diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index a0ff582e68..a7a63658ed 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -11,7 +11,6 @@
     "DISPLAY": "${localEnv:DISPLAY}",
     "PYTHONPATH": "${containerWorkspaceFolder}",
     "TERM": "xterm-256color",
-    "CARLA_HOST": "host.docker.internal",
     "force_color_prompt": "1"
   },
   "runArgs": [
diff --git a/README.md b/README.md
index 7d051ada14..d85d1e5676 100644
--- a/README.md
+++ b/README.md
@@ -58,7 +58,7 @@ All openpilot services can run as usual on a PC without requiring special hardwa
 
 With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
 
-You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.
+You can also run openpilot in simulation [with the MetaDrive simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.
 
 A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness).
 
diff --git a/poetry.lock b/poetry.lock
index da14fcc1eb..c77d7e939b 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e7e3be3454e2f4a74667fce67eda6068e5296f9dad824fc2ea8c21566dc77b29
-size 438272
+oid sha256:f50587d07fa2c3b8740ae7c7983bc66929baae1470cc2ce486351e4496f6d14b
+size 435724
diff --git a/pyproject.toml b/pyproject.toml
index c6a13c4b86..58c506e378 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -168,12 +168,6 @@ types-tabulate = "*"
 # this is only pinned since 5.15.11 is broken
 pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux
 
-[tool.poetry.group.carla]
-optional = true
-
-[tool.poetry.group.carla.dependencies]
-carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" }
-
 [build-system]
 requires = ["poetry-core"]
 build-backend = "poetry.core.masonry.api"
diff --git a/tools/sim/README.md b/tools/sim/README.md
index 0892e77736..72727f765d 100644
--- a/tools/sim/README.md
+++ b/tools/sim/README.md
@@ -1,7 +1,7 @@
 openpilot in simulator
 =====================
 
-openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive) or [CARLA simulator](https://carla.org/).
+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.
@@ -13,8 +13,7 @@ First, start openpilot.
 ## Bridge usage
 ```
 $ ./run_bridge.py -h
-usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR] [--town TOWN] [--spawn_point NUM_SELECTED_SPAWN_POINT] [--host HOST] [--port PORT]
-
+usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR]
 Bridge between the simulator and openpilot.
 
 options:
@@ -23,10 +22,6 @@ options:
   --high_quality
   --dual_camera
   --simulator SIMULATOR
-  --town TOWN
-  --spawn_point NUM_SELECTED_SPAWN_POINT
-  --host HOST
-  --port PORT
 ```
 
