diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index ccd3368cb0..4466260af1 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -20,23 +20,6 @@ env:
 
 
 jobs:
-  plotjuggler:
-    name: plotjuggler
-    runs-on: ubuntu-latest
-    timeout-minutes: 45
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      timeout-minutes: 5
-      run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ opendbc/ --minimal"
-    - name: Test PlotJuggler
-      timeout-minutes: 2
-      run: |
-        ${{ env.RUN }} "pytest tools/plotjuggler/"
-
   simulator_build:
     name: simulator docker build
     runs-on: ubuntu-latest
@@ -76,7 +59,7 @@ jobs:
         ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
                         source selfdrive/test/setup_xvfb.sh && \
                         source selfdrive/test/setup_vsound.sh && \
-                        CI=1 tools/sim/tests/test_metadrive_bridge.py"
+                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py -W ignore::pyopencl.CompilerWarning"
 
   devcontainer:
     name: devcontainer
diff --git a/cereal b/cereal
index 591e389bf8..0a9b426e55 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 591e389bf8e31f6f6ab921ec6598cafa53c19d36
+Subproject commit 0a9b426e55653daea6cc9d3c40c3f7600ec0db49
diff --git a/poetry.lock b/poetry.lock
index f1f8d9f518..471994a723 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
@@ -1301,50 +1301,6 @@ files = [
     {file = "frozenlist-1.4.1.tar.gz", hash = "sha256:c037a86e8513059a2613aaba4d817bb90b9d9b6b69aace3ce9c877e8c8ed402b"},
 ]
 
-[[package]]
-name = "ft4222"
-version = "1.10.0"
-description = "Python wrapper around libFT4222."
-optional = false
-python-versions = "*"
-files = [
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-    {file = "ft4222-1.10.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:1cedabcd6c554e78f3479350153c5a347355ccc977ceeb24726edc37d3e7edb7"},
-    {file = "ft4222-1.10.0-cp310-cp310-win32.whl", hash = "sha256:a039d4230926fa9b600baa12903843c53d6b238eb93e99ae68eeeb450d6f4bdc"},
-    {file = "ft4222-1.10.0-cp310-cp310-win_amd64.whl", hash = "sha256:b05e499fd3f1baef225671f3afd25bf93e1f287fa17326c90c1f8db70abb3e89"},
-    {file = "ft4222-1.10.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:df9da4d5575d51511ba58e73ee434061dc709ce69491656ec109d995ce304167"},
-    {file = "ft4222-1.10.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:20f2cb89e63ea755d69a4d41c2dcba94d2f720b6e736ea51bdf681f1e809763c"},
-    {file = "ft4222-1.10.0-cp311-cp311-win32.whl", hash = "sha256:806d4117d0814c390c7f280345aa99168ec989ca49b20259ce593ea79bcd246f"},
-    {file = "ft4222-1.10.0-cp311-cp311-win_amd64.whl", hash = "sha256:ad626507e9b1520f2f3b6f98ddca0d257c93b844824a1ab7cbb58759b0fbca84"},
-    {file = "ft4222-1.10.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:4ecaae4e5ec3bedcdbe04a5792bf08119040669cf58c02df947395e6a96bd18c"},
-    {file = "ft4222-1.10.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:c8c2655fe7192eb80ef25ab750123139f591e0f079fe2a5e6f31b7cd6f015a9f"},
-    {file = "ft4222-1.10.0-cp312-cp312-win32.whl", hash = "sha256:fe668caa43bcacfbf3287cff8b4b11bb586a71d4722307e574f60180bb4a351e"},
-    {file = "ft4222-1.10.0-cp312-cp312-win_amd64.whl", hash = "sha256:4d7a49febc2b96ebed4b843262ab1f00843d158d6f4877c8ee19219f1c41f0da"},
-    {file = "ft4222-1.10.0-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:18a6f99e31c767b6ccb7e2f0e7f6cc51d15c9b685e2b81fd12ab08cac0924289"},
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-    {file = "ft4222-1.10.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:e051c89cb45f964640e355506efa74b41c424e9ea9046367534180075be0a95c"},
-    {file = "ft4222-1.10.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:9cae991a917602635238c144395bb59a516b7684b6599da251a88cfe37a5ed8f"},
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-    {file = "ft4222-1.10.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:88170a0aaa321ae8c974a664b2316fab00f86dd8249ff5927ea4d58a2ed7fa23"},
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-    {file = "ft4222-1.10.0-pp310-pypy310_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:834b9e549d66f3cc0bbe75983b32e756258523b70363bb67970a7be21c9e3d8f"},
-    {file = "ft4222-1.10.0-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:7af52e4d61e2bcaa10b802e6f1af29823da12a27f520c799823490e6fd9ebb19"},
-    {file = "ft4222-1.10.0-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:ca8c5aff74e213d8b658e7cdd8df3012e55023a2d379b5074628f6bb8947359a"},
-    {file = "ft4222-1.10.0-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:755a70ab2c5d3fd94030e51fd82c332bc2463c6c455adf093d12e2f3803ea207"},
-    {file = "ft4222-1.10.0-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:035ea7fc9ad627b44be57c31e87bc8d445ebd7cf6ac991d750fedc999683d64e"},
-    {file = "ft4222-1.10.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:2df65d174200c1451f5646a109e683aada9d7a076bf5f7ce682145d10725445a"},
-    {file = "ft4222-1.10.0-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:99ef3c412017a85ef9f90d8fc884ba66dae71e85433c8890da6aec38eb0288ab"},
-    {file = "ft4222-1.10.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:d00b36bdac3960c377f3a625fc352eca20e36825ddff178feaae97c2d9a8846c"},
-    {file = "ft4222-1.10.0.tar.gz", hash = "sha256:74eab32dfc5c012d11952c8645b72157f8828685972669ef3c22025491d96001"},
-]
-
 [[package]]
 name = "future-fstrings"
 version = "1.2.0"
@@ -2033,9 +1989,13 @@ files = [
     {file = "lxml-5.2.2-cp36-cp36m-win_amd64.whl", hash = "sha256:edcfa83e03370032a489430215c1e7783128808fd3e2e0a3225deee278585196"},
     {file = "lxml-5.2.2-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:28bf95177400066596cdbcfc933312493799382879da504633d16cf60bba735b"},
     {file = "lxml-5.2.2-cp37-cp37m-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3a745cc98d504d5bd2c19b10c79c61c7c3df9222629f1b6210c0368177589fb8"},
+    {file = "lxml-5.2.2-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1b590b39ef90c6b22ec0be925b211298e810b4856909c8ca60d27ffbca6c12e6"},
     {file = "lxml-5.2.2-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b336b0416828022bfd5a2e3083e7f5ba54b96242159f83c7e3eebaec752f1716"},
+    {file = "lxml-5.2.2-cp37-cp37m-manylinux_2_28_aarch64.whl", hash = "sha256:c2faf60c583af0d135e853c86ac2735ce178f0e338a3c7f9ae8f622fd2eb788c"},
     {file = "lxml-5.2.2-cp37-cp37m-manylinux_2_28_x86_64.whl", hash = "sha256:4bc6cb140a7a0ad1f7bc37e018d0ed690b7b6520ade518285dc3171f7a117905"},
+    {file = "lxml-5.2.2-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:7ff762670cada8e05b32bf1e4dc50b140790909caa8303cfddc4d702b71ea184"},
     {file = "lxml-5.2.2-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:57f0a0bbc9868e10ebe874e9f129d2917750adf008fe7b9c1598c0fbbfdde6a6"},
+    {file = "lxml-5.2.2-cp37-cp37m-musllinux_1_2_aarch64.whl", hash = "sha256:a6d2092797b388342c1bc932077ad232f914351932353e2e8706851c870bca1f"},
     {file = "lxml-5.2.2-cp37-cp37m-musllinux_1_2_x86_64.whl", hash = "sha256:60499fe961b21264e17a471ec296dcbf4365fbea611bf9e303ab69db7159ce61"},
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     {file = "lxml-5.2.2-cp37-cp37m-win_amd64.whl", hash = "sha256:b16db2770517b8799c79aa80f4053cd6f8b716f21f8aca962725a9565ce3ee40"},
@@ -2201,39 +2161,40 @@ files = [
 
