diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 7174ee2800..3f5b38d12e 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -14,6 +14,7 @@
     "force_color_prompt": "1"
   },
   "runArgs": [
+    "--volume=/dev:/dev",
     "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
     "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
     "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
@@ -49,4 +50,4 @@
   "mounts": [
     "type=volume,source=scons_cache,target=/tmp/scons_cache"
   ]
-}
\ No newline at end of file
+}
diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index 8316fedda0..447e559c90 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -5,7 +5,7 @@ on:
 
 jobs:
   labeler:
-    name: apply labels
+    name: review
     permissions:
       contents: read
       pull-requests: write
@@ -14,17 +14,17 @@ jobs:
     - uses: actions/checkout@v4
       with:
         submodules: false
+
+    # Label PRs
     - uses: actions/labeler@v5.0.0
       with:
         dot: true
         configuration-path: .github/labeler.yaml
 
-  pr_branch_check:
-    name: check branch
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-    - uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
+    # Check PR target branch
+    - name: check branch
+      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
+      if: github.repository == 'commaai/openpilot'
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
@@ -34,194 +34,20 @@ jobs:
         already-exists-action: close_this
         already-exists-comment: "Your PR should be made against the `master` branch"
 
-  comment:
-    runs-on: ubuntu-latest
-    steps:
-      - name: comment
-        uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
-        if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
-        with:
-          message: |
-              <!-- _(run_id **${{ github.run_id }}**)_ -->
-              Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
-              * Convert your PR to a draft unless it's ready to review
-              * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
-              * Before marking as "ready for review", ensure:
-                * the goal is clearly stated in the description
-                * all the tests are passing
-                * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
-                * include a route or your device' dongle ID if relevant
-          comment_tag: run_id
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-  check-pr-template:
-    runs-on: ubuntu-latest
-    permissions:
-      contents: read
-      issues: write
-      pull-requests: write
-      actions: read
-    if: false && github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
-    steps:
-      - uses: actions/github-script@v7
-        with:
-          script: |
-            // Comment to add to the PR if no template has been used
-            const NO_TEMPLATE_MESSAGE =
-              "It looks like you didn't use one of the Pull Request templates. Please check [the contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md). \
-            Also make sure that you didn't modify any of the checkboxes or headings within the template.";
-            // body data for future requests
-            const body_data = {
-              issue_number: context.issue.number,
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-            };
-
-            // Utility function to extract all headings
-            const extractHeadings = (markdown) => {
-              const headingRegex = /^(#{1,6})\s+(.+)$/gm;
-              const boldTextRegex = /^(?:\*\*|__)(.+?)(?:\*\*|__)\s*$/gm;
-              const headings = [];
-              let headingMatch;
-              while ((headingMatch = headingRegex.exec(markdown))) {
-                headings.push(headingMatch[2].trim());
-              }
-              let boldMatch;
-              while ((boldMatch = boldTextRegex.exec(markdown))) {
-                headings.push(boldMatch[1].trim());
-              }
-              return headings;
-            };
-
-            // Utility function to extract all check box descriptions
-            const extractCheckBoxTexts = (markdown) => {
-              const checkboxRegex = /^\s*-\s*\[( |x)\]\s+(.+)$/gm;
-              const checkboxes = [];
-              let match;
-              while ((match = checkboxRegex.exec(markdown))) {
-                checkboxes.push(match[2].trim());
-              }
-              return checkboxes;
-            };
-
-            // Utility function to check if a list is a subset of another list
-            isSubset = (subset, superset) => {
-              return subset.every((item) => superset.includes(item));
-            };
-
-            // Utility function to check if a list of checkboxes is a subset of another list of checkboxes
-            isCheckboxSubset = (templateCheckBoxTexts, prTextCheckBoxTexts) => {
-              // Check if each template checkbox text is a substring of at least one PR checkbox text
-              // (user should be allowed to add additional text)
-              return templateCheckBoxTexts.every((item) => prTextCheckBoxTexts.some((element) => element.includes(item)))
-            }
-
-            // Get filenames of all currently checked-in PR templates
-            const template_contents = await github.rest.repos.getContent({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              path: ".github/PULL_REQUEST_TEMPLATE",
-            });
-            var template_filenames = [];
-            for (const content of template_contents.data) {
-              template_filenames.push(content.path);
-            }
-            console.debug("Received template filenames: " + template_filenames);
-            // Retrieve templates
-            var templates = [];
-            for (const template_filename of template_filenames) {
-              const template_response = await github.rest.repos.getContent({
-                owner: context.repo.owner,
-                repo: context.repo.repo,
-                path: template_filename,
-              });
-              // Convert Base64 content back
-              const decoded_template = atob(template_response.data.content);
-              const headings = extractHeadings(decoded_template);
-              const checkboxes = extractCheckBoxTexts(decoded_template);
-              if (!headings.length && !checkboxes.length) {
-                console.warn(
-                  "Invalid template! Contains neither headings nor checkboxes, ignoring it: \n" +
-                    decoded_template
-                );
-              } else {
-                templates.push({ headings: headings, checkboxes: checkboxes });
-              }
-            }
-            // Retrieve the PR Body
-            const pull_request = await github.rest.issues.get({
-              ...body_data,
-            });
-            const pull_request_text = pull_request.data.body;
-            console.debug("Received Pull Request body: \n" + pull_request_text);
-
-            /* Check if the PR Body matches one of the templates
-            A template is defined by all headings and checkboxes it contains
-            We extract all Headings and Checkboxes from the PR text and check if any of the templates is a subset of that
-            */
-            const pr_headings = extractHeadings(pull_request_text);
-            const pr_checkboxes = extractCheckBoxTexts(pull_request_text);
-            console.debug("Found Headings in PR body:\n" + pr_headings);
-            console.debug("Found Checkboxes in PR body:\n" + pr_checkboxes);
-            var template_found = false;
-            // Iterate over each template to check if it applies
-            for (const template of templates) {
-              console.log(
-                "Checking for headings: [" +
-                  template.headings +
-                  "] and checkboxes: [" +
-                  template.checkboxes + "]"
-              );
-              if (
-                isCheckboxSubset(template.checkboxes, pr_checkboxes) &&
-                isSubset(template.headings, pr_headings)
-              ) {
-                console.debug("Found matching template!");
-                template_found = true;
-              }
-            }
-
-            // List comments from previous runs
-            var existing_comments = [];
-            const comments = await github.rest.issues.listComments({
-              ...body_data,
-            });
-            for (const comment of comments.data) {
-              if (comment.body === NO_TEMPLATE_MESSAGE) {
-                existing_comments.push(comment);
-              }
-            }
-
-            // Add a comment to the PR that it is not using a the template (but only if this comment does not exist already)
-            if (!template_found) {
-              var comment_already_sent = false;
-
-              // Add an 'in-bot-review' label since this PR doesn't have the template
-              github.rest.issues.addLabels({
-                ...body_data,
-                labels: ["in-bot-review"],
-              });
-
-              if (existing_comments.length < 1) {
-                github.rest.issues.createComment({
-                  ...body_data,
-                  body: NO_TEMPLATE_MESSAGE,
-                });
-              }
-            } else {
-              // If template has been found, delete any old comment about missing template
-              for (const existing_comment of existing_comments) {
-                github.rest.issues.deleteComment({
-                  ...body_data,
-                  comment_id: existing_comment.id,
-                });
-              }
-              // Remove the 'in-bot-review' label after the review is done and the PR has passed
-              github.rest.issues.removeLabel({
-                ...body_data,
-                name: "in-bot-review",
-              }).catch((error) => {
-                console.log("Label 'in-bot-review' not found, ignoring");
-              });
-            }
-
+    # Welcome comment
+    - name: comment
+      uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
+      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
+      with:
+        message: |
+            <!-- _(run_id **${{ github.run_id }}**)_ -->
+            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
+            * Convert your PR to a draft unless it's ready to review
+            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
+            * Before marking as "ready for review", ensure:
+              * the goal is clearly stated in the description
+              * all the tests are passing
+              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
+              * include a route or your device' dongle ID if relevant
+        comment_tag: run_id
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index d3c8009bc2..1c83c39bbb 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -76,24 +76,8 @@ jobs:
     - uses: actions/checkout@v4
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      with:
-        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
-    - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
-
-  docker_push:
-    name: docker push
-    strategy:
-      matrix:
-        arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
-    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Setup to push to repo
+    - name: Setup docker push
+      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
         echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
@@ -101,12 +85,14 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
       with:
         docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
+    - uses: ./.github/workflows/compile-openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
 
   docker_push_multiarch:
     name: docker push multiarch tag
     runs-on: ubuntu-latest
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-    needs: [docker_push]
+    needs: [build]
     steps:
     - uses: actions/checkout@v4
       with:
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 4466260af1..c2e900fb12 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -59,7 +59,7 @@ jobs:
         ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
                         source selfdrive/test/setup_xvfb.sh && \
                         source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py -W ignore::pyopencl.CompilerWarning"
+                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
 
   devcontainer:
     name: devcontainer
diff --git a/.gitignore b/.gitignore
index 98fc70d029..693c532c54 100644
--- a/.gitignore
+++ b/.gitignore
@@ -55,12 +55,8 @@ selfdrive/modeld/_modeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/
 
-one
 notebooks
-xx
-yy
 hyperthneed
-panda_jungle
 provisioning
 
 .coverage*
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 692c694560..190425285d 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -47,7 +47,7 @@ repos:
         args:
         - --local-partial-types
         - --explicit-package-bases
-        exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)'
+        exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
 -   repo: local
     hooks:
     -   id: cppcheck
@@ -89,7 +89,7 @@ repos:
         entry: selfdrive/ui/tests/test_translations.py
         language: script
         pass_filenames: false
-        files: 'selfdrive/ui/translations/*'
+        files: '^selfdrive/ui/translations/'
 -   repo: https://github.com/python-poetry/poetry
     rev: '1.8.0'
     hooks:
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index a6c4c71790..0789a39c3e 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -13,14 +13,10 @@ ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN cd /tmp && \
-    tools/install_ubuntu_dependencies.sh && \
-    rm -rf /var/lib/apt/lists/* && \
-    rm -rf /tmp/* && \
-    # remove unused architectures from gcc for panda
+RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
+    rm -rf /var/lib/apt/lists/* /tmp/* && \
     cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
-    rm -rf arm/ && \
-    rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
 # Add OpenCL
 RUN apt-get update && apt-get install -y --no-install-recommends \
@@ -83,4 +79,4 @@ RUN cd /tmp && \
     rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test
 