 #### Bridge Controls:
@@ -53,32 +48,4 @@ options:
 Start bridge processes located in tools/sim:
 ``` bash
 ./run_bridge.py --simulator metadrive
-```
-
-## Carla
-
-CARLA is also partially supported, though the performance is not great. It needs to be manually installed with:
-
-```bash
-poetry install --with=carla
-```
-
-openpilot doesn't have any extreme hardware requirements, however CARLA requires an NVIDIA graphics card and is very resource-intensive and may not run smoothly on your system.
-For this case, we have the simulator in low quality by default.
-
-You can also check out the [CARLA python documentation](https://carla.readthedocs.io/en/latest/python_api/) to find more parameters to tune that might increase performance on your system.
-
-### Launching Carla
-Start Carla simulator and bridge processes located in tools/sim:
-``` bash
-# Terminal 1
-./start_carla.sh
-
-# Terminal 2
-./run_bridge.py --simulator carla
-```
-
-## Further Reading
-
-The following resources contain more details and troubleshooting tips.
-* [CARLA on the openpilot wiki](https://github.com/commaai/openpilot/wiki/CARLA)
+```
\ No newline at end of file
diff --git a/tools/sim/bridge/carla/carla_bridge.py b/tools/sim/bridge/carla/carla_bridge.py
deleted file mode 100644
index fe7b34802f..0000000000
--- a/tools/sim/bridge/carla/carla_bridge.py
+++ /dev/null
@@ -1,22 +0,0 @@
-from openpilot.tools.sim.bridge.common import SimulatorBridge
-from openpilot.tools.sim.bridge.carla.carla_world import CarlaWorld
-
-
-class CarlaBridge(SimulatorBridge):
-  TICKS_PER_FRAME = 5
-
-  def __init__(self, arguments):
-    super().__init__(arguments)
-    self.host = arguments.host
-    self.port = arguments.port
-    self.town = arguments.town
-    self.num_selected_spawn_point = arguments.num_selected_spawn_point
-
-  def spawn_world(self):
-    import carla
-
-    client = carla.Client(self.host, self.port)
-    client.set_timeout(5)
-
-    return CarlaWorld(client, high_quality=self.high_quality, dual_camera=self.dual_camera,
-                      num_selected_spawn_point=self.num_selected_spawn_point, town=self.town)
diff --git a/tools/sim/bridge/carla/carla_world.py b/tools/sim/bridge/carla/carla_world.py
deleted file mode 100644
index 14b300ed7b..0000000000
--- a/tools/sim/bridge/carla/carla_world.py
+++ /dev/null
@@ -1,145 +0,0 @@
-import numpy as np
-
-from openpilot.common.params import Params
-from openpilot.tools.sim.lib.common import SimulatorState, vec3
-from openpilot.tools.sim.bridge.common import World
-from openpilot.tools.sim.lib.camerad import W, H
-
-
-class CarlaWorld(World):
-  def __init__(self, client, high_quality, dual_camera, num_selected_spawn_point, town):
-    super().__init__(dual_camera)
-    import carla
-
-    low_quality_layers = carla.MapLayer(carla.MapLayer.Ground | carla.MapLayer.Walls | carla.MapLayer.Decals)
-
-    layers = carla.MapLayer.All if high_quality else low_quality_layers
-
-    world = client.load_world(town, map_layers=layers)
-
-    settings = world.get_settings()
-    settings.fixed_delta_seconds = 0.01
-    world.apply_settings(settings)
-
-    world.set_weather(carla.WeatherParameters.ClearSunset)
-
-    self.world = world
-    world_map = world.get_map()
-
-    blueprint_library = world.get_blueprint_library()
-
-    vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1]
-    vehicle_bp.set_attribute('role_name', 'hero')
-    spawn_points = world_map.get_spawn_points()
-    assert len(spawn_points) > num_selected_spawn_point, \
-      f'''No spawn point {num_selected_spawn_point}, try a value between 0 and {len(spawn_points)} for this town.'''
-    self.spawn_point = spawn_points[num_selected_spawn_point]
-    self.vehicle = world.spawn_actor(vehicle_bp, self.spawn_point)
-
-    physics_control = self.vehicle.get_physics_control()
-    physics_control.mass = 2326
-    physics_control.torque_curve = [[20.0, 500.0], [5000.0, 500.0]]
-    physics_control.gear_switch_time = 0.0
-    self.vehicle.apply_physics_control(physics_control)
-
-    self.vc: carla.VehicleControl = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)
-    self.max_steer_angle: float = self.vehicle.get_physics_control().wheels[0].max_steer_angle
-    self.params = Params()
-
-    self.steer_ratio = 15
-
-    self.carla_objects = []
-
-    transform = carla.Transform(carla.Location(x=0.8, z=1.13))
-
-    def create_camera(fov, callback):
-      blueprint = blueprint_library.find('sensor.camera.rgb')
-      blueprint.set_attribute('image_size_x', str(W))
-      blueprint.set_attribute('image_size_y', str(H))
-      blueprint.set_attribute('fov', str(fov))
-      blueprint.set_attribute('sensor_tick', str(1/20))
-      if not high_quality:
-        blueprint.set_attribute('enable_postprocess_effects', 'False')
-      camera = world.spawn_actor(blueprint, transform, attach_to=self.vehicle)
-      camera.listen(callback)
-      return camera
-
-    self.road_camera = create_camera(fov=40, callback=self.cam_callback_road)
