@ -1138,6 +1031,18 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
         <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
         <translation>在駕駛時錄製並儲存麥克風音訊。此音訊將會收錄在 comma connect 的行車記錄器影片中。</translation>
     </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation>使用「車道維持」按鈕錄製音訊回饋</translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation>按下「車道維持」按鈕，即可錄製並分享駕駛回饋給 openpilot 團隊。當此開關停用時，該按鈕的功能將轉為書籤按鈕。該事件將會在 comma connect 中被標註，且對應的路段影像將保留在您的裝置儲存空間中。
+
+請注意，此功能僅與特定車款相容。</translation>
+    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc
deleted file mode 100644
index 258e2a7bd6..0000000000
--- a/selfdrive/ui/watch3.cc
+++ /dev/null
@@ -1,33 +0,0 @@
-#include <QApplication>
-#include <QtWidgets>
-
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/cameraview.h"
-
-int main(int argc, char *argv[]) {
-  initApp(argc, argv);
-
-  QApplication a(argc, argv);
-  QWidget w;
-  setMainWindow(&w);
-
-  QVBoxLayout *layout = new QVBoxLayout(&w);
-  layout->setMargin(0);
-  layout->setSpacing(0);
-
-  {
-    QHBoxLayout *hlayout = new QHBoxLayout();
-    layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD));
-  }
-
-  {
-    QHBoxLayout *hlayout = new QHBoxLayout();
-    layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER));
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD));
-  }
-
-  return a.exec();
-}
diff --git a/selfdrive/ui/watch3.py b/selfdrive/ui/watch3.py
new file mode 100755
index 0000000000..bb64cdc4d5
--- /dev/null
+++ b/selfdrive/ui/watch3.py
@@ -0,0 +1,17 @@
+#!/usr/bin/env python3
+import pyray as rl
+
+from msgq.visionipc import VisionStreamType
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.selfdrive.ui.onroad.cameraview import CameraView
+
+
+if __name__ == "__main__":
+  gui_app.init_window("watch3")
+  road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+  driver = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+  wide = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD)
+  for _ in gui_app.render():
+    road.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2))
+    driver.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
+    wide.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
diff --git a/selfdrive/ui/widgets/exp_mode_button.py b/selfdrive/ui/widgets/exp_mode_button.py
index be50c59d06..9618768957 100644
--- a/selfdrive/ui/widgets/exp_mode_button.py
+++ b/selfdrive/ui/widgets/exp_mode_button.py
@@ -14,7 +14,6 @@ class ExperimentalModeButton(Widget):
 
     self.params = Params()
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
-    self.is_pressed = False
 
     self.chill_pixmap = gui_app.texture("icons/couch.png", self.img_width, self.img_width)
     self.experimental_pixmap = gui_app.texture("icons/experimental_grey.png", self.img_width, self.img_width)
@@ -32,20 +31,13 @@ class ExperimentalModeButton(Widget):
     rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), int(rect.width), int(rect.height),
                                  start_color, end_color)
 
-  def _handle_interaction(self, rect):
-    mouse_pos = rl.get_mouse_position()
-    mouse_in_rect = rl.check_collision_point_rec(mouse_pos, rect)
-
-    self.is_pressed = mouse_in_rect and rl.is_mouse_button_down(rl.MOUSE_BUTTON_LEFT)
-    return mouse_in_rect and rl.is_mouse_button_released(rl.MOUSE_BUTTON_LEFT)
+  def _handle_mouse_release(self, mouse_pos):
+    self.experimental_mode = not self.experimental_mode
+    # TODO: Opening settings for ExperimentalMode
+    self.params.put_bool("ExperimentalMode", self.experimental_mode)
 
   def _render(self, rect):
-    if self._handle_interaction(rect):
-      self.experimental_mode = not self.experimental_mode
-      # TODO: Opening settings for ExperimentalMode
-      self.params.put_bool("ExperimentalMode", self.experimental_mode)
-
-    rl.draw_rectangle_rounded(rect, 0.08, 20, rl.Color(255, 255, 255, 255))
+    rl.draw_rectangle_rounded(rect, 0.08, 20, rl.WHITE)
 
     rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
     self._draw_gradient_background(rect)
@@ -61,7 +53,7 @@ class ExperimentalModeButton(Widget):
     text_x = rect.x + self.horizontal_padding
     text_y = rect.y + rect.height / 2 - 45 // 2  # Center vertically
 
-    rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.Color(0, 0, 0, 255))
+    rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.BLACK)
 
     # Draw icon (right aligned)
     icon_x = rect.x + rect.width - self.horizontal_padding - self.img_width
@@ -71,4 +63,4 @@ class ExperimentalModeButton(Widget):
     # Draw current mode icon
     current_icon = self.experimental_pixmap if self.experimental_mode else self.chill_pixmap
     source_rect = rl.Rectangle(0, 0, current_icon.width, current_icon.height)
-    rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.Color(255, 255, 255, 255))
+    rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.WHITE)
diff --git a/selfdrive/ui/widgets/prime.py b/selfdrive/ui/widgets/prime.py
index 86234ee149..6b601f6dff 100644
--- a/selfdrive/ui/widgets/prime.py
+++ b/selfdrive/ui/widgets/prime.py
@@ -36,7 +36,7 @@ class PrimeWidget(Widget):
     font = gui_app.font(FontWeight.LIGHT)
     wrapped_text = "\n".join(wrap_text(font, "Become a comma prime member at connect.comma.ai", 56, int(w)))
     text_size = measure_text_cached(font, wrapped_text, 56)
-    rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.Color(255, 255, 255, 255))
+    rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.WHITE)
 
     # Features section
     features_y = desc_y + text_size.y + 50
diff --git a/system/camerad/sensors/ar0231_cl.h b/system/camerad/sensors/ar0231_cl.h
deleted file mode 100644
index c79242543b..0000000000
--- a/system/camerad/sensors/ar0231_cl.h
+++ /dev/null
@@ -1,34 +0,0 @@
-#if SENSOR_ID == 1
-
-#define VIGNETTE_PROFILE_8DT0MM
-
-#define BIT_DEPTH 12
-#define PV_MAX 4096
-#define BLACK_LVL 168
-
-float4 normalize_pv(int4 parsed, float vignette_factor) {
-  float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX - BLACK_LVL);
-  return clamp(pv*vignette_factor, 0.0, 1.0);
-}
-
-float3 color_correct(float3 rgb) {
-  float3 corrected = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673);
-  corrected += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455);
-  corrected += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782);
-  return corrected;
-}
-
-float3 apply_gamma(float3 rgb, int expo_time) {
-  // tone mapping params
-  const float gamma_k = 0.75;
-  const float gamma_b = 0.125;
-  const float mp = 0.01; // ideally midpoint should be adaptive
-  const float rk = 9 - 100*mp;
-
-  // poly approximation for s curve
-  return (rgb > mp) ?
-    ((rk * (rgb-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(rgb-mp))) + gamma_k*mp + gamma_b) :
-    ((rk * (rgb-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(rgb-mp))) + gamma_k*mp + gamma_b);
-}
-
-#endif
diff --git a/system/camerad/sensors/os04c10_cl.h b/system/camerad/sensors/os04c10_cl.h
deleted file mode 100644
index 3b5cf88839..0000000000
--- a/system/camerad/sensors/os04c10_cl.h
+++ /dev/null
@@ -1,58 +0,0 @@
-#if SENSOR_ID == 3
-
-#define BGGR
-#define VIGNETTE_PROFILE_4DT6MM
-
-#define BIT_DEPTH 12
-#define PV_MAX10 1023
-#define PV_MAX12 4095
-#define PV_MAX16 65536 // gamma curve is calibrated to 16bit
-#define BLACK_LVL 48
-
-float combine_dual_pvs(float lv, float sv, int expo_time) {
-  float svc = fmax(sv * expo_time, (float)(64 * (PV_MAX10 - BLACK_LVL)));
-  float svd = sv * fmin(expo_time, 8.0) / 8;
-
-  if (expo_time > 64) {
-    if (lv < PV_MAX10 - BLACK_LVL) {
-      return lv / (PV_MAX16 - BLACK_LVL);
-    } else {
-      return (svc / 64) / (PV_MAX16 - BLACK_LVL);
-    }
-  } else {
-    if (lv > 32) {
-      return (lv * 64 / fmax(expo_time, 8.0)) / (PV_MAX16 - BLACK_LVL);
-    } else {
-      return svd / (PV_MAX16 - BLACK_LVL);
-    }
-  }
-}
-
-float4 normalize_pv_hdr(int4 parsed, int4 short_parsed, float vignette_factor, int expo_time) {
-  float4 pl = convert_float4(parsed - BLACK_LVL);
-  float4 ps = convert_float4(short_parsed - BLACK_LVL);
-  float4 pv;
-  pv.s0 = combine_dual_pvs(pl.s0, ps.s0, expo_time);
-  pv.s1 = combine_dual_pvs(pl.s1, ps.s1, expo_time);
-  pv.s2 = combine_dual_pvs(pl.s2, ps.s2, expo_time);
-  pv.s3 = combine_dual_pvs(pl.s3, ps.s3, expo_time);
-  return clamp(pv*vignette_factor, 0.0, 1.0);
-}
-
-float4 normalize_pv(int4 parsed, float vignette_factor) {
-  float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX12 - BLACK_LVL);
-  return clamp(pv*vignette_factor, 0.0, 1.0);
-}
-
-float3 color_correct(float3 rgb) {
-  float3 corrected = rgb.x * (float3)(1.55361989, -0.268894615, -0.000593219);
-  corrected += rgb.y * (float3)(-0.421217301, 1.51883144, -0.69760146);
-  corrected += rgb.z * (float3)(-0.132402589, -0.249936825, 1.69819468);
-  return corrected;
-}
-
-float3 apply_gamma(float3 rgb, int expo_time) {
-  return (10 * rgb) / (1 + 9 * rgb);
-}
-
-#endif
diff --git a/system/camerad/sensors/ox03c10_cl.h b/system/camerad/sensors/ox03c10_cl.h
deleted file mode 100644
index c8cec7cf8a..0000000000
--- a/system/camerad/sensors/ox03c10_cl.h
+++ /dev/null
@@ -1,47 +0,0 @@
-#if SENSOR_ID == 2
-
-#define VIGNETTE_PROFILE_8DT0MM
-
-#define BIT_DEPTH 12
-#define BLACK_LVL 64
-
-float ox_lut_func(int x) {
-  if (x < 512) {
-    return x * 5.94873e-8;
-  } else if (512 <= x && x < 768) {
-    return 3.0458e-05 + (x-512) * 1.19913e-7;
-  } else if (768 <= x && x < 1536) {
-    return 6.1154e-05 + (x-768) * 2.38493e-7;
-  } else if (1536 <= x && x < 1792) {
-    return 0.0002448 + (x-1536) * 9.56930e-7;
-  } else if (1792 <= x && x < 2048) {
-    return 0.00048977 + (x-1792) * 1.91441e-6;
-  } else if (2048 <= x && x < 2304) {
-    return 0.00097984 + (x-2048) * 3.82937e-6;
-  } else if (2304 <= x && x < 2560) {
-    return 0.0019601 + (x-2304) * 7.659055e-6;
-  } else if (2560 <= x && x < 2816) {
-    return 0.0039207 + (x-2560) * 1.525e-5;
-  } else {
-    return 0.0078421 + (exp((x-2816)/273.0) - 1) * 0.0092421;
-  }
-}
-
-float4 normalize_pv(int4 parsed, float vignette_factor) {
-  // PWL
-  float4 pv = {ox_lut_func(parsed.s0), ox_lut_func(parsed.s1), ox_lut_func(parsed.s2), ox_lut_func(parsed.s3)};
-  return clamp(pv*vignette_factor*256.0, 0.0, 1.0);
-}
-
-float3 color_correct(float3 rgb) {
-  float3 corrected = rgb.x * (float3)(1.5664815, -0.29808738, -0.03973474);
-  corrected += rgb.y * (float3)(-0.48672447, 1.41914433, -0.40295248);
-  corrected += rgb.z * (float3)(-0.07975703, -0.12105695, 1.44268722);
-  return corrected;
-}
-
-float3 apply_gamma(float3 rgb, int expo_time) {
-  return -0.507089*exp(-12.54124638*rgb) + 0.9655*powr(rgb, 0.5) - 0.472597*rgb + 0.507089;
-}
-
-#endif
diff --git a/system/hardware/fan_controller.py b/system/hardware/fan_controller.py
index 7d5bec0509..4c7adc0a3e 100755
--- a/system/hardware/fan_controller.py
+++ b/system/hardware/fan_controller.py
@@ -21,16 +21,16 @@ class TiciFanController(BaseFanController):
     self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_HW))
 
   def update(self, cur_temp: float, ignition: bool) -> int:
-    self.controller.neg_limit = -(100 if ignition else 30)
-    self.controller.pos_limit = -(30 if ignition else 0)
+    self.controller.pos_limit = 100 if ignition else 30
+    self.controller.neg_limit = 30 if ignition else 0
 
     if ignition != self.last_ignition:
       self.controller.reset()
 
-    error = 75 - cur_temp
-    fan_pwr_out = -int(self.controller.update(
+    error = cur_temp - 75
+    fan_pwr_out = int(self.controller.update(
                       error=error,
-                      feedforward=np.interp(cur_temp, [60.0, 100.0], [0, -100])
+                      feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100])
                     ))
 
     self.last_ignition = ignition
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index ec2557422c..941a4956bf 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,25 +1,25 @@
 [
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1.img.xz",
-    "hash": "6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1",
-    "hash_raw": "6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b.img.xz",
+    "hash": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
+    "hash_raw": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
     "size": 3282256,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "003a17ab1be68a696f7efe4c9938e8be511d4aacfc2f3211fc896bdc1681d089"
+    "ondevice_hash": "ed61a650bea0c56652dd0fc68465d8fc722a4e6489dc8f257630c42c6adcdc89"
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535.img.xz",
-    "hash": "63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535",
-    "hash_raw": "63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c.img.xz",
+    "hash": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
+    "hash_raw": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
     "size": 98124,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "2a855dd636cc94718b64bea83a44d0a31741ecaa8f72a63613ff348ec7404091"
+    "ondevice_hash": "b12801ffaa81e58e3cef914488d3b447e35483ba549b28c6cd9deb4814c3265f"
   },
   {
     "name": "abl",
@@ -56,28 +56,28 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-4de8f892dbac3fa3fee1efe68ca76e23e75812e81a6577d00d52e2da1ef624ef.img.xz",
-    "hash": "4de8f892dbac3fa3fee1efe68ca76e23e75812e81a6577d00d52e2da1ef624ef",
-    "hash_raw": "4de8f892dbac3fa3fee1efe68ca76e23e75812e81a6577d00d52e2da1ef624ef",
-    "size": 18479104,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz",
+    "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "size": 18515968,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "8d7094d774faa4e801e36b403a31b53b913b31d086f4dc682d2f64710c557e8a"
+    "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-4bc3951f4aa3f70c53837dc2542d8b0666d37103b353fd81417cc7de1bbebe39.img.xz",
-    "hash": "cccd7073d067027396f2afd49874729757db0bbbc79853a0bf2938bd356fe164",
-    "hash_raw": "4bc3951f4aa3f70c53837dc2542d8b0666d37103b353fd81417cc7de1bbebe39",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
+    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
+    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
     "size": 5368709120,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "c7707f16ce7d977748677cc354e250943b4ff6c21b9a19a492053d32397cf9ec",
+    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
     "alt": {
-      "hash": "4bc3951f4aa3f70c53837dc2542d8b0666d37103b353fd81417cc7de1bbebe39",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-4bc3951f4aa3f70c53837dc2542d8b0666d37103b353fd81417cc7de1bbebe39.img",
+      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
       "size": 5368709120
     }
   }
diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json
index d28b48128b..5891e2748a 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -97,14 +97,14 @@
   },
   {
     "name": "persist",
-    "url": "https://commadist.azureedge.net/agnosupdate/persist-9814b07851292f510f3794b767489f38ab379a99f0ea75dc620ad2d3a496d54d.img.xz",
-    "hash": "9814b07851292f510f3794b767489f38ab379a99f0ea75dc620ad2d3a496d54d",
-    "hash_raw": "9814b07851292f510f3794b767489f38ab379a99f0ea75dc620ad2d3a496d54d",
-    "size": 33554432,
+    "url": "https://commadist.azureedge.net/agnosupdate/persist-d6af4ec18df180c7417353b52a9e05e43a6480b29425f087874136436cefe786.img.xz",
+    "hash": "d6af4ec18df180c7417353b52a9e05e43a6480b29425f087874136436cefe786",
+    "hash_raw": "d6af4ec18df180c7417353b52a9e05e43a6480b29425f087874136436cefe786",
+    "size": 4096,
     "sparse": false,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "9814b07851292f510f3794b767489f38ab379a99f0ea75dc620ad2d3a496d54d"
+    "ondevice_hash": "d6af4ec18df180c7417353b52a9e05e43a6480b29425f087874136436cefe786"
   },
   {
     "name": "systemrw",
@@ -130,25 +130,25 @@
   },
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1.img.xz",
-    "hash": "6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1",
-    "hash_raw": "6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b.img.xz",
+    "hash": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
+    "hash_raw": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
     "size": 3282256,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "003a17ab1be68a696f7efe4c9938e8be511d4aacfc2f3211fc896bdc1681d089"
+    "ondevice_hash": "ed61a650bea0c56652dd0fc68465d8fc722a4e6489dc8f257630c42c6adcdc89"
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535.img.xz",
-    "hash": "63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535",
-    "hash_raw": "63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c.img.xz",
+    "hash": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
+    "hash_raw": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
     "size": 98124,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "2a855dd636cc94718b64bea83a44d0a31741ecaa8f72a63613ff348ec7404091"
+    "ondevice_hash": "b12801ffaa81e58e3cef914488d3b447e35483ba549b28c6cd9deb4814c3265f"
   },
   {
     "name": "abl",
@@ -339,62 +339,62 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-4de8f892dbac3fa3fee1efe68ca76e23e75812e81a6577d00d52e2da1ef624ef.img.xz",
-    "hash": "4de8f892dbac3fa3fee1efe68ca76e23e75812e81a6577d00d52e2da1ef624ef",
-    "hash_raw": "4de8f892dbac3fa3fee1efe68ca76e23e75812e81a6577d00d52e2da1ef624ef",
-    "size": 18479104,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz",
+    "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "size": 18515968,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "8d7094d774faa4e801e36b403a31b53b913b31d086f4dc682d2f64710c557e8a"
+    "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-4bc3951f4aa3f70c53837dc2542d8b0666d37103b353fd81417cc7de1bbebe39.img.xz",
-    "hash": "cccd7073d067027396f2afd49874729757db0bbbc79853a0bf2938bd356fe164",
-    "hash_raw": "4bc3951f4aa3f70c53837dc2542d8b0666d37103b353fd81417cc7de1bbebe39",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
+    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
+    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
     "size": 5368709120,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "c7707f16ce7d977748677cc354e250943b4ff6c21b9a19a492053d32397cf9ec",
+    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
     "alt": {
-      "hash": "4bc3951f4aa3f70c53837dc2542d8b0666d37103b353fd81417cc7de1bbebe39",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-4bc3951f4aa3f70c53837dc2542d8b0666d37103b353fd81417cc7de1bbebe39.img",
+      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
       "size": 5368709120
     }
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-f0c675e0fae420870c9ba8979fa246b170f4f1a7a04b49609b55b6bdfa8c1b21.img.xz",
-    "hash": "3d8a007bae088c5959eb9b82454013f91868946d78380fecea2b1afdfb575c02",
-    "hash_raw": "f0c675e0fae420870c9ba8979fa246b170f4f1a7a04b49609b55b6bdfa8c1b21",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-602d5103cba97e1b07f76508d5febb47cfc4463a7e31bd20e461b55c801feb0a.img.xz",
+    "hash": "6a11d448bac50467791809339051eed2894aae971c37bf6284b3b972a99ba3ac",
+    "hash_raw": "602d5103cba97e1b07f76508d5febb47cfc4463a7e31bd20e461b55c801feb0a",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "5bfbabb8ff96b149056aa75d5b7e66a7cdd9cb4bcefe23b922c292f7f3a43462"
+    "ondevice_hash": "e014d92940a696bf8582807259820ab73948b950656ed83a45da738f26083705"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-06fc52be37b42690ed7b4f8c66c4611309a2dea9fca37dd9d27d1eff302eb1bf.img.xz",
-    "hash": "443f136484294b210318842d09fb618d5411c8bdbab9f7421d8c89eb291a8d3f",
-    "hash_raw": "06fc52be37b42690ed7b4f8c66c4611309a2dea9fca37dd9d27d1eff302eb1bf",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-4d7f6d12a5557eb6e3cbff9a4cd595677456fdfddcc879eddcea96a43a9d8b48.img.xz",
+    "hash": "748e31a5fc01fc256c012e359c3382d1f98cce98feafe8ecc0fca3e47caef116",
+    "hash_raw": "4d7f6d12a5557eb6e3cbff9a4cd595677456fdfddcc879eddcea96a43a9d8b48",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "67db02b29a7e4435951c64cc962a474d048ed444aa912f3494391417cd51a074"
+    "ondevice_hash": "c181b93050787adcfef730c086bcb780f28508d84e6376d9b80d37e5dc02b55e"
   },
   {
     "name": "userdata_30",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-06679488f0c5c3fcfd5f351133050751cd189f705e478a979c45fc4a166d18a6.img.xz",
-    "hash": "875b580cb786f290a842e9187fd945657561886123eb3075a26f7995a18068f6",
-    "hash_raw": "06679488f0c5c3fcfd5f351133050751cd189f705e478a979c45fc4a166d18a6",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-80a76c8e56bbd7536fd5e87e8daa12984e2960db4edeb1f83229b2baeecc4668.img.xz",
+    "hash": "09ff390e639e4373d772e1688d05a5ac77a573463ed1deeff86390686fa686f9",
+    "hash_raw": "80a76c8e56bbd7536fd5e87e8daa12984e2960db4edeb1f83229b2baeecc4668",
     "size": 32212254720,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "16e27ba3c5cf9f0394ce6235ba6021b8a2de293fdb08399f8ca832fa5e4d0b9d"
+    "ondevice_hash": "2c01ab470c02121c721ff6afc25582437e821686207f3afef659387afb69c507"
   }
 ]
\ No newline at end of file
diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc
index b8f2f274d2..06922b0cd0 100644
--- a/system/loggerd/encoder/encoder.cc
+++ b/system/loggerd/encoder/encoder.cc
@@ -21,7 +21,7 @@ void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBuf
   edata.setFrameId(extra.frame_id);
   edata.setTimestampSof(extra.timestamp_sof);
   edata.setTimestampEof(extra.timestamp_eof);
-  edata.setType(encoder_info.encode_type);
+  edata.setType(encoder_info.get_settings(in_width).encode_type);
   edata.setEncodeId(cnt++);
   edata.setSegmentNum(segment_num);
   edata.setSegmentId(idx);
diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc
index 091c2fb2dd..4d6be47182 100644
--- a/system/loggerd/encoder/ffmpeg_encoder.cc
+++ b/system/loggerd/encoder/ffmpeg_encoder.cc
@@ -46,7 +46,7 @@ FfmpegEncoder::~FfmpegEncoder() {
 }
 
