diff --git a/.gitattributes b/.gitattributes
index 33ac242134..35b0eb1a2a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -7,8 +7,6 @@
 *.ipynb filter=nbstripout -diff
 external/ffmpeg/bin/ffmpeg_cuda filter=lfs diff=lfs merge=lfs -text
 models/segnet.keras filter=lfs diff=lfs merge=lfs -text
-external/zmq/lib/libzmq.a filter=lfs diff=lfs merge=lfs -text
-external/zmq/lib/libczmq.a filter=lfs diff=lfs merge=lfs -text
 phonelibs/acado/x64/lib/libacado_toolkit.a filter=lfs diff=lfs merge=lfs -text
 phonelibs/acado/x64/lib/libacado_toolkit_s.so.1.2.2beta filter=lfs diff=lfs merge=lfs -text
 phonelibs/acado/x64/lib/libacado_casadi.a filter=lfs diff=lfs merge=lfs -text
@@ -21,11 +19,8 @@ phonelibs/acado/aarch64/lib/libacado_csparse.a filter=lfs diff=lfs merge=lfs -te
 phonelibs/acado/aarch64/lib/libacado_qpoases.a filter=lfs diff=lfs merge=lfs -text
 phonelibs/fastcv/aarch64/libfastcvopt.so filter=lfs diff=lfs merge=lfs -text
 phonelibs/fastcv/aarch64/libfastcvadsp_stub.so filter=lfs diff=lfs merge=lfs -text
-external/mac/MP4Box filter=lfs diff=lfs merge=lfs -text
 models/segnet2.keras filter=lfs diff=lfs merge=lfs -text
-external/opencl/*.deb filter=lfs diff=lfs merge=lfs -text
 phonelibs/zmq/aarch64-linux/lib/libzmq.a filter=lfs diff=lfs merge=lfs -text
-external/azcopy/azcopy filter=lfs diff=lfs merge=lfs -text
 *.ico filter=lfs diff=lfs merge=lfs -text
 *.svg filter=lfs diff=lfs merge=lfs -text
 *.png filter=lfs diff=lfs merge=lfs -text
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 1cd805de4a..a19782d031 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -12,13 +12,13 @@ repos:
     rev: master
     hooks:
     -   id: mypy
-        exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)/'
+        exclude: '^(pyextra)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)/'
         additional_dependencies: ['git+https://github.com/numpy/numpy-stubs']
 -   repo: https://github.com/PyCQA/flake8
     rev: master
     hooks:
     -   id: flake8
-        exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)|(selfdrive/debug)/'
+        exclude: '^(pyextra)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)|(selfdrive/debug)/'
         args:
         - --select=F,E112,E113,E304,E501,E502,E701,E702,E703,E71,E72,E731,W191,W6
         - --max-line-length=240
@@ -30,7 +30,7 @@ repos:
         entry: pylint
         language: system
         types: [python]
-        exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(laika_repo)|(rednose_repo)/'
+        exclude: '^(pyextra)|(cereal)|(rednose)|(panda)|(laika)|(laika_repo)|(rednose_repo)/'
 -   repo: local
     hooks:
     -   id: cppcheck
@@ -38,7 +38,7 @@ repos:
         entry: cppcheck
         language: system
         types: [c++]
-        exclude: '^(phonelibs)|(external)|(cereal)|(opendbc)|(panda)|(tools)|(selfdrive/modeld/thneed/debug)|(selfdrive/modeld/test)|(selfdrive/camerad/test)/|(installer)'
+        exclude: '^(phonelibs)|(cereal)|(opendbc)|(panda)|(tools)|(selfdrive/modeld/thneed/debug)|(selfdrive/modeld/test)|(selfdrive/camerad/test)/|(installer)'
         args:
         - --error-exitcode=1
         - --language=c++
diff --git a/SConstruct b/SConstruct
index 40c712c870..f9b7a0aae1 100644
--- a/SConstruct
+++ b/SConstruct
@@ -31,11 +31,12 @@ if arch == "aarch64" and TICI:
 USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
 QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None
 
+lenv = {
+  "PATH": os.environ['PATH'],
+}
+
 if arch == "aarch64" or arch == "larch64":
-  lenv = {
-    "LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
-    "PATH": os.environ['PATH'],
-  }
+  lenv["LD_LIBRARY_PATH"] = '/data/data/com.termux/files/usr/lib'
 
   if arch == "aarch64":
     # android
@@ -78,13 +79,7 @@ if arch == "aarch64" or arch == "larch64":
 else:
   cflags = []
   cxxflags = []
-
-  lenv = {
-    "PATH": "#external/bin:" + os.environ['PATH'],
-  }
-  cpppath = [
-    "#external/tensorflow/include",
-  ]
+  cpppath = []
 
   if arch == "Darwin":
     libpath = [
@@ -102,7 +97,6 @@ else:
     libpath = [
       "#phonelibs/snpe/x86_64-linux-clang",
       "#phonelibs/libyuv/x64/lib",
-      "#external/tensorflow/lib",
       "#cereal",
       "#selfdrive/common",
       "/usr/lib",
@@ -111,7 +105,6 @@ else:
 
   rpath = [
     "phonelibs/snpe/x86_64-linux-clang",
-    "external/tensorflow/lib",
     "cereal",
     "selfdrive/common"
   ]
@@ -168,8 +161,8 @@ env = Environment(
     "#selfdrive/modeld",
     "#selfdrive/sensord",
     "#selfdrive/ui",
-    "#cereal/messaging",
     "#cereal",
+    "#cereal/messaging",
     "#opendbc/can",
   ],
 
diff --git a/external/bin/flame b/external/bin/flame
deleted file mode 120000
index 890f902508..0000000000
--- a/external/bin/flame
+++ /dev/null
@@ -1 +0,0 @@
-../pyflame/flame.sh
\ No newline at end of file
diff --git a/external/simpleperf/bin/linux/x86_64/libsimpleperf_report.so b/external/simpleperf/bin/linux/x86_64/libsimpleperf_report.so
deleted file mode 100755
index 624eb3108b..0000000000
--- a/external/simpleperf/bin/linux/x86_64/libsimpleperf_report.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:336b44ef076a1d103f0c201ec111ac5fe7474c25cbd9e552afbc741fd2b5525d
-size 4259336
diff --git a/external/simpleperf/bin/linux/x86_64/simpleperf b/external/simpleperf/bin/linux/x86_64/simpleperf
deleted file mode 100755
index 6314bb44e6..0000000000
--- a/external/simpleperf/bin/linux/x86_64/simpleperf
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f44f331ddba24023c228b2648ed8d93d4edf540b066f95a94255420ba6d688bb
-size 5754544
diff --git a/external/simpleperf/get.txt b/external/simpleperf/get.txt
deleted file mode 100644
index 77ab5f00d9..0000000000
--- a/external/simpleperf/get.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0eca9df9779305346058021f897126d9894ea05e25ed30b313fcbf2db67489f2
-size 223
diff --git a/external/simpleperf/inferno/__init__.py b/external/simpleperf/inferno/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/external/simpleperf/inferno/data_types.py b/external/simpleperf/inferno/data_types.py
deleted file mode 100644
index 57d4f20600..0000000000
--- a/external/simpleperf/inferno/data_types.py
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:340741a32b5483b97e96fe44af24acb7d1371c27d219845434cd048619cf6bba
-size 4655
diff --git a/external/simpleperf/inferno/inferno.b64 b/external/simpleperf/inferno/inferno.b64
deleted file mode 100644
index 6f17a59c52..0000000000
--- a/external/simpleperf/inferno/inferno.b64
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f860a72e89a04e57ca76aee30c32328f88b0e0aeb754c9d23464d493438fd705
-size 421430
diff --git a/external/simpleperf/inferno/inferno.py b/external/simpleperf/inferno/inferno.py
deleted file mode 100644
index d53faa9e91..0000000000
--- a/external/simpleperf/inferno/inferno.py
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:504c3afde85dd4416cb5dea51cbf35b63a2d4c1619b9046b0e10bfcbd411204f
-size 14838
diff --git a/external/simpleperf/inferno/script.js b/external/simpleperf/inferno/script.js
deleted file mode 100644
index 09d15fa7e6..0000000000
--- a/external/simpleperf/inferno/script.js
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7505288de356511a7896784333b588cfc383896872ae7af572bbf08af7db8988
-size 8791
diff --git a/external/simpleperf/inferno/svg_renderer.py b/external/simpleperf/inferno/svg_renderer.py
deleted file mode 100644
index 7bc5e80827..0000000000
--- a/external/simpleperf/inferno/svg_renderer.py
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5c2f0d57806d2ffdfa33e7cef51267acb08b2dca2f26e16a92c863f74b6be5c5
-size 7256
diff --git a/external/simpleperf/report_html.js b/external/simpleperf/report_html.js
deleted file mode 100644
index f3bdf5836e..0000000000
--- a/external/simpleperf/report_html.js
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e5cfc7e6f99a670f28339a08449ec63029fb811885be113e27b8615cdc075e2b
-size 46818
diff --git a/external/simpleperf/report_html.py b/external/simpleperf/report_html.py
deleted file mode 100644
index 74da50a720..0000000000
--- a/external/simpleperf/report_html.py
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4cc5b1e5f45f59023fbeb767241c007de39196ec304e8fd9a2c638ded4ee0cbb
-size 38302
diff --git a/external/simpleperf/simpleperf_report_lib.py b/external/simpleperf/simpleperf_report_lib.py
deleted file mode 100644
index dce8cd25df..0000000000
--- a/external/simpleperf/simpleperf_report_lib.py
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:de7cbef5cf2215f020139eb5be065dbc37a46ec21f6fc2db13a301cbff0838d4
-size 14117
diff --git a/external/simpleperf/utils.py b/external/simpleperf/utils.py
deleted file mode 100644
index 51638a080a..0000000000
--- a/external/simpleperf/utils.py
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0c8ae55f637567af36c27d3dac8d0d62f9d859c71a2502c08dff92a13f1bf6f3
-size 25078
diff --git a/external/pyflame/build.txt b/selfdrive/debug/profiling/pyflame/build.txt
similarity index 100%
rename from external/pyflame/build.txt
rename to selfdrive/debug/profiling/pyflame/build.txt
diff --git a/external/pyflame/fix-aarch64.patch b/selfdrive/debug/profiling/pyflame/fix-aarch64.patch
similarity index 100%
rename from external/pyflame/fix-aarch64.patch
rename to selfdrive/debug/profiling/pyflame/fix-aarch64.patch
diff --git a/external/pyflame/flame.sh b/selfdrive/debug/profiling/pyflame/flame.sh
similarity index 100%
rename from external/pyflame/flame.sh
rename to selfdrive/debug/profiling/pyflame/flame.sh
diff --git a/external/pyflame/flamegraph.pl b/selfdrive/debug/profiling/pyflame/flamegraph.pl
similarity index 100%
rename from external/pyflame/flamegraph.pl
rename to selfdrive/debug/profiling/pyflame/flamegraph.pl
diff --git a/external/pyflame/pyflame b/selfdrive/debug/profiling/pyflame/pyflame
similarity index 100%
rename from external/pyflame/pyflame
rename to selfdrive/debug/profiling/pyflame/pyflame
diff --git a/external/simpleperf/bin/android/arm64/simpleperf b/selfdrive/debug/profiling/simpleperf/bin/android/arm64/simpleperf
similarity index 100%
rename from external/simpleperf/bin/android/arm64/simpleperf
rename to selfdrive/debug/profiling/simpleperf/bin/android/arm64/simpleperf
diff --git a/external/simpleperf/eon_perf.sh b/selfdrive/debug/profiling/simpleperf/eon_perf.sh
similarity index 100%
rename from external/simpleperf/eon_perf.sh
rename to selfdrive/debug/profiling/simpleperf/eon_perf.sh
diff --git a/selfdrive/debug/profiling/simpleperf/get.txt b/selfdrive/debug/profiling/simpleperf/get.txt
new file mode 100644
index 0000000000..150e0331c6
--- /dev/null
+++ b/selfdrive/debug/profiling/simpleperf/get.txt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69a952bf752f72b86cb037282cba2ffa8aad585cb31819b54897ff0b4e407b18
+size 224