 [[package]]
 name = "matplotlib"
-version = "3.8.4"
+version = "3.9.0"
 description = "Python plotting package"
 optional = false
 python-versions = ">=3.9"
 files = [
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 ]
 
 [package.dependencies]
@@ -2241,12 +2202,15 @@ contourpy = ">=1.0.1"
 cycler = ">=0.10"
 fonttools = ">=4.22.0"
 kiwisolver = ">=1.3.1"
-numpy = ">=1.21"
+numpy = ">=1.23"
 packaging = ">=20.0"
 pillow = ">=8"
 pyparsing = ">=2.3.1"
 python-dateutil = ">=2.7"
 
+[package.extras]
+dev = ["meson-python (>=0.13.1)", "numpy (>=1.25)", "pybind11 (>=2.6)", "setuptools (>=64)", "setuptools_scm (>=7)"]
+
 [[package]]
 name = "mdit-py-plugins"
 version = "0.4.1"
@@ -2699,36 +2663,36 @@ reference = ["Pillow", "google-re2"]
 
 [[package]]
 name = "onnxruntime"
-version = "1.17.3"
+version = "1.18.0"
 description = "ONNX Runtime is a runtime accelerator for Machine Learning models"
 optional = false
 python-versions = "*"
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 ]
 
 [package.dependencies]
@@ -3104,13 +3068,13 @@ xmp = ["defusedxml"]
 
 [[package]]
 name = "platformdirs"
-version = "4.2.1"
+version = "4.2.2"
 description = "A small Python package for determining appropriate platform-specific dirs, e.g. a `user data dir`."
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]
@@ -3253,6 +3217,54 @@ files = [
 [package.extras]
 test = ["enum34", "ipaddress", "mock", "pywin32", "wmi"]
 
+[[package]]
+name = "pyarrow"
+version = "16.1.0"
+description = "Python library for Apache Arrow"
+optional = false
+python-versions = ">=3.8"
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+    {file = "pyarrow-16.1.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:99f7549779b6e434467d2aa43ab2b7224dd9e41bdde486020bae198978c9e05e"},
+    {file = "pyarrow-16.1.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f07fdffe4fd5b15f5ec15c8b64584868d063bc22b86b46c9695624ca3505b7b4"},
+    {file = "pyarrow-16.1.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ddfe389a08ea374972bd4065d5f25d14e36b43ebc22fc75f7b951f24378bf0b5"},
+    {file = "pyarrow-16.1.0-cp39-cp39-manylinux_2_28_aarch64.whl", hash = "sha256:3b20bd67c94b3a2ea0a749d2a5712fc845a69cb5d52e78e6449bbd295611f3aa"},
+    {file = "pyarrow-16.1.0-cp39-cp39-manylinux_2_28_x86_64.whl", hash = "sha256:ba8ac20693c0bb0bf4b238751d4409e62852004a8cf031c73b0e0962b03e45e3"},
+    {file = "pyarrow-16.1.0-cp39-cp39-win_amd64.whl", hash = "sha256:31a1851751433d89a986616015841977e0a188662fcffd1a5677453f1df2de0a"},
+    {file = "pyarrow-16.1.0.tar.gz", hash = "sha256:15fbb22ea96d11f0b5768504a3f961edab25eaf4197c341720c4a387f6c60315"},
+]
+
+[package.dependencies]
+numpy = ">=1.16.6"
+
 [[package]]
 name = "pyaudio"
 version = "0.2.14"
@@ -7094,6 +7106,30 @@ urllib3 = ">=1.21.1,<3"
 socks = ["PySocks (>=1.5.6,!=1.5.7)"]
 use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
 