 void FfmpegEncoder::encoder_open() {
-  auto codec_id = encoder_info.encode_type == cereal::EncodeIndex::Type::QCAMERA_H264
+  auto codec_id = encoder_info.get_settings(in_width).encode_type == cereal::EncodeIndex::Type::QCAMERA_H264
                       ? AV_CODEC_ID_H264
                       : AV_CODEC_ID_FFVHUFF;
   const AVCodec *codec = avcodec_find_encoder(codec_id);
diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc
index e4b4c8a093..6ee3af13b0 100644
--- a/system/loggerd/encoder/v4l_encoder.cc
+++ b/system/loggerd/encoder/v4l_encoder.cc
@@ -155,6 +155,9 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
   assert(strcmp((const char *)cap.driver, "msm_vidc_driver") == 0);
   assert(strcmp((const char *)cap.card, "msm_vidc_venc") == 0);
 
+  EncoderSettings encoder_settings = encoder_info.get_settings(in_width);
+  bool is_h265 = encoder_settings.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C;
+
   struct v4l2_format fmt_out = {
     .type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE,
     .fmt = {
@@ -162,7 +165,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
         // downscales are free with v4l
         .width = (unsigned int)(out_width),
         .height = (unsigned int)(out_height),
-        .pixelformat = (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264,
+        .pixelformat = is_h265 ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264,
         .field = V4L2_FIELD_ANY,
         .colorspace = V4L2_COLORSPACE_DEFAULT,
       }
@@ -205,8 +208,10 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
   // shared ctrls
   {
     struct v4l2_control ctrls[] = {
+      { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = encoder_settings.bitrate},
+      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = encoder_settings.gop_size - encoder_settings.b_frames - 1},
+      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = encoder_settings.b_frames},
       { .id = V4L2_CID_MPEG_VIDEO_HEADER_MODE, .value = V4L2_MPEG_VIDEO_HEADER_MODE_SEPARATE},
-      { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = encoder_info.bitrate},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL, .value = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_CFR},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY, .value = V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_IDR_PERIOD, .value = 1},
@@ -216,13 +221,11 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
     }
   }
 
-  if (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) {
+  if (is_h265) {
     struct v4l2_control ctrls[] = {
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_HEVC_PROFILE, .value = V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_HEVC_TIER_LEVEL, .value = V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_VUI_TIMING_INFO, .value = V4L2_MPEG_VIDC_VIDEO_VUI_TIMING_INFO_ENABLED},
-      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = 29},
-      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0},
     };
     for (auto ctrl : ctrls) {
       util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
@@ -231,8 +234,6 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
     struct v4l2_control ctrls[] = {
       { .id = V4L2_CID_MPEG_VIDEO_H264_PROFILE, .value = V4L2_MPEG_VIDEO_H264_PROFILE_HIGH},
       { .id = V4L2_CID_MPEG_VIDEO_H264_LEVEL, .value = V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN},
-      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = 14},
-      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0},
       { .id = V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE, .value = V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL, .value = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0},
       { .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_MODE, .value = 0},
diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc
index 144ab9f349..21de1ff33f 100644
--- a/system/loggerd/loggerd.cc
+++ b/system/loggerd/loggerd.cc
@@ -194,7 +194,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
   return bytes_count;
 }
 
-void handle_user_flag(LoggerdState *s) {
+void handle_preserve_segment(LoggerdState *s) {
   static int prev_segment = -1;
   if (s->logger.segment() == prev_segment) return;
 
@@ -222,7 +222,7 @@ void loggerd_thread() {
   typedef struct ServiceState {
     std::string name;
     int counter, freq;
-    bool encoder, user_flag, record_audio;
+    bool encoder, preserve_segment, record_audio;
   } ServiceState;
   std::unordered_map<SubSocket*, ServiceState> service_state;
   std::unordered_map<SubSocket*, struct RemoteEncoder> remote_encoders;
@@ -246,7 +246,7 @@ void loggerd_thread() {
         .counter = 0,
         .freq = it.decimation,
         .encoder = encoder,
-        .user_flag = it.name == "userFlag",
+        .preserve_segment = (it.name == "userBookmark") || (it.name == "audioFeedback"),
         .record_audio = record_audio,
       };
     }
@@ -281,8 +281,8 @@ void loggerd_thread() {
       if (do_exit) break;
 
       ServiceState &service = service_state[sock];
-      if (service.user_flag) {
-        handle_user_flag(&s);
+      if (service.preserve_segment) {
+        handle_preserve_segment(&s);
       }
 
       // drain socket
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index 5dfb178fd5..967caec867 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -13,10 +13,7 @@
 #include "system/loggerd/logger.h"
 
 constexpr int MAIN_FPS = 20;
-const int MAIN_BITRATE = 1e7;
-const int LIVESTREAM_BITRATE = 1e6;
-const int QCAM_BITRATE = 256000;
-
+const auto MAIN_ENCODE_TYPE = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS : cereal::EncodeIndex::Type::FULL_H_E_V_C;
 #define NO_CAMERA_PATIENCE 500  // fall back to time-based rotation if all cameras are dead
 
 #define INIT_ENCODE_FUNCTIONS(encode_type)                                \
@@ -29,6 +26,30 @@ const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH"))
 
 constexpr char PRESERVE_ATTR_NAME[] = "user.preserve";
 constexpr char PRESERVE_ATTR_VALUE = '1';
+
+struct EncoderSettings {
+  cereal::EncodeIndex::Type encode_type;
+  int bitrate;
+  int gop_size;
+  int b_frames = 0; // we don't use b frames
+
+  static EncoderSettings MainEncoderSettings(int in_width) {
+    if (in_width <= 1344) {
+      return EncoderSettings{.encode_type = MAIN_ENCODE_TYPE, .bitrate = 5'000'000, .gop_size = 20};
+    } else {
+      return EncoderSettings{.encode_type = MAIN_ENCODE_TYPE, .bitrate = 10'000'000, .gop_size = 30};
+    }
+  }
+
+  static EncoderSettings QcamEncoderSettings() {
+    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = 256'000, .gop_size = 15};
+  }
+
+  static EncoderSettings StreamEncoderSettings() {
+    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = 1'000'000, .gop_size = 15};
+  }
+};
+
 class EncoderInfo {
 public:
   const char *publish_name;
@@ -39,9 +60,8 @@ public:
   int frame_width = -1;
   int frame_height = -1;
   int fps = MAIN_FPS;
-  int bitrate = MAIN_BITRATE;
-  cereal::EncodeIndex::Type encode_type = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS
-                                                         : cereal::EncodeIndex::Type::FULL_H_E_V_C;
+  std::function<EncoderSettings(int)> get_settings;
+
   ::cereal::EncodeData::Reader (cereal::Event::Reader::*get_encode_data_func)() const;
   void (cereal::Event::Builder::*set_encode_idx_func)(::cereal::EncodeIndex::Reader);
   cereal::EncodeData::Builder (cereal::Event::Builder::*init_encode_data_func)();
@@ -59,12 +79,14 @@ const EncoderInfo main_road_encoder_info = {
   .publish_name = "roadEncodeData",
   .thumbnail_name = "thumbnail",
   .filename = "fcamera.hevc",
+  .get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);},
   INIT_ENCODE_FUNCTIONS(RoadEncode),
 };
 
 const EncoderInfo main_wide_road_encoder_info = {
   .publish_name = "wideRoadEncodeData",
   .filename = "ecamera.hevc",
+  .get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);},
   INIT_ENCODE_FUNCTIONS(WideRoadEncode),
 };
 
@@ -72,39 +94,36 @@ const EncoderInfo main_driver_encoder_info = {
   .publish_name = "driverEncodeData",
   .filename = "dcamera.hevc",
   .record = Params().getBool("RecordFront"),
+  .get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);},
   INIT_ENCODE_FUNCTIONS(DriverEncode),
 };
 
 const EncoderInfo stream_road_encoder_info = {
   .publish_name = "livestreamRoadEncodeData",
   //.thumbnail_name = "thumbnail",
-  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
   .record = false,
-  .bitrate = LIVESTREAM_BITRATE,
+  .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode),
 };
 
 const EncoderInfo stream_wide_road_encoder_info = {
   .publish_name = "livestreamWideRoadEncodeData",
-  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
   .record = false,
-  .bitrate = LIVESTREAM_BITRATE,
+  .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode),
 };
 
 const EncoderInfo stream_driver_encoder_info = {
   .publish_name = "livestreamDriverEncodeData",
-  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
   .record = false,
-  .bitrate = LIVESTREAM_BITRATE,
+  .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode),
 };
 
 const EncoderInfo qcam_encoder_info = {
   .publish_name = "qRoadEncodeData",
   .filename = "qcamera.ts",
-  .bitrate = QCAM_BITRATE,
-  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
+  .get_settings = [](int){return EncoderSettings::QcamEncoderSettings();},
   .frame_width = 526,
   .frame_height = 330,
   .include_audio = Params().getBool("RecordAudio"),
diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py
index b24bfbe168..e4dabd3df9 100644
--- a/system/loggerd/tests/test_encoder.py
+++ b/system/loggerd/tests/test_encoder.py
@@ -19,11 +19,12 @@ from openpilot.system.hardware.hw import Paths
 
 SEGMENT_LENGTH = 2
 FULL_SIZE = 2507572
+def hevc_size(w): return FULL_SIZE // 2 if w <= 1344 else FULL_SIZE
 CAMERAS = [
-  ("fcamera.hevc", 20, FULL_SIZE, "roadEncodeIdx"),
-  ("dcamera.hevc", 20, FULL_SIZE, "driverEncodeIdx"),
-  ("ecamera.hevc", 20, FULL_SIZE, "wideRoadEncodeIdx"),
-  ("qcamera.ts", 20, 130000, None),
+  ("fcamera.hevc", 20, hevc_size, "roadEncodeIdx"),
+  ("dcamera.hevc", 20, hevc_size, "driverEncodeIdx"),
+  ("ecamera.hevc", 20, hevc_size, "wideRoadEncodeIdx"),
+  ("qcamera.ts", 20, lambda x: 130000, None),
 ]
 
 # we check frame count, so we don't have to be too strict on size
@@ -76,7 +77,7 @@ class TestEncoder:
       # check each camera file size
       counts = []
       first_frames = []
-      for camera, fps, size, encode_idx_name in CAMERAS:
+      for camera, fps, size_lambda, encode_idx_name in CAMERAS:
         if not record_front and "dcamera" in camera:
           continue
 
@@ -86,14 +87,14 @@ class TestEncoder:
         assert os.path.exists(file_path), f"segment #{i}: '{file_path}' missing"
 
         # TODO: this ffprobe call is really slow
-        # check frame count
-        cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets -of csv=p=0 {file_path}"
+        # get width and check frame count
+        cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets,width -of csv=p=0 {file_path}"
         if TICI:
           cmd = "LD_LIBRARY_PATH=/usr/local/lib " + cmd
 
         expected_frames = fps * SEGMENT_LENGTH
-        probe = subprocess.check_output(cmd, shell=True, encoding='utf8')
-        frame_count = int(probe.split('\n')[0].strip())
+        probe = subprocess.check_output(cmd, shell=True, encoding='utf8').split('\n')[0].strip().split(',')
+        frame_width, frame_count = int(probe[0]), int(probe[1])
         counts.append(frame_count)
 
         assert frame_count == expected_frames, \
@@ -101,8 +102,9 @@ class TestEncoder:
 
         # sanity check file size
         file_size = os.path.getsize(file_path)
-        assert math.isclose(file_size, size, rel_tol=FILE_SIZE_TOLERANCE), \
-                        f"{file_path} size {file_size} isn't close to target size {size}"
+        target_size = size_lambda(frame_width)
+        assert math.isclose(file_size, target_size, rel_tol=FILE_SIZE_TOLERANCE), \
+                        f"{file_path} size {file_size} isn't close to target size {target_size}"
 
         # Check encodeIdx
         if encode_idx_name is not None:
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 8f9d92e104..c6a4b12e63 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -282,15 +282,15 @@ class TestLoggerd:
       sent.clear_write_flag()
       assert sent.to_bytes() == m.as_builder().to_bytes()
 
-  def test_preserving_flagged_segments(self):
-    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) | {"userFlag"}
+  def test_preserving_bookmarked_segments(self):
+    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) | {"userBookmark"}
     self._publish_random_messages(services)
 
     segment_dir = self._get_latest_log_dir()
     assert getxattr(segment_dir, PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
 
-  def test_not_preserving_unflagged_segments(self):
-    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userFlag"}
+  def test_not_preserving_nonbookmarked_segments(self):
+    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userBookmark", "audioFeedback"}
     self._publish_random_messages(services)
 
     segment_dir = self._get_latest_log_dir()
diff --git a/system/manager/manager.py b/system/manager/manager.py
index bd8e552dd3..36055d8635 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -40,7 +40,7 @@ def manager_init() -> None:
   # set unset params to their default value
   for k in params.all_keys():
     default_value = params.get_default_value(k)
-    if default_value and params.get(k) is None:
+    if default_value is not None and params.get(k) is None:
       params.put(k, default_value)
 
   # Create folders needed for msgq
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index ecd5b724cd..5758512f2b 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -81,6 +81,7 @@ procs = [
 
   PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
+  PythonProcess("raylib_ui", "selfdrive.ui.ui", always_run, enabled=False, watchdog_max_dt=(5 if not PC else None)),
   PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
   PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
   NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
@@ -106,6 +107,7 @@ procs = [
   PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
   PythonProcess("uploader", "system.loggerd.uploader", always_run),
   PythonProcess("statsd", "system.statsd", always_run),
+  PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad),
 
   # debug procs
   NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
diff --git a/system/manager/test/test_manager.py b/system/manager/test/test_manager.py
index 5e55648283..34d07c6724 100644
--- a/system/manager/test/test_manager.py
+++ b/system/manager/test/test_manager.py
@@ -46,9 +46,10 @@ class TestManager:
     manager.main()
     for k in params.all_keys():
       default_value = params.get_default_value(k)
-      if default_value:
+      if default_value is not None:
         assert params.get(k) == default_value
     assert params.get("OpenpilotEnabledToggle")
+    assert params.get("RouteCount") == 0
 
   @pytest.mark.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
   def test_clean_exit(self, subtests):
diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index 30672fba06..3f433e1fcb 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -19,7 +19,7 @@ FPS_LOG_INTERVAL = 5  # Seconds between logging FPS drops
 FPS_DROP_THRESHOLD = 0.9  # FPS drop threshold for triggering a warning
 FPS_CRITICAL_THRESHOLD = 0.5  # Critical threshold for triggering strict actions
 MOUSE_THREAD_RATE = 140  # touch controller runs at 140Hz
-MAX_TOUCH_SLOT = 2
+MAX_TOUCH_SLOTS = 2
 
 ENABLE_VSYNC = os.getenv("ENABLE_VSYNC", "0") == "1"
 SHOW_FPS = os.getenv("SHOW_FPS") == "1"
@@ -67,9 +67,10 @@ class MouseEvent(NamedTuple):
 
 
 class MouseState:
-  def __init__(self):
+  def __init__(self, scale: float = 1.0):
+    self._scale = scale
     self._events: deque[MouseEvent] = deque(maxlen=MOUSE_THREAD_RATE)  # bound event list
-    self._prev_mouse_event: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOT
+    self._prev_mouse_event: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOTS
 
     self._rk = Ratekeeper(MOUSE_THREAD_RATE)
     self._lock = threading.Lock()
@@ -100,10 +101,12 @@ class MouseState:
       self._rk.keep_time()
 
   def _handle_mouse_event(self):
-    for slot in range(MAX_TOUCH_SLOT):
+    for slot in range(MAX_TOUCH_SLOTS):
       mouse_pos = rl.get_touch_position(slot)
+      x = mouse_pos.x / self._scale if self._scale != 1.0 else mouse_pos.x
+      y = mouse_pos.y / self._scale if self._scale != 1.0 else mouse_pos.y
       ev = MouseEvent(
-        MousePos(mouse_pos.x, mouse_pos.y),
+        MousePos(x, y),
         slot,
         rl.is_mouse_button_pressed(slot),
         rl.is_mouse_button_released(slot),
@@ -133,7 +136,7 @@ class GuiApplication:
     self._trace_log_callback = None
     self._modal_overlay = ModalOverlay()
 
-    self._mouse = MouseState()
+    self._mouse = MouseState(self._scale)
     self._mouse_events: list[MouseEvent] = []
 