 USER root
-RUN sudo git config --global --add safe.directory /tmp/openpilot
\ No newline at end of file
+RUN sudo git config --global --add safe.directory /tmp/openpilot
diff --git a/cereal b/cereal
index 0a9b426e55..5812f2c075 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 0a9b426e55653daea6cc9d3c40c3f7600ec0db49
+Subproject commit 5812f2c075a5364cecafe4e8ed68a12b12a5631f
diff --git a/common/api/__init__.py b/common/api/__init__.py
index 79875023a2..f3a7d83842 100644
--- a/common/api/__init__.py
+++ b/common/api/__init__.py
@@ -7,7 +7,7 @@ from openpilot.system.version import get_version
 
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
-class Api():
+class Api:
   def __init__(self, dongle_id):
     self.dongle_id = dongle_id
     with open(Paths.persist_root()+'/comma/id_rsa') as f:
diff --git a/common/gpio.py b/common/gpio.py
index 68932cb87a..66b2adf438 100644
--- a/common/gpio.py
+++ b/common/gpio.py
@@ -1,5 +1,5 @@
 import os
-from functools import lru_cache
+from functools import cache
 
 def gpio_init(pin: int, output: bool) -> None:
   try:
@@ -35,7 +35,7 @@ def gpio_export(pin: int) -> None:
   except Exception:
     print(f"Failed to export gpio {pin}")
 
-@lru_cache(maxsize=None)
+@cache
 def get_irq_action(irq: int) -> list[str]:
   try:
     with open(f"/sys/kernel/irq/{irq}/actions") as f:
diff --git a/common/spinner.py b/common/spinner.py
index 43d4bb2cc2..dcf22641c4 100644
--- a/common/spinner.py
+++ b/common/spinner.py
@@ -3,7 +3,7 @@ import subprocess
 from openpilot.common.basedir import BASEDIR
 
 
-class Spinner():
+class Spinner:
   def __init__(self):
     try:
       self.spinner_proc = subprocess.Popen(["./spinner"],
diff --git a/common/stat_live.py b/common/stat_live.py
index a91c1819bb..3901c448d8 100644
--- a/common/stat_live.py
+++ b/common/stat_live.py
@@ -1,6 +1,6 @@
 import numpy as np
 
-class RunningStat():
+class RunningStat:
   # tracks realtime mean and standard deviation without storing any data
   def __init__(self, priors=None, max_trackable=-1):
     self.max_trackable = max_trackable
@@ -51,7 +51,7 @@ class RunningStat():
   def params_to_save(self):
     return [self.M, self.S, self.n]
 
-class RunningStatFilter():
+class RunningStatFilter:
   def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
     self.raw_stat = RunningStat(raw_priors, -1)
     self.filtered_stat = RunningStat(filtered_priors, max_trackable)
diff --git a/docs/BOUNTIES.md b/docs/BOUNTIES.md
index 7e7ee3b8d3..9d0718c572 100644
--- a/docs/BOUNTIES.md
+++ b/docs/BOUNTIES.md
@@ -9,6 +9,7 @@ Get paid to improve openpilot!
 * once you open a PR, the bounty is locked to you until you stop working on it
 * open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim
 * get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders)
+* for bounties >$100, the first PR gets a lock, which times out after a week of no progress
 
 We put up each bounty with the intention that it'll get merged, but occasionally the right resolution is to close the bounty, which only becomes clear once some effort is put in. 
 This is still valuable work, so we'll pay out $100 for getting any bounty closed with a good explanation.
diff --git a/pyproject.toml b/pyproject.toml
index 544f9ee18c..db1b4195a3 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -20,17 +20,17 @@ markers = [
 ]
 testpaths = [
   "common",
-  "selfdrive/athena",
   "selfdrive/boardd",
   "selfdrive/car",
   "selfdrive/controls",
   "selfdrive/locationd",
   "selfdrive/monitoring",
   "selfdrive/navd/tests",
-  "selfdrive/thermald",
   "selfdrive/test/longitudinal_maneuvers",
   "selfdrive/test/process_replay/test_fuzzy.py",
   "selfdrive/updated",
+  "system/thermald",
+  "system/athena",
   "system/camerad",
   "system/hardware/tici",
   "system/loggerd",
@@ -184,8 +184,24 @@ build-backend = "poetry.core.masonry.api"
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
-lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
-lint.ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"]
+lint.select = [
+  "E", "F", "W", "PIE", "C4", "ISC", "A", "B",
+  "NPY", # numpy
+  "UP",  # pyupgrade
+  "TRY302", "TRY400", "TRY401", # try/excepts
+  "RUF008", "RUF100",
+  "TID251"
+]
+lint.ignore = [
+  "E741",
+  "E402",
+  "C408",
+  "ISC003",
+  "B027",
+  "B024",
+  "NPY002",  # new numpy random syntax is worse
+  "UP038",   # (x, y) -> x|y for isinstance
+]
 line-length = 160
 target-version="py311"
 exclude = [
diff --git a/release/files_common b/release/files_common
index 34d8f00973..8636959da5 100644
--- a/release/files_common
+++ b/release/files_common
@@ -53,9 +53,6 @@ tools/replay/*.cc
 tools/replay/*.h
 
 selfdrive/__init__.py
-selfdrive/sentry.py
-selfdrive/tombstoned.py
-selfdrive/statsd.py
 
 selfdrive/updated/**
 
@@ -65,10 +62,10 @@ system/version.py
 
 selfdrive/SConscript
 
-selfdrive/athena/__init__.py
-selfdrive/athena/athenad.py
-selfdrive/athena/manage_athenad.py
-selfdrive/athena/registration.py
+system/athena/__init__.py
+system/athena/athenad.py
+system/athena/manage_athenad.py
+system/athena/registration.py
 
 selfdrive/boardd/.gitignore
 selfdrive/boardd/SConscript
@@ -162,6 +159,10 @@ selfdrive/controls/lib/longitudinal_mpc_lib/*
 system/__init__.py
 system/*.py
 
+system/sentry.py
+system/tombstoned.py
+system/statsd.py
+
 system/hardware/__init__.py
 system/hardware/base.h
 system/hardware/base.py
@@ -252,9 +253,9 @@ system/webrtc/schema.py
 system/webrtc/device/audio.py
 system/webrtc/device/video.py
 
-selfdrive/thermald/thermald.py
-selfdrive/thermald/power_monitoring.py
-selfdrive/thermald/fan_controller.py
+system/thermald/thermald.py
+system/thermald/power_monitoring.py
+system/thermald/fan_controller.py
 
 selfdrive/test/__init__.py
 selfdrive/test/fuzzy_generation.py
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index db34320caa..259126c416 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -75,7 +75,7 @@ class CarController(CarControllerBase):
     can_sends = []
     can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r))
 
-    new_actuators = CC.actuators.copy()
+    new_actuators = CC.actuators.as_builder()
     new_actuators.accel = torque_l
     new_actuators.steer = torque_r
     new_actuators.steerOutputCan = torque_r
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index ed916a6fe1..2705a3c01c 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -9,7 +9,7 @@ from cereal import car
 from panda import ALTERNATIVE_EXPERIENCE
 
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_CTRL
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 
 from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
@@ -21,22 +21,24 @@ REPLAY = "REPLAY" in os.environ
 EventName = car.CarEvent.EventName
 
 
-class CarD:
+class Car:
   CI: CarInterfaceBase
 
   def __init__(self, CI=None):
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates'])
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
     self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
 
     self.can_rcv_timeout_counter = 0  # consecutive timeout count
     self.can_rcv_cum_timeout_counter = 0  # cumulative timeout count
 
     self.CC_prev = car.CarControl.new_message()
+    self.CS_prev = car.CarState.new_message()
+    self.initialized_prev = False
 
-    self.last_actuators = None
+    self.last_actuators_output = car.CarControl.Actuators.new_message()
 
-    self.params = Params()
+    params = Params()
 
     if CI is None:
       # wait for one pandaState and one CAN packet
@@ -44,18 +46,18 @@ class CarD:
       get_one_can(self.can_sock)
 
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
-      experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
+      experimental_long_allowed = params.get_bool("ExperimentalLongitudinalEnabled")
       self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas)
     else:
       self.CI, self.CP = CI, CI.CP
 
     # set alternative experiences from parameters
-    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator")
     self.CP.alternativeExperience = 0
     if not self.disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
-    openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
+    openpilot_enabled_toggle = params.get_bool("OpenpilotEnabledToggle")
 
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
 
@@ -66,22 +68,20 @@ class CarD:
       self.CP.safetyConfigs = [safety_config]
 
     # Write previous route's CarParams
-    prev_cp = self.params.get("CarParamsPersistent")
+    prev_cp = params.get("CarParamsPersistent")
     if prev_cp is not None:
-      self.params.put("CarParamsPrevRoute", prev_cp)
+      params.put("CarParamsPrevRoute", prev_cp)
 
     # Write CarParams for controls and radard
     cp_bytes = self.CP.to_bytes()
-    self.params.put("CarParams", cp_bytes)
-    self.params.put_nonblocking("CarParamsCache", cp_bytes)
-    self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
+    params.put("CarParams", cp_bytes)
+    params.put_nonblocking("CarParamsCache", cp_bytes)
+    params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
-    self.CS_prev = car.CarState.new_message()
     self.events = Events()
 
-  def initialize(self):
-    """Initialize CarInterface, once controls are ready"""
-    self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
+    # card is driven by can recv, expected at 100Hz
+    self.rk = Ratekeeper(100, print_delay_threshold=None)
 
   def state_update(self) -> car.CarState:
     """carState update loop, driven by can"""
@@ -106,11 +106,6 @@ class CarD:
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
-    self.update_events(CS)
-    self.state_publish(CS)
-
-    CS = CS.as_reader()
-    self.CS_prev = CS
     return CS
 
   def update_events(self, CS: car.CarState) -> car.CarState:
@@ -129,12 +124,6 @@ class CarD:
   def state_publish(self, CS: car.CarState):
     """carState and carParams publish loop"""
 