+[[package]]
+name = "rerun-sdk"
+version = "0.16.0"
+description = "The Rerun Logging SDK"
+optional = false
+python-versions = "<3.13,>=3.8"
+files = [
+    {file = "rerun_sdk-0.16.0-cp38-abi3-macosx_10_12_x86_64.whl", hash = "sha256:1cc6dc66d089e296f945dc238301889efb61dd6d338b5d00f76981cf7aed0a74"},
+    {file = "rerun_sdk-0.16.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:faf231897655e46eb975695df2b0ace07db362d697e697f9a3dff52f81c0dc5d"},
+    {file = "rerun_sdk-0.16.0-cp38-abi3-manylinux_2_31_aarch64.whl", hash = "sha256:860a6394380d3e9b9e48bf34423bd56dda54d5b0158d2ae0e433698659b34198"},
+    {file = "rerun_sdk-0.16.0-cp38-abi3-manylinux_2_31_x86_64.whl", hash = "sha256:5b8d1476f73a3ad1a5d3f21b61c633f3ab62aa80fa0b049f5ad10bf1227681ab"},
+    {file = "rerun_sdk-0.16.0-cp38-abi3-win_amd64.whl", hash = "sha256:aff0051a263b8c3067243c0126d319845baf4fe640899f04aeef7daf151f35e4"},
+]
+
+[package.dependencies]
+attrs = ">=23.1.0"
+numpy = ">=1.23,<2"
+pillow = ">=8.0.0"
+pyarrow = ">=14.0.2"
+typing-extensions = ">=4.5"
+
+[package.extras]
+tests = ["pytest (==7.1.2)"]
+
 [[package]]
 name = "rubicon-objc"
 version = "0.4.9"
@@ -7211,13 +7247,13 @@ stats = ["scipy (>=1.7)", "statsmodels (>=0.12)"]
 
 [[package]]
 name = "sentry-sdk"
-version = "2.1.1"
+version = "2.2.0"
 description = "Python client for Sentry (https://sentry.io)"
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "sentry_sdk-2.1.1-py2.py3-none-any.whl", hash = "sha256:99aeb78fb76771513bd3b2829d12613130152620768d00cd3e45ac00cb17950f"},
-    {file = "sentry_sdk-2.1.1.tar.gz", hash = "sha256:95d8c0bb41c8b0bc37ab202c2c4a295bb84398ee05f4cdce55051cd75b926ec1"},
+    {file = "sentry_sdk-2.2.0-py2.py3-none-any.whl", hash = "sha256:674f58da37835ea7447fe0e34c57b4a4277fad558b0a7cb4a6c83bcb263086be"},
+    {file = "sentry_sdk-2.2.0.tar.gz", hash = "sha256:70eca103cf4c6302365a9d7cf522e7ed7720828910eb23d43ada8e50d1ecda9d"},
 ]
 
 [package.dependencies]
@@ -7718,21 +7754,6 @@ files = [
 [package.extras]
 widechars = ["wcwidth"]
 
-[[package]]
-name = "tenacity"
-version = "8.3.0"
-description = "Retry code until it succeeds"
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "tenacity-8.3.0-py3-none-any.whl", hash = "sha256:3649f6443dbc0d9b01b9d8020a9c4ec7a1ff5f6f3c6c8a036ef371f573fe9185"},
-    {file = "tenacity-8.3.0.tar.gz", hash = "sha256:953d4e6ad24357bceffbc9707bc74349aca9d245f68eb65419cf0c249a1949a2"},
-]
-
-[package.extras]
-doc = ["reno", "sphinx"]
-test = ["pytest", "tornado (>=4.5)", "typeguard"]
-
 [[package]]
 name = "timezonefinder"
 version = "6.5.0"
@@ -7851,13 +7872,13 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.26.1"
+version = "20.26.2"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.26.1-py3-none-any.whl", hash = "sha256:7aa9982a728ae5892558bff6a2839c00b9ed145523ece2274fad6f414690ae75"},
-    {file = "virtualenv-20.26.1.tar.gz", hash = "sha256:604bfdceaeece392802e6ae48e69cec49168b9c5f4a44e483963f9242eb0e78b"},
+    {file = "virtualenv-20.26.2-py3-none-any.whl", hash = "sha256:a624db5e94f01ad993d476b9ee5346fdf7b9de43ccaee0e0197012dc838a0e9b"},
+    {file = "virtualenv-20.26.2.tar.gz", hash = "sha256:82bf0f4eebbb78d36ddaee0283d43fe5736b53880b8a8cdcd37390a07ac3741c"},
 ]
 
 [package.dependencies]
@@ -8006,20 +8027,20 @@ multidict = ">=4.0"
 
 [[package]]
 name = "zipp"
-version = "3.18.1"
+version = "3.18.2"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "zipp-3.18.1-py3-none-any.whl", hash = "sha256:206f5a15f2af3dbaee80769fb7dc6f249695e940acca08dfb2a4769fe61e538b"},
-    {file = "zipp-3.18.1.tar.gz", hash = "sha256:2884ed22e7d8961de1c9a05142eb69a247f120291bc0206a00a7642f09b5b715"},
+    {file = "zipp-3.18.2-py3-none-any.whl", hash = "sha256:dce197b859eb796242b0622af1b8beb0a722d52aa2f57133ead08edd5bf5374e"},
+    {file = "zipp-3.18.2.tar.gz", hash = "sha256:6278d9ddbcfb1f1089a88fde84481528b07b0e10474e09dcfe53dad4069fa059"},
 ]
 
 [package.extras]
 docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
+testing = ["big-O", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
 
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "9f69dc7862f33f61e94e960f0ead2cbcd306b4502163d1934381d476143344f4"
+content-hash = "debffdd8b49091d256508f53c11e9d79fb4164995678d7e02d1720175cf265ec"
diff --git a/pyproject.toml b/pyproject.toml
index a4e31145de..544f9ee18c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,3 +1,12 @@
+[project]
+name = "openpilot"
+requires-python = ">= 3.11"
+readme = "README.md"
+license = {text = "MIT License"}
+
+[project.urls]
+Homepage = "https://comma.ai"
+
 [tool.pytest.ini_options]
 minversion = "6.0"
 addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
@@ -99,6 +108,7 @@ pycryptodome = "*"
 PyJWT = "*"
 pyserial = "*"
 pyzmq = "*"
+rerun-sdk = "*"
 requests = "*"
 scons = "*"
 sentry-sdk = "*"
@@ -125,7 +135,6 @@ breathe = "*"
 control = "*"
 coverage = "*"
 dictdiffer = "*"
-ft4222 = "*"
 flaky = "*"
 hypothesis = "~6.47"
 inputs = "*"
@@ -161,7 +170,6 @@ sphinx = "*"
 sphinx-rtd-theme = "*"
 sphinx-sitemap = "*"
 tabulate = "*"
-tenacity = "*"
 types-requests = "*"
 types-tabulate = "*"
 tqdm = "*"
diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 0dafbbaa6f..95565ebf9d 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -425,6 +425,7 @@ FW_VERSIONS = {
       b'68631938AA',
       b'68631939AA',
       b'68631940AA',
+      b'68631940AB',
       b'68631942AA',
       b'68631943AB',
     ],
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index b6318eb8fa..e0680ba829 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -1002,8 +1002,8 @@ FW_VERSIONS = {
   },
   CAR.HYUNDAI_TUCSON_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A',
       b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N9260 14Y',
+      b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A',
       b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K',
       b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 99246a1397..e697eb010c 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -331,6 +331,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # ********** events with no alerts **********
 