     # Debug variables
diff --git a/system/ui/lib/emoji.py b/system/ui/lib/emoji.py
new file mode 100644
index 0000000000..28139158a1
--- /dev/null
+++ b/system/ui/lib/emoji.py
@@ -0,0 +1,47 @@
+import io
+import re
+
+from PIL import Image, ImageDraw, ImageFont
+import pyray as rl
+
+_cache: dict[str, rl.Texture] = {}
+
+EMOJI_REGEX = re.compile(
+"""[\U0001F600-\U0001F64F
+\U0001F300-\U0001F5FF
+\U0001F680-\U0001F6FF
+\U0001F1E0-\U0001F1FF
+\U00002700-\U000027BF
+\U0001F900-\U0001F9FF
+\U00002600-\U000026FF
+\U00002300-\U000023FF
+\U00002B00-\U00002BFF
+\U0001FA70-\U0001FAFF
+\U0001F700-\U0001F77F
+\u2640-\u2642
+\u2600-\u2B55
+\u200d
+\u23cf
+\u23e9
+\u231a
+\ufe0f
+\u3030
+]+""",
+  flags=re.UNICODE
+)
+
+def find_emoji(text):
+  return [(m.start(), m.end(), m.group()) for m in EMOJI_REGEX.finditer(text)]
+
+def emoji_tex(emoji):
+  if emoji not in _cache:
+    img = Image.new("RGBA", (128, 128), (0, 0, 0, 0))
+    draw = ImageDraw.Draw(img)
+    font = ImageFont.truetype("NotoColorEmoji", 109)
+    draw.text((0, 0), emoji, font=font, embedded_color=True)
+    buffer = io.BytesIO()
+    img.save(buffer, format="PNG")
+    l = buffer.tell()
+    buffer.seek(0)
+    _cache[emoji] = rl.load_texture_from_image(rl.load_image_from_memory(".png", buffer.getvalue(), l))
+  return _cache[emoji]
diff --git a/system/ui/lib/shader_polygon.py b/system/ui/lib/shader_polygon.py
index cfde81c554..39bc0d5aa4 100644
--- a/system/ui/lib/shader_polygon.py
+++ b/system/ui/lib/shader_polygon.py
@@ -39,6 +39,10 @@ vec4 getGradientColor(vec2 pos) {
   float t = clamp(dot(pos - gradientStart, normalizedDir) / gradientLength, 0.0, 1.0);
 
   if (gradientColorCount <= 1) return gradientColors[0];
+
+  // handle t before first / after last stop
+  if (t <= gradientStops[0]) return gradientColors[0];
+  if (t >= gradientStops[gradientColorCount-1]) return gradientColors[gradientColorCount-1];
   for (int i = 0; i < gradientColorCount - 1; i++) {
     if (t >= gradientStops[i] && t <= gradientStops[i+1]) {
       float segmentT = (t - gradientStops[i]) / (gradientStops[i+1] - gradientStops[i]);
diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py
index acdab3b411..4cb741bc95 100644
--- a/system/ui/lib/wifi_manager.py
+++ b/system/ui/lib/wifi_manager.py
@@ -37,7 +37,7 @@ NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device"
 NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8
 
 TETHERING_IP_ADDRESS = "192.168.43.1"
-DEFAULT_TETHERING_PASSWORD = "12345678"
+DEFAULT_TETHERING_PASSWORD = "swagswagcomma"
 
 
 # NetworkManager device states
@@ -101,8 +101,8 @@ class WifiManager:
     """Connect to the DBus system bus."""
     try:
       self.bus = await MessageBus(bus_type=BusType.SYSTEM).connect()
-      if not await self._find_wifi_device():
-        raise ValueError("No Wi-Fi device found")
+      while not await self._find_wifi_device():
+        await asyncio.sleep(1)
 
       await self._setup_signals(self.device_path)
       self.active_ap_path = await self.get_active_access_point()
@@ -441,20 +441,19 @@ class WifiManager:
     settings_iface.on_connection_removed(self._on_connection_removed)
 
   def _on_properties_changed(self, interface: str, changed: dict, invalidated: list):
-    if 'LastScan' in changed:
+    if interface == NM_WIRELESS_IFACE and 'LastScan' in changed:
       asyncio.create_task(self._refresh_networks())
     elif interface == NM_WIRELESS_IFACE and "ActiveAccessPoint" in changed:
       new_ap_path = changed["ActiveAccessPoint"].value
       if self.active_ap_path != new_ap_path:
         self.active_ap_path = new_ap_path
-        asyncio.create_task(self._refresh_networks())
 
   def _on_state_changed(self, new_state: int, old_state: int, reason: int):
     if new_state == NMDeviceState.ACTIVATED:
       if self.callbacks.activated:
         self.callbacks.activated()
-      asyncio.create_task(self._refresh_networks())
       self._current_connection_ssid = None
+      asyncio.create_task(self._refresh_networks())
     elif new_state in (NMDeviceState.DISCONNECTED, NMDeviceState.NEED_AUTH):
       for network in self.networks:
         network.is_connected = False
@@ -487,9 +486,6 @@ class WifiManager:
 
         if self.callbacks.forgotten:
           self.callbacks.forgotten(ssid)
-
-        # Update network list to reflect the removed saved connection
-        asyncio.create_task(self._refresh_networks())
         break
 
   async def _add_saved_connection(self, path: str) -> None:
@@ -498,14 +494,13 @@ class WifiManager:
       settings = await self._get_connection_settings(path)
       if ssid := self._extract_ssid(settings):
         self.saved_connections[ssid] = path
-        await self._refresh_networks()
     except DBusError as e:
       cloudlog.error(f"Failed to add connection {path}: {e}")
 
   def _extract_ssid(self, settings: dict) -> str | None:
     """Extract SSID from connection settings."""
     ssid_variant = settings.get('802-11-wireless', {}).get('ssid', Variant('ay', b'')).value
-    return ''.join(chr(b) for b in ssid_variant) if ssid_variant else None
+    return bytes(ssid_variant).decode('utf-8') if ssid_variant else None
 
   async def _add_match_rule(self, rule):
     """Add a match rule on the bus."""
diff --git a/system/ui/reset.py b/system/ui/reset.py
index e3f9e7b2d5..b1bf5a6b6a 100755
--- a/system/ui/reset.py
+++ b/system/ui/reset.py
@@ -125,7 +125,7 @@ def main():
     elif sys.argv[1] == "--format":
       mode = ResetMode.FORMAT
 
-  gui_app.init_window("System Reset")
+  gui_app.init_window("System Reset", 20)
   reset = Reset(mode)
 
   if mode == ResetMode.FORMAT:
diff --git a/system/ui/setup.py b/system/ui/setup.py
index 2392449f96..800ca7662c 100755
--- a/system/ui/setup.py
+++ b/system/ui/setup.py
@@ -4,16 +4,21 @@ import re
 import threading
 import time
 import urllib.request
+from urllib.parse import urlparse
 from enum import IntEnum
+import shutil
+
 import pyray as rl
 
 from cereal import log
+from openpilot.common.run import run_cmd
 from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio
 from openpilot.system.ui.widgets.keyboard import Keyboard
-from openpilot.system.ui.widgets.label import gui_label, gui_text_box
+from openpilot.system.ui.widgets.label import Label, TextAlignment
 from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManagerWrapper
 
 NetworkType = log.DeviceState.NetworkType
@@ -29,15 +34,29 @@ BUTTON_SPACING = 50
 OPENPILOT_URL = "https://openpilot.comma.ai"
 USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}"
 
+CONTINUE_PATH = "/data/continue.sh"
+TMP_CONTINUE_PATH = "/data/continue.sh.new"
+INSTALL_PATH = "/data/openpilot"
+VALID_CACHE_PATH = "/data/.openpilot_cache"
+INSTALLER_SOURCE_PATH = "/usr/comma/installer"
+INSTALLER_DESTINATION_PATH = "/tmp/installer"
+INSTALLER_URL_PATH = "/tmp/installer_url"
+
+CONTINUE = """#!/usr/bin/env bash
+
+cd /data/openpilot
+exec ./launch_openpilot.sh
+"""
 
 class SetupState(IntEnum):
   LOW_VOLTAGE = 0
   GETTING_STARTED = 1
   NETWORK_SETUP = 2
   SOFTWARE_SELECTION = 3
-  CUSTOM_URL = 4
+  CUSTOM_SOFTWARE = 4
   DOWNLOADING = 5
   DOWNLOAD_FAILED = 6
+  CUSTOM_SOFTWARE_WARNING = 7
 
 
 class Setup(Widget):
@@ -59,20 +78,54 @@ class Setup(Widget):
     self.selected_radio = None
     self.warning = gui_app.texture("icons/warning.png", 150, 150)
     self.checkmark = gui_app.texture("icons/circled_check.png", 100, 100)
+
+    self._low_voltage_title_label = Label("WARNING: Low Voltage", TITLE_FONT_SIZE, FontWeight.MEDIUM, TextAlignment.LEFT, text_color=rl.Color(255, 89, 79, 255))
+    self._low_voltage_body_label = Label("Power your device in a car with a harness or proceed at your own risk.", BODY_FONT_SIZE,
+                                         text_alignment=TextAlignment.LEFT)
     self._low_voltage_continue_button = Button("Continue", self._low_voltage_continue_button_callback)
     self._low_voltage_poweroff_button = Button("Power Off", HARDWARE.shutdown)
+
     self._getting_started_button = Button("", self._getting_started_button_callback, button_style=ButtonStyle.PRIMARY, border_radius=0)
+    self._getting_started_title_label = Label("Getting Started", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT)
+    self._getting_started_body_label = Label("Before we get on the road, let's finish installation and cover some details.",
+                                             BODY_FONT_SIZE, text_alignment=TextAlignment.LEFT)
+
     self._software_selection_openpilot_button = ButtonRadio("openpilot", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80)
     self._software_selection_custom_software_button = ButtonRadio("Custom Software", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80)
     self._software_selection_continue_button = Button("Continue", self._software_selection_continue_button_callback,
-                                                      button_style=ButtonStyle.PRIMARY, enabled=False)
+                                                      button_style=ButtonStyle.PRIMARY)
+    self._software_selection_continue_button.set_enabled(False)
     self._software_selection_back_button = Button("Back", self._software_selection_back_button_callback)
+    self._software_selection_title_label = Label("Choose Software to Use", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT)
+
     self._download_failed_reboot_button = Button("Reboot device", HARDWARE.reboot)
     self._download_failed_startover_button = Button("Start over", self._download_failed_startover_button_callback, button_style=ButtonStyle.PRIMARY)
+    self._download_failed_title_label = Label("Download Failed", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT)
+    self._download_failed_url_label = Label("", 64, FontWeight.NORMAL, TextAlignment.LEFT)
+    self._download_failed_body_label = Label("", BODY_FONT_SIZE, text_alignment=TextAlignment.LEFT)
+
     self._network_setup_back_button = Button("Back", self._network_setup_back_button_callback)
     self._network_setup_continue_button = Button("Waiting for internet", self._network_setup_continue_button_callback,
-                                                 button_style=ButtonStyle.PRIMARY, enabled=False)
-
+                                                 button_style=ButtonStyle.PRIMARY)
+    self._network_setup_continue_button.set_enabled(False)
+    self._network_setup_title_label = Label("Connect to Wi-Fi", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT)
+
+    self._custom_software_warning_continue_button = Button("Scroll to continue", self._custom_software_warning_continue_button_callback,
+                                                           button_style=ButtonStyle.PRIMARY)
+    self._custom_software_warning_continue_button.set_enabled(False)
+    self._custom_software_warning_back_button = Button("Back", self._custom_software_warning_back_button_callback)
+    self._custom_software_warning_title_label = Label("WARNING: Custom Software", 100, FontWeight.BOLD, TextAlignment.LEFT, text_color=rl.Color(255,89,79,255),
+                                                      text_padding=60)
+    self._custom_software_warning_body_label = Label("Use caution when installing third-party software.\n\n"
+                                              + "⚠️ It has not been tested by comma.\n\n"
+                                              + "⚠️ It may not comply with relevant safety standards.\n\n"
+                                              + "⚠️ It may cause damage to your device and/or vehicle.\n\n"
+                                              + "If you'd like to proceed, use https://flash.comma.ai "
+                                              + "to restore your device to a factory state later.",
+                                             85, text_alignment=TextAlignment.LEFT, text_padding=60)
+    self._custom_software_warning_body_scroll_panel = GuiScrollPanel()
+
+    self._downloading_body_label = Label("Downloading...", TITLE_FONT_SIZE, FontWeight.MEDIUM)
 
     try:
       with open("/sys/class/hwmon/hwmon1/in1_input") as f:
@@ -91,8 +144,10 @@ class Setup(Widget):
       self.render_network_setup(rect)
     elif self.state == SetupState.SOFTWARE_SELECTION:
       self.render_software_selection(rect)
-    elif self.state == SetupState.CUSTOM_URL:
-      self.render_custom_url()
+    elif self.state == SetupState.CUSTOM_SOFTWARE_WARNING:
+      self.render_custom_software_warning(rect)
+    elif self.state == SetupState.CUSTOM_SOFTWARE:
+      self.render_custom_software()
     elif self.state == SetupState.DOWNLOADING:
       self.render_downloading(rect)
     elif self.state == SetupState.DOWNLOAD_FAILED:
@@ -101,56 +156,55 @@ class Setup(Widget):
   def _low_voltage_continue_button_callback(self):
     self.state = SetupState.GETTING_STARTED
 
-  def _getting_started_button_callback(self):
+  def _custom_software_warning_back_button_callback(self):
+    self.state = SetupState.SOFTWARE_SELECTION
+
+  def _custom_software_warning_continue_button_callback(self):
     self.state = SetupState.NETWORK_SETUP
     self.stop_network_check_thread.clear()
     self.start_network_check()
 
+  def _getting_started_button_callback(self):
+    self.state = SetupState.SOFTWARE_SELECTION
+
   def _software_selection_back_button_callback(self):
-    self.state = SetupState.NETWORK_SETUP
-    self.stop_network_check_thread.clear()
-    self.start_network_check()
+    self.state = SetupState.GETTING_STARTED
 
   def _software_selection_continue_button_callback(self):
     if self._software_selection_openpilot_button.selected:
-      self.download(OPENPILOT_URL)
+      self.use_openpilot()
     else:
-      self.state = SetupState.CUSTOM_URL
+      self.state = SetupState.CUSTOM_SOFTWARE_WARNING
 
   def _download_failed_startover_button_callback(self):
     self.state = SetupState.GETTING_STARTED
 
   def _network_setup_back_button_callback(self):
-    self.state = SetupState.GETTING_STARTED
+    self.state = SetupState.SOFTWARE_SELECTION
 
   def _network_setup_continue_button_callback(self):
-    self.state = SetupState.SOFTWARE_SELECTION
     self.stop_network_check_thread.set()
+    if self._software_selection_openpilot_button.selected:
+      self.download(OPENPILOT_URL)
+    else:
+      self.state = SetupState.CUSTOM_SOFTWARE
 
   def render_low_voltage(self, rect: rl.Rectangle):
     rl.draw_texture(self.warning, int(rect.x + 150), int(rect.y + 110), rl.WHITE)
 
-    title_rect = rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 100, rect.width - 500 - 150, TITLE_FONT_SIZE)
-    gui_label(title_rect, "WARNING: Low Voltage", TITLE_FONT_SIZE, rl.Color(255, 89, 79, 255), FontWeight.MEDIUM)
-
-    body_rect = rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 100 + TITLE_FONT_SIZE + 25, rect.width - 500 - 150, BODY_FONT_SIZE * 3)
-    gui_text_box(body_rect, "Power your device in a car with a harness or proceed at your own risk.", BODY_FONT_SIZE)
+    self._low_voltage_title_label.render(rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 100, rect.width - 500 - 150, TITLE_FONT_SIZE))
+    self._low_voltage_body_label.render(rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 150, rect.width - 500, BODY_FONT_SIZE * 3))
 
     button_width = (rect.width - MARGIN * 3) / 2
     button_y = rect.height - MARGIN - BUTTON_HEIGHT
-
     self._low_voltage_poweroff_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
     self._low_voltage_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT))
 
   def render_getting_started(self, rect: rl.Rectangle):
-    title_rect = rl.Rectangle(rect.x + 165, rect.y + 280, rect.width - 265, TITLE_FONT_SIZE)
-    gui_label(title_rect, "Getting Started", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM)
-
-    desc_rect = rl.Rectangle(rect.x + 165, rect.y + 280 + TITLE_FONT_SIZE + 90, rect.width - 500, BODY_FONT_SIZE * 3)
-    gui_text_box(desc_rect, "Before we get on the road, let's finish installation and cover some details.", BODY_FONT_SIZE)
+    self._getting_started_title_label.render(rl.Rectangle(rect.x + 165, rect.y + 280, rect.width - 265, TITLE_FONT_SIZE))
+    self._getting_started_body_label.render(rl.Rectangle(rect.x + 165, rect.y + 280 + TITLE_FONT_SIZE, rect.width - 500, BODY_FONT_SIZE * 3))
 
     btn_rect = rl.Rectangle(rect.width - NEXT_BUTTON_WIDTH, 0, NEXT_BUTTON_WIDTH, rect.height)
-
     self._getting_started_button.render(btn_rect)
     triangle = gui_app.texture("images/button_continue_triangle.png", 54, int(btn_rect.height))
     rl.draw_texture_v(triangle, rl.Vector2(btn_rect.x + btn_rect.width / 2 - triangle.width / 2, btn_rect.height / 2 - triangle.height / 2), rl.WHITE)
@@ -180,8 +234,7 @@ class Setup(Widget):
       self.network_check_thread.join()
 
   def render_network_setup(self, rect: rl.Rectangle):
-    title_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE)
-    gui_label(title_rect, "Connect to Wi-Fi", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM)
+    self._network_setup_title_label.render(rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE))
 
     wifi_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE + MARGIN + 25, rect.width - MARGIN * 2,
                              rect.height - TITLE_FONT_SIZE - 25 - BUTTON_HEIGHT - MARGIN * 3)
@@ -196,32 +249,31 @@ class Setup(Widget):
 
     # Check network connectivity status
     continue_enabled = self.network_connected.is_set()
-    self._network_setup_continue_button.enabled = continue_enabled
+    self._network_setup_continue_button.set_enabled(continue_enabled)
     continue_text = ("Continue" if self.wifi_connected.is_set() else "Continue without Wi-Fi") if continue_enabled else "Waiting for internet"
     self._network_setup_continue_button.set_text(continue_text)
     self._network_setup_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))
 
   def render_software_selection(self, rect: rl.Rectangle):
-    title_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE)
-    gui_label(title_rect, "Choose Software to Use", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM)
+    self._software_selection_title_label.render(rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE))
 
     radio_height = 230
     radio_spacing = 30
 
-    self._software_selection_continue_button.enabled = False
+    self._software_selection_continue_button.set_enabled(False)
 
     openpilot_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE + MARGIN * 2, rect.width - MARGIN * 2, radio_height)
     self._software_selection_openpilot_button.render(openpilot_rect)
 
     if self._software_selection_openpilot_button.selected:
-      self._software_selection_continue_button.enabled = True
+      self._software_selection_continue_button.set_enabled(True)
       self._software_selection_custom_software_button.selected = False
 
     custom_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE + MARGIN * 2 + radio_height + radio_spacing, rect.width - MARGIN * 2, radio_height)
     self._software_selection_custom_software_button.render(custom_rect)
 
     if self._software_selection_custom_software_button.selected:
-      self._software_selection_continue_button.enabled = True
+      self._software_selection_continue_button.set_enabled(True)
       self._software_selection_openpilot_button.selected = False
 
     button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2
@@ -231,26 +283,41 @@ class Setup(Widget):
     self._software_selection_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))
 
   def render_downloading(self, rect: rl.Rectangle):
-    title_rect = rl.Rectangle(rect.x, rect.y + rect.height / 2 - TITLE_FONT_SIZE / 2, rect.width, TITLE_FONT_SIZE)
-    gui_label(title_rect, "Downloading...", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    self._downloading_body_label.render(rl.Rectangle(rect.x, rect.y + rect.height / 2 - TITLE_FONT_SIZE / 2, rect.width, TITLE_FONT_SIZE))
 
   def render_download_failed(self, rect: rl.Rectangle):
-    title_rect = rl.Rectangle(rect.x + 117, rect.y + 185, rect.width - 117, TITLE_FONT_SIZE)
-    gui_label(title_rect, "Download Failed", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM)
-
-    url_rect = rl.Rectangle(rect.x + 117, rect.y + 185 + TITLE_FONT_SIZE + 67, rect.width - 117 - 100, 64)
-    gui_label(url_rect, self.failed_url, 64, font_weight=FontWeight.NORMAL)
+    self._download_failed_title_label.render(rl.Rectangle(rect.x + 117, rect.y + 185, rect.width - 117, TITLE_FONT_SIZE))
+    self._download_failed_url_label.set_text(self.failed_url)
+    self._download_failed_url_label.render(rl.Rectangle(rect.x + 117, rect.y + 185 + TITLE_FONT_SIZE + 67, rect.width - 117 - 100, 64))
 
-    error_rect = rl.Rectangle(rect.x + 117, rect.y + 185 + TITLE_FONT_SIZE + 67 + 64 + 48,
-                              rect.width - 117 - 100, rect.height - 185 + TITLE_FONT_SIZE + 67 + 64 + 48 - BUTTON_HEIGHT - MARGIN * 2)
-    gui_text_box(error_rect, self.failed_reason, BODY_FONT_SIZE)
+    self._download_failed_body_label.set_text(self.failed_reason)
+    self._download_failed_body_label.render(rl.Rectangle(rect.x + 117, rect.y, rect.width - 117 - 100, rect.height))
 
     button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2
     button_y = rect.height - BUTTON_HEIGHT - MARGIN
     self._download_failed_reboot_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
     self._download_failed_startover_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))
 