-    # carState
-    cs_send = messaging.new_message('carState')
-    cs_send.valid = CS.canValid
-    cs_send.carState = CS
-    self.pm.send('carState', cs_send)
-
     # carParams - logged every 50 seconds (> 1 per segment)
     if self.sm.frame % int(50. / DT_CTRL) == 0:
       cp_send = messaging.new_message('carParams')
@@ -144,17 +133,60 @@ class CarD:
 
     # publish new carOutput
     co_send = messaging.new_message('carOutput')
-    co_send.valid = True
-    if self.last_actuators is not None:
-      co_send.carOutput.actuatorsOutput = self.last_actuators
+    co_send.valid = self.sm.all_checks(['carControl'])
+    co_send.carOutput.actuatorsOutput = self.last_actuators_output
     self.pm.send('carOutput', co_send)
 
+    # kick off controlsd step while we actuate the latest carControl packet
+    cs_send = messaging.new_message('carState')
+    cs_send.valid = CS.canValid
+    cs_send.carState = CS
+    cs_send.carState.canRcvTimeout = self.can_rcv_timeout
+    cs_send.carState.canErrorCounter = self.can_rcv_cum_timeout_counter
+    cs_send.carState.cumLagMs = -self.rk.remaining * 1000.
+    self.pm.send('carState', cs_send)
+
   def controls_update(self, CS: car.CarState, CC: car.CarControl):
     """control update loop, driven by carControl"""
 
-    # send car controls over can
-    now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
-    self.last_actuators, can_sends = self.CI.apply(CC, now_nanos)
-    self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
+    if not self.initialized_prev:
+      # Initialize CarInterface, once controls are ready
+      self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
+
+    if self.sm.all_alive(['carControl']):
+      # send car controls over can
+      now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
+      self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
+      self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
+
+      self.CC_prev = CC
+
+  def step(self):
+    CS = self.state_update()
+
+    self.update_events(CS)
+
+    self.state_publish(CS)
+
+    initialized = (not any(e.name == EventName.controlsInitializing for e in self.sm['onroadEvents']) and
+                   self.sm.seen['onroadEvents'])
+    if not self.CP.passive and initialized:
+      self.controls_update(CS, self.sm['carControl'])
+
+    self.initialized_prev = initialized
+    self.CS_prev = CS.as_reader()
+
+  def card_thread(self):
+    while True:
+      self.step()
+      self.rk.monitor_time()
+
+
+def main():
+  config_realtime_process(4, Priority.CTRL_HIGH)
+  car = Car()
+  car.card_thread()
+
 
-    self.CC_prev = CC
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 39248f3f75..85f53f68eb 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -78,7 +78,7 @@ class CarController(CarControllerBase):
 
     self.frame += 1
 
-    new_actuators = CC.actuators.copy()
+    new_actuators = CC.actuators.as_builder()
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
     new_actuators.steerOutputCan = self.apply_steer_last
 
diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 95565ebf9d..b974d3dd4d 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -68,6 +68,7 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'68267018AO ',
       b'68267020AJ ',
+      b'68303534AG ',
       b'68303534AJ ',
       b'68340762AD ',
       b'68340764AD ',
@@ -106,6 +107,7 @@ FW_VERSIONS = {
       b'68405565AB',
       b'68405565AC',
       b'68444299AC',
+      b'68480707AC',
       b'68480708AC',
       b'68526663AB',
     ],
@@ -147,6 +149,7 @@ FW_VERSIONS = {
       b'68443120AE ',
       b'68443123AC ',
       b'68443125AC ',
+      b'68496647AI ',
       b'68496647AJ ',
       b'68496650AH ',
       b'68496650AI ',
@@ -264,6 +267,7 @@ FW_VERSIONS = {
   },
   CAR.JEEP_GRAND_CHEROKEE: {
     (Ecu.combinationMeter, 0x742, None): [
+      b'68243549AG',
       b'68302211AC',
       b'68302212AD',
       b'68302223AC',
@@ -275,18 +279,22 @@ FW_VERSIONS = {
       b'68340272AD',
     ],
     (Ecu.srs, 0x744, None): [
+      b'68309533AA',
       b'68316742AB',
       b'68355363AB',
     ],
     (Ecu.abs, 0x747, None): [
+      b'68252642AG',
       b'68306178AD',
       b'68336276AB',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672627AB',
+      b'68251506AF',
       b'68332015AB',
     ],
     (Ecu.eps, 0x75a, None): [
+      b'68276201AG',
       b'68321644AB',
       b'68321644AC',
       b'68321646AC',
@@ -294,6 +302,7 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7e0, None): [
       b'05035920AE ',
+      b'68252272AG ',
       b'68284455AI ',
       b'68284456AI ',
       b'68284477AF ',
@@ -304,6 +313,7 @@ FW_VERSIONS = {
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'05035517AH',
+      b'68253222AF',
       b'68311218AC',
       b'68311223AF',
       b'68311223AG',
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 47082fb56f..7be3b2ebe9 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -113,7 +113,7 @@ class CarController(CarControllerBase):
     self.steer_alert_last = steer_alert
     self.lead_distance_bars_last = hud_control.leadDistanceBars
 
-    new_actuators = actuators.copy()
+    new_actuators = actuators.as_builder()
     new_actuators.curvature = self.apply_curvature_last
 
     self.frame += 1
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index f8d747029b..b204d3b80f 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -155,7 +155,7 @@ class CarController(CarControllerBase):
       if self.frame % 10 == 0:
         can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
 
-    new_actuators = actuators.copy()
+    new_actuators = actuators.as_builder()
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
     new_actuators.steerOutputCan = self.apply_steer_last
     new_actuators.gas = self.apply_gas
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 6fe8c27585..fe023ea17d 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -244,7 +244,7 @@ class CarController(CarControllerBase):
         self.speed = pcm_speed
         self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
 
-    new_actuators = actuators.copy()
+    new_actuators = actuators.as_builder()
     new_actuators.speed = self.speed
     new_actuators.accel = self.accel
     new_actuators.gas = self.gas
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 7829d764b0..4038ddcca9 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -163,7 +163,7 @@ class CarController(CarControllerBase):
       if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
         can_sends.append(hyundaican.create_frt_radar_opt(self.packer))
 
-    new_actuators = actuators.copy()
+    new_actuators = actuators.as_builder()
     new_actuators.steer = apply_steer / self.params.STEER_MAX
     new_actuators.steerOutputCan = apply_steer
     new_actuators.accel = accel
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index e0680ba829..8e574f7a25 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -864,6 +864,7 @@ FW_VERSIONS = {
       b'\xf1\x00CN7_ SCC FNCUP      1.00 1.01 99110-AA000         ',
     ],
     (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA050 4CNDC106',
       b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106',
       b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106',
       b'\xf1\x00CN7 MDPS C 1.00 1.07 56310AA050\x00 4CNDC107',
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 8d3a59b4ea..3d41634879 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -58,7 +58,7 @@ class CarController(CarControllerBase):
     can_sends.append(mazdacan.create_steering_control(self.packer, self.CP,
                                                       self.frame, apply_steer, CS.cam_lkas))
 
-    new_actuators = CC.actuators.copy()
+    new_actuators = CC.actuators.as_builder()
     new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
     new_actuators.steerOutputCan = apply_steer
 
diff --git a/selfdrive/car/mock/carcontroller.py b/selfdrive/car/mock/carcontroller.py
index 2b2da954ff..0cd37c0369 100644
--- a/selfdrive/car/mock/carcontroller.py
+++ b/selfdrive/car/mock/carcontroller.py
@@ -2,4 +2,4 @@ from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 class CarController(CarControllerBase):
   def update(self, CC, CS, now_nanos):
-    return CC.actuators.copy(), []
+    return CC.actuators.as_builder(), []
diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
index 83775462b7..c7bd231398 100644
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -75,7 +75,7 @@ class CarController(CarControllerBase):
           self.packer, CS.lkas_hud_info_msg, steer_hud_alert
         ))
 
-    new_actuators = actuators.copy()
+    new_actuators = actuators.as_builder()
     new_actuators.steeringAngleDeg = apply_angle
 
     self.frame += 1
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index 22a1475b5b..d89ae8c639 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -136,7 +136,7 @@ class CarController(CarControllerBase):
         if self.frame % 2 == 0:
           can_sends.append(subarucan.create_es_static_2(self.packer))
 
-    new_actuators = actuators.copy()
+    new_actuators = actuators.as_builder()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
     new_actuators.steerOutputCan = self.apply_steer_last
 
diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py
index f217c4692d..e460111e32 100644
--- a/selfdrive/car/tesla/carcontroller.py
+++ b/selfdrive/car/tesla/carcontroller.py
@@ -60,7 +60,7 @@ class CarController(CarControllerBase):
 
     # TODO: HUD control
 
-    new_actuators = actuators.copy()
+    new_actuators = actuators.as_builder()
     new_actuators.steeringAngleDeg = self.apply_angle_last
 
     self.frame += 1
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 4bbecd99fe..dfdf44215d 100755
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -91,14 +91,14 @@ class TestCarInterfaces:
     CC = car.CarControl.new_message(**cc_msg)
     for _ in range(10):
       car_interface.update(CC, [])
-      car_interface.apply(CC, now_nanos)
+      car_interface.apply(CC.as_reader(), now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10 ms
 
     CC = car.CarControl.new_message(**cc_msg)
     CC.enabled = True
     for _ in range(10):
       car_interface.update(CC, [])
-      car_interface.apply(CC, now_nanos)
+      car_interface.apply(CC.as_reader(), now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10ms
 
     # Test controller initialization
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 026693bdce..8807db69d9 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -15,7 +15,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.selfdrive.car.card import CarD
+from openpilot.selfdrive.car.card import Car
 from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
@@ -215,7 +215,7 @@ class TestCarModelBase(unittest.TestCase):
     # TODO: also check for checksum violations from can parser
     can_invalid_cnt = 0
     can_valid = False
-    CC = car.CarControl.new_message()
+    CC = car.CarControl.new_message().as_reader()
 
     for i, msg in enumerate(self.can_msgs):
       CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
@@ -308,17 +308,17 @@ class TestCarModelBase(unittest.TestCase):
 