   EventName.stockFcw: {},
+  EventName.actuatorsApiUnavailable: {},
 
   # ********** events only containing alerts displayed in all states **********
 
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index c18bbf29b9..91a4932584 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -19,7 +19,6 @@ def dmonitoringd_thread():
 
   driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
 
-  v_cruise_last = 0
   driver_engaged = False
 
   # 20Hz <- dmonitoringmodeld
@@ -30,12 +29,8 @@ def dmonitoringd_thread():
 
     # Get interaction
     if sm.updated['carState']:
-      v_cruise = sm['carState'].cruiseState.speed
-      driver_engaged = len(sm['carState'].buttonEvents) > 0 or \
-                        v_cruise != v_cruise_last or \
-                        sm['carState'].steeringPressed or \
-                        sm['carState'].gasPressed
-      v_cruise_last = v_cruise
+      driver_engaged = sm['carState'].steeringPressed or \
+                       sm['carState'].gasPressed
 
     if sm.updated['modelV2']:
       driver_status.set_policy(sm['modelV2'], sm['carState'].vEgo)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index afe1401b68..3fc6acc3cb 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-482cf1d2947ce8506fb1e805565c28e9ce0264f1
\ No newline at end of file
+f1ecdf9048fb12e289baf4933cb3ef12e486252c
diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc
index f14d059332..df9bb24651 100644
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@@ -7,7 +7,7 @@
 
 const int FACE_IMG_SIZE = 130;
 
-DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraView("camerad", VISION_STREAM_DRIVER, true, parent) {
+DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, true, parent) {
   face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
   QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done);
   QObject::connect(device(), &Device::interactiveTimeout, this, [this]() {
@@ -20,20 +20,22 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraView("camerad", VISI
 void DriverViewWindow::showEvent(QShowEvent* event) {
   params.putBool("IsDriverViewEnabled", true);
   device()->resetInteractiveTimeout(60);
-  CameraView::showEvent(event);
+  CameraWidget::showEvent(event);
 }
 
 void DriverViewWindow::hideEvent(QHideEvent* event) {
   params.putBool("IsDriverViewEnabled", false);
-  CameraView::hideEvent(event);
+  stopVipcThread();
+  CameraWidget::hideEvent(event);
 }
 
 void DriverViewWindow::paintGL() {
-  CameraView::paintGL();
+  CameraWidget::paintGL();
 
+  std::lock_guard lk(frame_lock);
   QPainter p(this);
   // startup msg
-  if (recent_frames.empty()) {
+  if (frames.empty()) {
     p.setPen(Qt::white);
     p.setRenderHint(QPainter::TextAntialiasing);
     p.setFont(InterFont(100, QFont::Bold));
@@ -45,6 +47,7 @@ void DriverViewWindow::paintGL() {
   cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2();
   bool is_rhd = driver_state.getWheelOnRightProb() > 0.5;
   auto driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData();
+
   bool face_detected = driver_data.getFaceProb() > 0.7;
   if (face_detected) {
     auto fxy_list = driver_data.getFacePosition();
diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h
index 97dd2faa78..155e4ede32 100644
--- a/selfdrive/ui/qt/offroad/driverview.h
+++ b/selfdrive/ui/qt/offroad/driverview.h
@@ -2,7 +2,7 @@
 
 #include "selfdrive/ui/qt/widgets/cameraview.h"
 
-class DriverViewWindow : public CameraView {
+class DriverViewWindow : public CameraWidget {
   Q_OBJECT
 
 public:
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index 637d727581..f7fb6b480f 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -6,11 +6,11 @@
 #include <cmath>
 
 #include "common/swaglog.h"
+#include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/util.h"
 
 // Window that shows camera view and variety of info drawn on top
-AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget *parent)
-    : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
+AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
   pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});
 
   main_layout = new QVBoxLayout(this);
@@ -76,8 +76,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
     map_settings_btn->setVisible(!hideBottomIcons);
     main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom);
   }
-
-  update();
 }
 
 void AnnotatedCameraWidget::drawHud(QPainter &p) {
@@ -355,8 +353,25 @@ void AnnotatedCameraWidget::paintGL() {
   UIState *s = uiState();
   SubMaster &sm = *(s->sm);
   const double start_draw_t = millis_since_boot();
+  const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();
 
+  // draw camera frame
   {
+    std::lock_guard lk(frame_lock);
+
+    if (frames.empty()) {
+      if (skip_frame_count > 0) {
+        skip_frame_count--;
+        qDebug() << "skipping frame, not ready";
+        return;
+      }
+    } else {
+      // skip drawing up to this many frames if we're
+      // missing camera frames. this smooths out the
+      // transitions from the narrow and wide cameras
+      skip_frame_count = 5;
+    }
+
     // Wide or narrow cam dependent on speed
     bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD);
     if (has_wide_cam) {
@@ -372,16 +387,14 @@ void AnnotatedCameraWidget::paintGL() {
     }
     CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
 
-    s->scene.wide_cam = CameraWidget::streamType() == VISION_STREAM_WIDE_ROAD;
+    s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD;
     if (s->scene.calibration_valid) {
       auto calib = s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib;
       CameraWidget::updateCalibration(calib);
     } else {
       CameraWidget::updateCalibration(DEFAULT_CALIBRATION);
     }
-
-    // Draw the frame based on the UI plan's frame ID
-    CameraWidget::setFrameId(sm["uiPlan"].getUiPlan().getFrameId());
+    CameraWidget::setFrameId(model.getFrameId());
     CameraWidget::paintGL();
   }
 
