diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml
index 45a8af0aaf..9e9f6af61d 100644
--- a/.github/ISSUE_TEMPLATE/config.yml
+++ b/.github/ISSUE_TEMPLATE/config.yml
@@ -1,14 +1,11 @@
 blank_issues_enabled: false
 contact_links:
+  - name: Join the Discord
+    url: https://discord.comma.ai
+    about: The community Discord is for both openpilot development and experience discussion
   - name: Report model bugs
-    url: https://github.com/commaai/openpilot/discussions/categories/model-feedback
-    about: Provide feedback for the driving or driver monitoring models
-  - name: Discussions
-    url: https://github.com/commaai/openpilot/discussions
-    about: For questions and general discussion about openpilot
+    url: https://discord.com/channels/469524606043160576/1254834193066623017
+    about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
   - name: Community Wiki
     url: https://github.com/commaai/openpilot/wiki
     about: Check out our community wiki
-  - name: Community Discord
-    url: https://discord.comma.ai
-    about: Check out our community discord
diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index bc19e23778..c678abb276 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -6,6 +6,7 @@ on:
       - 'master'
     paths:
       - 'selfdrive/ui/**'
+  workflow_dispatch:
 
 env:
   UI_JOB_NAME: "Create UI Report"
@@ -78,11 +79,10 @@ jobs:
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad.png"></td>
               </tr>
               <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_map.png"></td>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_sidebar.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td>
               </tr>
               <tr>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_device.png"></td>
               </tr>
             </table>
diff --git a/cereal/car.capnp b/cereal/car.capnp
index 3df23d9921..cbfb330c22 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -196,6 +196,7 @@ struct CarState {
   accFaulted @42 :Bool;
   carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
   espActive @51 :Bool;
+  vehicleSensorsInvalid @52 :Bool;  # invalid steering angle readings, etc.
 
   # cruise state
   cruiseState @10 :CruiseState;
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index d8d4fdd962..a3dc0a5a04 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -1,6 +1,5 @@
 import math
-from cereal import car
-from openpilot.selfdrive.car import DT_CTRL, get_safety_config, structs
+from openpilot.selfdrive.car import get_safety_config, structs
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.body.carstate import CarState
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
@@ -30,12 +29,4 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c) -> structs.CarState:
     ret = self.CS.update(self.cp)
 
-    # # wait for everything to init first
-    # if self.frame > int(5. / DT_CTRL):
-    #   # body always wants to enable
-    #   ret.init('events', 1)
-    #   ret.events[0].name = car.CarEvent.EventName.pcmEnable
-    #   ret.events[0].enable = True
-    # self.frame += 1
-
     return ret
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 2601e7c64b..15a13626c9 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -184,6 +184,12 @@ class Car:
 
     # self.events.add_from_msg(CS.events)
 
+    if self.CP.notCar:
+      # wait for everything to init first
+      if self.sm.frame > int(5. / DT_CTRL) and self.initialized_prev:
+        # body always wants to enable
+        self.events.add(EventName.pcmEnable)
+
     # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
     if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
       (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index fd7f7ad594..f43ce14bec 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -17,8 +17,6 @@ class CarState(CarStateBase):
     if CP.transmissionType == TransmissionType.automatic:
       self.shifter_values = can_define.dv["PowertrainData_10"]["TrnRng_D_Rq"]
 
-    self.vehicle_sensors_valid = False
-
     self.prev_distance_button = 0
     self.distance_button = 0
 
@@ -27,7 +25,7 @@ class CarState(CarStateBase):
 
     # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
     # The vehicle usually recovers out of this state within a minute of normal driving
-    self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3
+    ret.vehicleSensorsInvalid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] != 3
 
     # car speed
     ret.vEgoRaw = cp.vl["BrakeSysFeatures"]["Veh_V_ActlBrk"] * CV.KPH_TO_MS
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index bd1a5e7aca..9ac42e5760 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -76,8 +76,6 @@ class CarInterface(CarInterfaceBase):
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
     events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
-    if not self.CS.vehicle_sensors_valid:
-      events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
 
     # ret.events = events.to_msg()
 
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 76c466d00c..eab260a499 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -303,6 +303,8 @@ class CarInterfaceBase(ABC):
       events.add(EventName.preEnableStandstill)
     if cs_out.gasPressed:
       events.add(EventName.gasPressedOverride)
+    if cs_out.vehicleSensorsInvalid:
+      events.add(EventName.vehicleSensorsInvalid)
 
     # Handle button presses
     for b in cs_out.buttonEvents:
diff --git a/selfdrive/car/mock/carstate.py b/selfdrive/car/mock/carstate.py
index ece908b51c..41a298e24e 100644
--- a/selfdrive/car/mock/carstate.py
+++ b/selfdrive/car/mock/carstate.py
@@ -1,4 +1,7 @@
+from cereal import car
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
+
 class CarState(CarStateBase):
-  pass
+  def update(self, *args) -> car.CarState:
+    pass
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 6088f89f30..7b1aa66b92 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -111,6 +111,10 @@ class CarState(CarStateBase):
       ret.steerFaultTemporary = ret.steerFaultTemporary or cp.vl["EPS_STATUS"]["LTA_STATE"] in TEMP_STEER_FAULTS
       ret.steerFaultPermanent = ret.steerFaultPermanent or cp.vl["EPS_STATUS"]["LTA_STATE"] in PERM_STEER_FAULTS
 