     # Make sure we can send all messages while inactive
     CC = car.CarControl.new_message()
-    test_car_controller(CC)
+    test_car_controller(CC.as_reader())
 
     # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
     self.safety.set_cruise_engaged_prev(True)
     CC = car.CarControl.new_message(cruiseControl={'cancel': True})
-    test_car_controller(CC)
+    test_car_controller(CC.as_reader())
 
     # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
     self.safety.set_controls_allowed(True)
     CC = car.CarControl.new_message(cruiseControl={'resume': True})
-    test_car_controller(CC)
+    test_car_controller(CC.as_reader())
 
   # Skip stdout/stderr capture with pytest, causes elevated memory usage
   @pytest.mark.nocapture
@@ -406,7 +406,7 @@ class TestCarModelBase(unittest.TestCase):
     controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
     checks = defaultdict(int)
-    card = CarD(CI=self.CI)
+    card = Car(CI=self.CI)
     for idx, can in enumerate(self.can_msgs):
       CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
       for msg in filter(lambda m: m.src in range(64), can.can):
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 354d10a90e..f9b7a478e0 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -168,7 +168,7 @@ class CarController(CarControllerBase):
     if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       can_sends.append([0x750, 0, b"\x0F\x02\x3E\x00\x00\x00\x00\x00", 0])
 
-    new_actuators = actuators.copy()
+    new_actuators = actuators.as_builder()
     new_actuators.steer = apply_steer / self.params.STEER_MAX
     new_actuators.steerOutputCan = apply_steer
     new_actuators.steeringAngleDeg = self.last_angle
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index d239294392..38105e0d9d 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -1476,6 +1476,7 @@ FW_VERSIONS = {
       b'\x01896630E41200\x00\x00\x00\x00',
       b'\x01896630E41500\x00\x00\x00\x00',
       b'\x01896630EA3100\x00\x00\x00\x00',
+      b'\x01896630EA3300\x00\x00\x00\x00',
       b'\x01896630EA3400\x00\x00\x00\x00',
       b'\x01896630EA4100\x00\x00\x00\x00',
       b'\x01896630EA4300\x00\x00\x00\x00',
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 5fc47c51c6..a4e0c8946a 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -112,7 +112,7 @@ class CarController(CarControllerBase):
       can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values,
                                                            cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
 
-    new_actuators = actuators.copy()
+    new_actuators = actuators.as_builder()
     new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
     new_actuators.steerOutputCan = self.apply_steer_last
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index e3c456766e..d007cd9478 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -18,8 +18,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 from openpilot.common.swaglog import cloudlog
 
-from openpilot.selfdrive.car.car_helpers import get_startup_event
-from openpilot.selfdrive.car.card import CarD
+from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature
 from openpilot.selfdrive.controls.lib.events import Events, ET
@@ -61,16 +60,19 @@ ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES)
 
 class Controls:
   def __init__(self, CI=None):
-    self.card = CarD(CI)
-
     self.params = Params()
 
-    with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg:
-      # TODO: this shouldn't need to be a builder
-      self.CP = msg.as_builder()
-
-    self.CI = self.card.CI
+    if CI is None:
+      cloudlog.info("controlsd is waiting for CarParams")
+      with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg:
+        # TODO: this shouldn't need to be a builder
+        self.CP = msg.as_builder()
+      cloudlog.info("controlsd got CarParams")
 
+      # Uses car interface helper functions, altering state won't be considered by card for actuation
+      self.CI = get_car_interface(self.CP)
+    else:
+      self.CI, self.CP = CI, CI.CP
 
     # Ensure the current branch is cached, otherwise the first iteration of controlsd lags
     self.branch = get_short_branch()
@@ -83,6 +85,9 @@ class Controls:
 
     self.log_sock = messaging.sub_sock('androidLog')
 
+    # TODO: de-couple controlsd with card/conflate on carState without introducing controls mismatches
+    self.car_state_sock = messaging.sub_sock('carState', timeout=20)
+
     ignore = self.sensor_packets + ['testJoystick']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
@@ -110,6 +115,7 @@ class Controls:
     if not self.CP.openpilotLongitudinalControl:
       self.params.remove("ExperimentalMode")
 
+    self.CS_prev = car.CarState.new_message()
     self.AM = AlertManager()
     self.events = Events()
 
@@ -161,7 +167,7 @@ class Controls:
     elif self.CP.passive:
       self.events.add(EventName.dashcamMode, static=True)
 
-    # controlsd is driven by can recv, expected at 100Hz
+    # controlsd is driven by carState, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
   def set_initial_state(self):
@@ -308,7 +314,7 @@ class Controls:
     # generic catch-all. ideally, a more specific event should be added above instead
     has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE))
     no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
-    if (not self.sm.all_checks() or self.card.can_rcv_timeout) and no_system_errors:
+    if (not self.sm.all_checks() or CS.canRcvTimeout) and no_system_errors:
       if not self.sm.all_alive():
         self.events.add(EventName.commIssue)
       elif not self.sm.all_freq_ok():
@@ -320,7 +326,7 @@ class Controls:
         'invalid': [s for s, valid in self.sm.valid.items() if not valid],
         'not_alive': [s for s, alive in self.sm.alive.items() if not alive],
         'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
-        'can_rcv_timeout': self.card.can_rcv_timeout,
+        'can_rcv_timeout': CS.canRcvTimeout,
       }
       if logs != self.logged_comm_issue:
         cloudlog.event("commIssue", error=True, **logs)
@@ -380,9 +386,10 @@ class Controls:
         self.events.add(EventName.modeldLagging)
 
   def data_sample(self):
-    """Receive data from sockets and update carState"""
+    """Receive data from sockets"""
 
-    CS = self.card.state_update()
+    car_state = messaging.recv_one(self.car_state_sock)
+    CS = car_state.carState if car_state else self.CS_prev
 
     self.sm.update(0)
 
@@ -396,9 +403,6 @@ class Controls:
         if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams:
           self.sm.ignore_alive.append('wideRoadCameraState')
 
-        if not self.CP.passive:
-          self.card.initialize()
-
         self.initialized = True
         self.set_initial_state()
         self.params.put_bool_nonblocking("ControlsReady", True)
@@ -709,7 +713,6 @@ class Controls:
       hudControl.visualAlert = current_alert.visual_alert
 
     if not self.CP.passive and self.initialized:
-      self.card.controls_update(CS, CC)
       CO = self.sm['carOutput']
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
         self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
@@ -757,7 +760,6 @@ class Controls:
     controlsState.cumLagMs = -self.rk.remaining * 1000.
     controlsState.startMonoTime = int(start_time * 1e9)
     controlsState.forceDecel = bool(force_decel)
-    controlsState.canErrorCounter = self.card.can_rcv_cum_timeout_counter
     controlsState.experimentalMode = self.experimental_mode
     controlsState.personality = self.personality
 
@@ -807,6 +809,8 @@ class Controls:
     # Publish data
     self.publish_logs(CS, start_time, CC, lac_log)
 
+    self.CS_prev = CS
+
   def read_personality_param(self):
     try:
       return int(self.params.get('LongitudinalPersonality'))
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
index 83ec3b3a13..ad60861088 100755
--- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
+++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
@@ -128,7 +128,7 @@ def gen_lat_ocp():
   return ocp
 
 
-class LateralMpc():
+class LateralMpc:
   def __init__(self, x0=None):
     if x0 is None:
       x0 = np.zeros(X_DIM)
diff --git a/selfdrive/controls/lib/pid.py b/selfdrive/controls/lib/pid.py
index f4ec7e5996..29c4d8bd46 100644
--- a/selfdrive/controls/lib/pid.py
+++ b/selfdrive/controls/lib/pid.py
@@ -4,7 +4,7 @@ from numbers import Number
 from openpilot.common.numpy_fast import clip, interp
 
 
-class PIDController():
+class PIDController:
   def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
     self._k_p = k_p
     self._k_i = k_i
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 16c9e0635c..7420f666f7 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -2,7 +2,7 @@
 import importlib
 import math
 from collections import deque
-from typing import Any, Optional
+from typing import Any
 
 import capnp
 from cereal import messaging, log, car
@@ -208,7 +208,7 @@ class RadarD:
 
     self.ready = False
 
-  def update(self, sm: messaging.SubMaster, rr: Optional[car.RadarData]):
+  def update(self, sm: messaging.SubMaster, rr):
     self.ready = sm.seen['modelV2']
     self.current_time = 1e-9*max(sm.logMonoTime.values())
 
diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py
index 5d60911805..89a575a9ad 100755
--- a/selfdrive/controls/tests/test_following_distance.py
+++ b/selfdrive/controls/tests/test_following_distance.py
@@ -32,7 +32,7 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personalit
                        log.LongitudinalPersonality.standard,
                        log.LongitudinalPersonality.aggressive],
                       [0,10,35])) # speed
-class TestFollowingDistance():
+class TestFollowingDistance:
   def test_following_distance(self):
     v_lead = float(self.speed)
     simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality)
diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py
index 23cc96a2e4..5b69a7cd82 100644
--- a/selfdrive/controls/tests/test_startup.py
+++ b/selfdrive/controls/tests/test_startup.py
@@ -87,6 +87,7 @@ def test_startup_alert(expected_event, car_model, fw_versions, brand):
     os.environ['SKIP_FW_QUERY'] = '1'
 
   managed_processes['controlsd'].start()
+  managed_processes['card'].start()
 
   assert pm.wait_for_readers_to_update('can', 5)
   pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
@@ -104,7 +105,7 @@ def test_startup_alert(expected_event, car_model, fw_versions, brand):
 
   msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
   for _ in range(1000):
-    # controlsd waits for boardd to echo back that it has changed the multiplexing mode
+    # card waits for boardd to echo back that it has changed the multiplexing mode
     if not params.get_bool("ObdMultiplexingChanged"):
       params.put_bool("ObdMultiplexingChanged", True)
 
diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py
index 64bc2bc638..6df1e57ce3 100755
--- a/selfdrive/debug/vw_mqb_config.py
+++ b/selfdrive/debug/vw_mqb_config.py
@@ -139,7 +139,7 @@ if __name__ == "__main__":
       # so fib a little and say that same tester did the programming
       current_date = date.today()
       formatted_date = current_date.strftime('%y-%m-%d')
-      year, month, day = [int(part) for part in formatted_date.split('-')]
+      year, month, day = (int(part) for part in formatted_date.split('-'))
       prog_date = bytes([year, month, day])
       uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.PROGRAMMING_DATE, prog_date)
       tester_num = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER)
diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py
index 1f3e447a19..87a93cdd0c 100755
--- a/selfdrive/locationd/models/car_kf.py
+++ b/selfdrive/locationd/models/car_kf.py
@@ -28,7 +28,7 @@ def _slice(n):
   return s
 