@@ -390,7 +403,6 @@ void AnnotatedCameraWidget::paintGL() {
   painter.setPen(Qt::NoPen);
 
   if (s->scene.world_objects_visible) {
-    const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();
     update_model(s, model, sm["uiPlan"].getUiPlan());
     drawLaneLines(painter, s);
 
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index b25846001e..0be4adfffa 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -37,6 +37,7 @@ private:
   int status = STATUS_DISENGAGED;
   std::unique_ptr<PubMaster> pm;
 
+  int skip_frame_count = 0;
   bool wide_cam_requested = false;
 
 protected:
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index a7d4432de0..e4f1396268 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -97,22 +97,37 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio)
 
 } // namespace
 
-CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget *parent)
-    : stream_name(stream_name), stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
+CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
+                          stream_name(stream_name), active_stream_type(type), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
+  setAttribute(Qt::WA_OpaquePaintEvent);
+  qRegisterMetaType<std::set<VisionStreamType>>("availableStreams");
+  QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
+  QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection);
+  QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection);
 }
 
 CameraWidget::~CameraWidget() {
   makeCurrent();
+  stopVipcThread();
   if (isValid()) {
     glDeleteVertexArrays(1, &frame_vao);
     glDeleteBuffers(1, &frame_vbo);
     glDeleteBuffers(1, &frame_ibo);
     glDeleteBuffers(2, textures);
   }
-  clearEGLImages();
   doneCurrent();
 }
 
+// Qt uses device-independent pixels, depending on platform this may be
+// different to what OpenGL uses
+int CameraWidget::glWidth() {
+    return width() * devicePixelRatio();
+}
+
+int CameraWidget::glHeight() {
+  return height() * devicePixelRatio();
+}
+
 void CameraWidget::initializeGL() {
   initializeOpenGLFunctions();
 
@@ -126,7 +141,7 @@ void CameraWidget::initializeGL() {
   GLint frame_pos_loc = program->attributeLocation("aPosition");
   GLint frame_texcoord_loc = program->attributeLocation("aTexCoord");
 
-  auto [x1, x2, y1, y2] = stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f);
+  auto [x1, x2, y1, y2] = requested_stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f);
   const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3};
   const float frame_coords[4][4] = {
     {-1.0, -1.0, x2, y1}, // bl
@@ -163,11 +178,45 @@ void CameraWidget::initializeGL() {
 #endif
 }
 
+void CameraWidget::showEvent(QShowEvent *event) {
+  if (!vipc_thread) {
+    clearFrames();
+    vipc_thread = new QThread();
+    connect(vipc_thread, &QThread::started, [=]() { vipcThread(); });
+    connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater);
+    vipc_thread->start();
+  }
+}
+
+void CameraWidget::stopVipcThread() {
+  makeCurrent();
+  if (vipc_thread) {
+    vipc_thread->requestInterruption();
+    vipc_thread->quit();
+    vipc_thread->wait();
+    vipc_thread = nullptr;
+  }
+
+#ifdef QCOM2
+  EGLDisplay egl_display = eglGetCurrentDisplay();
+  assert(egl_display != EGL_NO_DISPLAY);
+  for (auto &pair : egl_images) {
+    eglDestroyImageKHR(egl_display, pair.second);
+    assert(eglGetError() == EGL_SUCCESS);
+  }
+  egl_images.clear();
+#endif
+}
+
+void CameraWidget::availableStreamsUpdated(std::set<VisionStreamType> streams) {
+  available_streams = streams;
+}
+
 void CameraWidget::updateFrameMat() {
   int w = glWidth(), h = glHeight();
 
   if (zoomed_view) {
-    if (streamType() == VISION_STREAM_DRIVER) {
+    if (active_stream_type == VISION_STREAM_DRIVER) {
       if (stream_width > 0 && stream_height > 0) {
         frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
       }
@@ -176,7 +225,7 @@ void CameraWidget::updateFrameMat() {
       // to ensure this ends up in the middle of the screen
       // for narrow come and a little lower for wide cam.
       // TODO: use proper perspective transform?
-      if (streamType() == VISION_STREAM_WIDE_ROAD) {
+      if (active_stream_type == VISION_STREAM_WIDE_ROAD) {
         intrinsic_matrix = ECAM_INTRINSIC_MATRIX;
         zoom = 2.0;
       } else {
@@ -198,12 +247,13 @@ void CameraWidget::updateFrameMat() {
 
       float zx = zoom * 2 * intrinsic_matrix.v[2] / w;
       float zy = zoom * 2 * intrinsic_matrix.v[5] / h;
-      frame_mat = {{
+      const mat4 frame_transform = {{
         zx, 0.0, 0.0, -x_offset / w * 2,
         0.0, zy, 0.0, y_offset / h * 2,
         0.0, 0.0, 1.0, 0.0,
         0.0, 0.0, 0.0, 1.0,
       }};
+      frame_mat = frame_transform;
     }
   } else if (stream_width > 0 && stream_height > 0) {
     // fit frame to widget size
@@ -221,15 +271,25 @@ void CameraWidget::paintGL() {
   glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
   glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
 
-  VisionBuf *frame = receiveFrame(draw_frame_id);
-  if (!frame) return;
+  std::lock_guard lk(frame_lock);
+  if (frames.empty()) return;
+
+  int frame_idx = frames.size() - 1;
+
+  // Always draw latest frame until sync logic is more stable
+  // for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) {
+  //   if (frames[frame_idx].first == draw_frame_id) break;
+  // }
 
   // Log duplicate/dropped frames
-  uint32_t frame_id = frame->get_frame_id();
-  if (prev_frame_id != INVALID_FRAME_ID && frame_id != prev_frame_id + 1) {
-    qDebug() << (frame_id == prev_frame_id ? "Drawing same frame twice" : "Skip frame") << frame_id;
+  if (frames[frame_idx].first == prev_frame_id) {
+    qDebug() << "Drawing same frame twice" << frames[frame_idx].first;
+  } else if (frames[frame_idx].first != prev_frame_id + 1) {
+    qDebug() << "Skipped frame" << frames[frame_idx].first;
   }
-  prev_frame_id = frame_id;
+  prev_frame_id = frames[frame_idx].first;
+  VisionBuf *frame = frames[frame_idx].second;
+  assert(frame != nullptr);
 
   updateFrameMat();
 
