Merge remote-tracking branch 'upstream/master' into ford-vehicle-cfg-lca

1 year ago · c0755a96fb
parent 66f14d7c5a 6dd55b64d8
commit c0755a96fb
363 changed files with 9818 additions and 9548 deletions
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@ -8,6 +8,8 @@ RUN cd /tmp && \
    curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
    dpkg -i virtualgl.deb

+RUN usermod -aG video batman
+
 USER batman

 RUN cd $HOME && \
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@ -17,6 +17,7 @@
    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
    "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
+    "--volume=${localEnv:HOME}/.azure:/home/batman/.azure",
    "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
    "--shm-size=1G",
    "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
@ -28,7 +29,9 @@
      "installOhMyZsh": false,
      "upgradePackages": false,
      "username": "batman"
-    }
+    },
+    "ghcr.io/devcontainers-contrib/features/gh-cli:1": {},
+    "ghcr.io/devcontainers/features/azure-cli:1": {}
  },
  "containerUser": "batman",
  "remoteUser": "batman",
--- a/.github/ISSUE_TEMPLATE/pc_bug_report.yml
+++ b/.github/ISSUE_TEMPLATE/pc_bug_report.yml
@ -24,7 +24,7 @@ body:
    id: os-version
    attributes:
      label: OS Version
-      placeholder: Ubuntu 20.04
+      placeholder: Ubuntu 24.04
    validations:
      required: true

--- a/.github/PULL_REQUEST_TEMPLATE/car_port.md
+++ b/.github/PULL_REQUEST_TEMPLATE/car_port.md
@ -8,7 +8,7 @@ assignees: ''

 **Checklist**

- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
--- a/.github/pull_request_template.md
+++ b/.github/pull_request_template.md
@ -44,7 +44,7 @@ Explain how you tested this bug fix.

 **Checklist**

- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
--- a/.github/workflows/auto-cache/action.yaml
+++ b/.github/workflows/auto-cache/action.yaml
@ -19,14 +19,14 @@ runs:
  using: "composite"
  steps:
    - name: setup namespace cache
-      if: ${{ contains(runner.name, 'nsc') }} 
+      if: ${{ contains(runner.name, 'nsc') }}
      uses: namespacelabs/nscloud-cache-action@v1
      with:
        path: ${{ inputs.path }}

    - name: setup github cache
      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
-      uses: 'actions/cache@v3'
+      uses: 'actions/cache@v4'
      with:
        path: ${{ inputs.path }}
        key: ${{ inputs.key }}
@ -34,7 +34,7 @@ runs:

    - name: setup github cache
      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
-      uses: 'actions/cache/restore@v3'
+      uses: 'actions/cache/restore@v4'
      with:
        path: ${{ inputs.path }}
        key: ${{ inputs.key }}
@ -46,4 +46,4 @@ runs:
      run: |
        mkdir -p ${{ inputs.path }}
        sudo chmod -R 777 ${{ inputs.path }}
-        sudo chown -R $USER ${{ inputs.path }}
+        sudo chown -R $USER ${{ inputs.path }}
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@ -24,7 +24,7 @@ jobs:
    runs-on: ubuntu-latest
    if: github.repository == 'commaai/openpilot'
    steps:
-    - uses: Vankka/pr-target-branch-action@69ab6dd5c221de3548b3b6c4d102c1f4913d3baa
+    - uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
      env:
        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
      with:
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@ -12,7 +12,7 @@ env:
 jobs:
  badges:
    name: create badges
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
    if: github.repository == 'commaai/openpilot'
    permissions:
      contents: write
--- a/.github/workflows/compile-openpilot/action.yaml
+++ b/.github/workflows/compile-openpilot/action.yaml
@ -14,7 +14,7 @@ runs:
          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
                          scons -j$(nproc) --cache-populate"
    - name: Save scons cache
-      uses: actions/cache/save@v3
+      uses: actions/cache/save@v4
      if: github.ref == 'refs/heads/master'
      with:
        path: .ci_cache/scons_cache
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@ -20,7 +20,7 @@ env:
 jobs:
  docs:
    name: build docs
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
    timeout-minutes: 45
    steps:
    - uses: actions/checkout@v4
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@ -11,7 +11,7 @@ env:
 jobs:
  build_prebuilt:
    name: build prebuilt
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
    if: github.repository == 'commaai/openpilot'
    env:
      PUSH_IMAGE: true
@ -22,7 +22,7 @@ jobs:
    steps:
    - name: Wait for green check mark
      if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f
+      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
      with:
        ref: master
        wait-interval: 30
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@ -12,7 +12,7 @@ jobs:
      ImageOS: ubuntu20
    container:
      image: ghcr.io/commaai/openpilot-base:latest
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
    if: github.repository == 'commaai/openpilot'
    permissions:
      checks: read
@ -24,7 +24,7 @@ jobs:
        sudo apt-get install -y libyaml-dev
    - name: Wait for green check mark
      if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f
+      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
      with:
        ref: master
        wait-interval: 30
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@ -8,7 +8,7 @@ on:
 jobs:
  bump_submodules:
    name: bump_submodules
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
    container:
      image: ghcr.io/commaai/openpilot-base:latest
    if: github.repository == 'commaai/openpilot'
@ -22,8 +22,9 @@ jobs:
        git -c submodule."tinygrad".update=none submodule update --remote
        git add .
    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
+      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
      with:
+        author: Vehicle Researcher <user@comma.ai>
        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
        commit-message: bump submodules
        title: '[bot] Bump submodules'
@ -34,7 +35,7 @@ jobs:
        labels: bot
  package_updates:
    name: package_updates
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
    container:
      image: ghcr.io/commaai/openpilot-base:latest
    if: github.repository == 'commaai/openpilot'
@ -49,8 +50,9 @@ jobs:
        git config --global --add safe.directory '*'
        pre-commit autoupdate
    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
+      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
      with:
+        author: Vehicle Researcher <user@comma.ai>
        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
        commit-message: Update Python packages and pre-commit hooks
        title: '[bot] Update Python packages and pre-commit hooks'
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@ -26,7 +26,7 @@ env:
 jobs:
  build_release:
    name: build release
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
    env:
      STRIPPED_DIR: /tmp/releasepilot
    steps:
@ -69,9 +69,9 @@ jobs:
      matrix:
        arch: ${{ fromJson(
           ((github.repository == 'commaai/openpilot') &&
-              ((github.event_name != 'pull_request') || 
+              ((github.event_name != 'pull_request') ||
               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
    steps:
    - uses: actions/checkout@v4
      with:
@ -87,7 +87,7 @@ jobs:
    strategy:
      matrix:
        arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
    steps:
    - uses: actions/checkout@v4
@ -104,7 +104,7 @@ jobs:

  docker_push_multiarch:
    name: docker push multiarch tag
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
    needs: [docker_push]
    steps:
@ -122,8 +122,8 @@ jobs:
  static_analysis:
    name: static analysis
    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') || 
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
    steps:
    - uses: actions/checkout@v4
      with:
@ -136,7 +136,7 @@ jobs:

  valgrind:
    name: valgrind
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
    steps:
    - uses: actions/checkout@v4
      with:
@ -155,8 +155,8 @@ jobs:
  unit_tests:
    name: unit tests
    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') || 
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
    steps:
    - uses: actions/checkout@v4
      with:
@ -177,7 +177,7 @@ jobs:
                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                        ./selfdrive/ui/tests/test_translations.py"
    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v3
+      uses: codecov/codecov-action@v4
      with:
        name: ${{ github.job }}
      env:
@ -186,8 +186,8 @@ jobs:
  process_replay:
    name: process replay
    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') || 
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
    steps:
    - uses: actions/checkout@v4
      with:
@ -197,7 +197,7 @@ jobs:
        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
    - name: Cache test routes
      id: dependency-cache
-      uses: actions/cache@v3
+      uses: actions/cache@v4
      with:
        path: .ci_cache/comma_download_cache
        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
@ -215,7 +215,7 @@ jobs:
      id: print-diff
      if: always()
      run: cat selfdrive/test/process_replay/diff.txt
-    - uses: actions/upload-artifact@v3
+    - uses: actions/upload-artifact@v4
      if: always()
      continue-on-error: true
      with:
@ -226,7 +226,7 @@ jobs:
      run: |
        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v3
+      uses: codecov/codecov-action@v4
      with:
        name: ${{ github.job }}
      env:
@ -234,15 +234,15 @@ jobs:

  regen:
    name: regen
-    runs-on: 'ubuntu-20.04'
-    steps: 
+    runs-on: 'ubuntu-latest'
+    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
    - uses: ./.github/workflows/setup-with-retry
    - name: Cache test routes
      id: dependency-cache
-      uses: actions/cache@v3
+      uses: actions/cache@v4
      with:
        path: .ci_cache/comma_download_cache
        key: regen-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_regen.py') }}
@ -259,7 +259,7 @@ jobs:

  test_modeld:
    name: model tests
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
    steps:
    - uses: actions/checkout@v4
      with:
@ -284,7 +284,7 @@ jobs:
        ${{ env.RUN }} "unset PYTHONWARNINGS && \
                           $PYTEST selfdrive/modeld"
    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v3
+      uses: codecov/codecov-action@v4
      with:
        name: ${{ github.job }}
      env:
@ -293,8 +293,8 @@ jobs:
  test_cars:
    name: cars
    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') || 
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
    strategy:
      fail-fast: false
      matrix:
@ -321,7 +321,7 @@ jobs:
        NUM_JOBS: 5
        JOB_ID: ${{ matrix.job }}
    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v3
+      uses: codecov/codecov-action@v4
      with:
        name: ${{ github.job }}-${{ matrix.job }}
      env:
@ -329,7 +329,7 @@ jobs:

  car_docs_diff:
    name: PR comments
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
    if: github.event_name == 'pull_request'
    steps:
      - uses: actions/checkout@v4
@ -340,7 +340,7 @@ jobs:
      - uses: ./.github/workflows/setup-with-retry
      - name: Get base car info
        run: |
-          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"
+          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
          sudo chown -R $USER:$USER ${{ github.workspace }}
      - uses: actions/checkout@v4
        with:
@ -352,19 +352,19 @@ jobs:
        run: |
          cd current
          ${{ env.RUN }} "scons -j$(nproc)"
-          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info")
+          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
          output="${output//$'\n'/'%0A'}"
          echo "::set-output name=diff::$output"
      - name: Find comment
        if: ${{ env.AZURE_TOKEN != '' }}
-        uses: peter-evans/find-comment@1769778a0c5bd330272d749d12c036d65e70d39d
+        uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e
        id: fc
        with:
          issue-number: ${{ github.event.pull_request.number }}
          body-includes: This PR makes changes to
      - name: Update comment
        if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
-        uses: peter-evans/create-or-update-comment@b95e16d2859ad843a14218d1028da5b2c4cbc4b4
+        uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043
        with:
          comment-id: ${{ steps.fc.outputs.comment-id }}
          issue-number: ${{ github.event.pull_request.number }}
@ -372,7 +372,7 @@ jobs:
          edit-mode: replace
      - name: Delete comment
        if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
-        uses: actions/github-script@v6
+        uses: actions/github-script@v7
        with:
          script: |
            github.rest.issues.deleteComment({
@ -383,7 +383,7 @@ jobs:

  create_ui_report:
    name: Create UI Report
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
        with:
@ -395,10 +395,10 @@ jobs:
        run: >
            ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                            source selfdrive/test/setup_xvfb.sh &&
-                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && 
+                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' &&
                            python selfdrive/ui/tests/test_ui/run.py"
      - name: Upload Test Report
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
        with:
          name: report
-          path: selfdrive/ui/tests/test_ui/report
+          path: selfdrive/ui/tests/test_ui/report
--- a/.github/workflows/setup-pre-commit/action.yaml
+++ b/.github/workflows/setup-pre-commit/action.yaml
@ -4,7 +4,7 @@ runs:
  using: "composite"
  steps:
    - uses: ./.github/workflows/auto-cache
-      with: 
+      with:
        path: .ci_cache/pre-commit
        key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
        restore-keys: |
--- a/.github/workflows/stale.yaml
+++ b/.github/workflows/stale.yaml
@ -12,15 +12,16 @@ jobs:
  stale:
    runs-on: ubuntu-latest
    steps:
-      - uses: actions/stale@v8
+      - uses: actions/stale@v9
        with:
          exempt-milestones: true

          # pull request config
          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
+          stale-pr-label: stale
          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing,car port" # if wip or it needs testing from the community, don't mark as stale
+          exempt-pr-labels: "ignore stale,needs testing,car port,car" # if wip or it needs testing from the community, don't mark as stale
          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}

--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@ -22,7 +22,7 @@ env:
 jobs:
  plotjuggler:
    name: plotjuggler
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
    timeout-minutes: 45
    steps:
    - uses: actions/checkout@v4
@ -31,15 +31,15 @@ jobs:
    - uses: ./.github/workflows/setup-with-retry
    - name: Build openpilot
      timeout-minutes: 5
-      run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ --minimal"
+      run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ opendbc/ --minimal"
    - name: Test PlotJuggler
      timeout-minutes: 2
      run: |
        ${{ env.RUN }} "pytest tools/plotjuggler/"

-  simulator:
-    name: simulator
-    runs-on: ubuntu-20.04
+  simulator_build:
+    name: simulator docker build
+    runs-on: ubuntu-latest
    if: github.repository == 'commaai/openpilot'
    timeout-minutes: 45
    steps:
@ -56,6 +56,28 @@ jobs:
      run: |
        selfdrive/test/docker_build.sh sim

+  simulator_driving:
+    name: simulator driving
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - run: git lfs pull
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build base docker image
+      run: eval "$BUILD"
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run bridge test
+      run: |
+        ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
+                        source selfdrive/test/setup_xvfb.sh && \
+                        source selfdrive/test/setup_vsound.sh && \
+                        CI=1 tools/sim/tests/test_metadrive_bridge.py"
+
  devcontainer:
    name: devcontainer
    runs-on: ubuntu-latest
@ -85,7 +107,7 @@ jobs:

  notebooks:
    name: notebooks
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
    if: false && github.repository == 'commaai/openpilot'
    timeout-minutes: 45
    steps:
@ -99,4 +121,4 @@ jobs:
    - name: Test notebooks
      timeout-minutes: 3
      run: |
-        ${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/"
+        ${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/"
--- a/.gitignore
+++ b/.gitignore
@ -52,7 +52,6 @@ selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
-selfdrive/modeld/_navmodeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/

--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@ -5,7 +5,7 @@ repos:
    -   id: check-hooks-apply
    -   id: check-useless-excludes
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v4.6.0
    hooks:
    -   id: check-ast
        exclude: '^(third_party)/'
@ -33,7 +33,7 @@ repos:
        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.2.2
+    rev: v0.4.3
    hooks:
    -   id: ruff
        exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@ -75,7 +75,7 @@ repos:
        # relevant rules are whitelisted, see all options with: cpplint --filter=
        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
 -   repo: https://github.com/MarcoGorelli/cython-lint
-    rev: v0.16.0
+    rev: v0.16.2
    hooks:
    -   id: cython-lint
        exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
@ -98,6 +98,6 @@ repos:
        args:
        - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.0
+    rev: 0.28.2
    hooks:
    -   id: check-github-workflows
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@ -21,6 +21,7 @@
    "common/**",
    "selfdrive/**",
    "system/**",
+    "third_party/**",
    "tools/**",
  ]
 }
--- a/5
+++ b/5
@ -40,6 +40,7 @@ if [ -f /TICI ]; then
  rm -rf /tmp/tmp*
  rm -rf ~/.commacache
  rm -rf /dev/shm/*
+  rm -rf /dev/tmp/tmp*

  if ! systemctl is-active --quiet systemd-resolved; then
    echo "restarting resolved"
@ -194,7 +195,7 @@ node {
          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
          ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
          ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
-          ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
+          ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
          ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
        ])
      },
@ -249,4 +250,4 @@ node {
    currentBuild.result = 'FAILED'
    throw e
  }
-}
+}
--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,7 +1,10 @@
-Version 0.9.7 (2024-XX-XX)
+Version 0.9.7 (2024-05-XX)
 ========================
 * New driving model
+* Adjust driving personality with the follow distance button
 * Support for hybrid variants of supported Ford models
+* Added toggle to enable driver monitoring even when openpilot is not engaged
+* Fingerprinting without the OBD-II port on all cars

 Version 0.9.6 (2024-02-27)
 ========================
--- a/5
+++ b/5
@ -193,6 +193,7 @@ env = Environment(
    "-Wno-c99-designator",
    "-Wno-reorder-init-list",
    "-Wno-error=unused-but-set-variable",
+    "-Wno-vla-cxx-extension",
  ] + cflags + ccflags,

  CPPPATH=cpppath + [
@ -376,11 +377,13 @@ SConscript([
 ])
 if arch != "Darwin":
  SConscript([
-    'system/camerad/SConscript',
    'system/sensord/SConscript',
    'system/logcatd/SConscript',
  ])

+if arch == "larch64":
+  SConscript(['system/camerad/SConscript'])
+
 # Build openpilot
 SConscript(['third_party/SConscript'])

--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 61ace31efad27ae0d6d86888842f82bc92545e72
+Subproject commit 0e74db67ae6aaa7c30054bd4335dcafe69a5aa72
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 724d1d22ac877ff75058f0d62860cf51c27f3546
+Subproject commit 84af7ef6654b2e810a2871b8ddd27ad170696599
--- a/common/git.py
+++ b/common/git.py
@ -0,0 +1,42 @@
+import subprocess
+from openpilot.common.utils import cache
+from openpilot.common.run import run_cmd, run_cmd_default
+
+
+@cache
+def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
+  return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
+
+
+@cache
+def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
+  return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
+
+
+@cache
+def get_short_branch(cwd: str = None) -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
+
+
+@cache
+def get_branch(cwd: str = None) -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
+
+
+@cache
+def get_origin(cwd: str = None) -> str:
+  try:
+    local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
+    tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
+    return run_cmd(["git", "config", "remote." + tracking_remote + ".url"], cwd=cwd)
+  except subprocess.CalledProcessError:  # Not on a branch, fallback
+    return run_cmd_default(["git", "config", "--get", "remote.origin.url"], cwd=cwd)
+
+
+@cache
+def get_normalized_origin(cwd: str = None) -> str:
+  return get_origin(cwd) \
+    .replace("git@", "", 1) \
+    .replace(".git", "", 1) \
+    .replace("https://", "", 1) \
+    .replace(":", "/", 1)
--- a/common/params.cc
+++ b/common/params.cc
@ -89,6 +89,7 @@ private:

 std::unordered_map<std::string, uint32_t> keys = {
    {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
+    {"AlwaysOnDM", PERSISTENT},
    {"ApiCache_Device", PERSISTENT},
    {"ApiCache_NavDestinations", PERSISTENT},
    {"AssistNowToken", PERSISTENT},
@ -207,7 +208,6 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
    {"UpdaterLastFetchTime", PERSISTENT},
    {"Version", PERSISTENT},
-    {"VisionRadarToggle", PERSISTENT},
 };

 } // namespace
@ -274,7 +274,9 @@ int Params::put(const char* key, const char* value, size_t value_size) {
  } while (false);

  close(tmp_fd);
-  ::unlink(tmp_path.c_str());
+  if (result != 0) {
+    ::unlink(tmp_path.c_str());
+  }
  return result;
 }

--- a/common/prefix.py
+++ b/common/prefix.py
@ -4,6 +4,7 @@ import uuid


 from openpilot.common.params import Params
+from openpilot.system.hardware import PC
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT

@ -45,7 +46,8 @@ class OpenpilotPrefix:
      shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
      os.remove(symlink_path)
    shutil.rmtree(self.msgq_path, ignore_errors=True)
-    shutil.rmtree(Paths.log_root(), ignore_errors=True)
+    if PC:
+      shutil.rmtree(Paths.log_root(), ignore_errors=True)
    if not os.environ.get("COMMA_CACHE", False):
      shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
    shutil.rmtree(Paths.comma_home(), ignore_errors=True)
--- a/common/run.py
+++ b/common/run.py
@ -0,0 +1,13 @@
+import subprocess
+
+
+def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
+  return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
+
+
+def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
+  try:
+    return run_cmd(cmd, cwd=cwd, env=env)
+  except subprocess.CalledProcessError:
+    return default
+
--- a/common/time.py
+++ b/common/time.py
@ -1,6 +1,15 @@
 import datetime
+from pathlib import Path

-MIN_DATE = datetime.datetime(year=2024, month=1, day=28)
+_MIN_DATE = datetime.datetime(year=2024, month=3, day=30)
+
+def min_date():
+  # on systemd systems, the default time is the systemd build time
+  systemd_path = Path("/lib/systemd/systemd")
+  if systemd_path.exists():
+    d = datetime.datetime.fromtimestamp(systemd_path.stat().st_mtime)
+    return d + datetime.timedelta(days=1)
+  return _MIN_DATE

 def system_time_valid():
-  return datetime.datetime.now() > MIN_DATE
+  return datetime.datetime.now() > min_date()
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@ -1,55 +1,74 @@
+import itertools
 import numpy as np
+from dataclasses import dataclass

 import openpilot.common.transformations.orientation as orient

 ## -- hardcoded hardware params --
-eon_f_focal_length = 910.0
-eon_d_focal_length = 650.0
-tici_f_focal_length = 2648.0
-tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
-
-eon_f_frame_size = (1164, 874)
-eon_d_frame_size = (816, 612)
-tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
-
-# aka 'K' aka camera_frame_from_view_frame
-eon_fcam_intrinsics = np.array([
-  [eon_f_focal_length,  0.0,  float(eon_f_frame_size[0])/2],
-  [0.0,  eon_f_focal_length,  float(eon_f_frame_size[1])/2],
-  [0.0,  0.0,                                          1.0]])
-eon_intrinsics = eon_fcam_intrinsics # xx
-
-eon_dcam_intrinsics = np.array([
-  [eon_d_focal_length,  0.0,  float(eon_d_frame_size[0])/2],
-  [0.0,  eon_d_focal_length,  float(eon_d_frame_size[1])/2],
-  [0.0,  0.0,                                          1.0]])
-
-tici_fcam_intrinsics = np.array([
-  [tici_f_focal_length,  0.0,  float(tici_f_frame_size[0])/2],
-  [0.0,  tici_f_focal_length,  float(tici_f_frame_size[1])/2],
-  [0.0,  0.0,                                            1.0]])
-
-tici_dcam_intrinsics = np.array([
-  [tici_d_focal_length,  0.0,  float(tici_d_frame_size[0])/2],
-  [0.0,  tici_d_focal_length,  float(tici_d_frame_size[1])/2],
-  [0.0,  0.0,                                            1.0]])
-
-tici_ecam_intrinsics = tici_dcam_intrinsics
-
-# aka 'K_inv' aka view_frame_from_camera_frame
-eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
-eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
-
-tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
-tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
-
-
-FULL_FRAME_SIZE = tici_f_frame_size
-FOCAL = tici_f_focal_length
-fcam_intrinsics = tici_fcam_intrinsics
-
-W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
-
+@dataclass(frozen=True)
+class CameraConfig:
+  width: int
+  height: int
+  focal_length: float
+
+  @property
+  def size(self):
+    return (self.width, self.height)
+
+  @property
+  def intrinsics(self):
+    # aka 'K' aka camera_frame_from_view_frame
+    return np.array([
+      [self.focal_length,  0.0, float(self.width)/2],
+      [0.0, self.focal_length, float(self.height)/2],
+      [0.0,  0.0, 1.0]
+    ])
+
+  @property
+  def intrinsics_inv(self):
+    # aka 'K_inv' aka view_frame_from_camera_frame
+    return np.linalg.inv(self.intrinsics)
+
+@dataclass(frozen=True)
+class _NoneCameraConfig(CameraConfig):
+  width: int = 0
+  height: int = 0
+  focal_length: float = 0
+
+@dataclass(frozen=True)
+class DeviceCameraConfig:
+  fcam: CameraConfig
+  dcam: CameraConfig
+  ecam: CameraConfig
+
+  def all_cams(self):
+    for cam in ['fcam', 'dcam', 'ecam']:
+      if not isinstance(getattr(self, cam), _NoneCameraConfig):
+        yield cam, getattr(self, cam)
+
+_ar_ox_fisheye = CameraConfig(1928, 1208, 567.0)  # focal length probably wrong? magnification is not consistent across frame
+_os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
+_ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
+_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), _os_fisheye, _os_fisheye)
+_neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
+
+DEVICE_CAMERAS = {
+  # A "device camera" is defined by a device type and sensor
+
+  # sensor type was never set on eon/neo/two
+  ("neo", "unknown"): _neo_config,
+  # unknown here is AR0231, field was added with OX03C10 support
+  ("tici", "unknown"): _ar_ox_config,
+
+  # before deviceState.deviceType was set, assume tici AR config
+  ("unknown", "ar0231"): _ar_ox_config,
+  ("unknown", "ox03c10"): _ar_ox_config,
+
+  # simulator (emulates a tici)
+  ("pc", "unknown"): _ar_ox_config,
+}
+prods = itertools.product(('tici', 'tizi', 'mici'), (('ar0231', _ar_ox_config), ('ox03c10', _ar_ox_config), ('os04c10', _os_config)))
+DEVICE_CAMERAS.update({(d, c[0]): c[1] for d, c in prods})