-  def render_custom_url(self):
+  def render_custom_software_warning(self, rect: rl.Rectangle):
+    warn_rect = rl.Rectangle(rect.x, rect.y, rect.width, 1500)
+    offset = self._custom_software_warning_body_scroll_panel.handle_scroll(rect, warn_rect)
+
+    button_width = (rect.width - MARGIN * 3) / 2
+    button_y = rect.height - MARGIN - BUTTON_HEIGHT
+
+    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(button_y - BODY_FONT_SIZE))
+    y_offset = rect.y + offset.y
+    self._custom_software_warning_title_label.render(rl.Rectangle(rect.x + 50, y_offset + 150, rect.width - 265, TITLE_FONT_SIZE))
+    self._custom_software_warning_body_label.render(rl.Rectangle(rect.x + 50, y_offset + 200 , rect.width - 50, BODY_FONT_SIZE * 3))
+    rl.end_scissor_mode()
+
+    self._custom_software_warning_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
+    self._custom_software_warning_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT))
+    if offset.y < (rect.height - warn_rect.height):
+      self._custom_software_warning_continue_button.set_enabled(True)
+      self._custom_software_warning_continue_button.set_text("Continue")
+
+  def render_custom_software(self):
     def handle_keyboard_result(result):
       # Enter pressed
       if result == 1:
@@ -267,12 +334,31 @@ class Setup(Widget):
     self.keyboard.set_title("Enter URL", "for Custom Software")
     gui_app.set_modal_overlay(self.keyboard, callback=handle_keyboard_result)
 
+  def use_openpilot(self):
+    if os.path.isdir(INSTALL_PATH) and os.path.isfile(VALID_CACHE_PATH):
+      os.remove(VALID_CACHE_PATH)
+      with open(TMP_CONTINUE_PATH, "w") as f:
+        f.write(CONTINUE)
+      run_cmd(["chmod", "+x", TMP_CONTINUE_PATH])
+      shutil.move(TMP_CONTINUE_PATH, CONTINUE_PATH)
+      shutil.copyfile(INSTALLER_SOURCE_PATH, INSTALLER_DESTINATION_PATH)
+
+      # give time for installer UI to take over
+      time.sleep(1)
+      gui_app.request_close()
+    else:
+      self.state = SetupState.NETWORK_SETUP
+      self.stop_network_check_thread.clear()
+      self.start_network_check()
+
   def download(self, url: str):
     # autocomplete incomplete URLs
     if re.match("^([^/.]+)/([^/]+)$", url):
       url = f"https://installer.comma.ai/{url}"
 
-    self.download_url = url
+    parsed = urlparse(url, scheme='https')
+    self.download_url = (urlparse(f"https://{url}") if not parsed.netloc else parsed).geturl()
+
     self.state = SetupState.DOWNLOADING
 
     self.download_thread = threading.Thread(target=self._download_thread, daemon=True)
@@ -282,7 +368,7 @@ class Setup(Widget):
     try:
       import tempfile
 
-      _, tmpfile = tempfile.mkstemp(prefix="installer_")
+      fd, tmpfile = tempfile.mkstemp(prefix="installer_")
 
       headers = {"User-Agent": USER_AGENT, "X-openpilot-serial": HARDWARE.get_serial()}
       req = urllib.request.Request(self.download_url, headers=headers)
@@ -312,12 +398,16 @@ class Setup(Widget):
         self.download_failed(self.download_url, "No custom software found at this URL.")
         return
 
-      os.rename(tmpfile, "/tmp/installer")
-      os.chmod("/tmp/installer", 0o755)
+      # AGNOS might try to execute the installer before this process exits.
+      # Therefore, important to close the fd before renaming the installer.
+      os.close(fd)
+      os.rename(tmpfile, INSTALLER_DESTINATION_PATH)
 
-      with open("/tmp/installer_url", "w") as f:
+      with open(INSTALLER_URL_PATH, "w") as f:
         f.write(self.download_url)
 
+      # give time for installer UI to take over
+      time.sleep(5)
       gui_app.request_close()
 
     except Exception:
@@ -332,7 +422,7 @@ class Setup(Widget):
 
 def main():
   try:
-    gui_app.init_window("Setup")
+    gui_app.init_window("Setup", 20)
     setup = Setup()
     for _ in gui_app.render():
       setup.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py
index 2d619cbd11..d45f48ac38 100644
--- a/system/ui/widgets/__init__.py
+++ b/system/ui/widgets/__init__.py
@@ -2,7 +2,7 @@ import abc
 import pyray as rl
 from enum import IntEnum
 from collections.abc import Callable
-from openpilot.system.ui.lib.application import gui_app, MousePos, MAX_TOUCH_SLOT
+from openpilot.system.ui.lib.application import gui_app, MousePos, MAX_TOUCH_SLOTS
 
 
 class DialogResult(IntEnum):
@@ -15,34 +15,18 @@ class Widget(abc.ABC):
   def __init__(self):
     self._rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
     self._parent_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
-    self._is_pressed = [False] * MAX_TOUCH_SLOT
-    self._multi_touch = False
+    self._is_pressed = [False] * MAX_TOUCH_SLOTS
+    # if current mouse/touch down started within the widget's rectangle
+    self._tracking_is_pressed = [False] * MAX_TOUCH_SLOTS
+    self._enabled: bool | Callable[[], bool] = True
     self._is_visible: bool | Callable[[], bool] = True
     self._touch_valid_callback: Callable[[], bool] | None = None
-
-  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
-    """Set a callback to determine if the widget can be clicked."""
-    self._touch_valid_callback = touch_callback
-
-  def _touch_valid(self) -> bool:
-    """Check if the widget can be touched."""
-    return self._touch_valid_callback() if self._touch_valid_callback else True
-
-  @property
-  def is_visible(self) -> bool:
-    return self._is_visible() if callable(self._is_visible) else self._is_visible
-
-  @property
-  def is_pressed(self) -> bool:
-    return any(self._is_pressed)
+    self._multi_touch = False
 
   @property
   def rect(self) -> rl.Rectangle:
     return self._rect
 
-  def set_visible(self, visible: bool | Callable[[], bool]) -> None:
-    self._is_visible = visible
-
   def set_rect(self, rect: rl.Rectangle) -> None:
     changed = (self._rect.x != rect.x or self._rect.y != rect.y or
                self._rect.width != rect.width or self._rect.height != rect.height)
@@ -54,6 +38,32 @@ class Widget(abc.ABC):
     """Can be used like size hint in QT"""
     self._parent_rect = parent_rect
 
+  @property
+  def is_pressed(self) -> bool:
+    return any(self._is_pressed)
+
+  @property
+  def enabled(self) -> bool:
+    return self._enabled() if callable(self._enabled) else self._enabled
+
+  def set_enabled(self, enabled: bool | Callable[[], bool]) -> None:
+    self._enabled = enabled
+
+  @property
+  def is_visible(self) -> bool:
+    return self._is_visible() if callable(self._is_visible) else self._is_visible
+
+  def set_visible(self, visible: bool | Callable[[], bool]) -> None:
+    self._is_visible = visible
+
+  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
+    """Set a callback to determine if the widget can be clicked."""
+    self._touch_valid_callback = touch_callback
+
+  def _touch_valid(self) -> bool:
+    """Check if the widget can be touched."""
+    return self._touch_valid_callback() if self._touch_valid_callback else True
+
   def set_position(self, x: float, y: float) -> None:
     changed = (self._rect.x != x or self._rect.y != y)
     self._rect.x, self._rect.y = x, y
@@ -72,20 +82,37 @@ class Widget(abc.ABC):
     ret = self._render(self._rect)
 
     # Keep track of whether mouse down started within the widget's rectangle
-    for mouse_event in gui_app.mouse_events:
-      if not self._multi_touch and mouse_event.slot != 0:
-        continue
-      if mouse_event.left_pressed and self._touch_valid():
-        if rl.check_collision_point_rec(mouse_event.pos, self._rect):
-          self._is_pressed[mouse_event.slot] = True
-
-      elif not self._touch_valid():
-        self._is_pressed[mouse_event.slot] = False
-
-      elif mouse_event.left_released:
-        if self._is_pressed[mouse_event.slot] and rl.check_collision_point_rec(mouse_event.pos, self._rect):
-          self._handle_mouse_release(mouse_event.pos)
-        self._is_pressed[mouse_event.slot] = False
+    if self.enabled:
+      for mouse_event in gui_app.mouse_events:
+        if not self._multi_touch and mouse_event.slot != 0:
+          continue
+
+        # Ignores touches/presses that start outside our rect
+        # Allows touch to leave the rect and come back in focus if mouse did not release
+        if mouse_event.left_pressed and self._touch_valid():
+          if rl.check_collision_point_rec(mouse_event.pos, self._rect):
+            self._is_pressed[mouse_event.slot] = True
+            self._tracking_is_pressed[mouse_event.slot] = True
+
+        # Callback such as scroll panel signifies user is scrolling
+        elif not self._touch_valid():
+          self._is_pressed[mouse_event.slot] = False
+          self._tracking_is_pressed[mouse_event.slot] = False
+
+        elif mouse_event.left_released:
+          if self._is_pressed[mouse_event.slot] and rl.check_collision_point_rec(mouse_event.pos, self._rect):
+            self._handle_mouse_release(mouse_event.pos)
+          self._is_pressed[mouse_event.slot] = False
+          self._tracking_is_pressed[mouse_event.slot] = False
+
+        # Mouse/touch is still within our rect
+        elif rl.check_collision_point_rec(mouse_event.pos, self._rect):
+          if self._tracking_is_pressed[mouse_event.slot]:
+            self._is_pressed[mouse_event.slot] = True
+
+        # Mouse/touch left our rect but may come back into focus later
+        elif not rl.check_collision_point_rec(mouse_event.pos, self._rect):
+          self._is_pressed[mouse_event.slot] = False
 
     return ret
 
diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py
index 04fed82b34..a5dab19789 100644
--- a/system/ui/widgets/button.py
+++ b/system/ui/widgets/button.py
@@ -6,6 +6,7 @@ import pyray as rl
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import TextAlignment, Label
 
 
 class ButtonStyle(IntEnum):
@@ -20,12 +21,6 @@ class ButtonStyle(IntEnum):
   FORGET_WIFI = 8
 
 
-class TextAlignment(IntEnum):
-  LEFT = 0
-  CENTER = 1
-  RIGHT = 2
-
-
 ICON_PADDING = 15
 DEFAULT_BUTTON_FONT_SIZE = 60
 BUTTON_DISABLED_TEXT_COLOR = rl.Color(228, 228, 228, 51)
@@ -37,7 +32,7 @@ BUTTON_TEXT_COLOR = {
   ButtonStyle.PRIMARY: rl.Color(228, 228, 228, 255),
   ButtonStyle.DANGER: rl.Color(228, 228, 228, 255),
   ButtonStyle.TRANSPARENT: rl.BLACK,
-  ButtonStyle.ACTION: rl.Color(0, 0, 0, 255),
+  ButtonStyle.ACTION: rl.BLACK,
   ButtonStyle.LIST_ACTION: rl.Color(228, 228, 228, 255),
   ButtonStyle.NO_EFFECT: rl.Color(228, 228, 228, 255),
   ButtonStyle.KEYBOARD: rl.Color(221, 221, 221, 255),
@@ -177,31 +172,23 @@ class Button(Widget):
                border_radius: int = 10,
                text_alignment: TextAlignment = TextAlignment.CENTER,
                text_padding: int = 20,
-               enabled: bool = True,
                icon = None,
                multi_touch: bool = False,
                ):
 
     super().__init__()
-    self._text = text
-    self._click_callback = click_callback
-    self._label_font = gui_app.font(FontWeight.SEMI_BOLD)
     self._button_style = button_style
     self._border_radius = border_radius
-    self._font_size = font_size
-    self._font_weight = font_weight
-    self._text_color = BUTTON_TEXT_COLOR[button_style]
-    self._background_color = BUTTON_BACKGROUND_COLORS[button_style]
-    self._text_alignment = text_alignment
-    self._text_padding = text_padding
-    self._text_size = measure_text_cached(gui_app.font(self._font_weight), self._text, self._font_size)
-    self._icon = icon
+    self._background_color = BUTTON_BACKGROUND_COLORS[self._button_style]
+
+    self._label = Label(text, font_size, font_weight, text_alignment, text_padding,
+                        BUTTON_TEXT_COLOR[self._button_style], icon=icon)
+
+    self._click_callback = click_callback
     self._multi_touch = multi_touch
-    self.enabled = enabled
 
   def set_text(self, text):
-    self._text = text
-    self._text_size = measure_text_cached(gui_app.font(self._font_weight), self._text, self._font_size)
+    self._label.set_text(text)
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     if self._click_callback and self.enabled:
@@ -209,44 +196,20 @@ class Button(Widget):
 
   def _update_state(self):
     if self.enabled:
-      self._text_color = BUTTON_TEXT_COLOR[self._button_style]
+      self._label.set_text_color(BUTTON_TEXT_COLOR[self._button_style])
       if self.is_pressed:
         self._background_color = BUTTON_PRESSED_BACKGROUND_COLORS[self._button_style]
       else:
         self._background_color = BUTTON_BACKGROUND_COLORS[self._button_style]
     elif self._button_style != ButtonStyle.NO_EFFECT:
       self._background_color = BUTTON_DISABLED_BACKGROUND_COLOR
-      self._text_color = BUTTON_DISABLED_TEXT_COLOR
+      self._label.set_text_color(BUTTON_DISABLED_TEXT_COLOR)
 
   def _render(self, _):
     roundness = self._border_radius / (min(self._rect.width, self._rect.height) / 2)
     rl.draw_rectangle_rounded(self._rect, roundness, 10, self._background_color)
+    self._label.render(self._rect)
 
-    text_pos = rl.Vector2(0, self._rect.y + (self._rect.height - self._text_size.y) // 2)
-    if self._icon:
-      icon_y = self._rect.y + (self._rect.height - self._icon.height) / 2
-      if self._text:
-        if self._text_alignment == TextAlignment.LEFT:
-          icon_x = self._rect.x + self._text_padding
-          text_pos.x = icon_x + self._icon.width + ICON_PADDING
-        elif self._text_alignment == TextAlignment.CENTER:
-          total_width = self._icon.width + ICON_PADDING + self._text_size.x
-          icon_x = self._rect.x + (self._rect.width - total_width) / 2
-          text_pos.x = icon_x + self._icon.width + ICON_PADDING
-        else:
-          text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding
-          icon_x = text_pos.x - ICON_PADDING - self._icon.width
-      else:
-        icon_x = self._rect.x + (self._rect.width - self._icon.width) / 2
-      rl.draw_texture_v(self._icon, rl.Vector2(icon_x, icon_y), rl.WHITE if self.enabled else rl.Color(255, 255, 255, 100))
-    else:
-      if self._text_alignment == TextAlignment.LEFT:
-        text_pos.x = self._rect.x + self._text_padding
-      elif self._text_alignment == TextAlignment.CENTER:
-        text_pos.x = self._rect.x + (self._rect.width - self._text_size.x) // 2
-      elif self._text_alignment == TextAlignment.RIGHT:
-        text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding
-    rl.draw_text_ex(self._label_font, self._text, text_pos, self._font_size, 0, self._text_color)
 
 class ButtonRadio(Button):
   def __init__(self,
@@ -254,11 +217,16 @@ class ButtonRadio(Button):
                icon,
                click_callback: Callable[[], None] = None,
                font_size: int = DEFAULT_BUTTON_FONT_SIZE,
+               text_alignment: TextAlignment = TextAlignment.LEFT,
                border_radius: int = 10,
                text_padding: int = 20,
                ):
 
-    super().__init__(text, click_callback=click_callback, font_size=font_size, border_radius=border_radius, text_padding=text_padding, icon=icon)
+    super().__init__(text, click_callback=click_callback, font_size=font_size,
+                     border_radius=border_radius, text_padding=text_padding,
+                     text_alignment=text_alignment)
+    self._text_padding = text_padding
+    self._icon = icon
     self.selected = False
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
@@ -275,10 +243,7 @@ class ButtonRadio(Button):
   def _render(self, _):
     roundness = self._border_radius / (min(self._rect.width, self._rect.height) / 2)
     rl.draw_rectangle_rounded(self._rect, roundness, 10, self._background_color)
-
-    text_pos = rl.Vector2(0, self._rect.y + (self._rect.height - self._text_size.y) // 2)
-    text_pos.x = self._rect.x + self._text_padding
-    rl.draw_text_ex(self._label_font, self._text, text_pos, self._font_size, 0, self._text_color)
+    self._label.render(self._rect)
 
     if self._icon and self.selected:
       icon_y = self._rect.y + (self._rect.height - self._icon.height) / 2
diff --git a/system/ui/widgets/confirm_dialog.py b/system/ui/widgets/confirm_dialog.py
index f0d638131d..1021b5452b 100644
--- a/system/ui/widgets/confirm_dialog.py
+++ b/system/ui/widgets/confirm_dialog.py
@@ -2,7 +2,7 @@ import pyray as rl
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import DialogResult
 from openpilot.system.ui.widgets.button import gui_button, ButtonStyle, Button
-from openpilot.system.ui.widgets.label import gui_text_box
+from openpilot.system.ui.widgets.label import gui_text_box, Label
 from openpilot.system.ui.widgets import Widget
 
 DIALOG_WIDTH = 1520
@@ -15,12 +15,15 @@ BACKGROUND_COLOR = rl.Color(27, 27, 27, 255)
 class ConfirmDialog(Widget):
   def __init__(self, text: str, confirm_text: str, cancel_text: str = "Cancel"):
     super().__init__()
-    self.text = text
+    self._label = Label(text, 70, FontWeight.BOLD)
     self._cancel_button = Button(cancel_text, self._cancel_button_callback)
     self._confirm_button = Button(confirm_text, self._confirm_button_callback, button_style=ButtonStyle.PRIMARY)
     self._dialog_result = DialogResult.NO_ACTION
     self._cancel_text = cancel_text
 
+  def set_text(self, text):
+    self._label.set_text(text)
+
   def reset(self):
     self._dialog_result = DialogResult.NO_ACTION
 
@@ -46,14 +49,7 @@ class ConfirmDialog(Widget):
     rl.draw_rectangle_rec(dialog_rect, BACKGROUND_COLOR)
 
     text_rect = rl.Rectangle(dialog_rect.x + MARGIN, dialog_rect.y, dialog_rect.width - 2 * MARGIN, dialog_rect.height - TEXT_AREA_HEIGHT_REDUCTION)
-    gui_text_box(
-      text_rect,
-      self.text,
-      font_size=70,
-      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
-      font_weight=FontWeight.BOLD,
-    )
+    self._label.render(text_rect)
 
     if rl.is_key_pressed(rl.KeyboardKey.KEY_ENTER):
       self._dialog_result = DialogResult.CONFIRM
diff --git a/system/ui/widgets/inputbox.py b/system/ui/widgets/inputbox.py
index 65428479bf..239d63037e 100644
--- a/system/ui/widgets/inputbox.py
+++ b/system/ui/widgets/inputbox.py
@@ -1,6 +1,6 @@
 import pyray as rl
 import time
-from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.application import gui_app, MousePos
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.widgets import Widget
 
@@ -107,9 +107,6 @@ class InputBox(Widget):
     self._visible_width = rect.width
     self._font_size = font_size
 
-    # Handle mouse input
-    self._handle_mouse_input(rect, font_size)
-
     # Draw input box
     rl.draw_rectangle_rec(rect, color)
 
@@ -169,30 +166,27 @@ class InputBox(Widget):
 
     return masked_text
 
-  def _handle_mouse_input(self, rect, font_size):
-    """Handle mouse clicks to position cursor."""
-    mouse_pos = rl.get_mouse_position()
-    if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT) and rl.check_collision_point_rec(mouse_pos, rect):
-      # Calculate cursor position from click
-      if len(self._input_text) > 0:
-        font = gui_app.font()
-        display_text = self._get_display_text()
-
-        # Find the closest character position to the click
-        relative_x = mouse_pos.x - (rect.x + 10) + self._text_offset
-        best_pos = 0
-        min_distance = float('inf')
-
-        for i in range(len(self._input_text) + 1):
-          char_width = measure_text_cached(font, display_text[:i], font_size).x
-          distance = abs(relative_x - char_width)
-          if distance < min_distance:
-            min_distance = distance
-            best_pos = i
-
-        self.set_cursor_position(best_pos)
-      else:
-        self.set_cursor_position(0)
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    # Calculate cursor position from click
+    if len(self._input_text) > 0:
+      font = gui_app.font()
+      display_text = self._get_display_text()
+
+      # Find the closest character position to the click
+      relative_x = mouse_pos.x - (self._rect.x + 10) + self._text_offset
+      best_pos = 0
+      min_distance = float('inf')
+
+      for i in range(len(self._input_text) + 1):
+        char_width = measure_text_cached(font, display_text[:i], self._font_size).x
+        distance = abs(relative_x - char_width)
+        if distance < min_distance:
+          min_distance = distance
+          best_pos = i
+
+      self.set_cursor_position(best_pos)
+    else:
+      self.set_cursor_position(0)
 
   def _handle_keyboard_input(self):
     # Handle navigation keys
diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py
index 388d7e2664..25843d1ce8 100644
--- a/system/ui/widgets/keyboard.py
+++ b/system/ui/widgets/keyboard.py
@@ -8,7 +8,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import ButtonStyle, Button
 from openpilot.system.ui.widgets.inputbox import InputBox
-from openpilot.system.ui.widgets.label import gui_label
+from openpilot.system.ui.widgets.label import Label, TextAlignment
 