@@ -269,14 +329,20 @@ void CameraWidget::paintGL() {
   glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
 }
 
-void CameraWidget::vipcConnected() {
+void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) {
+  makeCurrent();
   stream_width = vipc_client->buffers[0].width;
   stream_height = vipc_client->buffers[0].height;
   stream_stride = vipc_client->buffers[0].stride;
 
 #ifdef QCOM2
-  clearEGLImages();
   EGLDisplay egl_display = eglGetCurrentDisplay();
+  assert(egl_display != EGL_NO_DISPLAY);
+  for (auto &pair : egl_images) {
+    eglDestroyImageKHR(egl_display, pair.second);
+  }
+  egl_images.clear();
+
   for (int i = 0; i < vipc_client->num_buffers; i++) {  // import buffers into OpenGL
     int fd = dup(vipc_client->buffers[i].fd);  // eglDestroyImageKHR will close, so duplicate
     EGLint img_attrs[] = {
@@ -313,78 +379,59 @@ void CameraWidget::vipcConnected() {
 #endif
 }
 
-VisionBuf *CameraWidget::receiveFrame(uint64_t request_frame_id) {
-  if (!ensureConnection()) {
-    return nullptr;
-  }
+void CameraWidget::vipcFrameReceived() {
+  update();
+}
 
-  // Receive frames and store them in recent_frames
-  while (auto buf = vipc_client->recv(nullptr, 0)) {
-    recent_frames.emplace_back(buf);
-    if (recent_frames.size() > FRAME_BUFFER_SIZE) {
-      recent_frames.pop_front();
+void CameraWidget::vipcThread() {
+  VisionStreamType cur_stream = requested_stream_type;
+  std::unique_ptr<VisionIpcClient> vipc_client;
+  VisionIpcBufExtra meta_main = {0};
+
+  while (!QThread::currentThread()->isInterruptionRequested()) {
+    if (!vipc_client || cur_stream != requested_stream_type) {
+      clearFrames();
+      qDebug().nospace() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream;
+      cur_stream = requested_stream_type;
+      vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false));
     }
-  }
-  if (!vipc_client->connected || recent_frames.empty()) {
-    return nullptr;
-  }
-
-  // Find the requested frame
-  auto it = std::find_if(recent_frames.rbegin(), recent_frames.rend(),
-                         [request_frame_id](VisionBuf *buf) { return buf->get_frame_id() == request_frame_id; });
-  return it != recent_frames.rend() ? *it : recent_frames.back();
-}
+    active_stream_type = cur_stream;
+
+    if (!vipc_client->connected) {
+      clearFrames();
+      auto streams = VisionIpcClient::getAvailableStreams(stream_name, false);
+      if (streams.empty()) {
+        QThread::msleep(100);
+        continue;
+      }
+      emit vipcAvailableStreamsUpdated(streams);
 
-bool CameraWidget::ensureConnection() {
-  // Reconnect if the client is not initialized or the stream type has changed
-  if (!vipc_client || vipc_client->type != stream_type) {
-    qDebug() << "connecting to stream" << stream_type;
-    vipc_client.reset(new VisionIpcClient(stream_name, stream_type, false));
-  }
+      if (!vipc_client->connect(false)) {
+        QThread::msleep(100);
+        continue;
+      }
+      emit vipcThreadConnected(vipc_client.get());
+    }
 
-  // Re-establish connection if not connected
-  if (!vipc_client->connected) {
-    clearFrames();
-    available_streams = VisionIpcClient::getAvailableStreams(stream_name, false);
-    if (available_streams.empty() || !vipc_client->connect(false)) {
-      return false;
+    if (VisionBuf *buf = vipc_client->recv(&meta_main, 1000)) {
+      {
+        std::lock_guard lk(frame_lock);
+        frames.push_back(std::make_pair(meta_main.frame_id, buf));
+        while (frames.size() > FRAME_BUFFER_SIZE) {
+          frames.pop_front();
+        }
+      }
+      emit vipcThreadFrameReceived();
+    } else {
+      if (!isVisible()) {
+        vipc_client->connected = false;
+      }
     }
-    emit vipcAvailableStreamsUpdated();
-    vipcConnected();
   }
-  return true;
 }
 
 void CameraWidget::clearFrames() {
-  recent_frames.clear();
-  draw_frame_id = INVALID_FRAME_ID;
-  prev_frame_id = INVALID_FRAME_ID;
-}
-
-void CameraWidget::clearEGLImages() {
-#ifdef QCOM2
-  EGLDisplay egl_display = eglGetCurrentDisplay();
-  assert(egl_display != EGL_NO_DISPLAY);
-  for (auto &pair : egl_images) {
-    eglDestroyImageKHR(egl_display, pair.second);
-  }
-  egl_images.clear();
-#endif
-}
-
-// Cameraview
-
-CameraView::CameraView(const std::string &name, VisionStreamType stream_type, bool zoom, QWidget *parent)
-    : CameraWidget(name, stream_type, zoom, parent) {
-  timer = new QTimer(this);
-  timer->setInterval(1000.0 / UI_FREQ);
-  timer->callOnTimeout(this, [this]() { update(); });
-}
-
-void CameraView::showEvent(QShowEvent *event) {
-  timer->start();
-}
-
-void CameraView::hideEvent(QHideEvent *event) {
-  timer->stop();
+  std::lock_guard lk(frame_lock);
+  frames.clear();
+  available_streams.clear();
 }
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index fb31d094bb..c97038cf43 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -3,6 +3,7 @@
 #include <deque>
 #include <map>
 #include <memory>
+#include <mutex>
 #include <set>
 #include <string>
 #include <utility>
@@ -10,7 +11,7 @@
 #include <QOpenGLFunctions>
 #include <QOpenGLShaderProgram>
 #include <QOpenGLWidget>
-#include <QTimer>
+#include <QThread>
 