 # device/mesh : x->forward, y-> right, z->down
 # view : x->right, y->down, z->forward
@ -93,7 +112,7 @@ def roll_from_ke(m):
                    -(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))


-def normalize(img_pts, intrinsics=fcam_intrinsics):
+def normalize(img_pts, intrinsics):
  # normalizes image coordinates
  # accepts single pt or array of pts
  intrinsics_inv = np.linalg.inv(intrinsics)
@ -106,7 +125,7 @@ def normalize(img_pts, intrinsics=fcam_intrinsics):
  return img_pts_normalized[:, :2].reshape(input_shape)


-def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf):
+def denormalize(img_pts, intrinsics, width=np.inf, height=np.inf):
  # denormalizes image coordinates
  # accepts single pt or array of pts
  img_pts = np.array(img_pts)
@ -123,7 +142,7 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf
  return img_pts_denormalized[:, :2].reshape(input_shape)


-def get_calib_from_vp(vp, intrinsics=fcam_intrinsics):
+def get_calib_from_vp(vp, intrinsics):
  vp_norm = normalize(vp, intrinsics)
  yaw_calib = np.arctan(vp_norm[0])
  pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@ -1,19 +1,11 @@
 import numpy as np

 from openpilot.common.transformations.orientation import rot_from_euler
-from openpilot.common.transformations.camera import (
-  FULL_FRAME_SIZE, get_view_frame_from_calib_frame, view_frame_from_device_frame,
-  eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics)
+from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame

 # segnet
 SEGNET_SIZE = (512, 384)

-def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE):
-  return np.array([[float(segnet_size[0]) / full_frame_size[0],  0.0],
-                   [0.0,  float(segnet_size[1]) / full_frame_size[1]]])
-segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
-
-
 # MED model
 MEDMODEL_INPUT_SIZE = (512, 256)
 MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
@ -63,16 +55,9 @@ calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3])
 calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3])

 # This function is verified to give similar results to xx.uncommon.utils.transform_img
-def get_warp_matrix(device_from_calib_euler: np.ndarray, wide_camera: bool = False, bigmodel_frame: bool = False, tici: bool = True) -> np.ndarray:
-  if tici and wide_camera:
-    cam_intrinsics = tici_ecam_intrinsics
-  elif tici:
-    cam_intrinsics = tici_fcam_intrinsics
-  else:
-    cam_intrinsics = eon_fcam_intrinsics
-
+def get_warp_matrix(device_from_calib_euler: np.ndarray, intrinsics: np.ndarray, bigmodel_frame: bool = False) -> np.ndarray:
  calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel
  device_from_calib = rot_from_euler(device_from_calib_euler)
-  camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib
+  camera_from_calib = intrinsics @ view_frame_from_device_frame @ device_from_calib
  warp_matrix: np.ndarray = camera_from_calib @ calib_from_model
  return warp_matrix
--- a/common/util.cc
+++ b/common/util.cc
@ -256,8 +256,9 @@ bool starts_with(const std::string &s1, const std::string &s2) {
  return strncmp(s1.c_str(), s2.c_str(), s2.size()) == 0;
 }

-bool ends_with(const std::string &s1, const std::string &s2) {
-  return strcmp(s1.c_str() + (s1.size() - s2.size()), s2.c_str()) == 0;
+bool ends_with(const std::string& s, const std::string& suffix) {
+  return s.size() >= suffix.size() &&
+         strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0;
 }

 std::string check_output(const std::string& command) {
--- a/common/util.h
+++ b/common/util.h
@ -77,7 +77,7 @@ float getenv(const char* key, float default_val);
 std::string hexdump(const uint8_t* in, const size_t size);
 std::string dir_name(std::string const& path);
 bool starts_with(const std::string &s1, const std::string &s2);
-bool ends_with(const std::string &s1, const std::string &s2);
+bool ends_with(const std::string &s, const std::string &suffix);

 // ***** random helpers *****
 int random_int(int min, int max);
@ -179,3 +179,10 @@ void update_max_atomic(std::atomic<T>& max, T const& value) {
  T prev = max;
  while (prev < value && !max.compare_exchange_weak(prev, value)) {}
 }
+
+typedef struct Rect {
+  int x;
+  int y;
+  int w;
+  int h;
+} Rect;
--- a/common/utils.py
+++ b/common/utils.py
@ -1,3 +1,11 @@
+from collections.abc import Callable
+from functools import lru_cache
+from typing import TypeVar
+
+
+_RT = TypeVar("_RT")
+
+
 class Freezable:
  _frozen: bool = False

@ -9,3 +17,7 @@ class Freezable:
    if self._frozen:
      raise Exception("cannot modify frozen object")
    super().__setattr__(*args, **kwargs)
+
+
+def cache(user_function: Callable[..., _RT], /) -> Callable[..., _RT]:
+  return lru_cache(maxsize=None)(user_function)
--- a/docs/BOUNTIES.md
+++ b/docs/BOUNTIES.md
@ -10,7 +10,8 @@ Get paid to improve openpilot!
 * open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim
 * get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders)

-New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord.
+We put up each bounty with the intention that it'll get merged, but occasionally the right resolution is to close the bounty, which only becomes clear once some effort is put in. 
+This is still valuable work, so we'll pay out $100 for getting any bounty closed with a good explanation.

 ## Issue bounties

@ -20,6 +21,8 @@ We've tagged bounty-eligible issues across openpilot and the rest of our repos;
 * **$500** - a few days of work for an experienced openpilot developer
 * **$1k+** - a week or two of work (could be less for the right person)

+New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord.
+
 ## Car bounties

 The car bounties only apply to cars that have a path to ship in openpilot release, which excludes unsupportable cars (e.g. Fords with a steering lockout) or cars that require extra hardware (Honda Accord with serial steering).
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -4,29 +4,24 @@

 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.

-# 289 Supported Cars
+# 285 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
 |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
 |Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
-|Buick|LaCrosse 2017-19[<sup>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
-|Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
-|Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
-|Cadillac|Escalade ESV 2019[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2019">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
-|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
@ -47,31 +42,31 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
 |Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
-|Ford|Maverick 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023">Buy Here</a></sub></details>||
+|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023">Buy Here</a></sub></details>||
-|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
-|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
+|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
+|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>||
+|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
+|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
 |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
 |Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
-|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
-|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV60 (Performance Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
-|GMC|Acadia 2018[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
+|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
 |Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
-|Honda|CR-V Hybrid 2017-20|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-20">Buy Here</a></sub></details>||
+|Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
 |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
@ -94,10 +89,10 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
@ -107,10 +102,10 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Cruz 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
@ -118,50 +113,50 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
 |Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
-|Hyundai|Staria 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
+|Hyundai|Staria 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2023-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
 |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
-|Hyundai|Tucson Hybrid 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Tucson Hybrid 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Carnival 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
-|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
+|Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
+|Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
 |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
-|Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Kia|EV6 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
 |Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
-|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
+|Kia|K8 Hybrid (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
 |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
+|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
 |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
 |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Hybrid 2021-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
-|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
-|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Hybrid 2021-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
+|Kia|Sportage 2023-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
+|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
@ -188,8 +183,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
@ -197,26 +192,27 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
 |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
-|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
-|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Škoda|Fabia 2022-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Kamiq 2021-23[<sup>10,12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Karoq 2019-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Scala 2020-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
+|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
 |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
@ -229,8 +225,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
 |Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
@ -256,63 +252,62 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
 |Toyota|RAV4 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-24">Buy Here</a></sub></details>||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
-|Volkswagen|Passat 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|T-Roc 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-22">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||

 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
 <sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
-<sup>4</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>6</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
-<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>9</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>10</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>11</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>12</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
-<sup>13</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>14</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>5</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
+<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>8</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>9</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>10</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>11</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
+<sup>12</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>13</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />

 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
@ -355,6 +350,7 @@ openpilot does not yet support these Toyota models due to a new message authenti
 * Toyota Tundra 2022+
 * Toyota Highlander 2024+
 * Toyota Corolla Cross 2022+ (only US model)
+* Toyota Camry 2025+
 * Lexus NX 2022+
 * Toyota bZ4x 2023+
 * Subaru Solterra 2023+
--- a/launch_env.sh
+++ b/launch_env.sh
@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="9.7"
+  export AGNOS_VERSION="10"
 fi

 export STAGING_ROOT="/data/safe_staging"
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit ff1f1ff335261c469635c57c81817afd04663eab
+Subproject commit d058bc9a9f156d55ee6e4b90ceb292d087267414
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 41e9610ff841e4cf62051c6df09c1870f5d12477
+Subproject commit 2b70e283c17e8e661f471cfe7994dfca8a4457d3
--- a/poetry.lock
+++ b/poetry.lock
--- a/pyproject.toml
+++ b/pyproject.toml
@ -83,11 +83,9 @@ documentation = "https://docs.comma.ai"
 python = "~3.11"
 aiohttp = "*"
 aiortc = "*"
-casadi = "==3.6.3"
 cffi = "*"
 crcmod = "*"
 Cython = "*"
-future-fstrings = "*"  # for acados
 json-rpc = "*"
 libusb1 = "*"
 numpy = "*"
@ -110,6 +108,10 @@ spidev = { version = "*", platform = "linux" }
 sympy = "*"
 websocket_client = "*"

+# acados deps
+casadi = "*"
+future-fstrings = "*"
+
 # these should be removed
 markdown-it-py = "*"
 timezonefinder = "*"
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 1dc61a60e684b4bc8c591a8bce7e24e02aa8f400
+Subproject commit 72b3479bababc658f24cc7aa0dc8bb550f0474fc
--- a/release/files_common
+++ b/release/files_common
@ -45,7 +45,9 @@ release/*

 tools/__init__.py
 tools/lib/*
-tools/bodyteleop/*
+tools/bodyteleop/.gitignore
+tools/bodyteleop/web.py
+tools/bodyteleop/static/*
 tools/joystick/*
 tools/replay/*.cc
 tools/replay/*.h
@ -55,7 +57,7 @@ selfdrive/sentry.py
 selfdrive/tombstoned.py
 selfdrive/statsd.py

-selfdrive/updated/*
+selfdrive/updated/**

 system/logmessaged.py
 system/micd.py
@ -82,7 +84,6 @@ selfdrive/boardd/panda.h
 selfdrive/boardd/spi.cc
 selfdrive/boardd/panda_comms.h
 selfdrive/boardd/panda_comms.cc
-selfdrive/boardd/set_time.py
 selfdrive/boardd/pandad.py
 selfdrive/boardd/tests/test_boardd_loopback.py

@ -171,7 +172,6 @@ system/hardware/tici/hardware.h
 system/hardware/tici/hardware.py
 system/hardware/tici/pins.py
 system/hardware/tici/agnos.py
-system/hardware/tici/casync.py
 system/hardware/tici/agnos.json
 system/hardware/tici/amplifier.py
 system/hardware/tici/updater
@ -183,10 +183,13 @@ system/hardware/pc/hardware.py

 system/ubloxd/.gitignore
 system/ubloxd/SConscript
+system/ubloxd/pigeond.py
 system/ubloxd/generated/*
 system/ubloxd/*.h
 system/ubloxd/*.cc

+system/updated/*
+
 selfdrive/locationd/__init__.py
 selfdrive/locationd/SConscript
 selfdrive/locationd/.gitignore
@ -242,7 +245,6 @@ system/sensord/SConscript
 system/sensord/sensors_qcom2.cc
 system/sensord/sensors/*.cc
 system/sensord/sensors/*.h
-system/sensord/pigeond.py

 system/webrtc/__init__.py
 system/webrtc/webrtcd.py
@ -280,6 +282,8 @@ selfdrive/ui/qt/network/*.h
 selfdrive/ui/qt/offroad/*.cc
 selfdrive/ui/qt/offroad/*.h
 selfdrive/ui/qt/offroad/*.qml
+selfdrive/ui/qt/onroad/*.cc
+selfdrive/ui/qt/onroad/*.h
 selfdrive/ui/qt/widgets/*.cc
 selfdrive/ui/qt/widgets/*.h
 selfdrive/ui/qt/maps/*.cc
@ -316,7 +320,6 @@ selfdrive/modeld/modeld.py
 selfdrive/modeld/parse_model_outputs.py
 selfdrive/modeld/fill_model_msg.py
 selfdrive/modeld/get_model_metadata.py
-selfdrive/modeld/navmodeld.py
 selfdrive/modeld/dmonitoringmodeld.py
 selfdrive/modeld/constants.py
 selfdrive/modeld/modeld
@ -332,8 +335,6 @@ selfdrive/modeld/models/supercombo.onnx

 selfdrive/modeld/models/dmonitoring_model_q.dlc

-selfdrive/modeld/models/navmodel_q.dlc
-
 selfdrive/modeld/transforms/loadyuv.cc
 selfdrive/modeld/transforms/loadyuv.h
 selfdrive/modeld/transforms/loadyuv.cl
--- a/release/files_tici
+++ b/release/files_tici
@ -7,7 +7,7 @@ system/camerad/cameras/camera_qcom2.cc
 system/camerad/cameras/camera_qcom2.h
 system/camerad/cameras/camera_util.cc
 system/camerad/cameras/camera_util.h
-system/camerad/cameras/real_debayer.cl
+system/camerad/cameras/process_raw.cl

 system/qcomgpsd/*

--- a/release/verify.sh
+++ b/release/verify.sh
@ -1,16 +0,0 @@
-#!/bin/bash
-
-set -e
-
-RED="\033[0;31m"
-GREEN="\033[0;32m"
-CLEAR="\033[0m"
-
-BRANCHES="devel release3"
-for b in $BRANCHES; do
-  if git diff --quiet origin/$b origin/$b-staging && [ "$(git rev-parse origin/$b)" = "$(git rev-parse origin/$b-staging)" ]; then
-    printf "%-10s $GREEN ok $CLEAR\n" "$b"
-  else
-    printf "%-10s $RED mismatch $CLEAR\n" "$b"
-  fi
-done
--- a/scripts/count_cars.py
+++ b/scripts/count_cars.py
@ -2,10 +2,10 @@
 from collections import Counter
 from pprint import pprint

-from openpilot.selfdrive.car.docs import get_all_car_info
+from openpilot.selfdrive.car.docs import get_all_car_docs

 if __name__ == "__main__":
-  cars = get_all_car_info()
+  cars = get_all_car_docs()
  make_count = Counter(l.make for l in cars)
  print("\n", "*" * 20, len(cars), "total", "*" * 20, "\n")
  pprint(make_count)
--- a/scripts/launch_corolla.sh
+++ b/scripts/launch_corolla.sh
@ -2,6 +2,6 @@

 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"

-export FINGERPRINT="TOYOTA COROLLA TSS2 2019"
+export FINGERPRINT="TOYOTA_COROLLA_TSS2"
 export SKIP_FW_QUERY="1"
 $DIR/../launch_openpilot.sh
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@ -37,7 +37,7 @@ from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_commit, get_normalized_origin, get_short_branch, get_version
+from openpilot.system.version import get_build_metadata
 from openpilot.system.hardware.hw import Paths


@ -319,11 +319,12 @@ def getMessage(service: str, timeout: int = 1000) -> dict:

@dispatcher.add_method
 def getVersion() -> dict[str, str]:
+  build_metadata = get_build_metadata()
  return {
-    "version": get_version(),
-    "remote": get_normalized_origin(),
-    "branch": get_short_branch(),
-    "commit": get_commit(),
+    "version": build_metadata.openpilot.version,
+    "remote": build_metadata.openpilot.git_normalized_origin,
+    "branch": build_metadata.channel,
+    "commit": build_metadata.openpilot.git_commit,
  }


@ -466,6 +467,10 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local
                           cookie="jwt=" + identity_token,
                           enable_multithread=True)

+    # Set TOS to keep connection responsive while under load.
+    # DSCP of 36/HDD_LINUX_AC_VI with the minimum delay flag
+    ws.sock.setsockopt(socket.IPPROTO_IP, socket.IP_TOS, 0x90)
+
    ssock, csock = socket.socketpair()
    local_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    local_sock.connect(('127.0.0.1', local_port))
@ -656,10 +661,12 @@ def stat_handler(end_event: threading.Event) -> None:
 def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket, end_event: threading.Event, global_end_event: threading.Event) -> None:
  while not (end_event.is_set() or global_end_event.is_set()):
    try:
-      data = ws.recv()
-      if isinstance(data, str):
-        data = data.encode("utf-8")
-      local_sock.sendall(data)
+      r = select.select((ws.sock,), (), (), 30)
+      if r[0]:
+        data = ws.recv()
+        if isinstance(data, str):
+          data = data.encode("utf-8")
+        local_sock.sendall(data)
    except WebSocketTimeoutException:
      pass
    except Exception:
@ -669,6 +676,7 @@ def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket
  cloudlog.debug("athena.ws_proxy_recv closing sockets")
  ssock.close()
  local_sock.close()
+  ws.close()
  cloudlog.debug("athena.ws_proxy_recv done closing sockets")

  end_event.set()
--- a/selfdrive/athena/manage_athenad.py
+++ b/selfdrive/athena/manage_athenad.py
@ -7,7 +7,7 @@ from openpilot.common.params import Params
 from openpilot.selfdrive.manager.process import launcher
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import HARDWARE
-from openpilot.system.version import get_version, get_normalized_origin, get_short_branch, get_commit, is_dirty
+from openpilot.system.version import get_build_metadata

 ATHENA_MGR_PID_PARAM = "AthenadPid"

@ -15,12 +15,14 @@ ATHENA_MGR_PID_PARAM = "AthenadPid"
 def main():
  params = Params()
  dongle_id = params.get("DongleId").decode('utf-8')
+  build_metadata = get_build_metadata()
+
  cloudlog.bind_global(dongle_id=dongle_id,
-                       version=get_version(),
-                       origin=get_normalized_origin(),
-                       branch=get_short_branch(),
-                       commit=get_commit(),
-                       dirty=is_dirty(),
+                       version=build_metadata.openpilot.version,
+                       origin=build_metadata.openpilot.git_normalized_origin,
+                       branch=build_metadata.channel,
+                       commit=build_metadata.openpilot.git_commit,
+                       dirty=build_metadata.openpilot.is_dirty,
                       device=HARDWARE.get_device_type())

  try:
--- a/selfdrive/athena/tests/helpers.py
+++ b/selfdrive/athena/tests/helpers.py
@ -43,6 +43,8 @@ class MockApi():


 class MockWebsocket():
+  sock = socket.socket()
+
  def __init__(self, recv_queue, send_queue):
    self.recv_queue = recv_queue
    self.send_queue = send_queue
@ -56,6 +58,9 @@ class MockWebsocket():
  def send(self, data, opcode):
    self.send_queue.put_nowait((data, opcode))

+  def close(self):
+    pass
+

 class HTTPRequestHandler(http.server.SimpleHTTPRequestHandler):
  def do_PUT(self):
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@ -49,12 +49,6 @@ std::atomic<bool> ignition(false);

 ExitHandler do_exit;

-static std::string get_time_str(const struct tm &time) {
-  char s[30] = {'\0'};
-  std::strftime(s, std::size(s), "%Y-%m-%d %H:%M:%S", &time);
-  return s;
-}
-
 bool check_all_connected(const std::vector<Panda *> &pandas) {
  for (const auto& panda : pandas) {
    if (!panda->connected()) {
@ -65,36 +59,6 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
  return true;
 }

-enum class SyncTimeDir { TO_PANDA, FROM_PANDA };
-
-void sync_time(Panda *panda, SyncTimeDir dir) {
-  if (!panda->has_rtc) return;
-
-  setenv("TZ", "UTC", 1);
-  struct tm sys_time = util::get_time();
-  struct tm rtc_time = panda->get_rtc();
-
-  if (dir == SyncTimeDir::TO_PANDA) {
-    if (util::time_valid(sys_time)) {
-      // Write time to RTC if it looks reasonable
-      double seconds = difftime(mktime(&rtc_time), mktime(&sys_time));
-      if (std::abs(seconds) > 1.1) {
-        panda->set_rtc(sys_time);
-        LOGW("Updating panda RTC. dt = %.2f System: %s RTC: %s",
-              seconds, get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
-      }
-    }
-  } else if (dir == SyncTimeDir::FROM_PANDA) {
-    LOGW("System time: %s, RTC time: %s", get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
-
-    if (!util::time_valid(sys_time) && util::time_valid(rtc_time)) {
-      const struct timeval tv = {mktime(&rtc_time), 0};
-      settimeofday(&tv, 0);
-      LOGE("System time wrong, setting from RTC.");
-    }
-  }
-}
-
 bool safety_setter_thread(std::vector<Panda *> pandas) {
  LOGD("Starting safety setter thread");

