diff --git a/.github/labeler.yaml b/.github/labeler.yaml
new file mode 100644
index 0000000000..94bc9074cd
--- /dev/null
+++ b/.github/labeler.yaml
@@ -0,0 +1,42 @@
+CI / testing:
+  - all: ['.github/**']
+  - all: ['**/test_*']
+
+car: 
+  - all: ['selfdrive/car/**']
+
+body:
+  - all: ['selfdrive/car/body/*']
+chrysler:
+  - all: ['selfdrive/car/chrysler/*']
+ford: 
+  - all: ['selfdrive/car/ford/*']
+gm: 
+  - all: ['selfdrive/car/gm/*']
+honda: 
+  - all: ['selfdrive/car/honda/*']
+hyundai: 
+  - all: ['selfdrive/car/hyundai/*']
+mazda: 
+  - all: ['selfdrive/car/mazda/*']
+nissan: 
+  - all: ['selfdrive/car/nissan/*']
+subaru: 
+  - all: ['selfdrive/car/subaru/*']
+tesla: 
+  - all: ['selfdrive/car/tesla/*']
+toyota: 
+  - all: ['selfdrive/car/toyota/*']
+volkswagen: 
+  - all: ['selfdrive/car/volkswagen/*']
+
+simulation:
+  - all: ['tools/sim/**']
+ui:
+  - all: ['selfdrive/ui/**']
+tools: 
+  - all: ['tools/**']
+
+multilanguage:
+  - all: ['selfdrive/ui/translations/**']
+
diff --git a/.github/workflows/compile-openpilot/action.yaml b/.github/workflows/compile-openpilot/action.yaml
new file mode 100644
index 0000000000..8775c96262
--- /dev/null
+++ b/.github/workflows/compile-openpilot/action.yaml
@@ -0,0 +1,27 @@
+name: 'compile openpilot'
+
+inputs:
+  cache_key_prefix:
+    description: 'Prefix for caching key'
+    required: false
+    default: 'scons'
+
+runs:
+  using: "composite"
+  steps:
+    - shell: bash
+      name: Build openpilot with all flags
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+        ${{ env.RUN }} "release/check-dirty.sh"
+    - shell: bash
+      name: Cleanup scons cache and rebuild
+      run: |
+          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
+                          scons -j$(nproc) --cache-populate"
+    - name: Save scons cache
+      uses: actions/cache/save@v3
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: .ci_cache/scons_cache
+        key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
diff --git a/.github/workflows/labeler.yaml b/.github/workflows/labeler.yaml
new file mode 100644
index 0000000000..7c91b1591c
--- /dev/null
+++ b/.github/workflows/labeler.yaml
@@ -0,0 +1,18 @@
+name: "Pull Request Labeler"
+on:
+  pull_request_target:
+
+jobs:
+  labeler:
+    permissions:
+      contents: read
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: false
+    - uses: actions/labeler@v4
+      with:
+        dot: true
+        configuration-path: .github/labeler.yaml
\ No newline at end of file
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 3644062268..bce0d553ea 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -67,30 +67,22 @@ jobs:
         cd $STRIPPED_DIR
         ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
 
-  build_all:
-    name: build all
-    runs-on: ubuntu-20.04
+  build:
+    strategy:
+      matrix:
+        arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot with all flags
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 12 || 30) }} # allow more time when we missed the scons cache
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - name: Cleanup scons cache and rebuild
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 2 || 30) }} # allow more time when we missed the scons cache
-      run: |
-          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
-                          scons -j$(nproc) --cache-populate"
-    - name: Save scons cache
-      uses: actions/cache/save@v3
-      if: github.ref == 'refs/heads/master'
       with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        cache_key_prefix: scons_${{ matrix.arch }}
+    - uses: ./.github/workflows/compile-openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
+      with:
+        cache_key_prefix: scons_${{ matrix.arch }}
 
   build_mac:
     name: build macos
@@ -185,8 +177,10 @@ jobs:
         sudo rm -rf /Applications/ArmGNUToolchain/*/*/.fseventsd
 
   docker_push:
-    name: docker push
-    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }}
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v3
@@ -195,14 +189,34 @@ jobs:
     - name: Setup to push to repo
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
+        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
     - uses: ./.github/workflows/setup-with-retry
       with:
         git-lfs: false
     - name: Build and push CL Docker image
+      if: matrix.arch == 'x86_64'
       run: |
+        unset TARGET_ARCHITECTURE
         eval "$BUILD_CL"
 
+  docker_push_multiarch:
+    name: docker push multiarch tag
+    runs-on: ubuntu-20.04
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+    needs: [docker_push]
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: false
+    - name: Setup docker
+      run: |
+        $DOCKER_LOGIN
+    - name: Merge x64 and arm64 tags
+      run: |
+        export PUSH_IMAGE=true
+        selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
+
   static_analysis:
     name: static analysis
     runs-on: ubuntu-20.04
diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml
index 427b5a45ac..846d8bbaf0 100644
--- a/.github/workflows/setup-with-retry/action.yaml
+++ b/.github/workflows/setup-with-retry/action.yaml
@@ -5,6 +5,10 @@ inputs:
     description: 'Whether or not to pull the git lfs'
     required: false
     default: 'true'
+  cache_key_prefix:
+    description: 'Prefix for caching key'
+    required: false
+    default: 'scons_x86_64'
 
 env:
   SLEEP_TIME: 30 # Time to sleep between retries
@@ -17,6 +21,7 @@ runs:
       continue-on-error: true
       with:
         git_lfs: ${{ inputs.git_lfs }}
+        cache_key_prefix: ${{ inputs.cache_key_prefix }}
         is_retried: true
     - if: steps.setup1.outcome == 'failure'
       shell: bash
@@ -27,6 +32,7 @@ runs:
       continue-on-error: true
       with:
         git_lfs: ${{ inputs.git_lfs }}
+        cache_key_prefix: ${{ inputs.cache_key_prefix }}
         is_retried: true
     - if: steps.setup2.outcome == 'failure'
       shell: bash
@@ -36,4 +42,5 @@ runs:
       uses: ./.github/workflows/setup
       with:
         git_lfs: ${{ inputs.git_lfs }}
-        is_retried: true
\ No newline at end of file
+        cache_key_prefix: ${{ inputs.cache_key_prefix }}
+        is_retried: true
diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
index 74b82f9158..eebc376346 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -5,6 +5,10 @@ inputs:
     description: 'Whether or not to pull the git lfs'
     required: false
     default: 'true'
+  cache_key_prefix:
+    description: 'Prefix for caching key'
+    required: false
+    default: 'scons_x86_64'
   is_retried:
     description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
     required: false
@@ -35,10 +39,10 @@ runs:
       uses: actions/cache/restore@v3
       with:
         path: .ci_cache/scons_cache
-        key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |
-          scons-${{ env.CACHE_COMMIT_DATE }}-
-          scons-
+          ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-
+          ${{ inputs.cache_key_prefix }}-
     # if we didn't get a cache hit, make the directory manually so it doesn't fail on future steps
     - id: scons-cache-setup
       shell: bash
diff --git a/Jenkinsfile b/Jenkinsfile
index 08dc33dd8c..176c82bcc9 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -1,4 +1,4 @@
-def phone(String ip, String step_label, String cmd) {
+def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
 ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
@@ -51,226 +51,186 @@ END"""
   }
 }
 