-    if dual_camera:
-      self.road_wide_camera = create_camera(fov=120, callback=self.cam_callback_wide_road)  # fov bigger than 120 shows unwanted artifacts
-    else:
-      self.road_wide_camera = None
-
-    # re-enable IMU
-    imu_bp = blueprint_library.find('sensor.other.imu')
-    imu_bp.set_attribute('sensor_tick', '0.01')
-    self.imu = world.spawn_actor(imu_bp, transform, attach_to=self.vehicle)
-
-    gps_bp = blueprint_library.find('sensor.other.gnss')
-    self.gps = world.spawn_actor(gps_bp, transform, attach_to=self.vehicle)
-    self.params.put_bool("UbloxAvailable", True)
-
-    self.carla_objects = [self.imu, self.gps, self.road_camera, self.road_wide_camera, self.vehicle]
-
-  def close(self):
-    for s in self.carla_objects:
-      if s is not None:
-        try:
-          s.destroy()
-        except Exception as e:
-          print("Failed to destroy carla object", e)
-
-  def carla_image_to_rgb(self, image):
-    rgb = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
-    rgb = np.reshape(rgb, (H, W, 4))
-    return np.ascontiguousarray(rgb[:, :, [0, 1, 2]])
-
-  def cam_callback_road(self, image):
-    with self.image_lock:
-      self.road_image = self.carla_image_to_rgb(image)
-
-  def cam_callback_wide_road(self, image):
-    with self.image_lock:
-      self.wide_road_image = self.carla_image_to_rgb(image)
-
-  def apply_controls(self, steer_angle, throttle_out, brake_out):
-    self.vc.throttle = throttle_out
-
-    steer_carla = steer_angle * -1 / (self.max_steer_angle * self.steer_ratio)
-    steer_carla = np.clip(steer_carla, -1, 1)
-
-    self.vc.steer = steer_carla
-    self.vc.brake = brake_out
-    self.vehicle.apply_control(self.vc)
-
-  def read_sensors(self, simulator_state: SimulatorState):
-    simulator_state.imu.bearing = self.imu.get_transform().rotation.yaw
-
-    simulator_state.imu.accelerometer = vec3(
-      self.imu.get_acceleration().x,
-      self.imu.get_acceleration().y,
-      self.imu.get_acceleration().z
-    )
-
-    simulator_state.imu.gyroscope = vec3(
-      self.imu.get_angular_velocity().x,
-      self.imu.get_angular_velocity().y,
-      self.imu.get_angular_velocity().z
-    )
-
-    simulator_state.gps.from_xy([self.vehicle.get_location().x, self.vehicle.get_location().y])
-
-    simulator_state.velocity = self.vehicle.get_velocity()
-    simulator_state.valid = True
-    simulator_state.steering_angle = self.vc.steer * self.max_steer_angle
-
-  def read_cameras(self):
-    pass # cameras are read within a callback for carla
-
-  def tick(self):
-    self.world.tick()
-
-  def reset(self):
-    import carla
-    self.vehicle.set_transform(self.spawn_point)
-    self.vehicle.set_target_velocity(carla.Vector3D())
diff --git a/tools/sim/lib/simulated_sensors.py b/tools/sim/lib/simulated_sensors.py
index faa8c0691b..e85665f903 100644
--- a/tools/sim/lib/simulated_sensors.py
+++ b/tools/sim/lib/simulated_sensors.py
@@ -44,11 +44,10 @@ class SimulatedSensors:
     if not simulator_state.valid:
       return
 
-    # transform vel from carla to NED
-    # north is -Y in CARLA
+    # transform from vel to NED
     velNED = [
-      -simulator_state.velocity.y,  # north/south component of NED is negative when moving south
-      simulator_state.velocity.x,  # positive when moving east, which is x in carla
+      -simulator_state.velocity.y,
+      simulator_state.velocity.x,
       simulator_state.velocity.z,
     ]
 
diff --git a/tools/sim/run_bridge.py b/tools/sim/run_bridge.py
index 99617b181e..5f0f0d5e99 100755
--- a/tools/sim/run_bridge.py
+++ b/tools/sim/run_bridge.py
@@ -1,12 +1,9 @@
 #!/usr/bin/env python
 import argparse
-import os
 
 from typing import Any
 from multiprocessing import Queue
 
-from openpilot.tools.sim.bridge.common import SimulatorBridge
-from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge
 from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
 
 
@@ -15,13 +12,6 @@ def parse_args(add_args=None):
   parser.add_argument('--joystick', action='store_true')
   parser.add_argument('--high_quality', action='store_true')
   parser.add_argument('--dual_camera', action='store_true')
-  parser.add_argument('--simulator', dest='simulator', type=str, default='metadrive')
-
-  # Carla specific
-  parser.add_argument('--town', type=str, default='Town04_Opt')
-  parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16)
-  parser.add_argument('--host', dest='host', type=str, default=os.environ.get("CARLA_HOST", '127.0.0.1'))
-  parser.add_argument('--port', dest='port', type=int, default=2000)
 
   return parser.parse_args(add_args)
 
@@ -29,13 +19,7 @@ if __name__ == "__main__":
   q: Any = Queue()
   args = parse_args()
 
-  simulator_bridge: SimulatorBridge
-  if args.simulator == "carla":
-    simulator_bridge = CarlaBridge(args)
-  elif args.simulator == "metadrive":
-    simulator_bridge = MetaDriveBridge(args)
-  else:
-    raise AssertionError("simulator type not supported")
+  simulator_bridge = MetaDriveBridge(args)