@ -180,7 +144,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
 Panda *connect(std::string serial="", uint32_t index=0) {
  std::unique_ptr<Panda> panda;
  try {
-    panda = std::make_unique<Panda>(serial, (index * PANDA_BUS_CNT));
+    panda = std::make_unique<Panda>(serial, (index * PANDA_BUS_OFFSET));
  } catch (std::exception &e) {
    return nullptr;
  }
@ -195,7 +159,6 @@ Panda *connect(std::string serial="", uint32_t index=0) {
    throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
  }

-  sync_time(panda.get(), SyncTimeDir::FROM_PANDA);
  return panda.release();
 }

@ -353,7 +316,6 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
    ps.setControlsAllowed(health.controls_allowed_pkt);
    ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
    ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
-    ps.setGmlanSendErrs(health.gmlan_send_errs_pkt);
    ps.setPandaType(panda->hw_type);
    ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt));
    ps.setSafetyParam(health.safety_param_pkt);
@ -581,11 +543,6 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
      panda->set_ir_pwr(ir_pwr);
      prev_ir_pwr = ir_pwr;
    }
-
-    // Write to rtc once per minute when no ignition present
-    if (!ignition && (sm.frame % 120 == 1)) {
-      sync_time(panda, SyncTimeDir::TO_PANDA);
-    }
  }
 }

--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@ -25,10 +25,6 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
  }

  hw_type = get_hw_type();
-  has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
-            (hw_type == cereal::PandaState::PandaType::DOS) ||
-            (hw_type == cereal::PandaState::PandaType::TRES);
-
  can_reset_communications();

  return;
@ -77,41 +73,6 @@ cereal::PandaState::PandaType Panda::get_hw_type() {
  return (cereal::PandaState::PandaType)(hw_query[0]);
 }

-void Panda::set_rtc(struct tm sys_time) {
-  // tm struct has year defined as years since 1900
-  handle->control_write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0);
-  handle->control_write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0);
-  handle->control_write(0xa3, (uint16_t)sys_time.tm_mday, 0);
-  // handle->control_write(0xa4, (uint16_t)(1 + sys_time.tm_wday), 0);
-  handle->control_write(0xa5, (uint16_t)sys_time.tm_hour, 0);
-  handle->control_write(0xa6, (uint16_t)sys_time.tm_min, 0);
-  handle->control_write(0xa7, (uint16_t)sys_time.tm_sec, 0);
-}
-
-struct tm Panda::get_rtc() {
-  struct __attribute__((packed)) timestamp_t {
-    uint16_t year; // Starts at 0
-    uint8_t month;
-    uint8_t day;
-    uint8_t weekday;
-    uint8_t hour;
-    uint8_t minute;
-    uint8_t second;
-  } rtc_time = {0};
-
-  handle->control_read(0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time));
-
-  struct tm new_time = { 0 };
-  new_time.tm_year = rtc_time.year - 1900; // tm struct has year defined as years since 1900
-  new_time.tm_mon  = rtc_time.month - 1;
-  new_time.tm_mday = rtc_time.day;
-  new_time.tm_hour = rtc_time.hour;
-  new_time.tm_min  = rtc_time.minute;
-  new_time.tm_sec  = rtc_time.second;
-
-  return new_time;
-}
-
 void Panda::set_fan_speed(uint16_t fan_speed) {
  handle->control_write(0xb1, fan_speed, 0);
 }
@ -211,7 +172,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
  for (auto cmsg : can_data_list) {
    // check if the message is intended for this panda
    uint8_t bus = cmsg.getSrc();
-    if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_CNT)) {
+    if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_OFFSET)) {
      continue;
    }
    auto can_data = cmsg.getDat();
--- a/selfdrive/boardd/panda.h
+++ b/selfdrive/boardd/panda.h
@ -23,6 +23,8 @@
 #define CAN_REJECTED_BUS_OFFSET   0xC0U
 #define CAN_RETURNED_BUS_OFFSET 0x80U

+#define PANDA_BUS_OFFSET 4
+
 struct __attribute__((packed)) can_header {
  uint8_t reserved : 1;
  uint8_t bus : 3;
@ -50,7 +52,6 @@ public:
  Panda(std::string serial="", uint32_t bus_offset=0);

  cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
-  bool has_rtc = false;
  const uint32_t bus_offset;

  bool connected();
@ -64,8 +65,6 @@ public:
  cereal::PandaState::PandaType get_hw_type();
  void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
  void set_alternative_experience(uint16_t alternative_experience);
-  void set_rtc(struct tm sys_time);
-  struct tm get_rtc();
  void set_fan_speed(uint16_t fan_speed);
  uint16_t get_fan_speed();
  void set_ir_pwr(uint16_t ir_pwr);
--- a/selfdrive/boardd/pandad.py
+++ b/selfdrive/boardd/pandad.py
@ -5,12 +5,10 @@ import usb1
 import time
 import subprocess
 from typing import NoReturn
-from functools import cmp_to_key

 from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.selfdrive.boardd.set_time import set_time
 from openpilot.system.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog

@ -63,24 +61,6 @@ def flash_panda(panda_serial: str) -> Panda:
  return panda


-def panda_sort_cmp(a: Panda, b: Panda):
-  a_type = a.get_type()
-  b_type = b.get_type()
-
-  # make sure the internal one is always first
-  if a.is_internal() and not b.is_internal():
-    return -1
-  if not a.is_internal() and b.is_internal():
-    return 1
-
-  # sort by hardware type
-  if a_type != b_type:
-    return a_type < b_type
-
-  # last resort: sort by serial number
-  return a.get_usb_serial() < b.get_usb_serial()
-
-
 def main() -> NoReturn:
  count = 0
  first_run = True
@ -137,7 +117,10 @@ def main() -> NoReturn:
      no_internal_panda_count = 0

      # sort pandas to have deterministic order
-      pandas.sort(key=cmp_to_key(panda_sort_cmp))
+      # * the internal one is always first
+      # * then sort by hardware type
+      # * as a last resort, sort by serial number
+      pandas.sort(key=lambda x: (not x.is_internal(), x.get_type(), x.get_usb_serial()))
      panda_serials = [p.get_usb_serial() for p in pandas]

      # log panda fw versions
@ -154,16 +137,9 @@ def main() -> NoReturn:
          cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial())

        if first_run:
-          if panda.is_internal():
-            # update time from RTC
-            set_time(cloudlog)
-
          # reset panda to ensure we're in a good state
          cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
-          if panda.is_internal():
-            HARDWARE.reset_internal_panda()
-          else:
-            panda.reset(reconnect=False)
+          panda.reset(reconnect=True)

      for p in pandas:
        p.close()
--- a/selfdrive/boardd/set_time.py
+++ b/selfdrive/boardd/set_time.py
@ -1,38 +0,0 @@
-#!/usr/bin/env python3
-import os
-import datetime
-from panda import Panda
-
-from openpilot.common.time import MIN_DATE
-
-def set_time(logger):
-  sys_time = datetime.datetime.today()
-  if sys_time > MIN_DATE:
-    logger.info("System time valid")
-    return
-
-  try:
-    ps = Panda.list()
-    if len(ps) == 0:
-      logger.error("Failed to set time, no pandas found")
-      return
-
-    for s in ps:
-      with Panda(serial=s) as p:
-        if not p.is_internal():
-          continue
-
-        # Set system time from panda RTC time
-        panda_time = p.get_datetime()
-        if panda_time > MIN_DATE:
-          logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
-          os.system(f"TZ=UTC date -s '{panda_time}'")
-        break
-  except Exception:
-    logger.exception("Failed to fetch time from panda")
-
-if __name__ == "__main__":
-  import logging
-  logging.basicConfig(level=logging.DEBUG)
-
-  set_time(logging)
--- a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc
+++ b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc
@ -40,7 +40,7 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState
    uint32_t id = util::random_int(0, std::size(dlc_to_len) - 1);
    const std::string &dat = test_data[dlc_to_len[id]];
    can.setAddress(i);
-    can.setSrc(util::random_int(0, 3) + bus_offset);
+    can.setSrc(util::random_int(0, 2) + bus_offset);
    can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size()));
    total_pakets_size += sizeof(can_header) + dat.size();
  }
--- a/selfdrive/boardd/tests/test_pandad.py
+++ b/selfdrive/boardd/tests/test_pandad.py
@ -23,23 +23,28 @@ class TestPandad(unittest.TestCase):
    if len(Panda.list()) == 0:
      self._run_test(60)

+    self.spi = HARDWARE.get_device_type() != 'tici'
+
  def tearDown(self):
    managed_processes['pandad'].stop()

-  def _run_test(self, timeout=30):
-    managed_processes['pandad'].start()
+  def _run_test(self, timeout=30) -> float:
+    st = time.monotonic()
+    sm = messaging.SubMaster(['pandaStates'])

-    sm = messaging.SubMaster(['peripheralState'])
-    for _ in range(timeout*10):
+    managed_processes['pandad'].start()
+    while (time.monotonic() - st) < timeout:
      sm.update(100)
-      if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
+      if len(sm['pandaStates']) and sm['pandaStates'][0].pandaType != log.PandaState.PandaType.unknown:
        break
-
+    dt = time.monotonic() - st
    managed_processes['pandad'].stop()

-    if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
+    if len(sm['pandaStates']) == 0 or sm['pandaStates'][0].pandaType == log.PandaState.PandaType.unknown:
      raise Exception("boardd failed to start")

+    return dt
+
  def _go_to_dfu(self):
    HARDWARE.recover_internal_panda()
    assert Panda.wait_for_dfu(None, 10)
@ -88,14 +93,23 @@ class TestPandad(unittest.TestCase):
    assert any(Panda(s).is_internal() for s in Panda.list())

  def test_best_case_startup_time(self):
-    # run once so we're setup
+    # run once so we're up to date
    self._run_test(60)

-    # should be fast this time
-    self._run_test(8)
+    ts = []
+    for _ in range(10):
+      # should be nearly instant this time
+      dt = self._run_test(5)
+      ts.append(dt)
+
+    # 5s for USB (due to enumeration)
+    # - 0.2s pandad -> boardd
+    # - plus some buffer
+    assert 0.1 < (sum(ts)/len(ts)) < (0.5 if self.spi else 5.0)
+    print("startup times", ts, sum(ts) / len(ts))

  def test_protocol_version_check(self):
-    if HARDWARE.get_device_type() == 'tici':
+    if not self.spi:
      raise unittest.SkipTest("SPI test")
    # flash old fw
    fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@ -12,12 +12,12 @@

 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.

-# {{all_car_info | length}} Supported Cars
+# {{all_car_docs | length}} Supported Cars

 |{{Column | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}|
 |---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%}
-{% for car_info in all_car_info %}
-|{% for column in Column %}{{car_info.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
+{% for car_docs in all_car_docs %}
+|{% for column in Column %}{{car_docs.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}

 {% endfor %}

@ -67,6 +67,7 @@ openpilot does not yet support these Toyota models due to a new message authenti
 * Toyota Tundra 2022+
 * Toyota Highlander 2024+
 * Toyota Corolla Cross 2022+ (only US model)
+* Toyota Camry 2025+
 * Lexus NX 2022+
 * Toyota bZ4x 2023+
 * Subaru Solterra 2023+
--- a/selfdrive/car/init.py
+++ b/selfdrive/car/init.py
@ -1,7 +1,7 @@
 # functions common among cars
 from collections import defaultdict, namedtuple
 from dataclasses import dataclass
-from enum import IntFlag, ReprEnum
+from enum import IntFlag, ReprEnum, EnumType
 from dataclasses import replace

 import capnp
@ -9,7 +9,7 @@ import capnp
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.utils import Freezable
-from openpilot.selfdrive.car.docs_definitions import CarInfo
+from openpilot.selfdrive.car.docs_definitions import CarDocs


 # kg of standard extra cargo to count for drive, gas, etc...
@ -165,41 +165,6 @@ def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_fra
  return above_limit_frames, request


-def crc8_pedal(data):
-  crc = 0xFF    # standard init value
-  poly = 0xD5   # standard crc8: x8+x7+x6+x4+x2+1
-  size = len(data)
-  for i in range(size - 1, -1, -1):
-    crc ^= data[i]
-    for _ in range(8):
-      if ((crc & 0x80) != 0):
-        crc = ((crc << 1) ^ poly) & 0xFF
-      else:
-        crc <<= 1
-  return crc
-
-
-def create_gas_interceptor_command(packer, gas_amount, idx):
-  # Common gas pedal msg generator
-  enable = gas_amount > 0.001
-
-  values = {
-    "ENABLE": enable,
-    "COUNTER_PEDAL": idx & 0xF,
-  }
-
-  if enable:
-    values["GAS_COMMAND"] = gas_amount * 255.
-    values["GAS_COMMAND2"] = gas_amount * 255.
-
-  dat = packer.make_can_msg("GAS_COMMAND", 0, values)[2]
-
-  checksum = crc8_pedal(dat[:-1])
-  values["CHECKSUM_PEDAL"] = checksum
-
-  return packer.make_can_msg("GAS_COMMAND", 0, values)
-
-
 def make_can_msg(addr, dat, bus):
  return [addr, 0, dat, bus]

@ -245,9 +210,6 @@ class CanSignalRateCalculator:
    return self.rate


-CarInfos = CarInfo | list[CarInfo] | None
-
-
@dataclass(frozen=True, kw_only=True)
 class CarSpecs:
  mass: float  # kg, curb weight
@ -264,14 +226,15 @@ class CarSpecs:

@dataclass(order=True)
 class PlatformConfig(Freezable):
-  platform_str: str
-  car_info: CarInfos
+  car_docs: list[CarDocs]
  specs: CarSpecs

  dbc_dict: DbcDict

  flags: int = 0

+  platform_str: str | None = None
+
  def __hash__(self) -> int:
    return hash(self.platform_str)

@ -283,10 +246,18 @@ class PlatformConfig(Freezable):

  def __post_init__(self):
    self.init()
-    self.freeze()


-class Platforms(str, ReprEnum):
+class PlatformsType(EnumType):
+  def __new__(metacls, cls, bases, classdict, *, boundary=None, _simple=False, **kwds):
+    for key in classdict._member_names.keys():
+      cfg: PlatformConfig = classdict[key]
+      cfg.platform_str = key
+      cfg.freeze()
+    return super().__new__(metacls, cls, bases, classdict, boundary=boundary, _simple=_simple, **kwds)
+
+
+class Platforms(str, ReprEnum, metaclass=PlatformsType):
  config: PlatformConfig

  def __new__(cls, platform_config: PlatformConfig):
@ -295,6 +266,9 @@ class Platforms(str, ReprEnum):
    member._value_ = platform_config.platform_str
    return member

+  def __repr__(self):
+    return f"<{self.__class__.__name__}.{self.name}>"
+
  @classmethod
  def create_dbc_map(cls) -> dict[str, DbcDict]:
    return {p: p.config.dbc_dict for p in cls}
--- a/selfdrive/car/body/fingerprints.py
+++ b/selfdrive/car/body/fingerprints.py
@ -8,13 +8,13 @@ Ecu = car.CarParams.Ecu


 FINGERPRINTS = {
-  CAR.BODY: [{
+  CAR.COMMA_BODY: [{
    513: 8, 516: 8, 514: 3, 515: 4
  }],
 }

 FW_VERSIONS = {
-  CAR.BODY: {
+  CAR.COMMA_BODY: {
    (Ecu.engine, 0x720, None): [
      b'0.0.01',
      b'0.3.00a',
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@ -37,6 +37,3 @@ class CarInterface(CarInterfaceBase):
    self.frame += 1

    return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
--- a/selfdrive/car/body/values.py
+++ b/selfdrive/car/body/values.py
@ -1,6 +1,6 @@
 from cereal import car
 from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarInfo
+from openpilot.selfdrive.car.docs_definitions import CarDocs
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries

 Ecu = car.CarParams.Ecu
@ -20,9 +20,8 @@ class CarControllerParams:


 class CAR(Platforms):
-  BODY = PlatformConfig(
-    "COMMA BODY",
-    CarInfo("comma body", package="All"),
+  COMMA_BODY = PlatformConfig(
+    [CarDocs("comma body", package="All")],
    CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44),
    dbc_dict('comma_body', None),
  )
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@ -4,9 +4,6 @@ from collections.abc import Callable

 from cereal import car
 from openpilot.common.params import Params
-from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.car.values import PLATFORMS
-from openpilot.system.version import is_comma_remote, is_tested_branch
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
@ -15,6 +12,7 @@ from openpilot.selfdrive.car.mock.values import CAR as MOCK
 from openpilot.common.swaglog import cloudlog
 import cereal.messaging as messaging
 from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.system.version import get_build_metadata

 FRAME_FINGERPRINT = 100  # 1s

@ -22,7 +20,8 @@ EventName = car.CarEvent.EventName


 def get_startup_event(car_recognized, controller_available, fw_seen):
-  if is_comma_remote() and is_tested_branch():
+  build_metadata = get_build_metadata()
+  if build_metadata.openpilot.comma_remote and build_metadata.tested_channel:
    event = EventName.startup
  else:
    event = EventName.startupMaster
@ -49,17 +48,8 @@ def load_interfaces(brand_names):
  for brand_name in brand_names:
    path = f'openpilot.selfdrive.car.{brand_name}'
    CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
-
-    if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carstate.py'):
-      CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
-    else:
-      CarState = None
-
-    if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carcontroller.py'):
-      CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
-    else:
-      CarController = None
-
+    CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
+    CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
    for model_name in brand_names[brand_name]:
      ret[model_name] = (CarInterface, CarController, CarState)
  return ret
@ -149,10 +139,10 @@ def fingerprint(logcan, sendcan, num_pandas):
      # VIN query only reliably works through OBDII
      vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1))
      ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas)
-      car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
+      car_fw = get_fw_versions_ordered(logcan, sendcan, vin, ecu_rx_addrs, num_pandas=num_pandas)
      cached = False

-    exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
+    exact_fw_match, fw_candidates = match_fw_to_car(car_fw, vin)
  else:
    vin_rx_addr, vin_rx_bus, vin = -1, -1, VIN_UNKNOWN
    exact_fw_match, fw_candidates, car_fw = True, set(), []
@ -192,9 +182,7 @@ def fingerprint(logcan, sendcan, num_pandas):
                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
                 fingerprints=repr(finger), fw_query_time=fw_query_time, error=True)

-  car_platform = PLATFORMS.get(car_fingerprint, MOCK.MOCK)
-
-  return car_platform, finger, vin, car_fw, source, exact_match
+  return car_fingerprint, finger, vin, car_fw, source, exact_match


 def get_car_interface(CP):
@ -207,7 +195,7 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):

  if candidate is None:
    cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True)
-    candidate = "mock"
+    candidate = "MOCK"

  CarInterface, _, _ = interfaces[candidate]
  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@ -21,10 +21,16 @@ class CarState(CarStateBase):
    else:
      self.shifter_values = can_define.dv["GEAR"]["PRNDL"]

+    self.prev_distance_button = 0
+    self.distance_button = 0
+
  def update(self, cp, cp_cam):

    ret = car.CarState.new_message()

+    self.prev_distance_button = self.distance_button
+    self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
+
    # lock info
    ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
                        cp.vl["BCM_1"]["DOOR_OPEN_FR"],
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@ -4,7 +4,7 @@ from openpilot.selfdrive.car.chrysler.values import CAR
 Ecu = car.CarParams.Ecu

 FW_VERSIONS = {
-  CAR.PACIFICA_2017_HYBRID: {
+  CAR.CHRYSLER_PACIFICA_2017_HYBRID: {
    (Ecu.combinationMeter, 0x742, None): [
      b'68239262AH',
      b'68239262AI',
@ -33,7 +33,7 @@ FW_VERSIONS = {
      b'05190226AK',
    ],
  },
-  CAR.PACIFICA_2018: {
+  CAR.CHRYSLER_PACIFICA_2018: {
    (Ecu.combinationMeter, 0x742, None): [
      b'68227902AF',
      b'68227902AG',
@ -81,6 +81,7 @@ FW_VERSIONS = {
      b'68277370AJ',
      b'68277370AM',
      b'68277372AD',
+      b'68277372AE',
      b'68277372AN',
      b'68277374AA',
      b'68277374AB',
@ -90,14 +91,16 @@ FW_VERSIONS = {
      b'68380571AB',
    ],
  },
-  CAR.PACIFICA_2020: {
+  CAR.CHRYSLER_PACIFICA_2020: {
    (Ecu.combinationMeter, 0x742, None): [
      b'68405327AC',
      b'68436233AB',
      b'68436233AC',
+      b'68436234AB',
      b'68436250AE',
      b'68529067AA',
      b'68594993AB',
+      b'68594994AB',
    ],
    (Ecu.srs, 0x744, None): [
      b'68405565AB',
@ -121,15 +124,18 @@ FW_VERSIONS = {
      b'68540436AC',
      b'68540436AD',
      b'68598670AB',
+      b'68598670AC',
    ],
    (Ecu.eps, 0x75a, None): [
      b'68416742AA',
      b'68460393AA',
      b'68460393AB',
      b'68494461AB',
+      b'68494461AC',
      b'68524936AA',
      b'68524936AB',
      b'68525338AB',
+      b'68594337AB',
      b'68594340AB',
    ],
    (Ecu.engine, 0x7e0, None): [
@ -141,10 +147,14 @@ FW_VERSIONS = {
      b'68443120AE ',
      b'68443123AC ',
      b'68443125AC ',
+      b'68496647AJ ',
+      b'68496650AH ',
+      b'68496650AI ',
      b'68526752AD ',
      b'68526752AE ',
      b'68526754AE ',
      b'68536264AE ',
+      b'68700304AB ',
      b'68700306AB ',
    ],
    (Ecu.transmission, 0x7e1, None): [
@ -155,12 +165,14 @@ FW_VERSIONS = {
      b'68443155AC',
      b'68443158AB',
      b'68501050AD',
+      b'68501055AD',
      b'68527221AB',
      b'68527223AB',
      b'68586231AD',
+      b'68586233AD',
    ],
  },
-  CAR.PACIFICA_2018_HYBRID: {
+  CAR.CHRYSLER_PACIFICA_2018_HYBRID: {
    (Ecu.combinationMeter, 0x742, None): [
      b'68358439AE',
      b'68358439AG',
@ -187,7 +199,7 @@ FW_VERSIONS = {
      b'05190226AM',
    ],
  },
-  CAR.PACIFICA_2019_HYBRID: {
+  CAR.CHRYSLER_PACIFICA_2019_HYBRID: {
    (Ecu.combinationMeter, 0x742, None): [
      b'68405292AC',
      b'68434956AC',
@ -258,6 +270,7 @@ FW_VERSIONS = {
      b'68331511AC',
      b'68331574AC',
      b'68331687AC',
+      b'68331690AC',
      b'68340272AD',
    ],
    (Ecu.srs, 0x744, None): [
@ -362,7 +375,7 @@ FW_VERSIONS = {
      b'68503664AC',
    ],
  },
-  CAR.RAM_1500: {
+  CAR.RAM_1500_5TH_GEN: {
    (Ecu.combinationMeter, 0x742, None): [
      b'68294051AG',
      b'68294051AI',
@ -379,10 +392,12 @@ FW_VERSIONS = {
      b'68434859AC',
      b'68434860AC',
      b'68453483AC',
+      b'68453483AD',
      b'68453487AD',
      b'68453491AC',
      b'68453499AD',
      b'68453503AC',
+      b'68453503AD',
      b'68453505AC',
      b'68453505AD',
      b'68453511AC',
@ -404,9 +419,12 @@ FW_VERSIONS = {
      b'68527383AD',
      b'68527387AE',
      b'68527403AC',
+      b'68527403AD',
      b'68546047AF',
      b'68631938AA',
+      b'68631940AA',
      b'68631942AA',
+      b'68631943AB',
    ],
    (Ecu.srs, 0x744, None): [
      b'68428609AB',
@ -418,8 +436,10 @@ FW_VERSIONS = {
      b'68615034AA',
    ],
    (Ecu.abs, 0x747, None): [
+      b'68292406AG',
      b'68292406AH',
      b'68432418AB',
+      b'68432418AC',
      b'68432418AD',
      b'68436004AD',
      b'68436004AE',
@ -469,6 +489,7 @@ FW_VERSIONS = {
      b'68552790AA',
      b'68552791AB',
      b'68552794AA',
+      b'68552794AD',
      b'68585106AB',
      b'68585107AB',
      b'68585108AB',
@ -477,9 +498,12 @@ FW_VERSIONS = {
    ],
    (Ecu.engine, 0x7e0, None): [
      b'05035699AG ',
+      b'05035841AC ',
+      b'05035841AD ',
      b'05036026AB ',
      b'05036065AE ',
      b'05036066AE ',
+      b'05036193AA ',
      b'05149368AA ',
      b'05149591AD ',
      b'05149591AE ',
@ -496,6 +520,8 @@ FW_VERSIONS = {
      b'68378701AI ',
      b'68378702AI ',
      b'68378710AL ',
+      b'68378742AI ',
+      b'68378742AK ',
      b'68378748AL ',
      b'68378758AM ',
      b'68448163AJ',
@ -509,27 +535,32 @@ FW_VERSIONS = {
      b'68455145AE ',
      b'68455146AC ',
      b'68467915AC ',
+      b'68467916AC ',
      b'68467936AC ',
      b'68500630AD',
      b'68500630AE',
      b'68502719AC ',
      b'68502722AC ',
+      b'68502733AC ',
      b'68502734AF ',
      b'68502740AF ',
      b'68502741AF ',
      b'68502742AC ',
+      b'68502742AF ',
      b'68539650AD',
      b'68539650AF',
      b'68539651AD',
      b'68586101AA ',
      b'68586105AB ',
      b'68629922AC ',
+      b'68629925AC ',
      b'68629926AC ',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'05035706AD',
      b'05035842AB',
      b'05036069AA',
+      b'05036181AA',
      b'05149536AC',
      b'05149537AC',
      b'05149543AC',
@ -539,6 +570,8 @@ FW_VERSIONS = {
      b'68360081AM',
      b'68360085AJ',
      b'68360085AL',
+      b'68360086AH',
+      b'68360086AK',
      b'68384328AD',
      b'68384332AD',
      b'68445531AC',
@ -559,7 +592,7 @@ FW_VERSIONS = {
      b'68629936AC',
    ],
  },
-  CAR.RAM_HD: {
+  CAR.RAM_HD_5TH_GEN: {
    (Ecu.combinationMeter, 0x742, None): [
      b'68361606AH',
      b'68437735AC',
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@ -1,10 +1,12 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase

+ButtonType = car.CarState.ButtonEvent.Type
+

 class CarInterface(CarInterfaceBase):
  @staticmethod
@ -27,13 +29,14 @@ class CarInterface(CarInterfaceBase):
    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
    if candidate not in RAM_CARS:
      # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
-      new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
+      new_eps_platform = candidate in (CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
      new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
      if new_eps_platform or new_eps_firmware:
        ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value

    # Chrysler
-    if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.DODGE_DURANGO):
+    if candidate in (CAR.CHRYSLER_PACIFICA_2017_HYBRID, CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, \
+                     CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
      ret.lateralTuning.init('pid')
      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
@ -49,14 +52,14 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kf = 0.00006

    # Ram
-    elif candidate == CAR.RAM_1500:
+    elif candidate == CAR.RAM_1500_5TH_GEN:
      ret.steerActuatorDelay = 0.2
      ret.wheelbase = 3.88
      # Older EPS FW allow steer to zero
      if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
        ret.minSteerSpeed = 0.

-    elif candidate == CAR.RAM_HD:
+    elif candidate == CAR.RAM_HD_5TH_GEN:
      ret.steerActuatorDelay = 0.2
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)

@ -76,6 +79,8 @@ class CarInterface(CarInterfaceBase):
  def _update(self, c):
    ret = self.CS.update(self.cp, self.cp_cam)

+    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
    # events
    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])

@ -90,6 +95,3 @@ class CarInterface(CarInterfaceBase):
    ret.events = events.to_msg()

    return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@ -4,7 +4,7 @@ from dataclasses import dataclass, field
 from cereal import car
 from panda.python import uds
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
+from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16

 Ecu = car.CarParams.Ecu
@ -15,7 +15,7 @@ class ChryslerFlags(IntFlag):
  HIGHER_MIN_STEERING_SPEED = 1

@dataclass
-class ChryslerCarInfo(CarInfo):
+class ChryslerCarDocs(CarDocs):
  package: str = "Adaptive Cruise Control (ACC)"
  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))

@ -32,67 +32,57 @@ class ChryslerCarSpecs(CarSpecs):

 class CAR(Platforms):
  # Chrysler
-  PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA HYBRID 2017",
-    ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"),
+  CHRYSLER_PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017")],
    ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
  )
-  PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA HYBRID 2018",
-    ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
-    PACIFICA_2017_HYBRID.specs,
+  CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2018")],
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
  )
-  PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA HYBRID 2019",
-    ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
-    PACIFICA_2017_HYBRID.specs,
+  CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-23")],
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
  )
-  PACIFICA_2018 = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA 2018",
-    ChryslerCarInfo("Chrysler Pacifica 2017-18"),
-    PACIFICA_2017_HYBRID.specs,
+  CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Chrysler Pacifica 2017-18")],
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
  )
-  PACIFICA_2020 = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA 2020",
+  CHRYSLER_PACIFICA_2020 = ChryslerPlatformConfig(
    [
-      ChryslerCarInfo("Chrysler Pacifica 2019-20"),
-      ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
+      ChryslerCarDocs("Chrysler Pacifica 2019-20"),
+      ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"),
    ],
-    PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
  )

  # Dodge
  DODGE_DURANGO = ChryslerPlatformConfig(
-    "DODGE DURANGO 2021",
-    ChryslerCarInfo("Dodge Durango 2020-21"),
-    PACIFICA_2017_HYBRID.specs,
+    [ChryslerCarDocs("Dodge Durango 2020-21")],
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
  )

  # Jeep
  JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig(  # includes 2017 Trailhawk
-    "JEEP GRAND CHEROKEE V6 2018",
-    ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
+    [ChryslerCarDocs("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk")],
    ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
  )

  JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig(  # includes 2020 Trailhawk
-    "JEEP GRAND CHEROKEE 2019",
-    ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
+    [ChryslerCarDocs("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4")],
    JEEP_GRAND_CHEROKEE.specs,
  )

  # Ram
-  RAM_1500 = ChryslerPlatformConfig(
-    "RAM 1500 5TH GEN",
-    ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
+  RAM_1500_5TH_GEN = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram]))],
    ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
    dbc_dict('chrysler_ram_dt_generated', None),
  )
-  RAM_HD = ChryslerPlatformConfig(
-    "RAM HD 5TH GEN",
+  RAM_HD_5TH_GEN = ChryslerPlatformConfig(
    [
-      ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
-      ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
+      ChryslerCarDocs("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
+      ChryslerCarDocs("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
    ],
    ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
    dbc_dict('chrysler_ram_hd_generated', None),
@ -119,8 +109,8 @@ class CarControllerParams:

 STEER_THRESHOLD = 120

-RAM_DT = {CAR.RAM_1500, }
-RAM_HD = {CAR.RAM_HD, }
+RAM_DT = {CAR.RAM_1500_5TH_GEN, }
+RAM_HD = {CAR.RAM_HD_5TH_GEN, }
 RAM_CARS = RAM_DT | RAM_HD


--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@ -9,7 +9,7 @@ from natsort import natsorted
 from cereal import car
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType
+from openpilot.selfdrive.car.docs_definitions import CarDocs, Column, CommonFootnote, PartType
 from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr
 from openpilot.selfdrive.car.values import PLATFORMS

@ -25,46 +25,43 @@ CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
 CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")


-def get_all_car_info() -> list[CarInfo]:
-  all_car_info: list[CarInfo] = []
+def get_all_car_docs() -> list[CarDocs]:
+  all_car_docs: list[CarDocs] = []
  footnotes = get_all_footnotes()
  for model, platform in PLATFORMS.items():
-    car_info = platform.config.car_info
+    car_docs = platform.config.car_docs
    # If available, uses experimental longitudinal limits for the docs
    CP = interfaces[model][0].get_params(platform, fingerprint=gen_empty_fingerprint(),
                                         car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True)

-    if CP.dashcamOnly or car_info is None:
+    if CP.dashcamOnly or not len(car_docs):
      continue

    # A platform can include multiple car models
-    if not isinstance(car_info, list):
-      car_info = [car_info,]
-
-    for _car_info in car_info:
-      if not hasattr(_car_info, "row"):
-        _car_info.init_make(CP)
-        _car_info.init(CP, footnotes)
-      all_car_info.append(_car_info)
+    for _car_docs in car_docs:
+      if not hasattr(_car_docs, "row"):
+        _car_docs.init_make(CP)
+        _car_docs.init(CP, footnotes)
+      all_car_docs.append(_car_docs)

  # Sort cars by make and model + year
-  sorted_cars: list[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower())
+  sorted_cars: list[CarDocs] = natsorted(all_car_docs, key=lambda car: car.name.lower())
  return sorted_cars


-def group_by_make(all_car_info: list[CarInfo]) -> dict[str, list[CarInfo]]:
-  sorted_car_info = defaultdict(list)
-  for car_info in all_car_info:
-    sorted_car_info[car_info.make].append(car_info)
-  return dict(sorted_car_info)
+def group_by_make(all_car_docs: list[CarDocs]) -> dict[str, list[CarDocs]]:
+  sorted_car_docs = defaultdict(list)
+  for car_docs in all_car_docs:
+    sorted_car_docs[car_docs.make].append(car_docs)
+  return dict(sorted_car_docs)


-def generate_cars_md(all_car_info: list[CarInfo], template_fn: str) -> str:
+def generate_cars_md(all_car_docs: list[CarDocs], template_fn: str) -> str:
  with open(template_fn) as f:
    template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)

  footnotes = [fn.value.text for fn in get_all_footnotes()]
-  cars_md: str = template.render(all_car_info=all_car_info, PartType=PartType,
+  cars_md: str = template.render(all_car_docs=all_car_docs, PartType=PartType,
                                 group_by_make=group_by_make, footnotes=footnotes,
                                 Column=Column)
  return cars_md
@ -79,5 +76,5 @@ if __name__ == "__main__":
  args = parser.parse_args()

  with open(args.out, 'w') as f:
-    f.write(generate_cars_md(get_all_car_info(), args.template))
+    f.write(generate_cars_md(get_all_car_docs(), args.template))
  print(f"Generated and written to {args.out}")
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@ -220,7 +220,7 @@ def split_name(name: str) -> tuple[str, str, str]:


@dataclass
-class CarInfo:
+class CarDocs:
  # make + model + model years
  name: str

@ -266,7 +266,7 @@ class CarInfo:
    # min steer & enable speed columns
    # TODO: set all the min steer speeds in carParams and remove this
    if self.min_steer_speed is not None:
-      assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarInfo and CarParams"
+      assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarDocs and CarParams"
    else:
      self.min_steer_speed = CP.minSteerSpeed

@ -317,7 +317,7 @@ class CarInfo:
    return self

  def init_make(self, CP: car.CarParams):
-    """CarInfo subclasses can add make-specific logic for harness selection, footnotes, etc."""
+    """CarDocs subclasses can add make-specific logic for harness selection, footnotes, etc."""

  def get_detail_sentence(self, CP):
    if not CP.notCar:
@ -340,13 +340,13 @@ class CarInfo:

      # experimental mode
      exp_link = "<a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='link-light-new-regular-text'>Experimental mode</a>"
-      if CP.openpilotLongitudinalControl or CP.experimentalLongitudinalAvailable:
+      if CP.openpilotLongitudinalControl and not CP.experimentalLongitudinalAvailable:
        sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}."

      return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)

    else:
-      if CP.carFingerprint == "COMMA BODY":
+      if CP.carFingerprint == "COMMA_BODY":
        return "The body is a robotics dev kit that can run openpilot. <a href='https://www.commabody.com'>Learn more.</a>"
      else:
        raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
--- a/selfdrive/car/fingerprints.py
+++ b/selfdrive/car/fingerprints.py
@ -1,4 +1,17 @@
 from openpilot.selfdrive.car.interfaces import get_interface_attr
+from openpilot.selfdrive.car.body.values import CAR as BODY
+from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER
+from openpilot.selfdrive.car.ford.values import CAR as FORD
+from openpilot.selfdrive.car.gm.values import CAR as GM
+from openpilot.selfdrive.car.honda.values import CAR as HONDA
+from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
+from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
+from openpilot.selfdrive.car.mock.values import CAR as MOCK
+from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
+from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
+from openpilot.selfdrive.car.tesla.values import CAR as TESLA
+from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.car.volkswagen.values import CAR as VW

 FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)
 _FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True)
@ -44,3 +57,291 @@ def all_known_cars():
 def all_legacy_fingerprint_cars():
  """Returns a list of all known car strings, FPv1 only."""
  return list(_FINGERPRINTS.keys())
+
+
+# A dict that maps old platform strings to their latest representations
+MIGRATION = {
+  "ACURA ILX 2016 ACURAWATCH PLUS": HONDA.ACURA_ILX,
+  "ACURA RDX 2018 ACURAWATCH PLUS": HONDA.ACURA_RDX,
+  "ACURA RDX 2020 TECH": HONDA.ACURA_RDX_3G,
+  "AUDI A3": VW.AUDI_A3_MK3,
+  "HONDA ACCORD 2018 HYBRID TOURING": HONDA.HONDA_ACCORD,
+  "HONDA ACCORD 1.5T 2018": HONDA.HONDA_ACCORD,
+  "HONDA ACCORD 2018 LX 1.5T": HONDA.HONDA_ACCORD,
+  "HONDA ACCORD 2018 SPORT 2T": HONDA.HONDA_ACCORD,
+  "HONDA ACCORD 2T 2018": HONDA.HONDA_ACCORD,
+  "HONDA ACCORD HYBRID 2018": HONDA.HONDA_ACCORD,
+  "HONDA CIVIC 2016 TOURING": HONDA.HONDA_CIVIC,
+  "HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019": HONDA.HONDA_CIVIC_BOSCH,
+  "HONDA CIVIC SEDAN 1.6 DIESEL": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
+  "HONDA CR-V 2016 EXECUTIVE": HONDA.HONDA_CRV_EU,
+  "HONDA CR-V 2016 TOURING": HONDA.HONDA_CRV,
+  "HONDA CR-V 2017 EX": HONDA.HONDA_CRV_5G,
+  "HONDA CR-V 2019 HYBRID": HONDA.HONDA_CRV_HYBRID,
+  "HONDA FIT 2018 EX": HONDA.HONDA_FIT,
+  "HONDA HRV 2019 TOURING": HONDA.HONDA_HRV,
+  "HONDA INSIGHT 2019 TOURING": HONDA.HONDA_INSIGHT,
+  "HONDA ODYSSEY 2018 EX-L": HONDA.HONDA_ODYSSEY,
+  "HONDA ODYSSEY 2019 EXCLUSIVE CHN": HONDA.HONDA_ODYSSEY_CHN,
+  "HONDA PILOT 2017 TOURING": HONDA.HONDA_PILOT,
+  "HONDA PILOT 2019 ELITE": HONDA.HONDA_PILOT,
+  "HONDA PILOT 2019": HONDA.HONDA_PILOT,
+  "HONDA PASSPORT 2021": HONDA.HONDA_PILOT,
+  "HONDA RIDGELINE 2017 BLACK EDITION": HONDA.HONDA_RIDGELINE,
+  "HYUNDAI ELANTRA LIMITED ULTIMATE 2017": HYUNDAI.HYUNDAI_ELANTRA,
+  "HYUNDAI SANTA FE LIMITED 2019": HYUNDAI.HYUNDAI_SANTA_FE,
+  "HYUNDAI TUCSON DIESEL 2019": HYUNDAI.HYUNDAI_TUCSON,
+  "KIA OPTIMA 2016": HYUNDAI.KIA_OPTIMA_G4,
+  "KIA OPTIMA 2019": HYUNDAI.KIA_OPTIMA_G4_FL,
+  "KIA OPTIMA SX 2019 & 2016": HYUNDAI.KIA_OPTIMA_G4_FL,
+  "LEXUS CT 200H 2018": TOYOTA.LEXUS_CTH,
+  "LEXUS ES 300H 2018": TOYOTA.LEXUS_ES,
+  "LEXUS ES 300H 2019": TOYOTA.LEXUS_ES_TSS2,
+  "LEXUS IS300 2018": TOYOTA.LEXUS_IS,
+  "LEXUS NX300 2018": TOYOTA.LEXUS_NX,
+  "LEXUS NX300H 2018": TOYOTA.LEXUS_NX,
+  "LEXUS RX 350 2016": TOYOTA.LEXUS_RX,
+  "LEXUS RX350 2020": TOYOTA.LEXUS_RX_TSS2,
+  "LEXUS RX450 HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
+  "TOYOTA SIENNA XLE 2018": TOYOTA.TOYOTA_SIENNA,
+  "TOYOTA C-HR HYBRID 2018": TOYOTA.TOYOTA_CHR,
+  "TOYOTA COROLLA HYBRID TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
+  "TOYOTA RAV4 HYBRID 2019": TOYOTA.TOYOTA_RAV4_TSS2,
+  "LEXUS ES HYBRID 2019": TOYOTA.LEXUS_ES_TSS2,
+  "LEXUS NX HYBRID 2018": TOYOTA.LEXUS_NX,
+  "LEXUS NX HYBRID 2020": TOYOTA.LEXUS_NX_TSS2,
+  "LEXUS RX HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
+  "TOYOTA ALPHARD HYBRID 2021": TOYOTA.TOYOTA_ALPHARD_TSS2,
+  "TOYOTA AVALON HYBRID 2019": TOYOTA.TOYOTA_AVALON_2019,
+  "TOYOTA AVALON HYBRID 2022": TOYOTA.TOYOTA_AVALON_TSS2,
+  "TOYOTA CAMRY HYBRID 2018": TOYOTA.TOYOTA_CAMRY,
+  "TOYOTA CAMRY HYBRID 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
+  "TOYOTA C-HR HYBRID 2022": TOYOTA.TOYOTA_CHR_TSS2,
+  "TOYOTA HIGHLANDER HYBRID 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
+  "TOYOTA RAV4 HYBRID 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
+  "TOYOTA RAV4 HYBRID 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
+  "TOYOTA HIGHLANDER HYBRID 2018": TOYOTA.TOYOTA_HIGHLANDER,
+  "LEXUS ES HYBRID 2018": TOYOTA.LEXUS_ES,
+  "LEXUS RX HYBRID 2017": TOYOTA.LEXUS_RX,
+  "HYUNDAI TUCSON HYBRID 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
+  "KIA SPORTAGE HYBRID 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
+  "KIA SORENTO PLUG-IN HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
+  "CADILLAC ESCALADE ESV PLATINUM 2019": GM.CADILLAC_ESCALADE_ESV_2019,
+
+  # Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/
+  "COMMA BODY": BODY.COMMA_BODY,
+  "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID,
+  "CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
+  "CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID,
+  "CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018,
+  "CHRYSLER PACIFICA 2020": CHRYSLER.CHRYSLER_PACIFICA_2020,
+  "DODGE DURANGO 2021": CHRYSLER.DODGE_DURANGO,
+  "JEEP GRAND CHEROKEE V6 2018": CHRYSLER.JEEP_GRAND_CHEROKEE,
+  "JEEP GRAND CHEROKEE 2019": CHRYSLER.JEEP_GRAND_CHEROKEE_2019,
+  "RAM 1500 5TH GEN": CHRYSLER.RAM_1500_5TH_GEN,
+  "RAM HD 5TH GEN": CHRYSLER.RAM_HD_5TH_GEN,
+  "FORD BRONCO SPORT 1ST GEN": FORD.FORD_BRONCO_SPORT_MK1,
+  "FORD ESCAPE 4TH GEN": FORD.FORD_ESCAPE_MK4,
+  "FORD EXPLORER 6TH GEN": FORD.FORD_EXPLORER_MK6,
+  "FORD F-150 14TH GEN": FORD.FORD_F_150_MK14,
+  "FORD F-150 LIGHTNING 1ST GEN": FORD.FORD_F_150_LIGHTNING_MK1,
+  "FORD FOCUS 4TH GEN": FORD.FORD_FOCUS_MK4,
+  "FORD MAVERICK 1ST GEN": FORD.FORD_MAVERICK_MK1,
+  "FORD MUSTANG MACH-E 1ST GEN": FORD.FORD_MUSTANG_MACH_E_MK1,
+  "HOLDEN ASTRA RS-V BK 2017": GM.HOLDEN_ASTRA,
+  "CHEVROLET VOLT PREMIER 2017": GM.CHEVROLET_VOLT,
+  "CADILLAC ATS Premium Performance 2018": GM.CADILLAC_ATS,
+  "CHEVROLET MALIBU PREMIER 2017": GM.CHEVROLET_MALIBU,
+  "GMC ACADIA DENALI 2018": GM.GMC_ACADIA,
+  "BUICK LACROSSE 2017": GM.BUICK_LACROSSE,
+  "BUICK REGAL ESSENCE 2018": GM.BUICK_REGAL,
+  "CADILLAC ESCALADE 2017": GM.CADILLAC_ESCALADE,
+  "CADILLAC ESCALADE ESV 2016": GM.CADILLAC_ESCALADE_ESV,
+  "CADILLAC ESCALADE ESV 2019": GM.CADILLAC_ESCALADE_ESV_2019,
+  "CHEVROLET BOLT EUV 2022": GM.CHEVROLET_BOLT_EUV,
+  "CHEVROLET SILVERADO 1500 2020": GM.CHEVROLET_SILVERADO,
+  "CHEVROLET EQUINOX 2019": GM.CHEVROLET_EQUINOX,
+  "CHEVROLET TRAILBLAZER 2021": GM.CHEVROLET_TRAILBLAZER,
+  "HONDA ACCORD 2018": HONDA.HONDA_ACCORD,
+  "HONDA CIVIC (BOSCH) 2019": HONDA.HONDA_CIVIC_BOSCH,
+  "HONDA CIVIC SEDAN 1.6 DIESEL 2019": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
+  "HONDA CIVIC 2022": HONDA.HONDA_CIVIC_2022,
+  "HONDA CR-V 2017": HONDA.HONDA_CRV_5G,
+  "HONDA CR-V HYBRID 2019": HONDA.HONDA_CRV_HYBRID,
+  "HONDA HR-V 2023": HONDA.HONDA_HRV_3G,
+  "ACURA RDX 2020": HONDA.ACURA_RDX_3G,
+  "HONDA INSIGHT 2019": HONDA.HONDA_INSIGHT,
+  "HONDA E 2020": HONDA.HONDA_E,
+  "ACURA ILX 2016": HONDA.ACURA_ILX,
+  "HONDA CR-V 2016": HONDA.HONDA_CRV,
+  "HONDA CR-V EU 2016": HONDA.HONDA_CRV_EU,
+  "HONDA FIT 2018": HONDA.HONDA_FIT,
+  "HONDA FREED 2020": HONDA.HONDA_FREED,
+  "HONDA HRV 2019": HONDA.HONDA_HRV,
+  "HONDA ODYSSEY 2018": HONDA.HONDA_ODYSSEY,
+  "HONDA ODYSSEY CHN 2019": HONDA.HONDA_ODYSSEY_CHN,
+  "ACURA RDX 2018": HONDA.ACURA_RDX,
+  "HONDA PILOT 2017": HONDA.HONDA_PILOT,
+  "HONDA RIDGELINE 2017": HONDA.HONDA_RIDGELINE,
+  "HONDA CIVIC 2016": HONDA.HONDA_CIVIC,
+  "HYUNDAI AZERA 6TH GEN": HYUNDAI.HYUNDAI_AZERA_6TH_GEN,
+  "HYUNDAI AZERA HYBRID 6TH GEN": HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN,
+  "HYUNDAI ELANTRA 2017": HYUNDAI.HYUNDAI_ELANTRA,
+  "HYUNDAI I30 N LINE 2019 & GT 2018 DCT": HYUNDAI.HYUNDAI_ELANTRA_GT_I30,
+  "HYUNDAI ELANTRA 2021": HYUNDAI.HYUNDAI_ELANTRA_2021,
+  "HYUNDAI ELANTRA HYBRID 2021": HYUNDAI.HYUNDAI_ELANTRA_HEV_2021,
+  "HYUNDAI GENESIS 2015-2016": HYUNDAI.HYUNDAI_GENESIS,
+  "HYUNDAI IONIQ HYBRID 2017-2019": HYUNDAI.HYUNDAI_IONIQ,
+  "HYUNDAI IONIQ HYBRID 2020-2022": HYUNDAI.HYUNDAI_IONIQ_HEV_2022,
+  "HYUNDAI IONIQ ELECTRIC LIMITED 2019": HYUNDAI.HYUNDAI_IONIQ_EV_LTD,
+  "HYUNDAI IONIQ ELECTRIC 2020": HYUNDAI.HYUNDAI_IONIQ_EV_2020,
+  "HYUNDAI IONIQ PLUG-IN HYBRID 2019": HYUNDAI.HYUNDAI_IONIQ_PHEV_2019,
+  "HYUNDAI IONIQ PHEV 2020": HYUNDAI.HYUNDAI_IONIQ_PHEV,
+  "HYUNDAI KONA 2020": HYUNDAI.HYUNDAI_KONA,
+  "HYUNDAI KONA ELECTRIC 2019": HYUNDAI.HYUNDAI_KONA_EV,
+  "HYUNDAI KONA ELECTRIC 2022": HYUNDAI.HYUNDAI_KONA_EV_2022,
+  "HYUNDAI KONA ELECTRIC 2ND GEN": HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN,
+  "HYUNDAI KONA HYBRID 2020": HYUNDAI.HYUNDAI_KONA_HEV,
+  "HYUNDAI SANTA FE 2019": HYUNDAI.HYUNDAI_SANTA_FE,
+  "HYUNDAI SANTA FE 2022": HYUNDAI.HYUNDAI_SANTA_FE_2022,
+  "HYUNDAI SANTA FE HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022,
+  "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022,
+  "HYUNDAI SONATA 2020": HYUNDAI.HYUNDAI_SONATA,
+  "HYUNDAI SONATA 2019": HYUNDAI.HYUNDAI_SONATA_LF,
+  "HYUNDAI STARIA 4TH GEN": HYUNDAI.HYUNDAI_STARIA_4TH_GEN,
+  "HYUNDAI TUCSON 2019": HYUNDAI.HYUNDAI_TUCSON,
+  "HYUNDAI PALISADE 2020": HYUNDAI.HYUNDAI_PALISADE,
+  "HYUNDAI VELOSTER 2019": HYUNDAI.HYUNDAI_VELOSTER,
+  "HYUNDAI SONATA HYBRID 2021": HYUNDAI.HYUNDAI_SONATA_HYBRID,
+  "HYUNDAI IONIQ 5 2022": HYUNDAI.HYUNDAI_IONIQ_5,
+  "HYUNDAI IONIQ 6 2023": HYUNDAI.HYUNDAI_IONIQ_6,
+  "HYUNDAI TUCSON 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
+  "HYUNDAI SANTA CRUZ 1ST GEN": HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN,
+  "HYUNDAI CUSTIN 1ST GEN": HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN,
+  "KIA FORTE E 2018 & GT 2021": HYUNDAI.KIA_FORTE,
+  "KIA K5 2021": HYUNDAI.KIA_K5_2021,
+  "KIA K5 HYBRID 2020": HYUNDAI.KIA_K5_HEV_2020,
+  "KIA K8 HYBRID 1ST GEN": HYUNDAI.KIA_K8_HEV_1ST_GEN,
+  "KIA NIRO EV 2020": HYUNDAI.KIA_NIRO_EV,
+  "KIA NIRO EV 2ND GEN": HYUNDAI.KIA_NIRO_EV_2ND_GEN,
+  "KIA NIRO HYBRID 2019": HYUNDAI.KIA_NIRO_PHEV,
+  "KIA NIRO PLUG-IN HYBRID 2022": HYUNDAI.KIA_NIRO_PHEV_2022,
+  "KIA NIRO HYBRID 2021": HYUNDAI.KIA_NIRO_HEV_2021,
+  "KIA NIRO HYBRID 2ND GEN": HYUNDAI.KIA_NIRO_HEV_2ND_GEN,
+  "KIA OPTIMA 4TH GEN": HYUNDAI.KIA_OPTIMA_G4,
+  "KIA OPTIMA 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_G4_FL,
+  "KIA OPTIMA HYBRID 2017 & SPORTS 2019": HYUNDAI.KIA_OPTIMA_H,
+  "KIA OPTIMA HYBRID 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_H_G4_FL,
+  "KIA SELTOS 2021": HYUNDAI.KIA_SELTOS,
+  "KIA SPORTAGE 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
+  "KIA SORENTO GT LINE 2018": HYUNDAI.KIA_SORENTO,
+  "KIA SORENTO 4TH GEN": HYUNDAI.KIA_SORENTO_4TH_GEN,
+  "KIA SORENTO HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
+  "KIA STINGER GT2 2018": HYUNDAI.KIA_STINGER,
+  "KIA STINGER 2022": HYUNDAI.KIA_STINGER_2022,
+  "KIA CEED INTRO ED 2019": HYUNDAI.KIA_CEED,
+  "KIA EV6 2022": HYUNDAI.KIA_EV6,
+  "KIA CARNIVAL 4TH GEN": HYUNDAI.KIA_CARNIVAL_4TH_GEN,
+  "GENESIS GV60 ELECTRIC 1ST GEN": HYUNDAI.GENESIS_GV60_EV_1ST_GEN,
+  "GENESIS G70 2018": HYUNDAI.GENESIS_G70,
+  "GENESIS G70 2020": HYUNDAI.GENESIS_G70_2020,
+  "GENESIS GV70 1ST GEN": HYUNDAI.GENESIS_GV70_1ST_GEN,
+  "GENESIS G80 2017": HYUNDAI.GENESIS_G80,
+  "GENESIS G90 2017": HYUNDAI.GENESIS_G90,
+  "GENESIS GV80 2023": HYUNDAI.GENESIS_GV80,
+  "MAZDA CX-5": MAZDA.MAZDA_CX5,
+  "MAZDA CX-9": MAZDA.MAZDA_CX9,
+  "MAZDA 3": MAZDA.MAZDA_3,
+  "MAZDA 6": MAZDA.MAZDA_6,
+  "MAZDA CX-9 2021": MAZDA.MAZDA_CX9_2021,
+  "MAZDA CX-5 2022": MAZDA.MAZDA_CX5_2022,
+  "NISSAN X-TRAIL 2017": NISSAN.NISSAN_XTRAIL,
+  "NISSAN LEAF 2018": NISSAN.NISSAN_LEAF,
+  "NISSAN LEAF 2018 Instrument Cluster": NISSAN.NISSAN_LEAF_IC,
+  "NISSAN ROGUE 2019": NISSAN.NISSAN_ROGUE,
+  "NISSAN ALTIMA 2020": NISSAN.NISSAN_ALTIMA,
+  "SUBARU ASCENT LIMITED 2019": SUBARU.SUBARU_ASCENT,
+  "SUBARU OUTBACK 6TH GEN": SUBARU.SUBARU_OUTBACK,
+  "SUBARU LEGACY 7TH GEN": SUBARU.SUBARU_LEGACY,
+  "SUBARU IMPREZA LIMITED 2019": SUBARU.SUBARU_IMPREZA,
+  "SUBARU IMPREZA SPORT 2020": SUBARU.SUBARU_IMPREZA_2020,
+  "SUBARU CROSSTREK HYBRID 2020": SUBARU.SUBARU_CROSSTREK_HYBRID,
+  "SUBARU FORESTER 2019": SUBARU.SUBARU_FORESTER,
+  "SUBARU FORESTER HYBRID 2020": SUBARU.SUBARU_FORESTER_HYBRID,
+  "SUBARU FORESTER 2017 - 2018": SUBARU.SUBARU_FORESTER_PREGLOBAL,
+  "SUBARU LEGACY 2015 - 2018": SUBARU.SUBARU_LEGACY_PREGLOBAL,
+  "SUBARU OUTBACK 2015 - 2017": SUBARU.SUBARU_OUTBACK_PREGLOBAL,
+  "SUBARU OUTBACK 2018 - 2019": SUBARU.SUBARU_OUTBACK_PREGLOBAL_2018,
+  "SUBARU FORESTER 2022": SUBARU.SUBARU_FORESTER_2022,
+  "SUBARU OUTBACK 7TH GEN": SUBARU.SUBARU_OUTBACK_2023,
+  "SUBARU ASCENT 2023": SUBARU.SUBARU_ASCENT_2023,
+  'TESLA AP1 MODEL S': TESLA.TESLA_AP1_MODELS,
+  'TESLA AP2 MODEL S': TESLA.TESLA_AP2_MODELS,
+  'TESLA MODEL S RAVEN': TESLA.TESLA_MODELS_RAVEN,
+  "TOYOTA ALPHARD 2020": TOYOTA.TOYOTA_ALPHARD_TSS2,
+  "TOYOTA AVALON 2016": TOYOTA.TOYOTA_AVALON,
+  "TOYOTA AVALON 2019": TOYOTA.TOYOTA_AVALON_2019,
+  "TOYOTA AVALON 2022": TOYOTA.TOYOTA_AVALON_TSS2,
+  "TOYOTA CAMRY 2018": TOYOTA.TOYOTA_CAMRY,
+  "TOYOTA CAMRY 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
+  "TOYOTA C-HR 2018": TOYOTA.TOYOTA_CHR,
+  "TOYOTA C-HR 2021": TOYOTA.TOYOTA_CHR_TSS2,
+  "TOYOTA COROLLA 2017": TOYOTA.TOYOTA_COROLLA,
+  "TOYOTA COROLLA TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
+  "TOYOTA HIGHLANDER 2017": TOYOTA.TOYOTA_HIGHLANDER,
+  "TOYOTA HIGHLANDER 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
+  "TOYOTA PRIUS 2017": TOYOTA.TOYOTA_PRIUS,
+  "TOYOTA PRIUS v 2017": TOYOTA.TOYOTA_PRIUS_V,
+  "TOYOTA PRIUS TSS2 2021": TOYOTA.TOYOTA_PRIUS_TSS2,
+  "TOYOTA RAV4 2017": TOYOTA.TOYOTA_RAV4,
+  "TOYOTA RAV4 HYBRID 2017": TOYOTA.TOYOTA_RAV4H,
+  "TOYOTA RAV4 2019": TOYOTA.TOYOTA_RAV4_TSS2,
+  "TOYOTA RAV4 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
+  "TOYOTA RAV4 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
+  "TOYOTA MIRAI 2021": TOYOTA.TOYOTA_MIRAI,
+  "TOYOTA SIENNA 2018": TOYOTA.TOYOTA_SIENNA,
+  "LEXUS CT HYBRID 2018": TOYOTA.LEXUS_CTH,
+  "LEXUS ES 2018": TOYOTA.LEXUS_ES,
+  "LEXUS ES 2019": TOYOTA.LEXUS_ES_TSS2,
+  "LEXUS IS 2018": TOYOTA.LEXUS_IS,
+  "LEXUS IS 2023": TOYOTA.LEXUS_IS_TSS2,
+  "LEXUS NX 2018": TOYOTA.LEXUS_NX,
+  "LEXUS NX 2020": TOYOTA.LEXUS_NX_TSS2,
+  "LEXUS LC 2024": TOYOTA.LEXUS_LC_TSS2,
+  "LEXUS RC 2020": TOYOTA.LEXUS_RC,
+  "LEXUS RX 2016": TOYOTA.LEXUS_RX,
+  "LEXUS RX 2020": TOYOTA.LEXUS_RX_TSS2,
+  "LEXUS GS F 2016": TOYOTA.LEXUS_GS_F,
+  "VOLKSWAGEN ARTEON 1ST GEN": VW.VOLKSWAGEN_ARTEON_MK1,
+  "VOLKSWAGEN ATLAS 1ST GEN": VW.VOLKSWAGEN_ATLAS_MK1,
+  "VOLKSWAGEN CADDY 3RD GEN": VW.VOLKSWAGEN_CADDY_MK3,
+  "VOLKSWAGEN CRAFTER 2ND GEN": VW.VOLKSWAGEN_CRAFTER_MK2,
+  "VOLKSWAGEN GOLF 7TH GEN": VW.VOLKSWAGEN_GOLF_MK7,
+  "VOLKSWAGEN JETTA 7TH GEN": VW.VOLKSWAGEN_JETTA_MK7,
+  "VOLKSWAGEN PASSAT 8TH GEN": VW.VOLKSWAGEN_PASSAT_MK8,
+  "VOLKSWAGEN PASSAT NMS": VW.VOLKSWAGEN_PASSAT_NMS,
+  "VOLKSWAGEN POLO 6TH GEN": VW.VOLKSWAGEN_POLO_MK6,
+  "VOLKSWAGEN SHARAN 2ND GEN": VW.VOLKSWAGEN_SHARAN_MK2,
+  "VOLKSWAGEN TAOS 1ST GEN": VW.VOLKSWAGEN_TAOS_MK1,
+  "VOLKSWAGEN T-CROSS 1ST GEN": VW.VOLKSWAGEN_TCROSS_MK1,
+  "VOLKSWAGEN TIGUAN 2ND GEN": VW.VOLKSWAGEN_TIGUAN_MK2,
+  "VOLKSWAGEN TOURAN 2ND GEN": VW.VOLKSWAGEN_TOURAN_MK2,
+  "VOLKSWAGEN TRANSPORTER T6.1": VW.VOLKSWAGEN_TRANSPORTER_T61,
+  "VOLKSWAGEN T-ROC 1ST GEN": VW.VOLKSWAGEN_TROC_MK1,
+  "AUDI A3 3RD GEN": VW.AUDI_A3_MK3,
+  "AUDI Q2 1ST GEN": VW.AUDI_Q2_MK1,
+  "AUDI Q3 2ND GEN": VW.AUDI_Q3_MK2,
+  "SEAT ATECA 1ST GEN": VW.SEAT_ATECA_MK1,
+  "SEAT LEON 3RD GEN": VW.SEAT_ATECA_MK1,
+  "SEAT_LEON_MK3": VW.SEAT_ATECA_MK1,
+  "SKODA FABIA 4TH GEN": VW.SKODA_FABIA_MK4,
+  "SKODA KAMIQ 1ST GEN": VW.SKODA_KAMIQ_MK1,
+  "SKODA KAROQ 1ST GEN": VW.SKODA_KAROQ_MK1,
+  "SKODA KODIAQ 1ST GEN": VW.SKODA_KODIAQ_MK1,
+  "SKODA OCTAVIA 3RD GEN": VW.SKODA_OCTAVIA_MK3,
+  "SKODA SCALA 1ST GEN": VW.SKODA_KAMIQ_MK1,
+  "SKODA_SCALA_MK1": VW.SKODA_KAMIQ_MK1,
+  "SKODA SUPERB 3RD GEN": VW.SKODA_SUPERB_MK3,
+
+  "mock": MOCK.MOCK,
+}
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@ -35,6 +35,7 @@ class CarController(CarControllerBase):
    self.main_on_last = False
    self.lkas_enabled_last = False
    self.steer_alert_last = False
+    self.lead_distance_bars_last = None

  def update(self, CC, CS, now_nanos):
    can_sends = []
@ -98,15 +99,19 @@ class CarController(CarControllerBase):
    # send lkas ui msg at 1Hz or if ui state changes
    if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
      can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
+
    # send acc ui msg at 5Hz or if ui state changes
+    if hud_control.leadDistanceBars != self.lead_distance_bars_last:
+      send_ui = True
    if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
      can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
-                                         fcw_alert, CS.out.cruiseState.standstill, hud_control,
-                                         CS.acc_tja_status_stock_values))
+                                                 fcw_alert, CS.out.cruiseState.standstill, hud_control,
+                                                 CS.acc_tja_status_stock_values))

    self.main_on_last = main_on
    self.lkas_enabled_last = CC.latActive
    self.steer_alert_last = steer_alert
+    self.lead_distance_bars_last = hud_control.leadDistanceBars

    new_actuators = actuators.copy()
    new_actuators.curvature = self.apply_curvature_last
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@ -57,7 +57,8 @@ class CarState(CarStateBase):
      ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3)

    # cruise state
-    ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * CV.MPH_TO_MS
+    is_metric = cp.vl["INSTRUMENT_PANEL"]["METRIC_UNITS"] == 1 if not self.CP.flags & FordFlags.CANFD else False
+    ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
    ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5)
    ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5)
    ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
@ -131,6 +132,10 @@ class CarState(CarStateBase):
      messages += [
        ("Lane_Assist_Data3_FD1", 33),
      ]
+    else:
+      messages += [
+        ("INSTRUMENT_PANEL", 1),
+      ]

    if CP.transmissionType == TransmissionType.automatic:
      messages += [
--- a/selfdrive/car/ford/fingerprints.py
+++ b/selfdrive/car/ford/fingerprints.py
@ -4,7 +4,7 @@ from openpilot.selfdrive.car.ford.values import CAR
 Ecu = car.CarParams.Ecu

 FW_VERSIONS = {
-  CAR.BRONCO_SPORT_MK1: {
+  CAR.FORD_BRONCO_SPORT_MK1: {
    (Ecu.eps, 0x730, None): [
      b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -23,7 +23,7 @@ FW_VERSIONS = {
      b'M1PT-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
  },
-  CAR.ESCAPE_MK4: {
+  CAR.FORD_ESCAPE_MK4: {
    (Ecu.eps, 0x730, None): [
      b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -46,7 +46,7 @@ FW_VERSIONS = {
      b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
  },
-  CAR.EXPLORER_MK6: {
+  CAR.FORD_EXPLORER_MK6: {
    (Ecu.eps, 0x730, None): [
      b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -74,7 +74,7 @@ FW_VERSIONS = {
      b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
  },
-  CAR.F_150_MK14: {
+  CAR.FORD_F_150_MK14: {
    (Ecu.eps, 0x730, None): [
      b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
@ -85,10 +85,11 @@ FW_VERSIONS = {
      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x706, None): [
+      b'ML3T-14H102-ABR\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
  },
-  CAR.F_150_LIGHTNING_MK1: {
+  CAR.FORD_F_150_LIGHTNING_MK1: {
    (Ecu.abs, 0x760, None): [
      b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
@ -99,7 +100,7 @@ FW_VERSIONS = {
      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
  },
-  CAR.MUSTANG_MACH_E_MK1: {
+  CAR.FORD_MUSTANG_MACH_E_MK1: {
    (Ecu.eps, 0x730, None): [
      b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -114,7 +115,7 @@ FW_VERSIONS = {
      b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
  },
-  CAR.FOCUS_MK4: {
+  CAR.FORD_FOCUS_MK4: {
    (Ecu.eps, 0x730, None): [
      b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
@ -128,14 +129,17 @@ FW_VERSIONS = {
      b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
  },
-  CAR.MAVERICK_MK1: {
+  CAR.FORD_MAVERICK_MK1: {
    (Ecu.eps, 0x730, None): [
+      b'NZ6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.abs, 0x760, None): [
+      b'NZ6C-2D053-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PZ6C-2D053-EE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6C-2D053-EF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x764, None): [
      b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -144,4 +148,18 @@ FW_VERSIONS = {
      b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
  },
+  CAR.FORD_RANGER_MK2: {
+    (Ecu.eps, 0x730, None): [
+      b'NL14-14D003-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'PB3C-2D053-ZD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
 }
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@ -212,7 +212,7 @@ def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw
      "AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0,  # Lead indicator
      "AccStopMde_B_Dsply": 1 if standstill else 0,
      "AccWarn_D_Dsply": 0,                                       # ACC warning
-      "AccTGap_D_Dsply": 4,                                       # Fixed time gap in UI
+      "AccTGap_D_Dsply": hud_control.leadDistanceBars,            # Time gap
    })

  # Forwards FCW alert from IPMA
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@ -86,6 +86,3 @@ class CarInterface(CarInterfaceBase):
    ret.events = events.to_msg()

    return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@ -1,10 +1,11 @@
-from dataclasses import dataclass, field
+import copy
+from dataclasses import dataclass, field, replace
 from enum import Enum, IntFlag

 import panda.python.uds as uds
 from cereal import car
 from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
                                                     Device
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16

@ -58,12 +59,14 @@ class Footnote(Enum):