-def phone_steps(String device_type, steps) {
-  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-    timeout(time: 20, unit: 'MINUTES') {
-      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
-      steps.each { item ->
-        phone(device_ip, item[0], item[1])
-      }
+def deviceStage(String stageName, String deviceType, List env, def steps) {
+  stage(stageName) {
+    if (currentBuild.result != null) {
+        return
     }
-  }
-}
 
-pipeline {
-  agent none
-  environment {
-    CI = "1"
-    PYTHONWARNINGS = "error"
-    TEST_DIR = "/data/openpilot"
-    SOURCE_DIR = "/data/openpilot_source/"
-    AZURE_TOKEN = credentials('azure_token')
-    MAPBOX_TOKEN = credentials('mapbox_token')
-  }
-  options {
-    timeout(time: 3, unit: 'HOURS')
-    disableConcurrentBuilds(abortPrevious: env.BRANCH_NAME != 'master')
-  }
+    def extra = env.collect { "export ${it}" }.join('\n');
 
-  stages {
-    stage('build release3-staging') {
-      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-      when {
-        branch 'devel-staging'
-      }
-      steps {
-        phone_steps("tici-needs-can", [
-          ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
-        ])
+    docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
+      lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+        timeout(time: 20, unit: 'MINUTES') {
+          device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
+          steps.each { item ->
+            device(device_ip, item[0], item[1])
+          }
+        }
       }
     }
+  }
+}
 
-    stage('build nightly') {
-      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-      when {
-        branch 'master-ci'
-      }
-      steps {
-        phone_steps("tici-needs-can", [
-          ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
-        ])
-      }
+def pcStage(String stageName, Closure body) {
+  node {
+  stage(stageName) {
+    if (currentBuild.result != null) {
+        return
     }
 
-    stage('openpilot tests') {
-      when {
-        not {
-          anyOf {
-            branch 'master-ci'; branch 'devel'; branch 'devel-staging';
-            branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
-            branch 'testing-closet*'; branch 'hotfix-*'
-          }
+    checkout scm
+
+    def dockerArgs = '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache';
+    docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .").inside(dockerArgs) {
+      timeout(time: 20, unit: 'MINUTES') {
+        try {
+          sh "git config --global --add safe.directory '*'"
+          sh "git submodule update --init --recursive"
+          sh "git lfs pull"
+          body()
+        } finally {
+          sh "rm -rf ${env.WORKSPACE}/* || true"
+          sh "rm -rf .* || true"
         }
       }
+    }
+  }
+  }
+}
 
-      parallel {
-
-        /*
-        stage('simulator') {
-          agent {
-            dockerfile {
-              filename 'Dockerfile.sim_nvidia'
-              dir 'tools/sim'
-              args '--user=root'
-            }
-          }
-          steps {
-            sh "git config --global --add safe.directory '*'"
-            sh "git submodule update --init --recursive"
-            sh "git lfs pull"
-            lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
-              sh "${WORKSPACE}/tools/sim/build_container.sh"
-              sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh"
-              sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh"
-            }
-          }
+def setupCredentials() {
+  withCredentials([
+    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
+    string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
+  ]) {
+    env.AZURE_TOKEN = "${AZURE_TOKEN}"
+    env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
+  }
+}
 
-          post {
-            always {
-              sh "docker kill carla_sim || true"
-              sh "rm -rf ${WORKSPACE}/* || true"
-              sh "rm -rf .* || true"
-            }
-          }
-        }
-        */
+node {
+  env.CI = "1"
+  env.PYTHONWARNINGS = "error"
+  env.TEST_DIR = "/data/openpilot"
+  env.SOURCE_DIR = "/data/openpilot_source/"
+  setupCredentials()
 
-        stage('PC tests') {
-          agent {
-            dockerfile {
-              filename 'Dockerfile.openpilot_base'
-              args '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache'
-            }
-          }
-          steps {
-            sh "git config --global --add safe.directory '*'"
-            sh "git submodule update --init --depth=1 --recursive"
-            sh "git lfs pull"
-            // tests that our build system's dependencies are configured properly, needs a machine with lots of cores
-            sh "scons --clean && scons --no-cache --random -j42"
-            sh "INTERNAL_SEG_CNT=500 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
-                pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py"
-            sh "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py"
-          }
+  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
+  env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
-          post {
-            always {
-              sh "rm -rf ${WORKSPACE}/* || true"
-              sh "rm -rf .* || true"
-            }
-          }
-        }
+  def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
+                         'dashcam3', 'dashcam3-staging', 'testing-closet*', 'hotfix-*']
+  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
-        stage('tizi-tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tizi", [
-              ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
-              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
-              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
-              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-              ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
-              ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
-              ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
-            ])
-          }
-        }
-
-        stage('build') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          environment {
-            R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
-          }
-          steps {
-            phone_steps("tici-needs-can", [
-              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"],
-              ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["check dirty", "release/check-dirty.sh"],
-              ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-              ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
-            ])
-          }
-        }
-
-        stage('loopback-tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-loopback", [
-              ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
-            ])
-          }
-        }
+  if (env.BRANCH_NAME != 'master') {
+    properties([
+        disableConcurrentBuilds(abortPrevious: true)
+    ])
+  }
 
-        stage('HW + Unit Tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-common", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
-              ["test power draw", "./system/hardware/tici/tests/test_power_draw.py"],
-              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
-              ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
-              ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
-              ["test nav", "pytest selfdrive/navd/tests/"],
-            ])
-          }
-        }
+  try {
+    if (env.BRANCH_NAME == 'devel-staging') {
+      deviceStage("build release3-staging", "tici-needs-can", [], [
+        ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
+      ])
+    }
 
-        stage('camerad') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-ar0231", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-            ])
-            phone_steps("tici-ox03c10", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-            ])
-          }
-        }
+    if (env.BRANCH_NAME == 'master-ci') {
+      deviceStage("build nightly", "tici-needs-can", [], [
+        ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
+      ])
+    }
 
-        stage('sensord') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-lsmc", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
-            ])
-            phone_steps("tici-bmx-lsm", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
-            ])
-          }
+    if (!env.BRANCH_NAME.matches(excludeRegex)) {
+    parallel (
+      // tici tests
+      'onroad tests': {
+        deviceStage("onroad", "tici-needs-can", ["SKIP_COPY=1"], [
+          ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"],
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["check dirty", "release/check-dirty.sh"],
+          ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+          ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
+        ])
+      },
+      'HW + Unit Tests': {
+        deviceStage("tici", "tici-common", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test power draw", "./system/hardware/tici/tests/test_power_draw.py"],
+          ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
+          ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
+          ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
+          ["test nav", "pytest selfdrive/navd/tests/"],
+        ])
+      },
+      'loopback': {
+        deviceStage("tici", "tici-loopback", ["UNSAFE=1"], [
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+        ])
+      },
+      'camerad': {
+        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+        ])
+        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+        ])
+      },
+      'sensord': {
+        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
+        ])
+        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
+        ])
+      },
+      'replay': {
+        deviceStage("tici", "tici-replay", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+        ])
+      },
+      'tizi': {
+        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
+          ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
+          ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
+        ])
+      },
+
+      // *** PC tests ***
+      'PC tests': {
+        pcStage("PC tests") {
+          // tests that our build system's dependencies are configured properly,
+          // needs a machine with lots of cores
+          sh label: "test multi-threaded build", script: "scons --no-cache --random -j42"
         }
-
-        stage('replay') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-replay", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
-            ])
-          }
+      },
+      'car tests': {
+        pcStage("car tests") {
+          sh "scons -j30"
+          sh label: "test_models.py", script: "INTERNAL_SEG_CNT=250 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
+              pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py"
+          sh label: "test_car_interfaces.py", script: "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py"
         }
+      },
 
-      }
+    )
     }
-
+  } catch (Exception e) {
+    currentBuild.result = 'FAILED'
+    throw e
   }
-}
+}
\ No newline at end of file
diff --git a/cereal b/cereal
index d469732b3b..7de568b659 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit d469732b3b4c37aaa21fa37682a20f2aba9ab91c
+Subproject commit 7de568b65922b1b7a5cb9a9a391e3e03394500f7
diff --git a/common/prefix.py b/common/prefix.py
index c49cf603df..6b7e7e2fd7 100644
--- a/common/prefix.py
+++ b/common/prefix.py
@@ -39,3 +39,5 @@ class OpenpilotPrefix:
       os.remove(symlink_path)
     shutil.rmtree(self.msgq_path, ignore_errors=True)
     shutil.rmtree(Paths.log_root(), ignore_errors=True)
+    shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
+    shutil.rmtree(Paths.comma_home(), ignore_errors=True)
diff --git a/common/tests/test_util.cc b/common/tests/test_util.cc
index 68fced19c2..de87fa3e06 100644
--- a/common/tests/test_util.cc
+++ b/common/tests/test_util.cc
@@ -38,7 +38,8 @@ TEST_CASE("util::read_file") {
     std::string content = random_bytes(64 * 1024);
     write(fd, content.c_str(), content.size());
     std::string ret = util::read_file(filename);
-    REQUIRE(ret == content);
+    bool equal = (ret == content);
+    REQUIRE(equal);
     close(fd);
   }
   SECTION("read directory") {
@@ -108,7 +109,8 @@ TEST_CASE("util::safe_fwrite") {
   REQUIRE(ret == 0);
   ret = fclose(f);
   REQUIRE(ret == 0);
-  REQUIRE(dat == util::read_file(filename));
+  bool equal = (dat == util::read_file(filename));
+  REQUIRE(equal);
 }
 
 TEST_CASE("util::create_directories") {
diff --git a/docs/CARS.md b/docs/CARS.md
index 365da46dab..775418427d 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -88,7 +88,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -109,7 +109,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Carnival 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2023">Buy Here</a></sub></details>||
+|Kia|Carnival 2023-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2023-24">Buy Here</a></sub></details>||
 |Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
 |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
 |Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
diff --git a/panda b/panda
index e9a0987617..8e8aa5acf6 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit e9a098761776896957fce61d632a221dcfb90ce6
+Subproject commit 8e8aa5acf6ab0e45d91e72beaab74e69810448cd
diff --git a/pyproject.toml b/pyproject.toml
index b4a795accc..5d4daadb15 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers"
+addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers --durations=10"
 python_files = "test_*.py"
 #timeout = "30"  # you get this long by default
 markers = [
diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py
index 39a9aaf627..11268913aa 100755
--- a/selfdrive/car/hyundai/tests/test_hyundai.py
+++ b/selfdrive/car/hyundai/tests/test_hyundai.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+from hypothesis import settings, given, strategies as st
 import unittest
 
 from cereal import car
@@ -66,6 +67,14 @@ class TestHyundaiFingerprint(unittest.TestCase):
           part = code.split(b"-")[1]
           self.assertFalse(part.startswith(b'CW'), "Car has bad part number")
 
+  @settings(max_examples=100)
+  @given(data=st.data())
+  def test_platform_codes_fuzzy_fw(self, data):
+    """Ensure function doesn't raise an exception"""
+    fw_strategy = st.lists(st.binary())
+    fws = data.draw(fw_strategy)
+    get_platform_codes(fws)
+
   # Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy
   # fingerprint in the absence of full FW matches:
   def test_platform_code_ecus_available(self):
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index d48d7f5e48..2b8bb763a2 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -260,7 +260,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
   ],
   CAR.KIA_CARNIVAL_4TH_GEN: [
-    HyundaiCarInfo("Kia Carnival 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    HyundaiCarInfo("Kia Carnival 2023-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
     HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
   ],
 
@@ -1924,6 +1924,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.06 99210-R0000 220221',
       b'\xf1\x00KA4CMFC  AT CHN LHD 1.00 1.01 99211-I4000 210525',
+      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.00 99210-R0100 230105',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00KA4_ SCC FHCUP      1.00 1.03 99110-R0000         ',
@@ -1979,7 +1980,7 @@ EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR
           CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
-LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_OPTIMA_G4,
+LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KIA_OPTIMA_G4,
                           CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022,
                           CAR.KIA_OPTIMA_H}
 
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 8299d15d52..4d99f594db 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -134,6 +134,7 @@ routes = [
   CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022),
   CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA),
   CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV),
+  CarTestRoute("f90d3cd06caeb6fa|2023-09-06--17-15-47", HYUNDAI.KONA_EV),  # openpilot longitudinal enabled
   CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11),
   CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.KONA_EV_2ND_GEN, segment=13),
   CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 0c970f5c75..787b5d6316 100755
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -87,9 +87,6 @@ class TestCarInterfaces(unittest.TestCase):
         self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0)
         self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0)
 
-      elif tune.which() == 'indi':
-        self.assertTrue(len(tune.indi.outerLoopGainV))
-
     cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
     # Run car interface
     now_nanos = 0
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 6cebdde77b..1b9e39f2f1 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -187,8 +187,6 @@ class TestCarModelBase(unittest.TestCase):
         self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
       elif tuning == 'torque':
         self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
-      elif tuning == 'indi':
-        self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
       else:
         raise Exception("unknown tuning")
 
diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py
index f51e2e9ae5..d494a7129b 100755
--- a/selfdrive/car/toyota/tests/test_toyota.py
+++ b/selfdrive/car/toyota/tests/test_toyota.py
@@ -10,8 +10,11 @@ from selfdrive.car.fw_versions import build_fw_dict
 from selfdrive.car.toyota.values import TSS2_CAR, ANGLE_CONTROL_CAR, FW_VERSIONS, FW_QUERY_CONFIG, EV_HYBRID_CAR, \
                                         LONG_FW_PATTERN, FW_LEN_CODE, get_platform_codes
 from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS
+from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS, \
+                                                  get_platform_codes
 
 Ecu = car.CarParams.Ecu
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
@@ -195,6 +198,21 @@ class TestToyotaFingerprint(unittest.TestCase):
 
     self.assertEqual(platforms_with_shared_codes, excluded_platforms, (len(platforms_with_shared_codes), len(FW_VERSIONS)))
 
+  @settings(max_examples=100)
+  @given(data=st.data())
+  def test_platform_codes_fuzzy_fw(self, data):
+    fw_strategy = st.lists(st.binary())
+    fws = data.draw(fw_strategy)
+    get_platform_codes(fws)
+
+  def test_fw_pattern(self):
+    """Asserts all ECUs can be parsed"""
+    for ecus in FW_VERSIONS.values():
+      for fws in ecus.values():
+        for fw in fws:
+          ret = get_platform_codes([fw])
+          self.assertTrue(len(ret))
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index ecd125cda8..09d3c69c07 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -358,11 +358,13 @@ SHORT_FW_PATTERN = re.compile(b'(?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0
 MEDIUM_FW_PATTERN = re.compile(b'(?P<part>[A-Z0-9]{5})(?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{1})(?P<sub_version>[A-Z0-9]{2})')
 LONG_FW_PATTERN = re.compile(b'(?P<part>[A-Z0-9]{5})(?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{2})(?P<sub_version>[A-Z0-9]{3})')
 FW_LEN_CODE = re.compile(b'^[\x01-\x05]')  # 5 chunks max. highest seen is 3 chunks, 16 bytes each
+FW_CHUNK_LEN = 16
 
 # List of ECUs expected to have platform codes
 # TODO: use hybrid ECU, splits many similar ICE and hybrid variants
 PLATFORM_CODE_ECUS = [Ecu.abs, Ecu.engine, Ecu.eps, Ecu.dsu, Ecu.fwdCamera, Ecu.fwdRadar]
 
+
 # Some ECUs that use KWP2000 have their FW versions on non-standard data identifiers.
 # Toyota diagnostic software first gets the supported data ids, then queries them one by one.
 # For example, sends: 0x1a8800, receives: 0x1a8800010203, queries: 0x1a8801, 0x1a8802, 0x1a8803
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index bb135071f2..6cfeabefd4 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -807,8 +807,6 @@ class Controls:
       controlsState.lateralControlState.pidState = lac_log
     elif lat_tuning == 'torque':
       controlsState.lateralControlState.torqueState = lac_log
-    elif lat_tuning == 'indi':
-      controlsState.lateralControlState.indiState = lac_log
 
     self.pm.send('controlsState', dat)
 
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 428fe7d0bf..63f3b2b97a 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -33,7 +33,7 @@ else:
   libs += ['OpenCL']
 
 # Set path definitions
-for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl', 'ONNXRUNNER': 'runners/onnx_runner.py'}.items():
+for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
   for xenv in (lenv, lenvCython):
     xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
 
@@ -43,13 +43,11 @@ snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
 snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
 
 cython_libs = envCython["LIBS"] + libs
-onnxmodel_lib = lenv.Library('onnxmodel', ['runners/onnxmodel.cc'])
 snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
 commonmodel_lib = lenv.Library('commonmodel', common_src)
 driving_lib = lenv.Library('driving', ['models/driving.cc'])
 
 lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
-lenvCython.Program('runners/onnxmodel_pyx.so', 'runners/onnxmodel_pyx.pyx', LIBS=[onnxmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
 lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
 lenvCython.Program('models/driving_pyx.so', 'models/driving_pyx.pyx', LIBS=[driving_lib, commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 0f9669258c..53c0af0ff3 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -61,11 +61,11 @@ class ModelState:
     assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
     self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32)
     self.inputs = {
-      'input_imgs': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8),
+      'input_img': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8),
       'calib': np.zeros(CALIB_LEN, dtype=np.float32)}
 
     self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None)
-    self.model.addInput("input_imgs", None)
+    self.model.addInput("input_img", None)
     self.model.addInput("calib", self.inputs['calib'])
 
   def run(self, buf:VisionBuf, calib:np.ndarray) -> Tuple[np.ndarray, float]:
@@ -74,11 +74,11 @@ class ModelState:
     v_offset = buf.height - MODEL_HEIGHT
     h_offset = (buf.width - MODEL_WIDTH) // 2
     buf_data = buf.data.reshape(-1, buf.stride)
-    input_data = self.inputs['input_imgs'].reshape(MODEL_HEIGHT, MODEL_WIDTH)
+    input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH)
     input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH]
 
     t1 = time.perf_counter()
-    self.model.setInputBuffer("input_imgs", self.inputs['input_imgs'].view(np.float32))
+    self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
     self.model.execute()
     t2 = time.perf_counter()
     return self.output, t2 - t1
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index ece706cfd9..3c416ce939 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -46,11 +46,11 @@ class ModelState:
     self.prev_desire = np.zeros(DESIRE_LEN, dtype=np.float32)
     self.output = np.zeros(NET_OUTPUT_SIZE, dtype=np.float32)
     self.inputs = {
-      'desire_pulse': np.zeros(DESIRE_LEN * (HISTORY_BUFFER_LEN+1), dtype=np.float32),
+      'desire': np.zeros(DESIRE_LEN * (HISTORY_BUFFER_LEN+1), dtype=np.float32),
       'traffic_convention': np.zeros(TRAFFIC_CONVENTION_LEN, dtype=np.float32),
       'nav_features': np.zeros(NAV_FEATURE_LEN, dtype=np.float32),
       'nav_instructions': np.zeros(NAV_INSTRUCTION_LEN, dtype=np.float32),
-      'feature_buffer': np.zeros(HISTORY_BUFFER_LEN * FEATURE_LEN, dtype=np.float32),
+      'features_buffer': np.zeros(HISTORY_BUFFER_LEN * FEATURE_LEN, dtype=np.float32),
     }
 
     self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context)
@@ -62,10 +62,10 @@ class ModelState:
   def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
                 inputs: Dict[str, np.ndarray], prepare_only: bool) -> Optional[np.ndarray]:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire_pulse'][0] = 0
-    self.inputs['desire_pulse'][:-DESIRE_LEN] = self.inputs['desire_pulse'][DESIRE_LEN:]
-    self.inputs['desire_pulse'][-DESIRE_LEN:] = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
-    self.prev_desire[:] = inputs['desire_pulse']
+    inputs['desire'][0] = 0
+    self.inputs['desire'][:-DESIRE_LEN] = self.inputs['desire'][DESIRE_LEN:]
+    self.inputs['desire'][-DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
+    self.prev_desire[:] = inputs['desire']
 
     self.inputs['traffic_convention'][:] = inputs['traffic_convention']
     self.inputs['nav_features'][:] = inputs['nav_features']
@@ -81,8 +81,8 @@ class ModelState:
       return None
 
     self.model.execute()
-    self.inputs['feature_buffer'][:-FEATURE_LEN] = self.inputs['feature_buffer'][FEATURE_LEN:]
-    self.inputs['feature_buffer'][-FEATURE_LEN:] = self.output[OUTPUT_SIZE:OUTPUT_SIZE+FEATURE_LEN]
+    self.inputs['features_buffer'][:-FEATURE_LEN] = self.inputs['features_buffer'][FEATURE_LEN:]
+    self.inputs['features_buffer'][-FEATURE_LEN:] = self.output[OUTPUT_SIZE:OUTPUT_SIZE+FEATURE_LEN]
     return self.output
 
 
@@ -232,7 +232,7 @@ def main():
       cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
 
     inputs:Dict[str, np.ndarray] = {
-      'desire_pulse': vec_desire,
+      'desire': vec_desire,
       'traffic_convention': traffic_convention,
       'driving_style': driving_style,
       'nav_features': nav_features,
diff --git a/selfdrive/modeld/navmodeld.py b/selfdrive/modeld/navmodeld.py
index 54f85f9ae8..f5dc51ed20 100755
--- a/selfdrive/modeld/navmodeld.py
+++ b/selfdrive/modeld/navmodeld.py
@@ -48,15 +48,15 @@ class ModelState:
   def __init__(self):
     assert ctypes.sizeof(NavModelResult) == NAV_OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
     self.output = np.zeros(NAV_OUTPUT_SIZE, dtype=np.float32)
-    self.inputs = {'map': np.zeros(NAV_INPUT_SIZE, dtype=np.uint8)}
+    self.inputs = {'input_img': np.zeros(NAV_INPUT_SIZE, dtype=np.uint8)}
     self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None)
-    self.model.addInput("map", None)
+    self.model.addInput("input_img", None)
 
   def run(self, buf:np.ndarray) -> Tuple[np.ndarray, float]:
-    self.inputs['map'][:] = buf
+    self.inputs['input_img'][:] = buf
 
     t1 = time.perf_counter()
-    self.model.setInputBuffer("map", self.inputs['map'].view(np.float32))
+    self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
     self.model.execute()
     t2 = time.perf_counter()
     return self.output, t2 - t1
diff --git a/selfdrive/modeld/runners/__init__.py b/selfdrive/modeld/runners/__init__.py
index 9193d63e2b..4c29bf3f1c 100644
--- a/selfdrive/modeld/runners/__init__.py
+++ b/selfdrive/modeld/runners/__init__.py
@@ -19,7 +19,7 @@ class ModelRunner(RunModel):
       from openpilot.selfdrive.modeld.runners.snpemodel_pyx import SNPEModel as Runner
       runner_type = ModelRunner.SNPE
     elif ModelRunner.ONNX in paths:
-      from openpilot.selfdrive.modeld.runners.onnxmodel_pyx import ONNXModel as Runner
+      from openpilot.selfdrive.modeld.runners.onnxmodel import ONNXModel as Runner
       runner_type = ModelRunner.ONNX
     else:
       raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path")
diff --git a/selfdrive/modeld/runners/onnx_runner.py b/selfdrive/modeld/runners/onnx_runner.py
deleted file mode 100755
index 9e53874578..0000000000
--- a/selfdrive/modeld/runners/onnx_runner.py
+++ /dev/null
@@ -1,78 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import sys
-import numpy as np
-from typing import Tuple, Dict, Union, Any
-
-os.environ["OMP_NUM_THREADS"] = "4"
-os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
-
-import onnxruntime as ort
-
-ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
-
-def read(sz, tf8=False):
-  dd = []
-  gt = 0
-  szof = 1 if tf8 else 4
-  while gt < sz * szof:
-    st = os.read(0, sz * szof - gt)
-    assert(len(st) > 0)
-    dd.append(st)
-    gt += len(st)
-  r = np.frombuffer(b''.join(dd), dtype=np.uint8 if tf8 else np.float32)
-  if tf8:
-    r = r / 255.
-  return r
-
-def write(d):
-  os.write(1, d.tobytes())
-
-def run_loop(m, tf8_input=False):
-  ishapes = [[1]+ii.shape[1:] for ii in m.get_inputs()]
-  keys = [x.name for x in m.get_inputs()]
-  itypes = [ORT_TYPES_TO_NP_TYPES[x.type] for x in m.get_inputs()]
-
-  # run once to initialize CUDA provider
-  if "CUDAExecutionProvider" in m.get_providers():
-    m.run(None, dict(zip(keys, [np.zeros(shp, dtype=itp) for shp, itp in zip(ishapes, itypes, strict=True)], strict=True)))
-
-  print("ready to run onnx model", keys, ishapes, file=sys.stderr)
-  while 1:
-    inputs = []
-    for k, shp, itp in zip(keys, ishapes, itypes, strict=True):
-      ts = np.product(shp)
-      #print("reshaping %s with offset %d" % (str(shp), offset), file=sys.stderr)
-      inputs.append(read(ts, (k=='input_img' and tf8_input)).reshape(shp).astype(itp))
-    ret = m.run(None, dict(zip(keys, inputs, strict=True)))
-    #print(ret, file=sys.stderr)
-    for r in ret:
-      write(r.astype(np.float32))
-
-
-if __name__ == "__main__":
-  print(sys.argv, file=sys.stderr)
-  print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
-  options = ort.SessionOptions()
-  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
-
-  provider: Union[str, Tuple[str, Dict[Any, Any]]]
-  if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    provider = 'OpenVINOExecutionProvider'
-  elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    options.intra_op_num_threads = 2
-    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'})
-  else:
-    options.intra_op_num_threads = 2
-    options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
-    options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
-    provider = 'CPUExecutionProvider'
-
-  try:
-    print("Onnx selected provider: ", [provider], file=sys.stderr)
-    ort_session = ort.InferenceSession(sys.argv[1], options, providers=[provider])
-    print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
-    run_loop(ort_session, tf8_input=("--use_tf8" in sys.argv))
-  except KeyboardInterrupt:
-    pass
diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc
deleted file mode 100644
index ebe6ad847c..0000000000
--- a/selfdrive/modeld/runners/onnxmodel.cc
+++ /dev/null
@@ -1,88 +0,0 @@
-#include "selfdrive/modeld/runners/onnxmodel.h"
-
-#include <csignal>
-#include <cstdio>
-#include <cstdlib>
-#include <poll.h>
-#include <unistd.h>
-
-#include "common/util.h"
-
-ONNXModel::ONNXModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) {
-  LOGD("loading model %s", path.c_str());
-
-  output = _output;
-  output_size = _output_size;
-  use_tf8 = _use_tf8;
-
-  int err = pipe(pipein);
-  assert(err == 0);
-  err = pipe(pipeout);
-  assert(err == 0);
-
-  std::string onnx_runner = ONNXRUNNER_PATH;
-  std::string tf8_arg = use_tf8 ? "--use_tf8" : "";
-
-  proc_pid = fork();
-  if (proc_pid == 0) {
-    LOGD("spawning onnx process %s", onnx_runner.c_str());
-    char *argv[] = {(char*)onnx_runner.c_str(), (char*)path.c_str(), (char*)tf8_arg.c_str(), nullptr};
-    dup2(pipein[0], 0);
-    dup2(pipeout[1], 1);
-    close(pipein[0]);
-    close(pipein[1]);
-    close(pipeout[0]);
-    close(pipeout[1]);
-    execvp(onnx_runner.c_str(), argv);
-    exit(1); // exit if the exec fails
-  }
-
-  // parent
-  close(pipein[0]);
-  close(pipeout[1]);
-}
-
-ONNXModel::~ONNXModel() {
-  close(pipein[1]);
-  close(pipeout[0]);
-  kill(proc_pid, SIGTERM);
-}
-
-void ONNXModel::pwrite(float *buf, int size) {
-  char *cbuf = (char *)buf;
-  int tw = size*sizeof(float);
-  while (tw > 0) {
-    int err = write(pipein[1], cbuf, tw);
-    //printf("host write %d\n", err);
-    assert(err >= 0);
-    cbuf += err;
-    tw -= err;
-  }
-  LOGD("host write of size %d done", size);
-}
-
-void ONNXModel::pread(float *buf, int size) {
-  char *cbuf = (char *)buf;
-  int tr = size*sizeof(float);
-  struct pollfd fds[1];
-  fds[0].fd = pipeout[0];
-  fds[0].events = POLLIN;
-  while (tr > 0) {
-    int err;
-    err = poll(fds, 1, 10000);  // 10 second timeout
-    assert(err == 1 || (err == -1 && errno == EINTR));
-    LOGD("host read remaining %d/%lu poll %d", tr, size*sizeof(float), err);
-    err = read(pipeout[0], cbuf, tr);
-    assert(err > 0 || (err == 0 && errno == EINTR));
-    cbuf += err;
-    tr -= err;
-  }
-  LOGD("host read done");
-}
-
-void ONNXModel::execute() {
-  for (auto &input : inputs) {
-    pwrite(input->buffer, input->size);
-  }
-  pread(output, output_size);
-}
diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h
deleted file mode 100644
index f9bae1a0a9..0000000000
--- a/selfdrive/modeld/runners/onnxmodel.h
+++ /dev/null
@@ -1,23 +0,0 @@
-#pragma once
-
-#include <string>
-
-#include "selfdrive/modeld/runners/runmodel.h"
-
-class ONNXModel : public RunModel {
-public:
-  ONNXModel(const std::string path, float *output, size_t output_size, int runtime, bool _use_tf8 = false, cl_context context = NULL);
-  ~ONNXModel();
-  void execute();
-private:
-  int proc_pid;
-  float *output;
-  size_t output_size;
-  bool use_tf8;
-
-  // pipe to communicate to onnx_runner subprocess
-  void pread(float *buf, int size);
-  void pwrite(float *buf, int size);
-  int pipein[2];
-  int pipeout[2];
-};
diff --git a/selfdrive/modeld/runners/onnxmodel.pxd b/selfdrive/modeld/runners/onnxmodel.pxd
deleted file mode 100644
index 165f043da8..0000000000
--- a/selfdrive/modeld/runners/onnxmodel.pxd
+++ /dev/null
@@ -1,9 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-from cereal.visionipc.visionipc cimport cl_context
-
-cdef extern from "selfdrive/modeld/runners/onnxmodel.h":
-  cdef cppclass ONNXModel:
-    ONNXModel(string, float*, size_t, int, bool, cl_context)
diff --git a/selfdrive/modeld/runners/onnxmodel.py b/selfdrive/modeld/runners/onnxmodel.py
new file mode 100644
index 0000000000..3c20a39760
--- /dev/null
+++ b/selfdrive/modeld/runners/onnxmodel.py
@@ -0,0 +1,70 @@
+import os
+import sys
+import numpy as np
+from typing import Tuple, Dict, Union, Any
+
+from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel
+
+ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
+
+def create_ort_session(path):
+  os.environ["OMP_NUM_THREADS"] = "4"
+  os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
+
+  import onnxruntime as ort
+  print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
+  options = ort.SessionOptions()
+  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
+
+  provider: Union[str, Tuple[str, Dict[Any, Any]]]
+  if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
+    provider = 'OpenVINOExecutionProvider'
+  elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
+    options.intra_op_num_threads = 2
+    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'})
+  else:
+    options.intra_op_num_threads = 2
+    options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
+    options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
+    provider = 'CPUExecutionProvider'
+
+  print("Onnx selected provider: ", [provider], file=sys.stderr)
+  ort_session = ort.InferenceSession(path, options, providers=[provider])
+  print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
+  return ort_session
+
+
+class ONNXModel(RunModel):
+  def __init__(self, path, output, runtime, use_tf8, cl_context):
+    self.inputs = {}
+    self.output = output
+    self.use_tf8 = use_tf8
+
+    self.session = create_ort_session(path)
+    self.input_names = [x.name for x in self.session.get_inputs()]
+    self.input_shapes = {x.name: [1, *x.shape[1:]] for x in self.session.get_inputs()}
+    self.input_dtypes = {x.name: ORT_TYPES_TO_NP_TYPES[x.type] for x in self.session.get_inputs()}
+
+    # run once to initialize CUDA provider
+    if "CUDAExecutionProvider" in self.session.get_providers():
+      self.session.run(None, {k: np.zeros(self.input_shapes[k], dtype=self.input_dtypes[k]) for k in self.input_names})
+    print("ready to run onnx model", self.input_shapes, file=sys.stderr)
+
+  def addInput(self, name, buffer):
+    assert name in self.input_names
+    self.inputs[name] = buffer
+
+  def setInputBuffer(self, name, buffer):
+    assert name in self.inputs
+    self.inputs[name] = buffer
+
+  def getCLBuffer(self, name):
+    return None
+
+  def execute(self):
+    inputs = {k: (v.view(np.uint8) / 255. if self.use_tf8 and k == 'input_img' else v) for k,v in self.inputs.items()}
+    inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()}
+    outputs = self.session.run(None, inputs)
+    assert len(outputs) == 1, "Only single model outputs are supported"
+    self.output[:] = outputs[0]
+    return self.output
diff --git a/selfdrive/modeld/runners/onnxmodel_pyx.pyx b/selfdrive/modeld/runners/onnxmodel_pyx.pyx
deleted file mode 100644
index 27aa22d1c6..0000000000
--- a/selfdrive/modeld/runners/onnxmodel_pyx.pyx
+++ /dev/null
@@ -1,14 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii
-
-from libcpp cimport bool
-from libcpp.string cimport string
-
-from .onnxmodel cimport ONNXModel as cppONNXModel
-from selfdrive.modeld.models.commonmodel_pyx cimport CLContext
-from selfdrive.modeld.runners.runmodel_pyx cimport RunModel
-from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel
-
-cdef class ONNXModel(RunModel):
-  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
-    self.model = <cppRunModel *> new cppONNXModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh
index 3851e2b1e3..e0ba54f058 100755
--- a/selfdrive/test/docker_build.sh
+++ b/selfdrive/test/docker_build.sh
@@ -1,45 +1,26 @@
-#!/bin/bash
+#!/usr/bin/env bash
 set -e
 
 # To build sim and docs, you can run the following to mount the scons cache to the same place as in CI:
 # mkdir -p .ci_cache/scons_cache
 # sudo mount --bind /tmp/scons_cache/ .ci_cache/scons_cache
 
-if [ $1 = "base" ]; then
-  export DOCKER_IMAGE=openpilot-base
-  export DOCKER_FILE=Dockerfile.openpilot_base
-elif [ $1 = "docs" ]; then
-  export DOCKER_IMAGE=openpilot-docs
-  export DOCKER_FILE=docs/docker/Dockerfile
-elif [ $1 = "sim" ]; then
-  export DOCKER_IMAGE=openpilot-sim
-  export DOCKER_FILE=tools/sim/Dockerfile.sim
-elif [ $1 = "prebuilt" ]; then
-  export DOCKER_IMAGE=openpilot-prebuilt
-  export DOCKER_FILE=Dockerfile.openpilot
-elif [ $1 = "cl" ]; then
-  export DOCKER_IMAGE=openpilot-base-cl
-  export DOCKER_FILE=Dockerfile.openpilot_base_cl
+SCRIPT_DIR=$(dirname "$0")
+OPENPILOT_DIR=$SCRIPT_DIR/../../
+if [ -n "$TARGET_ARCHITECTURE" ]; then
+  PLATFORM="linux/$TARGET_ARCHITECTURE"
+  TAG_SUFFIX="-$TARGET_ARCHITECTURE"
 else
-  echo "Invalid docker build image $1"
-  exit 1
+  PLATFORM="linux/$(uname -m)"
+  TAG_SUFFIX=""
 fi
 
-export DOCKER_REGISTRY=ghcr.io/commaai
-export COMMIT_SHA=$(git rev-parse HEAD)
+source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX"
 
-LOCAL_TAG=$DOCKER_IMAGE
-REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
-REMOTE_SHA_TAG=$REMOTE_TAG:$COMMIT_SHA
+DOCKER_BUILDKIT=1 docker buildx build --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
 
-SCRIPT_DIR=$(dirname "$0")
-OPENPILOT_DIR=$SCRIPT_DIR/../../
-
-DOCKER_BUILDKIT=1 docker buildx build --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
-
-if [[ ! -z "$PUSH_IMAGE" ]];
-then
+if [ -n "$PUSH_IMAGE" ]; then
   docker push $REMOTE_TAG
   docker tag $REMOTE_TAG $REMOTE_SHA_TAG
   docker push $REMOTE_SHA_TAG
-fi
\ No newline at end of file
+fi
diff --git a/selfdrive/test/docker_common.sh b/selfdrive/test/docker_common.sh
new file mode 100644
index 0000000000..68ea472d26
--- /dev/null
+++ b/selfdrive/test/docker_common.sh
@@ -0,0 +1,27 @@
+if [ $1 = "base" ]; then
+  export DOCKER_IMAGE=openpilot-base
+  export DOCKER_FILE=Dockerfile.openpilot_base
+elif [ $1 = "docs" ]; then
+  export DOCKER_IMAGE=openpilot-docs
+  export DOCKER_FILE=docs/docker/Dockerfile
+elif [ $1 = "sim" ]; then
+  export DOCKER_IMAGE=openpilot-sim
+  export DOCKER_FILE=tools/sim/Dockerfile.sim
+elif [ $1 = "prebuilt" ]; then
+  export DOCKER_IMAGE=openpilot-prebuilt
+  export DOCKER_FILE=Dockerfile.openpilot
+elif [ $1 = "cl" ]; then
+  export DOCKER_IMAGE=openpilot-base-cl
+  export DOCKER_FILE=Dockerfile.openpilot_base_cl
+else
+  echo "Invalid docker build image $1"
+  exit 1
+fi
+
+export DOCKER_REGISTRY=ghcr.io/commaai
+export COMMIT_SHA=$(git rev-parse HEAD)
+
+TAG_SUFFIX=$2
+LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX
+REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
+REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA
diff --git a/selfdrive/test/docker_tag_multiarch.sh b/selfdrive/test/docker_tag_multiarch.sh
new file mode 100755
index 0000000000..c1761802c7
--- /dev/null
+++ b/selfdrive/test/docker_tag_multiarch.sh
@@ -0,0 +1,25 @@
+#!/usr/bin/env bash
+set -e
+
+if [ $# -lt 2 ]; then
+  echo "Usage: $0 <base|docs|sim|prebuilt|cl> <arch1> <arch2> ..."
+  exit 1
+fi
+
+SCRIPT_DIR=$(dirname "$0")
+ARCHS=("${@:2}")
+
+source $SCRIPT_DIR/docker_common.sh $1
+
+MANIFEST_AMENDS=""
+for ARCH in ${ARCHS[@]}; do
+  MANIFEST_AMENDS="$MANIFEST_AMENDS --amend $REMOTE_TAG-$ARCH:$COMMIT_SHA"
+done
+
+docker manifest create $REMOTE_TAG $MANIFEST_AMENDS
+docker manifest create $REMOTE_SHA_TAG $MANIFEST_AMENDS
+
+if [[ -n "$PUSH_IMAGE" ]]; then
+  docker manifest push $REMOTE_TAG
+  docker manifest push $REMOTE_SHA_TAG
+fi
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index ab51948dd0..973c16971e 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -20,8 +20,8 @@ source_segments = [
   ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.BODY
   ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.SONATA
   ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),    # HYUNDAI.KIA_EV6 (+ QCOM GPS)
-  ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS (INDI)
-  ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4  (LQR)
+  ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS
+  ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4
   ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.COROLLA_TSS2
   ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.CIVIC (NIDEC)
   ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.ACCORD (BOSCH)
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index 1b99c31038..ca458f2a79 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -56,31 +56,68 @@ sleep infinity
 EOF
 chmod +x $CONTINUE_PATH
 
-# set up environment
-if [ ! -d "$SOURCE_DIR" ]; then
-  git clone https://github.com/commaai/openpilot.git $SOURCE_DIR
-fi
-cd $SOURCE_DIR
+safe_checkout() {
+  # completely clean TEST_DIR
+
+  cd $SOURCE_DIR
 
-# cleanup orphaned locks
-find .git -type f -name "*.lock" -exec rm {} +
+  # cleanup orphaned locks
+  find .git -type f -name "*.lock" -exec rm {} +
+
+  git reset --hard
+  git fetch --no-tags --no-recurse-submodules -j4 --verbose --depth 1 origin $GIT_COMMIT
+  find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
+  git reset --hard $GIT_COMMIT
+  git checkout $GIT_COMMIT
+  git clean -xdff
+  git submodule sync
+  git submodule update --init --recursive
+  git submodule foreach --recursive "git reset --hard && git clean -xdff"
+
+  git lfs pull
+  (ulimit -n 65535 && git lfs prune)
+
+  echo "git checkout done, t=$SECONDS"
+  du -hs $SOURCE_DIR $SOURCE_DIR/.git
+
+  if [ -z "SKIP_COPY" ]; then
+    rsync -a --delete $SOURCE_DIR $TEST_DIR
+  fi
+}
 
-git reset --hard
-git fetch --no-tags --no-recurse-submodules -j4 --verbose --depth 1 origin $GIT_COMMIT
-find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
-git reset --hard $GIT_COMMIT
-git checkout $GIT_COMMIT
-git clean -xdff
-git submodule sync
-git submodule update --init --recursive
-git submodule foreach --recursive "git reset --hard && git clean -xdff"
+unsafe_checkout() {
+  # checkout directly in test dir, leave old build products
 
-git lfs pull
-(ulimit -n 65535 && git lfs prune)
+  cd $TEST_DIR
 
-echo "git checkout done, t=$SECONDS"
-du -hs $SOURCE_DIR $SOURCE_DIR/.git
+  # cleanup orphaned locks
+  find .git -type f -name "*.lock" -exec rm {} +
 
-rsync -a --delete $SOURCE_DIR $TEST_DIR
+  git fetch --no-tags --no-recurse-submodules -j8 --verbose --depth 1 origin $GIT_COMMIT
+  git checkout --force --no-recurse-submodules $GIT_COMMIT
+  git reset --hard $GIT_COMMIT
+  git clean -df
+  git submodule sync
+  git submodule update --init --recursive
+  git submodule foreach --recursive "git reset --hard && git clean -df"
+
+  git lfs pull
+  (ulimit -n 65535 && git lfs prune)
+}
+
+export GIT_PACK_THREADS=8
+
+# set up environment
+if [ ! -d "$SOURCE_DIR" ]; then
+  git clone https://github.com/commaai/openpilot.git $SOURCE_DIR
+fi
+
+if [ ! -z "$UNSAFE" ]; then
+  echo "doing unsafe checkout"
+  unsafe_checkout
+else
+  echo "doing safe checkout"
+  safe_checkout
+fi
 
 echo "$TEST_DIR synced with $GIT_COMMIT, t=$SECONDS"
diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index 18a9adbe07..709a052d72 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -286,9 +286,7 @@ void ChartView::updateSeries(const cabana::Signal *sig, bool clear) {
       s.vals.reserve(msgs.capacity());
       s.step_vals.reserve(msgs.capacity() * 2);
 
-      auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), s.last_value_mono_time, [](uint64_t ts, auto e) {
-        return ts < e->mono_time;
-      });
+      auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), s.last_value_mono_time, CompareCanEvent());
       const double route_start_time = can->routeStartTime();
       for (auto end = msgs.cend(); first != end; ++first) {
         const CanEvent *e = *first;
diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc
index 4692b41e4b..1ae6a1bfe0 100644
--- a/tools/cabana/chart/sparkline.cc
+++ b/tools/cabana/chart/sparkline.cc
@@ -9,12 +9,8 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl
   const auto &msgs = can->events(msg_id);
   uint64_t ts = (last_msg_ts + can->routeStartTime()) * 1e9;
   uint64_t first_ts = (ts > range * 1e9) ? ts - range * 1e9 : 0;
-  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), first_ts, [](auto e, uint64_t ts) {
-    return e->mono_time < ts;
-  });
-  auto last = std::upper_bound(first, msgs.cend(), ts, [](uint64_t ts, auto e) {
-    return ts < e->mono_time;
-  });
+  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), first_ts, CompareCanEvent());
+  auto last = std::upper_bound(first, msgs.cend(), ts, CompareCanEvent());
 
   bool update_values = last_ts != last_msg_ts || time_range != range;
   last_ts = last_msg_ts;
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 7381884cf3..5330549963 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -162,9 +162,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
     return msgs;
   } else {
     assert(min_time == 0);
-    auto first = std::upper_bound(events.cbegin(), events.cend(), from_time, [](uint64_t ts, auto e) {
-      return ts < e->mono_time;
-    });
+    auto first = std::upper_bound(events.cbegin(), events.cend(), from_time, CompareCanEvent());
     auto msgs = fetchData(first, events.cend(), 0);
     if (update_colors) {
       for (auto it = msgs.begin(); it != msgs.end(); ++it) {
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 2cf65d4911..6fa479815d 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -162,18 +162,14 @@ void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std
     }
   }
 
-  auto compare = [](const CanEvent *l, const CanEvent *r) {
-    return l->mono_time < r->mono_time;
-  };
-
   for (auto &[id, new_e] : new_events_map) {
     auto &e = events_[id];
-    auto insert_pos = std::upper_bound(e.cbegin(), e.cend(), new_e.front(), compare);
+    auto insert_pos = std::upper_bound(e.cbegin(), e.cend(), new_e.front()->mono_time, CompareCanEvent());
     e.insert(insert_pos, new_e.cbegin(), new_e.cend());
   }
 
   if (!new_events.empty()) {
-    auto insert_pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front(), compare);
+    auto insert_pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front()->mono_time, CompareCanEvent());
     all_events_.insert(insert_pos, new_events.cbegin(), new_events.cend());
   }
 
@@ -201,15 +197,11 @@ inline QColor blend(const QColor &a, const QColor &b) {
 
 // Calculate the frequency of the past minute.
 double calc_freq(const MessageId &msg_id, double current_sec) {
-  auto compare = [](const CanEvent *e, uint64_t mono_time) {
-    return e->mono_time < mono_time;
-  };
-
   const auto &events = can->events(msg_id);
   uint64_t cur_mono_time = (can->routeStartTime() + current_sec) * 1e9;
   uint64_t first_mono_time = std::max<int64_t>(0, cur_mono_time - 59 * 1e9);
-  auto first = std::lower_bound(events.begin(), events.end(), first_mono_time, compare);
-  auto second = std::lower_bound(first, events.end(), cur_mono_time, compare);
+  auto first = std::lower_bound(events.begin(), events.end(), first_mono_time, CompareCanEvent());
+  auto second = std::lower_bound(first, events.end(), cur_mono_time, CompareCanEvent());
   if (first != events.end() && second != events.end()) {
     double duration = ((*second)->mono_time - (*first)->mono_time) / 1e9;
     uint32_t count = std::distance(first, second);
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 62ab3f2f4b..eae34e2cc4 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -41,6 +41,11 @@ struct CanEvent {
   uint8_t dat[];
 };
 
+struct CompareCanEvent {
+  constexpr bool operator()(const CanEvent *const e, uint64_t ts) const { return e->mono_time < ts; }
+  constexpr bool operator()(uint64_t ts, const CanEvent *const e) const { return ts < e->mono_time; }
+};
+
 struct BusConfig {
   int can_speed_kbps = 500;
   int data_speed_kbps = 2000;
diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc
index 3f8397f56c..17805a0b66 100644
--- a/tools/cabana/streams/livestream.cc
+++ b/tools/cabana/streams/livestream.cc
@@ -102,12 +102,8 @@ void LiveStream::updateEvents() {
   uint64_t last_ts = post_last_event && speed_ == 1.0
                        ? all_events_.back()->mono_time
                        : first_event_ts + (nanos_since_boot() - first_update_ts) * speed_;
-  auto first = std::upper_bound(all_events_.cbegin(), all_events_.cend(), current_event_ts, [](uint64_t ts, auto e) {
-    return ts < e->mono_time;
-  });
-  auto last = std::upper_bound(first, all_events_.cend(), last_ts, [](uint64_t ts, auto e) {
-    return ts < e->mono_time;
-  });
+  auto first = std::upper_bound(all_events_.cbegin(), all_events_.cend(), current_event_ts, CompareCanEvent());
+  auto last = std::upper_bound(first, all_events_.cend(), last_ts, CompareCanEvent());
 
   for (auto it = first; it != last; ++it) {
     const CanEvent *e = *it;
diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc
index b19babdf88..51d86f5964 100644
--- a/tools/cabana/tools/findsignal.cc
+++ b/tools/cabana/tools/findsignal.cc
@@ -37,10 +37,10 @@ void FindSignalModel::search(std::function<bool(double)> cmp) {
   filtered_signals.reserve(prev_sigs.size());
   QtConcurrent::blockingMap(prev_sigs, [&](auto &s) {
     const auto &events = can->events(s.id);
-    auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, [](uint64_t ts, auto &e) { return ts < e->mono_time; });
+    auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, CompareCanEvent());
     auto last = events.cend();
     if (last_time < std::numeric_limits<uint64_t>::max()) {
-      last = std::upper_bound(events.cbegin(), events.cend(), last_time, [](uint64_t ts, auto &e) { return ts < e->mono_time; });
+      last = std::upper_bound(events.cbegin(), events.cend(), last_time, CompareCanEvent());
     }
 
     auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); });
@@ -225,7 +225,7 @@ void FindSignalDlg::setInitialSignals() {
   for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
     if (buses.isEmpty() || buses.contains(it.key().source) && (addresses.isEmpty() || addresses.contains(it.key().address))) {
       const auto &events = can->events(it.key());
-      auto e = std::lower_bound(events.cbegin(), events.cend(), first_time, [](auto e, uint64_t ts) { return e->mono_time < ts; });
+      auto e = std::lower_bound(events.cbegin(), events.cend(), first_time, CompareCanEvent());
       if (e != events.cend()) {
         const int total_size = it.value().dat.size() * 8;
         for (int size = min_size->value(); size <= max_size->value(); ++size) {
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index c767131f51..712923626b 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -49,7 +49,7 @@ brew "pyenv"
 brew "pyenv-virtualenv"
 brew "qt@5"
 brew "zeromq"
-brew "gcc@12"
+brew "gcc@13"
 cask "gcc-arm-embedded"
 brew "portaudio"
 EOS