 KEY_FONT_SIZE = 96
 DOUBLE_CLICK_THRESHOLD = 0.5  # seconds
@@ -62,8 +62,8 @@ class Keyboard(Widget):
     self._layout_name: Literal["lowercase", "uppercase", "numbers", "specials"] = "lowercase"
     self._caps_lock = False
     self._last_shift_press_time = 0
-    self._title = ""
-    self._sub_title = ""
+    self._title = Label("", 90, FontWeight.BOLD, TextAlignment.LEFT)
+    self._sub_title = Label("", 55, FontWeight.NORMAL, TextAlignment.LEFT)
 
     self._max_text_size = max_text_size
     self._min_text_size = min_text_size
@@ -115,8 +115,8 @@ class Keyboard(Widget):
     self._backspace_pressed = False
 
   def set_title(self, title: str, sub_title: str = ""):
-    self._title = title
-    self._sub_title = sub_title
+    self._title.set_text(title)
+    self._sub_title.set_text(sub_title)
 
   def _eye_button_callback(self):
     self._password_mode = not self._password_mode
@@ -133,8 +133,8 @@ class Keyboard(Widget):
 
   def _render(self, rect: rl.Rectangle):
     rect = rl.Rectangle(rect.x + CONTENT_MARGIN, rect.y + CONTENT_MARGIN, rect.width - 2 * CONTENT_MARGIN, rect.height - 2 * CONTENT_MARGIN)
-    gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), self._title, 90, font_weight=FontWeight.BOLD)
-    gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), self._sub_title, 55, font_weight=FontWeight.NORMAL)
+    self._title.render(rl.Rectangle(rect.x, rect.y, rect.width, 95))
+    self._sub_title.render(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60))
     self._cancel_button.render(rl.Rectangle(rect.x + rect.width - 386, rect.y, 386, 125))
 
     # Draw input box and password toggle
@@ -187,10 +187,10 @@ class Keyboard(Widget):
         if key in self._key_icons:
           if key == SHIFT_ACTIVE_KEY and self._caps_lock:
             key = CAPS_LOCK_KEY
-          self._all_keys[key].enabled = is_enabled
+          self._all_keys[key].set_enabled(is_enabled)
           self._all_keys[key].render(key_rect)
         else:
-          self._all_keys[key].enabled = is_enabled
+          self._all_keys[key].set_enabled(is_enabled)
           self._all_keys[key].render(key_rect)
 
     return self._render_return_status
diff --git a/system/ui/widgets/label.py b/system/ui/widgets/label.py
index e840e8586a..2da9a9f8df 100644
--- a/system/ui/widgets/label.py
+++ b/system/ui/widgets/label.py
@@ -1,11 +1,23 @@
+from enum import IntEnum
+from itertools import zip_longest
+
 import pyray as rl
+
 from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_SIZE, DEFAULT_TEXT_COLOR
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.utils import GuiStyleContext
+from openpilot.system.ui.lib.emoji import find_emoji, emoji_tex
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.widgets import Widget
 
+ICON_PADDING = 15
 
-# TODO: This should be a Widget class
+class TextAlignment(IntEnum):
+  LEFT = 0
+  CENTER = 1
+  RIGHT = 2
 
+# TODO: This should be a Widget class
 def gui_label(
   rect: rl.Rectangle,
   text: str,
@@ -78,3 +90,88 @@ def gui_text_box(
 
   if font_weight != FontWeight.NORMAL:
     rl.gui_set_font(gui_app.font(FontWeight.NORMAL))
+
+
+# Non-interactive text area. Can render emojis and an optional specified icon.
+class Label(Widget):
+  def __init__(self,
+               text: str,
+               font_size: int = DEFAULT_TEXT_SIZE,
+               font_weight: FontWeight = FontWeight.NORMAL,
+               text_alignment: TextAlignment = TextAlignment.CENTER,
+               text_padding: int = 20,
+               text_color: rl.Color = DEFAULT_TEXT_COLOR,
+               icon = None,
+               ):
+
+    super().__init__()
+    self._font_weight = font_weight
+    self._font = gui_app.font(self._font_weight)
+    self._font_size = font_size
+    self._text_alignment = text_alignment
+    self._text_padding = text_padding
+    self._text_color = text_color
+    self._icon = icon
+    self.set_text(text)
+
+  def set_text(self, text):
+    self._text_raw = text
+    self._update_text(self._text_raw)
+
+  def set_text_color(self, color):
+    self._text_color = color
+
+  def _update_layout_rects(self):
+    self._update_text(self._text_raw)
+
+  def _update_text(self, text):
+    self._emojis = []
+    self._text_size = []
+    self._text = wrap_text(self._font, text, self._font_size, self._rect.width - (self._text_padding*2))
+    for t in self._text:
+      self._emojis.append(find_emoji(t))
+      self._text_size.append(measure_text_cached(self._font, t, self._font_size))
+
+  def _render(self, _):
+    text = self._text[0] if self._text else None
+    text_size = self._text_size[0] if self._text_size else rl.Vector2(0.0, 0.0)
+    text_pos = rl.Vector2(0, (self._rect.y + (self._rect.height - (text_size.y)) // 2))
+
+    if self._icon:
+      icon_y = self._rect.y + (self._rect.height - self._icon.height) / 2
+      if text:
+        if self._text_alignment == TextAlignment.LEFT:
+          icon_x = self._rect.x + self._text_padding
+          text_pos.x = self._icon.width + ICON_PADDING
+        elif self._text_alignment == TextAlignment.CENTER:
+          total_width = self._icon.width + ICON_PADDING + text_size.x
+          icon_x = self._rect.x + (self._rect.width - total_width) / 2
+          text_pos.x = self._icon.width + ICON_PADDING
+        else:
+          icon_x = (self._rect.x + self._rect.width - text_size.x - self._text_padding) - ICON_PADDING - self._icon.width
+      else:
+        icon_x = self._rect.x + (self._rect.width - self._icon.width) / 2
+      rl.draw_texture_v(self._icon, rl.Vector2(icon_x, icon_y), rl.WHITE)
+
+    for text, text_size, emojis in zip_longest(self._text, self._text_size, self._emojis, fillvalue=[]):
+      line_pos = rl.Vector2(text_pos.x, text_pos.y)
+      if self._text_alignment == TextAlignment.LEFT:
+        line_pos.x += self._rect.x + self._text_padding
+      elif self._text_alignment == TextAlignment.CENTER:
+        line_pos.x += self._rect.x + (self._rect.width - text_size.x) // 2
+      elif self._text_alignment == TextAlignment.RIGHT:
+        line_pos.x += self._rect.x + self._rect.width - text_size.x - self._text_padding
+
+      prev_index = 0
+      for start, end, emoji in emojis:
+        text_before = text[prev_index:start]
+        width_before = measure_text_cached(self._font, text_before, self._font_size)
+        rl.draw_text_ex(self._font, text_before, line_pos, self._font_size, 0, self._text_color)
+        line_pos.x += width_before.x
+
+        tex = emoji_tex(emoji)
+        rl.draw_texture_ex(tex, line_pos, 0.0, self._font_size / tex.height, self._text_color)
+        line_pos.x += self._font_size
+        prev_index = end
+      rl.draw_text_ex(self._font, text[prev_index:], line_pos, self._font_size, 0, self._text_color)
+      text_pos.y += text_size.y or self._font_size
diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py
index 0eda418c17..0bb759a919 100644
--- a/system/ui/widgets/network.py
+++ b/system/ui/widgets/network.py
@@ -1,17 +1,17 @@
-from dataclasses import dataclass
+from enum import IntEnum
 from functools import partial
 from threading import Lock
-from typing import Literal
+from typing import cast
 
 import pyray as rl
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper, SecurityType
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.button import ButtonStyle, Button, TextAlignment
+from openpilot.system.ui.widgets.button import ButtonStyle, Button
 from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
 from openpilot.system.ui.widgets.keyboard import Keyboard
-from openpilot.system.ui.widgets.label import gui_label
+from openpilot.system.ui.widgets.label import TextAlignment, gui_label
 
 NM_DEVICE_STATE_NEED_AUTH = 60
 MIN_PASSWORD_LENGTH = 8
@@ -27,43 +27,20 @@ STRENGTH_ICONS = [
 ]
 
 
-@dataclass
-class StateIdle:
-  action: Literal["idle"] = "idle"
-
-
-@dataclass
-class StateConnecting:
-  network: NetworkInfo
-  action: Literal["connecting"] = "connecting"
-
-
-@dataclass
-class StateNeedsAuth:
-  network: NetworkInfo
-  retry: bool
-  action: Literal["needs_auth"] = "needs_auth"
-
-
-@dataclass
-class StateShowForgetConfirm:
-  network: NetworkInfo
-  action: Literal["show_forget_confirm"] = "show_forget_confirm"
-
-
-@dataclass
-class StateForgetting:
-  network: NetworkInfo
-  action: Literal["forgetting"] = "forgetting"
-
-
-UIState = StateIdle | StateConnecting | StateNeedsAuth | StateShowForgetConfirm | StateForgetting
+class UIState(IntEnum):
+  IDLE = 0
+  CONNECTING = 1
+  NEEDS_AUTH = 2
+  SHOW_FORGET_CONFIRM = 3
+  FORGETTING = 4
 
 
 class WifiManagerUI(Widget):
   def __init__(self, wifi_manager: WifiManagerWrapper):
     super().__init__()
-    self.state: UIState = StateIdle()
+    self.state: UIState = UIState.IDLE
+    self._state_network: NetworkInfo | None = None  # for CONNECTING / NEEDS_AUTH / SHOW_FORGET_CONFIRM / FORGETTING
+    self._password_retry: bool = False  # for NEEDS_AUTH
     self.btn_width: int = 200
     self.scroll_panel = GuiScrollPanel()
     self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True)
@@ -93,17 +70,16 @@ class WifiManagerUI(Widget):
         gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
         return
 
-      match self.state:
-        case StateNeedsAuth(network, retry):
-          self.keyboard.set_title("Wrong password" if retry else "Enter password", f"for {network.ssid}")
-          self.keyboard.reset()
-          gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(network, result))
-        case StateShowForgetConfirm(network):
-          self._confirm_dialog.text = f'Forget Wi-Fi Network "{network.ssid}"?'
-          self._confirm_dialog.reset()
-          gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(network, result))
-        case _:
-          self._draw_network_list(rect)
+      if self.state == UIState.NEEDS_AUTH and self._state_network:
+        self.keyboard.set_title("Wrong password" if self._password_retry else "Enter password", f"for {self._state_network.ssid}")
+        self.keyboard.reset()
+        gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(cast(NetworkInfo, self._state_network), result))
+      elif self.state == UIState.SHOW_FORGET_CONFIRM and self._state_network:
+        self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{self._state_network.ssid}"?')
+        self._confirm_dialog.reset()
+        gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(self._state_network, result))
+      else:
+        self._draw_network_list(rect)
 
   def _on_password_entered(self, network: NetworkInfo, result: int):
     if result == 1:
@@ -113,13 +89,13 @@ class WifiManagerUI(Widget):
       if len(password) >= MIN_PASSWORD_LENGTH:
         self.connect_to_network(network, password)
     elif result == 0:
-      self.state = StateIdle()
+      self.state = UIState.IDLE
 
   def on_forgot_confirm_finished(self, network, result: int):
     if result == 1:
       self.forget_network(network)
     elif result == 0:
-      self.state = StateIdle()
+      self.state = UIState.IDLE
 
   def _draw_network_list(self, rect: rl.Rectangle):
     content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self._networks) * ITEM_HEIGHT)
@@ -147,17 +123,18 @@ class WifiManagerUI(Widget):
     security_icon_rect = rl.Rectangle(signal_icon_rect.x - spacing - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE)
 
     status_text = ""
-    match self.state:
-      case StateConnecting(network=connecting):
-        if connecting.ssid == network.ssid:
-          self._networks_buttons[network.ssid].enabled = False
-          status_text = "CONNECTING..."
-      case StateForgetting(network=forgetting):
-        if forgetting.ssid == network.ssid:
-          self._networks_buttons[network.ssid].enabled = False
-          status_text = "FORGETTING..."
-      case _:
-        self._networks_buttons[network.ssid].enabled = True
+    if self.state == UIState.CONNECTING and self._state_network:
+      if self._state_network.ssid == network.ssid:
+        self._networks_buttons[network.ssid].set_enabled(False)
+        status_text = "CONNECTING..."
+    elif self.state == UIState.FORGETTING and self._state_network:
+      if self._state_network.ssid == network.ssid:
+        self._networks_buttons[network.ssid].set_enabled(False)
+        status_text = "FORGETTING..."
+    elif network.security_type == SecurityType.UNSUPPORTED:
+      self._networks_buttons[network.ssid].set_enabled(False)
+    else:
+      self._networks_buttons[network.ssid].set_enabled(True)
 
     self._networks_buttons[network.ssid].render(ssid_rect)
 
@@ -181,14 +158,16 @@ class WifiManagerUI(Widget):
   def _networks_buttons_callback(self, network):
     if self.scroll_panel.is_touch_valid():
       if not network.is_saved and network.security_type != SecurityType.OPEN:
-        self.state = StateNeedsAuth(network, False)
+        self.state = UIState.NEEDS_AUTH
+        self._state_network = network
+        self._password_retry = False
       elif not network.is_connected:
         self.connect_to_network(network)
 
   def _forget_networks_buttons_callback(self, network):
     if self.scroll_panel.is_touch_valid():
-      if isinstance(self.state, StateIdle):
-        self.state = StateShowForgetConfirm(network)
+      self.state = UIState.SHOW_FORGET_CONFIRM
+      self._state_network = network
 
   def _draw_status_icon(self, rect, network: NetworkInfo):
     """Draw the status icon based on network's connection state"""
@@ -213,14 +192,16 @@ class WifiManagerUI(Widget):
     rl.draw_texture_v(gui_app.texture(STRENGTH_ICONS[strength_level], ICON_SIZE, ICON_SIZE), rl.Vector2(rect.x, rect.y), rl.WHITE)
 
   def connect_to_network(self, network: NetworkInfo, password=''):
-    self.state = StateConnecting(network)
+    self.state = UIState.CONNECTING
+    self._state_network = network
     if network.is_saved and not password:
       self.wifi_manager.activate_connection(network.ssid)
     else:
       self.wifi_manager.connect_to_network(network.ssid, password)
 
   def forget_network(self, network: NetworkInfo):
-    self.state = StateForgetting(network)
+    self.state = UIState.FORGETTING
+    self._state_network = network
     network.is_saved = False
     self.wifi_manager.forget_connection(network.ssid)
 
@@ -237,22 +218,24 @@ class WifiManagerUI(Widget):
     with self._lock:
       network = next((n for n in self._networks if n.ssid == ssid), None)
       if network:
-        self.state = StateNeedsAuth(network, True)
+        self.state = UIState.NEEDS_AUTH
+        self._state_network = network
+        self._password_retry = True
 
   def _on_activated(self):
     with self._lock:
-      if isinstance(self.state, StateConnecting):
-        self.state = StateIdle()
+      if self.state == UIState.CONNECTING:
+        self.state = UIState.IDLE
 
   def _on_forgotten(self, ssid):
     with self._lock:
-      if isinstance(self.state, StateForgetting):
-        self.state = StateIdle()
+      if self.state == UIState.FORGETTING:
+        self.state = UIState.IDLE
 
   def _on_connection_failed(self, ssid: str, error: str):
     with self._lock:
-      if isinstance(self.state, StateConnecting):
-        self.state = StateIdle()
+      if self.state == UIState.CONNECTING:
+        self.state = UIState.IDLE
 
 
 def main():
diff --git a/system/ui/widgets/toggle.py b/system/ui/widgets/toggle.py
index 3f7f463916..eba5ef9e58 100644
--- a/system/ui/widgets/toggle.py
+++ b/system/ui/widgets/toggle.py
@@ -38,9 +38,6 @@ class Toggle(Widget):
     self._state = state
     self._target = 1.0 if state else 0.0
 
-  def set_enabled(self, enabled: bool):
-    self._enabled = enabled
-
   def is_enabled(self):
     return self._enabled
 
diff --git a/system/updated/updated.py b/system/updated/updated.py
index 1fd9e8b717..11928bc24c 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -242,6 +242,9 @@ class Updater:
     b: str | None = self.params.get("UpdaterTargetBranch")
     if b is None:
       b = self.get_branch(BASEDIR)
+    b = {
+      ("tici", "release3"): "release-tici"
+    }.get((HARDWARE.get_device_type(), b), b)
     return b
 
   @property
@@ -283,8 +286,8 @@ class Updater:
       self.params.put("LastUpdateUptimeOnroad", last_uptime_onroad)
       self.params.put("LastUpdateRouteCount", last_route_count)
     else:
-      last_uptime_onroad = self.params.get("LastUpdateUptimeOnroad") or last_uptime_onroad
-      last_route_count = self.params.get("LastUpdateRouteCount") or last_route_count
+      last_uptime_onroad = self.params.get("LastUpdateUptimeOnroad", return_default=True)
+      last_route_count = self.params.get("LastUpdateRouteCount", return_default=True)
 
     if exception is None:
       self.params.remove("LastUpdateException")
diff --git a/system/version.py b/system/version.py
index cd0e2d7f38..5e4fcf5c33 100755
--- a/system/version.py
+++ b/system/version.py
@@ -10,7 +10,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date
 
-RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly']
+RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly']
 TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev']
 
 BUILD_METADATA_FILENAME = "build.json"
diff --git a/tinygrad_repo b/tinygrad_repo
index 06af9f9236..c30a113b2a 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 06af9f9236b33419f89ef3b3a5ba4cce0adecc2d
+Subproject commit c30a113b2a876cabaea1049601fea3a0b758c5b1
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index b817ae1208..c857c9ffbe 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -19,7 +19,7 @@ const int THUMBNAIL_MARGIN = 3;
 static const QColor timeline_colors[] = {
   [(int)TimelineType::None] = QColor(111, 143, 175),
   [(int)TimelineType::Engaged] = QColor(0, 163, 108),
-  [(int)TimelineType::UserFlag] = Qt::magenta,
+  [(int)TimelineType::UserBookmark] = Qt::magenta,
   [(int)TimelineType::AlertInfo] = Qt::green,
   [(int)TimelineType::AlertWarning] = QColor(255, 195, 0),
   [(int)TimelineType::AlertCritical] = QColor(199, 0, 57),
@@ -64,7 +64,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
     Pause/Resume: <span style="background-color:lightGray;color:gray">&nbsp;space&nbsp;</span>
   )").arg(timeline_colors[(int)TimelineType::None].name(),
           timeline_colors[(int)TimelineType::Engaged].name(),
-          timeline_colors[(int)TimelineType::UserFlag].name(),
+          timeline_colors[(int)TimelineType::UserBookmark].name(),
           timeline_colors[(int)TimelineType::AlertInfo].name(),
           timeline_colors[(int)TimelineType::AlertWarning].name(),
           timeline_colors[(int)TimelineType::AlertCritical].name()));
diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py
index b25b8b0cb7..4dc74272ea 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -107,7 +107,7 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
 
 
 class CompressedVipc:
-  def __init__(self, addr, vision_streams, nvidia=False, debug=False):
+  def __init__(self, addr, vision_streams, server_name, nvidia=False, debug=False):
     print("getting frame sizes")
     os.environ["ZMQ"] = "1"
     messaging.reset_context()
@@ -117,7 +117,7 @@ class CompressedVipc:
     os.environ.pop("ZMQ")
     messaging.reset_context()
 