+      # Lane Tracing Assist control is unavailable (EPS_STATUS->LTA_STATE=0) until
+      # the more accurate angle sensor signal is initialized
+      ret.vehicleSensorsInvalid = not self.accurate_steer_angle_seen
+
     if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
       # TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH
       ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index e8fcb70309..6bc26a4cbf 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -156,11 +156,6 @@ class CarInterface(CarInterfaceBase):
     # events
     events = self.create_common_events(ret)
 
-    # Lane Tracing Assist control is unavailable (EPS_STATUS->LTA_STATE=0) until
-    # the more accurate angle sensor signal is initialized
-    if self.CP.steerControlType == SteerControlType.angle and not self.CS.accurate_steer_angle_seen:
-      events.add(EventName.vehicleSensorsInvalid)
-
     if self.CP.openpilotLongitudinalControl:
       if ret.cruiseState.standstill and not ret.brakePressed:
         events.add(EventName.resumeRequired)
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 0b1d842499..15b97511bc 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -13,7 +13,6 @@ from cereal import messaging, car, log
 from msgq.visionipc import VisionIpcServer, VisionStreamType
 
 from cereal.messaging import SubMaster, PubMaster
-from openpilot.common.mock import mock_messages
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
@@ -92,16 +91,8 @@ def setup_onroad(click, pm: PubMaster):
     pm.send(msg.which(), msg)
     server.send(cam_meta.stream, IMG_BYTES, cs.frameId, cs.timestampSof, cs.timestampEof)
 
-@mock_messages(['liveLocationKalman'])
-def setup_onroad_map(click, pm: PubMaster):
-  setup_onroad(click, pm)
-
-  click(500, 500)
-
-  time.sleep(UI_DELAY) # give time for the map to render
-
 def setup_onroad_sidebar(click, pm: PubMaster):
-  setup_onroad_map(click, pm)
+  setup_onroad(click, pm)
   click(500, 500)
 
 CASES = {
@@ -109,7 +100,6 @@ CASES = {
   "settings_device": setup_settings_device,
   "settings_network": setup_settings_network,
   "onroad": setup_onroad,
-  "onroad_map": setup_onroad_map,
   "onroad_sidebar": setup_onroad_sidebar
 }
 
diff --git a/tools/cabana/README.md b/tools/cabana/README.md
index dbbdd8020c..27829979c0 100644
--- a/tools/cabana/README.md
+++ b/tools/cabana/README.md
@@ -96,5 +96,3 @@ cabana
 ## Additional Information
 
 For more information, see the [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana)
-
-If you encounter any issues or have feature requests, please contribute bug reports or discussions at: [new cabana feedback](https://github.com/commaai/openpilot/discussions/26091)
\ No newline at end of file
diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py
index 3bfdc75feb..963d7a8cdb 100644
--- a/tools/lib/filereader.py
+++ b/tools/lib/filereader.py
@@ -7,10 +7,10 @@ from openpilot.tools.lib.url_file import URLFile
 DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/")
 
 
-def internal_source_available():
+def internal_source_available(url=DATA_ENDPOINT):
   try:
-    hostname = urlparse(DATA_ENDPOINT).hostname
-    port = urlparse(DATA_ENDPOINT).port or 80
+    hostname = urlparse(url).hostname
+    port = urlparse(url).port or 80
     with socket.socket(socket.AF_INET,socket.SOCK_STREAM) as s:
       s.connect((hostname, port))
     return True
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 2487cb2825..815bd4b796 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -174,6 +174,12 @@ def comma_car_segments_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
   return [get_comma_segments_url(sr.route_name, seg) for seg in sr.seg_idxs]
 
 
+def testing_closet_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
+  if not internal_source_available('http://testing.comma.life'):
+    raise InternalUnavailableException
+  return [f"http://testing.comma.life/download/{sr.route_name.replace('|', '/')}/{seg}/rlog" for seg in sr.seg_idxs]
+
+
 def direct_source(file_or_url: str) -> LogPaths:
   return [file_or_url]
 
@@ -195,7 +201,7 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
   if mode == ReadMode.SANITIZED:
     return comma_car_segments_source(sr, mode)
 
-  SOURCES: list[Source] = [internal_source, internal_source_zst, openpilotci_source, comma_api_source, comma_car_segments_source,]
+  SOURCES: list[Source] = [internal_source, internal_source_zst, openpilotci_source, comma_api_source, comma_car_segments_source, testing_closet_source,]
   exceptions = {}
 
   # for automatic fallback modes, auto_source needs to first check if rlogs exist for any source