@dataclass
-class FordCarInfo(CarInfo):
+class FordCarDocs(CarDocs):
  package: str = "Co-Pilot360 Assist+"
+  hybrid: bool = False
+  plug_in_hybrid: bool = False

  def init_make(self, CP: car.CarParams):
    harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3
-    if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1, CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1):
+    if CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_MAVERICK_MK1, CAR.FORD_F_150_MK14, CAR.FORD_F_150_LIGHTNING_MK1):
      self.car_parts = CarParts([Device.threex_angled_mount, harness])
    else:
      self.car_parts = CarParts([Device.threex, harness])
@ -73,6 +76,15 @@ class FordCarInfo(CarInfo):
 class FordPlatformConfig(PlatformConfig):
  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR))

+  def init(self):
+    for car_docs in list(self.car_docs):
+      if car_docs.hybrid:
+        name = f"{car_docs.make} {car_docs.model} Hybrid {car_docs.years}"
+        self.car_docs.append(replace(copy.deepcopy(car_docs), name=name))
+      if car_docs.plug_in_hybrid:
+        name = f"{car_docs.make} {car_docs.model} Plug-in Hybrid {car_docs.years}"
+        self.car_docs.append(replace(copy.deepcopy(car_docs), name=name))
+

@dataclass
 class FordCANFDPlatformConfig(FordPlatformConfig):
@ -84,69 +96,51 @@ class FordCANFDPlatformConfig(FordPlatformConfig):


 class CAR(Platforms):
-  BRONCO_SPORT_MK1 = FordPlatformConfig(
-    "FORD BRONCO SPORT 1ST GEN",
-    FordCarInfo("Ford Bronco Sport 2021-23"),
+  FORD_BRONCO_SPORT_MK1 = FordPlatformConfig(
+    [FordCarDocs("Ford Bronco Sport 2021-23")],
    CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
  )
-  ESCAPE_MK4 = FordPlatformConfig(
-    "FORD ESCAPE 4TH GEN",
+  FORD_ESCAPE_MK4 = FordPlatformConfig(
    [
-      FordCarInfo("Ford Escape 2020-22"),
-      FordCarInfo("Ford Escape Hybrid 2020-22"),
-      FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"),
-      FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
-      FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
-      FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
+      FordCarDocs("Ford Escape 2020-22", hybrid=True, plug_in_hybrid=True),
+      FordCarDocs("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering", hybrid=True, plug_in_hybrid=True),
    ],
    CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
  )
-  EXPLORER_MK6 = FordPlatformConfig(
-    "FORD EXPLORER 6TH GEN",
+  FORD_EXPLORER_MK6 = FordPlatformConfig(
    [
-      FordCarInfo("Ford Explorer 2020-23"),
-      FordCarInfo("Ford Explorer Hybrid 2020-23"),  # Limited and Platinum only
-      FordCarInfo("Lincoln Aviator 2020-23", "Co-Pilot360 Plus"),
-      FordCarInfo("Lincoln Aviator Plug-in Hybrid 2020-23", "Co-Pilot360 Plus"),  # Grand Touring only
+      FordCarDocs("Ford Explorer 2020-23", hybrid=True),  # Hybrid: Limited and Platinum only
+      FordCarDocs("Lincoln Aviator 2020-23", "Co-Pilot360 Plus", plug_in_hybrid=True),  # Hybrid: Grand Touring only
    ],
    CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
  )
-  F_150_MK14 = FordCANFDPlatformConfig(
-    "FORD F-150 14TH GEN",
-    [
-      FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
-      FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"),
-    ],
+  FORD_F_150_MK14 = FordCANFDPlatformConfig(
+    [FordCarDocs("Ford F-150 2022-23", "Co-Pilot360 Active 2.0", hybrid=True)],
    CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
  )
-  F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig(
-    "FORD F-150 LIGHTNING 1ST GEN",
-    FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
+  FORD_F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig(
+    [FordCarDocs("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0")],
    CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
  )
-  FOCUS_MK4 = FordPlatformConfig(
-    "FORD FOCUS 4TH GEN",
-    [
-      FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
-      FordCarInfo("Ford Focus Hybrid 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),  # mHEV only
-    ],
+  FORD_FOCUS_MK4 = FordPlatformConfig(
+    [FordCarDocs("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)],  # mHEV only
    CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
  )
-  MAVERICK_MK1 = FordPlatformConfig(
-    "FORD MAVERICK 1ST GEN",
+  FORD_MAVERICK_MK1 = FordPlatformConfig(
    [
-      FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
-      FordCarInfo("Ford Maverick Hybrid 2022", "LARIAT Luxury"),
-      FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
-      FordCarInfo("Ford Maverick Hybrid 2023", "Co-Pilot360 Assist"),
+      FordCarDocs("Ford Maverick 2022", "LARIAT Luxury", hybrid=True),
+      FordCarDocs("Ford Maverick 2023-24", "Co-Pilot360 Assist", hybrid=True),
    ],
    CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
  )
-  MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
-    "FORD MUSTANG MACH-E 1ST GEN",
-    FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
+  FORD_MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
+    [FordCarDocs("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0")],
    CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0),  # TODO: check steer ratio
  )
+  FORD_RANGER_MK2 = FordCANFDPlatformConfig(
+    [FordCarDocs("Ford Ranger 2024", "Adaptive Cruise Control with Lane Centering")],
+    CarSpecs(mass=2000, wheelbase=3.27, steerRatio=17.0),
+  )


 DATA_IDENTIFIER_FORD_ASBUILT = 0xDE00
--- a/selfdrive/car/fw_query_definitions.py
+++ b/selfdrive/car/fw_query_definitions.py
@ -97,9 +97,9 @@ class FwQueryConfig:
  non_essential_ecus: dict[capnp.lib.capnp._EnumModule, list[str]] = field(default_factory=dict)
  # Ecus added for data collection, not to be fingerprinted on
  extra_ecus: list[tuple[capnp.lib.capnp._EnumModule, int, int | None]] = field(default_factory=list)
-  # Function a brand can implement to provide better fuzzy matching. Takes in FW versions,
+  # Function a brand can implement to provide better fuzzy matching. Takes in FW versions and VIN,
  # returns set of candidates. Only will match if one candidate is returned
-  match_fw_to_car_fuzzy: Callable[[LiveFwVersions, OfflineFwVersions], set[str]] | None = None
+  match_fw_to_car_fuzzy: Callable[[LiveFwVersions, str, OfflineFwVersions], set[str]] | None = None

  def __post_init__(self):
    for i in range(len(self.requests)):
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@ -144,8 +144,8 @@ def match_fw_to_car_exact(live_fw_versions: LiveFwVersions, match_brand: str = N
  return set(candidates.keys()) - invalid


-def match_fw_to_car(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], allow_exact: bool = True, allow_fuzzy: bool = True,
-                    log: bool = True) -> tuple[bool, set[str]]:
+def match_fw_to_car(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], vin: str,
+                    allow_exact: bool = True, allow_fuzzy: bool = True, log: bool = True) -> tuple[bool, set[str]]:
  # Try exact matching first
  exact_matches: list[tuple[bool, MatchFwToCar]] = []
  if allow_exact:
@ -163,7 +163,7 @@ def match_fw_to_car(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], al
      # If specified and no matches so far, fall back to brand's fuzzy fingerprinting function
      config = FW_QUERY_CONFIGS[brand]
      if not exact_match and not len(matches) and config.match_fw_to_car_fuzzy is not None:
-        matches |= config.match_fw_to_car_fuzzy(fw_versions_dict, VERSIONS[brand])
+        matches |= config.match_fw_to_car_fuzzy(fw_versions_dict, vin, VERSIONS[brand])

    if len(matches):
      return exact_match, matches
@ -237,7 +237,7 @@ def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
    cloudlog.warning("OBD multiplexing set successfully")


-def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1,
+def get_fw_versions_ordered(logcan, sendcan, vin: str, ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1,
                            debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
  """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""

@ -253,7 +253,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs: set[EcuAddrBusType],
    all_car_fw.extend(car_fw)

    # If there is a match using this brand's FW alone, finish querying early
-    _, matches = match_fw_to_car(car_fw, log=False)
+    _, matches = match_fw_to_car(car_fw, vin, log=False)
    if len(matches) == 1:
      break

@ -373,6 +373,7 @@ if __name__ == "__main__":

  t = time.time()
  print("Getting vin...")
+  set_obd_multiplexing(params, True)
  vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), retry=10, debug=args.debug)
  print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
  print(f"Getting VIN took {time.time() - t:.3f} s")
@ -380,7 +381,7 @@ if __name__ == "__main__":

  t = time.time()
  fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
-  _, candidates = match_fw_to_car(fw_vers)
+  _, candidates = match_fw_to_car(fw_vers, vin)

  print()
  print("Found FW versions")
@ -388,7 +389,8 @@ if __name__ == "__main__":
  padding = max([len(fw.brand) for fw in fw_vers] or [0])
  for version in fw_vers:
    subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-    print(f"  Brand: {version.brand:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
+    print(f"  Brand: {version.brand:{padding}}, bus: {version.bus}, OBD: {version.obdMultiplexing} - " +
+          f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
  print("}")

  print()
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@ -118,7 +118,7 @@ class CarController(CarControllerBase):
        # Send dashboard UI commands (ACC status)
        send_fcw = hud_alert == VisualAlert.fcw
        can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
-                                                            hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw))
+                                                            hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))

      # Radar needs to know current speed and yaw rate (50hz),
      # and that ADAS is alive (10hz)
--- a/selfdrive/car/gm/fingerprints.py
+++ b/selfdrive/car/gm/fingerprints.py
@ -9,7 +9,7 @@ FINGERPRINTS = {
  CAR.HOLDEN_ASTRA: [{
    190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7
  }],
-  CAR.VOLT: [{
+  CAR.CHEVROLET_VOLT: [{
    170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
  },
  {
@ -27,31 +27,31 @@ FINGERPRINTS = {
  CAR.CADILLAC_ATS: [{
    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
  }],
-  CAR.MALIBU: [{
+  CAR.CHEVROLET_MALIBU: [{
    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8
  }],
-  CAR.ACADIA: [{
+  CAR.GMC_ACADIA: [{
    190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7
  },
  {
    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
  }],
-  CAR.ESCALADE: [{
+  CAR.CADILLAC_ESCALADE: [{
    170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
  }],
-  CAR.ESCALADE_ESV: [{
+  CAR.CADILLAC_ESCALADE_ESV: [{
    309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
  }],
-  CAR.ESCALADE_ESV_2019: [{
+  CAR.CADILLAC_ESCALADE_ESV_2019: [{
    715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7
  }],
-  CAR.BOLT_EUV: [{
+  CAR.CHEVROLET_BOLT_EUV: [{
    189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
  }],
-  CAR.SILVERADO: [{
+  CAR.CHEVROLET_SILVERADO: [{
    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
  }],
-  CAR.EQUINOX: [{
+  CAR.CHEVROLET_EQUINOX: [{
    190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
  },
  {
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@ -76,7 +76,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
  mode = 0x1

  # TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake
-  if enabled and CP.carFingerprint in (CAR.BOLT_EUV,):
+  if enabled and CP.carFingerprint in (CAR.CHEVROLET_BOLT_EUV,):
    mode = 0x9

  if apply_brake > 0:
@ -102,17 +102,17 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
  return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)


-def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw):
+def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_control, fcw):
  target_speed = min(target_speed_kph, 255)

  values = {
    "ACCAlwaysOne": 1,
    "ACCResumeButton": 0,
    "ACCSpeedSetpoint": target_speed,
-    "ACCGapLevel": 3 * enabled,  # 3 "far", 0 "inactive"
+    "ACCGapLevel": hud_control.leadDistanceBars * enabled,  # 3 "far", 0 "inactive"
    "ACCCmdActive": enabled,
    "ACCAlwaysOne2": 1,
-    "ACCLeadCar": lead_car_in_sight,
+    "ACCLeadCar": hud_control.leadVisible,
    "FCWAlert": 0x3 if fcw else 0
  }

--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@ -22,9 +22,9 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D


 NON_LINEAR_TORQUE_PARAMS = {
-  CAR.BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
-  CAR.ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
-  CAR.SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
+  CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
+  CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
+  CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
 }

 NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_weights.json')
@ -43,7 +43,7 @@ class CarInterface(CarInterfaceBase):
    return 0.10006696 * sigmoid * (v_ego + 3.12485927)

  def get_steer_feedforward_function(self):
-    if self.CP.carFingerprint == CAR.VOLT:
+    if self.CP.carFingerprint == CAR.CHEVROLET_VOLT:
      return self.get_steer_feedforward_volt
    else:
      return CarInterfaceBase.get_steer_feedforward_default
@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase):
    return float(self.neural_ff_model.predict(inputs)) + friction

  def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
-    if self.CP.carFingerprint == CAR.BOLT_EUV:
+    if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_EUV:
      self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint)
      return self.torque_from_lateral_accel_neural
    elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
@ -137,7 +137,7 @@ class CarInterface(CarInterfaceBase):
    # These cars have been put into dashcam only due to both a lack of users and test coverage.
    # These cars likely still work fine. Once a user confirms each car works and a test route is
    # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL} or \
+    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.CHEVROLET_MALIBU, CAR.BUICK_REGAL} or \
                      (ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)

    # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
@ -150,7 +150,7 @@ class CarInterface(CarInterfaceBase):
    ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
    ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking

-    if candidate == CAR.VOLT:
+    if candidate == CAR.CHEVROLET_VOLT:
      ret.lateralTuning.pid.kpBP = [0., 40.]
      ret.lateralTuning.pid.kpV = [0., 0.17]
      ret.lateralTuning.pid.kiBP = [0.]
@ -158,7 +158,7 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_volt()
      ret.steerActuatorDelay = 0.2

-    elif candidate == CAR.ACADIA:
+    elif candidate == CAR.GMC_ACADIA:
      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
      ret.steerActuatorDelay = 0.2
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@ -166,14 +166,14 @@ class CarInterface(CarInterfaceBase):
    elif candidate == CAR.BUICK_LACROSSE:
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

-    elif candidate == CAR.ESCALADE:
+    elif candidate == CAR.CADILLAC_ESCALADE:
      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

-    elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019):
+    elif candidate in (CAR.CADILLAC_ESCALADE_ESV, CAR.CADILLAC_ESCALADE_ESV_2019):
      ret.minEnableSpeed = -1.  # engage speed is decided by pcm

-      if candidate == CAR.ESCALADE_ESV:
+      if candidate == CAR.CADILLAC_ESCALADE_ESV:
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
        ret.lateralTuning.pid.kf = 0.000045
@ -181,11 +181,11 @@ class CarInterface(CarInterfaceBase):
        ret.steerActuatorDelay = 0.2
        CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

-    elif candidate == CAR.BOLT_EUV:
+    elif candidate == CAR.CHEVROLET_BOLT_EUV:
      ret.steerActuatorDelay = 0.2
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

-    elif candidate == CAR.SILVERADO:
+    elif candidate == CAR.CHEVROLET_SILVERADO:
      # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
      # with foot on brake to allow engagement, but this platform only has that check in the camera.
      # TODO: check if this is split by EV/ICE with more platforms in the future
@ -193,10 +193,10 @@ class CarInterface(CarInterfaceBase):
        ret.minEnableSpeed = -1.
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

-    elif candidate == CAR.EQUINOX:
+    elif candidate == CAR.CHEVROLET_EQUINOX:
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

-    elif candidate == CAR.TRAILBLAZER:
+    elif candidate == CAR.CHEVROLET_TRAILBLAZER:
      ret.steerActuatorDelay = 0.2
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

@ -237,6 +237,3 @@ class CarInterface(CarInterfaceBase):
    ret.events = events.to_msg()

    return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
--- a/selfdrive/car/gm/tests/test_gm.py
+++ b/selfdrive/car/gm/tests/test_gm.py
@ -3,7 +3,7 @@ from parameterized import parameterized
 import unittest

 from openpilot.selfdrive.car.gm.fingerprints import FINGERPRINTS
-from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, GM_RX_OFFSET
+from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, GM_RX_OFFSET

 CAMERA_DIAGNOSTIC_ADDRESS = 0x24b

@ -13,12 +13,10 @@ class TestGMFingerprint(unittest.TestCase):
  def test_can_fingerprints(self, car_model, fingerprints):
    self.assertGreater(len(fingerprints), 0)

-    # Trailblazer is in dashcam
-    if car_model != CAR.TRAILBLAZER:
-      self.assertTrue(all(len(finger) for finger in fingerprints))
+    self.assertTrue(all(len(finger) for finger in fingerprints))

    # The camera can sometimes be communicating on startup
-    if car_model in CAMERA_ACC_CAR - {CAR.TRAILBLAZER}:
+    if car_model in CAMERA_ACC_CAR:
      for finger in fingerprints:
        for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET):
          self.assertEqual(finger.get(required_addr), 8, required_addr)
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@ -1,9 +1,8 @@
 from dataclasses import dataclass, field
-from enum import Enum

 from cereal import car
 from openpilot.selfdrive.car import dbc_dict, PlatformConfig, DbcDict, Platforms, CarSpecs
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
+from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries

 Ecu = car.CarParams.Ecu
@ -60,15 +59,8 @@ class CarControllerParams:
    self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]


-class Footnote(Enum):
-  OBD_II = CarFootnote(
-    'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. ' +
-    '<b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b>',
-    Column.MODEL)
-
-
@dataclass
-class GMCarInfo(CarInfo):
+class GMCarDocs(CarDocs):
  package: str = "Adaptive Cruise Control (ACC)"

  def init_make(self, CP: car.CarParams):
@ -76,7 +68,6 @@ class GMCarInfo(CarInfo):
      self.car_parts = CarParts.common([CarHarness.gm])
    else:
      self.car_parts = CarParts.common([CarHarness.obd_ii])
-      self.footnotes.append(Footnote.OBD_II)


@dataclass(frozen=True, kw_only=True)
@ -89,81 +80,74 @@ class GMPlatformConfig(PlatformConfig):
  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))


+@dataclass
+class GMASCMPlatformConfig(GMPlatformConfig):
+  def init(self):
+    # ASCM is supported, but due to a janky install and hardware configuration, we are not showing in the car docs
+    self.car_docs = []
+
+
 class CAR(Platforms):
-  HOLDEN_ASTRA = GMPlatformConfig(
-    "HOLDEN ASTRA RS-V BK 2017",
-    GMCarInfo("Holden Astra 2017"),
+  HOLDEN_ASTRA = GMASCMPlatformConfig(
+    [GMCarDocs("Holden Astra 2017")],
    GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
  )
-  VOLT = GMPlatformConfig(
-    "CHEVROLET VOLT PREMIER 2017",
-    GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
+  CHEVROLET_VOLT = GMASCMPlatformConfig(
+    [GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")],
    GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469),
  )
-  CADILLAC_ATS = GMPlatformConfig(
-    "CADILLAC ATS Premium Performance 2018",
-    GMCarInfo("Cadillac ATS Premium Performance 2018"),
+  CADILLAC_ATS = GMASCMPlatformConfig(
+    [GMCarDocs("Cadillac ATS Premium Performance 2018")],
    GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
  )
-  MALIBU = GMPlatformConfig(
-    "CHEVROLET MALIBU PREMIER 2017",
-    GMCarInfo("Chevrolet Malibu Premier 2017"),
+  CHEVROLET_MALIBU = GMASCMPlatformConfig(
+    [GMCarDocs("Chevrolet Malibu Premier 2017")],
    GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
  )
-  ACADIA = GMPlatformConfig(
-    "GMC ACADIA DENALI 2018",
-    GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
+  GMC_ACADIA = GMASCMPlatformConfig(
+    [GMCarDocs("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
    GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
  )
-  BUICK_LACROSSE = GMPlatformConfig(
-    "BUICK LACROSSE 2017",
-    GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
+  BUICK_LACROSSE = GMASCMPlatformConfig(
+    [GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
    GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
  )
-  BUICK_REGAL = GMPlatformConfig(
-    "BUICK REGAL ESSENCE 2018",
-    GMCarInfo("Buick Regal Essence 2018"),
+  BUICK_REGAL = GMASCMPlatformConfig(
+    [GMCarDocs("Buick Regal Essence 2018")],
    GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
  )
-  ESCALADE = GMPlatformConfig(
-    "CADILLAC ESCALADE 2017",
-    GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
+  CADILLAC_ESCALADE = GMASCMPlatformConfig(
+    [GMCarDocs("Cadillac Escalade 2017", "Driver Assist Package")],
    GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
  )
-  ESCALADE_ESV = GMPlatformConfig(
-    "CADILLAC ESCALADE ESV 2016",
-    GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
+  CADILLAC_ESCALADE_ESV = GMASCMPlatformConfig(
+    [GMCarDocs("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS")],
    GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0),
  )
-  ESCALADE_ESV_2019 = GMPlatformConfig(
-    "CADILLAC ESCALADE ESV 2019",
-    GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
-    ESCALADE_ESV.specs,
+  CADILLAC_ESCALADE_ESV_2019 = GMASCMPlatformConfig(
+    [GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")],
+    CADILLAC_ESCALADE_ESV.specs,
  )
-  BOLT_EUV = GMPlatformConfig(
-    "CHEVROLET BOLT EUV 2022",
+  CHEVROLET_BOLT_EUV = GMPlatformConfig(
    [
-      GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
-      GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
+      GMCarDocs("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
+      GMCarDocs("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
    ],
    GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
  )
-  SILVERADO = GMPlatformConfig(
-    "CHEVROLET SILVERADO 1500 2020",
+  CHEVROLET_SILVERADO = GMPlatformConfig(
    [
-      GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
-      GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
+      GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
+      GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
    ],
    GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
  )
-  EQUINOX = GMPlatformConfig(
-    "CHEVROLET EQUINOX 2019",
-    GMCarInfo("Chevrolet Equinox 2019-22"),
+  CHEVROLET_EQUINOX = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Equinox 2019-22")],
    GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
  )
-  TRAILBLAZER = GMPlatformConfig(
-    "CHEVROLET TRAILBLAZER 2021",
-    GMCarInfo("Chevrolet Trailblazer 2021-22"),
+  CHEVROLET_TRAILBLAZER = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Trailblazer 2021-22")],
    GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
  )

@ -240,10 +224,10 @@ FW_QUERY_CONFIG = FwQueryConfig(
  extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
 )

-EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
+EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV}

 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
-CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER}
+CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER}

 STEER_THRESHOLD = 1.0

--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@ -4,7 +4,6 @@ from cereal import car
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import create_gas_interceptor_command
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
@ -96,7 +95,7 @@ def process_hud_alert(hud_alert):

 HUDData = namedtuple("HUDData",
                     ["pcm_accel", "v_cruise", "lead_visible",
-                      "lanes_visible", "fcw", "acc_alert", "steer_required"])
+                      "lanes_visible", "fcw", "acc_alert", "steer_required", "lead_distance_bars"])


 def rate_limit_steer(new_steer, last_steer):
@ -183,7 +182,7 @@ class CarController(CarControllerBase):
                    0.5]
    # The Honda ODYSSEY seems to have different PCM_ACCEL
    # msgs, is it other cars too?
-    if self.CP.enableGasInterceptor or not CC.longActive:
+    if not CC.longActive:
      pcm_speed = 0.0
      pcm_accel = int(0.0)
    elif self.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL:
@ -235,30 +234,15 @@ class CarController(CarControllerBase):
          self.apply_brake_last = apply_brake
          self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX

-          if self.CP.enableGasInterceptor:
-            # way too aggressive at low speed without this
-            gas_mult = interp(CS.out.vEgo, [0., 10.], [0.4, 1.0])
-            # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
-            # This prevents unexpected pedal range rescaling
-            # Sending non-zero gas when OP is not enabled will cause the PCM not to respond to throttle as expected
-            # when you do enable.
-            if CC.longActive:
-              self.gas = clip(gas_mult * (gas - brake + wind_brake * 3 / 4), 0., 1.)
-            else:
-              self.gas = 0.0
-            can_sends.append(create_gas_interceptor_command(self.packer, self.gas, self.frame // 2))
-
    # Send dashboard UI commands.
    if self.frame % 10 == 0:
      hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
-                    hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
+                    hud_control.lanesVisible, fcw_display, acc_alert, steer_required, hud_control.leadDistanceBars)
      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CAN, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud))

      if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
        self.speed = pcm_speed
-
-        if not self.CP.enableGasInterceptor:
-          self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
+        self.gas = pcm_accel / self.params.NIDEC_GAS_MAX

    new_actuators = actuators.copy()
    new_actuators.speed = self.speed
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@ -28,7 +28,7 @@ def get_can_messages(CP, gearbox_msg):
    ("STEER_MOTOR_TORQUE", 0),  # TODO: not on every car
  ]

-  if CP.carFingerprint == CAR.ODYSSEY_CHN:
+  if CP.carFingerprint == CAR.HONDA_ODYSSEY_CHN:
    messages += [
      ("SCM_FEEDBACK", 25),
      ("SCM_BUTTONS", 50),
@ -39,7 +39,7 @@ def get_can_messages(CP, gearbox_msg):
      ("SCM_BUTTONS", 25),
    ]

-  if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
+  if CP.carFingerprint in (CAR.HONDA_CRV_HYBRID, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
    messages.append((gearbox_msg, 50))
  else:
    messages.append((gearbox_msg, 100))
@ -47,7 +47,7 @@ def get_can_messages(CP, gearbox_msg):
  if CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
    messages.append(("BRAKE_MODULE", 50))

-  if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
+  if CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
    messages.append(("EPB_STATUS", 50))

  if CP.carFingerprint in HONDA_BOSCH:
@ -58,24 +58,20 @@ def get_can_messages(CP, gearbox_msg):
        ("ACC_CONTROL", 50),
      ]
  else:  # Nidec signals
-    if CP.carFingerprint == CAR.ODYSSEY_CHN:
+    if CP.carFingerprint == CAR.HONDA_ODYSSEY_CHN:
      messages.append(("CRUISE_PARAMS", 10))
    else:
      messages.append(("CRUISE_PARAMS", 50))

  # TODO: clean this up
-  if CP.carFingerprint in (CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
-                           CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
+  if CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
+                           CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
    pass
-  elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
+  elif CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
    pass
  else:
    messages.append(("DOORS_STATUS", 3))

-  # add gas interceptor reading if we are using it
-  if CP.enableGasInterceptor:
-    messages.append(("GAS_SENSOR", 50))
-
  if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
    messages.append(("CRUISE_FAULT_STATUS", 50))
  elif CP.openpilotLongitudinalControl:
@ -89,7 +85,7 @@ class CarState(CarStateBase):
    super().__init__(CP)
    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
    self.gearbox_msg = "GEARBOX"
-    if CP.carFingerprint == CAR.ACCORD and CP.transmissionType == TransmissionType.cvt:
+    if CP.carFingerprint == CAR.HONDA_ACCORD and CP.transmissionType == TransmissionType.cvt:
      self.gearbox_msg = "GEARBOX_15T"

    self.main_on_sig_msg = "SCM_FEEDBACK"
@ -129,10 +125,10 @@ class CarState(CarStateBase):
    # panda checks if the signal is non-zero
    ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
    # TODO: find a common signal across all cars
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
-                                  CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
+    if self.CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
+                                  CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
      ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
-    elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
+    elif self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
      ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
    else:
      ret.doorOpen = any([cp.vl["DOORS_STATUS"]["DOOR_OPEN_FL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_FR"],
@ -185,25 +181,24 @@ class CarState(CarStateBase):
    ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1

    # TODO: set for all cars
-    if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
+    if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
      ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0

    gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))

-    if self.CP.enableGasInterceptor:
-      # Same threshold as panda, equivalent to 1e-5 with previous DBC scaling
-      ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
-      ret.gasPressed = ret.gas > 492
-    else:
-      ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
-      ret.gasPressed = ret.gas > 1e-5
+    ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
+    ret.gasPressed = ret.gas > 1e-5

    ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
    ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)

    if self.CP.carFingerprint in HONDA_BOSCH:
+      # The PCM always manages its own cruise control state, but doesn't publish it
+      if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+        ret.cruiseState.nonAdaptive = cp_cam.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
+
      if not self.CP.openpilotLongitudinalControl:
        # ACC_HUD is on camera bus on radarless cars
        acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
@ -237,7 +232,7 @@ class CarState(CarStateBase):
    ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])

    # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
-    if self.CP.carFingerprint in (CAR.PILOT, CAR.RIDGELINE):
+    if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):
      if ret.brake > 0.1:
        ret.brakePressed = True

@ -276,9 +271,10 @@ class CarState(CarStateBase):
    ]

    if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
-      messages.append(("LKAS_HUD", 10))
-      if not CP.openpilotLongitudinalControl:
-        messages.append(("ACC_HUD", 10))
+      messages += [
+        ("ACC_HUD", 10),
+        ("LKAS_HUD", 10),
+      ]

    elif CP.carFingerprint not in HONDA_BOSCH:
      messages += [
--- a/selfdrive/car/honda/fingerprints.py
+++ b/selfdrive/car/honda/fingerprints.py
@ -10,7 +10,7 @@ Ecu = car.CarParams.Ecu


 FW_VERSIONS = {
-  CAR.ACCORD: {
+  CAR.HONDA_ACCORD: {
    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
      b'37805-6A0-8720\x00\x00',
      b'37805-6A0-9520\x00\x00',
@ -43,6 +43,7 @@ FW_VERSIONS = {
      b'37805-6B2-AA10\x00\x00',
      b'37805-6B2-C520\x00\x00',
      b'37805-6B2-C540\x00\x00',
+      b'37805-6B2-C560\x00\x00',
      b'37805-6B2-M520\x00\x00',
      b'37805-6B2-Y810\x00\x00',
      b'37805-6M4-B730\x00\x00',
@ -121,52 +122,6 @@ FW_VERSIONS = {
      b'77959-TWA-L420\x00\x00',
      b'77959-TWB-H220\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TBX-H310\x00\x00',
-      b'78109-TVA-A010\x00\x00',
-      b'78109-TVA-A020\x00\x00',
-      b'78109-TVA-A030\x00\x00',
-      b'78109-TVA-A110\x00\x00',
-      b'78109-TVA-A120\x00\x00',
-      b'78109-TVA-A130\x00\x00',
-      b'78109-TVA-A210\x00\x00',
-      b'78109-TVA-A220\x00\x00',
-      b'78109-TVA-A230\x00\x00',
-      b'78109-TVA-A310\x00\x00',
-      b'78109-TVA-C010\x00\x00',
-      b'78109-TVA-C130\x00\x00',
-      b'78109-TVA-L010\x00\x00',
-      b'78109-TVA-L210\x00\x00',
-      b'78109-TVA-R310\x00\x00',
-      b'78109-TVC-A010\x00\x00',
-      b'78109-TVC-A020\x00\x00',
-      b'78109-TVC-A030\x00\x00',
-      b'78109-TVC-A110\x00\x00',
-      b'78109-TVC-A130\x00\x00',
-      b'78109-TVC-A210\x00\x00',
-      b'78109-TVC-A220\x00\x00',
-      b'78109-TVC-A230\x00\x00',
-      b'78109-TVC-C010\x00\x00',
-      b'78109-TVC-C110\x00\x00',
-      b'78109-TVC-L010\x00\x00',
-      b'78109-TVC-L210\x00\x00',
-      b'78109-TVC-M510\x00\x00',
-      b'78109-TVC-YF10\x00\x00',
-      b'78109-TVE-H610\x00\x00',
-      b'78109-TWA-A010\x00\x00',
-      b'78109-TWA-A020\x00\x00',
-      b'78109-TWA-A030\x00\x00',
-      b'78109-TWA-A110\x00\x00',
-      b'78109-TWA-A120\x00\x00',
-      b'78109-TWA-A130\x00\x00',
-      b'78109-TWA-A210\x00\x00',
-      b'78109-TWA-A220\x00\x00',
-      b'78109-TWA-A230\x00\x00',
-      b'78109-TWA-A610\x00\x00',
-      b'78109-TWA-H210\x00\x00',
-      b'78109-TWA-L010\x00\x00',
-      b'78109-TWA-L210\x00\x00',
-    ],
    (Ecu.hud, 0x18da61f1, None): [
      b'78209-TVA-A010\x00\x00',
      b'78209-TVA-A110\x00\x00',
@ -205,7 +160,7 @@ FW_VERSIONS = {
      b'38897-TWD-J020\x00\x00',
    ],
  },
-  CAR.CIVIC: {
+  CAR.HONDA_CIVIC: {
    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
      b'37805-5AA-A640\x00\x00',
      b'37805-5AA-A650\x00\x00',
@ -271,25 +226,6 @@ FW_VERSIONS = {
      b'77959-TBG-A030\x00\x00',
      b'77959-TEA-Q820\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TBA-A510\x00\x00',
-      b'78109-TBA-A520\x00\x00',
-      b'78109-TBA-A530\x00\x00',
-      b'78109-TBA-C310\x00\x00',
-      b'78109-TBA-C520\x00\x00',
-      b'78109-TBC-A310\x00\x00',
-      b'78109-TBC-A320\x00\x00',
-      b'78109-TBC-A510\x00\x00',
-      b'78109-TBC-A520\x00\x00',
-      b'78109-TBC-A530\x00\x00',
-      b'78109-TBC-C510\x00\x00',
-      b'78109-TBC-C520\x00\x00',
-      b'78109-TBC-C530\x00\x00',
-      b'78109-TBH-A510\x00\x00',
-      b'78109-TBH-A530\x00\x00',
-      b'78109-TED-Q510\x00\x00',
-      b'78109-TEG-A310\x00\x00',
-    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36161-TBA-A020\x00\x00',
      b'36161-TBA-A030\x00\x00',
@ -305,7 +241,7 @@ FW_VERSIONS = {
      b'38897-TBA-A020\x00\x00',
    ],
  },
-  CAR.CIVIC_BOSCH: {
+  CAR.HONDA_CIVIC_BOSCH: {
    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
      b'37805-5AA-A940\x00\x00',
      b'37805-5AA-A950\x00\x00',
@ -420,40 +356,6 @@ FW_VERSIONS = {
      b'77959-TGG-J320\x00\x00',
      b'77959-TGG-Z820\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TBA-A110\x00\x00',
-      b'78109-TBA-A910\x00\x00',
-      b'78109-TBA-C340\x00\x00',
-      b'78109-TBA-C910\x00\x00',
-      b'78109-TBC-A740\x00\x00',
-      b'78109-TBC-C540\x00\x00',
-      b'78109-TBG-A110\x00\x00',
-      b'78109-TBH-A710\x00\x00',
-      b'78109-TEG-A720\x00\x00',
-      b'78109-TFJ-G020\x00\x00',
-      b'78109-TGG-9020\x00\x00',
-      b'78109-TGG-A210\x00\x00',
-      b'78109-TGG-A220\x00\x00',
-      b'78109-TGG-A310\x00\x00',
-      b'78109-TGG-A320\x00\x00',
-      b'78109-TGG-A330\x00\x00',
-      b'78109-TGG-A610\x00\x00',
-      b'78109-TGG-A620\x00\x00',
-      b'78109-TGG-A810\x00\x00',
-      b'78109-TGG-A820\x00\x00',
-      b'78109-TGG-C010\x00\x00',
-      b'78109-TGG-C220\x00\x00',
-      b'78109-TGG-E110\x00\x00',
-      b'78109-TGG-G030\x00\x00',
-      b'78109-TGG-G230\x00\x00',
-      b'78109-TGG-G410\x00\x00',
-      b'78109-TGK-Z410\x00\x00',
-      b'78109-TGL-G120\x00\x00',
-      b'78109-TGL-G130\x00\x00',
-      b'78109-TGL-G210\x00\x00',
-      b'78109-TGL-G230\x00\x00',
-      b'78109-TGL-GM10\x00\x00',
-    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36802-TBA-A150\x00\x00',
      b'36802-TBA-A160\x00\x00',
@ -490,7 +392,7 @@ FW_VERSIONS = {
      b'39494-TGL-G030\x00\x00',
    ],
  },
-  CAR.CIVIC_BOSCH_DIESEL: {
+  CAR.HONDA_CIVIC_BOSCH_DIESEL: {
    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
      b'37805-59N-G630\x00\x00',
      b'37805-59N-G830\x00\x00',
@ -509,10 +411,6 @@ FW_VERSIONS = {
      b'77959-TFK-G210\x00\x00',
      b'77959-TGN-G220\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TFK-G020\x00\x00',
-      b'78109-TGN-G120\x00\x00',
-    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36802-TFK-G130\x00\x00',
      b'36802-TGN-G130\x00\x00',
@ -528,7 +426,7 @@ FW_VERSIONS = {
      b'38897-TBA-A020\x00\x00',
    ],
  },
-  CAR.CRV: {
+  CAR.HONDA_CRV: {
    (Ecu.vsa, 0x18da28f1, None): [
      b'57114-T1W-A230\x00\x00',
      b'57114-T1W-A240\x00\x00',
@ -537,18 +435,13 @@ FW_VERSIONS = {
    (Ecu.srs, 0x18da53f1, None): [
      b'77959-T0A-A230\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-T1W-A210\x00\x00',
-      b'78109-T1W-C210\x00\x00',
-      b'78109-T1X-A210\x00\x00',
-    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36161-T1W-A830\x00\x00',
      b'36161-T1W-C830\x00\x00',
      b'36161-T1X-A830\x00\x00',
    ],
  },
-  CAR.CRV_5G: {
+  CAR.HONDA_CRV_5G: {
    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
      b'37805-5PA-3060\x00\x00',
      b'37805-5PA-3080\x00\x00',
@ -576,6 +469,7 @@ FW_VERSIONS = {
      b'37805-5PA-AB10\x00\x00',
      b'37805-5PA-AD10\x00\x00',
      b'37805-5PA-AF20\x00\x00',
+      b'37805-5PA-AF30\x00\x00',
      b'37805-5PA-AH20\x00\x00',
      b'37805-5PA-BF10\x00\x00',
      b'37805-5PA-C680\x00\x00',
@ -621,25 +515,6 @@ FW_VERSIONS = {
      b'46114-TLA-A930\x00\x00',
      b'46114-TMC-U020\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TLA-A020\x00\x00',
-      b'78109-TLA-A110\x00\x00',
-      b'78109-TLA-A120\x00\x00',
-      b'78109-TLA-A210\x00\x00',
-      b'78109-TLA-A220\x00\x00',
-      b'78109-TLA-C020\x00\x00',
-      b'78109-TLA-C110\x00\x00',
-      b'78109-TLA-C210\x00\x00',
-      b'78109-TLA-C310\x00\x00',
-      b'78109-TLB-A020\x00\x00',
-      b'78109-TLB-A110\x00\x00',
-      b'78109-TLB-A120\x00\x00',
-      b'78109-TLB-A210\x00\x00',
-      b'78109-TLB-A220\x00\x00',
-      b'78109-TMC-Q210\x00\x00',
-      b'78109-TMM-F210\x00\x00',
-      b'78109-TMM-M110\x00\x00',
-    ],
    (Ecu.gateway, 0x18daeff1, None): [
      b'38897-TLA-A010\x00\x00',
      b'38897-TLA-A110\x00\x00',
@ -676,7 +551,7 @@ FW_VERSIONS = {
      b'77959-TMM-F040\x00\x00',
    ],
  },
-  CAR.CRV_EU: {
+  CAR.HONDA_CRV_EU: {
    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
      b'37805-R5Z-G740\x00\x00',
      b'37805-R5Z-G780\x00\x00',
@ -694,15 +569,11 @@ FW_VERSIONS = {
      b'28101-5LH-E120\x00\x00',
      b'28103-5LH-E100\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-T1B-3050\x00\x00',
-      b'78109-T1V-G020\x00\x00',
-    ],
    (Ecu.srs, 0x18da53f1, None): [
      b'77959-T1G-G940\x00\x00',
    ],
  },
-  CAR.CRV_HYBRID: {
+  CAR.HONDA_CRV_HYBRID: {
    (Ecu.vsa, 0x18da28f1, None): [
      b'57114-TMB-H030\x00\x00',
      b'57114-TPA-G020\x00\x00',
@ -728,12 +599,6 @@ FW_VERSIONS = {
      b'36161-TPG-A030\x00\x00',
      b'36161-TPG-A040\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TMB-H220\x00\x00',
-      b'78109-TPA-G520\x00\x00',
-      b'78109-TPG-A110\x00\x00',
-      b'78109-TPG-A210\x00\x00',
-    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36802-TMB-H040\x00\x00',
      b'36802-TPA-E040\x00\x00',
@ -747,7 +612,7 @@ FW_VERSIONS = {
      b'77959-TLA-H240\x00\x00',
    ],
  },
-  CAR.FIT: {
+  CAR.HONDA_FIT: {
    (Ecu.vsa, 0x18da28f1, None): [
      b'57114-T5R-L020\x00\x00',
      b'57114-T5R-L220\x00\x00',
@ -759,12 +624,6 @@ FW_VERSIONS = {
    (Ecu.gateway, 0x18daeff1, None): [
      b'38897-T5A-J010\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-T5A-A210\x00\x00',
-      b'78109-T5A-A410\x00\x00',
-      b'78109-T5A-A420\x00\x00',
-      b'78109-T5A-A910\x00\x00',
-    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36161-T5R-A040\x00\x00',
      b'36161-T5R-A240\x00\x00',
@ -774,7 +633,7 @@ FW_VERSIONS = {
      b'77959-T5R-A230\x00\x00',
    ],
  },
-  CAR.FREED: {
+  CAR.HONDA_FREED: {
    (Ecu.gateway, 0x18daeff1, None): [
      b'38897-TDK-J010\x00\x00',
    ],
@ -786,23 +645,20 @@ FW_VERSIONS = {
      b'57114-TDK-J120\x00\x00',
      b'57114-TDK-J330\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TDK-J310\x00\x00',
-      b'78109-TDK-J320\x00\x00',
-    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36161-TDK-J070\x00\x00',
      b'36161-TDK-J080\x00\x00',
      b'36161-TDK-J530\x00\x00',
    ],
  },
-  CAR.ODYSSEY: {
+  CAR.HONDA_ODYSSEY: {
    (Ecu.gateway, 0x18daeff1, None): [
      b'38897-THR-A010\x00\x00',
      b'38897-THR-A020\x00\x00',
    ],
    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
      b'37805-5MR-3050\x00\x00',
+      b'37805-5MR-3150\x00\x00',
      b'37805-5MR-3250\x00\x00',
      b'37805-5MR-4070\x00\x00',
      b'37805-5MR-4080\x00\x00',
@ -862,53 +718,17 @@ FW_VERSIONS = {
      b'57114-THR-A040\x00\x00',
      b'57114-THR-A110\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-THR-A220\x00\x00',
-      b'78109-THR-A230\x00\x00',
-      b'78109-THR-A420\x00\x00',
-      b'78109-THR-A430\x00\x00',
-      b'78109-THR-A720\x00\x00',
-      b'78109-THR-A730\x00\x00',
-      b'78109-THR-A820\x00\x00',
-      b'78109-THR-A830\x00\x00',
-      b'78109-THR-AB20\x00\x00',
-      b'78109-THR-AB30\x00\x00',
-      b'78109-THR-AB40\x00\x00',
-      b'78109-THR-AC20\x00\x00',
-      b'78109-THR-AC30\x00\x00',
-      b'78109-THR-AC40\x00\x00',
-      b'78109-THR-AC50\x00\x00',
-      b'78109-THR-AD30\x00\x00',
-      b'78109-THR-AE20\x00\x00',
-      b'78109-THR-AE30\x00\x00',
-      b'78109-THR-AE40\x00\x00',
-      b'78109-THR-AK10\x00\x00',
-      b'78109-THR-AL10\x00\x00',
-      b'78109-THR-AN10\x00\x00',
-      b'78109-THR-C220\x00\x00',
-      b'78109-THR-C320\x00\x00',
-      b'78109-THR-C330\x00\x00',
-      b'78109-THR-CE20\x00\x00',
-      b'78109-THR-CL10\x00\x00',
-      b'78109-THR-DA20\x00\x00',
-      b'78109-THR-DA30\x00\x00',
-      b'78109-THR-DA40\x00\x00',
-      b'78109-THR-K120\x00\x00',
-    ],
    (Ecu.shiftByWire, 0x18da0bf1, None): [
      b'54008-THR-A020\x00\x00',
    ],
  },
-  CAR.ODYSSEY_CHN: {
+  CAR.HONDA_ODYSSEY_CHN: {
    (Ecu.eps, 0x18da30f1, None): [
      b'39990-T6D-H220\x00\x00',
    ],
    (Ecu.gateway, 0x18daeff1, None): [
      b'38897-T6A-J010\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-T6A-F310\x00\x00',
-    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36161-T6A-P040\x00\x00',
    ],
@ -916,12 +736,13 @@ FW_VERSIONS = {
      b'77959-T6A-P110\x00\x00',
    ],
  },
-  CAR.PILOT: {
+  CAR.HONDA_PILOT: {
    (Ecu.shiftByWire, 0x18da0bf1, None): [
      b'54008-TG7-A520\x00\x00',
      b'54008-TG7-A530\x00\x00',
    ],
    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-5EY-A040\x00\x00',
      b'28101-5EY-A050\x00\x00',
      b'28101-5EY-A100\x00\x00',
      b'28101-5EY-A430\x00\x00',
@ -942,6 +763,7 @@ FW_VERSIONS = {
      b'37805-RLV-4070\x00\x00',
      b'37805-RLV-5140\x00\x00',
      b'37805-RLV-5230\x00\x00',
+      b'37805-RLV-A630\x00\x00',
      b'37805-RLV-A830\x00\x00',
      b'37805-RLV-A840\x00\x00',
      b'37805-RLV-B210\x00\x00',
@ -1012,43 +834,6 @@ FW_VERSIONS = {
      b'77959-TGS-A010\x00\x00',
      b'77959-TGS-A110\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TG7-A040\x00\x00',
-      b'78109-TG7-A050\x00\x00',
-      b'78109-TG7-A420\x00\x00',
-      b'78109-TG7-A520\x00\x00',
-      b'78109-TG7-A720\x00\x00',
-      b'78109-TG7-AJ10\x00\x00',
-      b'78109-TG7-AJ20\x00\x00',
-      b'78109-TG7-AK10\x00\x00',
-      b'78109-TG7-AK20\x00\x00',
-      b'78109-TG7-AM20\x00\x00',
-      b'78109-TG7-AP10\x00\x00',
-      b'78109-TG7-AP20\x00\x00',
-      b'78109-TG7-AS20\x00\x00',
-      b'78109-TG7-AT20\x00\x00',
-      b'78109-TG7-AU20\x00\x00',
-      b'78109-TG7-AX20\x00\x00',
-      b'78109-TG7-D020\x00\x00',
-      b'78109-TG7-DJ10\x00\x00',
-      b'78109-TG7-YK20\x00\x00',
-      b'78109-TG8-A420\x00\x00',
-      b'78109-TG8-A520\x00\x00',
-      b'78109-TG8-AJ10\x00\x00',
-      b'78109-TG8-AJ20\x00\x00',
-      b'78109-TG8-AK20\x00\x00',
-      b'78109-TG8-AS20\x00\x00',
-      b'78109-TGS-AB10\x00\x00',
-      b'78109-TGS-AC10\x00\x00',
-      b'78109-TGS-AD10\x00\x00',
-      b'78109-TGS-AJ20\x00\x00',
-      b'78109-TGS-AK20\x00\x00',
-      b'78109-TGS-AP20\x00\x00',
-      b'78109-TGS-AT20\x00\x00',
-      b'78109-TGS-AX20\x00\x00',
-      b'78109-TGT-AJ20\x00\x00',
-      b'78109-TGT-AK30\x00\x00',
-    ],
    (Ecu.vsa, 0x18da28f1, None): [
      b'57114-TG7-A130\x00\x00',
      b'57114-TG7-A140\x00\x00',
@ -1057,6 +842,7 @@ FW_VERSIONS = {
      b'57114-TG7-A630\x00\x00',
      b'57114-TG7-A730\x00\x00',
      b'57114-TG8-A140\x00\x00',
+      b'57114-TG8-A230\x00\x00',
      b'57114-TG8-A240\x00\x00',
      b'57114-TG8-A630\x00\x00',
      b'57114-TG8-A730\x00\x00',
@ -1078,12 +864,6 @@ FW_VERSIONS = {
      b'77959-TX4-C010\x00\x00',
      b'77959-TX4-C020\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TX4-A210\x00\x00',
-      b'78109-TX4-A310\x00\x00',
-      b'78109-TX5-A210\x00\x00',
-      b'78109-TX5-A310\x00\x00',
-    ],
  },
  CAR.ACURA_RDX_3G: {
    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
@ -1096,6 +876,7 @@ FW_VERSIONS = {
      b'37805-5YF-A750\x00\x00',
      b'37805-5YF-A760\x00\x00',
      b'37805-5YF-A850\x00\x00',
+      b'37805-5YF-A860\x00\x00',
      b'37805-5YF-A870\x00\x00',
      b'37805-5YF-AD20\x00\x00',
      b'37805-5YF-C210\x00\x00',
@ -1133,24 +914,6 @@ FW_VERSIONS = {
      b'28102-5YL-A700\x00\x00',
      b'28102-5YL-A711\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TJB-A140\x00\x00',
-      b'78109-TJB-A240\x00\x00',
-      b'78109-TJB-A420\x00\x00',
-      b'78109-TJB-AB10\x00\x00',
-      b'78109-TJB-AD10\x00\x00',
-      b'78109-TJB-AF10\x00\x00',
-      b'78109-TJB-AQ20\x00\x00',
-      b'78109-TJB-AR10\x00\x00',
-      b'78109-TJB-AS10\x00\x00',
-      b'78109-TJB-AU10\x00\x00',
-      b'78109-TJB-AW10\x00\x00',
-      b'78109-TJC-A240\x00\x00',
-      b'78109-TJC-A420\x00\x00',
-      b'78109-TJC-AA10\x00\x00',
-      b'78109-TJC-AD10\x00\x00',
-      b'78109-TJC-AF10\x00\x00',
-    ],
    (Ecu.srs, 0x18da53f1, None): [
      b'77959-TJB-A040\x00\x00',
      b'77959-TJB-A120\x00\x00',
@ -1175,7 +938,7 @@ FW_VERSIONS = {
      b'39990-TJB-A130\x00\x00',
    ],
  },
-  CAR.RIDGELINE: {
+  CAR.HONDA_RIDGELINE: {
    (Ecu.eps, 0x18da30f1, None): [
      b'39990-T6Z-A020\x00\x00',
      b'39990-T6Z-A030\x00\x00',
@ -1195,18 +958,6 @@ FW_VERSIONS = {
      b'38897-T6Z-A010\x00\x00',
      b'38897-T6Z-A110\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78108-T6Z-AF10\x00\x00',
-      b'78109-T6Z-A420\x00\x00',
-      b'78109-T6Z-A510\x00\x00',
-      b'78109-T6Z-A710\x00\x00',
-      b'78109-T6Z-A810\x00\x00',
-      b'78109-T6Z-A910\x00\x00',
-      b'78109-T6Z-AA10\x00\x00',
-      b'78109-T6Z-C620\x00\x00',
-      b'78109-T6Z-C910\x00\x00',
-      b'78109-TJZ-A510\x00\x00',
-    ],
    (Ecu.srs, 0x18da53f1, None): [
      b'77959-T6Z-A020\x00\x00',
    ],
@ -1218,7 +969,7 @@ FW_VERSIONS = {
      b'57114-TJZ-A520\x00\x00',
    ],
  },
-  CAR.INSIGHT: {
+  CAR.HONDA_INSIGHT: {
    (Ecu.eps, 0x18da30f1, None): [
      b'39990-TXM-A040\x00\x00',
    ],
@ -1243,15 +994,8 @@ FW_VERSIONS = {
    (Ecu.gateway, 0x18daeff1, None): [
      b'38897-TXM-A020\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TXM-A010\x00\x00',
-      b'78109-TXM-A020\x00\x00',
-      b'78109-TXM-A030\x00\x00',
-      b'78109-TXM-A110\x00\x00',
-      b'78109-TXM-C010\x00\x00',
-    ],
  },
-  CAR.HRV: {
+  CAR.HONDA_HRV: {
    (Ecu.gateway, 0x18daeff1, None): [
      b'38897-T7A-A010\x00\x00',
      b'38897-T7A-A110\x00\x00',
@ -1268,36 +1012,36 @@ FW_VERSIONS = {
    (Ecu.srs, 0x18da53f1, None): [
      b'77959-T7A-A230\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-THW-A110\x00\x00',
-      b'78109-THX-A110\x00\x00',
-      b'78109-THX-A120\x00\x00',
-      b'78109-THX-A210\x00\x00',
-      b'78109-THX-A220\x00\x00',
-      b'78109-THX-C220\x00\x00',
-    ],
  },
-  CAR.HRV_3G: {
+  CAR.HONDA_HRV_3G: {
    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-3M0-G110\x00\x00',
      b'39990-3W0-A030\x00\x00',
    ],
    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-3M0-M110\x00\x00',
      b'38897-3W1-A010\x00\x00',
    ],
    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-3M0-K840\x00\x00',
      b'77959-3V0-A820\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78108-3V1-A220\x00\x00',
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'8S102-3M6-P030\x00\x00',
+      b'8S102-3W0-A060\x00\x00',
+      b'8S102-3W0-AB10\x00\x00',
    ],
    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-3M6-M010\x00\x00',
      b'57114-3W0-A040\x00\x00',
    ],
    (Ecu.transmission, 0x18da1ef1, None): [
      b'28101-6EH-A010\x00\x00',
+      b'28101-6JC-M310\x00\x00',
    ],
    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
      b'37805-6CT-A710\x00\x00',
+      b'37805-6HZ-M630\x00\x00',
    ],
    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
      b'46114-3W0-A020\x00\x00',
@ -1315,11 +1059,6 @@ FW_VERSIONS = {
      b'77959-TX6-A230\x00\x00',
      b'77959-TX6-C210\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-T3R-A120\x00\x00',
-      b'78109-T3R-A410\x00\x00',
-      b'78109-TV9-A510\x00\x00',
-    ],
  },
  CAR.HONDA_E: {
    (Ecu.eps, 0x18da30f1, None): [
@ -1334,9 +1073,6 @@ FW_VERSIONS = {
    (Ecu.srs, 0x18da53f1, None): [
      b'77959-TYF-G430\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78108-TYF-G610\x00\x00',
-    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36802-TYF-E030\x00\x00',
    ],
@ -1347,7 +1083,7 @@ FW_VERSIONS = {
      b'57114-TYF-E030\x00\x00',
    ],
  },
-  CAR.CIVIC_2022: {
+  CAR.HONDA_CIVIC_2022: {
    (Ecu.eps, 0x18da30f1, None): [
      b'39990-T24-T120\x00\x00',
      b'39990-T39-A130\x00\x00',
@ -1368,15 +1104,6 @@ FW_VERSIONS = {
      b'77959-T47-A940\x00\x00',
      b'77959-T47-A950\x00\x00',
    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78108-T21-A220\x00\x00',
-      b'78108-T21-A230\x00\x00',
-      b'78108-T21-A620\x00\x00',
-      b'78108-T21-A740\x00\x00',
-      b'78108-T21-MB10\x00\x00',
-      b'78108-T22-A020\x00\x00',
-      b'78108-T23-A110\x00\x00',
-    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36161-T20-A060\x00\x00',
      b'36161-T20-A070\x00\x00',
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@ -143,7 +143,8 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
    acc_hud_values = {
      'CRUISE_SPEED': hud.v_cruise,
      'ENABLE_MINI_CAR': 1 if enabled else 0,
-      'HUD_DISTANCE': 0,  # max distance setting on display
+      # only moves the lead car without ACC_ON
+      'HUD_DISTANCE': (hud.lead_distance_bars + 1) % 4,  # wraps to 0 at 4 bars
      'IMPERIAL_UNIT': int(not is_metric),
      'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
      'SET_ME_X01_2': 1,
@ -154,6 +155,8 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
      acc_hud_values['FCM_OFF'] = 1
      acc_hud_values['FCM_OFF_2'] = 1
    else:
+      # Shows the distance bars, TODO: stock camera shows updates temporarily while disabled
+      acc_hud_values['ACC_ON'] = int(enabled)
      acc_hud_values['PCM_SPEED'] = pcm_speed * CV.MS_TO_KPH
      acc_hud_values['PCM_GAS'] = hud.pcm_accel
      acc_hud_values['SET_ME_X01'] = 1
@ -192,7 +195,7 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
    }
    commands.append(packer.make_can_msg('RADAR_HUD', CAN.pt, radar_hud_values))