   p = simulator_bridge.run(q)
 
   if args.joystick:
diff --git a/tools/sim/start_carla.sh b/tools/sim/start_carla.sh
deleted file mode 100755
index f14e0efd16..0000000000
--- a/tools/sim/start_carla.sh
+++ /dev/null
@@ -1,34 +0,0 @@
-#!/bin/bash
-
-# Requires nvidia docker - https://github.com/NVIDIA/nvidia-docker
-if ! $(apt list --installed | grep -q nvidia-container-toolkit); then
-  read -p "Nvidia docker is required. Do you want to install it now? (y/n)";
-  if [ "${REPLY}" == "y" ]; then
-    distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
-    echo $distribution
-    curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -
-    curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
-    sudo apt-get update && sudo apt-get install -y nvidia-docker2 # Also installs docker-ce and nvidia-container-toolkit
-    sudo systemctl restart docker
-  else
-    exit 0
-  fi
-fi
-
-docker pull carlasim/carla:0.9.14
-
-EXTRA_ARGS="-it"
-if [[ "$DETACH" ]]; then
-  EXTRA_ARGS="-d"
-fi
-
-docker kill carla_sim || true
-docker run \
-  --name carla_sim \
-  --rm \
-  --gpus all \
-  --net=host \
-  -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
-  $EXTRA_ARGS \
-  carlasim/carla:0.9.14 \
-  /bin/bash ./CarlaUE4.sh -opengl -nosound -RenderOffScreen -benchmark -fps=20 -quality-level=Low
diff --git a/tools/sim/start_openpilot_docker.sh b/tools/sim/start_openpilot_docker.sh
index 54f4995e45..3dce660579 100755
--- a/tools/sim/start_openpilot_docker.sh
+++ b/tools/sim/start_openpilot_docker.sh
@@ -10,7 +10,7 @@ if ! [[ -z "$MOUNT_OPENPILOT" ]]; then
 fi
 
 if [[ "$CI" ]]; then
-  CMD="CI=1 ${OPENPILOT_DIR}/tools/sim/tests/test_carla_integration.py"
+  CMD="CI=1 ${OPENPILOT_DIR}/tools/sim/tests/test_metadrive_integration.py"
 else
   # expose X to the container
   xhost +local:root
diff --git a/tools/sim/tests/test_carla_bridge.py b/tools/sim/tests/test_carla_bridge.py
deleted file mode 100755
index 3a654c993a..0000000000
--- a/tools/sim/tests/test_carla_bridge.py
+++ /dev/null
@@ -1,45 +0,0 @@
-#!/usr/bin/env python3
-import subprocess
-import time
-import unittest
-from subprocess import Popen
-
-from openpilot.selfdrive.manager.helpers import unblock_stdout
-from openpilot.tools.sim.run_bridge import parse_args
-from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge
-from openpilot.tools.sim.tests.test_sim_bridge import SIM_DIR, TestSimBridgeBase
-
-from typing import Optional
-
-class TestCarlaBridge(TestSimBridgeBase):
-  """
-  Tests need Carla simulator to run
-  """
-  carla_process: Optional[Popen] = None
-
-  def setUp(self):
-    super().setUp()
-
-    # We want to make sure that carla_sim docker isn't still running.
-    subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
-    self.carla_process = subprocess.Popen("./start_carla.sh", cwd=SIM_DIR)
-
-    # Too many lagging messages in bridge.py can cause a crash. This prevents it.
-    unblock_stdout()
-    # Wait 10 seconds to startup carla
-    time.sleep(10)
-
-  def create_bridge(self):
-    return CarlaBridge(parse_args([]))
-
-  def tearDown(self):
-    super().tearDown()
-
-    # Stop carla simulator by removing docker container
-    subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
-    if self.carla_process is not None:
-      self.carla_process.wait()
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py
index 2654526fa8..2a12ef791a 100644
--- a/tools/sim/tests/test_sim_bridge.py
+++ b/tools/sim/tests/test_sim_bridge.py
@@ -14,7 +14,7 @@ class TestSimBridgeBase(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
     if cls is TestSimBridgeBase:
-      raise unittest.SkipTest("Don't run this base class, run test_carla_bridge.py instead")
+      raise unittest.SkipTest("Don't run this base class, run test_metadrive_bridge.py instead")
 
   def setUp(self):
     self.processes = []
@@ -26,15 +26,15 @@ class TestSimBridgeBase(unittest.TestCase):
 
     sm = messaging.SubMaster(['controlsState', 'onroadEvents', 'managerState'])
     q = Queue()
-    carla_bridge = self.create_bridge()
-    p_bridge = carla_bridge.run(q, retries=10)
+    bridge = self.create_bridge()
+    p_bridge = bridge.run(q, retries=10)
     self.processes.append(p_bridge)
 
     max_time_per_step = 60
 
     # Wait for bridge to startup
     start_waiting = time.monotonic()
-    while not carla_bridge.started and time.monotonic() < start_waiting + max_time_per_step:
+    while not bridge.started and time.monotonic() < start_waiting + max_time_per_step:
       time.sleep(0.1)
     self.assertEqual(p_bridge.exitcode, None, f"Bridge process should be running, but exited with code {p_bridge.exitcode}")
 
diff --git a/tools/sim/tmux_script.sh b/tools/sim/tmux_script.sh
deleted file mode 100755
index 2a1e74958a..0000000000
--- a/tools/sim/tmux_script.sh
+++ /dev/null
@@ -1,6 +0,0 @@
-#!/bin/bash
-tmux new -d -s carla-sim
-tmux send-keys "./launch_openpilot.sh" ENTER
-tmux neww
-tmux send-keys "./run_bridge.py $*" ENTER
-tmux a -t carla-sim