 
-class States():
+class States:
   # Vehicle model params
   STIFFNESS = _slice(1)  # [-]
   STEER_RATIO = _slice(1)  # [-]
diff --git a/selfdrive/locationd/models/live_kf.py b/selfdrive/locationd/models/live_kf.py
index c4933a6129..0cc3eca61d 100755
--- a/selfdrive/locationd/models/live_kf.py
+++ b/selfdrive/locationd/models/live_kf.py
@@ -20,7 +20,7 @@ def numpy2eigenstring(arr):
   return f"(Eigen::VectorXd({len(arr)}) << {arr_str}).finished()"
 
 
-class States():
+class States:
   ECEF_POS = slice(0, 3)  # x, y and z in ECEF in meters
   ECEF_ORIENTATION = slice(3, 7)  # quat for pose of phone in ecef
   ECEF_VELOCITY = slice(7, 10)  # ecef velocity in m/s
@@ -39,7 +39,7 @@ class States():
   ACC_BIAS_ERR = slice(18, 21)
 
 
-class LiveKalman():
+class LiveKalman:
   name = 'live'
 
   initial_x = np.array([3.88e6, -3.37e6, 3.76e6,
diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py
index 859d0920c3..ac7822d51b 100755
--- a/selfdrive/manager/build.py
+++ b/selfdrive/manager/build.py
@@ -14,7 +14,7 @@ from openpilot.system.version import get_build_metadata
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
 
-TOTAL_SCONS_NODES = 2560
+TOTAL_SCONS_NODES = 2410
 MAX_BUILD_PROGRESS = 100
 
 def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index 512320a8db..408314d62f 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -7,14 +7,14 @@ import traceback
 
 from cereal import log
 import cereal.messaging as messaging
-import openpilot.selfdrive.sentry as sentry
+import openpilot.system.sentry as sentry
 from openpilot.common.params import Params, ParamKeyType
 from openpilot.common.text_window import TextWindow
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
 from openpilot.selfdrive.manager.process import ensure_running
 from openpilot.selfdrive.manager.process_config import managed_processes
-from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
+from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
 from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import get_build_metadata, terms_version, training_version
 
diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py
index 7964f5229d..36f299ae62 100644
--- a/selfdrive/manager/process.py
+++ b/selfdrive/manager/process.py
@@ -12,7 +12,7 @@ from setproctitle import setproctitle
 
 from cereal import car, log
 import cereal.messaging as messaging
-import openpilot.selfdrive.sentry as sentry
+import openpilot.system.sentry as sentry
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index 4c34e7339e..a8ab204da4 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -42,7 +42,7 @@ def only_offroad(started, params, CP: car.CarParams) -> bool:
   return not started
 
 procs = [
-  DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
+  DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
 
   NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
   NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
@@ -64,6 +64,7 @@ procs = [
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
   PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
   PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
+  PythonProcess("card", "selfdrive.car.card", only_onroad),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
   PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
@@ -75,11 +76,11 @@ procs = [
   PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
   PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
-  PythonProcess("thermald", "selfdrive.thermald.thermald", always_run),
-  PythonProcess("tombstoned", "selfdrive.tombstoned", always_run, enabled=not PC),
+  PythonProcess("thermald", "system.thermald.thermald", always_run),
+  PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
   PythonProcess("updated", "selfdrive.updated.updated", only_offroad, enabled=not PC),
   PythonProcess("uploader", "system.loggerd.uploader", always_run),
-  PythonProcess("statsd", "selfdrive.statsd", always_run),
+  PythonProcess("statsd", "system.statsd", always_run),
 
   # debug procs
   NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 35e2a29aa1..526fd4d218 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -15,7 +15,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
-from openpilot.selfdrive import sentry
+from openpilot.system import sentry
 from openpilot.selfdrive.car.car_helpers import get_demo_car_params
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
@@ -206,9 +206,8 @@ def main(demo=False):
         continue
 
       if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
-        cloudlog.error("frames out of sync! main: {} ({:.5f}), extra: {} ({:.5f})".format(
-          meta_main.frame_id, meta_main.timestamp_sof / 1e9,
-          meta_extra.frame_id, meta_extra.timestamp_sof / 1e9))
+        cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\
+                         extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
 
     else:
       # Use single camera
diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py
index 9faa5f4d05..85cc19eb8b 100644
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -15,7 +15,7 @@ EventName = car.CarEvent.EventName
 #  We recommend that you do not change these numbers from the defaults.
 # ******************************************************************************************
 
-class DRIVER_MONITOR_SETTINGS():
+class DRIVER_MONITOR_SETTINGS:
   def __init__(self):
     self._DT_DMON = DT_DMON
     # ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
@@ -102,7 +102,7 @@ def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
   yaw -= rpy_calib[2]
   return roll_net, pitch, yaw
 
-class DriverPose():
+class DriverPose:
   def __init__(self, max_trackable):
     self.yaw = 0.
     self.pitch = 0.
@@ -116,12 +116,12 @@ class DriverPose():
     self.cfactor_pitch = 1.
     self.cfactor_yaw = 1.
 
-class DriverBlink():
+class DriverBlink:
   def __init__(self):
     self.left_blink = 0.
     self.right_blink = 0.
 
-class DriverStatus():
+class DriverStatus:
   def __init__(self, rhd_saved=False, settings=None, always_on=False):
     if settings is None:
       settings = DRIVER_MONITOR_SETTINGS()
diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh
index 5f77ceb10d..4d58a1507c 100755
--- a/selfdrive/test/docker_build.sh
+++ b/selfdrive/test/docker_build.sh
@@ -17,7 +17,7 @@ fi
 
 source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX"
 
-DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
+DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
 
 if [ -n "$PUSH_IMAGE" ]; then
   docker push $REMOTE_TAG
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index ac54967f88..daf7cec32b 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -83,7 +83,7 @@ class Plant:
 
     lead = log.RadarState.LeadData.new_message()
     lead.dRel = float(d_rel)
-    lead.yRel = float(0.0)
+    lead.yRel = 0.0
     lead.vRel = float(v_rel)
     lead.aRel = float(a_lead - self.acceleration)
     lead.vLead = float(v_lead)
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 152f281948..c8d0504def 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -14,6 +14,7 @@ def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False,
   msgs = migrate_carParams(msgs, old_logtime)
   msgs = migrate_gpsLocation(msgs)
   msgs = migrate_deviceState(msgs)
+  msgs = migrate_carOutput(msgs)
   if manager_states:
     msgs = migrate_managerState(msgs)
   if panda_states:
@@ -69,6 +70,23 @@ def migrate_deviceState(lr):
   return all_msgs
 
 
+def migrate_carOutput(lr):
+  # migration needed only for routes before carOutput
+  if any(msg.which() == 'carOutput' for msg in lr):
+    return lr
+
+  all_msgs = []
+  for msg in lr:
+    if msg.which() == 'carControl':
+      co = messaging.new_message('carOutput')
+      co.valid = msg.valid
+      co.logMonoTime = msg.logMonoTime
+      co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
+      all_msgs.append(co.as_reader())
+    all_msgs.append(msg)
+  return all_msgs
+
+
 def migrate_pandaStates(lr):
   all_msgs = []
   # TODO: safety param migration should be handled automatically
@@ -183,9 +201,7 @@ def migrate_carParams(lr, old_logtime=False):
   all_msgs = []
   for msg in lr:
     if msg.which() == 'carParams':
-      CP = messaging.new_message('carParams')
-      CP.valid = True
-      CP.carParams = msg.carParams.as_builder()
+      CP = msg.as_builder()
       CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
       for car_fw in CP.carParams.carFw:
         car_fw.brand = CP.carParams.carName
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index f55f2c4e2a..fd1d753467 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -317,12 +317,12 @@ class ProcessContainer:
     return output_msgs
 
 
-def controlsd_fingerprint_callback(rc, pm, msgs, fingerprint):
+def card_fingerprint_callback(rc, pm, msgs, fingerprint):
   print("start fingerprinting")
   params = Params()
   canmsgs = [msg for msg in msgs if msg.which() == "can"][:300]
 
-  # controlsd expects one arbitrary can and pandaState
+  # card expects one arbitrary can and pandaState
   rc.send_sync(pm, "can", messaging.new_message("can", 1))
   pm.send("pandaStates", messaging.new_message("pandaStates", 1))
   rc.send_sync(pm, "can", messaging.new_message("can", 1))
@@ -356,12 +356,20 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
     for m in canmsgs[:300]:
       can.send(m.as_builder().to_bytes())
     _, CP = get_car(can, sendcan, Params().get_bool("ExperimentalLongitudinalEnabled"))
+
+    if not params.get_bool("DisengageOnAccelerator"):
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
+
   params.put("CarParams", CP.to_bytes())
   return CP
 
 
 def controlsd_rcv_callback(msg, cfg, frame):
-  # no sendcan until controlsd is initialized
+  return (frame - 1) == 0 or msg.which() == 'carState'
+
+
+def card_rcv_callback(msg, cfg, frame):
+  # no sendcan until card is initialized
   if msg.which() != "can":
     return False
 
