diff --git a/.github/PULL_REQUEST_TEMPLATE/car_port.md b/.github/PULL_REQUEST_TEMPLATE/car_port.md
index 4264363ba2..690c24c9b0 100644
--- a/.github/PULL_REQUEST_TEMPLATE/car_port.md
+++ b/.github/PULL_REQUEST_TEMPLATE/car_port.md
@@ -8,7 +8,7 @@ assignees: ''
 
 **Checklist**
 
-- [ ] added to README
+- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
diff --git a/.github/PULL_REQUEST_TEMPLATE/fingerprint.md b/.github/PULL_REQUEST_TEMPLATE/fingerprint.md
index 466d4f98f4..b94f7dc53f 100644
--- a/.github/PULL_REQUEST_TEMPLATE/fingerprint.md
+++ b/.github/PULL_REQUEST_TEMPLATE/fingerprint.md
@@ -6,6 +6,8 @@ labels: 'fingerprint'
 assignees: ''
 ---
 
-Discord username: []
+**Car**
+Which car (make, model, year) this fingerprint is for
 
-Route: []
+**Route**
+A route with the fingerprint
\ No newline at end of file
diff --git a/.github/PULL_REQUEST_TEMPLATE/tuning.md b/.github/PULL_REQUEST_TEMPLATE/tuning.md
index 05e4312699..4397e5ad20 100644
--- a/.github/PULL_REQUEST_TEMPLATE/tuning.md
+++ b/.github/PULL_REQUEST_TEMPLATE/tuning.md
@@ -28,5 +28,4 @@ Longitudinal:
 Lateral:
 * Straight driving at ~25, ~45 and ~65mph
 * Turns driving at ~25, ~45 and ~65mph
-
--->
+-->
\ No newline at end of file
diff --git a/.github/build.py b/.github/build.py
new file mode 100644
index 0000000000..e141ea05df
--- /dev/null
+++ b/.github/build.py
@@ -0,0 +1,30 @@
+import pathlib
+
+GITHUB_FOLDER = pathlib.Path(__file__).parent
+
+PULL_REQUEST_TEMPLATES = (GITHUB_FOLDER / "PULL_REQUEST_TEMPLATE")
+
+order = ["fingerprint", "car_bugfix", "bugfix", "car_port", "refactor"]
+
+def create_pull_request_template():
+  with open(GITHUB_FOLDER / "pull_request_template.md", "w") as f:
+    f.write("<!-- Please copy and paste the relevant template -->\n\n")
+
+    for t in order:
+      template = PULL_REQUEST_TEMPLATES / f"{t}.md"
+      text = template.read_text()
+
+      # Remove metadata for GitHub
+      start = text.find("---")
+      end = text.find("---", start+1)
+      text = text[end + 4:]
+
+      # Remove comments
+      text = text.replace("<!-- ", "").replace("-->", "")
+
+      f.write(f"<!--- ***** Template: {template.stem.replace('_', ' ').title()} *****\n")
+      f.write(text)
+      f.write("\n\n")
+      f.write("-->\n\n")
+
+create_pull_request_template()
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
index 6fbccfbdbb..3e3f42dcbc 100644
--- a/.github/pull_request_template.md
+++ b/.github/pull_request_template.md
@@ -10,39 +10,59 @@ A route with the fingerprint
 
 -->
 
-<!--- ***** Template: Car bug fix *****
+<!--- ***** Template: Car Bugfix *****
 
-**Description** [](A description of the bug and the fix. Also link any relevant issues.)
+**Description**
 
-**Verification** [](Explain how you tested this bug fix.)
+A description of the bug and the fix. Also link the issue if it exists. 
+
+**Verification**
+
+Explain how you tested this bug fix. 
 
 **Route**
+
 Route: [a route with the bug fix]
 
+
 -->
 
-<!--- ***** Template: Bug fix *****
+<!--- ***** Template: Bugfix *****
+
+**Description**
+
+A description of the bug and the fix. Also link the issue if it exists. 
+
+**Verification**
 
-**Description** [](A description of the bug and the fix. Also link any relevant issues.)
+Explain how you tested this bug fix. 
 
-**Verification** [](Explain how you tested this bug fix.)
 
 -->
 
-<!--- ***** Template: Car port *****
+<!--- ***** Template: Car Port *****
 
 **Checklist**
+
 - [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
+- [ ] car harness used (if comma doesn't sell it, put N/A):
+
 
 -->
 
 <!--- ***** Template: Refactor *****
 
-**Description** [](A description of the refactor, including the goals it accomplishes.)
+**Description**
+
+A description of the refactor, including the goals it accomplishes. 
+
+**Verification**
+
+Explain how you tested the refactor for regressions. 
 
-**Verification** [](Explain how you tested the refactor for regressions.)
 
 -->
+
diff --git a/.github/workflows/auto-cache/action.yaml b/.github/workflows/auto-cache/action.yaml
new file mode 100644
index 0000000000..173803f7f0
--- /dev/null
+++ b/.github/workflows/auto-cache/action.yaml
@@ -0,0 +1,49 @@
+name: 'automatically cache based on current runner'
+
+inputs:
+  path:
+    description: 'path to cache'
+    required: true
+  key:
+    description: 'key'
+    required: true
+  restore-keys:
+    description: 'restore-keys'
+    required: true
+  save:
+    description: 'whether to save the cache'
+    default: 'false'
+    required: false
+
+runs:
+  using: "composite"
+  steps:
+    - name: setup namespace cache
+      if: ${{ contains(runner.name, 'nsc') }} 
+      uses: namespacelabs/nscloud-cache-action@v1
+      with:
+        path: ${{ inputs.path }}
+
+    - name: setup github cache
+      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
+      uses: 'actions/cache@v3'
+      with:
+        path: ${{ inputs.path }}
+        key: ${{ inputs.key }}
+        restore-keys: ${{ inputs.restore-keys }}
+
+    - name: setup github cache
+      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
+      uses: 'actions/cache/restore@v3'
+      with:
+        path: ${{ inputs.path }}
+        key: ${{ inputs.key }}
+        restore-keys: ${{ inputs.restore-keys }}
+
+    # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
+    - id: scons-cache-setup
+      shell: bash
+      run: |
+        mkdir -p ${{ inputs.path }}
+        sudo chmod -R 777 ${{ inputs.path }}
+        sudo chown -R $USER ${{ inputs.path }}
\ No newline at end of file
diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index 0b748063bc..820801a2c7 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -1,6 +1,7 @@
 name: "PR review"
 on:
   pull_request_target:
+    types: [opened, reopened, synchronize, edited, edited]
 
 jobs:
   labeler:
@@ -32,3 +33,168 @@ jobs:
         change-to: ${{ github.base_ref }}
         already-exists-action: close_this
         already-exists-comment: "Your PR should be made against the `master` branch"
+
+  check-pr-template:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      issues: write
+      pull-requests: write
+      actions: read
+    if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
+    steps:
+      - uses: actions/github-script@v7
+        with:
+          script: |
+            // Comment to add to the PR if no template has been used
+            const NO_TEMPLATE_MESSAGE =
+              "It looks like you didn't use one of the Pull Request templates. Please check [the contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md). \
+            Also make sure that you didn't modify any of the checkboxes or headings within the template.";
+            // body data for future requests
+            const body_data = {
+              issue_number: context.issue.number,
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+            };
+
+            // Utility function to extract all headings
+            const extractHeadings = (markdown) => {
+              const headingRegex = /^(#{1,6})\s+(.+)$/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));
+            };
+
+            // 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 (
+                isSubset(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");
+              });
+            }
+
diff --git a/.github/workflows/compile-openpilot/action.yaml b/.github/workflows/compile-openpilot/action.yaml
index 8775c96262..2945b67d2e 100644
--- a/.github/workflows/compile-openpilot/action.yaml
+++ b/.github/workflows/compile-openpilot/action.yaml
@@ -1,11 +1,5 @@
 name: 'compile openpilot'
 
-inputs:
-  cache_key_prefix:
-    description: 'Prefix for caching key'
-    required: false
-    default: 'scons'
-
 runs:
   using: "composite"
   steps:
@@ -24,4 +18,4 @@ runs:
       if: github.ref == 'refs/heads/master'
       with:
         path: .ci_cache/scons_cache
-        key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 1f14895e21..bd882210fa 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -25,11 +25,12 @@ jobs:
       with:
         token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
         commit-message: bump submodules
-        title: 'Bump submodules'
+        title: '[bot] Bump submodules'
         branch: auto-bump-submodules
         base: master
         delete-branch: true
         body: 'Automatic PR from repo-maintenance -> bump_submodules'
+        labels: bot
   package_updates:
     name: package_updates
     runs-on: ubuntu-20.04
@@ -50,8 +51,9 @@ jobs:
       with:
         token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
         commit-message: Update Python packages and pre-commit hooks
-        title: 'Update Python packages and pre-commit hooks'
+        title: '[bot] Update Python packages and pre-commit hooks'
         branch: auto-package-updates
         base: master
         delete-branch: true
         body: 'Automatic PR from repo-maintenance -> package_updates'
+        labels: bot
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 3c95d8055b..964c36776e 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -20,7 +20,7 @@ env:
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
   BUILD_CL: selfdrive/test/docker_build.sh cl
 
@@ -42,6 +42,7 @@ jobs:
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
+    - uses: ./.github/workflows/setup-pre-commit
     - uses: ./.github/workflows/setup-with-retry
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
@@ -66,7 +67,7 @@ jobs:
         cp pyproject.toml $STRIPPED_DIR
         cp poetry.lock $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all && chmod -R 777 /tmp/pre-commit"
 
   build:
     strategy:
@@ -75,7 +76,7 @@ jobs:
            ((github.repository == 'commaai/openpilot') &&
               ((github.event_name != 'pull_request') || 
                (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -83,18 +84,15 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
       with:
         docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
-        cache_key_prefix: scons_${{ 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 }}
 
   docker_push:
     name: docker push
     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' }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }}
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
@@ -133,15 +131,18 @@ jobs:
 
   static_analysis:
     name: static analysis
-    runs-on: ubuntu-20.04
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') || 
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
+    - uses: ./.github/workflows/setup-pre-commit
     - uses: ./.github/workflows/setup-with-retry
     - name: pre-commit
       timeout-minutes: 4
-      run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
+      run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
 
   valgrind:
     name: valgrind
@@ -163,12 +164,16 @@ jobs:
 
   unit_tests:
     name: unit tests
-    runs-on: ubuntu-20.04
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') || 
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Build openpilot
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: ${{ env.RUN }} "scons -j$(nproc)"
@@ -177,11 +182,10 @@ jobs:
       run: |
         ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
                         export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
-                        $PYTEST --timeout 30 -m 'not slow' && \
+                        $PYTEST --timeout 60 -m 'not slow' -n $(nproc) && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
-                        ./selfdrive/ui/tests/test_translations.py && \
-                        ./system/camerad/test/ae_gray_test"
+                        ./selfdrive/ui/tests/test_translations.py"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v3
       with:
@@ -193,7 +197,7 @@ jobs:
     name: process replay
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
                    ((github.event_name != 'pull_request') || 
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }}
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -303,7 +307,9 @@ jobs:
 
   test_cars:
     name: cars
-    runs-on: ubuntu-20.04
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') || 
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
     strategy:
       fail-fast: false
       matrix:
@@ -315,7 +321,7 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
     - name: Cache test routes
       id: dependency-cache
-      uses: actions/cache@v3
+      uses: ./.github/workflows/auto-cache
       with:
         path: .ci_cache/comma_download_cache
         key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
@@ -389,3 +395,25 @@ jobs:
               repo: context.repo.repo,
               comment_id: ${{ steps.fc.outputs.comment-id }}
             })
+
+  create_ui_report:
+    name: Create UI Report
+    runs-on: ubuntu-20.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Build openpilot
+        run: ${{ env.RUN }} "scons -j$(nproc)"
+      - name: Create Test Report
+        run: >
+            ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
+                            source selfdrive/test/setup_xvfb.sh &&
+                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && 
+                            python selfdrive/ui/tests/test_ui/run.py"
+      - name: Upload Test Report
+        uses: actions/upload-artifact@v2
+        with:
+          name: report
+          path: selfdrive/ui/tests/test_ui/report
\ No newline at end of file
diff --git a/.github/workflows/setup-pre-commit/action.yaml b/.github/workflows/setup-pre-commit/action.yaml
new file mode 100644
index 0000000000..1b3e16e73f
--- /dev/null
+++ b/.github/workflows/setup-pre-commit/action.yaml
@@ -0,0 +1,12 @@
+name: 'set up pre-commit environment'
+
+runs:
+  using: "composite"
+  steps:
+    - uses: ./.github/workflows/auto-cache
+      with: 
+        path: .ci_cache/pre-commit
+        key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
+        restore-keys: |
+          pre-commit-
+        save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }}
diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml
index e0da746b44..369ac45c9a 100644
--- a/.github/workflows/setup-with-retry/action.yaml
+++ b/.github/workflows/setup-with-retry/action.yaml
@@ -5,10 +5,6 @@ inputs:
     description: 'Auth token for Docker Hub, required for BuildJet jobs'
     required: false
     default: ''
-  cache_key_prefix:
-    description: 'Prefix for caching key'
-    required: false
-    default: 'scons_x86_64'
   sleep_time:
     description: 'Time to sleep between retries'
     required: false
@@ -22,7 +18,6 @@ runs:
       continue-on-error: true
       with:
         docker_hub_pat: ${{ inputs.docker_hub_pat }}
-        cache_key_prefix: ${{ inputs.cache_key_prefix }}
         is_retried: true
     - if: steps.setup1.outcome == 'failure'
       shell: bash
@@ -33,7 +28,6 @@ runs:
       continue-on-error: true
       with:
         docker_hub_pat: ${{ inputs.docker_hub_pat }}
-        cache_key_prefix: ${{ inputs.cache_key_prefix }}
         is_retried: true
     - if: steps.setup2.outcome == 'failure'
       shell: bash
@@ -43,5 +37,4 @@ runs:
       uses: ./.github/workflows/setup
       with:
         docker_hub_pat: ${{ inputs.docker_hub_pat }}
-        cache_key_prefix: ${{ inputs.cache_key_prefix }}
         is_retried: true
diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
index 8bb1ccc376..970d62030d 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -5,10 +5,6 @@ inputs:
     description: 'Auth token for Docker Hub, required for BuildJet jobs'
     required: true
     default: ''
-  cache_key_prefix:
-    description: 'Prefix for caching key'
-    required: true
-    default: 'scons_x86_64'
   is_retried:
     description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
     required: false
@@ -47,19 +43,14 @@ runs:
       run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
     - shell: bash
       run: echo "$CACHE_COMMIT_DATE"
-    - id: restore-scons-cache
-      uses: actions/cache/restore@v3
+    - id: scons-cache
+      uses: ./.github/workflows/auto-cache
       with:
         path: .ci_cache/scons_cache
-        key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |
-          ${{ inputs.cache_key_prefix }}-${{ 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
-      if: steps.restore-scons-cache.outputs.cache-hit != 'true'
-      run: mkdir -p $GITHUB_WORKSPACE/.ci_cache/scons_cache
+          scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
+          scons-${{ runner.arch }}
     # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
     - id: normalize-file-permissions
       shell: bash
@@ -67,12 +58,6 @@ runs:
       run: |
         find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
         find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
-    - id: setup-buildx-action
-      if: contains(runner.name, 'buildjet')
-      name: Set up Docker Buildx on buildjet to ensure a consistent cache
-      uses: docker/setup-buildx-action@v2
-      with:
-        driver: docker-container
     # build our docker image
     - shell: bash
       run: eval ${{ env.BUILD }}
\ No newline at end of file
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index d564606c3e..c185fd1d3c 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -81,11 +81,29 @@ jobs:
     - name: Run dev container
       run: |
         mkdir -p /tmp/devcontainer_scons_cache/
-        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/* /tmp/devcontainer_scons_cache/
+        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/
         devcontainer up --workspace-folder .
     - name: Test environment
       run: |
-        devcontainer exec --workspace-folder . scons -j$(nproc)
+        devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
         devcontainer exec --workspace-folder . pip install pip-install-test
         devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
-        devcontainer exec --workspace-folder . sudo touch /root/test.txt
\ No newline at end of file
+        devcontainer exec --workspace-folder . sudo touch /root/test.txt
+
+  notebooks:
+    name: notebooks
+    runs-on: ubuntu-20.04
+    if: github.repository == 'commaai/openpilot'
+    timeout-minutes: 45
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
+      run: ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Test notebooks
+      timeout-minutes: 2
+      run: |
+        ${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/"
\ No newline at end of file
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 0a92b9d38e..fa05b5b8a2 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -44,7 +44,7 @@ repos:
         - --explicit-package-bases
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.1.11
+    rev: v0.1.14
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -81,6 +81,7 @@ repos:
         entry: selfdrive/ui/tests/test_translations.py
         language: script
         pass_filenames: false
+        files: 'selfdrive/ui/translations/*'
 -   repo: https://github.com/python-poetry/poetry
     rev: '1.7.0'
     hooks:
@@ -92,10 +93,3 @@ repos:
     rev: 0.27.3
     hooks:
     -   id: check-github-workflows
-# -   repo: local
-#     hooks:
-#     -   id: format-fingerprints
-#         name: format-fingerprints
-#         entry: selfdrive/debug/format_fingerprints.py
-#         language: system
-#         types: [python]
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 028d877a93..d280d2c9ec 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -4,7 +4,7 @@ ENV PYTHONUNBUFFERED 1
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \
     rm -rf /var/lib/apt/lists/*
 
 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
diff --git a/Jenkinsfile b/Jenkinsfile
index 0ae5f5076d..e45bcd16b2 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -35,7 +35,9 @@ source ~/.bash_profile
 if [ -f /TICI ]; then
   source /etc/profile
 
+  rm -rf /tmp/tmp*
   rm -rf ~/.commacache
+  rm -rf /dev/shm/*
 
   if ! systemctl is-active --quiet systemd-resolved; then
     echo "restarting resolved"
@@ -167,7 +169,7 @@ node {
   env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
   def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'dashcam3', 'dashcam3-staging', 'testing-closet*', 'hotfix-*']
+                         'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
   if (env.BRANCH_NAME != 'master') {
@@ -179,7 +181,7 @@ node {
   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"],
+        ["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"],
       ])
     }
 
diff --git a/RELEASES.md b/RELEASES.md
index 36a4a89dd2..aa3a80d56d 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,10 +1,14 @@
-Version 0.9.6 (20XX-XX-XX)
+Version 0.9.6 (2024-02-XX)
 ========================
 * New driving model
   * Vision model trained on more data
   * Improved driving performance
+  * Directly outputs curvature for lateral control
+* New driver monitoring model
+  * Trained on larger dataset
 * AGNOS 9
 * comma body streaming and controls over WebRTC
+* Improved fuzzy fingerprinting for many makes and models
 * Hyundai Staria 2023 support thanks to sunnyhaibin!
 * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
 * Toyota RAV4 2023-24 support
diff --git a/SConstruct b/SConstruct
index 11b95702c3..3faa978087 100644
--- a/SConstruct
+++ b/SConstruct
@@ -297,8 +297,11 @@ else:
   qt_env['QTDIR'] = qt_install_prefix
   qt_dirs = [
     f"{qt_install_headers}",
-    f"{qt_install_headers}/QtGui/5.12.8/QtGui",
   ]
+
+  qt_gui_path = os.path.join(qt_install_headers, "QtGui")
+  qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
+  qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
   qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
 
   qt_libs = [f"Qt5{m}" for m in qt_modules]
diff --git a/body b/body
index 3aa61382b7..61ace31efa 160000
--- a/body
+++ b/body
@@ -1 +1 @@
-Subproject commit 3aa61382b7ea9328cab7f1a2fe1ec701dffd018f
+Subproject commit 61ace31efad27ae0d6d86888842f82bc92545e72
diff --git a/cereal b/cereal
index d81d86e7cd..a6ade85c9d 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit d81d86e7cd83d1eb40314964a4d194231381d557
+Subproject commit a6ade85c9dd6652fde547b9e089a297f67606dcf
diff --git a/common/SConscript b/common/SConscript
index 52b3adf1d3..829db6eeec 100644
--- a/common/SConscript
+++ b/common/SConscript
@@ -23,7 +23,7 @@ Export('_common', '_gpucommon')
 
 if GetOption('extras'):
   env.Program('tests/test_common',
-              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc', 'tests/test_ratekeeper.cc'],
+              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
               LIBS=[_common, 'json11', 'zmq', 'pthread'])
 
 # Cython bindings
diff --git a/common/logging_extra.py b/common/logging_extra.py
index 5e0584c7bc..f53d503108 100644
--- a/common/logging_extra.py
+++ b/common/logging_extra.py
@@ -65,7 +65,7 @@ class SwagFormatter(logging.Formatter):
 
     return record_dict
 
-  def format(self, record): # noqa: A003
+  def format(self, record):
     if self.swaglogger is None:
       raise Exception("must set swaglogger before calling format()")
     return json_robust_dumps(self.format_dict(record))
@@ -95,7 +95,7 @@ class SwagLogFileFormatter(SwagFormatter):
       k += "$a"
     return k, v
 
-  def format(self, record): # noqa: A003
+  def format(self, record):
     if isinstance(record, str):
       v = json.loads(record)
     else:
diff --git a/common/params.cc b/common/params.cc
index 7b14ac6955..3ce2505243 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -94,6 +94,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"AssistNowToken", PERSISTENT},
     {"AthenadPid", PERSISTENT},
     {"AthenadUploadQueue", PERSISTENT},
+    {"AthenadRecentlyViewedRoutes", PERSISTENT},
+    {"BootCount", PERSISTENT},
     {"CalibrationParams", PERSISTENT},
     {"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
     {"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
@@ -144,16 +146,13 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"IsTestedBranch", CLEAR_ON_MANAGER_START},
-    {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LaikadEphemerisV3", PERSISTENT | DONT_LOG},
     {"LanguageSetting", PERSISTENT},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
     {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
     {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
-    {"LastSystemShutdown", CLEAR_ON_MANAGER_START},
     {"LastUpdateException", CLEAR_ON_MANAGER_START},
     {"LastUpdateTime", PERSISTENT},
     {"LiveParameters", PERSISTENT},
@@ -164,7 +163,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"NavPastDestinations", PERSISTENT},
     {"NavSettingLeftSide", PERSISTENT},
     {"NavSettingTime24h", PERSISTENT},
-    {"NavdRender", PERSISTENT},
+    {"NetworkMetered", PERSISTENT},
     {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
@@ -184,15 +183,12 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
-    {"Passive", PERSISTENT},
     {"PrimeType", PERSISTENT},
     {"RecordFront", PERSISTENT},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
     {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"ShouldDoUpdate", CLEAR_ON_MANAGER_START},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
-    {"SubscriberInfo", PERSISTENT},
     {"TermsVersion", PERSISTENT},
     {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
@@ -207,6 +203,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
     {"UpdaterState", CLEAR_ON_MANAGER_START},
     {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
+    {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
     {"VisionRadarToggle", PERSISTENT},
     {"WheeledBody", PERSISTENT},
diff --git a/common/prefix.py b/common/prefix.py
index c1744e8ff7..d027e3e5a1 100644
--- a/common/prefix.py
+++ b/common/prefix.py
@@ -6,12 +6,14 @@ from typing import Optional
 
 from openpilot.common.params import Params
 from openpilot.system.hardware.hw import Paths
+from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
 class OpenpilotPrefix:
-  def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True):
+  def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
     self.msgq_path = os.path.join('/dev/shm', self.prefix)
     self.clean_dirs_on_exit = clean_dirs_on_exit
+    self.shared_download_cache = shared_download_cache
 
   def __enter__(self):
     self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None)
@@ -22,6 +24,9 @@ class OpenpilotPrefix:
       pass
     os.makedirs(Paths.log_root(), exist_ok=True)
 
+    if self.shared_download_cache:
+      os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
+
     return self
 
   def __exit__(self, exc_type, exc_obj, exc_tb):
@@ -42,5 +47,6 @@ 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)
+    if not os.environ.get("COMMA_CACHE", False):
+      shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
     shutil.rmtree(Paths.comma_home(), ignore_errors=True)
diff --git a/common/swaglog.cc b/common/swaglog.cc
index c22571dc9f..873836b725 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -10,6 +10,7 @@
 #include <string>
 
 #include <zmq.h>
+#include <stdarg.h>
 #include "third_party/json11/json11.hpp"
 #include "common/version.h"
 #include "system/hardware/hw.h"
diff --git a/common/tests/test_ratekeeper.cc b/common/tests/test_ratekeeper.cc
deleted file mode 100644
index 32c7dfe58c..0000000000
--- a/common/tests/test_ratekeeper.cc
+++ /dev/null
@@ -1,23 +0,0 @@
-#include "catch2/catch.hpp"
-#include "common/ratekeeper.h"
-#include "common/timing.h"
-#include "common/util.h"
-
-TEST_CASE("RateKeeper") {
-  float freq = GENERATE(10, 50, 100);
-  RateKeeper rk("Test RateKeeper", freq);
-
-  int lags = 0;
-  int bad_keep_times = 0;
-  for (int i = 0; i < freq; ++i) {
-    double begin = seconds_since_boot();
-    util::sleep_for(util::random_int(0, 1000.0 / freq - 1));
-    bool lagged = rk.keepTime();
-    lags += lagged;
-    bad_keep_times += (seconds_since_boot() - begin - (1 / freq)) > 1e-3;
-  }
-
-  // need a tolerance here due to scheduling
-  REQUIRE(lags < 5);
-  REQUIRE(bad_keep_times < 5);
-}
diff --git a/common/time.py b/common/time.py
index c8ef9cd383..f2e49eb546 100644
--- a/common/time.py
+++ b/common/time.py
@@ -1,6 +1,6 @@
 import datetime
 
-MIN_DATE = datetime.datetime(year=2023, month=6, day=1)
+MIN_DATE = datetime.datetime(year=2024, month=1, day=28)
 
 def system_time_valid():
   return datetime.datetime.now() > MIN_DATE
diff --git a/conftest.py b/conftest.py
index 6792bd0c3d..c4eb259a35 100644
--- a/conftest.py
+++ b/conftest.py
@@ -3,6 +3,7 @@ import pytest
 import random
 
 from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.selfdrive.manager import manager
 from openpilot.system.hardware import TICI
 
 
@@ -24,13 +25,13 @@ def pytest_runtest_call(item):
 
 
 @pytest.fixture(scope="function", autouse=True)
-def openpilot_function_fixture():
+def openpilot_function_fixture(request):
   starting_env = dict(os.environ)
 
   random.seed(0)
 
   # setup a clean environment for each test
-  with OpenpilotPrefix():
+  with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
     prefix = os.environ["OPENPILOT_PREFIX"]
 
     yield
@@ -41,6 +42,8 @@ def openpilot_function_fixture():
   os.environ.clear()
   os.environ.update(starting_env)
 
+  # cleanup any started processes
+  manager.manager_cleanup()
 
 # If you use setUpClass, the environment variables won't be cleared properly,
 # so we need to hook both the function and class pytest fixtures
@@ -74,3 +77,6 @@ def pytest_configure(config):
 
   config_line = "nocapture: don't capture test output"
   config.addinivalue_line("markers", config_line)
+
+  config_line = "shared_download_cache: share download cache between tests"
+  config.addinivalue_line("markers", config_line)
diff --git a/docs/BOUNTIES.md b/docs/BOUNTIES.md
index a927a33b89..5ff5dd939f 100644
--- a/docs/BOUNTIES.md
+++ b/docs/BOUNTIES.md
@@ -8,7 +8,7 @@ Get paid to improve openpilot!
 * bounty eligibility is solely at our discretion
 * 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
+* get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders)
 
 New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord.
 
@@ -59,4 +59,4 @@ We're contributing $5k to the [community-organized bounty](https://github.com/co
 
 #### Chevy Bolt with SuperCruise - $2500
 
-The Bolt is already supported on the trim with standard ACC. Get openpilot working on the trim with SuperCruise. It must be a normal install: no extra pandas or other hardware, no ECU reflashes, etc.
+The Bolt is already supported on the trim with standard ACC. Get openpilot working on the trim with SuperCruise. It must be a normal install: no extra pandas or other hardware, no ECU reflashes, etc. The full bounty is for a port with lateral and longitudinal control. $1500 of the bounty can be claimed with a lateral-only port.
diff --git a/docs/CARS.md b/docs/CARS.md
index 407c1d8cc7..5620bc703c 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 274 Supported Cars
+# 275 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -28,8 +28,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chrysler|Pacifica 2017-18|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 3X<br>- 1 comma power v2<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=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2019-20|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 3X<br>- 1 comma power v2<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=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
-|Chrysler|Pacifica 2021|All|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 3X<br>- 1 comma power v2<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=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2017-18|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 3X<br>- 1 comma power v2<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=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
+|Chrysler|Pacifica 2021-23|All|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 3X<br>- 1 comma power v2<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=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2017|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 3X<br>- 1 comma power v2<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=Chrysler&model=Pacifica Hybrid 2017">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2018|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 3X<br>- 1 comma power v2<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=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2019-23|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 3X<br>- 1 comma power v2<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=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|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 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
@@ -60,7 +61,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||
+|Honda|CR-V Hybrid 2017-20|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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=Honda&model=CR-V Hybrid 2017-20">Buy Here</a></sub></details>||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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=Honda&model=e 2020">Buy Here</a></sub></details>||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
 |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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=Honda&model=Freed 2020">Buy Here</a></sub></details>||
@@ -155,8 +156,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
 |Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
 |Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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=Lexus&model=ES Hybrid 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
 |Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<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=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
@@ -181,7 +182,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
 |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
-|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<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=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
+|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<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=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
 |SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
 |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
 |Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<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=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 7578c0296a..9271c15436 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -9,11 +9,6 @@ source "$BASEDIR/launch_env.sh"
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
 function agnos_init {
-  # wait longer for weston to come up
-  if [ -f "$BASEDIR/prebuilt" ]; then
-    sleep 5
-  fi
-
   # TODO: move this to agnos
   sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
 
@@ -35,9 +30,6 @@ function launch {
   # Remove orphaned git lock if it exists on boot
   [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
 
-  # Pull time from panda
-  $DIR/selfdrive/boardd/set_time.py
-
   # Check to see if there's a valid overlay-based update available. Conditions
   # are as follows:
   #
@@ -77,14 +69,19 @@ function launch {
   export PYTHONPATH="$PWD"
 
   # hardware specific init
-  agnos_init
+  if [ -f /AGNOS ]; then
+    agnos_init
+  fi
 
   # write tmux scrollback to a file
   tmux capture-pane -pq -S-1000 > /tmp/launch_log
 
   # start manager
   cd selfdrive/manager
-  ./build.py && ./manager.py
+  if [ ! -f $DIR/prebuilt ]; then
+    ./build.py
+  fi
+  ./manager.py
 
   # if broken, keep on screen error
   while true; do sleep 1; done
diff --git a/launch_env.sh b/launch_env.sh
index dd8f431c63..d86ec63593 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,11 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="9.1"
-fi
-
-if [ -z "$PASSIVE" ]; then
-  export PASSIVE="1"
+  export AGNOS_VERSION="9.3"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/launch_openpilot.sh b/launch_openpilot.sh
index 1525e1715f..2888814c22 100755
--- a/launch_openpilot.sh
+++ b/launch_openpilot.sh
@@ -1,5 +1,3 @@
 #!/usr/bin/bash
 
-export PASSIVE="0"
 exec ./launch_chffrplus.sh
-
diff --git a/opendbc b/opendbc
index 40d9c723d4..3cfd0bf4eb 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 40d9c723d48496229fecc436046538a53af19c11
+Subproject commit 3cfd0bf4eb73953f3d179dddc1ba2c92e317188c
diff --git a/panda b/panda
index 2a0536c631..ec17f75efc 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 2a0536c63148a02add52555386b5533f3555ef58
+Subproject commit ec17f75efca05c04313049e1d6dd376ef54d42ec
diff --git a/poetry.lock b/poetry.lock
index 597ed19b28..4cd6f5062e 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -2,87 +2,87 @@
 
 [[package]]
 name = "aiohttp"
-version = "3.9.1"
+version = "3.9.2"
 description = "Async http client/server framework (asyncio)"
 optional = false
 python-versions = ">=3.8"
 files = [
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 [package.dependencies]
@@ -112,45 +112,45 @@ ifaddr = ">=0.2.0"
 
 [[package]]
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 description = "An implementation of WebRTC and ORTC"
 optional = false
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 test-randomorder = ["pytest-randomly"]
 
 [[package]]
@@ -906,62 +894,69 @@ tests = ["pytest", "pytest-cov", "pytest-xdist"]
 
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 [[package]]
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 description = "DNS toolkit"
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-doh = ["h2 (>=4.1.0)", "httpcore (>=0.17.3)", "httpx (>=0.24.1)"]
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 name = "docutils"
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 s3 = ["boto3 (>=1.3.1)"]
 test = ["Fiona[s3]", "pytest (>=7)", "pytest-cov", "pytz"]
 
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 [[package]]
@@ -2173,12 +2194,14 @@ files = [
 
 [[package]]
 name = "metadrive-simulator"
-version = "0.4.1.2"
+version = "0.4.2.2"
 description = "An open-ended driving simulator with infinite scenes"
 optional = false
 python-versions = ">=3.6, <3.12"
-files = []
-develop = false
+files = [
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+]
 
 [package.dependencies]
 filelock = "*"
@@ -2209,11 +2232,20 @@ cuda = ["PyOpenGL (==3.1.6)", "PyOpenGL-accelerate (==3.1.6)", "cuda-python (==1
 gym = ["gym (>=0.19.0,<=0.26.0)"]
 ros = ["zmq"]
 
-[package.source]
-type = "git"
-url = "https://github.com/metadriverse/metadrive.git"
-reference = "main"
-resolved_reference = "9276a2cc3a149614d528e7e2a36c9d7a1307fb50"
+[[package]]
+name = "mouseinfo"
+version = "0.1.3"
+description = "An application to display XY position and RGB color information for the pixel currently under the mouse. Works on Python 2 and 3."
+optional = false
+python-versions = "*"
+files = [
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+]
+
+[package.dependencies]
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+python3-Xlib = {version = "*", markers = "platform_system == \"Linux\" and python_version >= \"3.0\""}
+rubicon-objc = {version = "*", markers = "platform_system == \"Darwin\""}
 
 [[package]]
 name = "mpld3"
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 python-dateutil = ">=2.8.2"
 pytz = ">=2020.1"
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@@ -3376,316 +3445,3103 @@ cffi = ">=1.0.0"
 dev = ["coverage[toml] (>=7.2.2)"]
 
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+name = "pymonctl"
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 ]
 
 [package.dependencies]
-numpy = "*"
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+typing-extensions = ">=4.4.0"
 
 [package.extras]
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-pocl = ["pocl-binary-distribution (>=1.2)"]
-test = ["Mako", "pytest (>=7.0.0)"]
+dev = ["mypy (>=0.990)", "types-python-xlib (>=0.32)", "types-pywin32 (>=305.0.0.3)", "types-setuptools (>=65.5)"]
 
 [[package]]
-name = "pyopenssl"
-version = "23.3.0"
-description = "Python wrapper module around the OpenSSL library"
+name = "pymsgbox"
+version = "1.0.9"
+description = "A simple, cross-platform, pure Python module for JavaScript-like message boxes."
 optional = false
-python-versions = ">=3.7"
+python-versions = "*"
 files = [
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 ]
 
-[package.dependencies]
-cryptography = ">=41.0.5,<42"
-
-[package.extras]
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-test = ["flaky", "pretend", "pytest (>=3.0.1)"]
-
 [[package]]
-name = "pyparsing"
-version = "3.1.1"
-description = "pyparsing module - Classes and methods to define and execute parsing grammars"
+name = "pyobjc"
+version = "10.1"
+description = "Python<->ObjC Interoperability Module"
 optional = false
-python-versions = ">=3.6.8"
+python-versions = ">=3.8"
 files = [
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 ]
 
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 python-versions = ">=3.7"
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 [package.dependencies]
-pytest = ">=5.0.0"
+attrs = ">=19.2.0"
+pytest = ">=7.0"
 
 [[package]]
-name = "pytest-timeouts"
-version = "1.2.1"
-description = "Linux-only Pytest plugin to control durations of various test case execution phases"
+name = "pytest-timeout"
+version = "2.2.0"
+description = "pytest plugin to abort hanging tests"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+python-versions = ">=3.7"
 files = [
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 [package.dependencies]
-pytest = ">=3.1"
+pytest = ">=5.0.0"
 
 [[package]]
 name = "pytest-xdist"
@@ -3721,6 +6577,30 @@ files = [
 [package.dependencies]
 six = ">=1.5"
 
+[[package]]
+name = "python-xlib"
+version = "0.33"
+description = "Python X Library"
+optional = false
+python-versions = "*"
+files = [
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+
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+optional = false
+python-versions = "*"
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+
 [[package]]
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 version = "2023.1.1"
@@ -3738,15 +6618,25 @@ platformdirs = ">=2.2.0"
 [package.extras]
 numpy = ["numpy (>=1.6.0)"]
 
+[[package]]
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+description = "A collection of tweening / easing functions."
+optional = false
+python-versions = "*"
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+]
+
 [[package]]
 name = "pytz"
-version = "2023.3.post1"
+version = "2023.4"
 description = "World timezone definitions, modern and historical"
 optional = false
 python-versions = "*"
 files = [
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 [[package]]
@@ -3772,6 +6662,46 @@ files = [
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 ]
 
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+description = "Cross-Platform and multi-monitor toolkit to handle rectangular areas and windows box"
+optional = false
+python-versions = "*"
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+python-xlib = {version = ">=0.21", markers = "sys_platform == \"linux\""}
+pywin32 = {version = ">=302", markers = "sys_platform == \"win32\""}
+typing-extensions = ">=4.4.0"
+
+[package.extras]
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+
+[[package]]
+name = "pywinctl"
+version = "0.3"
+description = "Cross-Platform toolkit to get info on and control windows on screen"
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+]
+
+[package.dependencies]
+numpy = ">=1.22.4,<1.29.0"
 
 [package.extras]
 dev = ["click", "cython-lint (>=0.12.2)", "doit (>=0.36.0)", "mypy", "pycodestyle", "pydevtool", "rich-click", "ruff", "types-psutil", "typing_extensions"]
 doc = ["jupytext", "matplotlib (>2)", "myst-nb", "numpydoc", "pooch", "pydata-sphinx-theme (==0.9.0)", "sphinx (!=4.1.0)", "sphinx-design (>=0.2.0)"]
-test = ["asv", "gmpy2", "mpmath", "pooch", "pytest", "pytest-cov", "pytest-timeout", "pytest-xdist", "scikit-umfpack", "threadpoolctl"]
+test = ["asv", "gmpy2", "hypothesis", "mpmath", "pooch", "pytest", "pytest-cov", "pytest-timeout", "pytest-xdist", "scikit-umfpack", "threadpoolctl"]
 
 [[package]]
 name = "scons"
@@ -4031,13 +6987,13 @@ setuptools = "*"
 
 [[package]]
 name = "seaborn"
-version = "0.13.1"
+version = "0.13.2"
 description = "Statistical data visualization"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -4052,13 +7008,13 @@ stats = ["scipy (>=1.7)", "statsmodels (>=0.12)"]
 
 [[package]]
 name = "sentry-sdk"
-version = "1.28.1"
+version = "1.39.2"
 description = "Python client for Sentry (https://sentry.io)"
 optional = false
 python-versions = "*"
 files = [
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 ]
 
 [package.dependencies]
@@ -4068,10 +7024,12 @@ urllib3 = {version = ">=1.26.11", markers = "python_version >= \"3.6\""}
 [package.extras]
 aiohttp = ["aiohttp (>=3.5)"]
 arq = ["arq (>=0.23)"]
+asyncpg = ["asyncpg (>=0.23)"]
 beam = ["apache-beam (>=2.12)"]
 bottle = ["bottle (>=0.12.13)"]
 celery = ["celery (>=3)"]
 chalice = ["chalice (>=1.16.0)"]
+clickhouse-driver = ["clickhouse-driver (>=0.2.0)"]
 django = ["django (>=1.8)"]
 falcon = ["falcon (>=1.4)"]
 fastapi = ["fastapi (>=0.79.0)"]
@@ -4081,7 +7039,8 @@ httpx = ["httpx (>=0.16.0)"]
 huey = ["huey (>=2)"]
 loguru = ["loguru (>=0.5)"]
 opentelemetry = ["opentelemetry-distro (>=0.35b0)"]
-pure-eval = ["asttokens", "executing", "pure-eval"]
+opentelemetry-experimental = ["opentelemetry-distro (>=0.40b0,<1.0)", "opentelemetry-instrumentation-aiohttp-client (>=0.40b0,<1.0)", "opentelemetry-instrumentation-django (>=0.40b0,<1.0)", "opentelemetry-instrumentation-fastapi (>=0.40b0,<1.0)", "opentelemetry-instrumentation-flask (>=0.40b0,<1.0)", "opentelemetry-instrumentation-requests (>=0.40b0,<1.0)", "opentelemetry-instrumentation-sqlite3 (>=0.40b0,<1.0)", "opentelemetry-instrumentation-urllib (>=0.40b0,<1.0)"]
+pure-eval = ["asttokens", "executing", "pure_eval"]
 pymongo = ["pymongo (>=3.1)"]
 pyspark = ["pyspark (>=2.4.4)"]
 quart = ["blinker (>=1.1)", "quart (>=0.16.1)"]
@@ -4292,17 +7251,6 @@ docs = ["sphinx (>=1.5.3)"]
 qa = ["flake8"]
 test = ["mock", "nose"]
 
-[[package]]
-name = "sniffio"
-version = "1.3.0"
-description = "Sniff out which async library your code is running under"
-optional = false
-python-versions = ">=3.7"
-files = [
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-    {file = "sniffio-1.3.0.tar.gz", hash = "sha256:e60305c5e5d314f5389259b7f22aaa33d8f7dee49763119234af3755c55b9101"},
-]
-
 [[package]]
 name = "snowballstemmer"
 version = "2.2.0"
@@ -4414,56 +7362,50 @@ sphinx = ">=1.2"
 
 [[package]]
 name = "sphinxcontrib-applehelp"
-version = "1.0.7"
+version = "1.0.8"
 description = "sphinxcontrib-applehelp is a Sphinx extension which outputs Apple help books"
 optional = false
 python-versions = ">=3.9"
 files = [
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+    {file = "sphinxcontrib_applehelp-1.0.8-py3-none-any.whl", hash = "sha256:cb61eb0ec1b61f349e5cc36b2028e9e7ca765be05e49641c97241274753067b4"},
+    {file = "sphinxcontrib_applehelp-1.0.8.tar.gz", hash = "sha256:c40a4f96f3776c4393d933412053962fac2b84f4c99a7982ba42e09576a70619"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-devhelp"
-version = "1.0.5"
+version = "1.0.6"
 description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp documents"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinxcontrib_devhelp-1.0.5-py3-none-any.whl", hash = "sha256:fe8009aed765188f08fcaadbb3ea0d90ce8ae2d76710b7e29ea7d047177dae2f"},
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+    {file = "sphinxcontrib_devhelp-1.0.6-py3-none-any.whl", hash = "sha256:6485d09629944511c893fa11355bda18b742b83a2b181f9a009f7e500595c90f"},
+    {file = "sphinxcontrib_devhelp-1.0.6.tar.gz", hash = "sha256:9893fd3f90506bc4b97bdb977ceb8fbd823989f4316b28c3841ec128544372d3"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-htmlhelp"
-version = "2.0.4"
+version = "2.0.5"
 description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinxcontrib_htmlhelp-2.0.4-py3-none-any.whl", hash = "sha256:8001661c077a73c29beaf4a79968d0726103c5605e27db92b9ebed8bab1359e9"},
-    {file = "sphinxcontrib_htmlhelp-2.0.4.tar.gz", hash = "sha256:6c26a118a05b76000738429b724a0568dbde5b72391a688577da08f11891092a"},
+    {file = "sphinxcontrib_htmlhelp-2.0.5-py3-none-any.whl", hash = "sha256:393f04f112b4d2f53d93448d4bce35842f62b307ccdc549ec1585e950bc35e04"},
+    {file = "sphinxcontrib_htmlhelp-2.0.5.tar.gz", hash = "sha256:0dc87637d5de53dd5eec3a6a01753b1ccf99494bd756aafecd74b4fa9e729015"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
 test = ["html5lib", "pytest"]
 
 [[package]]
@@ -4496,38 +7438,34 @@ test = ["flake8", "mypy", "pytest"]
 
 [[package]]
 name = "sphinxcontrib-qthelp"
-version = "1.0.6"
+version = "1.0.7"
 description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp documents"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinxcontrib_qthelp-1.0.6-py3-none-any.whl", hash = "sha256:bf76886ee7470b934e363da7a954ea2825650013d367728588732c7350f49ea4"},
-    {file = "sphinxcontrib_qthelp-1.0.6.tar.gz", hash = "sha256:62b9d1a186ab7f5ee3356d906f648cacb7a6bdb94d201ee7adf26db55092982d"},
+    {file = "sphinxcontrib_qthelp-1.0.7-py3-none-any.whl", hash = "sha256:e2ae3b5c492d58fcbd73281fbd27e34b8393ec34a073c792642cd8e529288182"},
+    {file = "sphinxcontrib_qthelp-1.0.7.tar.gz", hash = "sha256:053dedc38823a80a7209a80860b16b722e9e0209e32fea98c90e4e6624588ed6"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-serializinghtml"
-version = "1.1.9"
+version = "1.1.10"
 description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinxcontrib_serializinghtml-1.1.9-py3-none-any.whl", hash = "sha256:9b36e503703ff04f20e9675771df105e58aa029cfcbc23b8ed716019b7416ae1"},
-    {file = "sphinxcontrib_serializinghtml-1.1.9.tar.gz", hash = "sha256:0c64ff898339e1fac29abd2bf5f11078f3ec413cfe9c046d3120d7ca65530b54"},
+    {file = "sphinxcontrib_serializinghtml-1.1.10-py3-none-any.whl", hash = "sha256:326369b8df80a7d2d8d7f99aa5ac577f51ea51556ed974e7716cfd4fca3f6cb7"},
+    {file = "sphinxcontrib_serializinghtml-1.1.10.tar.gz", hash = "sha256:93f3f5dc458b91b192fe10c397e324f262cf163d79f3282c158e8436a2c4511f"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
@@ -4637,13 +7575,13 @@ telegram = ["requests"]
 
 [[package]]
 name = "types-requests"
-version = "2.31.0.20240106"
+version = "2.31.0.20240125"
 description = "Typing stubs for requests"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "types-requests-2.31.0.20240106.tar.gz", hash = "sha256:0e1c731c17f33618ec58e022b614a1a2ecc25f7dc86800b36ef341380402c612"},
-    {file = "types_requests-2.31.0.20240106-py3-none-any.whl", hash = "sha256:da997b3b6a72cc08d09f4dba9802fdbabc89104b35fe24ee588e674037689354"},
+    {file = "types-requests-2.31.0.20240125.tar.gz", hash = "sha256:03a28ce1d7cd54199148e043b2079cdded22d6795d19a2c2a6791a4b2b5e2eb5"},
+    {file = "types_requests-2.31.0.20240125-py3-none-any.whl", hash = "sha256:9592a9a4cb92d6d75d9b491a41477272b710e021011a2a3061157e2fb1f1a5d1"},
 ]
 
 [package.dependencies]
@@ -4871,4 +7809,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "ddef5baa3e9a1f50713ddc370ead968173200467a56df6a718ef3d2ada95e832"
+content-hash = "8af315a175ab43dbc5a777f68fca6d76af1443b5b574ab8570ef5dad59f288fc"
diff --git a/pyproject.toml b/pyproject.toml
index 2fec88f244..116c034bc9 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -21,6 +21,7 @@ testpaths = [
   "selfdrive/thermald",
   "selfdrive/test/longitudinal_maneuvers",
   "selfdrive/test/process_replay/test_fuzzy.py",
+  "system/camerad",
   "system/hardware/tici",
   "system/loggerd",
   "system/proclogd",
@@ -87,8 +88,8 @@ json-rpc = "*"
 libusb1 = "*"
 numpy = "*"
 onnx = ">=1.14.0"
-onnxruntime = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'aarch64'" }
-onnxruntime-gpu = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
+onnxruntime = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'aarch64'" }
+onnxruntime-gpu = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'x86_64'" }
 psutil = "*"
 pyaudio = "*"
 pycapnp = "*"
@@ -98,7 +99,7 @@ pyserial = "*"
 pyzmq = "*"
 requests = "*"
 scons = "*"
-sentry-sdk = "==1.28.1"  # needs to be updated with AGNOS
+sentry-sdk = "*"
 smbus2 = "*"
 sounddevice = "*"
 spidev = { version = "*", platform = "linux" }
@@ -110,7 +111,6 @@ markdown-it-py = "*"
 timezonefinder = "*"
 setproctitle = "*"
 
-
 [tool.poetry.group.dev.dependencies]
 av = "*"
 azure-identity = "*"
@@ -120,12 +120,13 @@ control = "*"
 coverage = "*"
 dictdiffer = "*"
 ft4222 = "*"
+flaky = "*"
 hypothesis = "~6.47"
 inputs = "*"
 Jinja2 = "*"
 lru-dict = "*"
 matplotlib = "*"
-metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="main", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+metadrive-simulator = { version = "0.4.2.2", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"
@@ -135,8 +136,10 @@ parameterized = "^0.8"
 pprofile = "*"
 polyline = "*"
 pre-commit = "*"
-pyopencl = "*"
+pyautogui = "*"
+pyopencl = "==2023.1.4"  # 2024.1 is broken on arm64
 pygame = "*"
+pywinctl = "*"
 pyprof2calltree = "*"
 pytest = "*"
 pytest-cov = "*"
@@ -144,7 +147,6 @@ pytest-cpp = "*"
 pytest-subtests = "*"
 pytest-xdist = "*"
 pytest-timeout = "*"
-pytest-timeouts = "*"
 pytest-randomly = "*"
 ruff = "*"
 sphinx = "*"
diff --git a/release/build_release.sh b/release/build_release.sh
index b713876cd6..fc15cf6cdf 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -102,11 +102,4 @@ if [ ! -z "$RELEASE_BRANCH" ]; then
   git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH
 fi
 
-if [ ! -z "$DASHCAM_BRANCH" ]; then
-  # Create dashcam
-  git rm selfdrive/car/*/carcontroller.py
-  git commit -m "create dashcam release from release"
-  git push -f origin $RELEASE_BRANCH:$DASHCAM_BRANCH
-fi
-
 echo "[-] done T=$SECONDS"
diff --git a/release/files_common b/release/files_common
index 71c096716b..cf985f682d 100644
--- a/release/files_common
+++ b/release/files_common
@@ -142,7 +142,6 @@ selfdrive/controls/lib/latcontrol_angle.py
 selfdrive/controls/lib/latcontrol_torque.py
 selfdrive/controls/lib/latcontrol_pid.py
 selfdrive/controls/lib/latcontrol.py
-selfdrive/controls/lib/lateral_planner.py
 selfdrive/controls/lib/longcontrol.py
 selfdrive/controls/lib/longitudinal_planner.py
 selfdrive/controls/lib/pid.py
@@ -154,6 +153,7 @@ selfdrive/controls/lib/lateral_mpc_lib/*
 selfdrive/controls/lib/longitudinal_mpc_lib/*
 
 system/__init__.py
+system/*.py
 
 system/hardware/__init__.py
 system/hardware/base.h
diff --git a/release/files_tici b/release/files_tici
index 1e5adab498..5d65ef458a 100644
--- a/release/files_tici
+++ b/release/files_tici
@@ -4,8 +4,6 @@ third_party/snpe/aarch64-ubuntu-gcc7.5/*
 third_party/mapbox-gl-native-qt/include/*
 third_party/acados/larch64/**
 
-system/timezoned.py
-
 system/camerad/cameras/camera_qcom2.cc
 system/camerad/cameras/camera_qcom2.h
 system/camerad/cameras/camera_util.cc
diff --git a/release/verify.sh b/release/verify.sh
index 56f21183f1..ec5266bd81 100755
--- a/release/verify.sh
+++ b/release/verify.sh
@@ -6,7 +6,7 @@ RED="\033[0;31m"
 GREEN="\033[0;32m"
 CLEAR="\033[0m"
 
-BRANCHES="devel dashcam3 release3"
+BRANCHES="devel release3"
 for b in $BRANCHES; do
   if git diff --quiet origin/$b origin/$b-staging && [ "$(git rev-parse origin/$b)" = "$(git rev-parse origin/$b-staging)" ]; then
     printf "%-10s $GREEN ok $CLEAR\n" "$b"
diff --git a/scripts/build_small.sh b/scripts/build_small.sh
index d53c7a6c78..90f55373e2 100755
--- a/scripts/build_small.sh
+++ b/scripts/build_small.sh
@@ -26,7 +26,7 @@ cd $OUT
 git tag -l | xargs git tag -d
 
 # remove non-master branches
-BRANCHES="release2 dashcam dashcam3 release3 devel master-ci nightly"
+BRANCHES="release2 release3 devel master-ci nightly"
 for branch in $BRANCHES; do
   git branch -D $branch
   git branch -D ${branch}-staging || true
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index ce9e64188b..0a5c9b7999 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -79,7 +79,7 @@ class UploadItem:
   url: str
   headers: Dict[str, str]
   created_at: int
-  id: Optional[str] # noqa: A003 (to match the response from the remote server)
+  id: Optional[str]
   retry_count: int = 0
   current: bool = False
   progress: float = 0
@@ -432,6 +432,21 @@ def cancelUpload(upload_id: Union[str, List[str]]) -> Dict[str, Union[int, str]]
   cancelled_uploads.update(cancelled_ids)
   return {"success": 1}
 
+@dispatcher.add_method
+def setRouteViewed(route: str) -> Dict[str, Union[int, str]]:
+  # maintain a list of the last 10 routes viewed in connect
+  params = Params()
+
+  r = params.get("AthenadRecentlyViewedRoutes", encoding="utf8")
+  routes = [] if r is None else r.split(",")
+  routes.append(route)
+
+  # remove duplicates
+  routes = list(dict.fromkeys(routes))
+
+  params.put("AthenadRecentlyViewedRoutes", ",".join(routes[-10:]))
+  return {"success": 1}
+
 
 def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> Dict[str, int]:
   try:
diff --git a/selfdrive/athena/registration.py b/selfdrive/athena/registration.py
index c9a4b949ac..7db94c28c8 100755
--- a/selfdrive/athena/registration.py
+++ b/selfdrive/athena/registration.py
@@ -25,7 +25,6 @@ def is_registered_device() -> bool:
 
 def register(show_spinner=False) -> Optional[str]:
   params = Params()
-  params.put("SubscriberInfo", HARDWARE.get_subscriber_info())
 
   IMEI = params.get("IMEI", encoding='utf8')
   HardwareSerial = params.get("HardwareSerial", encoding='utf8')
diff --git a/selfdrive/athena/tests/helpers.py b/selfdrive/athena/tests/helpers.py
index 34edeb2de5..87202665aa 100644
--- a/selfdrive/athena/tests/helpers.py
+++ b/selfdrive/athena/tests/helpers.py
@@ -1,12 +1,7 @@
 import http.server
-import random
-import requests
+import threading
 import socket
-import time
 from functools import wraps
-from multiprocessing import Process
-
-from openpilot.common.timeout import Timeout
 
 
 class MockResponse:
@@ -49,35 +44,6 @@ class MockApi():
     return "fake-token"
 
 
-class MockParams():
-  default_params = {
-    "DongleId": b"0000000000000000",
-    "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501
-    "GithubUsername": b"commaci",
-    "GsmMetered": True,
-    "AthenadUploadQueue": '[]',
-  }
-  params = default_params.copy()
-
-  @staticmethod
-  def restore_defaults():
-    MockParams.params = MockParams.default_params.copy()
-
-  def get_bool(self, k):
-    return bool(MockParams.params.get(k))
-
-  def get(self, k, encoding=None):
-    ret = MockParams.params.get(k)
-    if ret is not None and encoding is not None:
-      ret = ret.decode(encoding)
-    return ret
-
-  def put(self, k, v):
-    if k not in MockParams.params:
-      raise KeyError(f"key: {k} not in MockParams")
-    MockParams.params[k] = v
-
-
 class MockWebsocket():
   def __init__(self, recv_queue, send_queue):
     self.recv_queue = recv_queue
@@ -101,30 +67,23 @@ class HTTPRequestHandler(http.server.SimpleHTTPRequestHandler):
     self.end_headers()
 
 
-def with_http_server(func):
+def with_http_server(func, handler=http.server.BaseHTTPRequestHandler, setup=None):
   @wraps(func)
   def inner(*args, **kwargs):
-    with Timeout(2, 'HTTP Server did not start'):
-      p = None
-      host = '127.0.0.1'
-      while p is None or p.exitcode is not None:
-        port = random.randrange(40000, 50000)
-        p = Process(target=http.server.test,
-                    kwargs={'port': port, 'HandlerClass': HTTPRequestHandler, 'bind': host})
-        p.start()
-        time.sleep(0.1)
-
-    with Timeout(2, 'HTTP Server seeding failed'):
-      while True:
-        try:
-          requests.put(f'http://{host}:{port}/qlog.bz2', data='', timeout=10)
-          break
-        except requests.exceptions.ConnectionError:
-          time.sleep(0.1)
+    host = '127.0.0.1'
+    server = http.server.HTTPServer((host, 0), handler)
+    port = server.server_port
+    t = threading.Thread(target=server.serve_forever)
+    t.start()
+
+    if setup is not None:
+      setup(host, port)
 
     try:
       return func(*args, f'http://{host}:{port}', **kwargs)
     finally:
-      p.terminate()
+      server.shutdown()
+      server.server_close()
+      t.join()
 
   return inner
diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py
index a562ae8582..9c7582a260 100755
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+from functools import partial
 import json
 import multiprocessing
 import os
@@ -17,23 +18,50 @@ from unittest import mock
 from websocket import ABNF
 from websocket._exceptions import WebSocketConnectionClosedException
 
+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 MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
-from cereal import messaging
+from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockApi, EchoSocket, with_http_server
 from openpilot.system.hardware.hw import Paths
+from openpilot.selfdrive.athena.tests.helpers import HTTPRequestHandler
+
+
+def seed_athena_server(host, port):
+  with Timeout(2, 'HTTP Server seeding failed'):
+    while True:
+      try:
+        requests.put(f'http://{host}:{port}/qlog.bz2', data='', timeout=10)
+        break
+      except requests.exceptions.ConnectionError:
+        time.sleep(0.1)
+
+
+with_mock_athena = partial(with_http_server, handler=HTTPRequestHandler, setup=seed_athena_server)
 
 
 class TestAthenadMethods(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
     cls.SOCKET_PORT = 45454
-    athenad.Params = MockParams
     athenad.Api = MockApi
     athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT}
 
   def setUp(self):
-    MockParams.restore_defaults()
+    self.default_params = {
+      "DongleId": "0000000000000000",
+      "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501
+      "GithubUsername": b"commaci",
+      "AthenadUploadQueue": '[]',
+    }
+
+    self.params = Params()
+    for k, v in self.default_params.items():
+      self.params.put(k, v)
+    self.params.put_bool("GsmMetered", True)
+
     athenad.upload_queue = queue.Queue()
     athenad.cur_upload_items.clear()
     athenad.cancelled_uploads.clear()
@@ -138,7 +166,7 @@ class TestAthenadMethods(unittest.TestCase):
       self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4])
 
   @parameterized.expand([(True,), (False,)])
-  @with_http_server
+  @with_mock_athena
   def test_do_upload(self, compress, host):
     # random bytes to ensure rather large object post-compression
     fn = self._create_file('qlog', data=os.urandom(10000 * 1024))
@@ -152,7 +180,7 @@ class TestAthenadMethods(unittest.TestCase):
     resp = athenad._do_upload(item)
     self.assertEqual(resp.status_code, 201)
 
-  @with_http_server
+  @with_mock_athena
   def test_uploadFileToUrl(self, host):
     fn = self._create_file('qlog.bz2')
 
@@ -163,7 +191,7 @@ class TestAthenadMethods(unittest.TestCase):
     self.assertIsNotNone(resp['items'][0].get('id'))
     self.assertEqual(athenad.upload_queue.qsize(), 1)
 
-  @with_http_server
+  @with_mock_athena
   def test_uploadFileToUrl_duplicate(self, host):
     self._create_file('qlog.bz2')
 
@@ -175,12 +203,12 @@ class TestAthenadMethods(unittest.TestCase):
     resp = dispatcher["uploadFileToUrl"]("qlog.bz2", url2, {})
     self.assertEqual(resp, {'enqueued': 0, 'items': []})
 
-  @with_http_server
+  @with_mock_athena
   def test_uploadFileToUrl_does_not_exist(self, host):
     not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {})
     self.assertEqual(not_exists_resp, {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']})
 
-  @with_http_server
+  @with_mock_athena
   def test_upload_handler(self, host):
     fn = self._create_file('qlog.bz2')
     item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
@@ -199,7 +227,7 @@ class TestAthenadMethods(unittest.TestCase):
     finally:
       end_event.set()
 
-  @with_http_server
+  @with_mock_athena
   @mock.patch('requests.put')
   def test_upload_handler_retry(self, host, mock_put):
     for status, retry in ((500, True), (412, False)):
@@ -377,11 +405,11 @@ class TestAthenadMethods(unittest.TestCase):
 
   def test_getSshAuthorizedKeys(self):
     keys = dispatcher["getSshAuthorizedKeys"]()
-    self.assertEqual(keys, MockParams().params["GithubSshKeys"].decode('utf-8'))
+    self.assertEqual(keys, self.default_params["GithubSshKeys"].decode('utf-8'))
 
   def test_getGithubUsername(self):
     keys = dispatcher["getGithubUsername"]()
-    self.assertEqual(keys, MockParams().params["GithubUsername"].decode('utf-8'))
+    self.assertEqual(keys, self.default_params["GithubUsername"].decode('utf-8'))
 
   def test_getVersion(self):
     resp = dispatcher["getVersion"]()
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index fa68313e86..47290c89ee 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -127,9 +127,6 @@ def fingerprint(logcan, sendcan, num_pandas):
 
   start_time = time.monotonic()
   if not skip_fw_query:
-    # Vin query only reliably works through OBDII
-    bus = 1
-
     cached_params = params.get("CarParamsCache")
     if cached_params is not None:
       with car.CarParams.from_bytes(cached_params) as cached_params:
@@ -139,20 +136,22 @@ def fingerprint(logcan, sendcan, num_pandas):
     if cached_params is not None and len(cached_params.carFw) > 0 and \
        cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache:
       cloudlog.warning("Using cached CarParams")
-      vin, vin_rx_addr = cached_params.carVin, 0
+      vin_rx_addr, vin_rx_bus, vin = -1, -1, cached_params.carVin
       car_fw = list(cached_params.carFw)
       cached = True
     else:
       cloudlog.warning("Getting VIN & FW versions")
+      # enable OBD multiplexing for Vin query, also allows time for sendcan subscriber to connect
       set_obd_multiplexing(params, True)
-      vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
+      # Vin query only reliably works through OBDII
+      vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1))
       ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas)
       car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
       cached = False
 
     exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
   else:
-    vin, vin_rx_addr = VIN_UNKNOWN, 0
+    vin_rx_addr, vin_rx_bus, vin = -1, -1, VIN_UNKNOWN
     exact_fw_match, fw_candidates, car_fw = True, set(), []
     cached = False
 
@@ -187,8 +186,8 @@ def fingerprint(logcan, sendcan, num_pandas):
     source = car.CarParams.FingerprintSource.fixed
 
   cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached,
-                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, fingerprints=finger,
-                 fw_query_time=fw_query_time, error=True)
+                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
+                 fingerprints=finger, fw_query_time=fw_query_time, error=True)
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
@@ -207,3 +206,15 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
   CP.fuzzyFingerprint = not exact_match
 
   return CarInterface(CP, CarController, CarState), CP
+
+def write_car_param(fingerprint="mock"):
+  params = Params()
+  CarInterface, _, _ = interfaces[fingerprint]
+  CP = CarInterface.get_non_essential_params(fingerprint)
+  params.put("CarParams", CP.to_bytes())
+
+def get_demo_car_params():
+  fingerprint="mock"
+  CarInterface, _, _ = interfaces[fingerprint]
+  CP = CarInterface.get_non_essential_params(fingerprint)
+  return CP
diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 4a1299d763..f9a3fe5b10 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -1,88 +1,357 @@
-# ruff: noqa: E501
 from cereal import car
 from openpilot.selfdrive.car.chrysler.values import CAR
 
 Ecu = car.CarParams.Ecu
 
-# Unique CAN messages:
-# Only the hybrids have 270: 8
-# Only the gas have 55: 8, 416: 7
-# For 564, All 2017 have length 4, whereas 2018-19 have length 8.
-# For 924, Pacifica 2017 has length 3, whereas all 2018-19 have length 8.
-# For 560, All 2019 have length 8, whereas all 2017-18 have length 4.
-#
-# Jeep Grand Cherokee unique messages:
-# 2017 Trailhawk: 618: 8
-# For 924, Trailhawk 2017 has length 3, whereas 2018 V6 has length 8.
-
-
-FINGERPRINTS = {
-  CAR.PACIFICA_2017_HYBRID: [{
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 840: 8, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8
-  }],
-  CAR.PACIFICA_2018: [{
-    55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
-  },
-  {
-    55: 8, 58: 6, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 956: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
-  }],
-  CAR.PACIFICA_2020: [{
-    55: 8, 179: 8, 181: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 536: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 776: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 886: 8, 897: 8, 906: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 7, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1543: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
-  }],
-  CAR.PACIFICA_2018_HYBRID: [{
-    68: 8, 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8
+FW_VERSIONS = {
+  CAR.PACIFICA_2017_HYBRID: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68239262AH',
+      b'68239262AI',
+      b'68239262AJ',
+      b'68239263AH',
+      b'68239263AJ',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68238840AH',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'68226356AI',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68288309AC',
+      b'68288309AD',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'68277480AV ',
+      b'68277480AX ',
+      b'68277480AZ ',
+    ],
+    (Ecu.hybrid, 0x7e2, None): [
+      b'05190175BF',
+      b'05190175BH',
+      b'05190226AK',
+    ],
   },
-  {
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2016: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8
-  }],
-  CAR.PACIFICA_2019_HYBRID: [{
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1538: 8
+  CAR.PACIFICA_2018: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68227902AF',
+      b'68227902AG',
+      b'68227902AH',
+      b'68360252AC',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68211617AF',
+      b'68211617AG',
+      b'68358974AC',
+      b'68405937AA',
+    ],
+    (Ecu.abs, 0x747, None): [
+      b'68222747AG',
+      b'68330876AA',
+      b'68330876AB',
+      b'68352227AA',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672758AA',
+      b'68226356AF',
+      b'68226356AH',
+      b'68226356AI',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68288891AE',
+      b'68378884AA',
+      b'68525338AA',
+      b'68525338AB',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'68267018AO ',
+      b'68267020AJ ',
+      b'68340762AD ',
+      b'68340764AD ',
+      b'68352652AE ',
+      b'68366851AH ',
+      b'68366853AE ',
+      b'68372861AF ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'68277370AJ',
+      b'68277370AM',
+      b'68277372AD',
+      b'68277372AN',
+      b'68277374AA',
+      b'68277374AB',
+      b'68277374AD',
+      b'68277374AN',
+      b'68367471AC',
+      b'68380571AB',
+    ],
   },
-  {
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1537: 8
+  CAR.PACIFICA_2020: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68405327AC',
+      b'68436233AB',
+      b'68436233AC',
+      b'68436250AE',
+      b'68529067AA',
+      b'68594993AB',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68405565AB',
+      b'68405565AC',
+      b'68444299AC',
+      b'68480708AC',
+      b'68526663AB',
+    ],
+    (Ecu.abs, 0x747, None): [
+      b'68397394AA',
+      b'68433480AB',
+      b'68453575AF',
+      b'68577676AA',
+      b'68593395AA',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672758AA',
+      b'04672758AB',
+      b'68417813AF',
+      b'68540436AA',
+      b'68540436AC',
+      b'68540436AD',
+      b'68598670AB',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68416742AA',
+      b'68460393AA',
+      b'68460393AB',
+      b'68494461AB',
+      b'68524936AA',
+      b'68524936AB',
+      b'68525338AB',
+      b'68594340AB',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'68413871AD ',
+      b'68413871AE ',
+      b'68413871AH ',
+      b'68413871AI ',
+      b'68413873AI ',
+      b'68443120AE ',
+      b'68443123AC ',
+      b'68443125AC ',
+      b'68526752AD ',
+      b'68526752AE ',
+      b'68526754AE ',
+      b'68536264AE ',
+      b'68700306AB ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'68414271AC',
+      b'68414271AD',
+      b'68414275AC',
+      b'68443154AB',
+      b'68443155AC',
+      b'68443158AB',
+      b'68501050AD',
+      b'68527221AB',
+      b'68527223AB',
+      b'68586231AD',
+    ],
   },
-  {
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1562: 8, 1570: 8
+  CAR.PACIFICA_2018_HYBRID: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68358439AE',
+      b'68358439AG',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68358990AC',
+      b'68405939AA',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672758AA',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68288309AD',
+      b'68525339AA',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'68366580AI ',
+      b'68366580AK ',
+      b'68366580AM ',
+    ],
+    (Ecu.hybrid, 0x7e2, None): [
+      b'05190226AI',
+      b'05190226AK',
+      b'05190226AM',
+    ],
   },
-  {
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1536: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8
+  CAR.PACIFICA_2019_HYBRID: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68405292AC',
+      b'68434956AC',
+      b'68434956AD',
+      b'68434960AE',
+      b'68434960AF',
+      b'68529064AB',
+      b'68594990AB',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68405567AB',
+      b'68405567AC',
+      b'68453076AD',
+      b'68480710AC',
+      b'68526665AB',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672758AB',
+      b'68417813AF',
+      b'68540436AA',
+      b'68540436AB',
+      b'68540436AC',
+      b'68540436AD',
+      b'68598670AB',
+      b'68598670AC',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68416741AA',
+      b'68460392AA',
+      b'68525339AA',
+      b'68525339AB',
+      b'68594341AB',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'68416680AE ',
+      b'68416680AF ',
+      b'68416680AG ',
+      b'68444228AD ',
+      b'68444228AE ',
+      b'68444228AF ',
+      b'68499122AD ',
+      b'68499122AE ',
+      b'68499122AF ',
+      b'68526772AD ',
+      b'68526772AH ',
+      b'68599493AC ',
+    ],
+    (Ecu.hybrid, 0x7e2, None): [
+      b'05185116AF',
+      b'05185116AJ',
+      b'05185116AK',
+      b'05190240AP',
+      b'05190240AQ',
+      b'05190240AR',
+      b'05190265AG',
+      b'05190265AH',
+      b'05190289AE',
+      b'68540977AH',
+      b'68540977AK',
+      b'68597647AE',
+    ],
   },
-  {
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 450: 8, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 2018: 8, 2020: 8, 2026: 8, 2028: 8
-  }],
-  CAR.JEEP_GRAND_CHEROKEE: [{
-    55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 1576: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+  CAR.JEEP_GRAND_CHEROKEE: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68302211AC',
+      b'68302212AD',
+      b'68302246AC',
+      b'68331511AC',
+      b'68331574AC',
+      b'68331687AC',
+      b'68340272AD',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68316742AB',
+      b'68355363AB',
+    ],
+    (Ecu.abs, 0x747, None): [
+      b'68306178AD',
+      b'68336276AB',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672627AB',
+      b'68332015AB',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68321644AB',
+      b'68321644AC',
+      b'68321646AC',
+      b'68321648AC',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'05035920AE ',
+      b'68284455AI ',
+      b'68284456AI ',
+      b'68284477AF ',
+      b'68325564AH ',
+      b'68325565AH ',
+      b'68325565AI ',
+      b'68325618AD ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'05035517AH',
+      b'68311218AC',
+      b'68311223AF',
+      b'68311223AG',
+      b'68361911AE',
+      b'68361911AF',
+      b'68361911AH',
+      b'68361916AD',
+    ],
   },
-  {
-    257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 671: 8, 672: 8, 678: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1235: 8, 1242: 8, 1252: 8, 1792: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1892: 8, 1927: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
-  }],
-  CAR.JEEP_GRAND_CHEROKEE_2019: [{
-    55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1538: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
-  }],
-}
-
-FW_VERSIONS = {
   CAR.JEEP_GRAND_CHEROKEE_2019: {
     (Ecu.combinationMeter, 0x742, None): [
+      b'68402703AB',
+      b'68402708AB',
       b'68402971AD',
+      b'68454144AD',
+      b'68454152AB',
+      b'68454156AB',
+      b'68516650AB',
+      b'68516651AB',
+      b'68516669AB',
+      b'68516671AB',
+      b'68516683AB',
     ],
     (Ecu.srs, 0x744, None): [
       b'68355363AB',
+      b'68355364AB',
     ],
     (Ecu.abs, 0x747, None): [
+      b'68408639AC',
       b'68408639AD',
+      b'68499978AB',
     ],
     (Ecu.fwdRadar, 0x753, None): [
+      b'04672788AA',
       b'68456722AC',
     ],
     (Ecu.eps, 0x75a, None): [
+      b'68417279AA',
+      b'68417280AA',
       b'68453431AA',
+      b'68453433AA',
+      b'68453435AA',
+      b'68499171AA',
+      b'68499171AB',
+      b'68501183AA',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'05035674AB ',
+      b'68412635AG ',
+      b'68422860AB',
+      b'68449435AE ',
+      b'68496223AA ',
+      b'68504959AD ',
+      b'68504960AD ',
+      b'68504993AC ',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'05035707AA',
+      b'68419672AC',
+      b'68423905AB',
+      b'68449258AC',
+      b'68495807AA',
+      b'68495807AB',
+      b'68503641AC',
+      b'68503664AC',
     ],
   },
   CAR.RAM_1500: {
@@ -94,18 +363,39 @@ FW_VERSIONS = {
       b'68294063AH',
       b'68294063AI',
       b'68434846AC',
+      b'68434847AC',
+      b'68434849AC',
+      b'68434856AC',
       b'68434858AC',
+      b'68434859AC',
       b'68434860AC',
+      b'68453483AC',
+      b'68453487AD',
+      b'68453491AC',
+      b'68453499AD',
       b'68453503AC',
       b'68453505AC',
+      b'68453505AD',
       b'68453511AC',
+      b'68453513AC',
       b'68453513AD',
       b'68453514AD',
+      b'68505633AB',
+      b'68510277AG',
+      b'68510277AH',
       b'68510280AG',
+      b'68510282AG',
+      b'68510282AH',
       b'68510283AG',
       b'68527346AE',
+      b'68527361AD',
       b'68527375AD',
+      b'68527381AE',
       b'68527382AE',
+      b'68527383AD',
+      b'68527387AE',
+      b'68527403AC',
+      b'68631942AA',
     ],
     (Ecu.srs, 0x744, None): [
       b'68428609AB',
@@ -155,46 +445,102 @@ FW_VERSIONS = {
       b'68312176AE',
       b'68312176AG',
       b'68440789AC',
+      b'68466110AA',
       b'68466110AB',
       b'68469901AA',
+      b'68469907AA',
+      b'68522583AA',
       b'68522583AB',
+      b'68522584AA',
       b'68522585AB',
       b'68552788AA',
       b'68552789AA',
       b'68552790AA',
+      b'68552791AB',
+      b'68552794AA',
       b'68585106AB',
+      b'68585108AB',
       b'68585109AB',
       b'68585112AB',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'05035699AG ',
+      b'05036026AB ',
       b'05036065AE ',
       b'05036066AE ',
+      b'05149368AA ',
       b'05149591AD ',
+      b'05149591AE ',
       b'05149592AE ',
+      b'05149600AD ',
+      b'05149605AE ',
       b'05149846AA ',
       b'05149848AA ',
+      b'05190341AD',
+      b'68378695AJ ',
+      b'68378696AJ ',
       b'68378701AI ',
+      b'68378710AL ',
       b'68378748AL ',
       b'68378758AM ',
       b'68448163AJ',
+      b'68448163AK',
+      b'68448163AL',
+      b'68448165AG',
       b'68448165AK',
+      b'68455111AC ',
+      b'68455119AC ',
+      b'68455145AC ',
+      b'68455145AE ',
+      b'68455146AC ',
+      b'68467915AC ',
+      b'68467936AC ',
       b'68500630AD',
       b'68500630AE',
+      b'68502719AC ',
+      b'68502722AC ',
+      b'68502734AF ',
+      b'68502740AF ',
+      b'68502741AF ',
+      b'68502742AC ',
       b'68539650AD',
+      b'68539650AF',
+      b'68539651AD',
+      b'68586101AA ',
+      b'68586105AB ',
+      b'68629926AC ',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'05035706AD',
+      b'05035842AB',
+      b'05036069AA',
       b'05149536AC',
+      b'05149537AC',
+      b'05149543AC',
       b'68360078AL',
+      b'68360080AL',
       b'68360080AM',
       b'68360081AM',
+      b'68360085AJ',
       b'68360085AL',
       b'68384328AD',
       b'68384332AD',
+      b'68445531AC',
       b'68445533AB',
+      b'68445536AB',
+      b'68445537AB',
+      b'68466081AB',
+      b'68466087AB',
+      b'68484466AC',
       b'68484467AC',
+      b'68484471AC',
       b'68502994AD',
       b'68520867AE',
+      b'68520867AF',
+      b'68520870AC',
       b'68540431AB',
+      b'68540433AB',
+      b'68629936AC',
     ],
   },
   CAR.RAM_HD: {
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 055efba829..34e602562a 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -64,17 +64,17 @@ class ChryslerCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
-  CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
-  CAR.PACIFICA_2018_HYBRID: None,  # same platforms
+  CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"),
+  CAR.PACIFICA_2018_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
   CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
   CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
   CAR.PACIFICA_2020: [
     ChryslerCarInfo("Chrysler Pacifica 2019-20"),
-    ChryslerCarInfo("Chrysler Pacifica 2021", package="All"),
+    ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
   ],
   CAR.JEEP_GRAND_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
   CAR.JEEP_GRAND_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
-  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", car_parts=CarParts.common([CarHarness.ram])),
+  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
   CAR.RAM_HD: [
     ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
     ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
@@ -117,8 +117,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
     ),
   ],
   extra_ecus=[
-    (Ecu.hybrid, 0x7e2, None),  # manages transmission on hybrids
-    (Ecu.abs, 0x7e4, None),     # alt address for abs on hybrids
+    (Ecu.abs, 0x7e4, None),  # alt address for abs on hybrids, NOTE: not on all hybrid platforms
   ],
 )
 
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 88ec6a5072..45516d6035 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -1,10 +1,10 @@
 from cereal import car
 from openpilot.common.numpy_fast import clip
-from openpilot.common.conversions import Conversions as CV
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
 from openpilot.selfdrive.car.ford import fordcan
 from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams
+from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -90,7 +90,7 @@ class CarController:
       if not CC.longActive or gas < CarControllerParams.MIN_GAS:
         gas = CarControllerParams.INACTIVE_GAS
       stopping = CC.actuators.longControlState == LongCtrlState.stopping
-      can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=40 * CV.MPH_TO_KPH))
+      can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=V_CRUISE_MAX))
 
     ### ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
diff --git a/selfdrive/car/ford/fingerprints.py b/selfdrive/car/ford/fingerprints.py
index 8594ab95df..0085b6b9c6 100644
--- a/selfdrive/car/ford/fingerprints.py
+++ b/selfdrive/car/ford/fingerprints.py
@@ -19,12 +19,6 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x706, None): [
       b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'M1PA-14C204-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'N1PA-14C204-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
   CAR.ESCAPE_MK4: {
     (Ecu.eps, 0x730, None): [
@@ -47,17 +41,6 @@ FW_VERSIONS = {
       b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6A-14C204-BJX\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6A-14C204-CNG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6A-14C204-DPK\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'MX6A-14C204-CAB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
   CAR.EXPLORER_MK6: {
     (Ecu.eps, 0x730, None): [
@@ -83,21 +66,9 @@ FW_VERSIONS = {
       b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LC5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5A-14C204-ATS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5A-14C204-AUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NB5A-14C204-AZD\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PB5A-14C204-DA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
   CAR.F_150_MK14: {
     (Ecu.eps, 0x730, None): [
@@ -112,9 +83,6 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x706, None): [
       b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'PL3A-14C204-BRB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
   CAR.F_150_LIGHTNING_MK1: {
     (Ecu.abs, 0x760, None): [
@@ -126,9 +94,6 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x764, None): [
       b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'NL3A-14C204-BAR\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
   CAR.MUSTANG_MACH_E_MK1: {
     (Ecu.eps, 0x730, None): [
@@ -144,10 +109,6 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x706, None): [
       b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'MJ98-14C204-BBS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NJ98-14C204-VH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
   CAR.FOCUS_MK4: {
     (Ecu.eps, 0x730, None): [
@@ -162,9 +123,6 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x706, None): [
       b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
   CAR.MAVERICK_MK1: {
     (Ecu.eps, 0x730, None): [
@@ -181,14 +139,5 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x706, None): [
       b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NZ6A-14C204-ZC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PZ6A-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PZ6A-14C204-JE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
 }
diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
index 78a249e387..c5ef0900f3 100644
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@@ -127,13 +127,12 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl
 
   Frequency is 50Hz.
   """
-
   decel = accel < 0 and long_active
   values = {
     "AccBrkTot_A_Rq": accel,                          # Brake total accel request: [-20|11.9449] m/s^2
     "Cmbb_B_Enbl": 1 if long_active else 0,           # Enabled: 0=No, 1=Yes
     "AccPrpl_A_Rq": gas,                              # Acceleration request: [-5|5.23] m/s^2
-    "AccPrpl_A_Pred": gas,                            # Acceleration request: [-5|5.23] m/s^2
+    "AccPrpl_A_Pred": -5.0,                           # Acceleration request: [-5|5.23] m/s^2
     "AccResumEnbl_B_Rq": 1 if long_active else 0,
     "AccVeh_V_Trg": v_ego_kph,                        # Target speed: [0|255] km/h
     # TODO: we may be able to improve braking response by utilizing pre-charging better
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 8a8ce36bd0..cc013fb54b 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -21,6 +21,10 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
 
+    ret.longitudinalTuning.kpBP = [0.]
+    ret.longitudinalTuning.kpV = [0.5]
+    ret.longitudinalTuning.kiV = [0.]
+
     CAN = CanBus(fingerprint=fingerprint)
     cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
     if CAN.main >= 4:
diff --git a/selfdrive/car/ford/tests/test_ford.py b/selfdrive/car/ford/tests/test_ford.py
index a1f0b81a58..dff29629f6 100755
--- a/selfdrive/car/ford/tests/test_ford.py
+++ b/selfdrive/car/ford/tests/test_ford.py
@@ -52,7 +52,7 @@ class TestFordFW(unittest.TestCase):
   @parameterized.expand(FW_VERSIONS.items())
   def test_fw_versions(self, car_model: str, fw_versions: Dict[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]], Iterable[bytes]]):
     for (ecu, addr, subaddr), fws in fw_versions.items():
-      self.assertIn(ecu, ECU_ADDRESSES, "Unknown ECU")
+      self.assertIn(ecu, ECU_FW_CORE, "Unexpected ECU")
       self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch")
       self.assertIsNone(subaddr, "Unexpected ECU subaddress")
 
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index 2c4415be2b..a18e6f461e 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -111,21 +111,15 @@ FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
     # CAN and CAN FD queries are combined.
     # FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus
-    # TODO: properly handle auxiliary requests to separate queries and add back whitelists
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
-      # whitelist_ecus=[Ecu.engine],
-    ),
-    Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
-      # whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
       bus=0,
       auxiliary=True,
     ),
   ],
   extra_ecus=[
+    (Ecu.engine, 0x7e0, None),
     (Ecu.shiftByWire, 0x732, None),
   ],
 )
diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py
index 410040b10e..e069fad13b 100755
--- a/selfdrive/car/fw_query_definitions.py
+++ b/selfdrive/car/fw_query_definitions.py
@@ -14,6 +14,9 @@ EcuAddrSubAddr = Tuple[int, int, Optional[int]]
 LiveFwVersions = Dict[AddrType, Set[bytes]]
 OfflineFwVersions = Dict[str, Dict[EcuAddrSubAddr, List[bytes]]]
 
+STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1]  # engine, VMCU, 29-bit engine, PGM-FI
+
+
 def p16(val):
   return struct.pack("!H", val)
 
@@ -56,6 +59,9 @@ class StdQueries:
   UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
   UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
 
+  GM_VIN_REQUEST = b'\x1a\x90'
+  GM_VIN_RESPONSE = b'\x5a\x90'
+
 
 @dataclass
 class Request:
@@ -90,3 +96,16 @@ class FwQueryConfig:
         new_request = copy.deepcopy(self.requests[i])
         new_request.bus += 4
         self.requests.append(new_request)
+
+  def get_all_ecus(self, offline_fw_versions: OfflineFwVersions, include_ecu_type: bool = True,
+                   include_extra_ecus: bool = True) -> set[EcuAddrSubAddr] | set[AddrType]:
+    # Add ecus in database + extra ecus
+    brand_ecus = {ecu for ecus in offline_fw_versions.values() for ecu in ecus}
+
+    if include_extra_ecus:
+      brand_ecus |= set(self.extra_ecus)
+
+    if not include_ecu_type:
+      return {(addr, subaddr) for _, addr, subaddr in brand_ecus}
+
+    return brand_ecus
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index a4c8db6797..c9ca249ceb 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -45,16 +45,6 @@ def build_fw_dict(fw_versions: List[capnp.lib.capnp._DynamicStructBuilder],
   return dict(fw_versions_dict)
 
 
-def get_brand_addrs() -> Dict[str, Set[AddrType]]:
-  brand_addrs: DefaultDict[str, Set[AddrType]] = defaultdict(set)
-  for brand, cars in VERSIONS.items():
-    # Add ecus in database + extra ecus to match against
-    brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus}
-    for fw in cars.values():
-      brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()}
-  return dict(brand_addrs)
-
-
 def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=None):
   """Do a fuzzy FW match. This function will return a match, and the number of firmware version
   that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
@@ -105,11 +95,14 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=
     return set()
 
 
-def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[str]:
+def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw_versions=None) -> Set[str]:
   """Do an exact FW match. Returns all cars that match the given
   FW versions for a list of "essential" ECUs. If an ECU is not considered
   essential the FW version can be missing to get a fingerprint, but if it's present it
   needs to match the database."""
+  if extra_fw_versions is None:
+    extra_fw_versions = {}
+
   invalid = set()
   candidates = {c: f for c, f in FW_VERSIONS.items() if
                 is_brand(MODEL_TO_BRAND[c], match_brand)}
@@ -117,12 +110,14 @@ def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[s
   for candidate, fws in candidates.items():
     config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
     for ecu, expected_versions in fws.items():
+      expected_versions = expected_versions + extra_fw_versions.get(candidate, {}).get(ecu, [])
       ecu_type = ecu[0]
       addr = ecu[1:]
 
       found_versions = live_fw_versions.get(addr, set())
       if not len(found_versions):
         # Some models can sometimes miss an ecu, or show on two different addresses
+        # FIXME: this logic can be improved to be more specific, should require one of the two addresses
         if candidate in config.non_essential_ecus.get(ecu_type, []):
           continue
 
@@ -179,22 +174,21 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]:
     if r.bus > num_pandas * 4 - 1:
       continue
 
-    for brand_versions in VERSIONS[brand].values():
-      for ecu_type, addr, sub_addr in list(brand_versions) + config.extra_ecus:
-        # Only query ecus in whitelist if whitelist is not empty
-        if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
-          a = (addr, sub_addr, r.bus)
-          # Build set of queries
-          if sub_addr is None:
-            if a not in parallel_queries[r.obd_multiplexing]:
-              parallel_queries[r.obd_multiplexing].append(a)
-          else:  # subaddresses must be queried one by one
-            if [a] not in queries[r.obd_multiplexing]:
-              queries[r.obd_multiplexing].append([a])
-
-          # Build set of expected responses to filter
-          response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset)
-          responses.add((response_addr, sub_addr, r.bus))
+    for ecu_type, addr, sub_addr in config.get_all_ecus(VERSIONS[brand]):
+      # Only query ecus in whitelist if whitelist is not empty
+      if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
+        a = (addr, sub_addr, r.bus)
+        # Build set of queries
+        if sub_addr is None:
+          if a not in parallel_queries[r.obd_multiplexing]:
+            parallel_queries[r.obd_multiplexing].append(a)
+        else:  # subaddresses must be queried one by one
+          if [a] not in queries[r.obd_multiplexing]:
+            queries[r.obd_multiplexing].append([a])
+
+        # Build set of expected responses to filter
+        response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset)
+        responses.add((response_addr, sub_addr, r.bus))
 
   for obd_multiplexing in queries:
     queries[obd_multiplexing].insert(0, parallel_queries[obd_multiplexing])
@@ -210,7 +204,8 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]:
 def get_brand_ecu_matches(ecu_rx_addrs):
   """Returns dictionary of brands and matches with ECUs in their FW versions"""
 
-  brand_addrs = get_brand_addrs()
+  brand_addrs = {brand: config.get_all_ecus(VERSIONS[brand], include_ecu_type=False) for
+                 brand, config in FW_QUERY_CONFIGS.items()}
   brand_matches = {brand: set() for brand, _, _ in REQUESTS}
 
   brand_rx_offsets = {(brand, r.rx_offset) for brand, _, r in REQUESTS}
@@ -275,19 +270,17 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
 
   for brand, brand_versions in versions.items():
     config = FW_QUERY_CONFIGS[brand]
-    for ecu in brand_versions.values():
-      # Each brand can define extra ECUs to query for data collection
-      for ecu_type, addr, sub_addr in list(ecu) + config.extra_ecus:
-        a = (brand, addr, sub_addr)
-        if a not in ecu_types:
-          ecu_types[a] = ecu_type
-
-        if sub_addr is None:
-          if a not in parallel_addrs:
-            parallel_addrs.append(a)
-        else:
-          if [a] not in addrs:
-            addrs.append([a])
+    for ecu_type, addr, sub_addr in config.get_all_ecus(brand_versions):
+      a = (brand, addr, sub_addr)
+      if a not in ecu_types:
+        ecu_types[a] = ecu_type
+
+      if sub_addr is None:
+        if a not in parallel_addrs:
+          parallel_addrs.append(a)
+      else:
+        if [a] not in addrs:
+          addrs.append([a])
 
   addrs.insert(0, parallel_addrs)
 
@@ -350,6 +343,13 @@ if __name__ == "__main__":
   pandaStates_sock = messaging.sub_sock('pandaStates')
   sendcan = messaging.pub_sock('sendcan')
 
+  # Set up params for boardd
+  params = Params()
+  params.remove("FirmwareQueryDone")
+  params.put_bool("IsOnroad", False)
+  time.sleep(0.2)  # thread is 10 Hz
+  params.put_bool("IsOnroad", True)
+
   extra: Any = None
   if args.scan:
     extra = {}
@@ -360,13 +360,12 @@ if __name__ == "__main__":
       extra[(Ecu.unknown, 0x750, i)] = []
     extra = {"any": {"debug": extra}}
 
-  time.sleep(1.)
   num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
 
   t = time.time()
   print("Getting vin...")
-  vin_rx_addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug)
-  print(f'RX: {hex(vin_rx_addr)}, VIN: {vin}')
+  vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), retry=10, debug=args.debug)
+  print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
   print(f"Getting VIN took {time.time() - t:.3f} s")
   print()
 
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 89c1a3596a..f7309939b1 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -113,6 +113,10 @@ class CarState(CarStateBase):
       if self.CP.pcmCruise:
         ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
 
+    if self.CP.enableBsm:
+      ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
+      ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
+
     return ret
 
   @staticmethod
@@ -146,6 +150,9 @@ class CarState(CarStateBase):
       ("ECMAcceleratorPos", 80),
     ]
 
+    if CP.enableBsm:
+      messages.append(("BCMBlindSpotMonitor", 10))
+
     # Used to read back last counter sent to PT by camera
     if CP.networkLocation == NetworkLocation.fwdCamera:
       messages += [
diff --git a/selfdrive/car/gm/fingerprints.py b/selfdrive/car/gm/fingerprints.py
index 2d8a868d4a..c1a0c56593 100644
--- a/selfdrive/car/gm/fingerprints.py
+++ b/selfdrive/car/gm/fingerprints.py
@@ -1,7 +1,7 @@
 # ruff: noqa: E501
 from openpilot.selfdrive.car.gm.values import CAR
 
-# Trailblazer also matches as a SILVERADO, TODO: split with fw verisions
+# Trailblazer also matches as a SILVERADO, TODO: split with fw versions
 
 
 FINGERPRINTS = {
@@ -57,3 +57,6 @@ FINGERPRINTS = {
     190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
   }],
 }
+
+FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
+}
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 09d401c2fe..d2639cd26c 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -72,6 +72,7 @@ class CarInterface(CarInterfaceBase):
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False
+    ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
 
     if candidate in EV_CAR:
       ret.transmissionType = TransmissionType.direct
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index dbbf15100f..8188ad4e6e 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -6,6 +6,8 @@ from typing import Dict, List, Union
 from cereal import car
 from openpilot.selfdrive.car import dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+
 Ecu = car.CarParams.Ecu
 
 
@@ -143,8 +145,42 @@ class CanBus:
   DROPPED = 192
 
 
+# In a Data Module, an identifier is a string used to recognize an object,
+# either by itself or together with the identifiers of parent objects.
+# Each returns a 4 byte hex representation of the decimal part number. `b"\x02\x8c\xf0'"` -> 42790951
+GM_SOFTWARE_MODULE_1_REQUEST = b'\x1a\xc1'
+GM_SOFTWARE_MODULE_2_REQUEST = b'\x1a\xc2'
+GM_SOFTWARE_MODULE_3_REQUEST = b'\x1a\xc3'
+# This DID is for identifying the part number that reflects the mix of hardware,
+# software, and calibrations in the ECU when it first arrives at the vehicle assembly plant.
+# If there's an Alpha Code, it's associated with this part number and stored in the DID $DB.
+GM_END_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcb'
+GM_BASE_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcc'
+GM_FW_RESPONSE = b'\x5a'
+
+GM_FW_REQUESTS = [
+  GM_SOFTWARE_MODULE_1_REQUEST,
+  GM_SOFTWARE_MODULE_2_REQUEST,
+  GM_SOFTWARE_MODULE_3_REQUEST,
+  GM_END_MODEL_PART_NUMBER_REQUEST,
+  GM_BASE_MODEL_PART_NUMBER_REQUEST,
+]
+
 GM_RX_OFFSET = 0x400
 
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[request for req in GM_FW_REQUESTS for request in [
+    Request(
+      [StdQueries.SHORT_TESTER_PRESENT_REQUEST, req],
+      [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, GM_FW_RESPONSE + bytes([req[-1]])],
+      rx_offset=GM_RX_OFFSET,
+      bus=0,
+      logging=True,
+    ),
+  ]],
+  extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
+)
+
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
 
 EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py
index 543a283e47..0a64a73d72 100644
--- a/selfdrive/car/honda/fingerprints.py
+++ b/selfdrive/car/honda/fingerprints.py
@@ -27,7 +27,9 @@ FW_VERSIONS = {
       b'37805-6A0-A930\x00\x00',
       b'37805-6A0-AF30\x00\x00',
       b'37805-6A0-AG30\x00\x00',
+      b'37805-6A0-AJ10\x00\x00',
       b'37805-6A0-C540\x00\x00',
+      b'37805-6A0-CG20\x00\x00',
       b'37805-6A1-H650\x00\x00',
       b'37805-6B2-A550\x00\x00',
       b'37805-6B2-A560\x00\x00',
@@ -37,7 +39,9 @@ FW_VERSIONS = {
       b'37805-6B2-A810\x00\x00',
       b'37805-6B2-A820\x00\x00',
       b'37805-6B2-A920\x00\x00',
+      b'37805-6B2-AA10\x00\x00',
       b'37805-6B2-C520\x00\x00',
+      b'37805-6B2-C540\x00\x00',
       b'37805-6B2-M520\x00\x00',
       b'37805-6B2-Y810\x00\x00',
       b'37805-6M4-B730\x00\x00',
@@ -122,6 +126,7 @@ FW_VERSIONS = {
       b'78109-TVA-A230\x00\x00',
       b'78109-TVA-A310\x00\x00',
       b'78109-TVA-C010\x00\x00',
+      b'78109-TVA-C130\x00\x00',
       b'78109-TVA-L010\x00\x00',
       b'78109-TVA-L210\x00\x00',
       b'78109-TVA-R310\x00\x00',
@@ -151,6 +156,7 @@ FW_VERSIONS = {
       b'36802-TVA-A150\x00\x00',
       b'36802-TVA-A160\x00\x00',
       b'36802-TVA-A170\x00\x00',
+      b'36802-TVA-A180\x00\x00',
       b'36802-TVA-A330\x00\x00',
       b'36802-TVC-A330\x00\x00',
       b'36802-TVE-H070\x00\x00',
@@ -182,6 +188,7 @@ FW_VERSIONS = {
       b'57114-TWA-A050\x00\x00',
       b'57114-TWA-A530\x00\x00',
       b'57114-TWA-B520\x00\x00',
+      b'57114-TWA-C510\x00\x00',
       b'57114-TWB-H030\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
@@ -199,6 +206,7 @@ FW_VERSIONS = {
       b'78109-TWA-A210\x00\x00',
       b'78109-TWA-A220\x00\x00',
       b'78109-TWA-A230\x00\x00',
+      b'78109-TWA-A610\x00\x00',
       b'78109-TWA-H210\x00\x00',
       b'78109-TWA-L010\x00\x00',
       b'78109-TWA-L210\x00\x00',
@@ -218,6 +226,7 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TWA-A070\x00\x00',
       b'36802-TWA-A080\x00\x00',
+      b'36802-TWA-A210\x00\x00',
       b'36802-TWA-A330\x00\x00',
       b'36802-TWB-H060\x00\x00',
     ],
@@ -253,6 +262,7 @@ FW_VERSIONS = {
       b'37805-5BA-A760\x00\x00',
       b'37805-5BA-A930\x00\x00',
       b'37805-5BA-A960\x00\x00',
+      b'37805-5BA-C640\x00\x00',
       b'37805-5BA-C860\x00\x00',
       b'37805-5BA-L410\x00\x00',
       b'37805-5BA-L760\x00\x00',
@@ -296,6 +306,7 @@ FW_VERSIONS = {
       b'78109-TBA-A510\x00\x00',
       b'78109-TBA-A520\x00\x00',
       b'78109-TBA-A530\x00\x00',
+      b'78109-TBA-C310\x00\x00',
       b'78109-TBA-C520\x00\x00',
       b'78109-TBC-A310\x00\x00',
       b'78109-TBC-A320\x00\x00',
@@ -349,6 +360,7 @@ FW_VERSIONS = {
       b'37805-5AN-AK20\x00\x00',
       b'37805-5AN-AR10\x00\x00',
       b'37805-5AN-AR20\x00\x00',
+      b'37805-5AN-C650\x00\x00',
       b'37805-5AN-CH20\x00\x00',
       b'37805-5AN-E630\x00\x00',
       b'37805-5AN-E720\x00\x00',
@@ -369,6 +381,7 @@ FW_VERSIONS = {
       b'37805-5AZ-G840\x00\x00',
       b'37805-5BB-A530\x00\x00',
       b'37805-5BB-A540\x00\x00',
+      b'37805-5BB-A620\x00\x00',
       b'37805-5BB-A630\x00\x00',
       b'37805-5BB-A640\x00\x00',
       b'37805-5BB-C540\x00\x00',
@@ -418,6 +431,8 @@ FW_VERSIONS = {
       b'39990-TBA-C120\x00\x00',
       b'39990-TEA-T820\x00\x00',
       b'39990-TEZ-T020\x00\x00',
+      b'39990-TGG,A020\x00\x00',
+      b'39990-TGG,A120\x00\x00',
       b'39990-TGG-A020\x00\x00',
       b'39990-TGG-A120\x00\x00',
       b'39990-TGG-J510\x00\x00',
@@ -457,6 +472,7 @@ FW_VERSIONS = {
       b'78109-TGG-A620\x00\x00',
       b'78109-TGG-A810\x00\x00',
       b'78109-TGG-A820\x00\x00',
+      b'78109-TGG-C010\x00\x00',
       b'78109-TGG-C220\x00\x00',
       b'78109-TGG-E110\x00\x00',
       b'78109-TGG-G030\x00\x00',
@@ -475,6 +491,7 @@ FW_VERSIONS = {
       b'36802-TFJ-G060\x00\x00',
       b'36802-TGG-A050\x00\x00',
       b'36802-TGG-A060\x00\x00',
+      b'36802-TGG-A070\x00\x00',
       b'36802-TGG-A130\x00\x00',
       b'36802-TGG-G040\x00\x00',
       b'36802-TGG-G130\x00\x00',
@@ -574,6 +591,7 @@ FW_VERSIONS = {
       b'37805-5PA-6630\x00\x00',
       b'37805-5PA-6640\x00\x00',
       b'37805-5PA-7630\x00\x00',
+      b'37805-5PA-9530\x00\x00',
       b'37805-5PA-9630\x00\x00',
       b'37805-5PA-9640\x00\x00',
       b'37805-5PA-9730\x00\x00',
@@ -590,6 +608,7 @@ FW_VERSIONS = {
       b'37805-5PA-AD10\x00\x00',
       b'37805-5PA-AF20\x00\x00',
       b'37805-5PA-AH20\x00\x00',
+      b'37805-5PA-BF10\x00\x00',
       b'37805-5PA-C680\x00\x00',
       b'37805-5PD-Q630\x00\x00',
       b'37805-5PF-F730\x00\x00',
@@ -634,6 +653,7 @@ FW_VERSIONS = {
       b'46114-TMC-U020\x00\x00',
     ],
     (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TLA-A020\x00\x00',
       b'78109-TLA-A110\x00\x00',
       b'78109-TLA-A120\x00\x00',
       b'78109-TLA-A210\x00\x00',
@@ -812,7 +832,10 @@ FW_VERSIONS = {
       b'38897-THR-A020\x00\x00',
     ],
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-5MR-3050\x00\x00',
+      b'37805-5MR-3250\x00\x00',
       b'37805-5MR-4080\x00\x00',
+      b'37805-5MR-4180\x00\x00',
       b'37805-5MR-A240\x00\x00',
       b'37805-5MR-A250\x00\x00',
       b'37805-5MR-A310\x00\x00',
@@ -851,6 +874,7 @@ FW_VERSIONS = {
       b'28102-5MX-A001\x00\x00',
       b'28102-5MX-A600\x00\x00',
       b'28102-5MX-A610\x00\x00',
+      b'28102-5MX-A700\x00\x00',
       b'28102-5MX-A710\x00\x00',
       b'28102-5MX-A900\x00\x00',
       b'28102-5MX-A910\x00\x00',
@@ -871,6 +895,7 @@ FW_VERSIONS = {
       b'78109-THR-A420\x00\x00',
       b'78109-THR-A430\x00\x00',
       b'78109-THR-A720\x00\x00',
+      b'78109-THR-A730\x00\x00',
       b'78109-THR-A820\x00\x00',
       b'78109-THR-A830\x00\x00',
       b'78109-THR-AB20\x00\x00',
@@ -888,6 +913,7 @@ FW_VERSIONS = {
       b'78109-THR-AL10\x00\x00',
       b'78109-THR-AN10\x00\x00',
       b'78109-THR-C220\x00\x00',
+      b'78109-THR-C320\x00\x00',
       b'78109-THR-C330\x00\x00',
       b'78109-THR-CE20\x00\x00',
       b'78109-THR-DA20\x00\x00',
@@ -924,29 +950,47 @@ FW_VERSIONS = {
     (Ecu.transmission, 0x18da1ef1, None): [
       b'28101-5EY-A050\x00\x00',
       b'28101-5EY-A100\x00\x00',
+      b'28101-5EY-A430\x00\x00',
+      b'28101-5EY-A500\x00\x00',
       b'28101-5EZ-A050\x00\x00',
       b'28101-5EZ-A060\x00\x00',
       b'28101-5EZ-A100\x00\x00',
       b'28101-5EZ-A210\x00\x00',
+      b'28101-5EZ-A330\x00\x00',
       b'28101-5EZ-A430\x00\x00',
+      b'28101-5EZ-A500\x00\x00',
       b'28101-5EZ-A600\x00\x00',
       b'28101-5EZ-A700\x00\x00',
+      b'28103-5EY-A110\x00\x00',
     ],
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-RLV-4060\x00\x00',
       b'37805-RLV-4070\x00\x00',
+      b'37805-RLV-5140\x00\x00',
+      b'37805-RLV-5230\x00\x00',
       b'37805-RLV-A830\x00\x00',
       b'37805-RLV-A840\x00\x00',
       b'37805-RLV-B210\x00\x00',
       b'37805-RLV-B220\x00\x00',
       b'37805-RLV-B420\x00\x00',
+      b'37805-RLV-B430\x00\x00',
+      b'37805-RLV-B620\x00\x00',
+      b'37805-RLV-B710\x00\x00',
+      b'37805-RLV-B720\x00\x00',
       b'37805-RLV-C430\x00\x00',
       b'37805-RLV-C510\x00\x00',
       b'37805-RLV-C520\x00\x00',
       b'37805-RLV-C530\x00\x00',
       b'37805-RLV-C910\x00\x00',
       b'37805-RLV-F120\x00\x00',
+      b'37805-RLV-L080\x00\x00',
+      b'37805-RLV-L090\x00\x00',
       b'37805-RLV-L160\x00\x00',
+      b'37805-RLV-L180\x00\x00',
+      b'37805-RLV-L350\x00\x00',
+      b'37805-RLV-L410\x00\x00',
+      b'37805-RLV-L430\x00\x00',
+      b'37805-RLV-L850\x00\x00',
     ],
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TG7-A030\x00\x00',
@@ -973,6 +1017,7 @@ FW_VERSIONS = {
       b'36161-TG7-D520\x00\x00',
       b'36161-TG7-D630\x00\x00',
       b'36161-TG7-Y630\x00\x00',
+      b'36161-TG8-A410\x00\x00',
       b'36161-TG8-A520\x00\x00',
       b'36161-TG8-A630\x00\x00',
       b'36161-TG8-A720\x00\x00',
@@ -980,6 +1025,7 @@ FW_VERSIONS = {
       b'36161-TGS-A030\x00\x00',
       b'36161-TGS-A130\x00\x00',
       b'36161-TGS-A220\x00\x00',
+      b'36161-TGS-A320\x00\x00',
       b'36161-TGT-A030\x00\x00',
       b'36161-TGT-A130\x00\x00',
     ],
@@ -1016,7 +1062,10 @@ FW_VERSIONS = {
       b'78109-TG8-AJ10\x00\x00',
       b'78109-TG8-AJ20\x00\x00',
       b'78109-TG8-AK20\x00\x00',
+      b'78109-TG8-AS20\x00\x00',
+      b'78109-TGS-AB10\x00\x00',
       b'78109-TGS-AC10\x00\x00',
+      b'78109-TGS-AD10\x00\x00',
       b'78109-TGS-AJ20\x00\x00',
       b'78109-TGS-AK20\x00\x00',
       b'78109-TGS-AP20\x00\x00',
@@ -1057,6 +1106,7 @@ FW_VERSIONS = {
     (Ecu.combinationMeter, 0x18da60f1, None): [
       b'78109-TX4-A210\x00\x00',
       b'78109-TX4-A310\x00\x00',
+      b'78109-TX5-A210\x00\x00',
       b'78109-TX5-A310\x00\x00',
     ],
   },
@@ -1069,6 +1119,7 @@ FW_VERSIONS = {
       b'37805-5YF-A420\x00\x00',
       b'37805-5YF-A430\x00\x00',
       b'37805-5YF-A750\x00\x00',
+      b'37805-5YF-A760\x00\x00',
       b'37805-5YF-A850\x00\x00',
       b'37805-5YF-A870\x00\x00',
       b'37805-5YF-AD20\x00\x00',
@@ -1076,6 +1127,7 @@ FW_VERSIONS = {
       b'37805-5YF-C220\x00\x00',
       b'37805-5YF-C410\x00\x00',
       b'37805-5YF-C420\x00\x00',
+      b'37805-5YF-C430\x00\x00',
     ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TJB-A030\x00\x00',
@@ -1118,6 +1170,7 @@ FW_VERSIONS = {
       b'78109-TJB-AS10\x00\x00',
       b'78109-TJB-AU10\x00\x00',
       b'78109-TJB-AW10\x00\x00',
+      b'78109-TJC-A240\x00\x00',
       b'78109-TJC-A420\x00\x00',
       b'78109-TJC-AA10\x00\x00',
       b'78109-TJC-AD10\x00\x00',
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index a10080ec0e..1d4a174b9b 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -136,7 +136,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.CRV_EU: None,  # HondaCarInfo("Honda CR-V EU", "Touring"),  # Euro version of CRV Touring
-  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
@@ -169,6 +169,13 @@ FW_QUERY_CONFIG = FwQueryConfig(
     ),
 
     # Data collection requests:
+    # Attempt to get the radarless Civic 2022+ camera FW
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
+      bus=0,
+      logging=True
+    ),
     # Log extra identifiers for current ECUs
     Request(
       [HONDA_VERSION_REQUEST],
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index fa6b56507c..585a2ec732 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -198,6 +198,7 @@ FW_VERSIONS = {
   CAR.IONIQ_EV_2020: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00AEev SCC F-CUP      1.00 1.00 99110-G7200         ',
+      b'\xf1\x00AEev SCC F-CUP      1.00 1.00 99110-G7500         ',
       b'\xf1\x00AEev SCC F-CUP      1.00 1.01 99110-G7000         ',
     ],
     (Ecu.eps, 0x7d4, None): [
@@ -206,6 +207,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2600 190730',
+      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2700 201027',
       b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.01 95740-G2600 190819',
       b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.03 95740-G2500 190516',
       b'\xf1\x00AEE MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
@@ -1543,6 +1545,7 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.02 99211-GI010 211206',
       b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.05 99211-GI010 220614',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI020 230719',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 44b198a421..59657c5437 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -125,7 +125,6 @@ class CarInterfaceBase(ABC):
   @staticmethod
   def get_steer_feedforward_default(desired_angle, v_ego):
     # Proportional to realigning tire momentum: lateral acceleration.
-    # TODO: something with lateralPlan.curvatureRates
     return desired_angle * (v_ego**2)
 
   def get_steer_feedforward_function(self):
diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py
index 4ee23c32c3..c013b2056f 100644
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@@ -59,27 +59,35 @@ NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83'
 NISSAN_RX_OFFSET = 0x20
 
 FW_QUERY_CONFIG = FwQueryConfig(
-  requests=[
+  requests=[request for bus, logging in ((0, True), (1, False)) for request in [
     Request(
       [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
       [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
+      bus=bus,
+      logging=logging,
     ),
     Request(
       [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
       [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
       rx_offset=NISSAN_RX_OFFSET,
+      bus=bus,
+      logging=logging,
     ),
     # Rogue's engine solely responds to this
     Request(
       [NISSAN_DIAGNOSTIC_REQUEST_KWP_2, NISSAN_VERSION_REQUEST_KWP],
       [NISSAN_DIAGNOSTIC_RESPONSE_KWP_2, NISSAN_VERSION_RESPONSE_KWP],
+      bus=bus,
+      logging=logging,
     ),
     Request(
       [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
       rx_offset=NISSAN_RX_OFFSET,
+      bus=bus,
+      logging=logging,
     ),
-  ],
+  ]],
 )
 
 DBC = {
diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py
index 73bab9ecac..ad8ebe87cd 100644
--- a/selfdrive/car/subaru/fingerprints.py
+++ b/selfdrive/car/subaru/fingerprints.py
@@ -8,7 +8,6 @@ FW_VERSIONS = {
     (Ecu.abs, 0x7b0, None): [
       b'\xa5 \x19\x02\x00',
       b'\xa5 !\x02\x00',
-      b'\xf1\x82\xa5 \x19\x02\x00',
     ],
     (Ecu.eps, 0x746, None): [
       b'\x05\xc0\xd0\x00',
@@ -25,10 +24,6 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'\xbb,\xa0t\x07',
       b'\xd1,\xa0q\x07',
-      b'\xf1\x82\xbb,\xa0t\x07',
-      b'\xf1\x82\xbb,\xa0t\x87',
-      b'\xf1\x82\xd1,\xa0q\x07',
-      b'\xf1\x82\xd9,\xa0@\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\x00\xfe\xf7\x00\x00',
@@ -59,7 +54,7 @@ FW_VERSIONS = {
       b'\xa1  \x02\x01',
       b'\xa1  \x02\x02',
       b'\xa1  \x03\x03',
-      b'\xa1\\  x04\x01',
+      b'\xa1  \x04\x01',
     ],
     (Ecu.eps, 0x746, None): [
       b'\x9b\xc0\x11\x00',
@@ -96,7 +91,6 @@ FW_VERSIONS = {
       b'\xa2 \x193\x00',
       b'\xa2 \x194\x00',
       b'\xa2 \x19`\x00',
-      b'\xf1\x00\xb2\x06\x04',
     ],
     (Ecu.eps, 0x746, None): [
       b'z\xc0\x00\x00',
@@ -170,7 +164,6 @@ FW_VERSIONS = {
       b'\xa2 !3\x00',
       b'\xa2 !`\x00',
       b'\xa2 !i\x00',
-      b'\xf1\x00\xb2\x06\x04',
     ],
     (Ecu.eps, 0x746, None): [
       b'\n\xc0\x04\x00',
@@ -214,7 +207,6 @@ FW_VERSIONS = {
       b'\xe9\xf5B0\x00',
       b'\xe9\xf6B0\x00',
       b'\xe9\xf6F0\x00',
-      b'\xf1\x00\xd7\x10@',
     ],
   },
   CAR.CROSSTREK_HYBRID: {
@@ -243,7 +235,6 @@ FW_VERSIONS = {
       b'\xa3 \x19&\x00',
       b'\xa3  \x14\x00',
       b'\xa3  \x14\x01',
-      b'\xf1\x00\xbb\r\x05',
     ],
     (Ecu.eps, 0x746, None): [
       b'\x8d\xc0\x00\x00',
@@ -257,7 +248,6 @@ FW_VERSIONS = {
       b'\x00\x00e`\x1f@  ',
       b'\x00\x00e\x97\x00\x00\x00\x00',
       b'\x00\x00e\x97\x1f@ 0',
-      b'\xf1\x00\xac\x02\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xb6"`A\x07',
@@ -266,7 +256,6 @@ FW_VERSIONS = {
       b'\xcb"`p\x07',
       b'\xcf"`0\x07',
       b'\xcf"`p\x07',
-      b'\xf1\x00\xa2\x10\n',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\x1a\xe6B1\x00',
@@ -299,7 +288,6 @@ FW_VERSIONS = {
     (Ecu.abs, 0x7b0, None): [
       b'm\x97\x14@',
       b'}\x97\x14@',
-      b'\xf1\x00\xbb\x0c\x04',
     ],
     (Ecu.eps, 0x746, None): [
       b'm\xc0\x10\x00',
@@ -316,7 +304,6 @@ FW_VERSIONS = {
       b'\xa7)\xa0q\x07',
       b'\xba"@@\x07',
       b'\xba"@p\x07',
-      b'\xf1\x82\xa7)\xa0q\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\x1a\xf6F`\x00',
@@ -386,8 +373,6 @@ FW_VERSIONS = {
       b'\x00\x00c\xb7\x1f@\x10\x16',
       b'\x00\x00c\xd1\x1f@\x10\x17',
       b'\x00\x00c\xec\x1f@ \x04',
-      b'\x00\x00c\xec7@\x04',
-      b'\xf1\x00\xf0\xe0\x0e',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xa0"@\x80\x07',
@@ -461,11 +446,12 @@ FW_VERSIONS = {
   },
   CAR.OUTBACK: {
     (Ecu.abs, 0x7b0, None): [
-      b'\xa1 \x06\x02',
       b'\xa1  \x06\x00',
       b'\xa1  \x06\x01',
+      b'\xa1  \x06\x02',
       b'\xa1  \x07\x00',
       b'\xa1  \x07\x02',
+      b'\xa1  \x07\x03',
       b'\xa1  \x08\x00',
       b'\xa1  \x08\x01',
       b'\xa1  \x08\x02',
@@ -475,6 +461,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x746, None): [
       b'\x1b\xc0\x10\x00',
       b'\x9b\xc0\x10\x00',
+      b'\x9b\xc0\x10\x02',
       b'\x9b\xc0 \x00',
     ],
     (Ecu.fwdCamera, 0x787, None): [
@@ -493,10 +480,8 @@ FW_VERSIONS = {
       b'\xde,\xa0@\x07',
       b'\xe2"`0\x07',
       b'\xe2"`p\x07',
+      b'\xe2"`q\x07',
       b'\xe3,\xa0@\x07',
-      b'\xf1\x82\xbc,\xa0q\x07',
-      b'\xf1\x82\xe2,\xa0@\x07',
-      b'\xf1\x82\xe3,\xa0@\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xa5\xf6D@\x00',
@@ -506,7 +491,6 @@ FW_VERSIONS = {
       b'\xa7\x8e\xf40\x00',
       b'\xa7\xf6D@\x00',
       b'\xa7\xfe\xf4@\x00',
-      b'\xf1\x82\xa7\xf6D@\x00',
     ],
   },
   CAR.FORESTER_2022: {
diff --git a/selfdrive/car/subaru/tests/test_subaru.py b/selfdrive/car/subaru/tests/test_subaru.py
new file mode 100644
index 0000000000..c8cdf66065
--- /dev/null
+++ b/selfdrive/car/subaru/tests/test_subaru.py
@@ -0,0 +1,20 @@
+from cereal import car
+import unittest
+from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS
+
+Ecu = car.CarParams.Ecu
+
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+
+
+class TestSubaruFingerprint(unittest.TestCase):
+  def test_fw_version_format(self):
+    for platform, fws_per_ecu in FW_VERSIONS.items():
+      for (ecu, _, _), fws in fws_per_ecu.items():
+        fw_size = len(fws[0])
+        for fw in fws:
+          self.assertEqual(len(fw), fw_size, f"{platform} {ecu}: {len(fw)} {fw_size}")
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 80251e7e7e..d9d2f78cea 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -137,6 +137,15 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
   CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
 }
 
+LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023}
+GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023}
+PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
+HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
+
+# Cars that temporarily fault when steering angle rate is greater than some threshold.
+# Appears to be all torque-based cars produced around 2019 - present
+STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER}
+
 SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
 SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
@@ -162,17 +171,19 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
       bus=0,
-      logging=True,
     ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
       bus=1,
-      logging=True,
       obd_multiplexing=False,
     ),
   ],
+  # We don't get the EPS from non-OBD queries on GEN2 cars. Note that we still attempt to match when it exists
+  non_essential_ecus={
+    Ecu.eps: list(GLOBAL_GEN2),
+  }
 )
 
 DBC = {
@@ -192,12 +203,3 @@ DBC = {
   CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
   CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
 }
-
-LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023}
-GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023}
-PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
-HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
-
-# Cars that temporarily fault when steering angle rate is greater than some threshold.
-# Appears to be all torque-based cars produced around 2019 - present
-STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER}
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index c711f81929..69b39b3b2e 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -193,14 +193,14 @@ routes = [
   CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4_TSS2),  # hybrid
   CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4_TSS2_2022),  # hybrid
   CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
+  CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES),  # hybrid
   CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
   CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2),  # hybrid
   CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3),
-  CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH),
   CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC),
   CarTestRoute("ab9b64a5e5960cba|2023-10-24--17-32-08", TOYOTA.LEXUS_GS_F),
   CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX),
-  CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH),
+  CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RX),  # hybrid
   CarTestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2),
   CarTestRoute("b74758c690a49668|2020-05-20--15-58-57", TOYOTA.LEXUS_RX_TSS2),  # hybrid
   CarTestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX),
@@ -210,7 +210,7 @@ routes = [
   CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
   CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDER_TSS2),  # hybrid
   CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),
-  CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH),
+  CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDER),  # hybrid
   CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA),
   CarTestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS),
   CarTestRoute("649bf2997ada6e3a|2023-08-08--18-04-22", TOYOTA.LEXUS_IS_TSS2),
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index 257a40f6a3..620fa25691 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -5,10 +5,9 @@ import time
 import unittest
 from collections import defaultdict
 from parameterized import parameterized
-import threading
+from unittest import mock
 
 from cereal import car
-from openpilot.common.params import Params
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
 from openpilot.selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \
@@ -148,6 +147,12 @@ class TestFwFingerprint(unittest.TestCase):
       with self.subTest():
         self.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}")
 
+    # Ensure each brand has at least 1 ECU to query, and extra ECU retrieval
+    for brand, config in FW_QUERY_CONFIGS.items():
+      self.assertEqual(len(config.get_all_ecus({}, include_extra_ecus=False)), 0)
+      self.assertEqual(config.get_all_ecus({}, include_ecu_type=True), set(config.extra_ecus))
+      self.assertGreater(len(config.get_all_ecus(VERSIONS[brand])), 0)
+
   def test_fw_request_ecu_whitelist(self):
     for brand, config in FW_QUERY_CONFIGS.items():
       with self.subTest(brand=brand):
@@ -176,29 +181,36 @@ class TestFwFingerprint(unittest.TestCase):
 
 class TestFwFingerprintTiming(unittest.TestCase):
   N: int = 5
-  TOL: float = 0.12
-
-  @staticmethod
-  def _run_thread(thread: threading.Thread) -> float:
-    params = Params()
-    params.put_bool("ObdMultiplexingEnabled", True)
-    thread.start()
-    t = time.perf_counter()
-    while thread.is_alive():
-      time.sleep(0.02)
-      if not params.get_bool("ObdMultiplexingChanged"):
-        params.put_bool("ObdMultiplexingChanged", True)
-    return time.perf_counter() - t
+  TOL: float = 0.05
+
+  # for patched functions
+  current_obd_multiplexing: bool
+  total_time: float
+
+  def fake_set_obd_multiplexing(self, _, obd_multiplexing):
+    """The 10Hz blocking params loop adds on average 50ms to the query time for each OBD multiplexing change"""
+    if obd_multiplexing != self.current_obd_multiplexing:
+      self.current_obd_multiplexing = obd_multiplexing
+      self.total_time += 0.1 / 2
+
+  def fake_get_data(self, timeout):
+    self.total_time += timeout
+    return {}
 
   def _benchmark_brand(self, brand, num_pandas):
     fake_socket = FakeSocket()
-    brand_time = 0
-    for _ in range(self.N):
-      thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand),
-                                kwargs=dict(num_pandas=num_pandas))
-      brand_time += self._run_thread(thread)
+    self.total_time = 0
+    with (mock.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing),
+          mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)):
+      for _ in range(self.N):
+        # Treat each brand as the most likely (aka, the first) brand with OBD multiplexing initially on
+        self.current_obd_multiplexing = True
 
-    return brand_time / self.N
+        t = time.perf_counter()
+        get_fw_versions(fake_socket, fake_socket, brand, num_pandas=num_pandas)
+        self.total_time += time.perf_counter() - t
+
+    return self.total_time / self.N
 
   def _assert_timing(self, avg_time, ref_time):
     self.assertLess(avg_time, ref_time + self.TOL)
@@ -206,45 +218,53 @@ class TestFwFingerprintTiming(unittest.TestCase):
 
   def test_startup_timing(self):
     # Tests worse-case VIN query time and typical present ECU query time
-    vin_ref_time = 1.0
-    present_ecu_ref_time = 0.8
+    vin_ref_times = {'worst': 1.5, 'best': 0.5}  # best assumes we go through all queries to get a match
+    present_ecu_ref_time = 0.75
+
+    def fake_get_ecu_addrs(*_, timeout):
+      self.total_time += timeout
+      return set()
 
     fake_socket = FakeSocket()
-    present_ecu_time = 0.0
-    for _ in range(self.N):
-      thread = threading.Thread(target=get_present_ecus, args=(fake_socket, fake_socket),
-                                kwargs=dict(num_pandas=2))
-      present_ecu_time += self._run_thread(thread)
-    self._assert_timing(present_ecu_time / self.N, present_ecu_ref_time)
-    print(f'get_present_ecus, query time={present_ecu_time / self.N} seconds')
-
-    vin_time = 0.0
-    for _ in range(self.N):
-      thread = threading.Thread(target=get_vin, args=(fake_socket, fake_socket, 1))
-      vin_time += self._run_thread(thread)
-    self._assert_timing(vin_time / self.N, vin_ref_time)
-    print(f'get_vin, query time={vin_time / self.N} seconds')
+    self.total_time = 0.0
+    with (mock.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing),
+          mock.patch("openpilot.selfdrive.car.fw_versions.get_ecu_addrs", fake_get_ecu_addrs)):
+      for _ in range(self.N):
+        self.current_obd_multiplexing = True
+        get_present_ecus(fake_socket, fake_socket, num_pandas=2)
+    self._assert_timing(self.total_time / self.N, present_ecu_ref_time)
+    print(f'get_present_ecus, query time={self.total_time / self.N} seconds')
+
+    for name, args in (('worst', {}), ('best', {'retry': 1})):
+      with self.subTest(name=name):
+        self.total_time = 0.0
+        with (mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)):
+          for _ in range(self.N):
+            get_vin(fake_socket, fake_socket, (0, 1), **args)
+        self._assert_timing(self.total_time / self.N, vin_ref_times[name])
+        print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   @pytest.mark.timeout(60)
   def test_fw_query_timing(self):
-    total_ref_time = 6.41
+    total_ref_time = 6.9
     brand_ref_times = {
       1: {
-        'body': 0.11,
+        'gm': 0.5,
+        'body': 0.1,
         'chrysler': 0.3,
-        'ford': 0.2,
-        'honda': 0.52,
-        'hyundai': 0.72,
+        'ford': 0.1,
+        'honda': 0.55,
+        'hyundai': 0.65,
         'mazda': 0.2,
-        'nissan': 0.4,
-        'subaru': 0.52,
+        'nissan': 0.8,
+        'subaru': 0.45,
         'tesla': 0.2,
         'toyota': 1.6,
         'volkswagen': 0.2,
       },
       2: {
-        'ford': 0.3,
-        'hyundai': 1.12,
+        'ford': 0.2,
+        'hyundai': 1.05,
       }
     }
 
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 253841877f..537214d14c 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -22,7 +22,8 @@ from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from openpilot.selfdrive.controls.controlsd import Controls
 from openpilot.selfdrive.test.helpers import read_segment_list
-from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
+from openpilot.tools.lib.comma_car_segments import get_url
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import Route, SegmentName, RouteName
 
@@ -63,6 +64,7 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
 
 
 @pytest.mark.slow
+@pytest.mark.shared_download_cache
 class TestCarModelBase(unittest.TestCase):
   car_model: Optional[str] = None
   test_route: Optional[CarTestRoute] = None
@@ -181,6 +183,8 @@ class TestCarModelBase(unittest.TestCase):
     assert cls.CP
     assert cls.CP.carFingerprint == cls.car_model
 
+    os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
+
   @classmethod
   def tearDownClass(cls):
     del cls.can_msgs
diff --git a/selfdrive/car/tests/test_models_segs.txt b/selfdrive/car/tests/test_models_segs.txt
index 27a2104cf7..92835ae8ad 100644
--- a/selfdrive/car/tests/test_models_segs.txt
+++ b/selfdrive/car/tests/test_models_segs.txt
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8674d9a8304d501aee2bfaea2d668d746fd424b5b0872b83ab265d15d3a3d887
-size 125301
+oid sha256:8570e4144f2c17a1c804b18cea0d4358bea211f67c823fd3bd152b6af7cf207d
+size 125147
diff --git a/selfdrive/car/torque_data/params.toml b/selfdrive/car/torque_data/params.toml
index 2e04e1c6a0..564f50df5e 100644
--- a/selfdrive/car/torque_data/params.toml
+++ b/selfdrive/car/torque_data/params.toml
@@ -49,9 +49,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "LEXUS ES 2019" = [2.0357564999999997, 1.999082295195227, 0.101533]
 "LEXUS NX 2018" = [2.3525924753753613, 1.9731412277641067, 0.15168101064205927]
 "LEXUS NX 2020" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
-"LEXUS RX 2016" = [1.5876816543130423, 1.0427699298523752, 0.21334066732397142]
+"LEXUS RX 2016" = [1.6430539050086406, 1.181960058934143, 0.19768806040843034]
 "LEXUS RX 2020" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557]
-"LEXUS RX HYBRID 2017" = [1.6984261557042386, 1.3211501880159107, 0.1820354534928893]
 "MAZDA CX-9 2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
 "SKODA SUPERB 3RD GEN" = [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
 "SUBARU FORESTER 2019" = [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
@@ -66,9 +65,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "TOYOTA CAMRY 2021" = [2.3548324999999997, 2.368900128946771, 0.118436]
 "TOYOTA COROLLA 2017" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
 "TOYOTA COROLLA TSS2 2019" = [1.991132339206426, 1.868866242720403, 0.19570063298031432]
-"TOYOTA HIGHLANDER 2017" = [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
+"TOYOTA HIGHLANDER 2017" = [1.8108348718624456, 1.6348421600679828, 0.15972686105120398]
 "TOYOTA HIGHLANDER 2020" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725]
-"TOYOTA HIGHLANDER HYBRID 2018" = [1.752033, 1.6433903296845025, 0.144600]
 "TOYOTA MIRAI 2021" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
 "TOYOTA PRIUS 2017" = [1.60, 1.5023147650693636, 0.151515]
 "TOYOTA PRIUS TSS2 2021" = [1.972600, 1.9104337425537743, 0.170968]
diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml
index 2d3c4dc55c..2e4513a484 100644
--- a/selfdrive/car/torque_data/substitute.toml
+++ b/selfdrive/car/torque_data/substitute.toml
@@ -10,7 +10,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "LEXUS IS 2018" = "LEXUS NX 2018"
 "LEXUS CT HYBRID 2018" = "LEXUS NX 2018"
 "LEXUS ES 2018" = "TOYOTA CAMRY 2018"
-"LEXUS ES HYBRID 2018" = "TOYOTA CAMRY 2018"
 "LEXUS RC 2020" = "LEXUS NX 2020"
 
 "KIA OPTIMA 4TH GEN" = "HYUNDAI SONATA 2020"
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index badfd33e0b..e8ed9cfcb2 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -102,7 +102,7 @@ class CarController:
     if self.CP.enableGasInterceptor and CC.longActive:
       MAX_INTERCEPTOR_GAS = 0.5
       # RAV4 has very sensitive gas pedal
-      if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH):
+      if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER):
         PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0])
       elif self.CP.carFingerprint in (CAR.COROLLA,):
         PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0])
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 3a89d655da..2461fa9a26 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -71,7 +71,7 @@ class CarState(CarStateBase):
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     ret.vEgoCluster = ret.vEgo * 1.015  # minimum of all the cars
 
-    ret.standstill = ret.vEgoRaw == 0
+    ret.standstill = abs(ret.vEgoRaw) < 1e-3
 
     ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
     ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index c72766f40a..fc24f0e72c 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -614,13 +614,23 @@ FW_VERSIONS = {
       b'\x01896630E88000\x00\x00\x00\x00',
       b'\x01896630EA0000\x00\x00\x00\x00',
     ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0230E40000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230E40100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230E51000\x00\x00\x00\x00\x00\x00\x00\x0050E17000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230EA2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230EA2100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B48140\x00\x00\x00\x00\x00\x00',
       b'8965B48150\x00\x00\x00\x00\x00\x00',
+      b'8965B48160\x00\x00\x00\x00\x00\x00',
       b'8965B48210\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F15260E011\x00\x00\x00\x00\x00\x00',
+      b'F152648541\x00\x00\x00\x00\x00\x00',
+      b'F152648542\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
       b'881510E01100\x00\x00\x00\x00',
@@ -635,29 +645,6 @@ FW_VERSIONS = {
       b'8646F0E01300\x00\x00\x00\x00',
     ],
   },
-  CAR.HIGHLANDERH: {
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B48160\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152648541\x00\x00\x00\x00\x00\x00',
-      b'F152648542\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0230E40000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230E40100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230EA2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230EA2100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F0E01200\x00\x00\x00\x00',
-      b'8646F0E01300\x00\x00\x00\x00',
-    ],
-  },
   CAR.HIGHLANDER_TSS2: {
     (Ecu.eps, 0x7a1, None): [
       b'8965B48241\x00\x00\x00\x00\x00\x00',
@@ -1273,43 +1260,30 @@ FW_VERSIONS = {
   },
   CAR.LEXUS_ES: {
     (Ecu.engine, 0x7e0, None): [
+      b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02333R0000\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152606202\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881513309500\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B33502\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4701200\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F3302200\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_ESH: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
       b'F152633171\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
+      b'881513309400\x00\x00\x00\x00',
+      b'881513309500\x00\x00\x00\x00',
       b'881513310400\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
+      b'8965B33502\x00\x00\x00\x00\x00\x00',
       b'8965B33512\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F4701100\x00\x00\x00\x00',
+      b'8821F4701200\x00\x00\x00\x00',
       b'8821F4701300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'8646F3302001\x00\x00\x00\x00',
+      b'8646F3302100\x00\x00\x00\x00',
       b'8646F3302200\x00\x00\x00\x00',
     ],
   },
@@ -1463,48 +1437,12 @@ FW_VERSIONS = {
       b'\x018966348W1300\x00\x00\x00\x00',
       b'\x018966348W2300\x00\x00\x00\x00',
     ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152648472\x00\x00\x00\x00\x00\x00',
-      b'F152648473\x00\x00\x00\x00\x00\x00',
-      b'F152648474\x00\x00\x00\x00\x00\x00',
-      b'F152648492\x00\x00\x00\x00\x00\x00',
-      b'F152648493\x00\x00\x00\x00\x00\x00',
-      b'F152648494\x00\x00\x00\x00\x00\x00',
-      b'F152648630\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881514810300\x00\x00\x00\x00',
-      b'881514810500\x00\x00\x00\x00',
-      b'881514810700\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B0E011\x00\x00\x00\x00\x00\x00',
-      b'8965B0E012\x00\x00\x00\x00\x00\x00',
-      b'8965B48102\x00\x00\x00\x00\x00\x00',
-      b'8965B48111\x00\x00\x00\x00\x00\x00',
-      b'8965B48112\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4701000\x00\x00\x00\x00',
-      b'8821F4701100\x00\x00\x00\x00',
-      b'8821F4701200\x00\x00\x00\x00',
-      b'8821F4701300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F4801100\x00\x00\x00\x00',
-      b'8646F4801200\x00\x00\x00\x00',
-      b'8646F4802001\x00\x00\x00\x00',
-      b'8646F4802100\x00\x00\x00\x00',
-      b'8646F4802200\x00\x00\x00\x00',
-      b'8646F4809000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_RXH: {
     (Ecu.engine, 0x7e0, None): [
       b'\x02348J7000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348N0000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348Q4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348Q4100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348T1000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348T1100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348T1200\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348T3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1513,13 +1451,23 @@ FW_VERSIONS = {
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152648361\x00\x00\x00\x00\x00\x00',
+      b'F152648472\x00\x00\x00\x00\x00\x00',
+      b'F152648473\x00\x00\x00\x00\x00\x00',
+      b'F152648474\x00\x00\x00\x00\x00\x00',
+      b'F152648492\x00\x00\x00\x00\x00\x00',
+      b'F152648493\x00\x00\x00\x00\x00\x00',
+      b'F152648494\x00\x00\x00\x00\x00\x00',
       b'F152648501\x00\x00\x00\x00\x00\x00',
       b'F152648502\x00\x00\x00\x00\x00\x00',
       b'F152648504\x00\x00\x00\x00\x00\x00',
+      b'F152648630\x00\x00\x00\x00\x00\x00',
       b'F152648740\x00\x00\x00\x00\x00\x00',
       b'F152648A30\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
+      b'881514810300\x00\x00\x00\x00',
+      b'881514810500\x00\x00\x00\x00',
+      b'881514810700\x00\x00\x00\x00',
       b'881514811300\x00\x00\x00\x00',
       b'881514811500\x00\x00\x00\x00',
       b'881514811700\x00\x00\x00\x00',
@@ -1538,6 +1486,7 @@ FW_VERSIONS = {
       b'8821F4701300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F4801100\x00\x00\x00\x00',
       b'8646F4801200\x00\x00\x00\x00',
       b'8646F4802001\x00\x00\x00\x00',
       b'8646F4802100\x00\x00\x00\x00',
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index b5151f4cda..90b2b760fe 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -76,7 +76,7 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.444  # not optimized yet
       ret.mass = 2860. * CV.LB_TO_KG  # mean between normal and hybrid
 
-    elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2):
+    elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.79
       ret.steerRatio = 16.  # 14.8 is spec end-to-end
@@ -98,7 +98,8 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.7933
       ret.mass = 3400. * CV.LB_TO_KG  # mean between normal and hybrid
 
-    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2):
+    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2):
+      # TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU
       stop_and_go = True
       ret.wheelbase = 2.8194  # average of 109.8 and 112.2 in
       ret.steerRatio = 16.0
@@ -141,9 +142,7 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.444  # not optimized yet
       ret.mass = 3060. * CV.LB_TO_KG
 
-    elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2):
-      if candidate not in (CAR.LEXUS_ES,):  # TODO: LEXUS_ES may have sng
-        stop_and_go = True
+    elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ES_TSS2):
       ret.wheelbase = 2.8702
       ret.steerRatio = 16.0  # not optimized
       ret.tireStiffnessFactor = 0.444  # not optimized yet
diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py
index f4bf18dc5b..d9d4fe087f 100755
--- a/selfdrive/car/toyota/tests/test_toyota.py
+++ b/selfdrive/car/toyota/tests/test_toyota.py
@@ -50,6 +50,15 @@ class TestToyotaInterfaces(unittest.TestCase):
 
 
 class TestToyotaFingerprint(unittest.TestCase):
+  def test_non_essential_ecus(self):
+    # Ensures only the cars that have multiple engine ECUs are in the engine non-essential ECU list
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model.value):
+        engine_ecus = {ecu for ecu in ecus if ecu[0] == Ecu.engine}
+        self.assertEqual(len(engine_ecus) > 1,
+                         car_model in FW_QUERY_CONFIG.non_essential_ecus[Ecu.engine],
+                         f"Car model unexpectedly {'not ' if len(engine_ecus) > 1 else ''}in non-essential list")
+
   # Tests for part numbers, platform codes, and sub-versions which Toyota will use to fuzzy
   # fingerprint in the absence of full FW matches:
   @settings(max_examples=100)
@@ -144,7 +153,7 @@ class TestToyotaFingerprint(unittest.TestCase):
         self.assertEqual(list(matches)[0], platform)
       else:
         # If a platform has multiple matches, add it and its matches
-        platforms_with_shared_codes |= {platform, *matches}
+        platforms_with_shared_codes |= {str(platform), *matches}
 
     self.assertEqual(platforms_with_shared_codes, FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS)))
 
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index b3b6fd7377..02a9e142d2 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -62,7 +62,6 @@ class CAR(StrEnum):
   COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
   HIGHLANDER = "TOYOTA HIGHLANDER 2017"
   HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 2020"
-  HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"
   PRIUS = "TOYOTA PRIUS 2017"
   PRIUS_V = "TOYOTA PRIUS v 2017"
   PRIUS_TSS2 = "TOYOTA PRIUS TSS2 2021"
@@ -77,7 +76,6 @@ class CAR(StrEnum):
   # Lexus
   LEXUS_CTH = "LEXUS CT HYBRID 2018"
   LEXUS_ES = "LEXUS ES 2018"
-  LEXUS_ESH = "LEXUS ES HYBRID 2018"
   LEXUS_ES_TSS2 = "LEXUS ES 2019"
   LEXUS_IS = "LEXUS IS 2018"
   LEXUS_IS_TSS2 = "LEXUS IS 2023"
@@ -85,7 +83,6 @@ class CAR(StrEnum):
   LEXUS_NX_TSS2 = "LEXUS NX 2020"
   LEXUS_RC = "LEXUS RC 2020"
   LEXUS_RX = "LEXUS RX 2016"
-  LEXUS_RXH = "LEXUS RX HYBRID 2017"
   LEXUS_RX_TSS2 = "LEXUS RX 2020"
   LEXUS_GS_F = "LEXUS GS F 2016"
 
@@ -147,12 +144,14 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
     ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
     ToyotaCarInfo("Lexus UX Hybrid 2019-23"),
   ],
-  CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
+  CAR.HIGHLANDER: [
+    ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
+    ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
+  ],
   CAR.HIGHLANDER_TSS2: [
     ToyotaCarInfo("Toyota Highlander 2020-23"),
     ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
   ],
-  CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
   CAR.PRIUS: [
     ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
     ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
@@ -188,11 +187,13 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
 
   # Lexus
   CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"),
-  CAR.LEXUS_ES: ToyotaCarInfo("Lexus ES 2017-18"),
-  CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18"),
+  CAR.LEXUS_ES: [
+    ToyotaCarInfo("Lexus ES 2017-18"),
+    ToyotaCarInfo("Lexus ES Hybrid 2017-18"),
+  ],
   CAR.LEXUS_ES_TSS2: [
     ToyotaCarInfo("Lexus ES 2019-24"),
-    ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
+    ToyotaCarInfo("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
   ],
   CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
   CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2022-23"),
@@ -209,8 +210,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.LEXUS_RX: [
     ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
     ToyotaCarInfo("Lexus RX 2017-19"),
-  ],
-  CAR.LEXUS_RXH: [
+    # Hybrid platforms
     ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"),
     ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
   ],
@@ -222,33 +222,32 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
 
 # (addr, cars, bus, 1/freq*100, vl)
 STATIC_DSU_MSGS = [
-  (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
-  (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
-  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
-  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES),
+  (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
+  (0x128, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
+  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
+  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
+  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.PRIUS_V),
                                                                                                1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
-  (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
-  (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
-  (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
-  (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
-  (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
-  (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX,
+  (0X161, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
+  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
+  (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
+  (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
+  (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
+  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
+  (0x365, (CAR.PRIUS, CAR.LEXUS_NX, CAR.HIGHLANDER), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
+  (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_RX,
            CAR.PRIUS_V), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
-  (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
-  (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V),
+  (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.HIGHLANDER), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
+  (0x366, (CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V),
           0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
-  (0x366, (CAR.LEXUS_ES,), 0,  20, b'\x00\x95\x07\xfe\x08\x05\x00'),
-  (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
-  (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
-  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
+  (0x470, (CAR.PRIUS, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'),
+  (0x470, (CAR.HIGHLANDER, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
+  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
 ]
 
 
@@ -349,13 +348,16 @@ FW_LEN_CODE = re.compile(b'^[\x01-\x03]')  # highest seen is 3 chunks, 16 bytes
 FW_CHUNK_LEN = 16
 
 # List of ECUs that are most unique across openpilot platforms
-# TODO: use hybrid ECU, splits similar ICE and hybrid variants
 # - fwdCamera: describes actual features related to ADAS. For example, on the Avalon it describes
 #    when TSS-P became standard, whether the car supports stop and go, and whether it's TSS2.
 #    On the RAV4, it describes the move to the radar doing ACC, and the use of LTA for lane keeping.
-# - abs: differentiates hybrid/ICE on most cars (Corolla TSS2 is an exception)
+#    Note that the platform codes & major versions do not describe features in plain text, only with
+#    matching against other seen FW versions in the database they can describe features.
+# - fwdRadar: sanity check against fwdCamera, commonly shares a platform code.
+#    For example the RAV4 2022's new radar architecture is shown for both with platform code.
+# - abs: differentiates hybrid/ICE on most cars (Corolla TSS2 is an exception, not used due to hybrid platform combination)
 # - eps: describes lateral API changes for the EPS, such as using LTA for lane keeping and rejecting LKA messages
-PLATFORM_CODE_ECUS = [Ecu.fwdCamera, Ecu.abs, Ecu.eps]
+PLATFORM_CODE_ECUS = (Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps)
 
 # These platforms have at least one platform code for all ECUs shared with another platform.
 FUZZY_EXCLUDED_PLATFORMS: set[CAR] = set()
@@ -395,8 +397,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
     # FIXME: On some models, abs can sometimes be missing
     Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS, CAR.ALPHARD_TSS2],
     # On some models, the engine can show on two different addresses
-    Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC,
-                 CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX_TSS2],
+    Ecu.engine: [CAR.HIGHLANDER, CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS,
+                 CAR.LEXUS_RC, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2],
   },
   extra_ecus=[
     # All known ECUs on a late-model Toyota vehicle not queried here:
@@ -444,7 +446,6 @@ DBC = {
   CAR.COROLLA: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RC: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
-  CAR.LEXUS_RXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   CAR.CHR_TSS2: dbc_dict('toyota_nodsu_pt_generated', None),
@@ -452,7 +453,6 @@ DBC = {
   CAR.CAMRY_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.HIGHLANDER: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.HIGHLANDER_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.HIGHLANDERH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.AVALON: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   CAR.AVALON_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@@ -462,7 +462,6 @@ DBC = {
   CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_ES: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.LEXUS_ESH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.SIENNA: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_IS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@@ -495,4 +494,4 @@ RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2}
 ANGLE_CONTROL_CAR = {CAR.RAV4_TSS2_2023}
 
 # no resume button press required
-NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH}
+NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDER, CAR.SIENNA}
diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py
index e2709cc842..f69771546f 100755
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@@ -4,7 +4,7 @@ import re
 import cereal.messaging as messaging
 from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS
 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from openpilot.selfdrive.car.fw_query_definitions import StdQueries
+from openpilot.selfdrive.car.fw_query_definitions import STANDARD_VIN_ADDRS, StdQueries
 from openpilot.common.swaglog import cloudlog
 
 VIN_UNKNOWN = "0" * 17
@@ -15,33 +15,41 @@ def is_valid_vin(vin: str):
   return re.fullmatch(VIN_RE, vin) is not None
 
 
-def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False):
-  addrs = list(range(0x7e0, 0x7e8)) + list(range(0x18DA00F1, 0x18DB00F1, 0x100))  # addrs to process/wait for
-  valid_vin_addrs = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1]  # engine, VMCU, 29-bit engine, PGM-FI
+def get_vin(logcan, sendcan, buses, timeout=0.1, retry=3, debug=False):
   for i in range(retry):
-    for request, response in ((StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE)):
-      try:
-        query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], functional_addrs=FUNCTIONAL_ADDRS, debug=debug)
-        results = query.get_data(timeout)
+    for bus in buses:
+      for request, response, valid_buses, vin_addrs, functional_addrs, rx_offset in (
+        (StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
+        (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
+        (StdQueries.GM_VIN_REQUEST, StdQueries.GM_VIN_RESPONSE, (0,), [0x24b], None, 0x400),  # Bolt fwdCamera
+      ):
+        if bus not in valid_buses:
+          continue
 
-        for addr in valid_vin_addrs:
-          vin = results.get((addr, None))
-          if vin is not None:
-            # Ford pads with null bytes
-            if len(vin) == 24:
-              vin = re.sub(b'\x00*$', b'', vin)
+        try:
+          query = IsoTpParallelQuery(sendcan, logcan, bus, vin_addrs, [request, ], [response, ], response_offset=rx_offset,
+                                     functional_addrs=functional_addrs, debug=debug)
+          results = query.get_data(timeout)
 
-            # Honda Bosch response starts with a length, trim to correct length
-            if vin.startswith(b'\x11'):
-              vin = vin[1:18]
+          for addr in vin_addrs:
+            vin = results.get((addr, None))
+            if vin is not None:
+              # Ford pads with null bytes
+              if len(vin) == 24:
+                vin = re.sub(b'\x00*$', b'', vin)
 
-            return get_rx_addr_for_tx_addr(addr), vin.decode()
+              # Honda Bosch response starts with a length, trim to correct length
+              if vin.startswith(b'\x11'):
+                vin = vin[1:18]
 
-        cloudlog.error(f"vin query retry ({i+1}) ...")
-      except Exception:
-        cloudlog.exception("VIN query exception")
+              cloudlog.warning(f"got vin with {request=}")
+              return get_rx_addr_for_tx_addr(addr), bus, vin.decode()
+        except Exception:
+          cloudlog.exception("VIN query exception")
 