 #ifdef QCOM2
 #define EGL_EGLEXT_PROTOTYPES
@@ -26,40 +27,40 @@
 #include "selfdrive/ui/ui.h"
 
 const int FRAME_BUFFER_SIZE = 5;
-const uint32_t INVALID_FRAME_ID = -1;
 static_assert(FRAME_BUFFER_SIZE <= YUV_BUFFER_COUNT);
 
 class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions {
   Q_OBJECT
 
 public:
+  using QOpenGLWidget::QOpenGLWidget;
   explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr);
   ~CameraWidget();
   void setBackgroundColor(const QColor &color) { bg = color; }
   void setFrameId(int frame_id) { draw_frame_id = frame_id; }
-  void setStreamType(VisionStreamType type) { stream_type = type; }
-  inline VisionStreamType streamType() const { return stream_type; }
-  inline const std::set<VisionStreamType> &availableStreams() const { return available_streams; }
-  VisionBuf *receiveFrame(uint64_t request_frame_id = INVALID_FRAME_ID);
+  void setStreamType(VisionStreamType type) { requested_stream_type = type; }
+  VisionStreamType getStreamType() { return active_stream_type; }
+  void stopVipcThread();
 
 signals:
-  void vipcAvailableStreamsUpdated();
   void clicked();
+  void vipcThreadConnected(VisionIpcClient *);
+  void vipcThreadFrameReceived();
+  void vipcAvailableStreamsUpdated(std::set<VisionStreamType>);
 
 protected:
-  bool ensureConnection();
   void paintGL() override;
   void initializeGL() override;
-  void vipcConnected();
-  void clearFrames();
-  void clearEGLImages();
-
   void resizeGL(int w, int h) override { updateFrameMat(); }
+  void showEvent(QShowEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
   virtual void updateFrameMat();
   void updateCalibration(const mat3 &calib);
-  int glWidth() const { return width() * devicePixelRatio(); }
-  int glHeight() const { return height() * devicePixelRatio(); }
+  void vipcThread();
+  void clearFrames();
+
+  int glWidth();
+  int glHeight();
 
   bool zoomed_view;
   GLuint frame_vao, frame_vbo, frame_ibo;
@@ -76,7 +77,10 @@ protected:
   int stream_width = 0;
   int stream_height = 0;
   int stream_stride = 0;
-  VisionStreamType stream_type;
+  std::atomic<VisionStreamType> active_stream_type;
+  std::atomic<VisionStreamType> requested_stream_type;
+  std::set<VisionStreamType> available_streams;
+  QThread *vipc_thread = nullptr;
 
   // Calibration
   float x_offset = 0;
@@ -85,21 +89,15 @@ protected:
   mat3 calibration = DEFAULT_CALIBRATION;
   mat3 intrinsic_matrix = FCAM_INTRINSIC_MATRIX;
 
-  std::set<VisionStreamType> available_streams;
-  std::unique_ptr<VisionIpcClient> vipc_client;
-  std::deque<VisionBuf*> recent_frames;
-  uint32_t draw_frame_id = INVALID_FRAME_ID;
-  uint32_t prev_frame_id = INVALID_FRAME_ID;
-};
-
-// update frames based on timer
-class CameraView : public CameraWidget {
-  Q_OBJECT
-public:
-  CameraView(const std::string &name, VisionStreamType stream_type, bool zoom, QWidget *parent = nullptr);
-  void showEvent(QShowEvent *event) override;
-  void hideEvent(QHideEvent *event) override;
+  std::recursive_mutex frame_lock;
+  std::deque<std::pair<uint32_t, VisionBuf*>> frames;
+  uint32_t draw_frame_id = 0;
+  uint32_t prev_frame_id = 0;
 
-private:
-  QTimer *timer;
+protected slots:
+  void vipcConnected(VisionIpcClient *vipc_client);
+  void vipcFrameReceived();
+  void availableStreamsUpdated(std::set<VisionStreamType> streams);
 };
+
+Q_DECLARE_METATYPE(std::set<VisionStreamType>);
diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc
index cb12f82ea8..ec35c29b6b 100644
--- a/selfdrive/ui/watch3.cc
+++ b/selfdrive/ui/watch3.cc
@@ -19,15 +19,15 @@ int main(int argc, char *argv[]) {
   {
     QHBoxLayout *hlayout = new QHBoxLayout();
     layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraView("navd", VISION_STREAM_MAP, false));
-    hlayout->addWidget(new CameraView("camerad", VISION_STREAM_ROAD, false));
+    hlayout->addWidget(new CameraWidget("navd", VISION_STREAM_MAP, false));
+    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false));
   }
 
   {
     QHBoxLayout *hlayout = new QHBoxLayout();
     layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraView("camerad", VISION_STREAM_DRIVER, false));
-    hlayout->addWidget(new CameraView("camerad", VISION_STREAM_WIDE_ROAD, false));
+    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER, false));
+    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD, false));
   }
 
   return a.exec();
diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc
index c4bd91bcf7..313a0f57a1 100644
--- a/system/loggerd/encoder/encoder.cc
+++ b/system/loggerd/encoder/encoder.cc
@@ -6,7 +6,12 @@ VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in
   out_width = encoder_info.frame_width > 0 ? encoder_info.frame_width : in_width;
   out_height = encoder_info.frame_height > 0 ? encoder_info.frame_height : in_height;
 
-  pm.reset(new PubMaster({encoder_info.publish_name}));
+
+  std::vector pubs = {encoder_info.publish_name};
+  if (encoder_info.thumbnail_name != NULL) {
+    pubs.push_back(encoder_info.thumbnail_name);
+  }
+  pm.reset(new PubMaster(pubs));
 }
 
 void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra,
@@ -40,4 +45,15 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t
   kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>(e->msg_cache.data(), bytes_size));
   capnp::writeMessage(output_stream, msg);
   e->pm->send(e->encoder_info.publish_name, e->msg_cache.data(), bytes_size);
-}
+
+  // Publish keyframe thumbnail
+  if ((flags & V4L2_BUF_FLAG_KEYFRAME) && e->encoder_info.thumbnail_name != NULL) {
+    MessageBuilder tm;
+    auto thumbnail = tm.initEvent().initThumbnail();
+    thumbnail.setFrameId(extra.frame_id);
+    thumbnail.setTimestampEof(extra.timestamp_eof);
+    thumbnail.setThumbnail(dat);
+    thumbnail.setEncoding(cereal::Thumbnail::Encoding::KEYFRAME);
+    pm->send(e->encoder_info.thumbnail_name, tm);
+  }
+}
\ No newline at end of file
diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h
index 7c203f9193..75183611b3 100644
--- a/system/loggerd/encoder/encoder.h
+++ b/system/loggerd/encoder/encoder.h
@@ -25,6 +25,8 @@ public:
   void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
 