@@ -461,18 +469,28 @@ CONFIGS = [
   ProcessConfig(
     proc_name="controlsd",
     pubs=[
-      "can", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
+      "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
       "longitudinalPlan", "liveLocationKalman", "liveParameters", "radarState",
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
-      "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope"
+      "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput"
     ],
-    subs=["controlsState", "carState", "carControl", "carOutput", "sendcan", "onroadEvents", "carParams"],
+    subs=["controlsState", "carControl", "onroadEvents"],
     ignore=["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"],
     config_callback=controlsd_config_callback,
-    init_callback=controlsd_fingerprint_callback,
+    init_callback=get_car_params_callback,
     should_recv_callback=controlsd_rcv_callback,
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
+  ),
+  ProcessConfig(
+    proc_name="card",
+    pubs=["pandaStates", "carControl", "onroadEvents", "can"],
+    subs=["sendcan", "carState", "carParams", "carOutput"],
+    ignore=["logMonoTime", "carState.cumLagMs"],
+    init_callback=card_fingerprint_callback,
+    should_recv_callback=card_rcv_callback,
+    tolerance=NUMPY_TOLERANCE,
+    processing_time=0.004,
     main_pub="can",
   ),
   ProcessConfig(
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 2af30b5b47..dc7e59b54f 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-cc4e23ca0fceb300a3048c187ae9bc793794c095
\ No newline at end of file
+c84b55c256ccb0ee042643a8a7f7f4dc429ff157
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py
index d295092b20..6bcc94911f 100755
--- a/selfdrive/test/process_replay/test_fuzzy.py
+++ b/selfdrive/test/process_replay/test_fuzzy.py
@@ -12,7 +12,7 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr
 # These processes currently fail because of unrealistic data breaking assumptions
 # that openpilot makes causing error with NaN, inf, int size, array indexing ...
 # TODO: Make each one testable
-NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld']
+NOT_TESTED = ['controlsd', 'card', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld']
 
 TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
 
diff --git a/selfdrive/test/process_replay/test_imgproc.py b/selfdrive/test/process_replay/test_imgproc.py
index a980548baa..036f21b9e5 100755
--- a/selfdrive/test/process_replay/test_imgproc.py
+++ b/selfdrive/test/process_replay/test_imgproc.py
@@ -93,7 +93,7 @@ if __name__ == "__main__":
 
   if pix_hash != ref_hash:
     print("result changed! please check kernel")
-    print("ref: %s" % ref_hash)
-    print("new: %s" % pix_hash)
+    print(f"ref: {ref_hash}")
+    print(f"new: {pix_hash}")
   else:
     print("test passed")
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index b3dcbb03db..c0a425b599 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -41,23 +41,23 @@ source_segments = [
 ]
 
 segments = [
-  ("BODY", "regen02ECB79BACC|2024-05-18--04-29-29--0"),
-  ("HYUNDAI", "regen845DC1916E6|2024-05-18--04-30-52--0"),
-  ("HYUNDAI2", "regenBAE0915FE22|2024-05-18--04-33-11--0"),
-  ("TOYOTA", "regen1108D19FC2E|2024-05-18--04-34-34--0"),
-  ("TOYOTA2", "regen846521F39C7|2024-05-18--04-35-58--0"),
-  ("TOYOTA3", "regen788C3623D11|2024-05-18--04-38-21--0"),
-  ("HONDA", "regenDE43F170E99|2024-05-18--04-39-47--0"),
-  ("HONDA2", "regen1EE0FA383C3|2024-05-18--04-41-12--0"),
-  ("CHRYSLER", "regen9C5A30F471C|2024-05-18--04-42-36--0"),
-  ("RAM", "regenCCA313D117D|2024-05-18--04-44-53--0"),
-  ("SUBARU", "regenA41511F882A|2024-05-18--04-47-14--0"),
-  ("GM", "regen9D7B9CE4A66|2024-05-18--04-48-36--0"),
-  ("GM2", "regen07CECA52D41|2024-05-18--04-50-55--0"),
-  ("NISSAN", "regen2D6B856D0AE|2024-05-18--04-52-17--0"),
-  ("VOLKSWAGEN", "regen2D3AC6A6F05|2024-05-18--04-53-41--0"),
-  ("MAZDA", "regen0D5A777DD16|2024-05-18--04-56-02--0"),
-  ("FORD", "regen235D0937965|2024-05-18--04-58-16--0"),
+  ("BODY", "regen29FD9FF7760|2024-05-21--06-58-51--0"),
+  ("HYUNDAI", "regen0B1B76A1C27|2024-05-21--06-57-53--0"),
+  ("HYUNDAI2", "regen3BB55FA5E20|2024-05-21--06-59-03--0"),
+  ("TOYOTA", "regenF6FB954C1E2|2024-05-21--06-57-53--0"),
+  ("TOYOTA2", "regen0AC637CE7BA|2024-05-21--06-57-54--0"),
+  ("TOYOTA3", "regenC7BE3FAE496|2024-05-21--06-59-01--0"),
+  ("HONDA", "regen58E9F8B695A|2024-05-21--06-57-55--0"),
+  ("HONDA2", "regen8695608EB15|2024-05-21--06-57-55--0"),
+  ("CHRYSLER", "regenB0F8C25C902|2024-05-21--06-59-47--0"),
+  ("RAM", "regenB3B2C7A105B|2024-05-21--07-00-47--0"),
+  ("SUBARU", "regen860FD736DCC|2024-05-21--07-00-50--0"),
+  ("GM", "regen8CB3048DEB9|2024-05-21--06-59-49--0"),
+  ("GM2", "regen379D446541D|2024-05-21--07-00-51--0"),
+  ("NISSAN", "regen24871108F80|2024-05-21--07-00-38--0"),
+  ("VOLKSWAGEN", "regenF390392F275|2024-05-21--07-00-52--0"),
+  ("MAZDA", "regenE5A36020581|2024-05-21--07-01-51--0"),
+  ("FORD", "regenDC288ED0D78|2024-05-21--07-02-18--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
@@ -109,7 +109,7 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
     if not check_openpilot_enabled(log_msgs):
       return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
 
-  if cfg.proc_name != 'ubloxd' or segment != 'regenBAE0915FE22|2024-05-18--04-33-11--0':
+  if cfg.proc_name != 'ubloxd' or segment != 'regen3BB55FA5E20|2024-05-21--06-59-03--0':
     seen_msgs = {m.which() for m in log_msgs}
     expected_msgs = set(cfg.subs)
     if seen_msgs != expected_msgs:
diff --git a/selfdrive/test/profiling/lib.py b/selfdrive/test/profiling/lib.py
index 7f3b0126ff..93ba215386 100644
--- a/selfdrive/test/profiling/lib.py
+++ b/selfdrive/test/profiling/lib.py
@@ -8,7 +8,7 @@ class ReplayDone(Exception):
   pass
 
 
-class SubSocket():
+class SubSocket:
   def __init__(self, msgs, trigger):
     self.i = 0
     self.trigger = trigger
@@ -28,7 +28,7 @@ class SubSocket():
       return msg
 
 
-class PubSocket():
+class PubSocket:
   def send(self, data):
     pass
 
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 9aca9afcd9..038bba7b2e 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -35,7 +35,8 @@ CPU usage budget
 MAX_TOTAL_CPU = 250.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
-  "selfdrive.controls.controlsd": 46.0,
+  "selfdrive.controls.controlsd": 32.0,
+  "selfdrive.car.card": 22.0,
   "./loggerd": 14.0,
   "./encoderd": 17.0,
   "./camerad": 14.5,
@@ -47,19 +48,19 @@ PROCS = {
   "selfdrive.controls.radard": 7.0,
   "selfdrive.modeld.modeld": 13.0,
   "selfdrive.modeld.dmonitoringmodeld": 8.0,
-  "selfdrive.thermald.thermald": 3.87,
+  "system.thermald.thermald": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
   "selfdrive.ui.soundd": 3.5,
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 1.54,
   "system.logmessaged": 0.2,
-  "selfdrive.tombstoned": 0,
+  "system.tombstoned": 0,
   "./logcatd": 0,
   "system.micd": 6.0,
   "system.timed": 0,
   "selfdrive.boardd.pandad": 0,
-  "selfdrive.statsd": 0.4,
+  "system.statsd": 0.4,
   "selfdrive.navd.navd": 0.4,
   "system.loggerd.uploader": (0.5, 15.0),
   "system.loggerd.deleter": 0.1,
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index e5309c9690..c4ddd17e25 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -57,26 +57,23 @@ void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, con
 void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
                       float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) {
   const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
-  QPolygonF left_points, right_points;
-  left_points.reserve(max_idx + 1);
-  right_points.reserve(max_idx + 1);
-
+  QPointF left, right;
+  pvd->clear();
   for (int i = 0; i <= max_idx; i++) {
     // highly negative x positions  are drawn above the frame and cause flickering, clip to zy plane of camera
     if (line_x[i] < 0) continue;
-    QPointF left, right;
+
     bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left);
     bool r = calib_frame_to_full_frame(s, line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right);
     if (l && r) {
       // For wider lines the drawn polygon will "invert" when going over a hill and cause artifacts
-      if (!allow_invert && left_points.size() && left.y() > left_points.back().y()) {
+      if (!allow_invert && pvd->size() && left.y() > pvd->back().y()) {
         continue;
       }
-      left_points.push_back(left);
-      right_points.push_front(right);
+      pvd->push_back(left);
+      pvd->push_front(right);
     }
   }
-  *pvd = left_points + right_points;
 }
 
 void update_model(UIState *s,
diff --git a/selfdrive/athena/__init__.py b/system/athena/__init__.py
similarity index 100%
rename from selfdrive/athena/__init__.py
rename to system/athena/__init__.py
diff --git a/selfdrive/athena/athenad.py b/system/athena/athenad.py
similarity index 100%
rename from selfdrive/athena/athenad.py
rename to system/athena/athenad.py
diff --git a/selfdrive/athena/manage_athenad.py b/system/athena/manage_athenad.py
similarity index 92%
rename from selfdrive/athena/manage_athenad.py
rename to system/athena/manage_athenad.py
index 2ec92cc3e0..853a7cd953 100755
--- a/selfdrive/athena/manage_athenad.py
+++ b/system/athena/manage_athenad.py
@@ -28,7 +28,7 @@ def main():
   try:
     while 1:
       cloudlog.info("starting athena daemon")
-      proc = Process(name='athenad', target=launcher, args=('selfdrive.athena.athenad', 'athenad'))
+      proc = Process(name='athenad', target=launcher, args=('system.athena.athenad', 'athenad'))
       proc.start()
       proc.join()
       cloudlog.event("athenad exited", exitcode=proc.exitcode)
diff --git a/selfdrive/athena/registration.py b/system/athena/registration.py
similarity index 100%
rename from selfdrive/athena/registration.py
rename to system/athena/registration.py
diff --git a/selfdrive/athena/tests/__init__.py b/system/athena/tests/__init__.py
similarity index 100%
rename from selfdrive/athena/tests/__init__.py
rename to system/athena/tests/__init__.py
diff --git a/selfdrive/athena/tests/helpers.py b/system/athena/tests/helpers.py
similarity index 95%
rename from selfdrive/athena/tests/helpers.py
rename to system/athena/tests/helpers.py
index 322e9d81dd..a0a9cccdc1 100644
--- a/selfdrive/athena/tests/helpers.py
+++ b/system/athena/tests/helpers.py
@@ -9,7 +9,7 @@ class MockResponse:
     self.status_code = status_code
 