-    self.vipc_server = VisionIpcServer("camerad")
+    self.vipc_server = VisionIpcServer(server_name)
     for vst in vision_streams:
       ed = sm[ENCODE_SOCKETS[vst]]
       self.vipc_server.create_buffers(vst, 4, ed.width, ed.height)
@@ -144,6 +144,7 @@ if __name__ == "__main__":
   parser.add_argument("addr", help="Address of comma three")
   parser.add_argument("--nvidia", action="store_true", help="Use nvidia instead of ffmpeg")
   parser.add_argument("--cams", default="0,1,2", help="Cameras to decode")
+  parser.add_argument("--server", default="camerad", help="choose vipc server name")
   parser.add_argument("--silent", action="store_true", help="Suppress debug output")
   args = parser.parse_args()
 
@@ -154,7 +155,7 @@ if __name__ == "__main__":
   ]
 
   vsts = [vision_streams[int(x)] for x in args.cams.split(",")]
-  cvipc = CompressedVipc(args.addr, vsts, args.nvidia, debug=(not args.silent))
+  cvipc = CompressedVipc(args.addr, vsts, args.server, args.nvidia, debug=(not args.silent))
 
   # register exit handler
   signal.signal(signal.SIGINT, lambda sig, frame: cvipc.kill())
diff --git a/tools/clip/run.py b/tools/clip/run.py
index a84290f9c4..8fa0e8eda3 100755
--- a/tools/clip/run.py
+++ b/tools/clip/run.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 
-import atexit
 import logging
 import os
 import platform
@@ -11,13 +10,14 @@ from argparse import ArgumentParser, ArgumentTypeError
 from collections.abc import Sequence
 from pathlib import Path
 from random import randint
-from subprocess import Popen, PIPE
+from subprocess import Popen
 from typing import Literal
 
 from cereal.messaging import SubMaster
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params, UnknownKeyName
 from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.common.run import managed_proc
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.logreader import LogReader
 
@@ -29,7 +29,7 @@ FRAMERATE = 20
 PIXEL_DEPTH = '24'
 RESOLUTION = '2160x1080'
 SECONDS_TO_WARM = 2
-PROC_WAIT_SECONDS = 30
+PROC_WAIT_SECONDS = 30*10
 
 OPENPILOT_FONT = str(Path(BASEDIR, 'selfdrive/assets/fonts/Inter-Regular.ttf').resolve())
 REPLAY = str(Path(BASEDIR, 'tools/replay/replay').resolve())
@@ -38,22 +38,23 @@ UI = str(Path(BASEDIR, 'selfdrive/ui/ui').resolve())
 logger = logging.getLogger('clip.py')
 
 
-def check_for_failure(proc: Popen):
-  exit_code = proc.poll()
-  if exit_code is not None and exit_code != 0:
-    cmd = str(proc.args)
-    if isinstance(proc.args, str):
-      cmd = proc.args
-    elif isinstance(proc.args, Sequence):
-      cmd = str(proc.args[0])
-    msg = f'{cmd} failed, exit code {exit_code}'
-    logger.error(msg)
-    stdout, stderr = proc.communicate()
-    if stdout:
-      logger.error(stdout.decode())
-    if stderr:
-      logger.error(stderr.decode())
-    raise ChildProcessError(msg)
+def check_for_failure(procs: list[Popen]):
+  for proc in procs:
+    exit_code = proc.poll()
+    if exit_code is not None and exit_code != 0:
+      cmd = str(proc.args)
+      if isinstance(proc.args, str):
+        cmd = proc.args
+      elif isinstance(proc.args, Sequence):
+        cmd = str(proc.args[0])
+      msg = f'{cmd} failed, exit code {exit_code}'
+      logger.error(msg)
+      stdout, stderr = proc.communicate()
+      if stdout:
+        logger.error(stdout.decode())
+      if stderr:
+        logger.error(stderr.decode())
+      raise ChildProcessError(msg)
 
 
 def escape_ffmpeg_text(value: str):
@@ -130,17 +131,13 @@ def populate_car_params(lr: LogReader):
   for cp in entries:
     key, value = cp.key, cp.value
     try:
-      params.put(key, value)
+      params.put(key, params.cpp2python(key, value))
     except UnknownKeyName:
       # forks of openpilot may have other Params keys configured. ignore these
       logger.warning(f"unknown Params key '{key}', skipping")
   logger.debug('persisted CarParams')
 
 
-def start_proc(args: list[str], env: dict[str, str]):
-  return Popen(args, env=env, stdout=PIPE, stderr=PIPE)
-
-
 def validate_env(parser: ArgumentParser):
   if platform.system() not in ['Linux']:
     parser.exit(1, f'clip.py: error: {platform.system()} is not a supported operating system\n')
@@ -176,8 +173,7 @@ def wait_for_frames(procs: list[Popen]):
   while no_frames_drawn:
     sm.update()
     no_frames_drawn = sm['uiDebug'].drawTimeMillis == 0.
-    for proc in procs:
-      check_for_failure(proc)
+    check_for_failure(procs)
 
 
 def clip(
@@ -188,6 +184,7 @@ def clip(
   out: str,
   start: int,
   end: int,
+  speed: int,
   target_mb: int,
   title: str | None,
 ):
@@ -212,6 +209,12 @@ def clip(
   if title:
     overlays.append(f"drawtext=text='{escape_ffmpeg_text(title)}':fontfile={OPENPILOT_FONT}:fontcolor=white:fontsize=32:{box_style}:x=(w-text_w)/2:y=53")
 
+  if speed > 1:
+    overlays += [
+      f"setpts=PTS/{speed}",
+      "fps=60",
+    ]
+
   ffmpeg_cmd = [
     'ffmpeg', '-y',
     '-video_size', RESOLUTION,
@@ -246,35 +249,22 @@ def clip(
 
   with OpenpilotPrefix(prefix, shared_download_cache=True):
     populate_car_params(lr)
-
     env = os.environ.copy()
     env['DISPLAY'] = display
 
-    xvfb_proc = start_proc(xvfb_cmd, env)
-    atexit.register(lambda: xvfb_proc.terminate())
-    ui_proc = start_proc(ui_cmd, env)
-    atexit.register(lambda: ui_proc.terminate())
-    replay_proc = start_proc(replay_cmd, env)
-    atexit.register(lambda: replay_proc.terminate())
-    procs = [replay_proc, ui_proc, xvfb_proc]
-
-    logger.info('waiting for replay to begin (loading segments, may take a while)...')
-    wait_for_frames(procs)
-
-    logger.debug(f'letting UI warm up ({SECONDS_TO_WARM}s)...')
-    time.sleep(SECONDS_TO_WARM)
-    for proc in procs:
-      check_for_failure(proc)
-
-    ffmpeg_proc = start_proc(ffmpeg_cmd, env)
-    procs.append(ffmpeg_proc)
-    atexit.register(lambda: ffmpeg_proc.terminate())
-
-    logger.info(f'recording in progress ({duration}s)...')
-    ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS)
-    for proc in procs:
-      check_for_failure(proc)
-    logger.info(f'recording complete: {Path(out).resolve()}')
+    with managed_proc(xvfb_cmd, env) as xvfb_proc, managed_proc(ui_cmd, env) as ui_proc, managed_proc(replay_cmd, env) as replay_proc:
+      procs = [xvfb_proc, ui_proc, replay_proc]
+      logger.info('waiting for replay to begin (loading segments, may take a while)...')
+      wait_for_frames(procs)
+      logger.debug(f'letting UI warm up ({SECONDS_TO_WARM}s)...')
+      time.sleep(SECONDS_TO_WARM)
+      check_for_failure(procs)
+      with managed_proc(ffmpeg_cmd, env) as ffmpeg_proc:
+        procs.append(ffmpeg_proc)
+        logger.info(f'recording in progress ({duration}s)...')
+        ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS)
+        check_for_failure(procs)
+        logger.info(f'recording complete: {Path(out).resolve()}')
 
 
 def main():
@@ -289,6 +279,7 @@ def main():
   p.add_argument('-o', '--output', help='output clip to (.mp4)', type=validate_output_file, default=DEFAULT_OUTPUT)
   p.add_argument('-p', '--prefix', help='openpilot prefix', default=f'clip_{randint(100, 99999)}')
   p.add_argument('-q', '--quality', help='quality of camera (low = qcam, high = hevc)', choices=['low', 'high'], default='high')
+  p.add_argument('-x', '--speed', help='record the clip at this speed multiple', type=int, default=1)
   p.add_argument('-s', '--start', help='start clipping at <start> seconds', type=int)
   p.add_argument('-t', '--title', help='overlay this title on the video (e.g. "Chill driving across the Golden Gate Bridge")', type=validate_title)
   args = parse_args(p)
@@ -302,6 +293,7 @@ def main():
       out=args.output,
       start=args.start,
       end=args.end,
+      speed=args.speed,
       target_mb=args.file_size,
       title=args.title,
     )
@@ -310,9 +302,7 @@ def main():
     logger.exception('interrupted by user', exc_info=e)
   except Exception as e:
     logger.exception('encountered error', exc_info=e)
-  finally:
-    atexit._run_exitfuncs()
-    sys.exit(exit_code)
+  sys.exit(exit_code)
 
 
 if __name__ == '__main__':
diff --git a/tools/lib/file_sources.py b/tools/lib/file_sources.py
new file mode 100755
index 0000000000..cb7bf15114
--- /dev/null
+++ b/tools/lib/file_sources.py
@@ -0,0 +1,57 @@
+from collections.abc import Callable
+
+from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url
+from openpilot.tools.lib.openpilotci import get_url
+from openpilot.tools.lib.filereader import DATA_ENDPOINT, file_exists, internal_source_available
+from openpilot.tools.lib.route import Route, SegmentRange, FileName
+
+# When passed a tuple of file names, each source will return the first that exists (rlog.zst, rlog.bz2)
+FileNames = tuple[str, ...]
+Source = Callable[[SegmentRange, list[int], FileNames], dict[int, str]]
+
+InternalUnavailableException = Exception("Internal source not available")
+
+
+def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+  route = Route(sr.route_name)
+
+  # comma api will have already checked if the file exists
+  if fns == FileName.RLOG:
+    return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None}
+  else:
+    return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None}
+
+
+def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]:
+  if not internal_source_available(endpoint_url):
+    raise InternalUnavailableException
+
+  def get_internal_url(sr: SegmentRange, seg, file):
+    return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}"
+
+  return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs})
+
+
+def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+  return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs})
+
+
+def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+  return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs})
+
+
+def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]:
+  # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst)
+  valid_files: dict[int, str] = {}
+
+  for seg_idx, urls in files.items():
+    if isinstance(urls, str):
+      urls = [urls]
+
+    # Add first valid file URL
+    for url in urls:
+      if file_exists(url):
+        valid_files[seg_idx] = url
+        break
+
+  return valid_files
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 1075bd2f08..8d84cdbd5d 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -12,17 +12,15 @@ import urllib.parse
 import warnings
 import zstandard as zstd
 
-from collections.abc import Callable, Iterable, Iterator
+from collections.abc import Iterable, Iterator
 from typing import cast
 from urllib.parse import parse_qs, urlparse
 
 from cereal import log as capnp_log
 from openpilot.common.swaglog import cloudlog
-from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url
-from openpilot.tools.lib.openpilotci import get_url
-from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available
-from openpilot.tools.lib.route import QCAMERA_FILENAMES, CAMERA_FILENAMES, DCAMERA_FILENAMES, \
-  ECAMERA_FILENAMES, BOOTLOG_FILENAMES, Route, SegmentRange
+from openpilot.tools.lib.filereader import FileReader
+from openpilot.tools.lib.file_sources import comma_api_source, internal_source, openpilotci_source, comma_car_segments_source, Source
+from openpilot.tools.lib.route import SegmentRange, FileName
 from openpilot.tools.lib.log_time_series import msgs_to_time_series
 
 LogMessage = type[capnp._DynamicStructReader]
@@ -41,6 +39,7 @@ def save_log(dest, log_msgs, compress=True):
   with open(dest, "wb") as f:
     f.write(dat)
 
+
 def decompress_stream(data: bytes):
   dctx = zstd.ZstdDecompressor()
   decompressed_data = b""
@@ -50,8 +49,46 @@ def decompress_stream(data: bytes):
 
   return decompressed_data
 
+
+class CachedEventReader:
+  __slots__ = ('_evt', '_enum')
+
+  def __init__(self, evt: capnp._DynamicStructReader, _enum: str | None = None):
+    """All capnp attribute accesses are expensive, and which() is often called multiple times"""
+    self._evt = evt
+    self._enum: str | None = _enum
+
+  # fast pickle support
+  def __reduce__(self):
+    return CachedEventReader._reducer, (self._evt.as_builder().to_bytes(), self._enum)
+
+  @staticmethod
+  def _reducer(data: bytes, _enum: str | None = None):
+    with capnp_log.Event.from_bytes(data) as evt:
+      return CachedEventReader(evt, _enum)
+
+  def __repr__(self):
+    return self._evt.__repr__()
+
+  def __str__(self):
+    return self._evt.__str__()
+
+  def __dir__(self):
+    return dir(self._evt)
+
+  def which(self) -> str:
+    if self._enum is None:
+      self._enum = self._evt.which()
+    return self._enum
+
+  def __getattr__(self, name: str):
+    if name.startswith("__") and name.endswith("__"):
+      return getattr(self, name)
+    return getattr(self._evt, name)
+
+
 class _LogFileReader:
-  def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None):
+  def __init__(self, fn, only_union_types=False, sort_by_time=False, dat=None):
     self.data_version = None
     self._only_union_types = only_union_types
 
@@ -76,7 +113,7 @@ class _LogFileReader:
     self._ents = []
     try:
       for e in ents:
-        self._ents.append(e)
+        self._ents.append(CachedEventReader(e))
     except capnp.KjException:
       warnings.warn("Corrupted events detected", RuntimeWarning, stacklevel=1)
 
@@ -102,83 +139,22 @@ class ReadMode(enum.StrEnum):
   AUTO_INTERACTIVE = "i"  # default to rlogs, fallback to qlogs with a prompt from the user
 
 
-class FileName(enum.Enum):
-  #TODO use the ones from route.py
-  RLOG = ("rlog.zst", "rlog.bz2")
-  QLOG = ("qlog.zst", "qlog.bz2")
-  QCAMERA = QCAMERA_FILENAMES
-  FCAMERA = CAMERA_FILENAMES
-  ECAMERA = ECAMERA_FILENAMES
-  DCAMERA = DCAMERA_FILENAMES
-  BOOTLOG = BOOTLOG_FILENAMES
-
-
-LogPath = str | None
-Source = Callable[[SegmentRange, FileName], list[LogPath]]
-
-InternalUnavailableException = Exception("Internal source not available")
-
-
 class LogsUnavailable(Exception):
   pass
 
 
-def comma_api_source(sr: SegmentRange, fns: FileName) -> list[LogPath]:
-  route = Route(sr.route_name)
-
-  # comma api will have already checked if the file exists
-  if fns == FileName.RLOG:
-    return [route.log_paths()[seg] for seg in sr.seg_idxs]
-  else:
-    return [route.qlog_paths()[seg] for seg in sr.seg_idxs]
-
-
-def internal_source(sr: SegmentRange, fns: FileName, endpoint_url: str = DATA_ENDPOINT) -> list[LogPath]:
-  if not internal_source_available(endpoint_url):
-    raise InternalUnavailableException
-
-  def get_internal_url(sr: SegmentRange, seg, file):
-    return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}"
-
-  return eval_source([[get_internal_url(sr, seg, fn) for fn in fns.value] for seg in sr.seg_idxs])
-
-
-def openpilotci_source(sr: SegmentRange, fns: FileName) -> list[LogPath]:
-  return eval_source([[get_url(sr.route_name, seg, fn) for fn in fns.value] for seg in sr.seg_idxs])
-
-
-def comma_car_segments_source(sr: SegmentRange, fns: FileName) -> list[LogPath]:
-  return eval_source([get_comma_segments_url(sr.route_name, seg) for seg in sr.seg_idxs])
-
-
 def direct_source(file_or_url: str) -> list[str]:
   return [file_or_url]
 
 
-def eval_source(files: list[list[str] | str]) -> list[LogPath]:
-  # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst)
-  valid_files: list[LogPath] = []
-
-  for urls in files:
-    if isinstance(urls, str):
-      urls = [urls]
-
-    for url in urls:
-      if file_exists(url):
-        valid_files.append(url)
-        break
-    else:
-      valid_files.append(None)
-
-  return valid_files
-
-
+# TODO this should apply to camera files as well
 def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) -> list[str]:
   exceptions = {}
 
   sr = SegmentRange(identifier)
-  mode = default_mode if sr.selector is None else ReadMode(sr.selector)
+  needed_seg_idxs = sr.seg_idxs
 
+  mode = default_mode if sr.selector is None else ReadMode(sr.selector)
   if mode == ReadMode.QLOG:
     try_fns = [FileName.QLOG]
   else:
@@ -190,37 +166,35 @@ def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode)
 
   # Build a dict of valid files as we evaluate each source. May contain mix of rlogs, qlogs, and None.
   # This function only returns when we've sourced all files, or throws an exception
-  valid_files: dict[int, LogPath] = {}
+  valid_files: dict[int, str] = {}
   for fn in try_fns:
     for source in sources:
       try:
-        files = source(sr, fn)
-
-        # Check every source returns an expected number of files
-        assert len(files) == len(valid_files) or len(valid_files) == 0, f"Source {source.__name__} returned unexpected number of files"
+        files = source(sr, needed_seg_idxs, fn)
 
         # Build a dict of valid files
-        for idx, f in enumerate(files):
-          if valid_files.get(idx) is None:
-            valid_files[idx] = f
+        valid_files |= files
+
+        # Don't check for segment files that have already been found
+        needed_seg_idxs = [idx for idx in needed_seg_idxs if idx not in valid_files]
 
         # We've found all files, return them
-        if all(f is not None for f in valid_files.values()):
+        if len(needed_seg_idxs) == 0:
           return cast(list[str], list(valid_files.values()))
 
       except Exception as e:
         exceptions[source.__name__] = e
 
     if fn == try_fns[0]:
-      missing_logs = list(valid_files.values()).count(None)
+      missing_logs = len(needed_seg_idxs)
       if mode == ReadMode.AUTO:
-        cloudlog.warning(f"{missing_logs}/{len(valid_files)} rlogs were not found, falling back to qlogs for those segments...")
+        cloudlog.warning(f"{missing_logs}/{len(sr.seg_idxs)} rlogs were not found, falling back to qlogs for those segments...")
       elif mode == ReadMode.AUTO_INTERACTIVE:
-        if input(f"{missing_logs}/{len(valid_files)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/N) ").lower() != "y":
+        if input(f"{missing_logs}/{len(sr.seg_idxs)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/N) ").lower() != "y":
           break
 
-  missing_logs = list(valid_files.values()).count(None)
-  raise LogsUnavailable(f"{missing_logs}/{len(valid_files)} logs were not found, please ensure all logs " +
+  missing_logs = len(needed_seg_idxs)
+  raise LogsUnavailable(f"{missing_logs}/{len(sr.seg_idxs)} logs were not found, please ensure all logs " +
                         "are uploaded. You can fall back to qlogs with '/a' selector at the end of the route name.\n\n" +
                         "Exceptions for sources:\n  - " + "\n  - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()]))
 
@@ -271,7 +245,7 @@ class LogReader:
   def __init__(self, identifier: str | list[str], default_mode: ReadMode = ReadMode.RLOG,
                sources: list[Source] = None, sort_by_time=False, only_union_types=False):
     if sources is None:
-      sources = [internal_source, openpilotci_source, comma_api_source, comma_car_segments_source]
+      sources = [internal_source, comma_api_source, openpilotci_source, comma_car_segments_source]
 
     self.default_mode = default_mode
     self.sources = sources
@@ -324,6 +298,7 @@ class LogReader:
   def time_series(self):
     return msgs_to_time_series(self)
 
+
 if __name__ == "__main__":
   import codecs
 
diff --git a/tools/lib/route.py b/tools/lib/route.py
index 55ea956c5f..1fc26fb996 100644
--- a/tools/lib/route.py
+++ b/tools/lib/route.py
@@ -10,13 +10,15 @@ from openpilot.tools.lib.auth_config import get_token
 from openpilot.tools.lib.api import APIError, CommaApi
 from openpilot.tools.lib.helpers import RE
 
