diff --git a/cereal b/cereal
index dffb99383e..4222bc9104 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit dffb99383e4544d817765325f509d62698d9a562
+Subproject commit 4222bc91043b4c9860a2abd31a8f5bda53593962
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 9def1ca86b..aec368cd00 100755
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -61,7 +61,7 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret)
 
     if self.CS.lkas_state not in [2, 3] and ret.vEgo > 13. * CV.MPH_TO_MS and ret.cruiseState.enabled:
-      events.add(car.CarEvent.EventName.steerTempUnavailableMute)
+      events.add(car.CarEvent.EventName.steerTempUnavailable)
 
     ret.events = events.to_msg()
 
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 2f7d8f473b..7c28406cbc 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -156,7 +156,7 @@ class CarInterface(CarInterfaceBase):
     if ret.cruiseState.standstill:
       events.add(EventName.resumeRequired)
     if self.CS.pcm_acc_status == AccState.FAULTED:
-      events.add(EventName.controlsFailed)
+      events.add(EventName.accFaulted)
     if ret.vEgo < self.CP.minSteerSpeed:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 12fd6519be..019016a8da 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -171,7 +171,7 @@ class EngagementAlert(Alert):
 class NormalPermanentAlert(Alert):
   def __init__(self, alert_text_1, alert_text_2):
     super().__init__(alert_text_1, alert_text_2,
-                     AlertStatus.normal, AlertSize.mid,
+                     AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small,
                      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
 # ********** alert callback functions **********
@@ -292,6 +292,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
       "Stock AEB: Risk of Collision",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 1., 2., 2.),
+    ET.NO_ENTRY: NoEntryAlert("Stock AEB: Risk of Collision"),
   },
 
   EventName.stockFcw: {
@@ -300,6 +301,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
       "Stock FCW: Risk of Collision",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 1., 2., 2.),
+    ET.NO_ENTRY: NoEntryAlert("Stock FCW: Risk of Collision"),
   },
 
   EventName.fcw: {
@@ -330,6 +332,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
 
   EventName.vehicleModelInvalid: {
     ET.NO_ENTRY: NoEntryAlert("Vehicle Parameter Identification Failed"),
+    ET.SOFT_DISABLE: SoftDisableAlert("Vehicle Parameter Identification Failed"),
     ET.WARNING: Alert(
       "Vehicle Parameter Identification Failed",
       "",
@@ -337,14 +340,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
       Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),
   },
 
-  EventName.steerTempUnavailableMute: {
-    ET.WARNING: Alert(
-      "TAKE CONTROL",
-      "Steering Temporarily Unavailable",
-      AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2, .2, .2),
-  },
-
   EventName.preDriverDistracted: {
     ET.WARNING: Alert(
       "KEEP EYES ON ROAD: Driver Distracted",
@@ -518,11 +513,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
   },
 
   EventName.steerTempUnavailable: {
-    ET.WARNING: Alert(
-      "TAKE CONTROL",
-      "Steering Temporarily Unavailable",
-      AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 1.),
+    ET.SOFT_DISABLE: SoftDisableAlert("Steering Temporarily Unavailable"),
     ET.NO_ENTRY: NoEntryAlert("Steering Temporarily Unavailable",
                               duration_hud_alert=0.),
   },
@@ -648,9 +639,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
                                audible_alert=AudibleAlert.chimeDisengage),
   },
 
-  EventName.controlsFailed: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Failed"),
-    ET.NO_ENTRY: NoEntryAlert("Controls Failed"),
+  EventName.accFaulted: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Faulted"),
+    ET.PERMANENT: NormalPermanentAlert("Cruise Faulted", ""),
+    ET.NO_ENTRY: NoEntryAlert("Cruise Faulted"),
   },
 
   EventName.controlsMismatch: {
@@ -734,7 +726,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
       "Speed Too High",
       "Model uncertain at this speed",
       AlertStatus.normal, AlertSize.mid,
-      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.none, 2.2, 3., 4.),
+      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
     ET.NO_ENTRY: Alert(
       "Speed Too High",
       "Slow down to engage",
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 84709e3504..075120f750 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-305c7a50812c20094998975b2966a7a5ad768e96
\ No newline at end of file
+8f1c3a315c4cce62459c48bfb405b5d8c0fc2760
\ No newline at end of file