 
-class EchoSocket():
+class EchoSocket:
   def __init__(self, port):
     self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
     self.socket.bind(('127.0.0.1', port))
@@ -34,7 +34,7 @@ class EchoSocket():
       self.socket.close()
 
 
-class MockApi():
+class MockApi:
   def __init__(self, dongle_id):
     pass
 
@@ -42,7 +42,7 @@ class MockApi():
     return "fake-token"
 
 
-class MockWebsocket():
+class MockWebsocket:
   sock = socket.socket()
 
   def __init__(self, recv_queue, send_queue):
diff --git a/selfdrive/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
similarity index 97%
rename from selfdrive/athena/tests/test_athenad.py
rename to system/athena/tests/test_athenad.py
index bdce3dccef..895cd8eb56 100755
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -19,9 +19,9 @@ from cereal import messaging
 
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
-from openpilot.selfdrive.athena import athenad
-from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
-from openpilot.selfdrive.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket
+from openpilot.system.athena import athenad
+from openpilot.system.athena.athenad import MAX_RETRY_COUNT, dispatcher
+from openpilot.system.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket
 from openpilot.selfdrive.test.helpers import http_server_context
 from openpilot.system.hardware.hw import Paths
 
@@ -50,7 +50,7 @@ def with_upload_handler(func):
 
 @pytest.fixture
 def mock_create_connection(mocker):
-    return mocker.patch('openpilot.selfdrive.athena.athenad.create_connection')
+    return mocker.patch('openpilot.system.athena.athenad.create_connection')
 
 @pytest.fixture
 def host():
diff --git a/selfdrive/athena/tests/test_athenad_ping.py b/system/athena/tests/test_athenad_ping.py
similarity index 95%
rename from selfdrive/athena/tests/test_athenad_ping.py
rename to system/athena/tests/test_athenad_ping.py
index 44fa0b8481..3152ca4271 100755
--- a/selfdrive/athena/tests/test_athenad_ping.py
+++ b/system/athena/tests/test_athenad_ping.py
@@ -7,7 +7,7 @@ from typing import cast
 
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
-from openpilot.selfdrive.athena import athenad
+from openpilot.system.athena import athenad
 from openpilot.selfdrive.manager.helpers import write_onroad_params
 from openpilot.system.hardware import TICI
 
@@ -59,7 +59,7 @@ class TestAthenadPing:
   def assertTimeout(self, reconnect_time: float, subtests, mocker) -> None:
     self.athenad.start()
 
-    mock_create_connection = mocker.patch('openpilot.selfdrive.athena.athenad.create_connection',
+    mock_create_connection = mocker.patch('openpilot.system.athena.athenad.create_connection',
                                           new_callable=lambda: mocker.MagicMock(wraps=athenad.create_connection))
 
     time.sleep(1)
diff --git a/selfdrive/athena/tests/test_registration.py b/system/athena/tests/test_registration.py
similarity index 80%
rename from selfdrive/athena/tests/test_registration.py
rename to system/athena/tests/test_registration.py
index a808dd5668..85c065c1bf 100755
--- a/selfdrive/athena/tests/test_registration.py
+++ b/system/athena/tests/test_registration.py
@@ -4,8 +4,8 @@ from Crypto.PublicKey import RSA
 from pathlib import Path
 
 from openpilot.common.params import Params
-from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
-from openpilot.selfdrive.athena.tests.helpers import MockResponse
+from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
+from openpilot.system.athena.tests.helpers import MockResponse
 from openpilot.system.hardware.hw import Paths
 
 
@@ -36,7 +36,7 @@ class TestRegistration:
     self.params.put("HardwareSerial", "serial")
     self._generate_keys()
 
-    m = mocker.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True)
+    m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True)
     dongle = "DONGLE_ID_123"
     self.params.put("DongleId", dongle)
     assert register() == dongle
@@ -44,7 +44,7 @@ class TestRegistration:
 
   def test_no_keys(self, mocker):
     # missing pubkey
-    m = mocker.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True)
+    m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True)
     dongle = register()
     assert m.call_count == 0
     assert dongle == UNREGISTERED_DONGLE_ID
@@ -53,7 +53,7 @@ class TestRegistration:
   def test_missing_cache(self, mocker):
     # keys exist but no dongle id
     self._generate_keys()
-    m = mocker.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True)
+    m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True)
     dongle = "DONGLE_ID_123"
     m.return_value = MockResponse(json.dumps({'dongle_id': dongle}), 200)
     assert register() == dongle
@@ -67,7 +67,7 @@ class TestRegistration:
   def test_unregistered(self, mocker):
     # keys exist, but unregistered
     self._generate_keys()
-    m = mocker.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True)
+    m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True)
     m.return_value = MockResponse(None, 402)
     dongle = register()
     assert m.call_count == 1
diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py
index e8a6d031c4..15fd997eb8 100644
--- a/system/loggerd/tests/loggerd_tests_common.py
+++ b/system/loggerd/tests/loggerd_tests_common.py
@@ -28,12 +28,12 @@ def create_random_file(file_path: Path, size_mb: float, lock: bool = False, uplo
   if upload_xattr is not None:
     setxattr(str(file_path), uploader.UPLOAD_ATTR_NAME, upload_xattr)
 
-class MockResponse():
+class MockResponse:
   def __init__(self, text, status_code):
     self.text = text
     self.status_code = status_code
 
-class MockApi():
+class MockApi:
   def __init__(self, dongle_id):
     pass
 
@@ -43,7 +43,7 @@ class MockApi():
   def get_token(self):
     return "fake-token"
 
-class MockApiIgnore():
+class MockApiIgnore:
   def __init__(self, dongle_id):
     pass
 
diff --git a/selfdrive/sentry.py b/system/sentry.py
similarity index 97%
rename from selfdrive/sentry.py
rename to system/sentry.py
index 204d9cab09..5f4772fa71 100644
--- a/selfdrive/sentry.py
+++ b/system/sentry.py
@@ -4,7 +4,7 @@ from enum import Enum
 from sentry_sdk.integrations.threading import ThreadingIntegration
 
 from openpilot.common.params import Params
-from openpilot.selfdrive.athena.registration import is_registered_device
+from openpilot.system.athena.registration import is_registered_device
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata, get_version
diff --git a/selfdrive/statsd.py b/system/statsd.py
similarity index 97%
rename from selfdrive/statsd.py
rename to system/statsd.py
index 2f9149b096..2b5a7bb3a7 100755
--- a/selfdrive/statsd.py
+++ b/system/statsd.py
@@ -4,7 +4,7 @@ import zmq
 import time
 from pathlib import Path
 from collections import defaultdict
-from datetime import datetime, timezone
+from datetime import datetime, UTC
 from typing import NoReturn
 
 from openpilot.common.params import Params
@@ -133,7 +133,7 @@ def main() -> NoReturn:
       # flush when started state changes or after FLUSH_TIME_S
       if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev):
         result = ""
-        current_time = datetime.utcnow().replace(tzinfo=timezone.utc)
+        current_time = datetime.utcnow().replace(tzinfo=UTC)
         tags['started'] = sm['deviceState'].started
 
         for key, value in gauges.items():
diff --git a/selfdrive/thermald/__init__.py b/system/thermald/__init__.py
similarity index 100%
rename from selfdrive/thermald/__init__.py
rename to system/thermald/__init__.py
diff --git a/selfdrive/thermald/fan_controller.py b/system/thermald/fan_controller.py
similarity index 100%
rename from selfdrive/thermald/fan_controller.py
rename to system/thermald/fan_controller.py
diff --git a/selfdrive/thermald/power_monitoring.py b/system/thermald/power_monitoring.py
similarity index 99%
rename from selfdrive/thermald/power_monitoring.py
rename to system/thermald/power_monitoring.py
index 073589edb7..5a94625b48 100644
--- a/selfdrive/thermald/power_monitoring.py
+++ b/system/thermald/power_monitoring.py
@@ -4,7 +4,7 @@ import threading
 from openpilot.common.params import Params
 from openpilot.system.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.statsd import statlog
+from openpilot.system.statsd import statlog
 
 CAR_VOLTAGE_LOW_PASS_K = 0.011 # LPF gain for 45s tau (dt/tau / (dt/tau + 1))
 
diff --git a/selfdrive/thermald/tests/__init__.py b/system/thermald/tests/__init__.py
similarity index 100%
rename from selfdrive/thermald/tests/__init__.py
rename to system/thermald/tests/__init__.py
diff --git a/selfdrive/thermald/tests/test_fan_controller.py b/system/thermald/tests/test_fan_controller.py
similarity index 96%
rename from selfdrive/thermald/tests/test_fan_controller.py
rename to system/thermald/tests/test_fan_controller.py
index c2b1a64509..5c858132a2 100755
--- a/selfdrive/thermald/tests/test_fan_controller.py
+++ b/system/thermald/tests/test_fan_controller.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import pytest
 
-from openpilot.selfdrive.thermald.fan_controller import TiciFanController
+from openpilot.system.thermald.fan_controller import TiciFanController
 