-QLOG_FILENAMES = ('qlog.bz2', 'qlog.zst', 'qlog')
-QCAMERA_FILENAMES = ('qcamera.ts',)
-LOG_FILENAMES = ('rlog.bz2', 'raw_log.bz2', 'rlog.zst', 'rlog')
-CAMERA_FILENAMES = ('fcamera.hevc', 'video.hevc')
-DCAMERA_FILENAMES = ('dcamera.hevc',)
-ECAMERA_FILENAMES = ('ecamera.hevc',)
-BOOTLOG_FILENAMES = ('bootlog.zst', 'bootlog.bz2', 'bootlog')
+
+class FileName:
+  RLOG = ("rlog.zst", "rlog.bz2")
+  QLOG = ("qlog.zst", "qlog.bz2")
+  QCAMERA = ('qcamera.ts',)
+  FCAMERA = ('fcamera.hevc',)
+  ECAMERA = ('ecamera.hevc',)
+  DCAMERA = ('dcamera.hevc',)
+  BOOTLOG = ('bootlog.zst', 'bootlog.bz2')
 
 
 class Route:
@@ -82,23 +84,23 @@ class Route:
       if segments.get(segment_name):
         segments[segment_name] = Segment(
           segment_name,
-          url if fn in LOG_FILENAMES else segments[segment_name].log_path,
-          url if fn in QLOG_FILENAMES else segments[segment_name].qlog_path,
-          url if fn in CAMERA_FILENAMES else segments[segment_name].camera_path,
-          url if fn in DCAMERA_FILENAMES else segments[segment_name].dcamera_path,
-          url if fn in ECAMERA_FILENAMES else segments[segment_name].ecamera_path,
-          url if fn in QCAMERA_FILENAMES else segments[segment_name].qcamera_path,
+          url if fn in FileName.RLOG else segments[segment_name].log_path,
+          url if fn in FileName.QLOG else segments[segment_name].qlog_path,
+          url if fn in FileName.FCAMERA else segments[segment_name].camera_path,
+          url if fn in FileName.DCAMERA else segments[segment_name].dcamera_path,
+          url if fn in FileName.ECAMERA else segments[segment_name].ecamera_path,
+          url if fn in FileName.QCAMERA else segments[segment_name].qcamera_path,
           self.metadata['url'],
         )
       else:
         segments[segment_name] = Segment(
           segment_name,
-          url if fn in LOG_FILENAMES else None,
-          url if fn in QLOG_FILENAMES else None,
-          url if fn in CAMERA_FILENAMES else None,
-          url if fn in DCAMERA_FILENAMES else None,
-          url if fn in ECAMERA_FILENAMES else None,
-          url if fn in QCAMERA_FILENAMES else None,
+          url if fn in FileName.RLOG else None,
+          url if fn in FileName.QLOG else None,
+          url if fn in FileName.FCAMERA else None,
+          url if fn in FileName.DCAMERA else None,
+          url if fn in FileName.ECAMERA else None,
+          url if fn in FileName.QCAMERA else None,
           self.metadata['url'],
         )
 
@@ -136,32 +138,32 @@ class Route:
     for segment, files in segment_files.items():
 
       try:
-        log_path = next(path for path, filename in files if filename in LOG_FILENAMES)
+        log_path = next(path for path, filename in files if filename in FileName.RLOG)
       except StopIteration:
         log_path = None
 
       try:
-        qlog_path = next(path for path, filename in files if filename in QLOG_FILENAMES)
+        qlog_path = next(path for path, filename in files if filename in FileName.QLOG)
       except StopIteration:
         qlog_path = None
 
       try:
-        camera_path = next(path for path, filename in files if filename in CAMERA_FILENAMES)
+        camera_path = next(path for path, filename in files if filename in FileName.FCAMERA)
       except StopIteration:
         camera_path = None
 
       try:
-        dcamera_path = next(path for path, filename in files if filename in DCAMERA_FILENAMES)
+        dcamera_path = next(path for path, filename in files if filename in FileName.DCAMERA)
       except StopIteration:
         dcamera_path = None
 
       try:
-        ecamera_path = next(path for path, filename in files if filename in ECAMERA_FILENAMES)
+        ecamera_path = next(path for path, filename in files if filename in FileName.ECAMERA)
       except StopIteration:
         ecamera_path = None
 
       try:
-        qcamera_path = next(path for path, filename in files if filename in QCAMERA_FILENAMES)
+        qcamera_path = next(path for path, filename in files if filename in FileName.QCAMERA)
       except StopIteration:
         qcamera_path = None
 
@@ -229,7 +231,6 @@ class RouteName:
   def __str__(self) -> str: return self._canonical_name
 
 
-
 class SegmentName:
   # TODO: add constructor that takes dongle_id, time_str, segment_num and then create instances
   # of this class instead of manually constructing a segment name (use canonical_name prop instead)
@@ -250,7 +251,7 @@ class SegmentName:
   @property
   def canonical_name(self) -> str: return self._canonical_name
 
-  #TODO should only use one name
+  # TODO should only use one name
   @property
   def data_name(self) -> str: return f"{self._route_name.canonical_name}/{self._num}"
 
@@ -281,7 +282,7 @@ class SegmentName:
   @staticmethod
   def from_file_name(file_name):
     # ??????/xxxxxxxxxxxxxxxx|1111-11-11-11--11-11-11/1/rlog.bz2
-    dongle_id, route_name, segment_num = file_name.replace('|','/').split('/')[-4:-1]
+    dongle_id, route_name, segment_num = file_name.replace('|', '/').split('/')[-4:-1]
     return SegmentName(dongle_id + "|" + route_name + "--" + segment_num)
 
   @staticmethod
@@ -302,6 +303,7 @@ class SegmentName:
     dongle_id, route_name, segment_num = prefix.split("/")
     return SegmentName(dongle_id + "|" + route_name + "--" + segment_num)
 
+
 @cache
 def get_max_seg_number_cached(sr: 'SegmentRange') -> int:
   try:
@@ -363,4 +365,3 @@ class SegmentRange:
 
   def __repr__(self) -> str:
     return self.__str__()
-
diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py
index 11bdd33ccf..8d0870171f 100644
--- a/tools/lib/tests/test_logreader.py
+++ b/tools/lib/tests/test_logreader.py
@@ -10,7 +10,8 @@ import requests
 from parameterized import parameterized
 
 from cereal import log as capnp_log
-from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException
+from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode
+from openpilot.tools.lib.file_sources import comma_api_source, InternalUnavailableException
 from openpilot.tools.lib.route import SegmentRange
 from openpilot.tools.lib.url_file import URLFileException
 
@@ -36,12 +37,12 @@ def setup_source_scenario(mocker, is_internal=False):
   comma_api_source_mock.__name__ = comma_api_source_mock._mock_name
 
   if is_internal:
-    internal_source_mock.return_value = [QLOG_FILE]
+    internal_source_mock.return_value = {3: QLOG_FILE}
   else:
     internal_source_mock.side_effect = InternalUnavailableException
 
-  openpilotci_source_mock.return_value = [None]
-  comma_api_source_mock.return_value = [QLOG_FILE]
+  openpilotci_source_mock.return_value = {}
+  comma_api_source_mock.return_value = {3: QLOG_FILE}
 
   yield
 
@@ -90,7 +91,7 @@ class TestLogReader:
 
   @pytest.mark.parametrize("cache_enabled", [True, False])
   def test_direct_parsing(self, mocker, cache_enabled):
-    file_exists_mock = mocker.patch("openpilot.tools.lib.logreader.file_exists")
+    file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists")
     os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
     qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False)
 
@@ -208,13 +209,12 @@ class TestLogReader:
       assert qlog_len == log_len
 
   @pytest.mark.parametrize("is_internal", [True, False])
-  @pytest.mark.slow
   def test_auto_source_scenarios(self, mocker, is_internal):
     lr = LogReader(QLOG_FILE)
     qlog_len = len(list(lr))
 
     with setup_source_scenario(mocker, is_internal=is_internal):
-      lr = LogReader(f"{TEST_ROUTE}/0/q")
+      lr = LogReader(f"{TEST_ROUTE}/3/q")
       log_len = len(list(lr))
       assert qlog_len == log_len
 
diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py
index 204726363d..e80ba1399d 100644
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -9,12 +9,14 @@ from urllib3.util import Timeout
 
 from openpilot.common.file_helpers import atomic_write_in_dir
 from openpilot.system.hardware.hw import Paths
+
 #  Cache chunk size
 K = 1000
 CHUNK_SIZE = 1000 * K
 
 logging.getLogger("urllib3").setLevel(logging.WARNING)
 
+
 def hash_256(link: str) -> str:
   return sha256((link.split("?")[0]).encode('utf-8')).hexdigest()
 
@@ -24,7 +26,7 @@ class URLFileException(Exception):
 
 
 class URLFile:
-  _pool_manager: PoolManager|None = None
+  _pool_manager: PoolManager | None = None
 
   @staticmethod
   def reset() -> None:
@@ -33,16 +35,16 @@ class URLFile:
   @staticmethod
   def pool_manager() -> PoolManager:
     if URLFile._pool_manager is None:
-      socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1),]
+      socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)]
       retries = Retry(total=5, backoff_factor=0.5, status_forcelist=[409, 429, 503, 504])
       URLFile._pool_manager = PoolManager(num_pools=10, maxsize=100, socket_options=socket_options, retries=retries)
     return URLFile._pool_manager
 
-  def __init__(self, url: str, timeout: int=10, debug: bool=False, cache: bool|None=None):
+  def __init__(self, url: str, timeout: int = 10, debug: bool = False, cache: bool | None = None):
     self._url = url
     self._timeout = Timeout(connect=timeout, read=timeout)
     self._pos = 0
-    self._length: int|None = None
+    self._length: int | None = None
     self._debug = debug
     #  True by default, false if FILEREADER_CACHE is defined, but can be overwritten by the cache input
     self._force_download = not int(os.environ.get("FILEREADER_CACHE", "0"))
@@ -58,7 +60,7 @@ class URLFile:
   def __exit__(self, exc_type, exc_value, traceback) -> None:
     pass
 
-  def _request(self, method: str, url: str, headers: dict[str, str]|None=None) -> BaseHTTPResponse:
+  def _request(self, method: str, url: str, headers: dict[str, str] | None = None) -> BaseHTTPResponse:
     return URLFile.pool_manager().request(method, url, timeout=self._timeout, headers=headers)
 
   def get_length_online(self) -> int:
@@ -85,7 +87,7 @@ class URLFile:
         file_length.write(str(self._length))
     return self._length
 
-  def read(self, ll: int|None=None) -> bytes:
+  def read(self, ll: int | None = None) -> bytes:
     if self._force_download:
       return self.read_aux(ll=ll)
 
@@ -117,7 +119,7 @@ class URLFile:
         self._pos = file_end
         return response
 
-  def read_aux(self, ll: int|None=None) -> bytes:
+  def read_aux(self, ll: int | None = None) -> bytes:
     download_range = False
     headers = {}
     if self._pos != 0 or ll is not None:
@@ -152,7 +154,7 @@ class URLFile:
     self._pos += len(ret)
     return ret
 
-  def seek(self, pos:int) -> None:
+  def seek(self, pos: int) -> None:
     self._pos = pos
 
   @property
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index d23052d0f0..19ef77e01c 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -50,6 +50,7 @@ brew "zeromq"
 cask "gcc-arm-embedded"
 brew "portaudio"
 brew "gcc@13"
+cask "font-noto-color-emoji"
 EOS
 
 echo "[ ] finished brew install t=$SECONDS"
diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md
index 794c292e68..62905a252d 100644
--- a/tools/plotjuggler/README.md
+++ b/tools/plotjuggler/README.md
@@ -13,14 +13,13 @@ Once you've [set up the openpilot environment](../README.md), this command will
 ```
 $ ./juggle.py -h
 usage: juggle.py [-h] [--demo] [--can] [--stream] [--layout [LAYOUT]] [--install] [--dbc DBC]
-                 [route_or_segment_name] [segment_count]
+                 [route_or_segment_name]
 
 A helper to run PlotJuggler on openpilot routes
 
 positional arguments:
   route_or_segment_name
                         The route or segment name to plot (cabana share URL accepted) (default: None)
-  segment_count         The number of segments to plot (default: None)
 
 optional arguments:
   -h, --help            show this help message and exit
@@ -34,16 +33,20 @@ optional arguments:
 
 ```
 
-Examples using route name:
+Example using route name:
 
 `./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19"`
 
-Examples using segment range:
+Examples using segment:
 
 `./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1"`
 
 `./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1/q" # use qlogs`
 
+Example using segment range:
+
+`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/0:1"`
+
 ## Streaming
 
 Explore live data from your car! Follow these steps to stream from your comma device to your laptop:
diff --git a/tools/replay/README.md b/tools/replay/README.md
index 8b4afb0acc..72216e2cc8 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -75,7 +75,7 @@ Options:
   --qcam                 load qcamera
   --no-hw-decoder        disable HW video decoding
   --no-vipc              do not output video
-  --all                  do output all messages including uiDebug, userFlag.
+  --all                  do output all messages including uiDebug, userBookmark.
                          this may causes issues when used along with UI
 
 Arguments:
@@ -91,14 +91,6 @@ tools/replay/replay <route-name>
 cd selfdrive/ui && ./ui
 ```
 
-## Try Radar Point Visualization with Rerun
-To visualize radar points, run rp_visualization.py while tools/replay/replay is active.
-
-```bash
-tools/replay/replay <route-name>
-python3 replay/rp_visualization.py
-```
-
 ## Work with plotjuggler
 If you want to use replay with plotjuggler, you can stream messages by running:
 
diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index 503902622c..a4f3677ff3 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -257,7 +257,7 @@ void ConsoleUI::updateTimeline() {
     if (entry.type == TimelineType::Engaged) {
       mvwchgat(win, 1, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
       mvwchgat(win, 2, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
-    } else if (entry.type == TimelineType::UserFlag) {
+    } else if (entry.type == TimelineType::UserBookmark) {
       mvwchgat(win, 3, start_pos, end_pos - start_pos + 1, ACS_S3, Color::Cyan, NULL);
     } else {
       auto color_id = Color::Green;
@@ -329,7 +329,7 @@ void ConsoleUI::handleKey(char c) {
   } else if (c == 'd') {
     replay->seekToFlag(FindFlag::nextDisEngagement);
   } else if (c == 't') {
-    replay->seekToFlag(FindFlag::nextUserFlag);
+    replay->seekToFlag(FindFlag::nextUserBookmark);
   } else if (c == 'i') {
     replay->seekToFlag(FindFlag::nextInfo);
   } else if (c == 'w') {
diff --git a/tools/replay/lib/rp_helpers.py b/tools/replay/lib/rp_helpers.py
deleted file mode 100644
index aa20ab8e32..0000000000
--- a/tools/replay/lib/rp_helpers.py
+++ /dev/null
@@ -1,109 +0,0 @@
-import numpy as np
-from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
-
-# Color palette used for rerun AnnotationContext
-rerunColorPalette = [(96, "red", (255, 0, 0)),
-                     (100, "pink", (255, 36, 0)),
-                     (124, "yellow", (255, 255, 0)),
-                     (230, "vibrantpink", (255, 36, 170)),
-                     (240, "orange", (255, 146, 0)),
-                     (255, "white", (255, 255, 255)),
-                     (110, "carColor", (255,0,127)),
-                     (0, "background", (0, 0, 0))]
-
-
-class UIParams:
-  lidar_x, lidar_y, lidar_zoom = 384, 960, 6
-  lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
-  car_hwidth = 1.7272 / 2 * lidar_zoom
-  car_front = 2.6924 * lidar_zoom
-  car_back = 1.8796 * lidar_zoom
-  car_color = rerunColorPalette[6][0]
-UP = UIParams
-
-
-def to_topdown_pt(y, x):
-  px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y
-  if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y:
-    return int(px), int(py)
-  return -1, -1
-
-
-def draw_path(path, lid_overlay, lid_color=None):
-  x, y = np.asarray(path.x), np.asarray(path.y)
-  # draw lidar path point on lidar
-  if lid_color is not None and lid_overlay is not None:
-    for i in range(len(x)):
-      px, py = to_topdown_pt(x[i], y[i])
-      if px != -1:
-        lid_overlay[px, py] = lid_color
-
-
-def plot_model(m, lid_overlay):
-  if lid_overlay is None:
-    return
-  for lead in m.leadsV3:
-    if lead.prob < 0.5:
-      continue
-    x, y = lead.x[0], lead.y[0]
-    x_std = lead.xStd[0]
-    x -= RADAR_TO_CAMERA
-    _, py_top = to_topdown_pt(x + x_std, y)
-    px, py_bottom = to_topdown_pt(x - x_std, y)
-    lid_overlay[int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = rerunColorPalette[2][0]
-
-  for path in m.laneLines:
-    draw_path(path, lid_overlay, rerunColorPalette[2][0])
-  for edge in m.roadEdges:
-    draw_path(edge, lid_overlay, rerunColorPalette[0][0])
-  draw_path(m.position, lid_overlay, rerunColorPalette[0][0])
-
-
-def plot_lead(rs, lid_overlay):
-  for lead in [rs.leadOne, rs.leadTwo]:
-    if not lead.status:
-      continue
-    x = lead.dRel
-    px_left, py = to_topdown_pt(x, -10)
-    px_right, _ = to_topdown_pt(x, 10)
-    lid_overlay[px_left:px_right, py] = rerunColorPalette[0][0]
-
-
-def update_radar_points(lt, lid_overlay):
-  ar_pts = []
-  if lt is not None:
-    ar_pts = {}
-    for track in lt:
-      ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary]
-  for ids, pt in ar_pts.items():
-    # negative here since radar is left positive
-    px, py = to_topdown_pt(pt[0], -pt[1])
-    if px != -1:
-      if pt[-1]:
-        color = rerunColorPalette[4][0]
-      elif pt[-2]:
-        color = rerunColorPalette[3][0]
-      else:
-        color = rerunColorPalette[5][0]
-      if int(ids) == 1:
-        lid_overlay[px - 2:px + 2, py - 10:py + 10] = rerunColorPalette[1][0]
-      else:
-        lid_overlay[px - 2:px + 2, py - 2:py + 2] = color
-
-
-def get_blank_lid_overlay(UP):
-  lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8')
-  # Draw the car.
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
-    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y -
-                                                      UP.car_front))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
-    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y +
-                                                      UP.car_back))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int(
-    round(UP.lidar_car_y - UP.car_front)):int(round(
-      UP.lidar_car_y + UP.car_back))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int(
-    round(UP.lidar_car_y - UP.car_front)):int(round(
-      UP.lidar_car_y + UP.car_back))] = UP.car_color
-  return lid_overlay
diff --git a/tools/replay/main.cc b/tools/replay/main.cc
index 38a1da292a..f950985075 100644
--- a/tools/replay/main.cc
+++ b/tools/replay/main.cc
@@ -30,7 +30,7 @@ Options:
       --qcam         Load qcamera
       --no-hw-decoder Disable HW video decoding
       --no-vipc      Do not output video
-      --all          Output all messages including uiDebug, userFlag
+      --all          Output all messages including uiDebug, userBookmark
   -h, --help         Show this help message
 )";
 
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index a8e5cd9d43..7ecad82873 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -20,7 +20,7 @@ Replay::Replay(const std::string &route, std::vector<std::string> allow, std::ve
   std::signal(SIGUSR1, interrupt_sleep_handler);
 
   if (!(flags_ & REPLAY_FLAG_ALL_SERVICES)) {
-    block.insert(block.end(), {"uiDebug", "userFlag"});
+    block.insert(block.end(), {"uiDebug", "userBookmark"});
   }
   setupServices(allow, block);
   setupSegmentManager(!allow.empty() || !block.empty());
diff --git a/tools/replay/rp_visualization.py b/tools/replay/rp_visualization.py
deleted file mode 100755
index 25169b72ae..0000000000
--- a/tools/replay/rp_visualization.py
+++ /dev/null
@@ -1,60 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import os
-import sys
-import numpy as np
-import rerun as rr
-import cereal.messaging as messaging
-from openpilot.common.basedir import BASEDIR
-from openpilot.tools.replay.lib.rp_helpers import (UP, rerunColorPalette,
-                                         get_blank_lid_overlay,
-                                         update_radar_points, plot_lead,
-                                         plot_model)
-from msgq.visionipc import VisionIpcClient, VisionStreamType
-
-os.environ['BASEDIR'] = BASEDIR
-
-UP.lidar_zoom = 6
-
-def visualize(addr):
-  sm = messaging.SubMaster(['radarState', 'liveTracks', 'modelV2'], addr=addr)
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
-  while True:
-    if not vipc_client.is_connected():
-      vipc_client.connect(True)
-    new_data = vipc_client.recv()
-    if new_data is None or not new_data.data.any():
-      continue
-
-    sm.update(0)
-    lid_overlay = get_blank_lid_overlay(UP)
-    if sm.recv_frame['modelV2']:
-      plot_model(sm['modelV2'], lid_overlay)
-    if sm.recv_frame['radarState']:
-      plot_lead(sm['radarState'], lid_overlay)
-    liveTracksTime = sm.logMonoTime['liveTracks']
-    if sm.updated['liveTracks']:
-      update_radar_points(sm['liveTracks'], lid_overlay)
-    rr.set_time_nanos("TIMELINE", liveTracksTime)
-    rr.log("tracks", rr.SegmentationImage(np.flip(np.rot90(lid_overlay, k=-1), axis=1)))
-
-
-def get_arg_parser():
-  parser = argparse.ArgumentParser(
-    description="Show replay data in a UI.",
-    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-  parser.add_argument("ip_address", nargs="?", default="127.0.0.1",
-                      help="The ip address on which to receive zmq messages.")
-  parser.add_argument("--frame-address", default=None,
-                      help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.")
-  return parser
-
-
-if __name__ == "__main__":
-  args = get_arg_parser().parse_args(sys.argv[1:])
-  if args.ip_address != "127.0.0.1":
-    os.environ["ZMQ"] = "1"
-    messaging.reset_context()
-  rr.init("RadarPoints", spawn= True)
-  rr.log("tracks", rr.AnnotationContext(rerunColorPalette), static=True)
-  visualize(args.ip_address)
diff --git a/tools/replay/timeline.cc b/tools/replay/timeline.cc
index a4c2ffb700..39ea8b1bed 100644
--- a/tools/replay/timeline.cc
+++ b/tools/replay/timeline.cc
@@ -26,7 +26,7 @@ std::optional<uint64_t> Timeline::find(double cur_ts, FindFlag flag) const {
         return entry.end_time;
       }
     } else if (entry.start_time > cur_ts) {
-      if ((flag == FindFlag::nextUserFlag && entry.type == TimelineType::UserFlag) ||
+      if ((flag == FindFlag::nextUserBookmark && entry.type == TimelineType::UserBookmark) ||
           (flag == FindFlag::nextInfo && entry.type == TimelineType::AlertInfo) ||
           (flag == FindFlag::nextWarning && entry.type == TimelineType::AlertWarning) ||
           (flag == FindFlag::nextCritical && entry.type == TimelineType::AlertCritical)) {
@@ -66,8 +66,8 @@ void Timeline::buildTimeline(const Route &route, uint64_t route_start_ts, bool l
         auto cs = reader.getRoot<cereal::Event>().getSelfdriveState();
         updateEngagementStatus(cs, current_engaged_idx, seconds);
         updateAlertStatus(cs, current_alert_idx, seconds);
-      } else if (e.which == cereal::Event::Which::USER_FLAG) {
-        staging_entries_.emplace_back(Entry{seconds, seconds, TimelineType::UserFlag});
+      } else if (e.which == cereal::Event::Which::USER_BOOKMARK) {
+        staging_entries_.emplace_back(Entry{seconds, seconds, TimelineType::UserBookmark});
       }
     }
 
diff --git a/tools/replay/timeline.h b/tools/replay/timeline.h
index 74add9e5cc..9688b6b95e 100644
--- a/tools/replay/timeline.h
+++ b/tools/replay/timeline.h
@@ -7,8 +7,8 @@
 
 #include "tools/replay/route.h"
 
-enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserFlag };
-enum class FindFlag { nextEngagement, nextDisEngagement, nextUserFlag, nextInfo, nextWarning, nextCritical };
+enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserBookmark };
+enum class FindFlag { nextEngagement, nextDisEngagement, nextUserBookmark, nextInfo, nextWarning, nextCritical };
 
 class Timeline {
 public:
diff --git a/tools/rerun/README.md b/tools/rerun/README.md
deleted file mode 100644
index 11a8d33ee1..0000000000
--- a/tools/rerun/README.md
+++ /dev/null
@@ -1,37 +0,0 @@
-# Rerun
-Rerun is a tool to quickly visualize time series data. It supports all openpilot logs , both the `logMessages` and video logs.
-
-[Instructions](https://rerun.io/docs/reference/viewer/overview) for navigation within the Rerun Viewer.
-
-## Usage
-```
-usage: run.py [-h] [--demo] [--qcam] [--fcam] [--ecam] [--dcam] [route_or_segment_name]
-
-A helper to run rerun on openpilot routes
-
-positional arguments:
-  route_or_segment_name
-                        The route or segment name to plot (default: None)
-
-options:
-  -h, --help            show this help message and exit
-  --demo                Use the demo route instead of providing one (default: False)
-  --qcam                Show low-res road camera (default: False)
-  --fcam                Show driving camera (default: False)
-  --ecam                Show wide camera (default: False)
-  --dcam                Show driver monitoring camera (default: False)
-```
-
-Examples using route name to observe accelerometer and qcamera:
-
-`./run.py --qcam "a2a0ccea32023010/2023-07-27--13-01-19"`
-
-Examples using segment range (more on [SegmentRange](https://github.com/commaai/openpilot/tree/master/tools/lib)):
-
-`./run.py --qcam "a2a0ccea32023010/2023-07-27--13-01-19/2:4"`
-
-## Cautions:
-- Showing hevc videos (`--fcam`, `--ecam`, and `--dcam`)  are expensive, and it's recommended to use `--qcam` for optimized performance. If possible, limiting your route to a few segments using `SegmentRange` will speed up logging and reduce memory usage
-
-## Demo
-`./run.py --qcam --demo`
diff --git a/tools/rerun/camera_reader.py b/tools/rerun/camera_reader.py
deleted file mode 100644
index 8366a3c1cf..0000000000
--- a/tools/rerun/camera_reader.py
+++ /dev/null
@@ -1,93 +0,0 @@
-import tqdm
-import subprocess
-import multiprocessing
-from enum import StrEnum
-from functools import partial
-from collections import namedtuple
-
-from openpilot.tools.lib.framereader import ffprobe
-
-CameraConfig = namedtuple("CameraConfig", ["qcam", "fcam", "ecam", "dcam"])
-
-class CameraType(StrEnum):
-  qcam = "qcamera"
-  fcam = "fcamera"
-  ecam = "ecamera"
-  dcam = "dcamera"
-
-
-def probe_packet_info(camera_path):
-  args = ["ffprobe", "-v", "quiet", "-show_packets", "-probesize", "10M", camera_path]
-  dat = subprocess.check_output(args)
-  dat = dat.decode().split()
-  return dat
-
-
-class _FrameReader:
-  def __init__(self, camera_path, segment, h, w, start_time):
-    self.camera_path = camera_path
-    self.segment = segment
-    self.h = h
-    self.w = w
-    self.start_time = start_time
-
-    self.ts = self._get_ts()
-
-  def _read_stream_nv12(self):
-    frame_sz = self.w * self.h * 3 // 2
-    proc = subprocess.Popen(
-             ["ffmpeg", "-v", "quiet", "-i", self.camera_path, "-f", "rawvideo", "-pix_fmt", "nv12", "-"],
-             stdin=subprocess.PIPE,
-             stdout=subprocess.PIPE,
-             stderr=subprocess.DEVNULL
-           )
-    try:
-      while True:
-        dat = proc.stdout.read(frame_sz)
-        if len(dat) == 0:
-          break
-        yield dat
-    finally:
-      proc.kill()
-
-  def _get_ts(self):
-    dat = probe_packet_info(self.camera_path)
-    try:
-      ret = [float(d.split('=')[1]) for d in dat if d.startswith("pts_time=")]
-    except ValueError:
-      # pts_times aren't available. Infer timestamps from duration_times
-      ret = [d for d in dat if d.startswith("duration_time")]
-      ret = [float(d.split('=')[1])*(i+1)+(self.segment*60)+self.start_time for i, d in enumerate(ret)]
-    return ret
-
-  def __iter__(self):
-    for i, frame in enumerate(self._read_stream_nv12()):
-      yield self.ts[i], frame
-
-
-class CameraReader:
-  def __init__(self, camera_paths, start_time, seg_idxs):
-    self.seg_idxs = seg_idxs
-    self.camera_paths = camera_paths
-    self.start_time = start_time
-
-    probe = ffprobe(camera_paths[0])["streams"][0]
-    self.h = probe["height"]
-    self.w = probe["width"]
-
-    self.__frs = {}
-
-  def _get_fr(self, i):
-    if i not in self.__frs:
-      self.__frs[i] = _FrameReader(self.camera_paths[i], segment=i, h=self.h, w=self.w, start_time=self.start_time)
-    return self.__frs[i]
-
-  def _run_on_segment(self, func, i):
-    return func(self._get_fr(i))
-
-  def run_across_segments(self, num_processes, func, desc=None):
-    with multiprocessing.Pool(num_processes) as pool:
-      num_segs = len(self.seg_idxs)
-      for _ in tqdm.tqdm(pool.imap_unordered(partial(self._run_on_segment, func), self.seg_idxs), total=num_segs, desc=desc):
-        continue
-
diff --git a/tools/rerun/run.py b/tools/rerun/run.py
deleted file mode 100755
index 6ce8a37937..0000000000
--- a/tools/rerun/run.py
+++ /dev/null
@@ -1,180 +0,0 @@
-#!/usr/bin/env python3
-
-import sys
-import argparse
-import multiprocessing
-import rerun as rr
-import rerun.blueprint as rrb
-from functools import partial
-from collections import defaultdict
-
-from cereal.services import SERVICE_LIST
-from openpilot.tools.rerun.camera_reader import probe_packet_info, CameraReader, CameraConfig, CameraType
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.route import Route, SegmentRange
-
-
-NUM_CPUS = multiprocessing.cpu_count()
-DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
-RR_TIMELINE_NAME = "Timeline"
-RR_WIN = "openpilot logs"
-
-
-"""
-Relevant upstream Rerun issues:
-- loading videos directly: https://github.com/rerun-io/rerun/issues/6532
-"""
-
-class Rerunner:
-  def __init__(self, route, segment_range, camera_config):
-    self.lr = LogReader(route_or_segment_name)
-
-    # hevc files don't have start_time. We get it from qcamera.ts
-    start_time = 0
-    dat = probe_packet_info(route.qcamera_paths()[0])
-    for d in dat:
-      if d.startswith("pts_time="):
-        start_time = float(d.split('=')[1])
-        break
-
-    qcam, fcam, ecam, dcam = camera_config
-    self.camera_readers = {}
-    if qcam:
-      self.camera_readers[CameraType.qcam] = CameraReader(route.qcamera_paths(), start_time, segment_range.seg_idxs)
-    if fcam:
-      self.camera_readers[CameraType.fcam] = CameraReader(route.camera_paths(), start_time, segment_range.seg_idxs)
-    if ecam:
-      self.camera_readers[CameraType.ecam] = CameraReader(route.ecamera_paths(), start_time, segment_range.seg_idxs)
-    if dcam:
-      self.camera_readers[CameraType.dcam] = CameraReader(route.dcamera_paths(), start_time, segment_range.seg_idxs)
-
-  def _create_blueprint(self):
-    blueprint = None
-    service_views = []
-
-    for topic in sorted(SERVICE_LIST.keys()):
-      View = rrb.TimeSeriesView if topic != "thumbnail" else rrb.Spatial2DView
-      service_views.append(View(name=topic, origin=f"/{topic}/", visible=False))
-      rr.log(topic, rr.SeriesLine(name=topic), timeless=True)
-
-    center_view = [rrb.Vertical(*service_views, name="streams")]
-    if len(self.camera_readers):
-      center_view.append(rrb.Vertical(*[rrb.Spatial2DView(name=cam_type, origin=cam_type) for cam_type in self.camera_readers.keys()], name="cameras"))
-
-    blueprint = rrb.Blueprint(
-      rrb.Horizontal(
-        *center_view
-      ),
-      rrb.SelectionPanel(expanded=False),
-      rrb.TimePanel(expanded=False),
-    )
-    return blueprint
-
-  @staticmethod
-  def _parse_msg(msg, parent_key=''):
-    stack = [(msg, parent_key)]
-    while stack:
-      current_msg, current_parent_key = stack.pop()
-      if isinstance(current_msg, list):
-        for index, item in enumerate(current_msg):
-          new_key = f"{current_parent_key}/{index}"
-          if isinstance(item, (int, float)):
-            yield new_key, item
-          elif isinstance(item, dict):
-            stack.append((item, new_key))
-      elif isinstance(current_msg, dict):
-        for key, value in current_msg.items():
-          new_key = f"{current_parent_key}/{key}"
-          if isinstance(value, (int, float)):
-            yield new_key, value
-          elif isinstance(value, dict):
-            stack.append((value, new_key))
-          elif isinstance(value, list):
-            for index, item in enumerate(value):
-              if isinstance(item, (int, float)):
-                yield f"{new_key}/{index}", item
-      else:
-        pass  # Not a plottable value
-
-  @staticmethod
-  @rr.shutdown_at_exit
-  def _process_log_msgs(blueprint, lr):
-    rr.init(RR_WIN)
-    rr.connect()
-    rr.send_blueprint(blueprint)
-
-    log_msgs = defaultdict(lambda: defaultdict(list))
-    for msg in lr:
-      msg_type = msg.which()
-
-      if msg_type == "thumbnail":
-        continue
-
-      for entity_path, dat in Rerunner._parse_msg(msg.to_dict()[msg_type], msg_type):
-        log_msgs[entity_path]["times"].append(msg.logMonoTime)
-        log_msgs[entity_path]["data"].append(dat)
-
-    for entity_path, log_msg in log_msgs.items():
-      rr.send_columns(
-        entity_path,
-        times=[rr.TimeNanosColumn(RR_TIMELINE_NAME, log_msg["times"])],
-        components=[rr.components.ScalarBatch(log_msg["data"])]
-      )
-
-    return []
-
-  @staticmethod
-  @rr.shutdown_at_exit
-  def _process_cam_readers(blueprint, cam_type, h, w, fr):
-    rr.init(RR_WIN)
-    rr.connect()
-    rr.send_blueprint(blueprint)
-
-    for ts, frame in fr:
-      rr.set_time_nanos(RR_TIMELINE_NAME, int(ts * 1e9))
-      rr.log(cam_type, rr.Image(bytes=frame, width=w, height=h, pixel_format=rr.PixelFormat.NV12))
-
-  def load_data(self):
-    rr.init(RR_WIN, spawn=True)
-
-    startup_blueprint = self._create_blueprint()
-    self.lr.run_across_segments(NUM_CPUS, partial(self._process_log_msgs, startup_blueprint), desc="Log messages")
-    for cam_type, cr in self.camera_readers.items():
-      cr.run_across_segments(NUM_CPUS, partial(self._process_cam_readers, startup_blueprint, cam_type, cr.h, cr.w), desc=cam_type)
-
-    rr.send_blueprint(self._create_blueprint())
-
-
-if __name__ == '__main__':
-  parser = argparse.ArgumentParser(description="A helper to run rerun on openpilot routes",
-                                  formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-  parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
-  parser.add_argument("--qcam", action="store_true", help="Show low-res road camera")
-  parser.add_argument("--fcam", action="store_true", help="Show driving camera")
-  parser.add_argument("--ecam", action="store_true", help="Show wide camera")
-  parser.add_argument("--dcam", action="store_true", help="Show driver monitoring camera")
-  parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot")
-  args = parser.parse_args()
-
-  if not args.demo and not args.route_or_segment_name:
-    parser.print_help()
-    sys.exit()
-
-  camera_config = CameraConfig(args.qcam, args.fcam, args.ecam, args.dcam)
-  route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
-
-  sr = SegmentRange(route_or_segment_name)
-  r = Route(sr.route_name)
-
-  hevc_requested = any(camera_config[1:])
-  if len(sr.seg_idxs) > 1 and hevc_requested:
-    print("You're requesting more than 1 segment with hevc videos, " + \
-          "please be aware that might take a lot of memory " + \
-          "since rerun isn't yet well supported for high resolution video logging")
-    response = input("Do you wish to continue? (Y/n): ")
-    if response.strip().lower() != "y":
-      sys.exit()
-
-  rerunner = Rerunner(r, sr, camera_config)
-  rerunner.load_data()
-
diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py
index a2f437819f..7e4e975742 100755
--- a/tools/tuning/measure_steering_accuracy.py
+++ b/tools/tuning/measure_steering_accuracy.py
@@ -49,7 +49,7 @@ class SteeringAccuracyTool:
     active = sm['controlsState'].active
     steer = sm['carOutput'].actuatorsOutput.torque
     standstill = sm['carState'].standstill
-    steer_limited_by_controls = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2
+    steer_limited_by_safety = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2
     overriding = sm['carState'].steeringPressed
     changing_lanes = sm['modelV2'].meta.laneChangeState != 0
     model_points = sm['modelV2'].position.y
@@ -77,7 +77,7 @@ class SteeringAccuracyTool:
             self.speed_group_stats[group][angle_abs]["steer"] += abs(steer)
             if len(model_points):
               self.speed_group_stats[group][angle_abs]["dpp"] += abs(model_points[0])
-            if steer_limited_by_controls:
+            if steer_limited_by_safety:
               self.speed_group_stats[group][angle_abs]["limited"] += 1
             if control_state.saturated:
               self.speed_group_stats[group][angle_abs]["saturated"] += 1
diff --git a/uv.lock b/uv.lock
index dc016a0d3f..7cfaceed97 100644
--- a/uv.lock
+++ b/uv.lock
@@ -166,7 +166,7 @@ wheels = [
 
 [[package]]
 name = "azure-identity"
-version = "1.23.1"
+version = "1.24.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "azure-core" },
@@ -175,9 +175,9 @@ dependencies = [
     { name = "msal-extensions" },
     { name = "typing-extensions" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/b5/29/1201ffbb6a57a16524dd91f3e741b4c828a70aaba436578bdcb3fbcb438c/azure_identity-1.23.1.tar.gz", hash = "sha256:226c1ef982a9f8d5dcf6e0f9ed35eaef2a4d971e7dd86317e9b9d52e70a035e4", size = 266185, upload-time = "2025-07-15T19:16:38.077Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/b5/44/f3ee20bacb220b6b4a2b0a6cf7e742eecb383a5ccf604dd79ec27c286b7e/azure_identity-1.24.0.tar.gz", hash = "sha256:6c3a40b2a70af831e920b89e6421e8dcd4af78a0cb38b9642d86c67643d4930c", size = 271630, upload-time = "2025-08-07T22:27:36.258Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/99/b3/e2d7ab810eb68575a5c7569b03c0228b8f4ce927ffa6211471b526f270c9/azure_identity-1.23.1-py3-none-any.whl", hash = "sha256:7eed28baa0097a47e3fb53bd35a63b769e6b085bb3cb616dfce2b67f28a004a1", size = 186810, upload-time = "2025-07-15T19:16:40.184Z" },
+    { url = "https://files.pythonhosted.org/packages/a9/74/17428cb429e8d52f6d0d69ed685f4760a545cb0156594963a9337b53b6c9/azure_identity-1.24.0-py3-none-any.whl", hash = "sha256:9e04997cde0ab02ed66422c74748548e620b7b29361c72ce622acab0267ff7c4", size = 187890, upload-time = "2025-08-07T22:27:38.033Z" },
 ]
 
 [[package]]
@@ -263,37 +263,33 @@ wheels = [
 
 [[package]]
 name = "charset-normalizer"
-version = "3.4.2"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/e4/33/89c2ced2b67d1c2a61c19c6751aa8902d46ce3dacb23600a283619f5a12d/charset_normalizer-3.4.2.tar.gz", hash = "sha256:5baececa9ecba31eff645232d59845c07aa030f0c81ee70184a90d35099a0e63", size = 126367, upload-time = "2025-05-02T08:34:42.01Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/05/85/4c40d00dcc6284a1c1ad5de5e0996b06f39d8232f1031cd23c2f5c07ee86/charset_normalizer-3.4.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:be1e352acbe3c78727a16a455126d9ff83ea2dfdcbc83148d2982305a04714c2", size = 198794, upload-time = "2025-05-02T08:32:11.945Z" },
-    { url = "https://files.pythonhosted.org/packages/41/d9/7a6c0b9db952598e97e93cbdfcb91bacd89b9b88c7c983250a77c008703c/charset_normalizer-3.4.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:aa88ca0b1932e93f2d961bf3addbb2db902198dca337d88c89e1559e066e7645", size = 142846, upload-time = "2025-05-02T08:32:13.946Z" },
-    { url = "https://files.pythonhosted.org/packages/66/82/a37989cda2ace7e37f36c1a8ed16c58cf48965a79c2142713244bf945c89/charset_normalizer-3.4.2-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:d524ba3f1581b35c03cb42beebab4a13e6cdad7b36246bd22541fa585a56cccd", size = 153350, upload-time = "2025-05-02T08:32:15.873Z" },
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