diff --git a/cereal b/cereal
index f1463a08ee..f86de2b1a3 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit f1463a08eebd98725724cb21c5966ea7b23da8b8
+Subproject commit f86de2b1a36276e2c5a3ada4a1e8f0fe3e7e5ff2
diff --git a/panda b/panda
index b2cf197679..a35e9a1edb 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit b2cf1976796dbd9f700a76543466c8c9c9665827
+Subproject commit a35e9a1edb1e685f00f4dd9d874043f56ea771fc
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 4205d84781..866ff1aa20 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -419,6 +419,10 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
       cs[j].setCanfdEnabled(can_health.canfd_enabled);
       cs[j].setBrsEnabled(can_health.brs_enabled);
       cs[j].setCanfdNonIso(can_health.canfd_non_iso);
+      cs[j].setIrq0CallRate(can_health.irq0_call_rate);
+      cs[j].setIrq1CallRate(can_health.irq1_call_rate);
+      cs[j].setIrq2CallRate(can_health.irq2_call_rate);
+      cs[j].setCanCoreResetCnt(can_health.can_core_reset_cnt);
     }
 
     // Convert faults bitset to capnp list
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 2a930e735e..2ef80420bd 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -43,6 +43,7 @@ class CarController:
 
     main_on = CS.out.cruiseState.available
     steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
+    fcw_alert = hud_control.visualAlert == VisualAlert.fcw
 
     ### acc buttons ###
     if CC.cruiseControl.cancel:
@@ -100,7 +101,7 @@ class CarController:
     # send acc ui msg at 5Hz or if ui state changes
     if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
       can_sends.append(create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
-                                         CS.out.cruiseState.standstill, hud_control,
+                                         fcw_alert, CS.out.cruiseState.standstill, hud_control,
                                          CS.acc_tja_status_stock_values))
 
     self.main_on_last = main_on
diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
index ca95ac0a0d..a49d7ad85d 100644
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@@ -142,8 +142,8 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl
   return packer.make_can_msg("ACCDATA", CAN.main, values)
 
 
-def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, standstill: bool, hud_control,
-                      stock_values: dict):
+def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, standstill: bool,
+                      hud_control, stock_values: dict):
   """
   Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
   assist status.
@@ -214,6 +214,10 @@ def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, sta
       "AccTGap_D_Dsply": 4,                                       # Fixed time gap in UI
     })
 
+  # Forwards FCW alert from IPMA
+  if fcw_alert:
+    values["FcwVisblWarn_B_Rq"] = 1  # FCW visible alert
+
   return packer.make_can_msg("ACCDATA_3", CAN.main, values)
 
 
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index 1031361350..47f7612c8e 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -9,17 +9,17 @@ def create_steer_command(packer, steer, steer_req):
   return packer.make_can_msg("STEERING_LKA", 0, values)
 
 
-def create_lta_steer_command(packer, steer, steer_req, raw_cnt):
+def create_lta_steer_command(packer, steer_angle, steer_req, frame):
   """Creates a CAN message for the Toyota LTA Steer Command."""
 
   values = {
-    "COUNTER": raw_cnt + 128,
+    "COUNTER": frame + 128,
     "SETME_X1": 1,
     "SETME_X3": 3,
     "PERCENTAGE": 100,
     "SETME_X64": 0,
     "ANGLE": 0,
-    "STEER_ANGLE_CMD": steer,
+    "STEER_ANGLE_CMD": steer_angle,
     "STEER_REQUEST": steer_req,
     "STEER_REQUEST_2": steer_req,
     "BIT": 0,