 ALL_CONTROLLERS = [TiciFanController]
 
diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/system/thermald/tests/test_power_monitoring.py
similarity index 96%
rename from selfdrive/thermald/tests/test_power_monitoring.py
rename to system/thermald/tests/test_power_monitoring.py
index f68191475b..0795a29c8f 100755
--- a/selfdrive/thermald/tests/test_power_monitoring.py
+++ b/system/thermald/tests/test_power_monitoring.py
@@ -2,7 +2,7 @@
 import pytest
 
 from openpilot.common.params import Params
-from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
+from openpilot.system.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
                                                 CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S
 
 # Create fake time
@@ -18,9 +18,9 @@ VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3
 
 def pm_patch(mocker, name, value, constant=False):
   if constant:
-    mocker.patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", value)
+    mocker.patch(f"openpilot.system.thermald.power_monitoring.{name}", value)
   else:
-    mocker.patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", return_value=value)
+    mocker.patch(f"openpilot.system.thermald.power_monitoring.{name}", return_value=value)
 
 
 @pytest.fixture(autouse=True)
diff --git a/selfdrive/thermald/thermald.py b/system/thermald/thermald.py
similarity index 98%
rename from selfdrive/thermald/thermald.py
rename to system/thermald/thermald.py
index f5fc949637..90f6494a26 100755
--- a/selfdrive/thermald/thermald.py
+++ b/system/thermald/thermald.py
@@ -19,10 +19,10 @@ from openpilot.common.realtime import DT_TRML
 from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
 from openpilot.system.hardware import HARDWARE, TICI, AGNOS
 from openpilot.system.loggerd.config import get_available_percent
-from openpilot.selfdrive.statsd import statlog
+from openpilot.system.statsd import statlog
 from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring
-from openpilot.selfdrive.thermald.fan_controller import TiciFanController
+from openpilot.system.thermald.power_monitoring import PowerMonitoring
+from openpilot.system.thermald.fan_controller import TiciFanController
 from openpilot.system.version import terms_version, training_version
 
 ThermalStatus = log.DeviceState.ThermalStatus
diff --git a/selfdrive/tombstoned.py b/system/tombstoned.py
similarity index 99%
rename from selfdrive/tombstoned.py
rename to system/tombstoned.py
index 2c99c7eafe..5bcced2666 100755
--- a/selfdrive/tombstoned.py
+++ b/system/tombstoned.py
@@ -9,7 +9,7 @@ import time
 import glob
 from typing import NoReturn
 
-import openpilot.selfdrive.sentry as sentry
+import openpilot.system.sentry as sentry
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata
diff --git a/system/ubloxd/pigeond.py b/system/ubloxd/pigeond.py
index 21b3a86f97..5711992cfb 100755
--- a/system/ubloxd/pigeond.py
+++ b/system/ubloxd/pigeond.py
@@ -61,7 +61,7 @@ def get_assistnow_messages(token: bytes) -> list[bytes]:
   return msgs
 
 
-class TTYPigeon():
+class TTYPigeon:
   def __init__(self):
     self.tty = serial.VTIMESerial(UBLOX_TTY, baudrate=9600, timeout=0)
 
diff --git a/system/updated/casync/tar.py b/system/updated/casync/tar.py
index 5c547e73a2..a5a8238bba 100644
--- a/system/updated/casync/tar.py
+++ b/system/updated/casync/tar.py
@@ -1,6 +1,7 @@
 import pathlib
 import tarfile
-from typing import IO, Callable
+from typing import IO
+from collections.abc import Callable
 
 
 def include_default(_) -> bool:
diff --git a/system/version.py b/system/version.py
index f5b8cd49e8..d258fe0492 100755
--- a/system/version.py
+++ b/system/version.py
@@ -27,7 +27,7 @@ def get_version(path: str = BASEDIR) -> str:
 
 
 def get_release_notes(path: str = BASEDIR) -> str:
-  with open(os.path.join(path, "RELEASES.md"), "r") as f:
+  with open(os.path.join(path, "RELEASES.md")) as f:
     return f.read().split('\n\n', 1)[0]
 
 
diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py
index 684c7cf359..b0bc7b1966 100755
--- a/system/webrtc/tests/test_webrtcd.py
+++ b/system/webrtc/tests/test_webrtcd.py
@@ -20,7 +20,7 @@ from parameterized import parameterized_class
   ([], []),
 ])
 @pytest.mark.asyncio
-class TestWebrtcdProc():
+class TestWebrtcdProc:
   async def assertCompletesWithTimeout(self, awaitable, timeout=1):
     try:
       async with asyncio.timeout(timeout):
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 51c86aacc6..76c3cd8470 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -97,8 +97,8 @@ class CerealProxyRunner:
       except InvalidStateError:
         self.logger.warning("Cereal outgoing proxy invalid state (connection closed)")
         break
-      except Exception as ex:
-        self.logger.error("Cereal outgoing proxy failure: %s", ex)
+      except Exception:
+        self.logger.exception("Cereal outgoing proxy failure")
       await asyncio.sleep(0.01)
 
 
@@ -175,8 +175,8 @@ class StreamSession:
     assert self.incoming_bridge is not None
     try:
       self.incoming_bridge.send(message)
-    except Exception as ex:
-      self.logger.error("Cereal incoming proxy failure: %s", ex)
+    except Exception:
+      self.logger.exception("Cereal incoming proxy failure")
 
   async def run(self):
     try:
@@ -200,8 +200,8 @@ class StreamSession:
       await self.post_run_cleanup()
 
       self.logger.info("Stream session (%s) ended", self.identifier)
-    except Exception as ex:
-      self.logger.error("Stream session failure: %s", ex)
+    except Exception:
+      self.logger.exception("Stream session failure")
 
   async def post_run_cleanup(self):
     await self.stream.stop()
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 72402b3bf7..1f8ef24eaf 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -12,24 +12,16 @@ if [[ ! $(id -u) -eq 0 ]]; then
   SUDO="sudo"
 fi
 
-# Install packages present in all supported versions of Ubuntu
+# Install common packages
 function install_ubuntu_common_requirements() {
   $SUDO apt-get update
   $SUDO apt-get install -y --no-install-recommends \
-    autoconf \
-    build-essential \
     ca-certificates \
-    casync \
     clang \
-    cmake \
-    make \
     cppcheck \
-    libtool \
+    build-essential \
     gcc-arm-none-eabi \
-    bzip2 \
     liblzma-dev \
-    libarchive-dev \
-    libbz2-dev \
     capnproto \
     libcapnp-dev \
     curl \
@@ -42,41 +34,53 @@ function install_ubuntu_common_requirements() {
     libavdevice-dev \
     libavutil-dev \
     libavfilter-dev \
+    libbz2-dev \
     libeigen3-dev \
     libffi-dev \
     libglew-dev \
     libgles2-mesa-dev \
     libglfw3-dev \
     libglib2.0-0 \
+    libqt5charts5-dev \
     libncurses5-dev \
-    libncursesw5-dev \
-    libomp-dev \
-    libpng16-16 \
-    libportaudio2 \
     libssl-dev \
-    libsqlite3-dev \
     libusb-1.0-0-dev \
     libzmq3-dev \
+    libsqlite3-dev \
     libsystemd-dev \
     locales \
     opencl-headers \
     ocl-icd-libopencl1 \
     ocl-icd-opencl-dev \
-    clinfo \
     portaudio19-dev \
-    qml-module-qtquick2 \
     qtmultimedia5-dev \
     qtlocation5-dev \
     qtpositioning5-dev \
     qttools5-dev-tools \
-    libqt5sql5-sqlite \
     libqt5svg5-dev \
-    libqt5charts5-dev \
     libqt5serialbus5-dev  \
     libqt5x11extras5-dev \
-    libqt5opengl5-dev \
+    libqt5opengl5-dev
+}
+
+# Install extra packages
+function install_extra_packages() {
+  echo "Installing extra packages..."
+  $SUDO apt-get install -y --no-install-recommends \
+    casync \
+    cmake \
+    make \
+    clinfo \
+    libqt5sql5-sqlite \
     libreadline-dev \
-    libdw1
+    libdw1 \
+    autoconf \
+    libtool \
+    bzip2 \
+    libarchive-dev \
+    libncursesw5-dev \
+    libportaudio2 \
+    locales
 }
 
 # Install Ubuntu 24.04 LTS packages
@@ -125,7 +129,19 @@ if [ -f "/etc/os-release" ]; then
         install_ubuntu_lts_latest_requirements
       fi
   esac
+
+  # Install extra packages
+  if [[ -z "$INSTALL_EXTRA_PACKAGES" ]]; then
+    read -p "Base setup done. Do you want to install extra development packages? [Y/n]: " -n 1 -r
+    echo ""
+    if [[ $REPLY =~ ^[Yy]$ ]]; then
+      INSTALL_EXTRA_PACKAGES="yes"
+    fi
+  fi
+  if [[ "$INSTALL_EXTRA_PACKAGES" == "yes" ]]; then
+    install_extra_packages
+  fi
 else
-  echo "No /etc/os-release in the system"
+  echo "No /etc/os-release in the system. Make sure you're running on Ubuntu, or similar."
   exit 1
 fi
diff --git a/tools/lib/api.py b/tools/lib/api.py
index 6ff9242f29..92a75d2a3b 100644
--- a/tools/lib/api.py
+++ b/tools/lib/api.py
@@ -2,7 +2,7 @@ import os
 import requests
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
-class CommaApi():
+class CommaApi:
   def __init__(self, token=None):
     self.session = requests.Session()
     self.session.headers['User-agent'] = 'OpenpilotTools'
diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py
index b53f4524a0..37bae63780 100755
--- a/tools/sim/tests/test_metadrive_bridge.py
+++ b/tools/sim/tests/test_metadrive_bridge.py
@@ -8,6 +8,7 @@ from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridg
 from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase
 
 @pytest.mark.slow
+@pytest.mark.filterwarnings("ignore::pyopencl.CompilerWarning") # Unimportant warning of non-empty compile log
 class TestMetaDriveBridge(TestSimBridgeBase):
   def create_bridge(self):
     return MetaDriveBridge(False, False)