 protected:
+  void publish_thumbnail(uint32_t frame_id, uint64_t timestamp_eof, kj::ArrayPtr<capnp::byte> dat);
+
   int in_width, in_height;
   int out_width, out_height;
   const EncoderInfo encoder_info;
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index ea288f4861..5eef161834 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -33,6 +33,7 @@ constexpr char PRESERVE_ATTR_VALUE = '1';
 class EncoderInfo {
 public:
   const char *publish_name;
+  const char *thumbnail_name = NULL;
   const char *filename = NULL;
   bool record = true;
   int frame_width = -1;
@@ -76,6 +77,7 @@ const EncoderInfo main_driver_encoder_info = {
 
 const EncoderInfo stream_road_encoder_info = {
   .publish_name = "livestreamRoadEncodeData",
+  //.thumbnail_name = "thumbnail",
   .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
   .record = false,
   .bitrate = LIVESTREAM_BITRATE,
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 8ce812282f..cd412f7271 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -139,7 +139,7 @@ QWidget *VideoWidget::createCameraWidget() {
 
   QStackedLayout *stacked = new QStackedLayout();
   stacked->setStackingMode(QStackedLayout::StackAll);
-  stacked->addWidget(cam_widget = new CameraView("camerad", VISION_STREAM_ROAD, false));
+  stacked->addWidget(cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false));
   cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
   cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
   stacked->addWidget(alert_label = new InfoLabel(this));
@@ -161,13 +161,12 @@ QWidget *VideoWidget::createCameraWidget() {
   return w;
 }
 
-void VideoWidget::vipcAvailableStreamsUpdated() {
+void VideoWidget::vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams) {
   static const QString stream_names[] = {
     [VISION_STREAM_ROAD] = "Road camera",
     [VISION_STREAM_WIDE_ROAD] = "Wide road camera",
     [VISION_STREAM_DRIVER] = "Driver camera"};
 
-  const auto &streams = cam_widget->availableStreams();
   for (int i = 0; i < streams.size(); ++i) {
     if (camera_tab->count() <= i) {
       camera_tab->addTab(QString());
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index ae095fd559..b2039e09a4 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -73,9 +73,9 @@ protected:
   QWidget *createCameraWidget();
   QHBoxLayout *createPlaybackController();
   void loopPlaybackClicked();
-  void vipcAvailableStreamsUpdated();
+  void vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams);
 
-  CameraView *cam_widget;
+  CameraWidget *cam_widget;
   double maximum_time = 0;
   QToolButton *time_btn = nullptr;
   ToolButton *seek_backward_btn = nullptr;
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 70a7ff2ea7..72402b3bf7 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -51,7 +51,6 @@ function install_ubuntu_common_requirements() {
     libncurses5-dev \
     libncursesw5-dev \
     libomp-dev \
-    libopencv-dev \
     libpng16-16 \
     libportaudio2 \
     libssl-dev \
diff --git a/tools/rerun/run.py b/tools/rerun/run.py
index 271f127d33..8a002f68ba 100755
--- a/tools/rerun/run.py
+++ b/tools/rerun/run.py
@@ -1,8 +1,9 @@
 #!/usr/bin/env python3
-import subprocess
 import sys
 import argparse
 import multiprocessing
+import rerun as rr
+import rerun.blueprint as rrb
 from functools import partial
 
 from openpilot.tools.lib.logreader import LogReader
@@ -11,14 +12,6 @@ from cereal.services import SERVICE_LIST
 
 NUM_CPUS = multiprocessing.cpu_count()
 DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
-WHEEL_URL = "https://build.rerun.io/commit/660463d/wheels"
-
-
-def install():
-  # currently requires a preview release build
-  subprocess.run([sys.executable, "-m", "pip", "install", "--pre", "-f", WHEEL_URL, "--upgrade", "rerun-sdk"], check=True)
-  print("Rerun installed")
-
 
 def log_msg(msg, parent_key=''):
   stack = [(msg, parent_key)]
@@ -45,7 +38,6 @@ def log_msg(msg, parent_key=''):
     else:
       pass  # Not a plottable value
 
-
 def createBlueprint():
   timeSeriesViews = []
   for topic in sorted(SERVICE_LIST.keys()):
@@ -55,12 +47,10 @@ def createBlueprint():
                                         rrb.Spatial2DView(name="thumbnail", origin="/thumbnail")))
   return blueprint
 
-
 def log_thumbnail(thumbnailMsg):
   bytesImgData = thumbnailMsg.get('thumbnail')
   rr.log("/thumbnail", rr.ImageEncoded(contents=bytesImgData))
 
-
 def process(blueprint, lr):
   ret = []
   rr.init("rerun_test", spawn=True, default_blueprint=blueprint)
@@ -73,12 +63,10 @@ def process(blueprint, lr):
       log_thumbnail(msg.to_dict()[msg.which()])
   return ret
 
-
 if __name__ == '__main__':
   parser = argparse.ArgumentParser(description="A helper to run rerun on openpilot routes",
                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
   parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
-  parser.add_argument("--install", action="store_true", help="Install or update rerun")
   parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot")
 
   if len(sys.argv) == 1:
@@ -86,16 +74,6 @@ if __name__ == '__main__':
     sys.exit()
 
   args = parser.parse_args()
-  if args.install:
-    install()
-    sys.exit()
-
-  try:
-    import rerun as rr
-    import rerun.blueprint as rrb
-  except ImportError:
-    print("Rerun is not installed, run with --install first")
-    sys.exit()
 
   route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
   blueprint = createBlueprint()
diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py
index 28fa462a1c..b53f4524a0 100755
--- a/tools/sim/tests/test_metadrive_bridge.py
+++ b/tools/sim/tests/test_metadrive_bridge.py
@@ -1,5 +1,8 @@
 #!/usr/bin/env python3
 import pytest
+import warnings
+# Since metadrive depends on pkg_resources, and pkg_resources is deprecated as an API
+warnings.filterwarnings("ignore", category=DeprecationWarning)
 
 from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
 from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase