diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
index 807ac06b94..a6808a0276 100644
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -30,7 +30,7 @@ jobs:
         ref: master
         wait-interval: 30
         running-workflow-name: 'build prebuilt'
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Build Docker image
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 98cdeab306..144718df60 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -26,10 +26,11 @@ jobs:
     runs-on: ubuntu-20.04
     timeout-minutes: 50
     env:
-      STRIPPED_DIR: tmppilot
+      STRIPPED_DIR: /tmp/releasepilot
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
+        fetch-depth: 0
         submodules: true
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
@@ -46,16 +47,10 @@ jobs:
         restore-keys: |
           scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
           scons-
-    - name: Strip non-release files
+    - name: Build devel
       run: |
-        mkdir $STRIPPED_DIR
-        cp -pR --parents $(cat release/files_common) $STRIPPED_DIR
-        cp -pR --parents $(cat release/files_tici) $STRIPPED_DIR
-        cp -pR --parents $(cat release/files_pc) $STRIPPED_DIR
+        TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
         cp Dockerfile.openpilot_base $STRIPPED_DIR
-
-        # need this to build on x86
-        cp -pR --parents third_party/libyuv third_party/snpe selfdrive/modeld/runners $STRIPPED_DIR
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Build openpilot and run checks
@@ -63,32 +58,43 @@ jobs:
           cd $STRIPPED_DIR
           ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py && \
                           python -m unittest discover selfdrive/car"
-    - name: Cleanup scons cache
-      run: |
-          cd $STRIPPED_DIR
-          ${{ env.RUN }} "scons -j$(nproc) && \
-                          rm -rf /tmp/scons_cache/* && \
-                          scons -j$(nproc) --cache-populate"
 
   build_all:
     name: build all
     runs-on: ubuntu-20.04
     timeout-minutes: 50
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: ${{ github.ref != 'refs/heads/master' || github.repository != 'commaai/openpilot' }}
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-${{ steps.date.outputs.time }}
+        restore-keys: |
+          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          scons-
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Build openpilot with all flags
       run: ${{ env.RUN }} "scons -j$(nproc) --extras --test"
+    - name: Cleanup scons cache
+      run: |
+          ${{ env.RUN }} "scons -j$(nproc) --extras --test && \
+                          rm -rf /tmp/scons_cache/* && \
+                          scons -j$(nproc) --cache-populate"
 
   #build_mac:
   #  name: build macos
   #  runs-on: macos-latest
   #  timeout-minutes: 60
   #  steps:
-  #  - uses: actions/checkout@v2
+  #  - uses: actions/checkout@v3
   #    with:
   #      submodules: true
   #  - name: Determine pre-existing Homebrew packages
@@ -147,9 +153,21 @@ jobs:
     env:
       IMAGE_NAME: openpilotwebcamci
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+        restore-keys: |
+          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          scons-
     - name: Build Docker image
       run: |
         eval "$BUILD"
@@ -170,7 +188,7 @@ jobs:
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
     needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Build Docker image
@@ -185,20 +203,20 @@ jobs:
     runs-on: ubuntu-20.04
     timeout-minutes: 50
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Build Docker image
       run: eval "$BUILD"
     - name: pre-commit
-      run: ${{ env.RUN }} "git init && git add -A && pre-commit run --all"
+      run: ${{ env.RUN }} "pre-commit run --all"
 
   valgrind:
     name: valgrind
     runs-on: ubuntu-20.04
     timeout-minutes: 50
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Cache dependencies
@@ -241,7 +259,7 @@ jobs:
       run: echo $TIMESTAMP
       env:
         TIMESTAMP: ${{ steps.date.outputs.time }}
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Cache scons
@@ -289,7 +307,7 @@ jobs:
     runs-on: ubuntu-20.04
     timeout-minutes: 50
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Cache dependencies
@@ -334,27 +352,12 @@ jobs:
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
 
-  #model_replay:
-  #  name: model replay
-  #  runs-on: ubuntu-20.04
-  #  timeout-minutes: 50
-  #  steps:
-  #  - uses: actions/checkout@v2
-  #    with:
-  #      submodules: true
-  #  - name: Build Docker image
-  #    run: eval "$BUILD"
-  #  - name: Run replay
-  #    run: |
-  #      ${{ env.RUN }} "scons -j$(nproc) && \
-  #                      selfdrive/test/process_replay/model_replay.py"
-
   test_longitudinal:
     name: longitudinal
     runs-on: ubuntu-20.04
     timeout-minutes: 50
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Cache scons
@@ -394,9 +397,9 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        job: [0, 1, 2, 3]
+        job: [0, 1, 2, 3, 4]
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Cache dependencies
@@ -426,7 +429,7 @@ jobs:
                         coverage xml && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
-        NUM_JOBS: 4
+        NUM_JOBS: 5
         JOB_ID: ${{ matrix.job }}
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
@@ -436,7 +439,7 @@ jobs:
     runs-on: ubuntu-20.04
     timeout-minutes: 50
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Build docker container
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 0b0df4c516..2c2bbd30bd 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -21,7 +21,7 @@ jobs:
     runs-on: ubuntu-20.04
     timeout-minutes: 30
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Build Docker image
@@ -42,28 +42,16 @@ jobs:
       IMAGE_NAME: openpilot-sim
     if: github.repository == 'commaai/openpilot'
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
+        lfs: true
         submodules: true
-
-    # HACK: cache LFS objects since they count against our quota
-    # https://github.com/actions/checkout/issues/165#issuecomment-657673315
-    - name: Create LFS file list
-      run: git lfs ls-files -l | cut -d' ' -f1 | sort > .lfs-assets-id
-    - name: Restore LFS cache
-      uses: actions/cache@v2
-      id: lfs-cache
-      with:
-        path: .git/lfs
-        key: ${{ runner.os }}-lfs-${{ hashFiles('.lfs-assets-id') }}
-    - name: Git LFS Pull
-      run: git lfs pull
-
-    - name: Build Docker image
-      run: |
-        eval "$BUILD"
-        docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
-        docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim .
+    - name: Build base image
+      run: eval "$BUILD"
+    - name: Pull latest simulator image
+      run: eval "$BUILD"docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
+    - name: Build simulator image
+      run: docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim .
     - name: Push to container registry
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |
diff --git a/Jenkinsfile b/Jenkinsfile
index cc7347b12a..3b134d7c0d 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -80,27 +80,6 @@ pipeline {
           stages {
             stage('parallel tests') {
               parallel {
-                /*
-                stage('Power Consumption Tests') {
-                  steps {
-                    lock(resource: "", label: "c2-zookeeper", inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-                      timeout(time: 90, unit: 'MINUTES') {
-                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
-                        phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
-                        phone(device_ip, "build", "scons -j4 && sync")
-                        sh script: "/home/batman/tools/zookeeper/disable.py $device_ip", label: "turn off device"
-                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
-                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 3", label: "idle power consumption after boot"
-                        sh script: "/home/batman/tools/zookeeper/ignition.py 1", label: "go onroad"
-                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 10", label: "onroad power consumption"
-                        sh script: "/home/batman/tools/zookeeper/ignition.py 0", label: "go offroad"
-                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 2", label: "idle power consumption offroad"
-                      }
-                    }
-                  }
-                }
-                */
-
                 stage('build') {
                   environment {
                     R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
diff --git a/release/files_pc b/release/files_pc
index 610516bff6..e401badb80 100644
--- a/release/files_pc
+++ b/release/files_pc
@@ -1,3 +1,9 @@
+selfdrive/modeld/runners/onnx*
+
 third_party/mapbox-gl-native-qt/x86_64/*.so
 
 third_party/qt-plugins/x86_64/geoservices/*.so
+
+third_party/libyuv/x64/**
+third_party/snpe/x86_64/**
+third_party/snpe/x86_64-linux-clang/**