diff --git a/Jenkinsfile b/Jenkinsfile
index 5afffad48f..9d6828000b 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -165,6 +165,7 @@ node {
     if (env.BRANCH_NAME == 'master-ci') {
       deviceStage("build nightly", "tici-needs-can", [], [
         ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
+        ["build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"],
       ])
     }
 
diff --git a/release/build_release.sh b/release/build_release.sh
index bcc4b5cded..62c2085300 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -50,8 +50,13 @@ git commit -a -m "openpilot v$VERSION release"
 export PYTHONPATH="$BUILD_DIR"
 scons -j$(nproc) --minimal
 
-# release panda fw
-CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
+if [ -z "PANDA_DEBUG_BUILD" ]; then
+  # release panda fw
+  CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
+else
+  # build with ALLOW_DEBUG=1 to enable features like experimental longitudinal
+  scons -j$(nproc) panda/
+fi
 
 # Ensure no submodules in release
 if test "$(git submodule--helper list | wc -l)" -gt "0"; then