-  return 0, VIN_UNKNOWN
+    cloudlog.error(f"vin query retry ({i+1}) ...")
+
+  return -1, -1, VIN_UNKNOWN
 
 
 if __name__ == "__main__":
@@ -59,5 +67,5 @@ if __name__ == "__main__":
   logcan = messaging.sub_sock('can')
   time.sleep(1)
 
-  vin_rx_addr, vin = get_vin(logcan, sendcan, args.bus, args.timeout, args.retry, debug=args.debug)
-  print(f'RX: {hex(vin_rx_addr)}, VIN: {vin}')
+  vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (args.bus,), args.timeout, args.retry, debug=args.debug)
+  print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py
index fa9061e582..dcdb2e62bf 100644
--- a/selfdrive/car/volkswagen/fingerprints.py
+++ b/selfdrive/car/volkswagen/fingerprints.py
@@ -484,6 +484,7 @@ FW_VERSIONS = {
   },
   CAR.TAOS_MK1: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906025CK\xf1\x892228',
       b'\xf1\x8704E906027NJ\xf1\x891445',
       b'\xf1\x8704E906027NP\xf1\x891286',
       b'\xf1\x8705E906013BD\xf1\x892496',
@@ -492,6 +493,7 @@ FW_VERSIONS = {
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158EM\xf1\x893812',
       b'\xf1\x8709S927158BL\xf1\x893791',
+      b'\xf1\x8709S927158CR\xf1\x893924',
       b'\xf1\x8709S927158DN\xf1\x893946',
       b'\xf1\x8709S927158FF\xf1\x893876',
     ],
@@ -540,6 +542,7 @@ FW_VERSIONS = {
       b'\xf1\x875NA907115E \xf1\x890003',
       b'\xf1\x875NA907115E \xf1\x890005',
       b'\xf1\x875NA907115J \xf1\x890002',
+      b'\xf1\x875NA907115K \xf1\x890004',
       b'\xf1\x8783A907115  \xf1\x890007',
       b'\xf1\x8783A907115B \xf1\x890005',
       b'\xf1\x8783A907115F \xf1\x890002',
@@ -570,6 +573,7 @@ FW_VERSIONS = {
       b'\xf1\x870GC300046Q \xf1\x892802',
     ],
     (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\x1316143231313500314617011730179333423100',
       b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100',
       b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x1331310031333334313132573732379333313100',
       b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
@@ -587,6 +591,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603',
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6050705',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6070705',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 698c149515..2aae956090 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -17,8 +17,7 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_short_branch
 from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
-from openpilot.selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET
-from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature
+from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -32,6 +31,7 @@ from openpilot.system.hardware import HARDWARE
 SOFT_DISABLE_TIME = 3  # seconds
 LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
 LANE_DEPARTURE_THRESHOLD = 0.1
+CAMERA_OFFSET = 0.04
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
@@ -41,9 +41,9 @@ IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 ThermalStatus = log.DeviceState.ThermalStatus
 State = log.ControlsState.OpenpilotState
 PandaType = log.PandaState.PandaType
-Desire = log.LateralPlan.Desire
-LaneChangeState = log.LateralPlan.LaneChangeState
-LaneChangeDirection = log.LateralPlan.LaneChangeDirection
+Desire = log.Desire
+LaneChangeState = log.LaneChangeState
+LaneChangeDirection = log.LaneChangeDirection
 EventName = car.CarEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
@@ -77,7 +77,7 @@ class Controls:
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
-                                   'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
+                                   'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'testJoystick'] + self.camera_packets + self.sensor_packets,
                                   ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'], ignore_valid=['testJoystick', ])
@@ -105,14 +105,13 @@ class Controls:
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
-    passive = self.params.get_bool("Passive") or not openpilot_enabled_toggle
 
     # detect sound card presence and ensure successful init
     sounds_available = HARDWARE.get_sound_card_online()
 
     car_recognized = self.CP.carName != 'mock'
 
-    controller_available = self.CI.CC is not None and not passive and not self.CP.dashcamOnly
+    controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
     self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly
     if self.CP.passive:
       safety_config = car.CarParams.SafetyConfig.new_message()
@@ -172,7 +171,6 @@ class Controls:
     self.last_actuators = car.CarControl.Actuators.new_message()
     self.steer_limited = False
     self.desired_curvature = 0.0
-    self.desired_curvature_rate = 0.0
     self.experimental_mode = False
     self.v_cruise_helper = VCruiseHelper(self.CP)
     self.recalibrating_seen = False
@@ -290,8 +288,8 @@ class Controls:
         self.events.add(EventName.calibrationInvalid)
 
     # Handle lane change
-    if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange:
-      direction = self.sm['lateralPlan'].laneChangeDirection
+    if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
+      direction = self.sm['modelV2'].meta.laneChangeDirection
       if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
          (CS.rightBlindspot and direction == LaneChangeDirection.right):
         self.events.add(EventName.laneChangeBlocked)
@@ -300,7 +298,7 @@ class Controls:
           self.events.add(EventName.preLaneChangeLeft)
         else:
           self.events.add(EventName.preLaneChangeRight)
-    elif self.sm['lateralPlan'].laneChangeState in (LaneChangeState.laneChangeStarting,
+    elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting,
                                                     LaneChangeState.laneChangeFinishing):
       self.events.add(EventName.laneChange)
 
@@ -372,8 +370,6 @@ class Controls:
       self.logged_comm_issue = None
 
     if not (self.CP.notCar and self.joystick_mode):
-      if not self.sm['lateralPlan'].mpcSolutionValid:
-        self.events.add(EventName.plannerError)
       if not self.sm['liveLocationKalman'].posenetOK:
         self.events.add(EventName.posenetInvalid)
       if not self.sm['liveLocationKalman'].deviceStable:
@@ -574,8 +570,8 @@ class Controls:
         self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
                                            torque_params.frictionCoefficientFiltered)
 
-    lat_plan = self.sm['lateralPlan']
     long_plan = self.sm['longitudinalPlan']
+    model_v2 = self.sm['modelV2']
 
     CC = car.CarControl.new_message()
     CC.enabled = self.enabled
@@ -590,9 +586,9 @@ class Controls:
     actuators.longControlState = self.LoC.long_control_state
 
     # Enable blinkers while lane changing
-    if self.sm['lateralPlan'].laneChangeState != LaneChangeState.off:
-      CC.leftBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.left
-      CC.rightBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.right
+    if model_v2.meta.laneChangeState != LaneChangeState.off:
+      CC.leftBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.left
+      CC.rightBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.right
 
     if CS.leftBlinker or CS.rightBlinker:
       self.last_blinker_frame = self.sm.frame
@@ -611,14 +607,11 @@ class Controls:
       actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
 
       # Steering PID loop and lateral MPC
-      self.desired_curvature, self.desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo,
-                                                                                       lat_plan.psis,
-                                                                                       lat_plan.curvatures,
-                                                                                       lat_plan.curvatureRates)
+      self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)
+      actuators.curvature = self.desired_curvature
       actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
                                                                              self.steer_limited, self.desired_curvature,
-                                                                             self.desired_curvature_rate, self.sm['liveLocationKalman'])
-      actuators.curvature = self.desired_curvature
+                                                                             self.sm['liveLocationKalman'])
     else:
       lac_log = log.ControlsState.LateralDebugState.new_message()
       if self.sm.rcv_frame['testJoystick'] > 0:
@@ -656,7 +649,8 @@ class Controls:
         if undershooting and turning and good_speed and max_torque:
           lac_log.active and self.events.add(EventName.steerSaturated)
       elif lac_log.saturated:
-        dpath_points = lat_plan.dPathPoints
+        # TODO probably should not use dpath_points but curvature
+        dpath_points = model_v2.position.y
         if len(dpath_points):
           # Check if we deviated from the path
           # TODO use desired vs actual curvature
@@ -782,12 +776,11 @@ class Controls:
       controlsState.alertSound = current_alert.audible_alert
 
     controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
-    controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan']
+    controlsState.lateralPlanMonoTime = self.sm.logMonoTime['modelV2']
     controlsState.enabled = self.enabled
     controlsState.active = self.active
     controlsState.curvature = curvature
     controlsState.desiredCurvature = self.desired_curvature
-    controlsState.desiredCurvatureRate = self.desired_curvature_rate
     controlsState.state = self.state
     controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
     controlsState.longControlState = self.LoC.long_control_state
diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index d538035070..90b6858649 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -2,30 +2,30 @@ from cereal import log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.realtime import DT_MDL
 
-LaneChangeState = log.LateralPlan.LaneChangeState
-LaneChangeDirection = log.LateralPlan.LaneChangeDirection
+LaneChangeState = log.LaneChangeState
+LaneChangeDirection = log.LaneChangeDirection
 
 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
 LANE_CHANGE_TIME_MAX = 10.
 
 DESIRES = {
   LaneChangeDirection.none: {
-    LaneChangeState.off: log.LateralPlan.Desire.none,
-    LaneChangeState.preLaneChange: log.LateralPlan.Desire.none,
-    LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.none,
-    LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.none,
+    LaneChangeState.off: log.Desire.none,
+    LaneChangeState.preLaneChange: log.Desire.none,
+    LaneChangeState.laneChangeStarting: log.Desire.none,
+    LaneChangeState.laneChangeFinishing: log.Desire.none,
   },
   LaneChangeDirection.left: {
-    LaneChangeState.off: log.LateralPlan.Desire.none,
-    LaneChangeState.preLaneChange: log.LateralPlan.Desire.none,
-    LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeLeft,
-    LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeLeft,
+    LaneChangeState.off: log.Desire.none,
+    LaneChangeState.preLaneChange: log.Desire.none,
+    LaneChangeState.laneChangeStarting: log.Desire.laneChangeLeft,
+    LaneChangeState.laneChangeFinishing: log.Desire.laneChangeLeft,
   },
   LaneChangeDirection.right: {
-    LaneChangeState.off: log.LateralPlan.Desire.none,
-    LaneChangeState.preLaneChange: log.LateralPlan.Desire.none,
-    LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeRight,
-    LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeRight,
+    LaneChangeState.off: log.Desire.none,
+    LaneChangeState.preLaneChange: log.Desire.none,
+    LaneChangeState.laneChangeStarting: log.Desire.laneChangeRight,
+    LaneChangeState.laneChangeFinishing: log.Desire.laneChangeRight,
   },
 }
 
@@ -38,7 +38,7 @@ class DesireHelper:
     self.lane_change_ll_prob = 1.0
     self.keep_pulse_timer = 0.0
     self.prev_one_blinker = False
-    self.desire = log.LateralPlan.Desire.none
+    self.desire = log.Desire.none
 
   def update(self, carstate, lateral_active, lane_change_prob):
     v_ego = carstate.vEgo
@@ -110,5 +110,5 @@ class DesireHelper:
       self.keep_pulse_timer += DT_MDL
       if self.keep_pulse_timer > 1.0:
         self.keep_pulse_timer = 0.0
-      elif self.desire in (log.LateralPlan.Desire.keepLeft, log.LateralPlan.Desire.keepRight):
-        self.desire = log.LateralPlan.Desire.none
+      elif self.desire in (log.Desire.keepLeft, log.Desire.keepRight):
+        self.desire = log.Desire.none
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index b728f1114c..6a5b22f686 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -3,8 +3,7 @@ import math
 from cereal import car, log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.realtime import DT_MDL
-from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.common.realtime import DT_CTRL
 
 # WARNING: this value was determined based on the model's training distribution,
 #          model predictions above this speed can be unpredictable
@@ -22,7 +21,6 @@ CAR_ROTATION_RADIUS = 0.0
 
 # EU guidelines
 MAX_LATERAL_JERK = 5.0
-
 MAX_VEL_ERR = 5.0
 
 ButtonEvent = car.CarState.ButtonEvent
@@ -163,35 +161,14 @@ def rate_limit(new_value, last_value, dw_step, up_step):
   return clip(new_value, last_value + dw_step, last_value + up_step)
 
 
-def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
-  if len(psis) != CONTROL_N:
-    psis = [0.0]*CONTROL_N
-    curvatures = [0.0]*CONTROL_N
-    curvature_rates = [0.0]*CONTROL_N
+def clip_curvature(v_ego, prev_curvature, new_curvature):
   v_ego = max(MIN_SPEED, v_ego)
-
-  # TODO this needs more thought, use .2s extra for now to estimate other delays
-  delay = CP.steerActuatorDelay + .2
-
-  # MPC can plan to turn the wheel and turn back before t_delay. This means
-  # in high delay cases some corrections never even get commanded. So just use
-  # psi to calculate a simple linearization of desired curvature
-  current_curvature_desired = curvatures[0]
-  psi = interp(delay, ModelConstants.T_IDXS[:CONTROL_N], psis)
-  average_curvature_desired = psi / (v_ego * delay)
-  desired_curvature = 2 * average_curvature_desired - current_curvature_desired
-
-  # This is the "desired rate of the setpoint" not an actual desired rate
-  desired_curvature_rate = curvature_rates[0]
   max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
-  safe_desired_curvature_rate = clip(desired_curvature_rate,
-                                     -max_curvature_rate,
-                                     max_curvature_rate)
-  safe_desired_curvature = clip(desired_curvature,
-                                current_curvature_desired - max_curvature_rate * DT_MDL,
-                                current_curvature_desired + max_curvature_rate * DT_MDL)
-
-  return safe_desired_curvature, safe_desired_curvature_rate
+  safe_desired_curvature = clip(new_curvature,
+                                prev_curvature - max_curvature_rate * DT_CTRL,
+                                prev_curvature + max_curvature_rate * DT_CTRL)
+
+  return safe_desired_curvature
 
 
 def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 79bead3ac8..7df41927cf 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -912,14 +912,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Is Off"),
   },
 
-  # For planning the trajectory Model Predictive Control (MPC) is used. This is
-  # an optimization algorithm that is not guaranteed to find a feasible solution.
-  # If no solution is found or the solution has a very high cost this alert is thrown.
-  EventName.plannerError: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Planner Solution Error"),
-    ET.NO_ENTRY: NoEntryAlert("Planner Solution Error"),
-  },
-
   # When the relay in the harness box opens the CAN bus between the LKAS camera
   # and the rest of the car is separated. When messages from the LKAS camera
   # are received on the car side this usually means the relay hasn't opened correctly
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index 723af7f806..fddb331ccb 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -17,7 +17,7 @@ class LatControl(ABC):
     self.steer_max = 1.0
 
   @abstractmethod
-  def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk):
     pass
 
   def reset(self):
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index d363295f0c..329c486eb9 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -11,7 +11,7 @@ class LatControlAngle(LatControl):
     super().__init__(CP, CI)
     self.sat_check_min_speed = 5.
 
-  def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
     if not active:
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index c673159ebb..9e6160838b 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -17,7 +17,7 @@ class LatControlPID(LatControl):
     super().reset()
     self.pid.reset()
 
-  def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     pid_log.steeringRateDeg = float(CS.steeringRateDeg)
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index f46ab9eb6c..65fd1b51c5 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -36,7 +36,7 @@ class LatControlTorque(LatControl):
     self.torque_params.latAccelOffset = latAccelOffset
     self.torque_params.friction = friction
 
-  def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
 
     if not active:
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
deleted file mode 100644
index 2417eb3c68..0000000000
--- a/selfdrive/controls/lib/lateral_planner.py
+++ /dev/null
@@ -1,74 +0,0 @@
-import numpy as np
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_speed_error
-from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-import cereal.messaging as messaging
-from cereal import log
-
-TRAJECTORY_SIZE = 33
-CAMERA_OFFSET = 0.04
-
-class LateralPlanner:
-  def __init__(self, CP, debug=False):
-    self.DH = DesireHelper()
-
-    # Vehicle model parameters used to calculate lateral movement of car
-    self.factor1 = CP.wheelbase - CP.centerToFront
-    self.factor2 = (CP.centerToFront * CP.mass) / (CP.wheelbase * CP.tireStiffnessRear)
-    self.last_cloudlog_t = 0
-    self.solution_invalid_cnt = 0
-
-    self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3))
-    self.velocity_xyz = np.zeros((TRAJECTORY_SIZE, 3))
-    self.v_plan = np.zeros((TRAJECTORY_SIZE,))
-    self.x_sol = np.zeros((TRAJECTORY_SIZE, 4), dtype=np.float32)
-    self.v_ego = MIN_SPEED
-    self.l_lane_change_prob = 0.0
-    self.r_lane_change_prob = 0.0
-
-    self.debug_mode = debug
-
-  def update(self, sm):
-    v_ego_car = sm['carState'].vEgo
-
-    # Parse model predictions
-    md = sm['modelV2']
-    if len(md.position.x) == TRAJECTORY_SIZE and len(md.velocity.x) == TRAJECTORY_SIZE and len(md.lateralPlannerSolution.x) == TRAJECTORY_SIZE:
-      self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z])
-      self.velocity_xyz = np.column_stack([md.velocity.x, md.velocity.y, md.velocity.z])
-      car_speed = np.linalg.norm(self.velocity_xyz, axis=1) - get_speed_error(md, v_ego_car)
-      self.v_plan = np.clip(car_speed, MIN_SPEED, np.inf)
-      self.v_ego = self.v_plan[0]
-      self.x_sol = np.column_stack([md.lateralPlannerSolution.x, md.lateralPlannerSolution.y, md.lateralPlannerSolution.yaw, md.lateralPlannerSolution.yawRate])
-
-    # Lane change logic
-    desire_state = md.meta.desireState
-    if len(desire_state):
-      self.l_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeLeft]
-      self.r_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeRight]
-    lane_change_prob = self.l_lane_change_prob + self.r_lane_change_prob
-    self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
-
-  def publish(self, sm, pm):
-    plan_send = messaging.new_message('lateralPlan')
-    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
-
-    lateralPlan = plan_send.lateralPlan
-    lateralPlan.modelMonoTime = sm.logMonoTime['modelV2']
-    lateralPlan.dPathPoints = self.path_xyz[:,1].tolist()
-    lateralPlan.psis = self.x_sol[0:CONTROL_N, 2].tolist()
-
-    lateralPlan.curvatures = (self.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist()
-    lateralPlan.curvatureRates = [float(0) for _ in range(CONTROL_N-1)] # TODO: unused
-
-    lateralPlan.mpcSolutionValid = bool(1)
-    lateralPlan.solverExecutionTime = 0.0
-    if self.debug_mode:
-      lateralPlan.solverState = log.LateralPlan.SolverState.new_message()
-      lateralPlan.solverState.x = self.x_sol.tolist()
-
-    lateralPlan.desire = self.DH.desire
-    lateralPlan.useLaneLines = False
-    lateralPlan.laneChangeState = self.DH.lane_change_state
-    lateralPlan.laneChangeDirection = self.DH.lane_change_direction
-
-    pm.send('lateralPlan', plan_send)
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index 5faad914cf..248abf1d7b 100755
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -34,7 +34,7 @@ class TestLatControl(unittest.TestCase):
 
     llk = gen_llk()
     for _ in range(1000):
-      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, 0, llk)
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, llk)
 
     self.assertTrue(lac_log.saturated)
 
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 46d10ef2f5..5ab4894424 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -1,29 +1,19 @@
 #!/usr/bin/env python3
-import os
-import numpy as np
 from cereal import car
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
-from openpilot.selfdrive.controls.lib.lateral_planner import LateralPlanner
 import cereal.messaging as messaging
 
-def cumtrapz(x, t):
-  return np.concatenate([[0], np.cumsum(((x[0:-1] + x[1:])/2) * np.diff(t))])
-
-def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
-  plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, ModelConstants.T_IDXS)
-  model_odo = cumtrapz(lateral_planner.v_plan, ModelConstants.T_IDXS)
-
+def publish_ui_plan(sm, pm, longitudinal_planner):
   ui_send = messaging.new_message('uiPlan')
   ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
   uiPlan = ui_send.uiPlan
   uiPlan.frameId = sm['modelV2'].frameId
-  uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.x_sol[:,0]).tolist()
-  uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.x_sol[:,1]).tolist()
-  uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist()
+  uiPlan.position.x = list(sm['modelV2'].position.x)
+  uiPlan.position.y = list(sm['modelV2'].position.y)
+  uiPlan.position.z = list(sm['modelV2'].position.z)
   uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist()
   pm.send('uiPlan', ui_send)
 
@@ -36,12 +26,8 @@ def plannerd_thread():
     CP = msg
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
-  debug_mode = bool(int(os.getenv("DEBUG", "0")))
-
   longitudinal_planner = LongitudinalPlanner(CP)
-  lateral_planner = LateralPlanner(CP, debug=debug_mode)
-
-  pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan'])
+  pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
                            poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
 
@@ -49,11 +35,9 @@ def plannerd_thread():
     sm.update()
 
     if sm.updated['modelV2']:
-      lateral_planner.update(sm)
-      lateral_planner.publish(sm, pm)
       longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)
-      publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner)
+      publish_ui_plan(sm, pm, longitudinal_planner)
 
 def main():
   plannerd_thread()
diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py
old mode 100755
new mode 100644
index 6eb803e8aa..34d14fbb39
--- a/selfdrive/controls/tests/test_startup.py
+++ b/selfdrive/controls/tests/test_startup.py
@@ -1,6 +1,4 @@
-#!/usr/bin/env python3
-import time
-import unittest
+import os
 from parameterized import parameterized
 
 from cereal import log, car
@@ -11,7 +9,7 @@ from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
 from openpilot.selfdrive.controls.lib.events import EVENT_NAME
-from openpilot.selfdrive.test.helpers import with_processes
+from openpilot.selfdrive.manager.process_config import managed_processes
 
 EventName = car.CarEvent.EventName
 Ecu = car.CarParams.Ecu
@@ -36,94 +34,87 @@ CX5_FW_VERSIONS = [
   (Ecu.transmission, 0x7e1, None, b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
 ]
 
-class TestStartup(unittest.TestCase):
-
-  @parameterized.expand([
-    # TODO: test EventName.startup for release branches
-
-    # officially supported car
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
-
-    # dashcamOnly car
-    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
-    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
-
-    # unrecognized car with no fw
-    (EventName.startupNoFw, None, None, ""),
-    (EventName.startupNoFw, None, None, ""),
-
-    # unrecognized car
-    (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
-    (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
-
-    # fuzzy match
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
-  ])
-  @with_processes(['controlsd'])
-  def test_startup_alert(self, expected_event, car_model, fw_versions, brand):
-
-    # TODO: this should be done without any real sockets
-    controls_sock = messaging.sub_sock("controlsState")
-    pm = messaging.PubMaster(['can', 'pandaStates'])
-
-    params = Params()
-    params.clear_all()
-    params.put_bool("Passive", False)
-    params.put_bool("OpenpilotEnabledToggle", True)
-
-    # Build capnn version of FW array
-    if fw_versions is not None:
-      car_fw = []
-      cp = car.CarParams.new_message()
-      for ecu, addr, subaddress, version in fw_versions:
-        f = car.CarParams.CarFw.new_message()
-        f.ecu = ecu
-        f.address = addr
-        f.fwVersion = version
-        f.brand = brand
-
-        if subaddress is not None:
-          f.subAddress = subaddress
-
-        car_fw.append(f)
-      cp.carVin = "1" * 17
-      cp.carFw = car_fw
-      params.put("CarParamsCache", cp.to_bytes())
-
-    time.sleep(2) # wait for controlsd to be ready
-
-    pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
-    time.sleep(0.1)
-
-    msg = messaging.new_message('pandaStates', 1)
-    msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
-    pm.send('pandaStates', msg)
-
-    # fingerprint
-    if (car_model is None) or (fw_versions is not None):
-      finger = {addr: 1 for addr in range(1, 100)}
-    else:
-      finger = _FINGERPRINTS[car_model][0]
-
-    for _ in range(1000):
-      # controlsd waits for boardd to echo back that it has changed the multiplexing mode
-      if not params.get_bool("ObdMultiplexingChanged"):
-        params.put_bool("ObdMultiplexingChanged", True)
-
-      msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
-      pm.send('can', can_list_to_can_capnp(msgs))
-
-      time.sleep(0.01)
-      msgs = messaging.drain_sock(controls_sock)
-      if len(msgs):
-        event_name = msgs[0].controlsState.alertType.split("/")[0]
-        self.assertEqual(EVENT_NAME[expected_event], event_name,
-                         f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}")
-        break
-    else:
-      self.fail(f"failed to fingerprint {car_model}")
-
-if __name__ == "__main__":
-  unittest.main()
+
+@parameterized.expand([
+  # TODO: test EventName.startup for release branches
+
+  # officially supported car
+  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
+  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
+
+  # dashcamOnly car
+  (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
+  (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
+
+  # unrecognized car with no fw
+  (EventName.startupNoFw, None, None, ""),
+  (EventName.startupNoFw, None, None, ""),
+
+  # unrecognized car
+  (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
+  (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
+
+  # fuzzy match
+  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
+  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
+])
+def test_startup_alert(expected_event, car_model, fw_versions, brand):
+  controls_sock = messaging.sub_sock("controlsState")
+  pm = messaging.PubMaster(['can', 'pandaStates'])
+
+  params = Params()
+  params.put_bool("OpenpilotEnabledToggle", True)
+
+  # Build capnn version of FW array
+  if fw_versions is not None:
+    car_fw = []
+    cp = car.CarParams.new_message()
+    for ecu, addr, subaddress, version in fw_versions:
+      f = car.CarParams.CarFw.new_message()
+      f.ecu = ecu
+      f.address = addr
+      f.fwVersion = version
+      f.brand = brand
+
+      if subaddress is not None:
+        f.subAddress = subaddress
+
+      car_fw.append(f)
+    cp.carVin = "1" * 17
+    cp.carFw = car_fw
+    params.put("CarParamsCache", cp.to_bytes())
+  else:
+    os.environ['SKIP_FW_QUERY'] = '1'
+
+  managed_processes['controlsd'].start()
+
+  assert pm.wait_for_readers_to_update('can', 5)
+  pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
+
+  assert pm.wait_for_readers_to_update('pandaStates', 5)
+  msg = messaging.new_message('pandaStates', 1)
+  msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
+  pm.send('pandaStates', msg)
+
+  # fingerprint
+  if (car_model is None) or (fw_versions is not None):
+    finger = {addr: 1 for addr in range(1, 100)}
+  else:
+    finger = _FINGERPRINTS[car_model][0]
+
+  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
+    if not params.get_bool("ObdMultiplexingChanged"):
+      params.put_bool("ObdMultiplexingChanged", True)
+
+    pm.send('can', can_list_to_can_capnp(msgs))
+    assert pm.wait_for_readers_to_update('can', 5, dt=0.001), f"step: {_}"
+
+    ctrls = messaging.drain_sock(controls_sock)
+    if len(ctrls):
+      event_name = ctrls[0].controlsState.alertType.split("/")[0]
+      assert EVENT_NAME[expected_event] == event_name, f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}"
+      break
+  else:
+    raise Exception(f"failed to fingerprint {car_model}")
diff --git a/selfdrive/debug/can_print_changes.py b/selfdrive/debug/can_print_changes.py
index 20fe502efc..810e45cfc6 100755
--- a/selfdrive/debug/can_print_changes.py
+++ b/selfdrive/debug/can_print_changes.py
@@ -7,8 +7,7 @@ from typing import Optional
 
 import cereal.messaging as messaging
 from openpilot.selfdrive.debug.can_table import can_table
-from openpilot.tools.lib.logreader import LogIterable
-from openpilot.tools.lib.srreader import SegmentRangeReader
+from openpilot.tools.lib.logreader import LogIterable, LogReader
 
 RED = '\033[91m'
 CLEAR = '\033[0m'
@@ -104,8 +103,8 @@ if __name__ == "__main__":
     if args.init == '':
       init_lr = []
     else:
-      init_lr = SegmentRangeReader(args.init)
+      init_lr = LogReader(args.init)
   if args.comp:
-    new_lr = SegmentRangeReader(args.comp)
+    new_lr = LogReader(args.comp)
 
   can_printer(args.bus, init_msgs=init_lr, new_msgs=new_lr, table=args.table)
diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py
index 70f412bff1..0d545b3153 100755
--- a/selfdrive/debug/count_events.py
+++ b/selfdrive/debug/count_events.py
@@ -7,7 +7,7 @@ from pprint import pprint
 from typing import List, Tuple, cast
 
 from cereal.services import SERVICE_LIST
-from openpilot.tools.lib.srreader import SegmentRangeReader, ReadMode
+from openpilot.tools.lib.logreader import LogReader, ReadMode
 
 if __name__ == "__main__":
   cnt_valid: Counter = Counter()
@@ -20,7 +20,7 @@ if __name__ == "__main__":
   start_time = math.inf
   end_time = -math.inf
   ignition_off = None
-  for msg in SegmentRangeReader(sys.argv[1], ReadMode.QLOG):
+  for msg in LogReader(sys.argv[1], ReadMode.QLOG):
     end_time = max(end_time, msg.logMonoTime)
     start_time = min(start_time, msg.logMonoTime)
 
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index fcecb3d9d3..42561f70f0 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -54,7 +54,7 @@ def cycle_alerts(duration=200, is_metric=False):
   CS = car.CarState.new_message()
   CP = CarInterface.get_non_essential_params("HONDA CIVIC 2016")
   sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
-                            'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
+                            'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
                             'managerState'] + cameras)
 
   pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState'])
diff --git a/selfdrive/debug/debug_fw_fingerprinting_offline.py b/selfdrive/debug/debug_fw_fingerprinting_offline.py
new file mode 100755
index 0000000000..d521ab2e18
--- /dev/null
+++ b/selfdrive/debug/debug_fw_fingerprinting_offline.py
@@ -0,0 +1,46 @@
+#!/usr/bin/env python3
+import argparse
+
+from openpilot.tools.lib.logreader import LogReader, ReadMode
+from panda.python import uds
+
+
+def main(route: str, addrs: list[int]):
+  """
+  TODO:
+  - highlight TX vs RX clearly
+  - disambiguate sendcan and can (useful to know if something sent on sendcan made it to the bus on can->128)
+  - print as fixed width table, easier to read
+  """
+
+  lr = LogReader(route, default_mode=ReadMode.RLOG)
+
+  start_mono_time = None
+  prev_mono_time = 0
+
+  # include rx addresses
+  addrs = addrs + [uds.get_rx_addr_for_tx_addr(addr) for addr in addrs]
+
+  for msg in lr:
+    if msg.which() == 'can':
+      if start_mono_time is None:
+        start_mono_time = msg.logMonoTime
+
+    if msg.which() in ("can", 'sendcan'):
+      for can in getattr(msg, msg.which()):
+        if can.address in addrs:
+          if msg.logMonoTime != prev_mono_time:
+            print()
+            prev_mono_time = msg.logMonoTime
+          print(f"{msg.logMonoTime} rxaddr={can.address}, bus={can.src}, {round((msg.logMonoTime - start_mono_time) * 1e-6, 2)} ms, " +
+                f"0x{can.dat.hex()}, {can.dat}, {len(can.dat)=}")
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address')
+  parser.add_argument('route', help='Route name')
+  parser.add_argument('addrs', nargs='*', help='List of tx address to view (0x7e0 for engine)')
+  args = parser.parse_args()
+
+  addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs]
+  main(args.route, addrs)
diff --git a/selfdrive/debug/filter_log_message.py b/selfdrive/debug/filter_log_message.py
index f8e78c8b98..20028f8fd2 100755
--- a/selfdrive/debug/filter_log_message.py
+++ b/selfdrive/debug/filter_log_message.py
@@ -3,7 +3,7 @@ import argparse
 import json
 
 import cereal.messaging as messaging
-from openpilot.tools.lib.srreader import SegmentRangeReader
+from openpilot.tools.lib.logreader import LogReader
 
 LEVELS = {
   "DEBUG": 10,
@@ -55,7 +55,7 @@ if __name__ == "__main__":
 
   if args.route:
     for route in args.route:
-      lr = SegmentRangeReader(route)
+      lr = LogReader(route)
       for m in lr:
         if m.which() == 'logMessage':
           print_logmessage(m.logMonoTime, m.logMessage, min_level)
diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py
index 7126a282c9..68308bb627 100755
--- a/selfdrive/debug/fingerprint_from_route.py
+++ b/selfdrive/debug/fingerprint_from_route.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import sys
-from openpilot.tools.lib.srreader import ReadMode, SegmentRangeReader
+from openpilot.tools.lib.logreader import LogReader, ReadMode
 
 
 def get_fingerprint(lr):
@@ -39,5 +39,5 @@ if __name__ == "__main__":
     print("Usage: ./fingerprint_from_route.py <route>")
     sys.exit(1)
 
-  lr = SegmentRangeReader(sys.argv[1], ReadMode.QLOG)
+  lr = LogReader(sys.argv[1], ReadMode.QLOG)
   get_fingerprint(lr)
diff --git a/selfdrive/debug/format_fingerprints.py b/selfdrive/debug/format_fingerprints.py
index 1752aa1f06..bd5822729a 100755
--- a/selfdrive/debug/format_fingerprints.py
+++ b/selfdrive/debug/format_fingerprints.py
@@ -44,9 +44,8 @@ FINGERPRINTS = {
 {% endfor %}
 }
 {% endif %}
-{% if FW_VERSIONS[brand] %}
 
-FW_VERSIONS = {
+FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{% endif %} = {
 {% for car, _ in FW_VERSIONS[brand].items() %}
   CAR.{{car.name}}: {
 {% for key, fw_versions in FW_VERSIONS[brand][car].items() %}
@@ -60,7 +59,7 @@ FW_VERSIONS = {
   },
 {% endfor %}
 }
-{% endif %}
+
 """, trim_blocks=True)
 
 
diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py
index 51ba06ec14..441de9ef57 100755
--- a/selfdrive/debug/run_process_on_route.py
+++ b/selfdrive/debug/run_process_on_route.py
@@ -4,7 +4,7 @@ import argparse
 
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
 from openpilot.tools.lib.helpers import save_log
-from openpilot.tools.lib.srreader import SegmentRangeReader
+from openpilot.tools.lib.logreader import LogReader
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Run process on route and create new logs",
@@ -16,7 +16,7 @@ if __name__ == "__main__":
 
   cfg = [c for c in CONFIGS if c.proc_name == args.process][0]
 
-  lr = SegmentRangeReader(args.route)
+  lr = LogReader(args.route)
   inputs = list(lr)
 
   outputs = replay_process(cfg, inputs, fingerprint=args.fingerprint)
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index 20c5486c32..dd6243a44c 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -6,8 +6,8 @@ import argparse
 import os
 import traceback
 from tqdm import tqdm
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.logreader import LogReader, ReadMode
+from openpilot.tools.lib.route import SegmentRange
 from openpilot.selfdrive.car.car_helpers import interface_names
 from openpilot.selfdrive.car.fw_versions import VERSIONS, match_fw_to_car
 
@@ -44,23 +44,14 @@ if __name__ == "__main__":
 
   dongles = []
   for route in tqdm(routes):
-    route = route.rstrip()
-    dongle_id, time = route.split('|')
+    dongle_id = SegmentRange(route).dongle_id
 
     if dongle_id in dongles:
       continue
 
-    if NO_API:
-      qlog_path = f"cd:/{dongle_id}/{time}/0/qlog.bz2"
-    else:
-      route = Route(route)
-      qlog_path = next((p for p in route.qlog_paths() if p is not None), None)
-
-    if qlog_path is None:
-      continue
+    lr = LogReader(route, default_mode=ReadMode.QLOG)
 
     try:
-      lr = LogReader(qlog_path)
       dongles.append(dongle_id)
 
       CP = None
@@ -98,13 +89,11 @@ if __name__ == "__main__":
             if len(fuzzy_matches) == 1:
               if list(fuzzy_matches)[0] != live_fingerprint:
                 wrong_fuzzy += 1
-                print(f"{dongle_id}|{time}")
                 print("Fuzzy match wrong! Fuzzy:", fuzzy_matches, "Live:", live_fingerprint)
               else:
                 good_fuzzy += 1
             break
 
-          print(f"{dongle_id}|{time}")
           print("Old style:", live_fingerprint, "Vin", CP.carVin)
           print("New style (exact):", exact_matches)
           print("New style (fuzzy):", fuzzy_matches)
@@ -113,7 +102,7 @@ if __name__ == "__main__":
           for version in sorted(car_fw, key=lambda fw: fw.brand):
             subaddr = None if version.subAddress == 0 else hex(version.subAddress)
             print(f"  Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - " +
-                  "(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
+                  f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
 
           print("Mismatches")
           found = False
diff --git a/selfdrive/debug/toyota_eps_factor.py b/selfdrive/debug/toyota_eps_factor.py
index 1f72fa296a..dc83c8f7a4 100755
--- a/selfdrive/debug/toyota_eps_factor.py
+++ b/selfdrive/debug/toyota_eps_factor.py
@@ -5,7 +5,7 @@ import matplotlib.pyplot as plt
 from sklearn import linear_model
 from openpilot.selfdrive.car.toyota.values import STEER_THRESHOLD
 
-from openpilot.tools.lib.srreader import SegmentRangeReader
+from openpilot.tools.lib.logreader import LogReader
 
 MIN_SAMPLES = 30 * 100
 
@@ -57,6 +57,6 @@ def get_eps_factor(lr, plot=False):
 
 
 if __name__ == "__main__":
-  lr = SegmentRangeReader(sys.argv[1])
+  lr = LogReader(sys.argv[1])
   n = get_eps_factor(lr, plot="--plot" in sys.argv)
   print("EPS torque factor: ", n)
diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py
index b1792e0fd8..f48c83ce46 100755
--- a/selfdrive/locationd/test/test_locationd_scenarios.py
+++ b/selfdrive/locationd/test/test_locationd_scenarios.py
@@ -5,12 +5,10 @@ import numpy as np
 from collections import defaultdict
 from enum import Enum
 
-
-from openpilot.selfdrive.test.openpilotci import get_url
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name
 
-TEST_ROUTE, TEST_SEG_NUM = "ff2bd20623fcaeaa|2023-09-05--10-14-54", 4
+TEST_ROUTE = "ff2bd20623fcaeaa|2023-09-05--10-14-54/4"
 GPS_MESSAGES = ['gpsLocationExternal', 'gpsLocation']
 SELECT_COMPARE_FIELDS = {
   'yaw_rate': ['angularVelocityCalibrated', 'value', 2],
@@ -99,6 +97,7 @@ def run_scenarios(scenario, logs):
 
 
 @pytest.mark.xdist_group("test_locationd_scenarios")
+@pytest.mark.shared_download_cache
 class TestLocationdScenarios(unittest.TestCase):
   """
   Test locationd with different scenarios. In all these scenarios, we expect the following:
@@ -108,7 +107,7 @@ class TestLocationdScenarios(unittest.TestCase):
 
   @classmethod
   def setUpClass(cls):
-    cls.logs = list(LogReader(get_url(TEST_ROUTE, TEST_SEG_NUM)))
+    cls.logs = list(LogReader(TEST_ROUTE))
 
   def test_base(self):
     """
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 21a5ebca5f..f2c0248afa 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -214,7 +214,7 @@ class TorqueEstimator(ParameterEstimator):
     return msg
 
 
-def main():
+def main(demo=False):
   config_realtime_process([0, 1, 2, 3], 5)
 
   pm = messaging.PubMaster(['liveTorqueParameters'])
@@ -242,4 +242,8 @@ def main():
       params.put_nonblocking("LiveTorqueParameters", msg.to_bytes())
 
 if __name__ == "__main__":
-  main()
+  import argparse
+  parser = argparse.ArgumentParser(description='Process the --demo argument.')
+  parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
+  args = parser.parse_args()
+  main(demo=args.demo)
diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py
index 836723e5a8..f2758cf32b 100755
--- a/selfdrive/manager/build.py
+++ b/selfdrive/manager/build.py
@@ -17,7 +17,6 @@ CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
 
 TOTAL_SCONS_NODES = 2560
 MAX_BUILD_PROGRESS = 100
-PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
 
 def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
   env = os.environ.copy()
@@ -85,7 +84,7 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
     f.unlink()
 
 
-if __name__ == "__main__" and not PREBUILT:
+if __name__ == "__main__":
   spinner = Spinner()
   spinner.update_progress(0, 100)
   build(spinner, is_dirty(), minimal = AGNOS)
diff --git a/selfdrive/manager/helpers.py b/selfdrive/manager/helpers.py
index f8607fffc6..1b6f8df1ef 100644
--- a/selfdrive/manager/helpers.py
+++ b/selfdrive/manager/helpers.py
@@ -3,7 +3,13 @@ import sys
 import fcntl
 import errno
 import signal
+import shutil
+import subprocess
+import tempfile
+import threading
 
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
 
 def unblock_stdout() -> None:
   # get a non-blocking stdout
@@ -41,3 +47,18 @@ def unblock_stdout() -> None:
 def write_onroad_params(started, params):
   params.put_bool("IsOnroad", started)
   params.put_bool("IsOffroad", not started)
+
+
+def save_bootlog():
+  # copy current params
+  tmp = tempfile.mkdtemp()
+  shutil.copytree(Params().get_param_path() + "/..", tmp, dirs_exist_ok=True)
+
+  def fn(tmpdir):
+    env = os.environ.copy()
+    env['PARAMS_ROOT'] = tmpdir
+    subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), env=env)
+    shutil.rmtree(tmpdir)
+  t = threading.Thread(target=fn, args=(tmp, ))
+  t.daemon = True
+  t.start()
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index 8b9bba4a47..5c0d5518be 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -2,7 +2,6 @@
 import datetime
 import os
 import signal
-import subprocess
 import sys
 import traceback
 from typing import List, Tuple, Union
@@ -10,12 +9,11 @@ from typing import List, Tuple, Union
 from cereal import log
 import cereal.messaging as messaging
 import openpilot.selfdrive.sentry as sentry
-from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params, ParamKeyType
 from openpilot.common.text_window import TextWindow
 from openpilot.selfdrive.boardd.set_time import set_time
 from openpilot.system.hardware import HARDWARE, PC
-from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params
+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
@@ -31,7 +29,7 @@ def manager_init() -> None:
   set_time(cloudlog)
 
   # save boot log
-  subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"))
+  save_bootlog()
 
   params = Params()
   params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
@@ -60,13 +58,6 @@ def manager_init() -> None:
     if params.get(k) is None:
       params.put(k, v)
 
-  # is this dashcam?
-  if os.getenv("PASSIVE") is not None:
-    params.put_bool("Passive", bool(int(os.getenv("PASSIVE", "0"))))
-
-  if params.get("Passive") is None:
-    raise Exception("Passive must be set to continue")
-
   # Create folders needed for msgq
   try:
     os.mkdir("/dev/shm")
@@ -107,8 +98,7 @@ def manager_init() -> None:
                        dirty=is_dirty(),
                        device=HARDWARE.get_device_type())
 
-
-def manager_prepare() -> None:
+  # preimport all processes
   for p in managed_processes.values():
     p.prepare()
 
@@ -188,17 +178,8 @@ def manager_thread() -> None:
 
 
 def main() -> None:
-  prepare_only = os.getenv("PREPAREONLY") is not None
-
   manager_init()
-
-  # Start UI early so prepare can happen in the background
-  if not prepare_only:
-    managed_processes['ui'].start()
-
-  manager_prepare()
-
-  if prepare_only:
+  if os.getenv("PREPAREONLY") is not None:
     return
 
   # SystemExit on sigterm
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index 36d69b03bb..cb6dd8883f 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -49,7 +49,7 @@ procs = [
   NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
   PythonProcess("logmessaged", "system.logmessaged", always_run),
   PythonProcess("micd", "system.micd", iscar),
-  PythonProcess("timezoned", "system.timezoned", always_run, enabled=not PC),
+  PythonProcess("timed", "system.timed", always_run, enabled=not PC),
 
   PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py
index 0fa186baff..fbeb932a86 100755
--- a/selfdrive/manager/test/test_manager.py
+++ b/selfdrive/manager/test/test_manager.py
@@ -21,7 +21,6 @@ BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond']
 @pytest.mark.tici
 class TestManager(unittest.TestCase):
   def setUp(self):
-    os.environ['PASSIVE'] = '0'
     HARDWARE.set_power_save(False)
 
     # ensure clean CarParams
@@ -47,13 +46,13 @@ class TestManager(unittest.TestCase):
       t = time.monotonic() - start
       assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s"
 
+  @unittest.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
   def test_clean_exit(self):
     """
       Ensure all processes exit cleanly when stopped.
     """
     HARDWARE.set_power_save(False)
     manager.manager_init()
-    manager.manager_prepare()
 
     CP = car.CarParams.new_message()
     procs = ensure_running(managed_processes.values(), True, Params(), CP, not_run=BLACKLIST_PROCS)
diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index 4d3af51635..dda1ff5e33 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -22,6 +22,8 @@ class ModelConstants:
   NAV_INSTRUCTION_LEN = 150
   DRIVING_STYLE_LEN = 12
   LAT_PLANNER_STATE_LEN = 4
+  LATERAL_CONTROL_PARAMS_LEN = 2
+  PREV_DESIRED_CURV_LEN = 1
 
   # model outputs constants
   FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)
@@ -39,6 +41,7 @@ class ModelConstants:
   PLAN_WIDTH = 15
   DESIRE_PRED_WIDTH = 8
   LAT_PLANNER_SOLUTION_WIDTH = 4
+  DESIRED_CURV_WIDTH = 1
 
   NUM_LANE_LINES = 4
   NUM_ROAD_EDGES = 2
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 7434e94287..93d1c7e77b 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -45,7 +45,7 @@ def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std
 def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, np.ndarray], publish_state: PublishState,
                    vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
                    timestamp_eof: int, timestamp_llk: int, model_execution_time: float,
-                   nav_enabled: bool, valid: bool) -> None:
+                   nav_enabled: bool, v_ego: float, steer_delay: float, valid: bool) -> None:
   frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
   msg.valid = valid
 
@@ -72,9 +72,8 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str,
   fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
   # lateral planning
-  solution = modelV2.lateralPlannerSolution
-  solution.x, solution.y, solution.yaw, solution.yawRate = [net_output_data['lat_planner_solution'][0,:,i].tolist() for i in range(4)]
-  solution.xStd, solution.yStd, solution.yawStd, solution.yawRateStd = [net_output_data['lat_planner_solution_stds'][0,:,i].tolist() for i in range(4)]
+  action = modelV2.action
+  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
 
   # times at X_IDXS according to model plan
   PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
diff --git a/selfdrive/modeld/modeld b/selfdrive/modeld/modeld
index 14048ec9fd..e1cef4dcc3 100755
--- a/selfdrive/modeld/modeld
+++ b/selfdrive/modeld/modeld
@@ -7,4 +7,4 @@ if [ -f "$DIR/libthneed.so" ]; then
   export LD_PRELOAD="$DIR/libthneed.so"
 fi
 
-exec "$DIR/modeld.py"
+exec "$DIR/modeld.py" "$@"
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 9cc238530a..5b227d08e9 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -4,6 +4,7 @@ import time
 import pickle
 import numpy as np
 import cereal.messaging as messaging
+from cereal import car, log
 from pathlib import Path
 from typing import Dict, Optional
 from setproctitle import setproctitle
@@ -11,12 +12,12 @@ from cereal.messaging import PubMaster, SubMaster
 from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_MDL
-from openpilot.common.numpy_fast import interp
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.selfdrive 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
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
@@ -56,7 +57,8 @@ class ModelState:
     self.inputs = {
       'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
       'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
-      'lat_planner_state': np.zeros(ModelConstants.LAT_PLANNER_STATE_LEN, dtype=np.float32),
+      'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),
+      'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
       'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32),
       'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32),
       'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
@@ -91,9 +93,9 @@ class ModelState:
     self.prev_desire[:] = inputs['desire']
 
     self.inputs['traffic_convention'][:] = inputs['traffic_convention']
+    self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']
     self.inputs['nav_features'][:] = inputs['nav_features']
     self.inputs['nav_instructions'][:] = inputs['nav_instructions']
-    # self.inputs['driving_style'][:] = inputs['driving_style']
 
     # if getCLBuffer is not None, frame will be None
     self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
@@ -108,12 +110,12 @@ class ModelState:
 
     self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:]
     self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :]
-    self.inputs['lat_planner_state'][2] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 2])
-    self.inputs['lat_planner_state'][3] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 3])
+    self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:]
+    self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :]
     return outputs
 
 
-def main():
+def main(demo=False):
   sentry.set_tag("daemon", PROCESS_NAME)
   cloudlog.bind(daemon=PROCESS_NAME)
   setproctitle(PROCESS_NAME)
@@ -148,10 +150,14 @@ def main():
 
   # messaging
   pm = PubMaster(["modelV2", "cameraOdometry"])
-  sm = SubMaster(["lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction"])
+  sm = SubMaster(["carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl"])
+
 
   publish_state = PublishState()
   params = Params()
+  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
+    steer_delay = msg.steerActuatorDelay + .2
+  #steer_delay = 0.4
 
   # setup filter to track dropped frames
   frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
@@ -162,13 +168,23 @@ def main():
   model_transform_main = np.zeros((3, 3), dtype=np.float32)
   model_transform_extra = np.zeros((3, 3), dtype=np.float32)
   live_calib_seen = False
-  driving_style = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32)
   nav_features = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32)
   nav_instructions = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32)
   buf_main, buf_extra = None, None
   meta_main = FrameMeta()
   meta_extra = FrameMeta()
 
+
+  if demo:
+    CP = get_demo_car_params()
+  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
+    CP = msg
+  cloudlog.info("plannerd got CarParams: %s", CP.carName)
+  # TODO this needs more thought, use .2s extra for now to estimate other delays
+  steer_delay = CP.steerActuatorDelay + .2
+  DH = DesireHelper()
+
+
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
     while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
@@ -205,9 +221,12 @@ def main():
 
     # TODO: path planner timeout?
     sm.update(0)
-    desire = sm["lateralPlan"].desire.raw
+    desire = DH.desire
+    v_ego = sm["carState"].vEgo
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
+    # TODO add lag
+    lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
     if sm.updated["liveCalibration"]:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       model_transform_main = get_warp_matrix(device_from_calib_euler, main_wide_camera, False).astype(np.float32)
@@ -261,7 +280,7 @@ def main():
     inputs:Dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
-      'driving_style': driving_style,
+      'lateral_control_params': lateral_control_params,
       'nav_features': nav_features,
       'nav_instructions': nav_instructions}
 
@@ -274,7 +293,15 @@ def main():
       modelv2_send = messaging.new_message('modelV2')
       posenet_send = messaging.new_message('cameraOdometry')
       fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio,
-                      meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen)
+                      meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, v_ego, steer_delay, live_calib_seen)
+
+      desire_state = modelv2_send.modelV2.meta.desireState
+      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
+      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
+      lane_change_prob = l_lane_change_prob + r_lane_change_prob
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
+      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
+      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
 
       fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
       pm.send('modelV2', modelv2_send)
@@ -285,7 +312,11 @@ def main():
 
 if __name__ == "__main__":
   try:
-    main()
+    import argparse
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
+    args = parser.parse_args()
+    main(demo=args.demo)
   except KeyboardInterrupt:
     cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
   except Exception:
diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current
index 065bc7d489..ed495df3a8 100644
--- a/selfdrive/modeld/models/dmonitoring_model.current
+++ b/selfdrive/modeld/models/dmonitoring_model.current
@@ -1,2 +1,2 @@
-d1124586-761e-4e18-a771-6b5ef35124fe
-6fec774f513a19e44d4316e46ad38277197d45ea
\ No newline at end of file
+60abed33-9f25-4e34-9937-aaf918d41dfc
+50887963963a3022e85ac0c94b0801aef955a608
\ No newline at end of file
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
index f8bf94c061..3e94e7d36a 100644
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:517262fa9f1ad3cc8049ad3722903f40356d87ea423ee5cf011226fb6cfc3d5b
-size 16072278
+oid sha256:9a667cbde6eca86c5b653f57853e3d33b9a875bceb557e193d1bef78c2df9c37
+size 16132779
diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc
index e4e6fb3347..041949ad94 100644
--- a/selfdrive/modeld/models/dmonitoring_model_q.dlc
+++ b/selfdrive/modeld/models/dmonitoring_model_q.dlc
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:64b94659226a1e3c6594a13c2e5d029465d5803a5c3005121ec7217acdbbef20
-size 4443461
+oid sha256:f5729c457dd47f6c35e2a818eae14113526fd0bfac6417a809cbaf9d38697d9b
+size 4488413
diff --git a/selfdrive/modeld/models/navmodel.onnx b/selfdrive/modeld/models/navmodel.onnx
index 93edb593cc..3b687b960a 100644
--- a/selfdrive/modeld/models/navmodel.onnx
+++ b/selfdrive/modeld/models/navmodel.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4971931accb5ba2e534bb3e0c591826ee507e2988df2eccf1fe862c303ddf9c5
-size 14221074
+oid sha256:8254b569878b7472e3f63ed9f3527a87bde785c9037aee3ed66f972e072b5899
+size 14166696
diff --git a/selfdrive/modeld/models/navmodel_q.dlc b/selfdrive/modeld/models/navmodel_q.dlc
index cb6e55b75f..d5e43abcfb 100644
--- a/selfdrive/modeld/models/navmodel_q.dlc
+++ b/selfdrive/modeld/models/navmodel_q.dlc
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fa346ada6f8c6326a5ee5fcd27e45e3e710049358079413c6a4624b20c6e1e47
+oid sha256:89fda8380efa3e421fbcdb6bb204c36a4991f137ee01d47f3d0380895aa7c036
 size 3630942
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index ca8642093d..dc93d84135 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ae44fe832fe48b89998f09cebb1bcd129864a8f51497b636cd38e66e46d69a89
-size 48457850
+oid sha256:763821410b35b06b598cacfa5bc3e312610b3f8de2729e0d5954d7571b6794be
+size 48219112
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index 9d37a5fad4..01cba29d1c 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -93,7 +93,10 @@ class Parser:
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
                    out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
-    self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if 'lat_planner_solution' in outs:
+      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if 'desired_curvature' in outs:
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
     for k in ['lead_prob', 'lane_lines_prob', 'meta']:
       self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py
index e010f6cfd6..257a9bc878 100755
--- a/selfdrive/modeld/tests/test_modeld.py
+++ b/selfdrive/modeld/tests/test_modeld.py
@@ -7,6 +7,7 @@ import cereal.messaging as messaging
 from cereal.visionipc import VisionIpcServer, VisionStreamType
 from openpilot.common.transformations.camera import tici_f_frame_size
 from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.car.car_helpers import write_car_param
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
 
@@ -22,9 +23,10 @@ class TestModeld(unittest.TestCase):
     self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *tici_f_frame_size)
     self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *tici_f_frame_size)
     self.vipc_server.start_listener()
+    write_car_param()
 
     self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
-    self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration', 'lateralPlan'])
+    self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
 
     managed_processes['modeld'].start()
     self.pm.wait_for_readers_to_update("roadCameraState", 10)
diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py
index ab82da301f..2279002f35 100644
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -29,10 +29,10 @@ class DRIVER_MONITOR_SETTINGS():
     self._FACE_THRESHOLD = 0.7
     self._EYE_THRESHOLD = 0.65
     self._SG_THRESHOLD = 0.9
-    self._BLINK_THRESHOLD = 0.895
+    self._BLINK_THRESHOLD = 0.865
 
-    self._EE_THRESH11 = 0.275
-    self._EE_THRESH12 = 5.5
+    self._EE_THRESH11 = 0.241
+    self._EE_THRESH12 = 4.7
     self._EE_MAX_OFFSET1 = 0.06
     self._EE_MIN_OFFSET1 = 0.025
     self._EE_THRESH21 = 0.01
diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
index fcaf46aff4..2be703cdb2 100755
--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@@ -71,8 +71,11 @@ class RouteEngine:
         self.ui_pid = ui_pid[0]
 
     self.update_location()
-    self.recompute_route()
-    self.send_instruction()
+    try:
+      self.recompute_route()
+      self.send_instruction()
+    except Exception:
+      cloudlog.exception("navd.failed_to_compute")
 
   def update_location(self):
     location = self.sm['liveLocationKalman']
@@ -256,7 +259,10 @@ class RouteEngine:
     for i in range(self.step_idx + 1, len(self.route)):
       total_distance += self.route[i]['distance']
       total_time += self.route[i]['duration']
-      total_time_typical += self.route[i]['duration_typical']
+      if self.route[i]['duration_typical'] is None:
+        total_time_typical += self.route[i]['duration']
+      else:
+        total_time_typical += self.route[i]['duration_typical']
 
     msg.navInstruction.distanceRemaining = total_distance
     msg.navInstruction.timeRemaining = total_time
diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py
index d336ffb651..a7289d02d9 100755
--- a/selfdrive/navd/tests/test_map_renderer.py
+++ b/selfdrive/navd/tests/test_map_renderer.py
@@ -28,8 +28,11 @@ LOCATION2_REPEATED = [LOCATION2] * DEFAULT_ITERATIONS
 def gen_llk(location=LOCATION1):
   msg = messaging.new_message('liveLocationKalman')
   msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.positionECEF = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
   msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.velocityCalibrated = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
   msg.liveLocationKalman.status = 'valid'
+  msg.liveLocationKalman.gpsOK = True
   return msg
 
 
@@ -181,6 +184,7 @@ class TestMapRenderer(unittest.TestCase):
     self._run_test(False)
 
   @with_processes(["mapsd"])
+  @pytest.mark.skip(reason="slow, flaky, and unlikely to break")
   def test_recover_from_no_internet(self):
     self._setup_test()
     self._run_test(True)
diff --git a/selfdrive/navd/tests/test_navd.py b/selfdrive/navd/tests/test_navd.py
new file mode 100755
index 0000000000..e2a5944c2b
--- /dev/null
+++ b/selfdrive/navd/tests/test_navd.py
@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+import json
+import random
+import unittest
+import numpy as np
+
+import cereal.messaging as messaging
+from openpilot.common.params import Params
+from openpilot.selfdrive.manager.process_config import managed_processes
+
+
+class TestNavd(unittest.TestCase):
+  def setUp(self):
+    self.params = Params()
+    self.sm = messaging.SubMaster(['navRoute', 'navInstruction'])
+
+  def tearDown(self):
+    managed_processes['navd'].stop()
+
+  def _check_route(self, start, end, check_coords=True):
+    self.params.put("NavDestination", json.dumps(end))
+    self.params.put("LastGPSPosition", json.dumps(start))
+
+    managed_processes['navd'].start()
+    for _ in range(30):
+      self.sm.update(1000)
+      if all(f > 0 for f in self.sm.rcv_frame.values()):
+        break
+    else:
+      raise Exception("didn't get a route")
+
+    assert managed_processes['navd'].proc.is_alive()
+    managed_processes['navd'].stop()
+
+    # ensure start and end match up
+    if check_coords:
+      coords = self.sm['navRoute'].coordinates
+      assert np.allclose([start['latitude'], start['longitude'], end['latitude'], end['longitude']],
+                         [coords[0].latitude, coords[0].longitude, coords[-1].latitude, coords[-1].longitude],
+                         rtol=1e-3)
+
+  def test_simple(self):
+    start = {
+      "latitude": 32.7427228,
+      "longitude": -117.2321177,
+    }
+    end = {
+      "latitude": 32.7557004,
+      "longitude": -117.268002,
+    }
+    self._check_route(start, end)
+
+  def test_random(self):
+    for _ in range(10):
+      start = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)}
+      end = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)}
+      self._check_route(start, end, check_coords=False)
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/sentry.py b/selfdrive/sentry.py
index f4bb1fbce8..6b14b6bbd6 100644
--- a/selfdrive/sentry.py
+++ b/selfdrive/sentry.py
@@ -54,14 +54,13 @@ def init(project: SentryProject) -> bool:
   integrations = []
   if project == SentryProject.SELFDRIVE:
     integrations.append(ThreadingIntegration(propagate_hub=True))
-  else:
-    sentry_sdk.utils.MAX_STRING_LENGTH = 8192
 
   sentry_sdk.init(project.value,
                   default_integrations=False,
                   release=get_version(),
                   integrations=integrations,
                   traces_sample_rate=1.0,
+                  max_value_length=8192,
                   environment=env)
 
   sentry_sdk.set_user({"id": dongle_id})
diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh
index bd8c34c472..5f77ceb10d 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 --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 $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/helpers.py b/selfdrive/test/helpers.py
index 693604442d..a8b7ca0c4d 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -8,11 +8,9 @@ from openpilot.common.params import Params
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.system.hardware import PC
 from openpilot.system.version import training_version, terms_version
-from openpilot.tools.lib.logreader import LogIterable
 
 
 def set_params_enabled():
-  os.environ['PASSIVE'] = "0"
   os.environ['REPLAY'] = "1"
   os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
   os.environ['LOGPRINT'] = "debug"
@@ -21,7 +19,6 @@ def set_params_enabled():
   params.put("HasAcceptedTerms", terms_version)
   params.put("CompletedTrainingVersion", training_version)
   params.put_bool("OpenpilotEnabledToggle", True)
-  params.put_bool("Passive", False)
 
   # valid calib
   msg = messaging.new_message('liveCalibration')
@@ -80,11 +77,3 @@ def read_segment_list(segment_list_path):
     seg_list = f.read().splitlines()
 
   return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)]
-
-
-# Utilities for sanitizing routes of only essential data for testing car ports and doing validation.
-
-PRESERVE_SERVICES = ["can", "carParams", "pandaStates", "pandaStateDEPRECATED"]
-
-def sanitize(lr: LogIterable) -> LogIterable:
-  return filter(lambda msg: msg.which() in PRESERVE_SERVICES, lr)
diff --git a/selfdrive/test/openpilotci.py b/selfdrive/test/openpilotci.py
deleted file mode 100755
index 4e0da1bccf..0000000000
--- a/selfdrive/test/openpilotci.py
+++ /dev/null
@@ -1,66 +0,0 @@
-#!/usr/bin/env python3
-import os
-from datetime import datetime, timedelta
-from functools import lru_cache
-from pathlib import Path
-from typing import IO, Union
-
-DATA_CI_ACCOUNT = "commadataci"
-DATA_CI_ACCOUNT_URL = f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net"
-OPENPILOT_CI_CONTAINER = "openpilotci"
-DATA_CI_CONTAINER = "commadataci"
-BASE_URL = f"{DATA_CI_ACCOUNT_URL}/{OPENPILOT_CI_CONTAINER}/"
-
-TOKEN_PATH = Path("/data/azure_token")
-
-
-def get_url(route_name: str, segment_num, log_type="rlog") -> str:
-  ext = "hevc" if log_type.endswith('camera') else "bz2"
-  return BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{log_type}.{ext}"
-
-
-@lru_cache
-def get_azure_credential():
-  if "AZURE_TOKEN" in os.environ:
-    return os.environ["AZURE_TOKEN"]
-  elif TOKEN_PATH.is_file():
-    return TOKEN_PATH.read_text().strip()
-  else:
-    from azure.identity import AzureCliCredential
-    return AzureCliCredential()
-
-
-@lru_cache
-def get_container_sas(account_name: str, container_name: str):
-  from azure.storage.blob import BlobServiceClient, ContainerSasPermissions, generate_container_sas
-  start_time = datetime.utcnow()
-  expiry_time = start_time + timedelta(hours=1)
-  blob_service = BlobServiceClient(
-    account_url=f"https://{account_name}.blob.core.windows.net",
-    credential=get_azure_credential(),
-  )
-  return generate_container_sas(
-    account_name,
-    container_name,
-    user_delegation_key=blob_service.get_user_delegation_key(start_time, expiry_time),
-    permission=ContainerSasPermissions(read=True, write=True, list=True),
-    expiry=expiry_time,
-  )
-
-
-def upload_bytes(data: Union[bytes, IO], blob_name: str) -> str:
-  from azure.storage.blob import BlobClient
-  blob = BlobClient(
-    account_url=DATA_CI_ACCOUNT_URL,
-    container_name=OPENPILOT_CI_CONTAINER,
-    blob_name=blob_name,
-    credential=get_azure_credential(),
-    overwrite=False,
-  )
-  blob.upload_blob(data)
-  return BASE_URL + blob_name
-
-
-def upload_file(path: Union[str, os.PathLike], blob_name: str) -> str:
-  with open(path, "rb") as f:
-    return upload_bytes(f, blob_name)
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 2841386bf4..97b7c7c46c 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -9,7 +9,7 @@ import cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.system.hardware import PC
 from openpilot.selfdrive.manager.process_config import managed_processes
-from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url
+from openpilot.tools.lib.openpilotci import BASE_URL, get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
 from openpilot.system.version import get_commit
@@ -105,11 +105,11 @@ def nav_model_replay(lr):
 
 def model_replay(lr, frs):
   # modeld is using frame pairs
-  modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx"})
-  dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx"})
+  modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams"})
+  dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx", "carParams"})
   if not SEND_EXTRA_INPUTS:
-    modeld_logs = [msg for msg in modeld_logs if msg.which() not in ["liveCalibration", "lateralPlan"]]
-    dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() not in ["liveCalibration", "lateralPlan"]]
+    modeld_logs = [msg for msg in modeld_logs if msg.which() not in ["liveCalibration",]]
+    dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() not in ["liveCalibration",]]
   # initial calibration
   cal_msg = next(msg for msg in lr if msg.which() == "liveCalibration").as_builder()
   cal_msg.logMonoTime = lr[0].logMonoTime
@@ -143,7 +143,7 @@ if __name__ == "__main__":
     import requests
     import threading
     import http.server
-    from openpilot.selfdrive.test.openpilotci import upload_bytes
+    from openpilot.tools.lib.openpilotci import upload_bytes
     os.environ['MAPS_HOST'] = 'http://localhost:5000'
 
     class HTTPRequestHandler(http.server.BaseHTTPRequestHandler):
@@ -229,7 +229,7 @@ if __name__ == "__main__":
 
   # upload new refs
   if (update or failed) and not PC:
-    from openpilot.selfdrive.test.openpilotci import upload_file
+    from openpilot.tools.lib.openpilotci import upload_file
 
     print("Uploading new refs")
 
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 1be0aaf8c3..9ec78e1401 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-ad64b6f38c1362e9d184f3fc95299284eacb56d4
+4a01784a6b83a49301a68adf52bb7dcfcb7173b5
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 19f1c127a6..a6b2771668 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -461,7 +461,7 @@ CONFIGS = [
     proc_name="controlsd",
     pubs=[
       "can", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
-      "longitudinalPlan", "lateralPlan", "liveLocationKalman", "liveParameters", "radarState",
+      "longitudinalPlan", "liveLocationKalman", "liveParameters", "radarState",
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
       "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope"
     ],
@@ -486,8 +486,8 @@ CONFIGS = [
   ProcessConfig(
     proc_name="plannerd",
     pubs=["modelV2", "carControl", "carState", "controlsState", "radarState"],
-    subs=["lateralPlan", "longitudinalPlan", "uiPlan"],
-    ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime", "lateralPlan.solverExecutionTime"],
+    subs=["longitudinalPlan", "uiPlan"],
+    ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
     init_callback=get_car_params_callback,
     should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
     tolerance=NUMPY_TOLERANCE,
@@ -545,7 +545,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="modeld",
-    pubs=["lateralPlan", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
+    pubs=["roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
     subs=["modelV2", "cameraOdometry"],
     ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"],
     should_recv_callback=ModeldCameraSyncRcvCallback(),
@@ -555,6 +555,7 @@ CONFIGS = [
     main_pub_drained=False,
     vision_pubs=["roadCameraState", "wideRoadCameraState"],
     ignore_alive_pubs=["wideRoadCameraState"],
+    init_callback=get_car_params_callback,
   ),
   ProcessConfig(
     proc_name="dmonitoringmodeld",
@@ -725,7 +726,6 @@ def _replay_multi_process(
 def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=None) -> Dict[str, Any]:
   params_dict = {
     "OpenpilotEnabledToggle": True,
-    "Passive": False,
     "DisengageOnAccelerator": True,
     "DisableLogging": False,
   }
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 9163bcae75..0cfbbde0da 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-1b981ce7f817974d4a7a28b06f01f727a5a7ea7b
\ No newline at end of file
+6a61df84e67e3177f0ba73865a1bb239385c0ade
diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py
index a6e6955dbf..bea1b1fb00 100755
--- a/selfdrive/test/process_replay/test_debayer.py
+++ b/selfdrive/test/process_replay/test_debayer.py
@@ -8,14 +8,13 @@ import pyopencl as cl  # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip insta
 
 from openpilot.system.hardware import PC, TICI
 from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url
+from openpilot.tools.lib.openpilotci import BASE_URL
 from openpilot.system.version import get_commit
 from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.filereader import FileReader
 
-TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33"
-SEGMENT = 0
+TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33/0"
 
 FRAME_WIDTH = 1928
 FRAME_HEIGHT = 1208
@@ -116,7 +115,7 @@ if __name__ == "__main__":
   ref_commit_fn = os.path.join(replay_dir, "debayer_replay_ref_commit")
 
   # load logs
-  lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT)))
+  lr = list(LogReader(TEST_ROUTE))
 
   # run replay
   frames = debayer_replay(lr)
@@ -172,7 +171,7 @@ if __name__ == "__main__":
 
   # upload new refs
   if update or (failed and TICI):
-    from openpilot.selfdrive.test.openpilotci import upload_file
+    from openpilot.tools.lib.openpilotci import upload_file
 
     print("Uploading new refs")
 
diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py
index 4b8629fc7d..adff06f88a 100755
--- a/selfdrive/test/process_replay/test_fuzzy.py
+++ b/selfdrive/test/process_replay/test_fuzzy.py
@@ -14,13 +14,15 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr
 # 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']
+
 TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
 
 class TestFuzzProcesses(unittest.TestCase):
 
+  # TODO: make this faster and increase examples
   @parameterized.expand(TEST_CASES)
   @given(st.data())
-  @settings(phases=[Phase.generate, Phase.target], max_examples=50, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large])
+  @settings(phases=[Phase.generate, Phase.target], max_examples=10, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large])
   def test_fuzz_process(self, proc_name, cfg, data):
     msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True)
     lr = [log.Event.new_message(**m).as_reader() for m in msgs]
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 5429c9b63e..46fa93ba4d 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -8,7 +8,7 @@ from tqdm import tqdm
 from typing import Any, DefaultDict, Dict
 
 from openpilot.selfdrive.car.car_helpers import interface_names
-from openpilot.selfdrive.test.openpilotci import get_url, upload_file
+from openpilot.tools.lib.openpilotci import get_url, upload_file
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process
 from openpilot.system.version import get_commit
diff --git a/selfdrive/test/process_replay/test_regen.py b/selfdrive/test/process_replay/test_regen.py
index f352205564..41d67ea376 100755
--- a/selfdrive/test/process_replay/test_regen.py
+++ b/selfdrive/test/process_replay/test_regen.py
@@ -6,7 +6,7 @@ from parameterized import parameterized
 
 from openpilot.selfdrive.test.process_replay.regen import regen_segment, DummyFrameReader
 from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled
-from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.tools.lib.openpilotci import get_url
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.framereader import FrameReader
 
diff --git a/selfdrive/test/setup_vsound.sh b/selfdrive/test/setup_vsound.sh
new file mode 100755
index 0000000000..a6601d0a61
--- /dev/null
+++ b/selfdrive/test/setup_vsound.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+
+{
+  #start pulseaudio daemon
+  sudo pulseaudio -D
+
+  # create a virtual null audio and set it to default device
+  sudo pactl load-module module-null-sink sink_name=virtual_audio
+  sudo pactl set-default-sink virtual_audio
+} > /dev/null 2>&1
diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh
index 2c79adec4a..692b84d65f 100755
--- a/selfdrive/test/setup_xvfb.sh
+++ b/selfdrive/test/setup_xvfb.sh
@@ -1,15 +1,19 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Sets up a virtual display for running map renderer and simulator without an X11 display
 
 DISP_ID=99
 export DISPLAY=:$DISP_ID
 
-sudo Xvfb $DISPLAY -screen 0 2160x1080x24 &
+sudo Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
 
 # check for x11 socket for the specified display ID
 while [ ! -S /tmp/.X11-unix/X$DISP_ID ]
 do
   echo "Waiting for Xvfb..."
   sleep 1
-done
\ No newline at end of file
+done
+
+touch ~/.Xauthority
+export XDG_SESSION_TYPE="x11"
+xset -q
\ No newline at end of file
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index bc12234c9c..335da73232 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -53,7 +53,7 @@ PROCS = {
   "selfdrive.tombstoned": 0,
   "./logcatd": 0,
   "system.micd": 6.0,
-  "system.timezoned": 0,
+  "system.timed": 0,
   "selfdrive.boardd.pandad": 0,
   "selfdrive.statsd": 0.4,
   "selfdrive.navd.navd": 0.4,
@@ -82,7 +82,6 @@ TIMINGS = {
   "carState": [2.5, 0.35],
   "carControl": [2.5, 0.35],
   "controlsState": [2.5, 0.35],
-  "lateralPlan": [2.5, 0.5],
   "longitudinalPlan": [2.5, 0.5],
   "roadCameraState": [2.5, 0.35],
   "driverCameraState": [2.5, 0.35],
@@ -344,7 +343,7 @@ class TestOnroad(unittest.TestCase):
     result += "-----------------  MPC Timing ------------------\n"
     result += "------------------------------------------------\n"
 
-    cfgs = [("lateralPlan", 0.05, 0.05), ("longitudinalPlan", 0.05, 0.05)]
+    cfgs = [("longitudinalPlan", 0.05, 0.05),]
     for (s, instant_max, avg_max) in cfgs:
       ts = [getattr(m, s).solverExecutionTime for m in self.service_msgs[s]]
       self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}")
diff --git a/selfdrive/test/test_valgrind_replay.py b/selfdrive/test/test_valgrind_replay.py
index a8a3463104..75520df91b 100755
--- a/selfdrive/test/test_valgrind_replay.py
+++ b/selfdrive/test/test_valgrind_replay.py
@@ -15,7 +15,7 @@ else:
 import cereal.messaging as messaging
 from collections import namedtuple
 from openpilot.tools.lib.logreader import LogReader
-from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.tools.lib.openpilotci import get_url
 from openpilot.common.basedir import BASEDIR
 
 ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'command', 'path', 'segment', 'wait_for_response'])
diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py
index ccaa7f9b84..5ab5042b2b 100755
--- a/selfdrive/test/update_ci_routes.py
+++ b/selfdrive/test/update_ci_routes.py
@@ -3,33 +3,21 @@ import os
 import re
 import subprocess
 import sys
-from functools import lru_cache
-from typing import Iterable, Optional
+from typing import Iterable, List, Optional
 
-from azure.storage.blob import ContainerClient
 from tqdm import tqdm
 
 from openpilot.selfdrive.car.tests.routes import routes as test_car_models_routes
 from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments
-from openpilot.selfdrive.test.openpilotci import (DATA_CI_ACCOUNT, DATA_CI_ACCOUNT_URL, OPENPILOT_CI_CONTAINER,
-                                                  DATA_CI_CONTAINER, get_azure_credential, get_container_sas, upload_file)
+from openpilot.tools.lib.azure_container import AzureContainer
+from openpilot.tools.lib.openpilotcontainers import DataCIContainer, DataProdContainer, OpenpilotCIContainer
 
-DATA_PROD_ACCOUNT = "commadata2"
-DATA_PROD_CONTAINER = "commadata2"
-
-SOURCES = [
-  (DATA_PROD_ACCOUNT, DATA_PROD_CONTAINER),
-  (DATA_CI_ACCOUNT, DATA_CI_CONTAINER),
+SOURCES: List[AzureContainer] = [
+  DataProdContainer,
+  DataCIContainer
 ]
 
-
-@lru_cache
-def get_azure_keys():
-  dest_container = ContainerClient(DATA_CI_ACCOUNT_URL, OPENPILOT_CI_CONTAINER, credential=get_azure_credential())
-  dest_key = get_container_sas(DATA_CI_ACCOUNT, OPENPILOT_CI_CONTAINER)
-  source_keys = [get_container_sas(*s) for s in SOURCES]
-  return dest_container, dest_key, source_keys
-
+DEST = OpenpilotCIContainer
 
 def upload_route(path: str, exclude_patterns: Optional[Iterable[str]] = None) -> None:
   if exclude_patterns is None:
@@ -41,11 +29,11 @@ def upload_route(path: str, exclude_patterns: Optional[Iterable[str]] = None) ->
   for file in os.listdir(path):
     if any(re.search(pattern, file) for pattern in exclude_patterns):
       continue
-    upload_file(os.path.join(path, file), f"{destpath}/{file}")
+    DEST.upload_file(os.path.join(path, file), f"{destpath}/{file}")
 
 
 def sync_to_ci_public(route: str) -> bool:
-  dest_container, dest_key, source_keys = get_azure_keys()
+  dest_container, dest_key = DEST.get_client_and_key()
   key_prefix = route.replace('|', '/')
   dongle_id = key_prefix.split('/')[0]
 
@@ -53,14 +41,15 @@ def sync_to_ci_public(route: str) -> bool:
     return True
 
   print(f"Uploading {route}")
-  for (source_account, source_bucket), source_key in zip(SOURCES, source_keys, strict=True):
+  for source_container in SOURCES:
     # assumes az login has been run
-    print(f"Trying {source_account}/{source_bucket}")
+    print(f"Trying {source_container.ACCOUNT}/{source_container.CONTAINER}")
+    _, source_key = source_container.get_client_and_key()
     cmd = [
       "azcopy",
       "copy",
-      f"https://{source_account}.blob.core.windows.net/{source_bucket}/{key_prefix}?{source_key}",
-      f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net/{OPENPILOT_CI_CONTAINER}/{dongle_id}?{dest_key}",
+      f"{source_container.BASE_URL}{key_prefix}?{source_key}",
+      f"{DEST.BASE_URL}{dongle_id}?{dest_key}",
       "--recursive=true",
       "--overwrite=false",
       "--exclude-pattern=*/dcamera.hevc",
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 7011ff0a99..ab30b1579f 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import datetime
 import os
 import json
 import queue
@@ -15,7 +14,6 @@ import cereal.messaging as messaging
 from cereal import log
 from cereal.services import SERVICE_LIST
 from openpilot.common.dict_helpers import strip_deprecated_keys
-from openpilot.common.time import MIN_DATE
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_TRML
@@ -293,19 +291,13 @@ def thermald_thread(end_event, hw_queue) -> None:
 
     # **** starting logic ****
 
-    # Ensure date/time are valid
-    now = datetime.datetime.utcnow()
-    startup_conditions["time_valid"] = now > MIN_DATE
-    set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"]) and peripheral_panda_present)
-
     startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate")
     startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall")
     startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version
 
     # with 2% left, we killall, otherwise the phone will take a long time to boot
     startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2
-    startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version or \
-                                               params.get_bool("Passive")
+    startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version
     startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled")
     startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot")
 
@@ -447,6 +439,8 @@ def thermald_thread(end_event, hw_queue) -> None:
         except Exception:
           cloudlog.exception("failed to save offroad status")
 
+    params.put_bool_nonblocking("NetworkMetered", msg.deviceState.networkMetered)
+
     count += 1
     should_start_prev = should_start
 
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 7b570b93f8..a3cba124fe 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -19,6 +19,9 @@ if arch == "Darwin":
   del base_libs[base_libs.index('OpenCL')]
   qt_env['FRAMEWORKS'] += ['OpenCL']
 
+# FIXME: remove this once we're on 5.15 (24.04)
+qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
+
 qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs)
 widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/wifi.cc",
                "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
@@ -98,23 +101,17 @@ if GetOption('extras') and arch != "Darwin":
   senv['LINKFLAGS'].append('-Wl,-strip-debug')
 
   release = "release3"
-  dashcam = "dashcam3"
   installers = [
     ("openpilot", release),
     ("openpilot_test", f"{release}-staging"),
     ("openpilot_nightly", "nightly"),
     ("openpilot_internal", "master"),
-    ("dashcam", dashcam),
-    ("dashcam_test", f"{dashcam}-staging"),
   ]
 
-  cont = {}
-  for brand in ("openpilot", "dashcam"):
-    cont[brand] = senv.Command(f"installer/continue_{brand}.o", f"installer/continue_{brand}.sh",
-                               "ld -r -b binary -o $TARGET $SOURCE")
+  cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh",
+                      "ld -r -b binary -o $TARGET $SOURCE")
   for name, branch in installers:
-    brand = "dashcam" if "dashcam" in branch else "openpilot"
-    d = {'BRANCH': f"'\"{branch}\"'", 'BRAND': f"'\"{brand}\"'"}
+    d = {'BRANCH': f"'\"{branch}\"'"}
     if "internal" in name:
       d['INTERNAL'] = "1"
 
@@ -123,7 +120,7 @@ if GetOption('extras') and arch != "Darwin":
       r.raise_for_status()
       d['SSH_KEYS'] = f'\\"{r.text.strip()}\\"'
     obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
-    f = senv.Program(f"installer/installers/installer_{name}", [obj, cont[brand]], LIBS=qt_libs)
+    f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs)
     # keep installers small
     assert f[0].get_size() < 350*1e3
 
diff --git a/selfdrive/ui/installer/continue_dashcam.sh b/selfdrive/ui/installer/continue_dashcam.sh
deleted file mode 100755
index 25233fff11..0000000000
--- a/selfdrive/ui/installer/continue_dashcam.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/usr/bin/bash
-
-cd /data/openpilot
-exec ./launch_chffrplus.sh
diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc
index 179ce60c63..d43ed37ae8 100644
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -33,8 +33,8 @@ const QString CACHE_PATH = "/data/openpilot.cache";
 #define INSTALL_PATH "/data/openpilot"
 #define TMP_INSTALL_PATH "/data/tmppilot"
 
-extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_" BRAND "_sh_start");
-extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_" BRAND "_sh_end");
+extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start");
+extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end");
 
 bool time_valid() {
   time_t rawtime;
diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc
index 090b9b578c..5354a01fa0 100644
--- a/selfdrive/ui/qt/network/networking.cc
+++ b/selfdrive/ui/qt/network/networking.cc
@@ -48,6 +48,7 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) {
 
   an = new AdvancedNetworking(this, wifi);
   connect(an, &AdvancedNetworking::backPress, [=]() { main_layout->setCurrentWidget(wifiScreen); });
+  connect(an, &AdvancedNetworking::requestWifiScreen, [=]() { main_layout->setCurrentWidget(wifiScreen); });
   main_layout->addWidget(an);
 
   QPalette pal = palette();
@@ -181,6 +182,25 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   });
   list->addItem(meteredToggle);
 
+  // Hidden Network
+  hiddenNetworkButton = new ButtonControl(tr("Hidden Network"), tr("CONNECT"));
+  connect(hiddenNetworkButton, &ButtonControl::clicked, [=]() {
+    QString ssid = InputDialog::getText(tr("Enter SSID"), this, "", false, 1);
+    if (!ssid.isEmpty()) {
+      QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"%1\"").arg(ssid), true, -1);
+      Network hidden_network;
+      hidden_network.ssid = ssid.toUtf8();
+      if (!pass.isEmpty()) {
+        hidden_network.security_type = SecurityType::WPA;
+        wifi->connect(hidden_network, pass);
+      } else {
+        wifi->connect(hidden_network);
+      }
+      emit requestWifiScreen();
+    }
+  });
+  list->addItem(hiddenNetworkButton);
+
   // Set initial config
   wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")), metered);
 
diff --git a/selfdrive/ui/qt/network/networking.h b/selfdrive/ui/qt/network/networking.h
index 4ff7380f42..9b6af005ea 100644
--- a/selfdrive/ui/qt/network/networking.h
+++ b/selfdrive/ui/qt/network/networking.h
@@ -62,12 +62,14 @@ private:
   ToggleControl* tetheringToggle;
   ToggleControl* roamingToggle;
   ButtonControl* editApnButton;
+  ButtonControl* hiddenNetworkButton;
   ToggleControl* meteredToggle;
   WifiManager* wifi = nullptr;
   Params params;
 
 signals:
   void backPress();
+  void requestWifiScreen();
 
 public slots:
   void toggleTethering(bool enabled);
diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc
index c7c22f0ea3..d4fcee55ce 100644
--- a/selfdrive/ui/qt/offroad/onboarding.cc
+++ b/selfdrive/ui/qt/offroad/onboarding.cc
@@ -183,7 +183,7 @@ void DeclinePage::showEvent(QShowEvent *event) {
 void OnboardingWindow::updateActiveScreen() {
   if (!accepted_terms) {
     setCurrentIndex(0);
-  } else if (!training_done && !params.getBool("Passive")) {
+  } else if (!training_done) {
     setCurrentIndex(1);
   } else {
     emit onboardingDone();
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 669de5eae9..85393cabc0 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -215,15 +215,13 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(resetCalibBtn);
 
-  if (!params.getBool("Passive")) {
-    auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot"));
-    connect(retrainingBtn, &ButtonControl::clicked, [=]() {
-      if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) {
-        emit reviewTrainingGuide();
-      }
-    });
-    addItem(retrainingBtn);
-  }
+  auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot"));
+  connect(retrainingBtn, &ButtonControl::clicked, [=]() {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) {
+      emit reviewTrainingGuide();
+    }
+  });
+  addItem(retrainingBtn);
 
   if (Hardware::TICI()) {
     auto regulatoryBtn = new ButtonControl(tr("Regulatory"), tr("VIEW"), "");
@@ -347,7 +345,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   // setup two main layouts
   sidebar_widget = new QWidget;
   QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
-  sidebar_layout->setMargin(0);
   panel_widget = new QStackedWidget();
 
   // close button
@@ -356,7 +353,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     QPushButton {
       font-size: 140px;
       padding-bottom: 20px;
-      border 1px grey solid;
       border-radius: 100px;
       background-color: #292929;
       font-weight: 400;
diff --git a/selfdrive/ui/qt/setup/reset.cc b/selfdrive/ui/qt/setup/reset.cc
index 7999dd640b..c9e0525784 100644
--- a/selfdrive/ui/qt/setup/reset.cc
+++ b/selfdrive/ui/qt/setup/reset.cc
@@ -57,7 +57,7 @@ Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) {
 
   main_layout->addSpacing(60);
 
-  body = new QLabel(tr("Press confirm to erase all content and settings. Press cancel to resume boot."));
+  body = new QLabel(tr("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot."));
   body->setWordWrap(true);
   body->setStyleSheet("font-size: 80px; font-weight: light;");
   main_layout->addWidget(body, 1, Qt::AlignTop | Qt::AlignLeft);
@@ -97,11 +97,6 @@ Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) {
     body->setText(tr("Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device."));
   }
 
-  // automatically start if we're just finishing up an ABL reset
-  if (mode == ResetMode::FORMAT) {
-    startReset();
-  }
-
   setStyleSheet(R"(
     * {
       font-family: Inter;
@@ -129,8 +124,6 @@ int main(int argc, char *argv[]) {
   if (argc > 1) {
     if (strcmp(argv[1], "--recover") == 0) {
       mode = ResetMode::RECOVER;
-    } else if (strcmp(argv[1], "--format") == 0) {
-      mode = ResetMode::FORMAT;
     }
   }
 
diff --git a/selfdrive/ui/qt/setup/reset.h b/selfdrive/ui/qt/setup/reset.h
index 04a191d829..8bf368e3e8 100644
--- a/selfdrive/ui/qt/setup/reset.h
+++ b/selfdrive/ui/qt/setup/reset.h
@@ -5,7 +5,6 @@
 enum ResetMode {
   USER_RESET, // user initiated a factory reset from openpilot
   RECOVER,    // userdata is corrupt for some reason, give a chance to recover
-  FORMAT,     // finish up an ABL factory reset
 };
 
 class Reset : public QWidget {
diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc
index 67f1c136d2..4f2e4f48cb 100644
--- a/selfdrive/ui/qt/setup/setup.cc
+++ b/selfdrive/ui/qt/setup/setup.cc
@@ -20,7 +20,7 @@
 #include "selfdrive/ui/qt/widgets/input.h"
 
 const std::string USER_AGENT = "AGNOSSetup-";
-const QString DASHCAM_URL = "https://dashcam.comma.ai";
+const QString TEST_URL = "https://openpilot.comma.ai";
 
 bool is_elf(char *fname) {
   FILE *fp = fopen(fname, "rb");
@@ -229,11 +229,11 @@ QWidget * Setup::network_setup() {
     }
     repaint();
   });
-  request->sendRequest(DASHCAM_URL);
+  request->sendRequest(TEST_URL);
   QTimer *timer = new QTimer(this);
   QObject::connect(timer, &QTimer::timeout, [=]() {
     if (!request->active() && cont->isVisible()) {
-      request->sendRequest(DASHCAM_URL);
+      request->sendRequest(TEST_URL);
     }
   });
   timer->start(1000);
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index c5222b865f..16d31ce304 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -25,7 +25,7 @@ QString getVersion() {
 }
 
 QString getBrand() {
-  return Params().getBool("Passive") ? QObject::tr("dashcam") : QObject::tr("openpilot");
+  return QObject::tr("openpilot");
 }
 
 QString getUserAgent() {
diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore
index 94ba9a3a97..6c624b66d3 100644
--- a/selfdrive/ui/tests/.gitignore
+++ b/selfdrive/ui/tests/.gitignore
@@ -3,3 +3,4 @@ playsound
 test_sound
 test_translations
 ui_snapshot
+test_ui/report
\ No newline at end of file
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
new file mode 100644
index 0000000000..1fea759efb
--- /dev/null
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -0,0 +1,199 @@
+from collections import namedtuple
+import pathlib
+import shutil
+import sys
+import jinja2
+import matplotlib.pyplot as plt
+import numpy as np
+import os
+import pywinctl
+import time
+import unittest
+
+from parameterized import parameterized
+from cereal import messaging, car, log
+from cereal.visionipc import VisionIpcServer, VisionStreamType
+
+from cereal.messaging import SubMaster, PubMaster
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.transformations.camera import tici_f_frame_size
+from openpilot.selfdrive.navd.tests.test_map_renderer import gen_llk
+from openpilot.selfdrive.test.helpers import with_processes
+from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
+from openpilot.tools.webcam.camera import Camera
+
+UI_DELAY = 0.5 # may be slower on CI?
+
+NetworkType = log.DeviceState.NetworkType
+NetworkStrength = log.DeviceState.NetworkStrength
+
+EventName = car.CarEvent.EventName
+EVENTS_BY_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
+
+
+def setup_common(click, pm: PubMaster):
+  Params().put("DongleId", "123456789012345")
+  dat = messaging.new_message('deviceState')
+  dat.deviceState.started = True
+  dat.deviceState.networkType = NetworkType.cell4G
+  dat.deviceState.networkStrength = NetworkStrength.moderate
+  dat.deviceState.freeSpacePercent = 80
+  dat.deviceState.memoryUsagePercent = 2
+  dat.deviceState.cpuTempC = [2,]*3
+  dat.deviceState.gpuTempC = [2,]*3
+  dat.deviceState.cpuUsagePercent = [2,]*8
+
+  pm.send("deviceState", dat)
+
+def setup_homescreen(click, pm: PubMaster):
+  setup_common(click, pm)
+
+def setup_settings_device(click, pm: PubMaster):
+  setup_common(click, pm)
+
+  click(100, 100)
+
+def setup_settings_network(click, pm: PubMaster):
+  setup_common(click, pm)
+
+  setup_settings_device(click, pm)
+  click(300, 600)
+
+def setup_onroad(click, pm: PubMaster):
+  setup_common(click, pm)
+
+  dat = messaging.new_message('pandaStates', 1)
+  dat.pandaStates[0].ignitionLine = True
+  dat.pandaStates[0].pandaType = log.PandaState.PandaType.uno
+
+  pm.send("pandaStates", dat)
+
+  server = VisionIpcServer("camerad")
+  server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *tici_f_frame_size)
+  server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *tici_f_frame_size)
+  server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *tici_f_frame_size)
+  server.start_listener()
+
+  time.sleep(0.5) # give time for vipc server to start
+
+  IMG = Camera.bgr2nv12(np.random.randint(0, 255, (*tici_f_frame_size,3), dtype=np.uint8))
+  IMG_BYTES = IMG.flatten().tobytes()
+
+  cams = ('roadCameraState', 'wideRoadCameraState')
+
+  frame_id = 0
+  for cam in cams:
+    msg = messaging.new_message(cam)
+    cs = getattr(msg, cam)
+    cs.frameId = frame_id
+    cs.timestampSof = int((frame_id * DT_MDL) * 1e9)
+    cs.timestampEof = int((frame_id * DT_MDL) * 1e9)
+    cam_meta = meta_from_camera_state(cam)
+
+    pm.send(msg.which(), msg)
+    server.send(cam_meta.stream, IMG_BYTES, cs.frameId, cs.timestampSof, cs.timestampEof)
+
+def setup_onroad_map(click, pm: PubMaster):
+  setup_onroad(click, pm)
+
+  dat = gen_llk()
+  pm.send("liveLocationKalman", dat)
+
+  click(500, 500)
+
+  time.sleep(UI_DELAY) # give time for the map to render
+
+def setup_onroad_sidebar(click, pm: PubMaster):
+  setup_onroad_map(click, pm)
+  click(500, 500)
+
+CASES = {
+  "homescreen": setup_homescreen,
+  "settings_device": setup_settings_device,
+  "settings_network": setup_settings_network,
+  "onroad": setup_onroad,
+  "onroad_map": setup_onroad_map,
+  "onroad_sidebar": setup_onroad_sidebar
+}
+
+TEST_DIR = pathlib.Path(__file__).parent
+
+TEST_OUTPUT_DIR = TEST_DIR / "report"
+SCREENSHOTS_DIR = TEST_OUTPUT_DIR / "screenshots"
+
+
+class TestUI(unittest.TestCase):
+  @classmethod
+  def setUpClass(cls):
+    os.environ["SCALE"] = "1"
+    sys.modules["mouseinfo"] = False
+
+  @classmethod
+  def tearDownClass(cls):
+    del sys.modules["mouseinfo"]
+
+  def setup(self):
+    self.sm = SubMaster(["uiDebug"])
+    self.pm = PubMaster(["deviceState", "pandaStates", "controlsState", 'roadCameraState', 'wideRoadCameraState', 'liveLocationKalman'])
+    while not self.sm.valid["uiDebug"]:
+      self.sm.update(1)
+    time.sleep(UI_DELAY) # wait a bit more for the UI to start rendering
+    try:
+      self.ui = pywinctl.getWindowsWithTitle("ui")[0]
+    except Exception as e:
+      print(f"failed to find ui window, assuming that it's in the top left (for Xvfb) {e}")
+      self.ui = namedtuple("bb", ["left", "top", "width", "height"])(0,0,2160,1080)
+
+  def screenshot(self):
+    import pyautogui
+    im = pyautogui.screenshot(region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height))
+    self.assertEqual(im.width, 2160)
+    self.assertEqual(im.height, 1080)
+    img = np.array(im)
+    im.close()
+    return img
+
+  def click(self, x, y, *args, **kwargs):
+    import pyautogui
+    pyautogui.click(self.ui.left + x, self.ui.top + y, *args, **kwargs)
+    time.sleep(UI_DELAY) # give enough time for the UI to react
+
+  @parameterized.expand(CASES.items())
+  @with_processes(["ui"])
+  def test_ui(self, name, setup_case):
+    self.setup()
+
+    setup_case(self.click, self.pm)
+
+    time.sleep(UI_DELAY) # wait a bit more for the UI to finish rendering
+
+    im = self.screenshot()
+    plt.imsave(SCREENSHOTS_DIR / f"{name}.png", im)
+
+
+def create_html_report():
+  OUTPUT_FILE = TEST_OUTPUT_DIR / "index.html"
+
+  with open(TEST_DIR / "template.html") as f:
+    template = jinja2.Template(f.read())
+
+  cases = {f.stem: (str(f.relative_to(TEST_OUTPUT_DIR)), "reference.png") for f in SCREENSHOTS_DIR.glob("*.png")}
+  cases = dict(sorted(cases.items()))
+
+  with open(OUTPUT_FILE, "w") as f:
+    f.write(template.render(cases=cases))
+
+def create_screenshots():
+  if TEST_OUTPUT_DIR.exists():
+    shutil.rmtree(TEST_OUTPUT_DIR)
+
+  SCREENSHOTS_DIR.mkdir(parents=True)
+  unittest.main(exit=False)
+
+if __name__ == "__main__":
+  print("creating test screenshots")
+  create_screenshots()
+
+  print("creating html report")
+  create_html_report()
diff --git a/selfdrive/ui/tests/test_ui/template.html b/selfdrive/ui/tests/test_ui/template.html
new file mode 100644
index 0000000000..68df5879e6
--- /dev/null
+++ b/selfdrive/ui/tests/test_ui/template.html
@@ -0,0 +1,34 @@
+<html>
+
+<style>
+ .column {
+  float: left;
+  width: 50%;
+  padding: 5px;
+}
+
+.row::after {
+  content: "";
+  clear: both;
+  display: table;
+} 
+
+.image {
+  width: 100%;
+}
+
+</style>
+
+{% for name, (image, ref_image) in cases.items() %}
+
+<h1>{{name}}</h1>
+<div class="row">
+  <div class="column">
+    <img class="image" src="{{ image }}"  />
+  </div>
+</div>
+
+<br>
+
+{% endfor %}
+</html>
\ No newline at end of file
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index dc771b8c6e..eb6a580c01 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -66,6 +66,26 @@
         <source>Prevent large data uploads when on a metered connection</source>
         <translation>منع تحميل البيانات الكبيرة عندما يكون الاتصال محدوداً</translation>
     </message>
+    <message>
+        <source>Hidden Network</source>
+        <translation>شبكة مخفية</translation>
+    </message>
+    <message>
+        <source>CONNECT</source>
+        <translation>الاتصال</translation>
+    </message>
+    <message>
+        <source>Enter SSID</source>
+        <translation>أدخل SSID</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>أدخل كلمة المرور</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>من أجل &quot;%1&quot;</translation>
+    </message>
 </context>
 <context>
     <name>AnnotatedCameraWidget</name>
@@ -542,10 +562,6 @@
         <source>Exit</source>
         <translation>إغلاق</translation>
     </message>
-    <message>
-        <source>dashcam</source>
-        <translation>dashcam</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>
@@ -632,14 +648,14 @@ This may take up to a minute.</source>
         <translation>يتم إعادة ضبط الجهاز...
 قد يستغرق الأمر حوالي الدقيقة.</translation>
     </message>
-    <message>
-        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>اضغط على تأكيد لمسح جميع المحتويات والإعدادات. اضغط على إلغاء لمتابعة التشغيل.</translation>
-    </message>
     <message>
         <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
         <translation>غير قادر على تحميل جزء البيانات. قد يكون الجزء تالفاً. اضغط على تأكيد لمسح جهازك وإعادة ضبطه.</translation>
     </message>
+    <message>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 498d4c4438..6d814b9625 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -66,6 +66,26 @@
         <source>Prevent large data uploads when on a metered connection</source>
         <translation>Hochladen großer Dateien über getaktete Verbindungen unterbinden</translation>
     </message>
+    <message>
+        <source>Hidden Network</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CONNECT</source>
+        <translation type="unfinished">CONNECT</translation>
+    </message>
+    <message>
+        <source>Enter SSID</source>
+        <translation type="unfinished">SSID eingeben</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation type="unfinished">Passwort eingeben</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation type="unfinished">für &quot;%1&quot;</translation>
+    </message>
 </context>
 <context>
     <name>AnnotatedCameraWidget</name>
@@ -537,10 +557,6 @@
         <source>Exit</source>
         <translation>Verlassen</translation>
     </message>
-    <message>
-        <source>dashcam</source>
-        <translation>dashcam</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>
@@ -614,12 +630,12 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <source>Resetting device...
+This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Resetting device...
-This may take up to a minute.</source>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 5ae3acdc1e..cd96c466e9 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -66,6 +66,26 @@
         <source>Prevent large data uploads when on a metered connection</source>
         <translation>Éviter les transferts de données importants sur une connexion limitée</translation>
     </message>
+    <message>
+        <source>Hidden Network</source>
+        <translation>Réseau Caché</translation>
+    </message>
+    <message>
+        <source>CONNECT</source>
+        <translation>CONNECTER</translation>
+    </message>
+    <message>
+        <source>Enter SSID</source>
+        <translation>Entrer le SSID</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>Entrer le mot de passe</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>pour &quot;%1&quot;</translation>
+    </message>
 </context>
 <context>
     <name>AnnotatedCameraWidget</name>
@@ -538,10 +558,6 @@
         <source>Exit</source>
         <translation>Quitter</translation>
     </message>
-    <message>
-        <source>dashcam</source>
-        <translation>dashcam</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>
@@ -604,10 +620,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>System Reset</source>
         <translation>Réinitialisation du système</translation>
     </message>
-    <message>
-        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>Appuyez sur confirmer pour effacer tout le contenu et les paramètres. Appuyez sur annuler pour reprendre le démarrage.</translation>
-    </message>
     <message>
         <source>Cancel</source>
         <translation>Annuler</translation>
@@ -624,6 +636,10 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
         <translation>Impossible de monter la partition data. La partition peut être corrompue. Appuyez sur confirmer pour effacer et réinitialiser votre appareil.</translation>
     </message>
+    <message>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index d01657f8e4..d07c7d525a 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -66,6 +66,26 @@
         <source>Prevent large data uploads when on a metered connection</source>
         <translation>大量のデータのアップロードを防止します。</translation>
     </message>
+    <message>
+        <source>Hidden Network</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CONNECT</source>
+        <translation type="unfinished">接続</translation>
+    </message>
+    <message>
+        <source>Enter SSID</source>
+        <translation type="unfinished">SSID を入力</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation type="unfinished">パスワードを入力</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation type="unfinished">ﾈｯﾄﾜｰｸ名：%1</translation>
+    </message>
 </context>
 <context>
     <name>AnnotatedCameraWidget</name>
@@ -536,10 +556,6 @@
         <source>Exit</source>
         <translation>閉じる</translation>
     </message>
-    <message>
-        <source>dashcam</source>
-        <translation>ﾄﾞﾗｲﾌﾞﾚｺｰﾀﾞｰ</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>
@@ -610,12 +626,12 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <source>Resetting device...
+This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Resetting device...
-This may take up to a minute.</source>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index d2d6a4ddc1..a903978329 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -66,6 +66,26 @@
         <source>Prevent large data uploads when on a metered connection</source>
         <translation>데이터 요금제 연결 시 대용량 데이터 업로드를 방지합니다</translation>
     </message>
+    <message>
+        <source>Hidden Network</source>
+        <translation>숨겨진 네트워크</translation>
+    </message>
+    <message>
+        <source>CONNECT</source>
+        <translation>연결됨</translation>
+    </message>
+    <message>
+        <source>Enter SSID</source>
+        <translation>SSID 입력</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>비밀번호를 입력하세요</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>&quot;%1&quot;에 접속하려면 비밀번호가 필요합니다</translation>
+    </message>
 </context>
 <context>
     <name>AnnotatedCameraWidget</name>
@@ -537,10 +557,6 @@
         <source>Exit</source>
         <translation>종료</translation>
     </message>
-    <message>
-        <source>dashcam</source>
-        <translation>블랙박스</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>
@@ -610,16 +626,16 @@
         <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
         <translation>데이터 파티션을 마운트할 수 없습니다. 파티션이 손상되었을 수 있습니다. 모든 설정을 삭제하고 장치를 초기화하려면 확인을 누르세요.</translation>
     </message>
-    <message>
-        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>모든 콘텐츠와 설정을 삭제하려면 확인을 누르세요. 계속 부팅하려면 취소를 누르세요.</translation>
-    </message>
     <message>
         <source>Resetting device...
 This may take up to a minute.</source>
         <translation>장치를 초기화하는 중...
 최대 1분이 소요될 수 있습니다.</translation>
     </message>
+    <message>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 04458974cb..fce5a8a8ff 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -66,6 +66,26 @@
         <source>Prevent large data uploads when on a metered connection</source>
         <translation>Evite grandes uploads de dados quando estiver em uma conexão limitada</translation>
     </message>
+    <message>
+        <source>Hidden Network</source>
+        <translation>Rede Oculta</translation>
+    </message>
+    <message>
+        <source>CONNECT</source>
+        <translation>CONECTE</translation>
+    </message>
+    <message>
+        <source>Enter SSID</source>
+        <translation>Digite o SSID</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>Insira a senha</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>para &quot;%1&quot;</translation>
+    </message>
 </context>
 <context>
     <name>AnnotatedCameraWidget</name>
@@ -538,10 +558,6 @@
         <source>Exit</source>
         <translation>Sair</translation>
     </message>
-    <message>
-        <source>dashcam</source>
-        <translation>dashcam</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>
@@ -614,16 +630,16 @@
         <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
         <translation>Não é possível montar a partição de dados. Partição corrompida. Confirme para apagar e redefinir o dispositivo.</translation>
     </message>
-    <message>
-        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancelar para voltar.</translation>
-    </message>
     <message>
         <source>Resetting device...
 This may take up to a minute.</source>
         <translation>Redefinindo o dispositivo
 Isso pode levar até um minuto.</translation>
     </message>
+    <message>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation type="unfinished">Reinicialização do sistema acionada. Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancel para retomar a inicialização.</translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 5f77f6c9de..f4d097b2a2 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -66,6 +66,26 @@
         <source>Prevent large data uploads when on a metered connection</source>
         <translation>ปิดการอัพโหลดข้อมูลขนาดใหญ่เมื่อเชื่อมต่อผ่านเซลลูล่าร์</translation>
     </message>
+    <message>
+        <source>Hidden Network</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CONNECT</source>
+        <translation type="unfinished">เชื่อมต่อ</translation>
+    </message>
+    <message>
+        <source>Enter SSID</source>
+        <translation type="unfinished">ป้อนค่า SSID</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation type="unfinished">ใส่รหัสผ่าน</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation type="unfinished">สำหรับ &quot;%1&quot;</translation>
+    </message>
 </context>
 <context>
     <name>AnnotatedCameraWidget</name>
@@ -537,10 +557,6 @@
         <source>Exit</source>
         <translation>ปิด</translation>
     </message>
-    <message>
-        <source>dashcam</source>
-        <translation>กล้องติดรถยนต์</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>
@@ -612,14 +628,14 @@ This may take up to a minute.</source>
         <translation>กำลังรีเซ็ตอุปกรณ์...
 อาจใช้เวลาถึงหนึ่งนาที</translation>
     </message>
-    <message>
-        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตต่อ</translation>
-    </message>
     <message>
         <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
         <translation>ไม่สามารถเมานต์พาร์ติชั่นข้อมูลได้ พาร์ติชั่นอาจเสียหาย กดยืนยันเพื่อลบและรีเซ็ตอุปกรณ์ของคุณ</translation>
     </message>
+    <message>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index f8a76669a2..ec6f71f5b0 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -66,6 +66,26 @@
         <source>Prevent large data uploads when on a metered connection</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Hidden Network</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CONNECT</source>
+        <translation type="unfinished">BAĞLANTI</translation>
+    </message>
+    <message>
+        <source>Enter SSID</source>
+        <translation type="unfinished">APN Gir</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation type="unfinished">Parolayı girin</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation type="unfinished">için &quot;%1&quot;</translation>
+    </message>
 </context>
 <context>
     <name>AnnotatedCameraWidget</name>
@@ -536,10 +556,6 @@
         <source>Exit</source>
         <translation>Çık</translation>
     </message>
-    <message>
-        <source>dashcam</source>
-        <translation>araç yol kamerası</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>
@@ -611,11 +627,11 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 371106d571..91f55c6e94 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -66,6 +66,26 @@
         <source>Prevent large data uploads when on a metered connection</source>
         <translation>当使用按流量计费的连接时，避免上传大流量数据</translation>
     </message>
+    <message>
+        <source>Hidden Network</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CONNECT</source>
+        <translation type="unfinished">CONNECT</translation>
+    </message>
+    <message>
+        <source>Enter SSID</source>
+        <translation type="unfinished">输入SSID</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation type="unfinished">输入密码</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation type="unfinished">网络名称：&quot;%1&quot;</translation>
+    </message>
 </context>
 <context>
     <name>AnnotatedCameraWidget</name>
@@ -537,10 +557,6 @@
         <source>Exit</source>
         <translation>退出</translation>
     </message>
-    <message>
-        <source>dashcam</source>
-        <translation>行车记录仪</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>
@@ -610,16 +626,16 @@
         <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
         <translation>无法挂载数据分区。分区可能已经损坏。请确认是否要删除并重新设置。</translation>
     </message>
-    <message>
-        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>按下确认以删除所有内容及设置。按下取消来继续开机。</translation>
-    </message>
     <message>
         <source>Resetting device...
 This may take up to a minute.</source>
         <translation>设备重置中…
 这可能需要一分钟的时间。</translation>
     </message>
+    <message>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 6aa6295ce2..e8c8854d0e 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -66,6 +66,26 @@
         <source>Prevent large data uploads when on a metered connection</source>
         <translation>防止使用行動網路上傳大量的數據</translation>
     </message>
+    <message>
+        <source>Hidden Network</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CONNECT</source>
+        <translation type="unfinished">雲端服務</translation>
+    </message>
+    <message>
+        <source>Enter SSID</source>
+        <translation type="unfinished">輸入 SSID</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation type="unfinished">輸入密碼</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation type="unfinished">給 &quot;%1&quot;</translation>
+    </message>
 </context>
 <context>
     <name>AnnotatedCameraWidget</name>
@@ -537,10 +557,6 @@
         <source>Exit</source>
         <translation>離開</translation>
     </message>
-    <message>
-        <source>dashcam</source>
-        <translation>行車記錄器</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>
@@ -610,16 +626,16 @@
         <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
         <translation>無法掛載資料分割區。分割區可能已經毀損。請確認是否要刪除並重新設定。</translation>
     </message>
-    <message>
-        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>按下確認以刪除所有內容及設定。按下取消來繼續開機。</translation>
-    </message>
     <message>
         <source>Resetting device...
 This may take up to a minute.</source>
         <translation>設備重設中…
 這可能需要一分鐘的時間。</translation>
     </message>
+    <message>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
diff --git a/selfdrive/updated.py b/selfdrive/updated.py
index a623aaefc8..eb2759223b 100755
--- a/selfdrive/updated.py
+++ b/selfdrive/updated.py
@@ -35,26 +35,42 @@ OVERLAY_INIT = Path(os.path.join(BASEDIR, ".overlay_init"))
 DAYS_NO_CONNECTIVITY_MAX = 14     # do not allow to engage after this many days
 DAYS_NO_CONNECTIVITY_PROMPT = 10  # send an offroad prompt after this many days
 
+class UserRequest:
+  NONE = 0
+  CHECK = 1
+  FETCH = 2
+
 class WaitTimeHelper:
   def __init__(self):
     self.ready_event = threading.Event()
-    self.only_check_for_update = False
+    self.user_request = UserRequest.NONE
     signal.signal(signal.SIGHUP, self.update_now)
     signal.signal(signal.SIGUSR1, self.check_now)
 
   def update_now(self, signum: int, frame) -> None:
     cloudlog.info("caught SIGHUP, attempting to downloading update")
-    self.only_check_for_update = False
+    self.user_request = UserRequest.FETCH
     self.ready_event.set()
 
   def check_now(self, signum: int, frame) -> None:
     cloudlog.info("caught SIGUSR1, checking for updates")
-    self.only_check_for_update = True
+    self.user_request = UserRequest.CHECK
     self.ready_event.set()
 
   def sleep(self, t: float) -> None:
     self.ready_event.wait(timeout=t)
 
+def write_time_to_param(params, param) -> None:
+  t = datetime.datetime.utcnow()
+  params.put(param, t.isoformat().encode('utf8'))
+
+def read_time_from_param(params, param) -> Optional[datetime.datetime]:
+  t = params.get(param, encoding='utf8')
+  try:
+    return datetime.datetime.fromisoformat(t)
+  except (TypeError, ValueError):
+    pass
+  return None
 
 def run(cmd: List[str], cwd: Optional[str] = None) -> str:
   return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8')
@@ -266,14 +282,11 @@ class Updater:
 
     last_update = datetime.datetime.utcnow()
     if update_success:
-      t = last_update.isoformat()
-      self.params.put("LastUpdateTime", t.encode('utf8'))
+      write_time_to_param(self.params, "LastUpdateTime")
     else:
-      try:
-        t = self.params.get("LastUpdateTime", encoding='utf8')
-        last_update = datetime.datetime.fromisoformat(t)
-      except (TypeError, ValueError):
-        pass
+      t = read_time_from_param(self.params, "LastUpdateTime")
+      if t is not None:
+        last_update = t
 
     if exception is None:
       self.params.remove("LastUpdateException")
@@ -329,7 +342,7 @@ class Updater:
   def check_for_update(self) -> None:
     cloudlog.info("checking for updates")
 
-    excluded_branches = ('release2', 'release2-staging', 'dashcam', 'dashcam-staging')
+    excluded_branches = ('release2', 'release2-staging')
 
     try:
       run(["git", "ls-remote", "origin", "HEAD"], OVERLAY_MERGED)
@@ -421,10 +434,7 @@ def main() -> None:
 
   updater = Updater()
   update_failed_count = 0 # TODO: Load from param?
-
-  # no fetch on the first time
   wait_helper = WaitTimeHelper()
-  wait_helper.only_check_for_update = True
 
   # invalidate old finalized update
   set_consistent_flag(False)
@@ -458,10 +468,16 @@ def main() -> None:
       updater.check_for_update()
 
       # download update
-      if wait_helper.only_check_for_update:
-        cloudlog.info("skipping fetch this cycle")
+      last_fetch = read_time_from_param(params, "UpdaterLastFetchTime")
+      timed_out = last_fetch is None or (datetime.datetime.utcnow() - last_fetch > datetime.timedelta(days=3))
+      user_requested_fetch = wait_helper.user_request == UserRequest.FETCH
+      if params.get_bool("NetworkMetered") and not timed_out and not user_requested_fetch:
+        cloudlog.info("skipping fetch, connection metered")
+      elif wait_helper.user_request == UserRequest.CHECK:
+        cloudlog.info("skipping fetch, only checking")
       else:
         updater.fetch_update()
+        write_time_to_param(params, "UpdaterLastFetchTime")
       update_failed_count = 0
     except subprocess.CalledProcessError as e:
       cloudlog.event(
@@ -485,7 +501,7 @@ def main() -> None:
       cloudlog.exception("uncaught updated exception while setting params, shouldn't happen")
 
     # infrequent attempts if we successfully updated recently
-    wait_helper.only_check_for_update = False
+    wait_helper.user_request = UserRequest.NONE
     wait_helper.sleep(5*60 if update_failed_count > 0 else 1.5*60*60)
 
 
diff --git a/system/camerad/SConscript b/system/camerad/SConscript
index 60a8f261e5..8f19e7ee19 100644
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@@ -7,4 +7,4 @@ camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc',
 env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
 
 if GetOption("extras") and arch == "x86_64":
-  env.Program('test/ae_gray_test', ['test/ae_gray_test.cc', camera_obj], LIBS=libs)
+  env.Program('test/test_ae_gray', ['test/test_ae_gray.cc', camera_obj], LIBS=libs)
diff --git a/system/camerad/test/.gitignore b/system/camerad/test/.gitignore
index 44cd0b2730..d67473ebcd 100644
--- a/system/camerad/test/.gitignore
+++ b/system/camerad/test/.gitignore
@@ -1 +1,2 @@
 jpegs/
+test_ae_gray
diff --git a/system/camerad/test/ae_gray_test.h b/system/camerad/test/ae_gray_test.h
deleted file mode 100644
index 8953fb017f..0000000000
--- a/system/camerad/test/ae_gray_test.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#pragma once
-
-#define W 240
-#define H 160
-
-#define TONE_SPLITS 3
-
-float gts[TONE_SPLITS * TONE_SPLITS * TONE_SPLITS * TONE_SPLITS] = {
-  0.917969, 0.917969, 0.375000, 0.917969, 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.917969,
-  0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750,
-  0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.917969, 0.375000, 0.375000,
-  0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, 0.093750, 0.093750,
-  0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750,
-  0.093750, 0.093750, 0.093750, 0.093750, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
-  0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
-  0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
-  0.000000};
diff --git a/system/camerad/test/get_thumbnails_for_segment.py b/system/camerad/test/get_thumbnails_for_segment.py
index 95d865e4e4..21409f398d 100755
--- a/system/camerad/test/get_thumbnails_for_segment.py
+++ b/system/camerad/test/get_thumbnails_for_segment.py
@@ -3,7 +3,7 @@ import argparse
 import os
 from tqdm import tqdm
 
-from openpilot.tools.lib.srreader import SegmentRangeReader
+from openpilot.tools.lib.logreader import LogReader
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser()
@@ -13,7 +13,7 @@ if __name__ == "__main__":
   out_path = os.path.join("jpegs", f"{args.route.replace('|', '_').replace('/', '_')}")
   os.makedirs(out_path, exist_ok=True)
 
-  lr = SegmentRangeReader(args.route)
+  lr = LogReader(args.route)
 
   for msg in tqdm(lr):
     if msg.which() == 'thumbnail':
diff --git a/system/camerad/test/ae_gray_test.cc b/system/camerad/test/test_ae_gray.cc
similarity index 63%
rename from system/camerad/test/ae_gray_test.cc
rename to system/camerad/test/test_ae_gray.cc
index 8d18f7e93b..06d784927a 100644
--- a/system/camerad/test/ae_gray_test.cc
+++ b/system/camerad/test/test_ae_gray.cc
@@ -1,6 +1,5 @@
-// unittest for set_exposure_target
-
-#include "system/camerad/test/ae_gray_test.h"
+#define CATCH_CONFIG_MAIN
+#include "catch2/catch.hpp"
 
 #include <cassert>
 
@@ -10,7 +9,25 @@
 #include "common/util.h"
 #include "system/camerad/cameras/camera_common.h"
 
-int main() {
+#define W 240
+#define H 160
+
+
+#define TONE_SPLITS 3
+
+float gts[TONE_SPLITS * TONE_SPLITS * TONE_SPLITS * TONE_SPLITS] = {
+  0.917969, 0.917969, 0.375000, 0.917969, 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.917969,
+  0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750,
+  0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.917969, 0.375000, 0.375000,
+  0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, 0.093750, 0.093750,
+  0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750,
+  0.093750, 0.093750, 0.093750, 0.093750, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
+  0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
+  0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
+  0.000000};
+
+
+TEST_CASE("camera.test_set_exposure_target") {
   // set up fake camerabuf
   CameraBuf cb = {};
   VisionBuf vb = {};
@@ -63,5 +80,4 @@ int main() {
   assert(passed);
 
   delete[] fb_y;
-  return 0;
 }
diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py
index ad3a9fdc91..408115607e 100755
--- a/system/camerad/test/test_camerad.py
+++ b/system/camerad/test/test_camerad.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 import pytest
 import time
-import unittest
 import numpy as np
+from flaky import flaky
 from collections import defaultdict
 
 import cereal.messaging as messaging
@@ -18,47 +18,43 @@ FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,
 
 CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
 
-
+# TODO: this shouldn't be needed
+@flaky(max_runs=3)
 @pytest.mark.tici
-class TestCamerad(unittest.TestCase):
-  @classmethod
-  def setUpClass(cls):
+class TestCamerad:
+  def setup_method(self):
     # run camerad and record logs
     managed_processes['camerad'].start()
     time.sleep(3)
     socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS}
 
-    cls.logs = defaultdict(list)
+    self.logs = defaultdict(list)
     start_time = time.monotonic()
     while time.monotonic()- start_time < TEST_TIMESPAN:
       for cam, s in socks.items():
-        cls.logs[cam] += messaging.drain_sock(s)
+        self.logs[cam] += messaging.drain_sock(s)
       time.sleep(0.2)
     managed_processes['camerad'].stop()
 
-    cls.log_by_frame_id = defaultdict(list)
-    cls.sensor_type = None
-    for cam, msgs in cls.logs.items():
-      if cls.sensor_type is None:
-        cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
+    self.log_by_frame_id = defaultdict(list)
+    self.sensor_type = None
+    for cam, msgs in self.logs.items():
+      if self.sensor_type is None:
+        self.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
       expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
       assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"
 
       dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency)
-      assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
+      assert (dts < FRAME_DELTA_TOLERANCE[self.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
 
       for m in msgs:
-        cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
+        self.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
 
     # strip beginning and end
     for _ in range(3):
-      mn, mx = min(cls.log_by_frame_id.keys()), max(cls.log_by_frame_id.keys())
-      del cls.log_by_frame_id[mn]
-      del cls.log_by_frame_id[mx]
-
-  @classmethod
-  def tearDownClass(cls):
-    managed_processes['camerad'].stop()
+      mn, mx = min(self.log_by_frame_id.keys()), max(self.log_by_frame_id.keys())
+      del self.log_by_frame_id[mn]
+      del self.log_by_frame_id[mx]
 
   def test_frame_skips(self):
     skips = {}
@@ -85,6 +81,3 @@ class TestCamerad(unittest.TestCase):
       print("TODO: handle camera out of sync")
     else:
       assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}"
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/system/hardware/base.py b/system/hardware/base.py
index b432a41907..9c7a618337 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -54,10 +54,6 @@ class HardwareBase(ABC):
   def get_serial(self):
     pass
 
-  @abstractmethod
-  def get_subscriber_info(self):
-    pass
-
   @abstractmethod
   def get_network_info(self):
     pass
diff --git a/system/hardware/hw.h b/system/hardware/hw.h
index 2f6ccfffda..394807ccb5 100644
--- a/system/hardware/hw.h
+++ b/system/hardware/hw.h
@@ -30,13 +30,13 @@ namespace Path {
   }
 
   inline std::string params() {
-    return Hardware::PC() ? util::getenv("PARAMS_ROOT", Path::comma_home() + "/params") : "/data/params";
+    return util::getenv("PARAMS_ROOT", Hardware::PC() ? (Path::comma_home() + "/params") : "/data/params");
   }
 
   inline std::string rsa_file() {
     return Hardware::PC() ? Path::comma_home() + "/persist/comma/id_rsa" : "/persist/comma/id_rsa";
   }
-  
+
   inline std::string swaglog_ipc() {
     return "ipc:///tmp/logmessage" + Path::openpilot_prefix();
   }
diff --git a/system/hardware/hw.py b/system/hardware/hw.py
index a8967520e3..694299d72e 100644
--- a/system/hardware/hw.py
+++ b/system/hardware/hw.py
@@ -3,6 +3,8 @@ from pathlib import Path
 
 from openpilot.system.hardware import PC
 
+DEFAULT_DOWNLOAD_CACHE_ROOT = "/tmp/comma_download_cache"
+
 class Paths:
   @staticmethod
   def comma_home() -> str:
@@ -31,8 +33,8 @@ class Paths:
   @staticmethod
   def download_cache_root() -> str:
     if os.environ.get('COMMA_CACHE', False):
-      return os.environ['COMMA_CACHE']
-    return "/tmp/comma_download_cache" + os.environ.get("OPENPILOT_PREFIX", "") + "/"
+      return os.environ['COMMA_CACHE'] + "/"
+    return DEFAULT_DOWNLOAD_CACHE_ROOT + os.environ.get("OPENPILOT_PREFIX", "") + "/"
 
   @staticmethod
   def persist_root() -> str:
diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py
index 27c05f5904..4c2c104f94 100644
--- a/system/hardware/pc/hardware.py
+++ b/system/hardware/pc/hardware.py
@@ -29,9 +29,6 @@ class Pc(HardwareBase):
   def get_serial(self):
     return "cccccccc"
 
-  def get_subscriber_info(self):
-    return ""
-
   def get_network_info(self):
     return None
 
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 080fa2cf8e..a87f3d278d 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,9 +1,9 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-fd30f580375279ff4605034ec13711890a2b227205571a087cdc5226a2710275.img.xz",
-    "hash": "fd30f580375279ff4605034ec13711890a2b227205571a087cdc5226a2710275",
-    "hash_raw": "fd30f580375279ff4605034ec13711890a2b227205571a087cdc5226a2710275",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f.img.xz",
+    "hash": "1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f",
+    "hash_raw": "1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f",
     "size": 15636480,
     "sparse": false,
     "full_check": true,
@@ -11,9 +11,9 @@
   },
   {
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-bb234733816781b3d09266f91f741436e9bf17e1a7caf468cf7d09ee788cef4a.img.xz",
-    "hash": "bb234733816781b3d09266f91f741436e9bf17e1a7caf468cf7d09ee788cef4a",
-    "hash_raw": "bb234733816781b3d09266f91f741436e9bf17e1a7caf468cf7d09ee788cef4a",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39.img.xz",
+    "hash": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39",
+    "hash_raw": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39",
     "size": 274432,
     "sparse": false,
     "full_check": true,
@@ -61,16 +61,17 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-e1952bb363688c0f5c0646e39bcdfb45be25b5e2baed37d1ba7801aa1a3a9c98.img.xz",
-    "hash": "3b6cdf9bd881a5e90b21dd02c6faa923b415e32ecae9bfdc96753d4208fb82fe",
-    "hash_raw": "e1952bb363688c0f5c0646e39bcdfb45be25b5e2baed37d1ba7801aa1a3a9c98",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082.img.xz",
+    "hash": "5dc1718e21c49e4fa910fbb3b2321381f497b38335a0cf3ca923157d589abe89",
+    "hash_raw": "38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082",
     "size": 10737418240,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
     "alt": {
-      "hash": "2fb81e58f4bc6c4e5e71c8e7ac7553f85082c430627d7a5cc54a6bbc82862500",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-e1952bb363688c0f5c0646e39bcdfb45be25b5e2baed37d1ba7801aa1a3a9c98.img.xz"
+      "hash": "1809e36d8e376e0a0c8348e3f684aba4100fe0382042c051efd0e946af1ce696",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082.img.xz",
+      "size": 4077270244
     }
   }
 ]
\ No newline at end of file
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index d1ac52c8dc..3431718e22 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -206,9 +206,6 @@ class Tici(HardwareBase):
         'data_connected': modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) == MM_MODEM_STATE.CONNECTED,
       }
 
-  def get_subscriber_info(self):
-    return ""
-
   def get_imei(self, slot):
     if slot != 0:
       return ""
@@ -337,10 +334,6 @@ class Tici(HardwareBase):
       pass
     return ret
 
-  def get_usb_present(self):
-    # Not sure if relevant on tici, but the file exists
-    return self.read_param_file("/sys/class/power_supply/usb/present", lambda x: bool(int(x)), False)
-
   def get_current_power_draw(self):
     return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6)
 
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index c61d67e79d..eed2ce231b 100755
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -10,6 +10,7 @@ from typing import List
 
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
+from openpilot.selfdrive.car.car_helpers import write_car_param
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.tici.power_monitor import get_power
 from openpilot.selfdrive.manager.process_config import managed_processes
@@ -51,6 +52,7 @@ class TestPowerDraw(unittest.TestCase):
   def setUp(self):
     HARDWARE.initialize_hardware()
     HARDWARE.set_power_save(False)
+    write_car_param()
 
     # wait a bit for power save to disable
     time.sleep(5)
@@ -91,8 +93,8 @@ class TestPowerDraw(unittest.TestCase):
       msgs_expected = int(sum(SAMPLE_TIME * SERVICE_LIST[msg].frequency for msg in proc.msgs))
       tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received])
       with self.subTest(proc=proc.name):
-        np.testing.assert_allclose(cur, expected, rtol=proc.rtol, atol=proc.atol)
         np.testing.assert_allclose(msgs_expected, msgs_received, rtol=.02, atol=2)
+        np.testing.assert_allclose(cur, expected, rtol=proc.rtol, atol=proc.atol)
     print(tabulate(tab))
     print(f"Baseline {baseline:.2f}W\n")
 
diff --git a/system/loggerd/bootlog.cc b/system/loggerd/bootlog.cc
index 771594d20c..b8257b6d69 100644
--- a/system/loggerd/bootlog.cc
+++ b/system/loggerd/bootlog.cc
@@ -49,8 +49,8 @@ static kj::Array<capnp::word> build_boot_log() {
 }
 
 int main(int argc, char** argv) {
-  const std::string timestr = logger_get_route_name();
-  const std::string path = Path::log_root() + "/boot/" + timestr;
+  const std::string id = logger_get_identifier("BootCount");
+  const std::string path = Path::log_root() + "/boot/" + id;
   LOGW("bootlog to %s", path.c_str());
 
   // Open bootlog
@@ -64,7 +64,7 @@ int main(int argc, char** argv) {
   file.write(build_boot_log().asBytes());
 
   // Write out bootlog param to match routes with bootlog
-  Params().put("CurrentBootlog", timestr.c_str());
+  Params().put("CurrentBootlog", id.c_str());
 
   return 0;
 }
diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc
index 3af2c50aa1..bb829df6ed 100644
--- a/system/loggerd/logger.cc
+++ b/system/loggerd/logger.cc
@@ -3,6 +3,9 @@
 #include <fstream>
 #include <map>
 #include <vector>
+#include <iostream>
+#include <sstream>
+#include <random>
 
 #include "common/params.h"
 #include "common/swaglog.h"
@@ -43,7 +46,7 @@ kj::Array<capnp::word> logger_build_init_data() {
   init.setGitCommit(params_map["GitCommit"]);
   init.setGitBranch(params_map["GitBranch"]);
   init.setGitRemote(params_map["GitRemote"]);
-  init.setPassive(params.getBool("Passive"));
+  init.setPassive(false);
   init.setDongleId(params_map["DongleId"]);
 
   auto lparams = init.initParams().initEntries(params_map.size());
@@ -94,6 +97,30 @@ std::string logger_get_route_name() {
   return route_name;
 }
 
+std::string logger_get_identifier(std::string key) {
+  // a log identifier is a 32 bit counter, plus a 10 character unique ID.
+  // e.g. 000001a3--c20ba54385
+
+  Params params;
+  uint32_t cnt;
+  try {
+    cnt = std::stol(params.get(key));
+  } catch (std::exception &e) {
+    cnt = 0;
+  }
+  params.put(key, std::to_string(cnt + 1));
+
+  std::stringstream ss;
+  std::random_device rd;
+  std::mt19937 mt(rd());
+  std::uniform_int_distribution<int> dist(0, 15);
+  for (int i = 0; i < 10; ++i) {
+    ss << std::hex << dist(mt);
+  }
+
+  return util::string_format("%08x--%s", cnt, ss.str().c_str());
+}
+
 static void log_sentinel(LoggerState *log, SentinelType type, int eixt_signal = 0) {
   MessageBuilder msg;
   auto sen = msg.initEvent().initSentinel();
diff --git a/system/loggerd/logger.h b/system/loggerd/logger.h
index 76a12b9e87..dd3bee150c 100644
--- a/system/loggerd/logger.h
+++ b/system/loggerd/logger.h
@@ -53,3 +53,4 @@ protected:
 
 kj::Array<capnp::word> logger_build_init_data();
 std::string logger_get_route_name();
+std::string logger_get_identifier(std::string key);
diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc
index 8d5fcb95ac..27dfa187c4 100644
--- a/system/loggerd/loggerd.cc
+++ b/system/loggerd/loggerd.cc
@@ -6,6 +6,7 @@
 #include <unordered_map>
 #include <vector>
 
+#include "common/params.h"
 #include "system/loggerd/encoder/encoder.h"
 #include "system/loggerd/loggerd.h"
 #include "system/loggerd/video_writer.h"
@@ -187,6 +188,12 @@ void handle_user_flag(LoggerdState *s) {
   if (ret) {
     LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->logger.segmentPath().c_str(), strerror(errno));
   }
+
+  // mark route for uploading
+  Params params;
+  std::string routes = Params().get("AthenadRecentlyViewedRoutes");
+  params.put("AthenadRecentlyViewedRoutes", routes + "," + s->logger.routeName());
+
   prev_segment = s->logger.segment();
 }
 
diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py
index 8bfb571861..3aa9e40531 100644
--- a/system/loggerd/tests/loggerd_tests_common.py
+++ b/system/loggerd/tests/loggerd_tests_common.py
@@ -3,10 +3,12 @@ import random
 import unittest
 from pathlib import Path
 from typing import Optional
-from openpilot.system.hardware.hw import Paths
+
 
 import openpilot.system.loggerd.deleter as deleter
 import openpilot.system.loggerd.uploader as uploader
+from openpilot.common.params import Params
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import setxattr
 
 
@@ -53,25 +55,6 @@ class MockApiIgnore():
   def get_token(self):
     return "fake-token"
 
-class MockParams():
-  def __init__(self):
-    self.params = {
-      "DongleId": b"0000000000000000",
-      "IsOffroad": b"1",
-    }
-
-  def get(self, k, block=False, encoding=None):
-    val = self.params[k]
-
-    if encoding is not None:
-      return val.decode(encoding)
-    else:
-      return val
-
-  def get_bool(self, k):
-    val = self.params[k]
-    return (val == b'1')
-
 class UploaderTestCase(unittest.TestCase):
   f_type = "UNKNOWN"
 
@@ -86,7 +69,6 @@ class UploaderTestCase(unittest.TestCase):
 
   def setUp(self):
     uploader.Api = MockApi
-    uploader.Params = MockParams
     uploader.fake_upload = True
     uploader.force_wifi = True
     uploader.allow_sleep = False
@@ -95,6 +77,10 @@ class UploaderTestCase(unittest.TestCase):
     self.seg_format2 = "2019-05-18--11-22-33--{}"
     self.seg_dir = self.seg_format.format(self.seg_num)
 
+    self.params = Params()
+    self.params.put("IsOffroad", "1")
+    self.params.put("DongleId", "0000000000000000")
+
   def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False,
                           upload_xattr: Optional[bytes] = None, preserve_xattr: Optional[bytes] = None) -> Path:
     file_path = Path(Paths.log_root()) / f_dir / fn
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 9d7d3fa7bd..0cd8548809 100755
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -1,14 +1,15 @@
 #!/usr/bin/env python3
 import numpy as np
 import os
+import re
 import random
 import string
 import subprocess
 import time
-import unittest
 from collections import defaultdict
 from pathlib import Path
 from typing import Dict, List
+from flaky import flaky
 
 import cereal.messaging as messaging
 from cereal import log
@@ -21,6 +22,7 @@ from openpilot.system.loggerd.xattr_cache import getxattr
 from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.system.version import get_version
+from openpilot.tools.lib.helpers import RE
 from openpilot.tools.lib.logreader import LogReader
 from cereal.visionipc import VisionIpcServer, VisionStreamType
 from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size
@@ -31,10 +33,7 @@ CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in SERVICE_LIST
                    and SERVICE_LIST[f].should_log and "encode" not in f.lower()]
 
 
-class TestLoggerd(unittest.TestCase):
-  def setUp(self):
-    os.environ.pop("LOG_ROOT", None)
-
+class TestLoggerd:
   def _get_latest_log_dir(self):
     log_dirs = sorted(Path(Paths.log_root()).iterdir(), key=lambda f: f.stat().st_mtime)
     return log_dirs[-1]
@@ -68,21 +67,21 @@ class TestLoggerd(unittest.TestCase):
 
   def _check_init_data(self, msgs):
     msg = msgs[0]
-    self.assertEqual(msg.which(), 'initData')
+    assert msg.which() == 'initData'
 
   def _check_sentinel(self, msgs, route):
     start_type = SentinelType.startOfRoute if route else SentinelType.startOfSegment
-    self.assertTrue(msgs[1].sentinel.type == start_type)
+    assert msgs[1].sentinel.type == start_type
 
     end_type = SentinelType.endOfRoute if route else SentinelType.endOfSegment
-    self.assertTrue(msgs[-1].sentinel.type == end_type)
+    assert msgs[-1].sentinel.type == end_type
 
   def _publish_random_messages(self, services: List[str]) -> Dict[str, list]:
     pm = messaging.PubMaster(services)
 
     managed_processes["loggerd"].start()
     for s in services:
-      self.assertTrue(pm.wait_for_readers_to_update(s, timeout=5))
+      assert pm.wait_for_readers_to_update(s, timeout=5)
 
     sent_msgs = defaultdict(list)
     for _ in range(random.randint(2, 10) * 100):
@@ -93,10 +92,9 @@ class TestLoggerd(unittest.TestCase):
           m = messaging.new_message(s, random.randint(2, 10))
         pm.send(s, m)
         sent_msgs[s].append(m)
-      time.sleep(0.01)
 
     for s in services:
-      self.assertTrue(pm.wait_for_readers_to_update(s, timeout=5))
+      assert pm.wait_for_readers_to_update(s, timeout=5)
     managed_processes["loggerd"].stop()
 
     return sent_msgs
@@ -113,35 +111,33 @@ class TestLoggerd(unittest.TestCase):
       ("GitRemote", "gitRemote", "remote"),
     ]
     params = Params()
-    params.clear_all()
     for k, _, v in fake_params:
       params.put(k, v)
-    params.put("LaikadEphemerisV3", "abc")
+    params.put("AccessToken", "abc")
 
     lr = list(LogReader(str(self._gen_bootlog())))
     initData = lr[0].initData
 
-    self.assertTrue(initData.dirty != bool(os.environ["CLEAN"]))
-    self.assertEqual(initData.version, get_version())
+    assert initData.dirty != bool(os.environ["CLEAN"])
+    assert initData.version == get_version()
 
     if os.path.isfile("/proc/cmdline"):
       with open("/proc/cmdline") as f:
-        self.assertEqual(list(initData.kernelArgs), f.read().strip().split(" "))
+        assert list(initData.kernelArgs) == f.read().strip().split(" ")
 
       with open("/proc/version") as f:
-        self.assertEqual(initData.kernelVersion, f.read())
+        assert initData.kernelVersion == f.read()
 
     # check params
     logged_params = {entry.key: entry.value for entry in initData.params.entries}
-    expected_params = {k for k, _, __ in fake_params} | {'LaikadEphemerisV3'}
+    expected_params = {k for k, _, __ in fake_params} | {'AccessToken', 'BootCount'}
     assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params
-    assert logged_params['LaikadEphemerisV3'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemerisV3'])}"
+    assert logged_params['AccessToken'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['AccessToken'])}"
     for param_key, initData_key, v in fake_params:
-      self.assertEqual(getattr(initData, initData_key), v)
-      self.assertEqual(logged_params[param_key].decode(), v)
-
-    params.put("LaikadEphemerisV3", "")
+      assert getattr(initData, initData_key) == v
+      assert logged_params[param_key].decode() == v
 
+  @flaky(max_runs=3)
   def test_rotation(self):
     os.environ["LOGGERD_TEST"] = "1"
     Params().put("RecordFront", "1")
@@ -162,11 +158,10 @@ class TestLoggerd(unittest.TestCase):
     os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length)
     managed_processes["loggerd"].start()
     managed_processes["encoderd"].start()
-    time.sleep(1)
+    assert pm.wait_for_readers_to_update("roadCameraState", timeout=5)
 
     fps = 20.0
     for n in range(1, int(num_segs*length*fps)+1):
-      time_start = time.monotonic()
       for stream_type, frame_spec, state in streams:
         dat = np.empty(frame_spec[2], dtype=np.uint8)
         vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps)
@@ -175,7 +170,9 @@ class TestLoggerd(unittest.TestCase):
         frame = getattr(camera_state, state)
         frame.frameId = n
         pm.send(state, camera_state)
-      time.sleep(max((1.0/fps) - (time.monotonic() - time_start), 0))
+
+      for _, _, state in streams:
+        assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001)
 
     managed_processes["loggerd"].stop()
     managed_processes["encoderd"].stop()
@@ -185,7 +182,7 @@ class TestLoggerd(unittest.TestCase):
       p = Path(f"{route_path}--{n}")
       logged = {f.name for f in p.iterdir() if f.is_file()}
       diff = logged ^ expected_files
-      self.assertEqual(len(diff), 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}")
+      assert len(diff) == 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}"
 
   def test_bootlog(self):
     # generate bootlog with fake launch log
@@ -216,7 +213,13 @@ class TestLoggerd(unittest.TestCase):
         with open(path, "rb") as f:
           expected_val = f.read()
         bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0]
-        self.assertEqual(expected_val, bootlog_val)
+        assert expected_val == bootlog_val
+
+    # next one should increment by one
+    bl1 = re.match(RE.LOG_ID_V2, bootlog_path.name)
+    bl2 = re.match(RE.LOG_ID_V2, self._gen_bootlog().name)
+    assert bl1.group('uid') != bl2.group('uid')
+    assert int(bl1.group('count')) == 0 and int(bl2.group('count')) == 1
 
   def test_qlog(self):
     qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is not None]
@@ -242,11 +245,11 @@ class TestLoggerd(unittest.TestCase):
 
       if s in no_qlog_services:
         # check services with no specific decimation aren't in qlog
-        self.assertEqual(recv_cnt, 0, f"got {recv_cnt} {s} msgs in qlog")
+        assert recv_cnt == 0, f"got {recv_cnt} {s} msgs in qlog"
       else:
         # check logged message count matches decimation
         expected_cnt = (len(msgs) - 1) // SERVICE_LIST[s].decimation + 1
-        self.assertEqual(recv_cnt, expected_cnt, f"expected {expected_cnt} msgs for {s}, got {recv_cnt}")
+        assert recv_cnt == expected_cnt, f"expected {expected_cnt} msgs for {s}, got {recv_cnt}"
 
   def test_rlog(self):
     services = random.sample(CEREAL_SERVICES, random.randint(5, 10))
@@ -263,22 +266,19 @@ class TestLoggerd(unittest.TestCase):
     for m in lr:
       sent = sent_msgs[m.which()].pop(0)
       sent.clear_write_flag()
-      self.assertEqual(sent.to_bytes(), m.as_builder().to_bytes())
+      assert sent.to_bytes() == m.as_builder().to_bytes()
 
   def test_preserving_flagged_segments(self):
     services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) | {"userFlag"}
     self._publish_random_messages(services)
 
     segment_dir = self._get_latest_log_dir()
-    self.assertEqual(getxattr(segment_dir, PRESERVE_ATTR_NAME), PRESERVE_ATTR_VALUE)
+    assert getxattr(segment_dir, PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
 
   def test_not_preserving_unflagged_segments(self):
     services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userFlag"}
     self._publish_random_messages(services)
 
     segment_dir = self._get_latest_log_dir()
-    self.assertIsNone(getxattr(segment_dir, PRESERVE_ATTR_NAME))
-
+    assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None
 
-if __name__ == "__main__":
-  unittest.main()
diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py
index 538d99f66f..b674de5438 100755
--- a/system/loggerd/tests/test_uploader.py
+++ b/system/loggerd/tests/test_uploader.py
@@ -10,7 +10,7 @@ from typing import List, Optional
 from openpilot.system.hardware.hw import Paths
 
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
+from openpilot.system.loggerd.uploader import main, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
 
 from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase
 
@@ -45,7 +45,7 @@ class TestUploader(UploaderTestCase):
 
   def start_thread(self):
     self.end_event = threading.Event()
-    self.up_thread = threading.Thread(target=uploader_fn, args=[self.end_event])
+    self.up_thread = threading.Thread(target=main, args=[self.end_event])
     self.up_thread.daemon = True
     self.up_thread.start()
 
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index 8f27d4763d..105e830a4c 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -8,15 +8,14 @@ import requests
 import threading
 import time
 import traceback
-from pathlib import Path
-from typing import BinaryIO, Iterator, List, Optional, Tuple, Union
+import datetime
+from typing import BinaryIO, Iterator, List, Optional, Tuple
 
 from cereal import log
 import cereal.messaging as messaging
 from openpilot.common.api import Api
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
-from openpilot.system.hardware import TICI
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
@@ -43,23 +42,24 @@ class FakeResponse:
     self.request = FakeRequest()
 
 
-UploadResponse = Union[requests.Response, FakeResponse]
-
 def get_directory_sort(d: str) -> List[str]:
   return [s.rjust(10, '0') for s in d.rsplit('--', 1)]
 
 def listdir_by_creation(d: str) -> List[str]:
+  if not os.path.isdir(d):
+    return []
+
   try:
     paths = [f for f in os.listdir(d) if os.path.isdir(os.path.join(d, f))]
     paths = sorted(paths, key=get_directory_sort)
     return paths
   except OSError:
     cloudlog.exception("listdir_by_creation failed")
-    return list()
+    return []
 
 def clear_locks(root: str) -> None:
-  for logname in os.listdir(root):
-    path = os.path.join(root, logname)
+  for logdir in os.listdir(root):
+    path = os.path.join(root, logdir)
     try:
       for fname in os.listdir(path):
         if fname.endswith(".lock"):
@@ -74,34 +74,20 @@ class Uploader:
     self.api = Api(dongle_id)
     self.root = root
 
-    self.last_resp: Optional[UploadResponse] = None
-    self.last_exc: Optional[Tuple[Exception, str]] = None
-
-    self.immediate_size = 0
-    self.immediate_count = 0
+    self.params = Params()
 
     # stats for last successfully uploaded file
-    self.last_time = 0.0
-    self.last_speed = 0.0
     self.last_filename = ""
 
     self.immediate_folders = ["crash/", "boot/"]
     self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1}
 
-  def get_upload_sort(self, name: str) -> int:
-    if name in self.immediate_priority:
-      return self.immediate_priority[name]
-    return 1000
+  def list_upload_files(self, metered: bool) -> Iterator[Tuple[str, str, str]]:
+    r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8")
+    requested_routes = [] if r is None else r.split(",")
 
-  def list_upload_files(self) -> Iterator[Tuple[str, str, str]]:
-    if not os.path.isdir(self.root):
-      return
-
-    self.immediate_size = 0
-    self.immediate_count = 0
-
-    for logname in listdir_by_creation(self.root):
-      path = os.path.join(self.root, logname)
+    for logdir in listdir_by_creation(self.root):
+      path = os.path.join(self.root, logdir)
       try:
         names = os.listdir(path)
       except OSError:
@@ -110,29 +96,33 @@ class Uploader:
       if any(name.endswith(".lock") for name in names):
         continue
 
-      for name in sorted(names, key=self.get_upload_sort):
-        key = os.path.join(logname, name)
+      for name in sorted(names, key=lambda n: self.immediate_priority.get(n, 1000)):
+        key = os.path.join(logdir, name)
         fn = os.path.join(path, name)
         # skip files already uploaded
         try:
+          ctime = os.path.getctime(fn)
           is_uploaded = getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE
         except OSError:
-          cloudlog.event("uploader_getxattr_failed", exc=self.last_exc, key=key, fn=fn)
-          is_uploaded = True  # deleter could have deleted
+          cloudlog.event("uploader_getxattr_failed", key=key, fn=fn)
+          # deleter could have deleted, so skip
+          continue
         if is_uploaded:
           continue
 
-        try:
-          if name in self.immediate_priority:
-            self.immediate_count += 1
-            self.immediate_size += os.path.getsize(fn)
-        except OSError:
-          pass
+        # limit uploading on metered connections
+        if metered:
+          dt = datetime.timedelta(hours=12)
+          if logdir in self.immediate_folders and (datetime.datetime.now() - datetime.datetime.fromtimestamp(ctime)) < dt:
+            continue
+
+          if name == "qcamera.ts" and not any(logdir.startswith(r.split('|')[-1]) for r in requested_routes):
+            continue
 
         yield name, key, fn
 
-  def next_file_to_upload(self) -> Optional[Tuple[str, str, str]]:
-    upload_files = list(self.list_upload_files())
+  def next_file_to_upload(self, metered: bool) -> Optional[Tuple[str, str, str]]:
+    upload_files = list(self.list_upload_files(metered))
 
     for name, key, fn in upload_files:
       if any(f in fn for f in self.immediate_folders):
@@ -144,45 +134,28 @@ class Uploader:
 
     return None
 
-  def do_upload(self, key: str, fn: str) -> None:
-    try:
-      url_resp = self.api.get("v1.4/" + self.dongle_id + "/upload_url/", timeout=10, path=key, access_token=self.api.get_token())
-      if url_resp.status_code == 412:
-        self.last_resp = url_resp
-        return
-
-      url_resp_json = json.loads(url_resp.text)
-      url = url_resp_json['url']
-      headers = url_resp_json['headers']
-      cloudlog.debug("upload_url v1.4 %s %s", url, str(headers))
-
-      if fake_upload:
-        cloudlog.debug(f"*** WARNING, THIS IS A FAKE UPLOAD TO {url} ***")
-        self.last_resp = FakeResponse()
-      else:
-        with open(fn, "rb") as f:
-          data: BinaryIO
-          if key.endswith('.bz2') and not fn.endswith('.bz2'):
-            compressed = bz2.compress(f.read())
-            data = io.BytesIO(compressed)
-          else:
-            data = f
-
-          self.last_resp = requests.put(url, data=data, headers=headers, timeout=10)
-    except Exception as e:
-      self.last_exc = (e, traceback.format_exc())
-      raise
-
-  def normal_upload(self, key: str, fn: str) -> Optional[UploadResponse]:
-    self.last_resp = None
-    self.last_exc = None
+  def do_upload(self, key: str, fn: str):
+    url_resp = self.api.get("v1.4/" + self.dongle_id + "/upload_url/", timeout=10, path=key, access_token=self.api.get_token())
+    if url_resp.status_code == 412:
+      return url_resp
 
-    try:
-      self.do_upload(key, fn)
-    except Exception:
-      pass
+    url_resp_json = json.loads(url_resp.text)
+    url = url_resp_json['url']
+    headers = url_resp_json['headers']
+    cloudlog.debug("upload_url v1.4 %s %s", url, str(headers))
+
+    if fake_upload:
+      return FakeResponse()
 
-    return self.last_resp
+    with open(fn, "rb") as f:
+      data: BinaryIO
+      if key.endswith('.bz2') and not fn.endswith('.bz2'):
+        compressed = bz2.compress(f.read())
+        data = io.BytesIO(compressed)
+      else:
+        data = f
+
+      return requests.put(url, data=data, headers=headers, timeout=10)
 
   def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool:
     try:
@@ -201,44 +174,57 @@ class Uploader:
       success = True
     else:
       start_time = time.monotonic()
-      stat = self.normal_upload(key, fn)
+
+      stat = None
+      last_exc = None
+      try:
+        stat = self.do_upload(key, fn)
+      except Exception as e:
+        last_exc = (e, traceback.format_exc())
+
       if stat is not None and stat.status_code in (200, 201, 401, 403, 412):
         self.last_filename = fn
-        self.last_time = time.monotonic() - start_time
+        dt = time.monotonic() - start_time
         if stat.status_code == 412:
-          self.last_speed = 0
           cloudlog.event("upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered)
         else:
           content_length = int(stat.request.headers.get("Content-Length", 0))
-          self.last_speed = (content_length / 1e6) / self.last_time
+          speed = (content_length / 1e6) / dt
           cloudlog.event("upload_success", key=key, fn=fn, sz=sz, content_length=content_length,
-                         network_type=network_type, metered=metered, speed=self.last_speed)
+                         network_type=network_type, metered=metered, speed=speed)
         success = True
       else:
         success = False
-        cloudlog.event("upload_failed", stat=stat, exc=self.last_exc, key=key, fn=fn, sz=sz, network_type=network_type, metered=metered)
+        cloudlog.event("upload_failed", stat=stat, exc=last_exc, key=key, fn=fn, sz=sz, network_type=network_type, metered=metered)
 
     if success:
       # tag file as uploaded
       try:
         setxattr(fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE)
       except OSError:
-        cloudlog.event("uploader_setxattr_failed", exc=self.last_exc, key=key, fn=fn, sz=sz)
+        cloudlog.event("uploader_setxattr_failed", exc=last_exc, key=key, fn=fn, sz=sz)
 
     return success
 
-  def get_msg(self):
-    msg = messaging.new_message("uploaderState", valid=True)
-    us = msg.uploaderState
-    us.immediateQueueSize = int(self.immediate_size / 1e6)
-    us.immediateQueueCount = self.immediate_count
-    us.lastTime = self.last_time
-    us.lastSpeed = self.last_speed
-    us.lastFilename = self.last_filename
-    return msg
 
+  def step(self, network_type: int, metered: bool) -> bool:
+    d = self.next_file_to_upload(metered)
+    if d is None:
+      return True
+
+    name, key, fn = d
+
+    # qlogs and bootlogs need to be compressed before uploading
+    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')):
+      key += ".bz2"
+
+    return self.upload(name, key, fn, network_type, metered)
+
+
+def main(exit_event: Optional[threading.Event] = None) -> None:
+  if exit_event is None:
+    exit_event = threading.Event()
 
-def uploader_fn(exit_event: threading.Event) -> None:
   try:
     set_core_affinity([0, 1, 2, 3])
   except Exception:
@@ -253,11 +239,7 @@ def uploader_fn(exit_event: threading.Event) -> None:
     cloudlog.info("uploader missing dongle_id")
     raise Exception("uploader can't start without dongle id")
 
-  if TICI and not Path("/data/media").is_mount():
-    cloudlog.warning("NVME not mounted")
-
   sm = messaging.SubMaster(['deviceState'])
-  pm = messaging.PubMaster(['uploaderState'])
   uploader = Uploader(dongle_id, Paths.log_root())
 
   backoff = 0.1
@@ -270,31 +252,13 @@ def uploader_fn(exit_event: threading.Event) -> None:
         time.sleep(60 if offroad else 5)
       continue
 
-    d = uploader.next_file_to_upload()
-    if d is None:  # Nothing to upload
-      if allow_sleep:
-        time.sleep(60 if offroad else 5)
-      continue
-
-    name, key, fn = d
-
-    # qlogs and bootlogs need to be compressed before uploading
-    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')):
-      key += ".bz2"
-
-    success = uploader.upload(name, key, fn, sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered)
+    success = uploader.step(sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered)
     if success:
       backoff = 0.1
     elif allow_sleep:
       cloudlog.info("upload backoff %r", backoff)
-      time.sleep(backoff + random.uniform(0, backoff))
       backoff = min(backoff*2, 120)
-
-    pm.send("uploaderState", uploader.get_msg())
-
-
-def main() -> None:
-  uploader_fn(threading.Event())
+    time.sleep(backoff + random.uniform(0, backoff))
 
 
 if __name__ == "__main__":
diff --git a/system/proclogd/tests/test_proclog.cc b/system/proclogd/tests/test_proclog.cc
index 20298cd3d8..b86229a499 100644
--- a/system/proclogd/tests/test_proclog.cc
+++ b/system/proclogd/tests/test_proclog.cc
@@ -109,7 +109,7 @@ TEST_CASE("Parser::cmdline") {
   test_cmdline(std::string("a\0b\0c\0\0\0", 9), {"a", "b", "c"});
 }
 
-TEST_CASE("buildProcLogerMessage") {
+TEST_CASE("buildProcLoggerMessage") {
   MessageBuilder msg;
   buildProcLogMessage(msg);
 
@@ -137,19 +137,6 @@ TEST_CASE("buildProcLogerMessage") {
       REQUIRE(p.getState() == 'R');
       REQUIRE_THAT(p.getExe().cStr(), Catch::Matchers::Contains("test_proclog"));
       REQUIRE_THAT(p.getCmdline()[0], Catch::Matchers::Contains("test_proclog"));
-    } else {
-      std::string cmd_path = "/proc/" + std::to_string(p.getPid()) + "/cmdline";
-      if (util::file_exists(cmd_path)) {
-        std::ifstream stream(cmd_path);
-        auto cmdline = Parser::cmdline(stream);
-        REQUIRE(cmdline.size() == p.getCmdline().size());
-        // do not check the cmdline of pytest as it will change.
-        if (cmdline.size() > 0 && cmdline[0].find("[pytest") != 0) {
-          for (int i = 0; i < p.getCmdline().size(); ++i) {
-            REQUIRE(cmdline[i] == p.getCmdline()[i].cStr());
-          }
-        }
-      }
     }
   }
 }
diff --git a/system/timed.py b/system/timed.py
new file mode 100755
index 0000000000..21fb47b680
--- /dev/null
+++ b/system/timed.py
@@ -0,0 +1,94 @@
+#!/usr/bin/env python3
+import datetime
+import os
+import subprocess
+import time
+from typing import NoReturn
+
+from timezonefinder import TimezoneFinder
+
+import cereal.messaging as messaging
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware import AGNOS
+
+
+def set_timezone(timezone):
+  valid_timezones = subprocess.check_output('timedatectl list-timezones', shell=True, encoding='utf8').strip().split('\n')
+  if timezone not in valid_timezones:
+    cloudlog.error(f"Timezone not supported {timezone}")
+    return
+
+  cloudlog.debug(f"Setting timezone to {timezone}")
+  try:
+    if AGNOS:
+      tzpath = os.path.join("/usr/share/zoneinfo/", timezone)
+      subprocess.check_call(f'sudo su -c "ln -snf {tzpath} /data/etc/tmptime && \
+                              mv /data/etc/tmptime /data/etc/localtime"', shell=True)
+      subprocess.check_call(f'sudo su -c "echo \"{timezone}\" > /data/etc/timezone"', shell=True)
+    else:
+      subprocess.check_call(f'sudo timedatectl set-timezone {timezone}', shell=True)
+  except subprocess.CalledProcessError:
+    cloudlog.exception(f"Error setting timezone to {timezone}")
+
+
+def set_time(new_time):
+  diff = datetime.datetime.now() - new_time
+  if diff < datetime.timedelta(seconds=10):
+    cloudlog.debug(f"Time diff too small: {diff}")
+    return
+
+  cloudlog.debug(f"Setting time to {new_time}")
+  try:
+    subprocess.run(f"TZ=UTC date -s '{new_time}'", shell=True, check=True)
+  except subprocess.CalledProcessError:
+    cloudlog.exception("timed.failed_setting_time")
+
+
+def main() -> NoReturn:
+  """
+    timed has two responsibilities:
+    - getting the current time
+    - getting the current timezone
+
+    GPS directly gives time, and timezone is looked up from GPS position.
+    AGNOS will also use NTP to update the time.
+  """
+
+  params = Params()
+  tf = TimezoneFinder()
+
+  # Restore timezone from param
+  tz = params.get("Timezone", encoding='utf8')
+  tf = TimezoneFinder()
+  if tz is not None:
+    cloudlog.debug("Restoring timezone from param")
+    set_timezone(tz)
+
+  sm = messaging.SubMaster(['liveLocationKalman'])
+  while True:
+    sm.update(1000)
+
+    llk = sm['liveLocationKalman']
+    if not llk.gpsOK or (time.monotonic() - sm.logMonoTime['liveLocationKalman']/1e9) > 0.2:
+      continue
+
+    # set time
+    # TODO: account for unixTimesatmpMillis being a (usually short) time in the past
+    gps_time = datetime.datetime.fromtimestamp(llk.unixTimestampMillis / 1000.)
+    set_time(gps_time)
+
+    # set timezone
+    pos = llk.positionGeodetic.value
+    if len(pos) == 3:
+      gps_timezone = tf.timezone_at(lat=pos[0], lng=pos[1])
+      if gps_timezone is None:
+        cloudlog.critical(f"No timezone found based on {pos=}")
+      else:
+        set_timezone(gps_timezone)
+        params.put_nonblocking("Timezone", gps_timezone)
+
+    time.sleep(10)
+
+if __name__ == "__main__":
+  main()
diff --git a/system/timezoned.py b/system/timezoned.py
deleted file mode 100755
index 2cfc0076e9..0000000000
--- a/system/timezoned.py
+++ /dev/null
@@ -1,70 +0,0 @@
-#!/usr/bin/env python3
-import json
-import os
-import time
-import subprocess
-from typing import NoReturn
-
-from timezonefinder import TimezoneFinder
-
-from openpilot.common.params import Params
-from openpilot.system.hardware import AGNOS
-from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_version
-
-REQUEST_HEADERS = {'User-Agent': "openpilot-" + get_version()}
-
-
-def set_timezone(valid_timezones, timezone):
-  if timezone not in valid_timezones:
-    cloudlog.error(f"Timezone not supported {timezone}")
-    return
-
-  cloudlog.info(f"Setting timezone to {timezone}")
-  try:
-    if AGNOS:
-      tzpath = os.path.join("/usr/share/zoneinfo/", timezone)
-      subprocess.check_call(f'sudo su -c "ln -snf {tzpath} /data/etc/tmptime && \
-                              mv /data/etc/tmptime /data/etc/localtime"', shell=True)
-      subprocess.check_call(f'sudo su -c "echo \"{timezone}\" > /data/etc/timezone"', shell=True)
-    else:
-      subprocess.check_call(f'sudo timedatectl set-timezone {timezone}', shell=True)
-  except subprocess.CalledProcessError:
-    cloudlog.exception(f"Error setting timezone to {timezone}")
-
-
-def main() -> NoReturn:
-  params = Params()
-  tf = TimezoneFinder()
-
-  # Get allowed timezones
-  valid_timezones = subprocess.check_output('timedatectl list-timezones', shell=True, encoding='utf8').strip().split('\n')
-
-  timezone = params.get("Timezone", encoding='utf8')
-  if timezone is not None:
-    cloudlog.debug("Setting timezone based on param")
-    set_timezone(valid_timezones, timezone)
-
-  while True:
-    time.sleep(60)
-
-    location = params.get("LastGPSPosition", encoding='utf8')
-
-    # Find timezone by reverse geocoding the last known gps location
-    if location is not None:
-      cloudlog.debug("Setting timezone based on GPS location")
-      try:
-        location = json.loads(location)
-      except Exception:
-        cloudlog.exception("Error parsing location")
-        continue
-
-      timezone = tf.timezone_at(lng=location['longitude'], lat=location['latitude'])
-      if timezone is None:
-        cloudlog.error(f"No timezone found based on location, {location}")
-        continue
-      set_timezone(valid_timezones, timezone)
-
-
-if __name__ == "__main__":
-  main()
diff --git a/system/version.py b/system/version.py
index f9fd2bc847..6bcae5f3fa 100755
--- a/system/version.py
+++ b/system/version.py
@@ -7,7 +7,7 @@ from functools import lru_cache
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.swaglog import cloudlog
 
-RELEASE_BRANCHES = ['release3-staging', 'dashcam3-staging', 'release3', 'dashcam3', 'nightly']
+RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly']
 TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging']
 
 training_version: bytes = b"0.2.0"
diff --git a/teleoprtc_repo b/teleoprtc_repo
index ca10fb2410..3f9e8176d1 160000
--- a/teleoprtc_repo
+++ b/teleoprtc_repo
@@ -1 +1 @@
-Subproject commit ca10fb2410ee14e207f30aadebeec707904dc559
+Subproject commit 3f9e8176d1be3d217528baee09fc418fa980a0c3
diff --git a/tools/car_porting/README.md b/tools/car_porting/README.md
index 4197e3ab76..8db17b0976 100644
--- a/tools/car_porting/README.md
+++ b/tools/car_porting/README.md
@@ -71,4 +71,26 @@ An example of plotting the response of an actuator when it is active.
 
 ![brake pressure example](https://github.com/commaai/openpilot/assets/9648890/8f32cf1d-8fc0-4407-b540-70625ebbf082)
 
-*a plot of the brake_pressure vs acceleration, where we can see it is a fairly linear response.*
\ No newline at end of file
+*a plot of the brake_pressure vs acceleration, where we can see it is a fairly linear response.*
+
+### [tools/car_porting/examples/ford_vin_fingerprint.ipynb](/tools/car_porting/examples/ford_vin_fingerprint.ipynb)
+
+In this example, we use the public comma car segments database to check if vin fingerprinting is feasible for ford.
+
+```
+vin: 1FM5K8GC7LGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False
+vin: 00000000000XXXXXX real platform: FORD ESCAPE 4TH GEN                determined platform: mock                              correct: False
+vin: 3FTTW8F98NRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False
+vin: 1FTVW1EL4NWXXXXXX real platform: FORD F-150 LIGHTNING 1ST GEN       determined platform: FORD F-150 LIGHTNING 1ST GEN      correct: True
+vin: 1FM5K7LC0MGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False
+vin: WF0NXXGCHNJXXXXXX real platform: FORD FOCUS 4TH GEN                 determined platform: mock                              correct: False
+vin: 1FMCU9J94MUXXXXXX real platform: FORD ESCAPE 4TH GEN                determined platform: mock                              correct: False
+vin: 5LM5J7XC9LGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False
+vin: 3FMCR9B69NRXXXXXX real platform: FORD BRONCO SPORT 1ST GEN          determined platform: mock                              correct: False
+vin: 3FMTK3SU0MMXXXXXX real platform: FORD MUSTANG MACH-E 1ST GEN        determined platform: FORD MUSTANG MACH-E 1ST GEN       correct: True
+vin: 1FM5K8HC7MGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False
+vin: 1FM5K8GC7NGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False
+vin: 5LM5J7XC8MGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False
+vin: 3FTTW8E31PRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False
+vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False
+```
\ No newline at end of file
diff --git a/tools/car_porting/auto_fingerprint.py b/tools/car_porting/auto_fingerprint.py
index ef3efc1cf3..7dae9ce048 100755
--- a/tools/car_porting/auto_fingerprint.py
+++ b/tools/car_porting/auto_fingerprint.py
@@ -7,7 +7,7 @@ from openpilot.selfdrive.debug.format_fingerprints import format_brand_fw_versio
 
 from openpilot.selfdrive.car.fw_versions import match_fw_to_car
 from openpilot.selfdrive.car.interfaces import get_interface_attr
-from openpilot.tools.lib.srreader import SegmentRangeReader, ReadMode
+from openpilot.tools.lib.logreader import LogReader, ReadMode
 
 
 ALL_FW_VERSIONS = get_interface_attr("FW_VERSIONS")
@@ -24,7 +24,7 @@ if __name__ == "__main__":
   parser.add_argument("platform", help="The platform, or leave empty to auto-determine using fuzzy", default=None, nargs='?')
   args = parser.parse_args()
 
-  lr = SegmentRangeReader(args.route, ReadMode.QLOG)
+  lr = LogReader(args.route, ReadMode.QLOG)
 
   carFw = None
   carVin = None
@@ -32,16 +32,15 @@ if __name__ == "__main__":
 
   platform: Optional[str] = None
 
-  for msg in lr:
-    if msg.which() == "carParams":
-      carFw = msg.carParams.carFw
-      carVin = msg.carParams.carVin
-      carPlatform = msg.carParams.carFingerprint
-      break
+  CP = lr.first("carParams")
 
-  if carFw is None:
+  if CP is None:
     raise Exception("No fw versions in the provided route...")
 
+  carFw = CP.carFw
+  carVin = CP.carVin
+  carPlatform = CP.carFingerprint
+
   if args.platform is None: # attempt to auto-determine platform with other fuzzy fingerprints
     _, possible_platforms = match_fw_to_car(carFw, log=False)
 
diff --git a/tools/car_porting/examples/ford_vin_fingerprint.ipynb b/tools/car_porting/examples/ford_vin_fingerprint.ipynb
new file mode 100644
index 0000000000..21d1cb62c0
--- /dev/null
+++ b/tools/car_porting/examples/ford_vin_fingerprint.ipynb
@@ -0,0 +1,156 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "\"\"\"In this example, we use the public comma car segments database to check if vin fingerprinting is feasible for ford.\"\"\"\n",
+    "\n",
+    "from openpilot.tools.lib.logreader import LogReader\n",
+    "from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database\n",
+    "from openpilot.selfdrive.car.ford.values import CAR\n",
+    "\n",
+    "database = get_comma_car_segments_database()\n",
+    "\n",
+    "platforms = [c.value for c in CAR]"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Adapted from https://github.com/commaai/openpilot/issues/31052#issuecomment-1902690083\n",
+    "\n",
+    "MODEL_YEAR_CODES = {'M': 2021, 'N': 2022, 'P': 2023, 'R': 2024, 'S': 2025}\n",
+    "\n",
+    "\n",
+    "F150_CODES = ['F1C', 'F1E', 'W1C', 'W1E', 'X1C', 'X1E', 'W1R', 'W1P', 'W1S', 'W1T']\n",
+    "LIGHTNING_CODES = ['L', 'V']\n",
+    "MACHE_CODES = ['K1R', 'K1S', 'K2S', 'K3R', 'K3S', 'K4S']\n",
+    "\n",
+    "FORD_VIN_START = ['1FT', '3FM', '5LM']\n",
+    "\n",
+    "def ford_vin_fingerprint(vin): # Check if it's a Ford vehicle and determine the model\n",
+    "  vin_positions_567 = vin[4:7]\n",
+    "\n",
+    "  if vin.startswith('1FT'):\n",
+    "    if vin_positions_567 in F150_CODES:\n",
+    "      if vin[7] in LIGHTNING_CODES:\n",
+    "        return f\"FORD F-150 LIGHTNING 1ST GEN\"\n",
+    "      else:\n",
+    "        return f\"FORD F-150 14TH GEN\"\n",
+    "  elif vin.startswith('3FM'):\n",
+    "    if vin_positions_567 in MACHE_CODES:\n",
+    "      return f\"FORD MUSTANG MACH-E 1ST GEN\"\n",
+    "  elif vin.startswith('5LM'):\n",
+    "    pass\n",
+    "\n",
+    "  return \"mock\""
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 7,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Got 287 segments for platform FORD BRONCO SPORT 1ST GEN, sampling 5 segments\n",
+      "Got 137 segments for platform FORD ESCAPE 4TH GEN, sampling 5 segments\n",
+      "Got 1041 segments for platform FORD EXPLORER 6TH GEN, sampling 5 segments\n",
+      "Got 5 segments for platform FORD F-150 14TH GEN, sampling 5 segments\n",
+      "Got 56 segments for platform FORD FOCUS 4TH GEN, sampling 5 segments\n",
+      "Got 637 segments for platform FORD MAVERICK 1ST GEN, sampling 5 segments\n",
+      "Got 3 segments for platform FORD F-150 LIGHTNING 1ST GEN, sampling 3 segments\n",
+      "Got 3 segments for platform FORD MUSTANG MACH-E 1ST GEN, sampling 3 segments\n"
+     ]
+    }
+   ],
+   "source": [
+    "import random\n",
+    "\n",
+    "MAX_SEGS_PER_PLATFORM = 5\n",
+    "\n",
+    "VINS_TO_CHECK = set()\n",
+    "\n",
+    "for platform in platforms:\n",
+    "  if platform not in database:\n",
+    "    print(f\"Skipping platform: {platform}, no data available\")\n",
+    "    continue\n",
+    "  \n",
+    "  all_segments = database[platform]\n",
+    "\n",
+    "  NUM_SEGMENTS = min(len(all_segments), MAX_SEGS_PER_PLATFORM)\n",
+    "\n",
+    "  print(f\"Got {len(all_segments)} segments for platform {platform}, sampling {NUM_SEGMENTS} segments\")\n",
+    "\n",
+    "  segments = random.sample(all_segments, NUM_SEGMENTS)\n",
+    "\n",
+    "  for segment in segments:\n",
+    "    lr = LogReader(segment)\n",
+    "    CP = lr.first(\"carParams\")\n",
+    "    if \"FORD\" not in CP.carFingerprint:\n",
+    "      print(segment, CP.carFingerprint)\n",
+    "    VINS_TO_CHECK.add((CP.carVin, CP.carFingerprint))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 8,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "vin: 3FTTW8E34PRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False\n",
+      "vin: 00000000000XXXXXX real platform: FORD F-150 14TH GEN                determined platform: mock                              correct: False\n",
+      "vin: 3FMTK3SU0MMXXXXXX real platform: FORD MUSTANG MACH-E 1ST GEN        determined platform: FORD MUSTANG MACH-E 1ST GEN       correct: True\n",
+      "vin: 1FTVW1EL4NWXXXXXX real platform: FORD F-150 LIGHTNING 1ST GEN       determined platform: FORD F-150 LIGHTNING 1ST GEN      correct: True\n",
+      "vin: WF0NXXGCHNJXXXXXX real platform: FORD FOCUS 4TH GEN                 determined platform: mock                              correct: False\n",
+      "vin: 1FMCU9J94MUXXXXXX real platform: FORD ESCAPE 4TH GEN                determined platform: mock                              correct: False\n",
+      "vin: 3FTTW8E33NRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False\n",
+      "vin: 3FMCR9B69NRXXXXXX real platform: FORD BRONCO SPORT 1ST GEN          determined platform: mock                              correct: False\n",
+      "vin: 1FM5K8GC7LGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False\n",
+      "vin: 5LM5J7XC9LGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False\n",
+      "vin: 5LM5J7XC1LGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False\n",
+      "vin: 3FTTW8F97NRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False\n",
+      "vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False\n"
+     ]
+    }
+   ],
+   "source": [
+    "for vin, real_fingerprint in VINS_TO_CHECK:\n",
+    "  determined_fingerprint = ford_vin_fingerprint(vin)\n",
+    "  print(f\"vin: {vin} real platform: {real_fingerprint: <30}     determined platform: {determined_fingerprint: <30}    correct: {real_fingerprint == determined_fingerprint}\")"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": ".venv",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.11.4"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb b/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb
new file mode 100644
index 0000000000..fbd88a769e
--- /dev/null
+++ b/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb
@@ -0,0 +1,259 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 148,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from cereal import car\n",
+    "from openpilot.selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS\n",
+    "from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS\n",
+    "\n",
+    "TEST_PLATFORMS = set(c.value for c in CAR) - PREGLOBAL_CARS # preglobal cars seem to have a different format for fingerprints, ignore for now\n",
+    "\n",
+    "Ecu = car.CarParams.Ecu\n",
+    "\n",
+    "FW_BY_ECU = {platform: {ecu: versions for (ecu, addr, sub_addr), versions in fw_versions.items()} for platform, fw_versions in FW_VERSIONS.items()}"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 149,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from openpilot.selfdrive.car.subaru.values import CAR_INFO\n",
+    "\n",
+    "def get_carinfo(model: CAR):\n",
+    "  c = CAR_INFO[model]\n",
+    "  if isinstance(c, list):\n",
+    "    c = c[0]\n",
+    "  return c"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 150,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "PLATFORM_CODES = {\n",
+    "    Ecu.abs: {\n",
+    "        0: {\n",
+    "            b'\\xa5': [CAR.ASCENT, CAR.ASCENT_2023],\n",
+    "            b'\\xa2': [CAR.IMPREZA, CAR.IMPREZA_2020, CAR.CROSSTREK_HYBRID],\n",
+    "            b'\\xa1': [CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023],\n",
+    "            b'\\xa3': [CAR.FORESTER, CAR.FORESTER_HYBRID, CAR.FORESTER_2022],\n",
+    "            b'z': [CAR.IMPREZA],\n",
+    "        }\n",
+    "    }\n",
+    "}\n",
+    "\n",
+    "YEAR_CODES = {\n",
+    "    Ecu.abs: {\n",
+    "        2: {\n",
+    "            b'\\x18': 2018,\n",
+    "            b'\\x19': 2019,\n",
+    "            b'\\x20': 2020,\n",
+    "            b'\\x21': 2021,\n",
+    "            b'\\x22': 2022,\n",
+    "            b'\\x23': 2023,\n",
+    "        }\n",
+    "    }\n",
+    "}"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 151,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def get_codes(platforms, codes):\n",
+    "  results = []\n",
+    "  for platform in platforms:\n",
+    "    for ecu in codes:\n",
+    "      for i in codes[ecu]:\n",
+    "        if isinstance(i, tuple):\n",
+    "          j = slice(i[0], i[1])\n",
+    "        else:\n",
+    "          j = slice(i, i+1)\n",
+    "        for version in FW_BY_ECU[platform][ecu]:\n",
+    "          code = version[j]\n",
+    "          if code not in codes[ecu][i]:\n",
+    "            print(f\"{platform} {code.hex()} not in {codes[ecu][i].keys()}\")\n",
+    "          else:\n",
+    "            results.append((platform, codes[ecu][i][code]))\n",
+    "  return results"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 152,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "SUBARU IMPREZA LIMITED 2019 08 not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
+      "SUBARU IMPREZA LIMITED 2019 08 not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
+      "SUBARU IMPREZA LIMITED 2019 0c not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
+      "SUBARU IMPREZA LIMITED 2019 0c not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
+      "SUBARU IMPREZA LIMITED 2019 2e not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
+      "SUBARU IMPREZA LIMITED 2019 3f not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
+      "correct_year=True   platform=SUBARU ASCENT LIMITED 2019       year=2019  years=[2019, 2020, 2021]\n",
+      "correct_year=True   platform=SUBARU ASCENT LIMITED 2019       year=2021  years=[2019, 2020, 2021]\n",
+      "correct_year=False  platform=SUBARU IMPREZA SPORT 2020        year=2019  years=[2020, 2021, 2022]\n",
+      "correct_year=False  platform=SUBARU IMPREZA SPORT 2020        year=2019  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU IMPREZA SPORT 2020        year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU IMPREZA SPORT 2020        year=2021  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU IMPREZA SPORT 2020        year=2021  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU IMPREZA SPORT 2020        year=2021  years=[2020, 2021, 2022]\n",
+      "correct_year=False  platform=SUBARU FORESTER 2019             year=2018  years=[2019, 2020, 2021]\n",
+      "correct_year=False  platform=SUBARU FORESTER 2019             year=2018  years=[2019, 2020, 2021]\n",
+      "correct_year=True   platform=SUBARU FORESTER 2019             year=2019  years=[2019, 2020, 2021]\n",
+      "correct_year=True   platform=SUBARU FORESTER 2019             year=2019  years=[2019, 2020, 2021]\n",
+      "correct_year=True   platform=SUBARU FORESTER 2019             year=2020  years=[2019, 2020, 2021]\n",
+      "correct_year=True   platform=SUBARU FORESTER 2019             year=2020  years=[2019, 2020, 2021]\n",
+      "correct_year=True   platform=SUBARU IMPREZA LIMITED 2019      year=2019  years=[2017, 2018, 2019]\n",
+      "correct_year=True   platform=SUBARU IMPREZA LIMITED 2019      year=2019  years=[2017, 2018, 2019]\n",
+      "correct_year=True   platform=SUBARU IMPREZA LIMITED 2019      year=2018  years=[2017, 2018, 2019]\n",
+      "correct_year=True   platform=SUBARU IMPREZA LIMITED 2019      year=2019  years=[2017, 2018, 2019]\n",
+      "correct_year=True   platform=SUBARU IMPREZA LIMITED 2019      year=2019  years=[2017, 2018, 2019]\n",
+      "correct_year=True   platform=SUBARU IMPREZA LIMITED 2019      year=2019  years=[2017, 2018, 2019]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 7TH GEN           year=2023  years=[2023]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 7TH GEN           year=2023  years=[2023]\n",
+      "correct_year=True   platform=SUBARU LEGACY 7TH GEN            year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU LEGACY 7TH GEN            year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU LEGACY 7TH GEN            year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU LEGACY 7TH GEN            year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=False  platform=SUBARU FORESTER 2022             year=2021  years=[2022, 2023]\n",
+      "correct_year=False  platform=SUBARU FORESTER 2022             year=2021  years=[2022, 2023]\n",
+      "correct_year=True   platform=SUBARU FORESTER 2022             year=2022  years=[2022, 2023]\n",
+      "correct_year=True   platform=SUBARU FORESTER 2022             year=2022  years=[2022, 2023]\n",
+      "correct_year=False  platform=SUBARU CROSSTREK HYBRID 2020     year=2019  years=[2020]\n",
+      "correct_year=False  platform=SUBARU CROSSTREK HYBRID 2020     year=2021  years=[2020]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2022  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2022  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU ASCENT 2023               year=2023  years=[2023]\n",
+      "correct_year=False  platform=SUBARU FORESTER HYBRID 2020      year=2019  years=[2020]\n"
+     ]
+    }
+   ],
+   "source": [
+    "def test_year_code(platform, year):\n",
+    "  years = [int(y) for y in get_carinfo(platform).year_list]\n",
+    "  correct_year = year in years\n",
+    "  print(f\"{correct_year=!s: <6} {platform=: <32} {year=: <5} {years=}\")\n",
+    "\n",
+    "codes = get_codes(TEST_PLATFORMS, YEAR_CODES)\n",
+    "for platform, year in codes:\n",
+    "  test_year_code(platform, year)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 153,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "in_possible_platforms=True   platform=SUBARU ASCENT LIMITED 2019       platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n",
+      "in_possible_platforms=True   platform=SUBARU ASCENT LIMITED 2019       platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 7TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 7TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU LEGACY 7TH GEN            platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU LEGACY 7TH GEN            platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU LEGACY 7TH GEN            platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU LEGACY 7TH GEN            platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER 2022             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER 2022             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER 2022             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER 2022             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU CROSSTREK HYBRID 2020     platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU CROSSTREK HYBRID 2020     platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU ASCENT 2023               platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER HYBRID 2020      platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n"
+     ]
+    }
+   ],
+   "source": [
+    "def test_platform_code(platform, platforms):\n",
+    "  platforms = [str(p) for p in platforms]\n",
+    "  in_possible_platforms = platform in platforms\n",
+    "  print(f\"{in_possible_platforms=!s: <6} {platform=: <32} {platforms=}\")\n",
+    "\n",
+    "codes = get_codes(TEST_PLATFORMS, PLATFORM_CODES)\n",
+    "for platform, possible_platforms in codes:\n",
+    "  test_platform_code(platform, possible_platforms)"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": ".venv",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.11.4"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/tools/car_porting/examples/subaru_long_accel.ipynb b/tools/car_porting/examples/subaru_long_accel.ipynb
index ea685dcd4f..24470b44d2 100644
--- a/tools/car_porting/examples/subaru_long_accel.ipynb
+++ b/tools/car_porting/examples/subaru_long_accel.ipynb
@@ -24,14 +24,14 @@
     "from opendbc.can.parser import CANParser\n",
     "\n",
     "from openpilot.selfdrive.car.subaru.values import DBC\n",
-    "from openpilot.tools.lib.srreader import SegmentRangeReader\n",
+    "from openpilot.tools.lib.logreader import LogReader\n",
     "\n",
     "\"\"\"\n",
     "In this example, we plot the relationship between Cruise_Brake and Acceleration for stock eyesight.\n",
     "\"\"\"\n",
     "\n",
     "for segment in segments:\n",
-    "  lr = SegmentRangeReader(segment)\n",
+    "  lr = LogReader(segment)\n",
     "\n",
     "  messages = [\n",
     "    (\"ES_Distance\", 20),\n",
diff --git a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
index b60915e6ec..46d8dc413e 100644
--- a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
+++ b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
@@ -27,7 +27,7 @@
     "from opendbc.can.parser import CANParser\n",
     "\n",
     "from openpilot.selfdrive.car.subaru.values import CanBus, DBC\n",
-    "from openpilot.tools.lib.srreader import SegmentRangeReader\n",
+    "from openpilot.tools.lib.logreader import LogReader\n",
     "\n",
     "\"\"\"\n",
     "In this example, we search for positive transitions of Steer_Warning, which indicate that the EPS\n",
@@ -36,7 +36,7 @@
     "\"\"\"\n",
     "\n",
     "for segment in segments:\n",
-    "  lr = SegmentRangeReader(segment)\n",
+    "  lr = LogReader(segment)\n",
     "\n",
     "  can_msgs = [msg for msg in lr if msg.which() == \"can\"]\n",
     "\n",
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index e1bd30aa39..78a01f2b75 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -77,7 +77,6 @@ function install_ubuntu_common_requirements() {
     libqt5x11extras5-dev \
     libreadline-dev \
     libdw1 \
-    xvfb \
     valgrind
 }
 
diff --git a/tools/latencylogger/README.md b/tools/latencylogger/README.md
index c40ec1b9ed..a961f83619 100644
--- a/tools/latencylogger/README.md
+++ b/tools/latencylogger/README.md
@@ -53,9 +53,7 @@ Frame ID: 1202
     modelV2.modelExecutionTime                           23.62649142742157
     modelV2.gpuExecutionTime                             0.0
   plannerd
-    lateralPlan published                                66.915049
     longitudinalPlan published                           69.715999
-    lateralPlan.solverExecutionTime                      0.8170719956979156
     longitudinalPlan.solverExecutionTime                 0.5619999719783664
   controlsd
     Data sampled                                         70.217763
diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py
index 29d4889d35..19c0a86bf4 100755
--- a/tools/latencylogger/latency_logger.py
+++ b/tools/latencylogger/latency_logger.py
@@ -8,18 +8,16 @@ import sys
 from bisect import bisect_left, bisect_right
 from collections import defaultdict
 
-from openpilot.tools.lib.srreader import SegmentRangeReader
+from openpilot.tools.lib.logreader import LogReader
 
 DEMO_ROUTE = "9f583b1d93915c31|2022-05-18--10-49-51--0"
 
 SERVICES = ['camerad', 'modeld', 'plannerd', 'controlsd', 'boardd']
-# Retrieve controlsd frameId from lateralPlan, mismatch with longitudinalPlan will be ignored
 MONOTIME_KEYS = ['modelMonoTime', 'lateralPlanMonoTime']
 MSGQ_TO_SERVICE = {
   'roadCameraState': 'camerad',
   'wideRoadCameraState': 'camerad',
   'modelV2': 'modeld',
-  'lateralPlan': 'plannerd',
   'longitudinalPlan': 'plannerd',
   'sendcan': 'controlsd',
   'controlsState': 'controlsd'
@@ -236,7 +234,7 @@ if __name__ == "__main__":
   args = parser.parse_args()
 
   r = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
-  lr = SegmentRangeReader(r, sort_by_time=True)
+  lr = LogReader(r, sort_by_time=True)
 
   data, _ = get_timestamps(lr)
   print_timestamps(data['timestamp'], data['duration'], data['start'], args.relative)
diff --git a/tools/lib/README.md b/tools/lib/README.md
index daf74aaf40..a0c4a0863b 100644
--- a/tools/lib/README.md
+++ b/tools/lib/README.md
@@ -32,20 +32,22 @@ for msg in lr:
     print(msg.carState.steeringAngleDeg)
 ```
 
-### MultiLogIterator
+### Segment Ranges
 
-`MultiLogIterator` is similar to `LogReader`, but reads multiple logs. 
+We also support a new format called a "segment range", where you can specify which segments from a route to load.
 
 ```python
-from openpilot.tools.lib.route import Route
-from openpilot.tools.lib.logreader import MultiLogIterator
 
-# setup a MultiLogIterator to read all the logs in the route
-r = Route("a2a0ccea32023010|2023-07-27--13-01-19")
-lr = MultiLogIterator(r.log_paths())
+lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4")   # 4th segment
+lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4:6") # 4th and 5th segment
+lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/-1")  # last segment
+lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/:5")  # first 5 segments
+lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/1:")  # all except first segment
+```
 
-# print all the steering angles values from all the logs in the route
-for msg in lr:
-  if msg.which() == "carState":
-    print(msg.carState.steeringAngleDeg)
+and can select which type of logs to grab
+
+```python
+lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4/q") # get qlogs
+lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4/r") # get rlogs (default)
 ```
diff --git a/tools/lib/azure_container.py b/tools/lib/azure_container.py
new file mode 100644
index 0000000000..7d9550266d
--- /dev/null
+++ b/tools/lib/azure_container.py
@@ -0,0 +1,74 @@
+import os
+from datetime import datetime, timedelta
+from functools import lru_cache
+from pathlib import Path
+from typing import IO, Union
+
+
+TOKEN_PATH = Path("/data/azure_token")
+
+@lru_cache
+def get_azure_credential():
+  if "AZURE_TOKEN" in os.environ:
+    return os.environ["AZURE_TOKEN"]
+  elif TOKEN_PATH.is_file():
+    return TOKEN_PATH.read_text().strip()
+  else:
+    from azure.identity import AzureCliCredential
+    return AzureCliCredential()
+
+@lru_cache
+def get_container_sas(account_name: str, container_name: str):
+  from azure.storage.blob import BlobServiceClient, ContainerSasPermissions, generate_container_sas
+  start_time = datetime.utcnow()
+  expiry_time = start_time + timedelta(hours=1)
+  blob_service = BlobServiceClient(
+    account_url=f"https://{account_name}.blob.core.windows.net",
+    credential=get_azure_credential(),
+  )
+  return generate_container_sas(
+    account_name,
+    container_name,
+    user_delegation_key=blob_service.get_user_delegation_key(start_time, expiry_time),
+    permission=ContainerSasPermissions(read=True, write=True, list=True),
+    expiry=expiry_time,
+  )
+
+class AzureContainer:
+  def __init__(self, account, container):
+    self.ACCOUNT = account
+    self.CONTAINER = container
+
+  @property
+  def ACCOUNT_URL(self) -> str:
+    return f"https://{self.ACCOUNT}.blob.core.windows.net"
+
+  @property
+  def BASE_URL(self) -> str:
+    return f"{self.ACCOUNT_URL}/{self.CONTAINER}/"
+
+  def get_client_and_key(self):
+    from azure.storage.blob import ContainerClient
+    client = ContainerClient(self.ACCOUNT_URL, self.CONTAINER, credential=get_azure_credential())
+    key = get_container_sas(self.ACCOUNT, self.CONTAINER)
+    return client, key
+
+  def get_url(self, route_name: str, segment_num, log_type="rlog") -> str:
+    ext = "hevc" if log_type.endswith('camera') else "bz2"
+    return self.BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{log_type}.{ext}"
+
+  def upload_bytes(self, data: Union[bytes, IO], blob_name: str) -> str:
+    from azure.storage.blob import BlobClient
+    blob = BlobClient(
+      account_url=self.ACCOUNT_URL,
+      container_name=self.CONTAINER,
+      blob_name=blob_name,
+      credential=get_azure_credential(),
+      overwrite=False,
+    )
+    blob.upload_blob(data)
+    return self.BASE_URL + blob_name
+
+  def upload_file(self, path: Union[str, os.PathLike], blob_name: str) -> str:
+    with open(path, "rb") as f:
+      return self.upload_bytes(f, blob_name)
diff --git a/tools/lib/bootlog.py b/tools/lib/bootlog.py
index 01756bb5e9..827ef1eefc 100644
--- a/tools/lib/bootlog.py
+++ b/tools/lib/bootlog.py
@@ -1,11 +1,10 @@
-import datetime
 import functools
 import re
 from typing import List, Optional
 
 from openpilot.tools.lib.auth_config import get_token
 from openpilot.tools.lib.api import CommaApi
-from openpilot.tools.lib.helpers import RE, timestamp_to_datetime
+from openpilot.tools.lib.helpers import RE
 
 
 @functools.total_ordering
@@ -17,8 +16,8 @@ class Bootlog:
     if not r:
       raise Exception(f"Unable to parse: {url}")
 
+    self._id = r.group('log_id')
     self._dongle_id = r.group('dongle_id')
-    self._timestamp = r.group('timestamp')
 
   @property
   def url(self) -> str:
@@ -29,25 +28,21 @@ class Bootlog:
     return self._dongle_id
 
   @property
-  def timestamp(self) -> str:
-    return self._timestamp
-
-  @property
-  def datetime(self) -> datetime.datetime:
-    return timestamp_to_datetime(self._timestamp)
+  def id(self) -> str:
+    return self._id
 
   def __str__(self):
-    return f"{self._dongle_id}|{self._timestamp}"
+    return f"{self._dongle_id}/{self._id}"
 
   def __eq__(self, b) -> bool:
     if not isinstance(b, Bootlog):
       return False
-    return self.datetime == b.datetime
+    return self.id == b.id
 
   def __lt__(self, b) -> bool:
     if not isinstance(b, Bootlog):
       return False
-    return self.datetime < b.datetime
+    return self.id < b.id
 
 def get_bootlog_from_id(bootlog_id: str) -> Optional[Bootlog]:
   # TODO: implement an API endpoint for this
diff --git a/tools/lib/comma_car_segments.py b/tools/lib/comma_car_segments.py
new file mode 100644
index 0000000000..9027fec637
--- /dev/null
+++ b/tools/lib/comma_car_segments.py
@@ -0,0 +1,81 @@
+import os
+import requests
+
+# Forks with additional car support can fork the commaCarSegments repo on huggingface or host the LFS files themselves
+COMMA_CAR_SEGMENTS_REPO = os.environ.get("COMMA_CAR_SEGMENTS_REPO", "https://huggingface.co/datasets/commaai/commaCarSegments")
+COMMA_CAR_SEGMENTS_BRANCH = os.environ.get("COMMA_CAR_SEGMENTS_BRANCH", "main")
+COMMA_CAR_SEGMENTS_LFS_INSTANCE = os.environ.get("COMMA_CAR_SEGMENTS_LFS_INSTANCE", COMMA_CAR_SEGMENTS_REPO)
+
+def get_comma_car_segments_database():
+  return requests.get(get_repo_raw_url("database.json")).json()
+
+
+# Helpers related to interfacing with the commaCarSegments repository, which contains a collection of public segments for users to perform validation on.
+
+def parse_lfs_pointer(text):
+  header, lfs_version = text.splitlines()[0].split(" ")
+  assert header == "version"
+  assert lfs_version == "https://git-lfs.github.com/spec/v1"
+
+  header, oid_raw = text.splitlines()[1].split(" ")
+  assert header == "oid"
+  header, oid = oid_raw.split(":")
+  assert header == "sha256"
+
+  header, size = text.splitlines()[2].split(" ")
+  assert header == "size"
+
+  return oid, size
+
+def get_lfs_file_url(oid, size):
+  data = {
+    "operation": "download",
+    "transfers": [ "basic" ],
+    "objects": [
+      {
+        "oid": oid,
+        "size": int(size)
+      }
+    ],
+    "hash_algo": "sha256"
+  }
+
+  headers = {
+    "Accept": "application/vnd.git-lfs+json",
+    "Content-Type": "application/vnd.git-lfs+json"
+  }
+
+  response = requests.post(f"{COMMA_CAR_SEGMENTS_LFS_INSTANCE}.git/info/lfs/objects/batch", json=data, headers=headers)
+
+  assert response.ok
+
+  obj = response.json()["objects"][0]
+
+  assert "error" not in obj, obj
+
+  return obj["actions"]["download"]["href"]
+
+def get_repo_raw_url(path):
+  if "huggingface" in COMMA_CAR_SEGMENTS_REPO:
+    return f"{COMMA_CAR_SEGMENTS_REPO}/raw/{COMMA_CAR_SEGMENTS_BRANCH}/{path}"
+
+def get_repo_url(path):
+  # Automatically switch to LFS if we are requesting a file that is stored in LFS
+
+  response = requests.head(get_repo_raw_url(path))
+
+  if "text/plain" in response.headers.get("content-type"):
+    # This is an LFS pointer, so download the raw data from lfs
+    response = requests.get(get_repo_raw_url(path))
+    assert response.status_code == 200
+    oid, size = parse_lfs_pointer(response.text)
+
+    return get_lfs_file_url(oid, size)
+  else:
+    # File has not been uploaded to LFS yet
+    # (either we are on a fork where the data hasn't been pushed to LFS yet, or the CI job to push hasn't finished)
+    return get_repo_raw_url(path)
+
+
+def get_url(route, segment, file="rlog.bz2"):
+  return get_repo_url(f"segments/{route.replace('|', '/')}/{segment}/{file}")
diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py
index 4aec965f1a..1db3207e4b 100644
--- a/tools/lib/filereader.py
+++ b/tools/lib/filereader.py
@@ -1,4 +1,5 @@
 import os
+
 from openpilot.tools.lib.url_file import URLFile
 
 DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/")
@@ -8,6 +9,12 @@ def resolve_name(fn):
     return fn.replace("cd:/", DATA_ENDPOINT)
   return fn
 
+def file_exists(fn):
+  fn = resolve_name(fn)
+  if fn.startswith(("http://", "https://")):
+    return URLFile(fn).get_length_online() != -1
+  return os.path.exists(fn)
+
 def FileReader(fn, debug=False):
   fn = resolve_name(fn)
   if fn.startswith(("http://", "https://")):
diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py
index c184efe6a2..423f207b4d 100644
--- a/tools/lib/helpers.py
+++ b/tools/lib/helpers.py
@@ -7,11 +7,15 @@ TIME_FMT = "%Y-%m-%d--%H-%M-%S"
 class RE:
   DONGLE_ID =  r'(?P<dongle_id>[a-z0-9]{16})'
   TIMESTAMP = r'(?P<timestamp>[0-9]{4}-[0-9]{2}-[0-9]{2}--[0-9]{2}-[0-9]{2}-[0-9]{2})'
-  ROUTE_NAME = r'(?P<route_name>{}[|_/]{})'.format(DONGLE_ID, TIMESTAMP)
+  LOG_ID_V2 = r'(?P<count>[a-z0-9]{8})--(?P<uid>[a-z0-9]{10})'
+  LOG_ID = r'(?P<log_id>(?:{}|{}))'.format(TIMESTAMP, LOG_ID_V2)
+  ROUTE_NAME = r'(?P<route_name>{}[|_/]{})'.format(DONGLE_ID, LOG_ID)
   SEGMENT_NAME = r'{}(?:--|/)(?P<segment_num>[0-9]+)'.format(ROUTE_NAME)
+
   INDEX = r'-?[0-9]+'
   SLICE = r'(?P<start>{})?:?(?P<end>{})?:?(?P<step>{})?'.format(INDEX, INDEX, INDEX)
-  SEGMENT_RANGE = r'{}(?:--|/)?(?P<slice>({}))?/?(?P<selector>([qr]))?'.format(ROUTE_NAME, SLICE)
+  SEGMENT_RANGE = r'{}(?:--|/)?(?P<slice>({}))?/?(?P<selector>([qras]))?'.format(ROUTE_NAME, SLICE)
+
   BOOTLOG_NAME = ROUTE_NAME
 
   EXPLORER_FILE = r'^(?P<segment_name>{})--(?P<file_name>[a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME)
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 4af922c774..c53b9c4c79 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -1,82 +1,34 @@
 #!/usr/bin/env python3
+import bz2
+from functools import partial
+import multiprocessing
+import capnp
+import enum
+import numpy as np
 import os
+import pathlib
+import re
 import sys
-import bz2
+import tqdm
 import urllib.parse
-import capnp
 import warnings
 
-from typing import Iterable, Iterator
+from typing import Dict, Iterable, Iterator, List, Type
+from urllib.parse import parse_qs, urlparse
 
 from cereal import log as capnp_log
-from openpilot.tools.lib.filereader import FileReader
-from openpilot.tools.lib.route import Route, SegmentName
-
-LogIterable = Iterable[capnp._DynamicStructReader]
-
-# this is an iterator itself, and uses private variables from LogReader
-class MultiLogIterator:
-  def __init__(self, log_paths, sort_by_time=False):
-    self._log_paths = log_paths
-    self.sort_by_time = sort_by_time
-
-    self._first_log_idx = next(i for i in range(len(log_paths)) if log_paths[i] is not None)
-    self._current_log = self._first_log_idx
-    self._idx = 0
-    self._log_readers = [None]*len(log_paths)
-    self.start_time = self._log_reader(self._first_log_idx)._ts[0]
-
-  def _log_reader(self, i):
-    if self._log_readers[i] is None and self._log_paths[i] is not None:
-      log_path = self._log_paths[i]
-      self._log_readers[i] = LogReader(log_path, sort_by_time=self.sort_by_time)
-
-    return self._log_readers[i]
+from openpilot.common.swaglog import cloudlog
+from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url
+from openpilot.tools.lib.openpilotci import get_url
+from openpilot.tools.lib.filereader import FileReader, file_exists
+from openpilot.tools.lib.helpers import RE
+from openpilot.tools.lib.route import Route, SegmentRange
 
-  def __iter__(self) -> Iterator[capnp._DynamicStructReader]:
-    return self
-
-  def _inc(self):
-    lr = self._log_reader(self._current_log)
-    if self._idx < len(lr._ents)-1:
-      self._idx += 1
-    else:
-      self._idx = 0
-      self._current_log = next(i for i in range(self._current_log + 1, len(self._log_readers) + 1)
-                               if i == len(self._log_readers) or self._log_paths[i] is not None)
-      if self._current_log == len(self._log_readers):
-        raise StopIteration
-
-  def __next__(self):
-    while 1:
-      lr = self._log_reader(self._current_log)
-      ret = lr._ents[self._idx]
-      self._inc()
-      return ret
-
-  def tell(self):
-    # returns seconds from start of log
-    return (self._log_reader(self._current_log)._ts[self._idx] - self.start_time) * 1e-9
-
-  def seek(self, ts):
-    # seek to nearest minute
-    minute = int(ts/60)
-    if minute >= len(self._log_paths) or self._log_paths[minute] is None:
-      return False
-
-    self._current_log = minute
-
-    # HACK: O(n) seek afterward
-    self._idx = 0
-    while self.tell() < ts:
-      self._inc()
-    return True
-
-  def reset(self):
-    self.__init__(self._log_paths, sort_by_time=self.sort_by_time)
+LogMessage = Type[capnp._DynamicStructReader]
+LogIterable = Iterable[LogMessage]
 
 
-class LogReader:
+class _LogFileReader:
   def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None):
     self.data_version = None
     self._only_union_types = only_union_types
@@ -106,10 +58,6 @@ class LogReader:
     self._ents = list(sorted(_ents, key=lambda x: x.logMonoTime) if sort_by_time else _ents)
     self._ts = [x.logMonoTime for x in self._ents]
 
-  @classmethod
-  def from_bytes(cls, dat):
-    return cls("", dat=dat)
-
   def __iter__(self) -> Iterator[capnp._DynamicStructReader]:
     for ent in self._ents:
       if self._only_union_types:
@@ -121,13 +69,217 @@ class LogReader:
       else:
         yield ent
 
-def logreader_from_route_or_segment(r, sort_by_time=False):
-  sn = SegmentName(r, allow_route_name=True)
-  route = Route(sn.route_name.canonical_name)
-  if sn.segment_num < 0:
-    return MultiLogIterator(route.log_paths(), sort_by_time=sort_by_time)
+
+class ReadMode(enum.StrEnum):
+  RLOG = "r" # only read rlogs
+  QLOG = "q" # only read qlogs
+  SANITIZED = "s" # read from the commaCarSegments database
+  AUTO = "a" # default to rlogs, fallback to qlogs
+  AUTO_INTERACIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user
+
+def create_slice_from_string(s: str):
+  m = re.fullmatch(RE.SLICE, s)
+  assert m is not None, f"Invalid slice: {s}"
+  start, end, step = m.groups()
+  start = int(start) if start is not None else None
+  end = int(end) if end is not None else None
+  step = int(step) if step is not None else None
+
+  if start is not None and ":" not in s and end is None and step is None:
+    return start
+  return slice(start, end, step)
+
+def auto_strategy(rlog_paths, qlog_paths, interactive):
+  # auto select logs based on availability
+  if any(rlog is None or not file_exists(rlog) for rlog in rlog_paths):
+    if interactive:
+      if input("Some rlogs were not found, would you like to fallback to qlogs for those segments? (y/n) ").lower() != "y":
+        return rlog_paths
+    else:
+      cloudlog.warning("Some rlogs were not found, falling back to qlogs for those segments...")
+
+    return [rlog if (rlog is not None and file_exists(rlog)) else (qlog if (qlog is not None and file_exists(qlog)) else None)
+                                                                for (rlog, qlog) in zip(rlog_paths, qlog_paths, strict=True)]
+  return rlog_paths
+
+def apply_strategy(mode: ReadMode, rlog_paths, qlog_paths):
+  if mode == ReadMode.RLOG:
+    return rlog_paths
+  elif mode == ReadMode.QLOG:
+    return qlog_paths
+  elif mode == ReadMode.AUTO:
+    return auto_strategy(rlog_paths, qlog_paths, False)
+  elif mode == ReadMode.AUTO_INTERACIVE:
+    return auto_strategy(rlog_paths, qlog_paths, True)
+
+def parse_slice(sr: SegmentRange):
+  s = create_slice_from_string(sr._slice)
+  if isinstance(s, slice):
+    if s.stop is None or s.stop < 0 or (s.start is not None and s.start < 0): # we need the number of segments in order to parse this slice
+      segs = np.arange(sr.get_max_seg_number()+1)
+    else:
+      segs = np.arange(s.stop + 1)
+    return segs[s]
   else:
-    return LogReader(route.log_paths()[sn.segment_num], sort_by_time=sort_by_time)
+    if s < 0:
+      s = sr.get_max_seg_number() + s + 1
+    return [s]
+
+def comma_api_source(sr: SegmentRange, mode: ReadMode):
+  segs = parse_slice(sr)
+
+  route = Route(sr.route_name)
+
+  rlog_paths = [route.log_paths()[seg] for seg in segs]
+  qlog_paths = [route.qlog_paths()[seg] for seg in segs]
+
+  return apply_strategy(mode, rlog_paths, qlog_paths)
+
+def internal_source(sr: SegmentRange, mode: ReadMode):
+  segs = parse_slice(sr)
+
+  def get_internal_url(sr: SegmentRange, seg, file):
+    return f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{file}.bz2"
+
+  rlog_paths = [get_internal_url(sr, seg, "rlog") for seg in segs]
+  qlog_paths = [get_internal_url(sr, seg, "qlog")  for seg in segs]
+
+  return apply_strategy(mode, rlog_paths, qlog_paths)
+
+def openpilotci_source(sr: SegmentRange, mode: ReadMode):
+  segs = parse_slice(sr)
+
+  rlog_paths = [get_url(sr.route_name, seg, "rlog") for seg in segs]
+  qlog_paths = [get_url(sr.route_name, seg, "qlog")  for seg in segs]
+
+  return apply_strategy(mode, rlog_paths, qlog_paths)
+
+def comma_car_segments_source(sr: SegmentRange, mode=ReadMode.RLOG):
+  segs = parse_slice(sr)
+
+  return [get_comma_segments_url(sr.route_name, seg) for seg in segs]
+
+def direct_source(file_or_url):
+  return [file_or_url]
+
+def get_invalid_files(files):
+  for f in files:
+    if f is None or not file_exists(f):
+      yield f
+
+def check_source(source, *args):
+  try:
+    files = source(*args)
+    assert next(get_invalid_files(files), None) is None
+    return None, files
+  except Exception as e:
+    return e, None
+
+def auto_source(sr: SegmentRange, mode=ReadMode.RLOG):
+  if mode == ReadMode.SANITIZED:
+    return comma_car_segments_source(sr, mode)
+
+  exceptions = []
+  # Automatically determine viable source
+  for source in [internal_source, openpilotci_source, comma_api_source, comma_car_segments_source]:
+    exception, ret = check_source(source, sr, mode)
+    if exception is None:
+      return ret
+    else:
+      exceptions.append(exception)
+
+  raise Exception(f"auto_source could not find any valid source, exceptions for sources: {exceptions}")
+
+def parse_useradmin(identifier):
+  if "useradmin.comma.ai" in identifier:
+    query = parse_qs(urlparse(identifier).query)
+    return query["onebox"][0]
+  return None
+
+def parse_cabana(identifier):
+  if "cabana.comma.ai" in identifier:
+    query = parse_qs(urlparse(identifier).query)
+    return query["route"][0]
+  return None
+
+def parse_direct(identifier):
+  if identifier.startswith(("http://", "https://", "cd:/")) or pathlib.Path(identifier).exists():
+    return identifier
+  return None
+
+def parse_indirect(identifier):
+  parsed = parse_useradmin(identifier) or parse_cabana(identifier)
+
+  if parsed is not None:
+    return parsed, comma_api_source, True
+
+  return identifier, None, False
+
+
+class LogReader:
+  def _parse_identifiers(self, identifier: str | List[str]):
+    if isinstance(identifier, list):
+      return [i for j in identifier for i in self._parse_identifiers(j)]
+
+    parsed, source, is_indirect = parse_indirect(identifier)
+
+    if not is_indirect:
+      direct_parsed = parse_direct(identifier)
+      if direct_parsed is not None:
+        return direct_source(identifier)
+
+    sr = SegmentRange(parsed)
+    mode = self.default_mode if sr.selector is None else ReadMode(sr.selector)
+    source = self.default_source if source is None else source
+
+    return source(sr, mode)
+
+  def __init__(self, identifier: str | List[str], default_mode=ReadMode.RLOG, default_source=auto_source, sort_by_time=False, only_union_types=False):
+    self.default_mode = default_mode
+    self.default_source = default_source
+    self.identifier = identifier
+
+    self.sort_by_time = sort_by_time
+    self.only_union_types = only_union_types
+
+    self.__lrs: Dict[int, _LogFileReader] = {}
+    self.reset()
+
+  def _get_lr(self, i):
+    if i not in self.__lrs:
+      self.__lrs[i] = _LogFileReader(self.logreader_identifiers[i])
+    return self.__lrs[i]
+
+  def __iter__(self):
+    for i in range(len(self.logreader_identifiers)):
+      yield from self._get_lr(i)
+
+  def _run_on_segment(self, func, i):
+    return func(self._get_lr(i))
+
+  def run_across_segments(self, num_processes, func):
+    with multiprocessing.Pool(num_processes) as pool:
+      ret = []
+      num_segs = len(self.logreader_identifiers)
+      for p in tqdm.tqdm(pool.imap(partial(self._run_on_segment, func), range(num_segs)), total=num_segs):
+        ret.extend(p)
+      return ret
+
+  def reset(self):
+    self.logreader_identifiers = self._parse_identifiers(self.identifier)
+    invalid_count = len(list(get_invalid_files(self.logreader_identifiers)))
+    assert invalid_count == 0, f"{invalid_count}/{len(self.logreader_identifiers)} invalid log(s) found, please ensure all logs \
+are uploaded or auto fallback to qlogs with '/a' selector at the end of the route name."
+
+  @staticmethod
+  def from_bytes(dat):
+    return _LogFileReader("", dat=dat)
+
+  def filter(self, msg_type: str):
+    return (getattr(m, m.which()) for m in filter(lambda m: m.which() == msg_type, self))
+
+  def first(self, msg_type: str):
+    return next(self.filter(msg_type), None)
 
 
 if __name__ == "__main__":
diff --git a/tools/lib/openpilotci.py b/tools/lib/openpilotci.py
new file mode 100644
index 0000000000..1c1e1f171b
--- /dev/null
+++ b/tools/lib/openpilotci.py
@@ -0,0 +1,12 @@
+from openpilot.tools.lib.openpilotcontainers import OpenpilotCIContainer
+
+def get_url(*args, **kwargs):
+  return OpenpilotCIContainer.get_url(*args, **kwargs)
+
+def upload_file(*args, **kwargs):
+  return OpenpilotCIContainer.upload_file(*args, **kwargs)
+
+def upload_bytes(*args, **kwargs):
+  return OpenpilotCIContainer.upload_bytes(*args, **kwargs)
+
+BASE_URL = OpenpilotCIContainer.BASE_URL
diff --git a/tools/lib/openpilotcontainers.py b/tools/lib/openpilotcontainers.py
new file mode 100755
index 0000000000..9882461111
--- /dev/null
+++ b/tools/lib/openpilotcontainers.py
@@ -0,0 +1,6 @@
+#!/usr/bin/env python3
+from openpilot.tools.lib.azure_container import AzureContainer
+
+OpenpilotCIContainer = AzureContainer("commadataci", "openpilotci")
+DataCIContainer = AzureContainer("commadataci", "commadataci")
+DataProdContainer = AzureContainer("commadata2", "commadata2")
diff --git a/tools/lib/route.py b/tools/lib/route.py
index d3df93ccda..f7c3c432c8 100644
--- a/tools/lib/route.py
+++ b/tools/lib/route.py
@@ -1,5 +1,6 @@
 import os
 import re
+from functools import cache
 from urllib.parse import urlparse
 from collections import defaultdict
 from itertools import chain
@@ -231,11 +232,23 @@ class SegmentName:
   def __str__(self) -> str: return self._canonical_name
 
 
+@cache
+def get_max_seg_number_cached(sr: 'SegmentRange'):
+  try:
+    api = CommaApi(get_token())
+    return api.get("/v1/route/" + sr.route_name.replace("/", "|"))["segment_numbers"][-1]
+  except Exception as e:
+    raise Exception("unable to get max_segment_number. ensure you have access to this route or the route is public.") from e
+
+
 class SegmentRange:
   def __init__(self, segment_range: str):
     self.m = re.fullmatch(RE.SEGMENT_RANGE, segment_range)
     assert self.m, f"Segment range is not valid {segment_range}"
 
+  def get_max_seg_number(self):
+    return get_max_seg_number_cached(self)
+
   @property
   def route_name(self):
     return self.m.group("route_name")
@@ -255,3 +268,6 @@ class SegmentRange:
   @property
   def selector(self):
     return self.m.group("selector")
+
+  def __str__(self):
+    return f"{self.dongle_id}/{self.timestamp}" + (f"/{self._slice}" if self._slice else "") + (f"/{self.selector}" if self.selector else "")
diff --git a/tools/lib/sanitizer.py b/tools/lib/sanitizer.py
new file mode 100644
index 0000000000..b4a97a3792
--- /dev/null
+++ b/tools/lib/sanitizer.py
@@ -0,0 +1,26 @@
+# Utilities for sanitizing routes of only essential data for testing car ports and doing validation.
+
+from openpilot.tools.lib.logreader import LogIterable, LogMessage
+
+
+def sanitize_vin(vin: str):
+  # (last 6 digits of vin are serial number https://en.wikipedia.org/wiki/Vehicle_identification_number)
+  VIN_SENSITIVE = 6
+  return vin[:-VIN_SENSITIVE] + "X" * VIN_SENSITIVE
+
+
+def sanitize_msg(msg: LogMessage) -> LogMessage:
+  if msg.which() == "carParams":
+    msg = msg.as_builder()
+    msg.carParams.carVin = sanitize_vin(msg.carParams.carVin)
+    msg = msg.as_reader()
+  return msg
+
+
+PRESERVE_SERVICES = ["can", "carParams", "pandaStates", "pandaStateDEPRECATED"]
+
+
+def sanitize(lr: LogIterable) -> LogIterable:
+  filtered = filter(lambda msg: msg.which() in PRESERVE_SERVICES, lr)
+  sanitized = map(sanitize_msg, filtered)
+  return sanitized
diff --git a/tools/lib/srreader.py b/tools/lib/srreader.py
deleted file mode 100644
index db2ebd1936..0000000000
--- a/tools/lib/srreader.py
+++ /dev/null
@@ -1,141 +0,0 @@
-import enum
-import numpy as np
-import pathlib
-import re
-from urllib.parse import parse_qs, urlparse
-
-from openpilot.selfdrive.test.openpilotci import get_url
-from openpilot.tools.lib.helpers import RE
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.route import Route, SegmentRange
-
-class ReadMode(enum.StrEnum):
-  RLOG = "r" # only read rlogs
-  QLOG = "q" # only read qlogs
-  #AUTO = "a" # default to rlogs, fallback to qlogs, not supported yet
-
-
-def create_slice_from_string(s: str):
-  m = re.fullmatch(RE.SLICE, s)
-  assert m is not None, f"Invalid slice: {s}"
-  start, end, step = m.groups()
-  start = int(start) if start is not None else None
-  end = int(end) if end is not None else None
-  step = int(step) if step is not None else None
-
-  if start is not None and ":" not in s and end is None and step is None:
-    return start
-  return slice(start, end, step)
-
-
-def parse_slice(sr: SegmentRange):
-  route = Route(sr.route_name)
-  segs = np.arange(route.max_seg_number+1)
-  s = create_slice_from_string(sr._slice)
-  return segs[s] if isinstance(s, slice) else [segs[s]]
-
-def comma_api_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False):
-  segs = parse_slice(sr)
-  route = Route(sr.route_name)
-
-  log_paths = route.log_paths() if mode == ReadMode.RLOG else route.qlog_paths()
-
-  invalid_segs = [seg for seg in segs if log_paths[seg] is None]
-
-  assert not len(invalid_segs), f"Some of the requested segments are not available: {invalid_segs}"
-
-  for seg in segs:
-    yield LogReader(log_paths[seg], sort_by_time=sort_by_time)
-
-def internal_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False):
-  segs = parse_slice(sr)
-
-  for seg in segs:
-    yield LogReader(f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{'rlog' if mode == ReadMode.RLOG else 'qlog'}.bz2", sort_by_time=sort_by_time)
-
-def openpilotci_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False):
-  segs = parse_slice(sr)
-
-  for seg in segs:
-    yield LogReader(get_url(sr.route_name, seg, 'rlog' if mode == ReadMode.RLOG else 'qlog'), sort_by_time=sort_by_time)
-
-def direct_source(file_or_url, sort_by_time):
-  yield LogReader(file_or_url, sort_by_time=sort_by_time)
-
-def auto_source(*args, **kwargs):
-  # Automatically determine viable source
-
-  try:
-    next(internal_source(*args, **kwargs))
-    return internal_source(*args, **kwargs)
-  except Exception:
-    pass
-
-  try:
-    next(openpilotci_source(*args, **kwargs))
-    return openpilotci_source(*args, **kwargs)
-  except Exception:
-    pass
-
-  return comma_api_source(*args, **kwargs)
-
-def parse_useradmin(identifier):
-  if "useradmin.comma.ai" in identifier:
-    query = parse_qs(urlparse(identifier).query)
-    return query["onebox"][0]
-  return None
-
-def parse_cabana(identifier):
-  if "cabana.comma.ai" in identifier:
-    query = parse_qs(urlparse(identifier).query)
-    return query["route"][0]
-  return None
-
-def parse_cd(identifier):
-  if "cd:/" in identifier:
-    return identifier.replace("cd:/", "")
-  return None
-
-def parse_direct(identifier):
-  if "https://" in identifier or "http://" in identifier or pathlib.Path(identifier).exists():
-    return identifier
-  return None
-
-def parse_indirect(identifier):
-  parsed = parse_useradmin(identifier) or parse_cabana(identifier)
-
-  if parsed is not None:
-    return parsed, comma_api_source, True
-
-  parsed = parse_cd(identifier)
-  if parsed is not None:
-    return parsed, internal_source, True
-
-  return identifier, None, False
-
-class SegmentRangeReader:
-  def _logreaders_from_identifier(self, identifier):
-    parsed, source, is_indirect = parse_indirect(identifier)
-
-    if not is_indirect:
-      direct_parsed = parse_direct(identifier)
-      if direct_parsed is not None:
-        return direct_source(identifier, sort_by_time=self.sort_by_time)
-
-    sr = SegmentRange(parsed)
-    mode = self.default_mode if sr.selector is None else ReadMode(sr.selector)
-    source = self.default_source if source is None else source
-
-    return source(sr, mode, sort_by_time=self.sort_by_time)
-
-  def __init__(self, identifier: str, default_mode=ReadMode.RLOG, default_source=auto_source, sort_by_time=False):
-    self.default_mode = default_mode
-    self.default_source = default_source
-    self.sort_by_time = sort_by_time
-
-    self.lrs = self._logreaders_from_identifier(identifier)
-
-  def __iter__(self):
-    for lr in self.lrs:
-      for m in lr:
-        yield m
diff --git a/tools/lib/tests/test_comma_car_segments.py b/tools/lib/tests/test_comma_car_segments.py
new file mode 100644
index 0000000000..484a4aae08
--- /dev/null
+++ b/tools/lib/tests/test_comma_car_segments.py
@@ -0,0 +1,41 @@
+
+
+import unittest
+
+import requests
+from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database, get_url
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.route import SegmentRange
+
+
+class TestCommaCarSegments(unittest.TestCase):
+  def test_database(self):
+    database = get_comma_car_segments_database()
+
+    platforms = database.keys()
+
+    assert len(platforms) > 100
+
+  def test_download_segment(self):
+    database = get_comma_car_segments_database()
+
+    fp = "SUBARU FORESTER 2019"
+
+    segment = database[fp][0]
+
+    sr = SegmentRange(segment)
+
+    url = get_url(sr.route_name, sr._slice)
+
+    resp = requests.get(url)
+    self.assertEqual(resp.status_code, 200)
+
+    lr = LogReader(url)
+
+    CP = lr.first("carParams")
+
+    self.assertEqual(CP.carFingerprint, fp)
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/tools/lib/tests/test_srreader.py b/tools/lib/tests/test_logreader.py
similarity index 58%
rename from tools/lib/tests/test_srreader.py
rename to tools/lib/tests/test_logreader.py
index b22599dee8..676d2bbadf 100644
--- a/tools/lib/tests/test_srreader.py
+++ b/tools/lib/tests/test_logreader.py
@@ -2,18 +2,21 @@ import shutil
 import tempfile
 import numpy as np
 import unittest
-from parameterized import parameterized
+import pytest
 import requests
 
+from parameterized import parameterized
+from unittest import mock
+
+from openpilot.tools.lib.logreader import LogReader, parse_indirect, parse_slice, ReadMode
 from openpilot.tools.lib.route import SegmentRange
-from openpilot.tools.lib.srreader import ReadMode, SegmentRangeReader, parse_slice, parse_indirect
 
 NUM_SEGS = 17 # number of segments in the test route
 ALL_SEGS = list(np.arange(NUM_SEGS))
 TEST_ROUTE = "344c5c15b34f2d8a/2024-01-03--09-37-12"
 QLOG_FILE = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2"
 
-class TestSegmentRangeReader(unittest.TestCase):
+class TestLogReader(unittest.TestCase):
   @parameterized.expand([
     (f"{TEST_ROUTE}", ALL_SEGS),
     (f"{TEST_ROUTE.replace('/', '|')}", ALL_SEGS),
@@ -38,7 +41,6 @@ class TestSegmentRangeReader(unittest.TestCase):
     (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE.replace('/', '|')}", ALL_SEGS),
     (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE.replace('/', '%7C')}", ALL_SEGS),
     (f"https://cabana.comma.ai/?route={TEST_ROUTE}", ALL_SEGS),
-    (f"cd:/{TEST_ROUTE}", ALL_SEGS),
   ])
   def test_indirect_parsing(self, identifier, expected):
     parsed, _, _ = parse_indirect(identifier)
@@ -46,6 +48,18 @@ class TestSegmentRangeReader(unittest.TestCase):
     segs = parse_slice(sr)
     self.assertListEqual(list(segs), expected)
 
+  @parameterized.expand([
+    (f"{TEST_ROUTE}", f"{TEST_ROUTE}"),
+    (f"{TEST_ROUTE.replace('/', '|')}", f"{TEST_ROUTE}"),
+    (f"{TEST_ROUTE}--5", f"{TEST_ROUTE}/5"),
+    (f"{TEST_ROUTE}/0/q", f"{TEST_ROUTE}/0/q"),
+    (f"{TEST_ROUTE}/5:6/r", f"{TEST_ROUTE}/5:6/r"),
+    (f"{TEST_ROUTE}/5", f"{TEST_ROUTE}/5"),
+  ])
+  def test_canonical_name(self, identifier, expected):
+    sr = SegmentRange(identifier)
+    self.assertEqual(str(sr), expected)
+
   def test_direct_parsing(self):
     qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False)
 
@@ -54,7 +68,7 @@ class TestSegmentRangeReader(unittest.TestCase):
         shutil.copyfileobj(r.raw, f)
 
     for f in [QLOG_FILE, qlog.name]:
-      l = len(list(SegmentRangeReader(f)))
+      l = len(list(LogReader(f)))
       self.assertGreater(l, 100)
 
   @parameterized.expand([
@@ -71,18 +85,45 @@ class TestSegmentRangeReader(unittest.TestCase):
       sr = SegmentRange(segment_range)
       parse_slice(sr)
 
+  @pytest.mark.slow
   def test_modes(self):
-    qlog_len = len(list(SegmentRangeReader(f"{TEST_ROUTE}/0", ReadMode.QLOG)))
-    rlog_len = len(list(SegmentRangeReader(f"{TEST_ROUTE}/0", ReadMode.RLOG)))
+    qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.QLOG)))
+    rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.RLOG)))
 
     self.assertLess(qlog_len * 6, rlog_len)
 
+  @pytest.mark.slow
   def test_modes_from_name(self):
-    qlog_len = len(list(SegmentRangeReader(f"{TEST_ROUTE}/0/q")))
-    rlog_len = len(list(SegmentRangeReader(f"{TEST_ROUTE}/0/r")))
+    qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q")))
+    rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/r")))
 
     self.assertLess(qlog_len * 6, rlog_len)
 
+  @pytest.mark.slow
+  def test_list(self):
+    qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q")))
+    qlog_len_2 = len(list(LogReader([f"{TEST_ROUTE}/0/q", f"{TEST_ROUTE}/0/q"])))
+
+    self.assertEqual(qlog_len*2, qlog_len_2)
+
+  @pytest.mark.slow
+  @mock.patch("openpilot.tools.lib.logreader._LogFileReader")
+  def test_multiple_iterations(self, init_mock):
+    lr = LogReader(f"{TEST_ROUTE}/0/q")
+    qlog_len1 = len(list(lr))
+    qlog_len2 = len(list(lr))
+
+    # ensure we don't create multiple instances of _LogFileReader, which means downloading the files twice
+    self.assertEqual(init_mock.call_count, 1)
+
+    self.assertEqual(qlog_len1, qlog_len2)
+
+  @pytest.mark.slow
+  def test_helpers(self):
+    lr = LogReader(f"{TEST_ROUTE}/0/q")
+    self.assertEqual(lr.first("carParams").carFingerprint, "SUBARU OUTBACK 6TH GEN")
+    self.assertTrue(0 < len(list(lr.filter("carParams"))) < len(list(lr)))
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py
index 97c0a639a7..5c6f187eee 100644
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -1,3 +1,4 @@
+import logging
 import os
 import time
 import threading
@@ -12,6 +13,7 @@ from openpilot.system.hardware.hw import Paths
 K = 1000
 CHUNK_SIZE = 1000 * K
 
+logging.getLogger("urllib3").setLevel(logging.WARNING)
 
 def hash_256(link):
   hsh = str(sha256((link.split("?")[0]).encode('utf-8')).hexdigest())
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 3df777c959..cc21095414 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import multiprocessing
 import os
 import sys
 import platform
@@ -14,7 +13,7 @@ from functools import partial
 from openpilot.common.basedir import BASEDIR
 from openpilot.tools.lib.helpers import save_log
 
-from openpilot.tools.lib.srreader import SegmentRangeReader
+from openpilot.tools.lib.logreader import LogReader, ReadMode
 
 juggle_dir = os.path.dirname(os.path.realpath(__file__))
 
@@ -74,12 +73,9 @@ def process(can, lr):
   return [d for d in lr if can or d.which() not in ['can', 'sendcan']]
 
 def juggle_route(route_or_segment_name, can, layout, dbc=None):
-  sr = SegmentRangeReader(route_or_segment_name)
+  sr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACIVE)
 
-  with multiprocessing.Pool(24) as pool:
-    all_data = []
-    for p in pool.map(partial(process, can), sr.lrs):
-      all_data.extend(p)
+  all_data = sr.run_across_segments(24, partial(process, can))
 
   # Infer DBC name from logs
   if dbc is None:
diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py
index 1cb2dc0674..17287fb803 100755
--- a/tools/plotjuggler/test_plotjuggler.py
+++ b/tools/plotjuggler/test_plotjuggler.py
@@ -31,6 +31,8 @@ class TestPlotJuggler(unittest.TestCase):
       self.assertEqual(p.poll(), None)
       os.killpg(os.getpgid(p.pid), signal.SIGTERM)
 
+      self.assertNotIn("Raw file read failed", output)
+
   # TODO: also test that layouts successfully load
   def test_layouts(self):
     bad_strings = (
diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index 4be516a108..8ed6c63aa4 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -3,13 +3,12 @@ import argparse
 import os
 import time
 import threading
-import multiprocessing
 
 os.environ['FILEREADER_CACHE'] = '1'
 
 from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
 from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list
-from openpilot.tools.lib.srreader import SegmentRangeReader
+from openpilot.tools.lib.logreader import LogReader
 from panda import Panda, PandaJungle
 
 def send_thread(s, flock):
@@ -97,12 +96,9 @@ if __name__ == "__main__":
   if args.route_or_segment_name is None:
     args.route_or_segment_name = "77611a1fac303767/2020-03-24--09-50-38/10:16"
 
-  sr = SegmentRangeReader(args.route_or_segment_name)
+  sr = LogReader(args.route_or_segment_name)
 
-  with multiprocessing.Pool(24) as pool:
-    CAN_MSGS = []
-    for p in pool.map(process, sr.lrs):
-      CAN_MSGS.extend(p)
+  CAN_MSGS = sr.run_across_segments(24, process)
 
   print("Finished loading...")
 
diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
index 1873daaf4b..92510053ef 100644
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -12,6 +12,8 @@
 const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
 const std::string TEST_RLOG_CHECKSUM = "5b966d4bb21a100a8c4e59195faeb741b975ccbe268211765efd1763d892bfb3";
 
+const int TEST_REPLAY_SEGMENTS = std::getenv("TEST_REPLAY_SEGMENTS") ? atoi(std::getenv("TEST_REPLAY_SEGMENTS")) : 1;
+
 bool download_to_file(const std::string &url, const std::string &local_file, int chunk_size = 5 * 1024 * 1024, int retries = 3) {
   do {
     if (httpDownload(url, local_file, chunk_size)) {
@@ -126,8 +128,6 @@ std::string download_demo_route() {
       std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i);
       util::create_directories(log_path, 0755);
       REQUIRE(download_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2"));
-      REQUIRE(download_to_file(remote_route.at(i).driver_cam.toStdString(), log_path + "dcamera.hevc"));
-      REQUIRE(download_to_file(remote_route.at(i).wide_road_cam.toStdString(), log_path + "ecamera.hevc"));
       REQUIRE(download_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts"));
     }
   }
@@ -139,21 +139,21 @@ std::string download_demo_route() {
 TEST_CASE("Local route") {
   std::string data_dir = download_demo_route();
 
-  auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
+  auto flags = GENERATE(0, REPLAY_FLAG_QCAMERA);
   Route route(DEMO_ROUTE, QString::fromStdString(data_dir));
   REQUIRE(route.load());
   REQUIRE(route.segments().size() == 2);
-  for (int i = 0; i < route.segments().size(); ++i) {
+  for (int i = 0; i < TEST_REPLAY_SEGMENTS; ++i) {
     read_segment(i, route.at(i), flags);
   }
 }
 
 TEST_CASE("Remote route") {
-  auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
+  auto flags = GENERATE(0, REPLAY_FLAG_QCAMERA);
   Route route(DEMO_ROUTE);
   REQUIRE(route.load());
   REQUIRE(route.segments().size() == 13);
-  for (int i = 0; i < 2; ++i) {
+  for (int i = 0; i < TEST_REPLAY_SEGMENTS; ++i) {
     read_segment(i, route.at(i), flags);
   }
 }
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index e47aa0416e..7c95a75f8b 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -55,7 +55,7 @@ def ui_thread(addr):
   top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
 
   sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
-                            'liveTracks', 'modelV2', 'liveParameters', 'lateralPlan'], addr=addr)
+                            'liveTracks', 'modelV2', 'liveParameters'], addr=addr)
 
   img = np.zeros((480, 640, 3), dtype='uint8')
   imgff = None
diff --git a/tools/replay/unlog_ci_segment.py b/tools/replay/unlog_ci_segment.py
index ae97ad45d6..a2011f6876 100755
--- a/tools/replay/unlog_ci_segment.py
+++ b/tools/replay/unlog_ci_segment.py
@@ -12,7 +12,7 @@ from collections import defaultdict
 import cereal.messaging as messaging
 from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.logreader import LogReader
-from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.tools.lib.openpilotci import get_url
 
 IGNORE = ['initData', 'sentinel']
 
diff --git a/tools/scripts/save_ubloxraw_stream.py b/tools/scripts/save_ubloxraw_stream.py
index 541252d270..ecbc2bb31e 100755
--- a/tools/scripts/save_ubloxraw_stream.py
+++ b/tools/scripts/save_ubloxraw_stream.py
@@ -3,8 +3,7 @@ import argparse
 import os
 import sys
 from openpilot.common.basedir import BASEDIR
-from openpilot.tools.lib.logreader import MultiLogIterator
-from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.logreader import LogReader
 
 os.environ['BASEDIR'] = BASEDIR
 
@@ -14,28 +13,17 @@ def get_arg_parser():
       description="Unlogging and save to file",
       formatter_class=argparse.ArgumentDefaultsHelpFormatter)
 
-  parser.add_argument("data_dir", nargs='?',
-                              help="Path to directory in which log and camera files are located.")
-  parser.add_argument("route_name", type=(lambda x: x.replace("#", "|")), nargs="?",
+  parser.add_argument("route", type=(lambda x: x.replace("#", "|")), nargs="?",
                       help="The route whose messages will be published.")
   parser.add_argument("--out_path", nargs='?', default='/data/ubloxRaw.stream',
                       help="Output pickle file path")
   return parser
 
 
-def main(argv):
+def main():
   args = get_arg_parser().parse_args(sys.argv[1:])
-  if not args.data_dir:
-    print('Data directory invalid.')
-    return
 
-  if not args.route_name:
-    # Extract route name from path
-    args.route_name = os.path.basename(args.data_dir)
-    args.data_dir = os.path.dirname(args.data_dir)
-
-  route = Route(args.route_name, args.data_dir)
-  lr = MultiLogIterator(route.log_paths())
+  lr = LogReader(args.route)
 
   with open(args.out_path, 'wb') as f:
     try:
@@ -56,4 +44,4 @@ def main(argv):
 
 
 if __name__ == "__main__":
-  sys.exit(main(sys.argv[1:]))
+  main()
diff --git a/tools/sim/README.md b/tools/sim/README.md
index f6ddde2580..ff95d16de6 100644
--- a/tools/sim/README.md
+++ b/tools/sim/README.md
@@ -4,7 +4,7 @@ openpilot in simulator
 openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive).
 
 ## Launching openpilot
-First, start openpilot.
+First, start openpilot. Note that you will either need a [mapbox token](https://docs.mapbox.com/help/getting-started/access-tokens/#how-access-tokens-work) (set with ```export MAPBOX_TOKEN="1234"```), or to disable mapsd with ```export BLOCK=mapsd```
 ``` bash
 # Run locally
 ./tools/sim/launch_openpilot.sh
diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
index 35656f39f3..bdd53852c0 100644
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@@ -27,14 +27,14 @@ def rk_loop(function, hz, exit_event: threading.Event):
 class SimulatorBridge(ABC):
   TICKS_PER_FRAME = 5
 
-  def __init__(self, arguments):
+  def __init__(self, dual_camera, high_quality):
     set_params_enabled()
     self.params = Params()
 
     self.rk = Ratekeeper(100, None)
 
-    self.dual_camera = arguments.dual_camera
-    self.high_quality = arguments.high_quality
+    self.dual_camera = dual_camera
+    self.high_quality = high_quality
 
     self._exit_event = threading.Event()
     self._threads = []
diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py
index b99596ac62..1b1e5ffea6 100644
--- a/tools/sim/bridge/metadrive/metadrive_bridge.py
+++ b/tools/sim/bridge/metadrive/metadrive_bridge.py
@@ -3,15 +3,13 @@ import numpy as np
 from metadrive.component.sensors.rgb_camera import RGBCamera
 from metadrive.component.sensors.base_camera import _cuda_enable
 from metadrive.component.map.pg_map import MapGenerateMethod
-from panda3d.core import Vec3, Texture, GraphicsOutput
+from panda3d.core import Texture, GraphicsOutput
 
 from openpilot.tools.sim.bridge.common import SimulatorBridge
 from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld
 from openpilot.tools.sim.lib.camerad import W, H
 
 
-C3_POSITION = Vec3(0.0, 1.0, 1.22)
-
 
 class CopyRamRGBCamera(RGBCamera):
   """Camera which copies its content into RAM during the render process, for faster image grabbing."""
@@ -33,8 +31,6 @@ class CopyRamRGBCamera(RGBCamera):
 class RGBCameraWide(CopyRamRGBCamera):
   def __init__(self, *args, **kwargs):
     super(RGBCameraWide, self).__init__(*args, **kwargs)
-    cam = self.get_cam()
-    cam.setPos(C3_POSITION)
     lens = self.get_lens()
     lens.setFov(120)
     lens.setNear(0.1)
@@ -42,8 +38,6 @@ class RGBCameraWide(CopyRamRGBCamera):
 class RGBCameraRoad(CopyRamRGBCamera):
   def __init__(self, *args, **kwargs):
     super(RGBCameraRoad, self).__init__(*args, **kwargs)
-    cam = self.get_cam()
-    cam.setPos(C3_POSITION)
     lens = self.get_lens()
     lens.setFov(40)
     lens.setNear(0.1)
@@ -66,14 +60,32 @@ def curve_block(length, angle=45, direction=0):
     "dir": direction
   }
 
+def create_map(track_size=60):
+  return dict(
+    type=MapGenerateMethod.PG_MAP_FILE,
+    lane_num=2,
+    lane_width=3.5,
+    config=[
+      None,
+      straight_block(track_size),
+      curve_block(track_size*2, 90),
+      straight_block(track_size),
+      curve_block(track_size*2, 90),
+      straight_block(track_size),
+      curve_block(track_size*2, 90),
+      straight_block(track_size),
+      curve_block(track_size*2, 90),
+    ]
+  )
+
 
 class MetaDriveBridge(SimulatorBridge):
   TICKS_PER_FRAME = 5
 
-  def __init__(self, args):
+  def __init__(self, dual_camera, high_quality):
     self.should_render = False
 
-    super(MetaDriveBridge, self).__init__(args)
+    super(MetaDriveBridge, self).__init__(dual_camera, high_quality)
 
   def spawn_world(self):
     sensors = {
@@ -88,7 +100,6 @@ class MetaDriveBridge(SimulatorBridge):
       vehicle_config=dict(
         enable_reverse=False,
         image_source="rgb_road",
-        spawn_longitude=15
       ),
       sensors=sensors,
       image_on_cuda=_cuda_enable,
@@ -99,20 +110,7 @@ class MetaDriveBridge(SimulatorBridge):
       crash_vehicle_done=False,
       crash_object_done=False,
       traffic_density=0.0, # traffic is incredibly expensive
-      map_config=dict(
-        type=MapGenerateMethod.PG_MAP_FILE,
-        config=[
-          None,
-          straight_block(120),
-          curve_block(240, 90),
-          straight_block(120),
-          curve_block(240, 90),
-          straight_block(120),
-          curve_block(240, 90),
-          straight_block(120),
-          curve_block(240, 90),
-        ]
-      ),
+      map_config=create_map(),
       decision_repeat=1,
       physics_world_step_size=self.TICKS_PER_FRAME/100,
       preload_models=False
diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py
index 3fb4186bf9..aa6ae57976 100644
--- a/tools/sim/bridge/metadrive/metadrive_process.py
+++ b/tools/sim/bridge/metadrive/metadrive_process.py
@@ -2,6 +2,7 @@ import math
 import numpy as np
 
 from collections import namedtuple
+from panda3d.core import Vec3
 from multiprocessing.connection import Connection
 
 from metadrive.engine.core.engine_core import EngineCore
@@ -10,9 +11,13 @@ from metadrive.envs.metadrive_env import MetaDriveEnv
 from metadrive.obs.image_obs import ImageObservation
 
 from openpilot.common.realtime import Ratekeeper
+
 from openpilot.tools.sim.lib.common import vec3
 from openpilot.tools.sim.lib.camerad import W, H
 
+C3_POSITION = Vec3(0.0, 0, 1.22)
+C3_HPR = Vec3(0, 0,0)
+
 
 metadrive_state = namedtuple("metadrive_state", ["velocity", "position", "bearing", "steering_angle"])
 
@@ -29,12 +34,13 @@ def apply_metadrive_patches():
   EngineCore.add_image_sensor = add_image_sensor_patched
 
   # we aren't going to use the built-in observation stack, so disable it to save time
-  def observe_patched(self, vehicle):
+  def observe_patched(self, *args, **kwargs):
     return self.state
 
   ImageObservation.observe = observe_patched
 
-  def arrive_destination_patch(self, vehicle):
+  # disable destination, we want to loop forever
+  def arrive_destination_patch(self, *args, **kwargs):
     return False
 
   MetaDriveEnv._is_arrive_destination = arrive_destination_patch
@@ -58,14 +64,17 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
 
   def get_cam_as_rgb(cam):
     cam = env.engine.sensors[cam]
-    img = cam.perceive(env.vehicle, clip=False)
+    cam.get_cam().reparentTo(env.vehicle.origin)
+    cam.get_cam().setPos(C3_POSITION)
+    cam.get_cam().setHpr(C3_HPR)
+    img = cam.perceive(clip=False)
     if type(img) != np.ndarray:
       img = img.get() # convert cupy array to numpy
     return img
 
   rk = Ratekeeper(100, None)
 
-  steer_ratio = 15
+  steer_ratio = 8
   vc = [0,0]
 
   while not exit_event.is_set():
diff --git a/tools/sim/run_bridge.py b/tools/sim/run_bridge.py
index 5f0f0d5e99..0992ef4bfe 100755
--- a/tools/sim/run_bridge.py
+++ b/tools/sim/run_bridge.py
@@ -6,6 +6,17 @@ from multiprocessing import Queue
 
 from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
 
+def create_bridge(dual_camera, high_quality):
+  queue: Any = Queue()
+
+  simulator_bridge = MetaDriveBridge(dual_camera, high_quality)
+  simulator_process = simulator_bridge.run(queue)
+
+  return queue, simulator_process, simulator_bridge
+
+def main():
+  _, simulator_process, _ = create_bridge(True, False)
+  simulator_process.join()
 
 def parse_args(add_args=None):
   parser = argparse.ArgumentParser(description='Bridge between the simulator and openpilot.')
@@ -16,23 +27,21 @@ def parse_args(add_args=None):
   return parser.parse_args(add_args)
 
 if __name__ == "__main__":
-  q: Any = Queue()
   args = parse_args()
 
-  simulator_bridge = MetaDriveBridge(args)
-  p = simulator_bridge.run(q)
+  queue, simulator_process, simulator_bridge = create_bridge(args.dual_camera, args.high_quality)
 
   if args.joystick:
     # start input poll for joystick
     from openpilot.tools.sim.lib.manual_ctrl import wheel_poll_thread
 
-    wheel_poll_thread(q)
+    wheel_poll_thread(queue)
   else:
     # start input poll for keyboard
     from openpilot.tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
 
-    keyboard_poll_thread(q)
+    keyboard_poll_thread(queue)
 
   simulator_bridge.shutdown()
 
-  p.join()
+  simulator_process.join()
diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py
index 2c534656bb..4d784956d2 100755
--- a/tools/sim/tests/test_metadrive_bridge.py
+++ b/tools/sim/tests/test_metadrive_bridge.py
@@ -1,11 +1,12 @@
 #!/usr/bin/env python3
+import pytest
 import unittest
 
 from openpilot.tools.sim.run_bridge import parse_args
 from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
 from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase
 
-
+@pytest.mark.slow
 class TestMetaDriveBridge(TestSimBridgeBase):
   def create_bridge(self):
     return MetaDriveBridge(parse_args([]))
diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py
index de4de46c2a..f804b328de 100755
--- a/tools/tuning/measure_steering_accuracy.py
+++ b/tools/tuning/measure_steering_accuracy.py
@@ -8,7 +8,7 @@ import signal
 from collections import defaultdict
 
 import cereal.messaging as messaging
-from openpilot.tools.lib.srreader import SegmentRangeReader
+from openpilot.tools.lib.logreader import LogReader
 
 def sigint_handler(signal, frame):
   exit(0)
@@ -51,8 +51,8 @@ class SteeringAccuracyTool:
     standstill = sm['carState'].standstill
     steer_limited = abs(sm['carControl'].actuators.steer - sm['carControl'].actuatorsOutput.steer) > 1e-2
     overriding = sm['carState'].steeringPressed
-    changing_lanes = sm['lateralPlan'].laneChangeState != 0
-    d_path_points = sm['lateralPlan'].dPathPoints
+    changing_lanes = sm['modelV2'].meta.laneChangeState != 0
+    model_points = sm['modelV2'].position.y
     # must be engaged, not at standstill, not overriding steering, and not changing lanes
     if active and not standstill and not overriding and not changing_lanes:
       self.cnt += 1
@@ -75,8 +75,8 @@ class SteeringAccuracyTool:
             self.speed_group_stats[group][angle_abs]["cnt"] += 1
             self.speed_group_stats[group][angle_abs]["err"] += angle_error
             self.speed_group_stats[group][angle_abs]["steer"] += abs(steer)
-            if len(d_path_points):
-              self.speed_group_stats[group][angle_abs]["dpp"] += abs(d_path_points[0])
+            if len(model_points):
+              self.speed_group_stats[group][angle_abs]["dpp"] += abs(model_points[0])
             if steer_limited:
               self.speed_group_stats[group][angle_abs]["limited"] += 1
             if control_state.saturated:
@@ -128,7 +128,7 @@ if __name__ == "__main__":
 
   if args.route is not None:
     print(f"loading {args.route}...")
-    lr = SegmentRangeReader(args.route, sort_by_time=True)
+    lr = LogReader(args.route, sort_by_time=True)
 
     sm = {}
     for msg in lr:
@@ -138,10 +138,10 @@ if __name__ == "__main__":
         sm['carControl'] = msg.carControl
       elif msg.which() == 'controlsState':
         sm['controlsState'] = msg.controlsState
-      elif msg.which() == 'lateralPlan':
-        sm['lateralPlan'] = msg.lateralPlan
+      elif msg.which() == 'modelV2':
+        sm['modelV2'] = msg.modelV2
 
-      if msg.which() == 'carControl' and 'carState' in sm and 'controlsState' in sm and 'lateralPlan' in sm:
+      if msg.which() == 'carControl' and 'carState' in sm and 'controlsState' in sm and 'modelV2' in sm:
         tool.update(sm)
 
   else:
@@ -150,7 +150,7 @@ if __name__ == "__main__":
       messaging.context = messaging.Context()
 
     carControl = messaging.sub_sock('carControl', addr=args.addr, conflate=True)
-    sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'lateralPlan'], addr=args.addr)
+    sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'modelV2'], addr=args.addr)
     time.sleep(1)  # Make sure all submaster data is available before going further
 
     print("waiting for messages...")
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
index bdf39b8145..709e8514c7 100644
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -33,7 +33,7 @@ USE_WEBCAM=1 scons -j$(nproc)
 ## GO
 ```
 cd ~/openpilot/selfdrive/manager
-PASSIVE=0 NOSENSOR=1 USE_WEBCAM=1 ./manager.py
+NOSENSOR=1 USE_WEBCAM=1 ./manager.py
 ```
 - Start the car, then the UI should show the road webcam's view
 - Adjust and secure the webcams (you can run tools/webcam/front_mount_helper.py to help mount the driver camera)
diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py
index 22438f0c98..d1d61b64d7 100644
--- a/tools/webcam/camera.py
+++ b/tools/webcam/camera.py
@@ -3,6 +3,10 @@ import numpy as np
 
 class Camera:
   def __init__(self, cam_type_state, stream_type, camera_id):
+    try:
+      camera_id = int(camera_id)
+    except ValueError: # allow strings, ex: /dev/video0
+      pass
     self.cam_type_state = cam_type_state
     self.stream_type = stream_type
     self.cur_frame_id = 0
diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py
index caf044e7b6..ce33473f9a 100755
--- a/tools/webcam/camerad.py
+++ b/tools/webcam/camerad.py
@@ -25,7 +25,7 @@ class Camerad:
 
     self.cameras = []
     for c in CAMERAS:
-      cam = Camera(c.msg_name, c.stream_type, int(c.cam_id))
+      cam = Camera(c.msg_name, c.stream_type, c.cam_id)
       assert cam.cap.isOpened(), f"Can't find camera {c}"
       self.cameras.append(cam)
       self.vipc_server.create_buffers(c.stream_type, 20, False, cam.W, cam.H)
@@ -63,6 +63,11 @@ class Camerad:
     for t in threads:
       t.join()
 
-if __name__ == "__main__":
+
+def main():
   camerad = Camerad()
   camerad.run()
+
+
+if __name__ == "__main__":
+  main()