-    if CP.carFingerprint == CAR.CIVIC_BOSCH:
+    if CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH:
      commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", CAN.pt, {}))

  return commands
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@ -4,8 +4,8 @@ from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus
-from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \
-                                                 HONDA_BOSCH_RADARLESS
+from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \
+                                                 HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
@ -16,6 +16,7 @@ EventName = car.CarEvent.EventName
 TransmissionType = car.CarParams.TransmissionType
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
+SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}


 class CarInterface(CarInterfaceBase):
@ -23,8 +24,6 @@ class CarInterface(CarInterfaceBase):
  def get_pid_accel_limits(CP, current_speed, cruise_speed):
    if CP.carFingerprint in HONDA_BOSCH:
      return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
-    elif CP.enableGasInterceptor:
-      return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX
    else:
      # NIDECs don't allow acceleration near cruise_speed,
      # so limit limits of pid to prevent windup
@ -49,12 +48,11 @@ class CarInterface(CarInterfaceBase):
      ret.pcmCruise = not ret.openpilotLongitudinalControl
    else:
      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
-      ret.enableGasInterceptor = 0x201 in fingerprint[CAN.pt]
      ret.openpilotLongitudinalControl = True

-      ret.pcmCruise = not ret.enableGasInterceptor
+      ret.pcmCruise = True

-    if candidate == CAR.CRV_5G:
+    if candidate == CAR.HONDA_CRV_5G:
      ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar]

    # Detect Bosch cars with new HUD msgs
@ -62,7 +60,7 @@ class CarInterface(CarInterfaceBase):
      ret.flags |= HondaFlags.BOSCH_EXT_HUD.value

    # Accord ICE 1.5T CVT has different gearbox message
-    if candidate == CAR.ACCORD and 0x191 in fingerprint[CAN.pt]:
+    if candidate == CAR.HONDA_ACCORD and 0x191 in fingerprint[CAN.pt]:
      ret.transmissionType = TransmissionType.cvt

    # Certain Hondas have an extra steering sensor at the bottom of the steering rack,
@ -91,7 +89,7 @@ class CarInterface(CarInterfaceBase):
      if fw.ecu == "eps" and b"," in fw.fwVersion:
        eps_modified = True

-    if candidate == CAR.CIVIC:
+    if candidate == CAR.HONDA_CIVIC:
      if eps_modified:
        # stock request input values:     0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
        # stock request output values:    0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
@ -105,11 +103,11 @@ class CarInterface(CarInterfaceBase):
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]

-    elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
+    elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022):
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]

-    elif candidate == CAR.ACCORD:
+    elif candidate == CAR.HONDA_ACCORD:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end

      if eps_modified:
@ -121,12 +119,12 @@ class CarInterface(CarInterfaceBase):
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]

-    elif candidate in (CAR.CRV, CAR.CRV_EU):
+    elif candidate in (CAR.HONDA_CRV, CAR.HONDA_CRV_EU):
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
      ret.wheelSpeedFactor = 1.025

-    elif candidate == CAR.CRV_5G:
+    elif candidate == CAR.HONDA_CRV_5G:
      if eps_modified:
        # stock request input values:     0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
        # stock request output values:    0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
@ -138,22 +136,22 @@ class CarInterface(CarInterfaceBase):
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
      ret.wheelSpeedFactor = 1.025

-    elif candidate == CAR.CRV_HYBRID:
+    elif candidate == CAR.HONDA_CRV_HYBRID:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
      ret.wheelSpeedFactor = 1.025

-    elif candidate == CAR.FIT:
+    elif candidate == CAR.HONDA_FIT:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]

-    elif candidate == CAR.FREED:
+    elif candidate == CAR.HONDA_FREED:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]

-    elif candidate in (CAR.HRV, CAR.HRV_3G):
+    elif candidate in (CAR.HONDA_HRV, CAR.HONDA_HRV_3G):
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
-      if candidate == CAR.HRV:
+      if candidate == CAR.HONDA_HRV:
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
        ret.wheelSpeedFactor = 1.025
      else:
@ -167,22 +165,22 @@ class CarInterface(CarInterfaceBase):
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]

-    elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
+    elif candidate in (CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN):
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
-      if candidate == CAR.ODYSSEY_CHN:
+      if candidate == CAR.HONDA_ODYSSEY_CHN:
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]]  # TODO: determine if there is a dead zone at the top end
      else:
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end

-    elif candidate == CAR.PILOT:
+    elif candidate == CAR.HONDA_PILOT:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]

-    elif candidate == CAR.RIDGELINE:
+    elif candidate == CAR.HONDA_RIDGELINE:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]

-    elif candidate == CAR.INSIGHT:
+    elif candidate == CAR.HONDA_INSIGHT:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]

@ -195,7 +193,7 @@ class CarInterface(CarInterfaceBase):

    # These cars use alternate user brake msg (0x1BE)
    # TODO: Only detect feature for Accord/Accord Hybrid, not all Bosch DBCs have BRAKE_MODULE
-    if 0x1BE in fingerprint[CAN.pt] and candidate == CAR.ACCORD:
+    if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G):
      ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value

    if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
@ -208,16 +206,13 @@ class CarInterface(CarInterfaceBase):
    if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG

-    if ret.enableGasInterceptor and candidate not in HONDA_BOSCH:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_GAS_INTERCEPTOR
-
    if candidate in HONDA_BOSCH_RADARLESS:
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS

    # min speed to enable ACC. if car can do stop and go, then set enabling speed
    # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
    # conflict with PCM acc
-    ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
+    ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
    ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS

    ret.steerActuatorDelay = 0.1
@ -236,7 +231,7 @@ class CarInterface(CarInterfaceBase):

    ret.buttonEvents = [
      *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
-      *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, {1: ButtonType.altButton1}),
+      *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
    ]

    # events
@ -262,8 +257,3 @@ class CarInterface(CarInterfaceBase):
    ret.events = events.to_msg()

    return ret
-
-  # pass in a car.CarControl
-  # to be called @ 100hz
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
--- a/selfdrive/car/honda/tests/test_honda.py
+++ b/selfdrive/car/honda/tests/test_honda.py
@ -4,7 +4,7 @@ import unittest

 from openpilot.selfdrive.car.honda.fingerprints import FW_VERSIONS

-HONDA_FW_VERSION_RE = br"\d{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$"
+HONDA_FW_VERSION_RE = br"[A-Z0-9]{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$"


 class TestHondaFingerprint(unittest.TestCase):
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@ -5,7 +5,7 @@ from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from panda.python import uds
 from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16

 Ecu = car.CarParams.Ecu
@ -68,6 +68,11 @@ class CruiseButtons:
  MAIN = 1


+class CruiseSettings:
+  DISTANCE = 3
+  LKAS = 1
+
+
 # See dbc files for info on values
 VISUAL_HUD = {
  VisualAlert.none: 0,
@ -82,7 +87,7 @@ VISUAL_HUD = {


@dataclass
-class HondaCarInfo(CarInfo):
+class HondaCarDocs(CarDocs):
  package: str = "Honda Sensing"

  def init_make(self, CP: car.CarParams):
@ -110,177 +115,155 @@ class HondaNidecPlatformConfig(PlatformConfig):

 class CAR(Platforms):
  # Bosch Cars
-  ACCORD = HondaBoschPlatformConfig(
-    "HONDA ACCORD 2018",
+  HONDA_ACCORD = HondaBoschPlatformConfig(
    [
-      HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
-      HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
-      HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
    ],
    # steerRatio: 11.82 is spec end-to-end
    CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467),
    dbc_dict('honda_accord_2018_can_generated', None),
  )
-  CIVIC_BOSCH = HondaBoschPlatformConfig(
-    "HONDA CIVIC (BOSCH) 2019",
+  HONDA_CIVIC_BOSCH = HondaBoschPlatformConfig(
    [
-      HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
+      HondaCarDocs("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
                   footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
-      HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
    ],
    CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4),  # steerRatio: 10.93 is end-to-end spec
    dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
  )
-  CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
-    "HONDA CIVIC SEDAN 1.6 DIESEL 2019",
-    None,  # don't show in docs
-    CIVIC_BOSCH.specs,
+  HONDA_CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
+    [],  # don't show in docs
+    HONDA_CIVIC_BOSCH.specs,
    dbc_dict('honda_accord_2018_can_generated', None),
  )
-  CIVIC_2022 = HondaBoschPlatformConfig(
-    "HONDA CIVIC 2022",
+  HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
    [
-      HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
-      HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarDocs("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarDocs("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
    ],
-    CIVIC_BOSCH.specs,
+    HONDA_CIVIC_BOSCH.specs,
    dbc_dict('honda_civic_ex_2022_can_generated', None),
    flags=HondaFlags.BOSCH_RADARLESS,
  )
-  CRV_5G = HondaBoschPlatformConfig(
-    "HONDA CR-V 2017",
-    HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
+  HONDA_CRV_5G = HondaBoschPlatformConfig(
+    [HondaCarDocs("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)],
    # steerRatio: 12.3 is spec end-to-end
    CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
    dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
    flags=HondaFlags.BOSCH_ALT_BRAKE,
  )
-  CRV_HYBRID = HondaBoschPlatformConfig(
-    "HONDA CR-V HYBRID 2019",
-    HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
+  HONDA_CRV_HYBRID = HondaBoschPlatformConfig(
+    [HondaCarDocs("Honda CR-V Hybrid 2017-21", min_steer_speed=12. * CV.MPH_TO_MS)],
    # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
    CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
    dbc_dict('honda_accord_2018_can_generated', None),
  )
-  HRV_3G = HondaBoschPlatformConfig(
-    "HONDA HR-V 2023",
-    HondaCarInfo("Honda HR-V 2023", "All"),
+  HONDA_HRV_3G = HondaBoschPlatformConfig(
+    [HondaCarDocs("Honda HR-V 2023", "All")],
    CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5),
    dbc_dict('honda_civic_ex_2022_can_generated', None),
-    flags=HondaFlags.BOSCH_RADARLESS | HondaFlags.BOSCH_ALT_BRAKE,
+    flags=HondaFlags.BOSCH_RADARLESS,
  )
  ACURA_RDX_3G = HondaBoschPlatformConfig(
-    "ACURA RDX 2020",
-    HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+    [HondaCarDocs("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
    CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),  # as spec
    dbc_dict('acura_rdx_2020_can_generated', None),
    flags=HondaFlags.BOSCH_ALT_BRAKE,
  )
-  INSIGHT = HondaBoschPlatformConfig(
-    "HONDA INSIGHT 2019",
-    HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+  HONDA_INSIGHT = HondaBoschPlatformConfig(
+    [HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
    CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82),  # as spec
    dbc_dict('honda_insight_ex_2019_can_generated', None),
  )
  HONDA_E = HondaBoschPlatformConfig(
-    "HONDA E 2020",
-    HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+    [HondaCarDocs("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
    CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
    dbc_dict('acura_rdx_2020_can_generated', None),
  )

  # Nidec Cars
  ACURA_ILX = HondaNidecPlatformConfig(
-    "ACURA ILX 2016",
-    HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
+    [HondaCarDocs("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS)],
    CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72),  # 15.3 is spec end-to-end
    dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
  )
-  CRV = HondaNidecPlatformConfig(
-    "HONDA CR-V 2016",
-    HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
+  HONDA_CRV = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS)],
    CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444),  # as spec
    dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
  )
-  CRV_EU = HondaNidecPlatformConfig(
-    "HONDA CR-V EU 2016",
-    None,  # Euro version of CRV Touring, don't show in docs
-    CRV.specs,
+  HONDA_CRV_EU = HondaNidecPlatformConfig(
+    [],  # Euro version of CRV Touring, don't show in docs
+    HONDA_CRV.specs,
    dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
  )
-  FIT = HondaNidecPlatformConfig(
-    "HONDA FIT 2018",
-    HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
+  HONDA_FIT = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS)],
    CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),
    dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
  )
-  FREED = HondaNidecPlatformConfig(
-    "HONDA FREED 2020",
-    HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
+  HONDA_FREED = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS)],
    CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),  # mostly copied from FIT
    dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
  )
-  HRV = HondaNidecPlatformConfig(
-    "HONDA HRV 2019",
-    HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
-    HRV_3G.specs,
+  HONDA_HRV = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS)],
+    HONDA_HRV_3G.specs,
    dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
  )
-  ODYSSEY = HondaNidecPlatformConfig(
-    "HONDA ODYSSEY 2018",
-    HondaCarInfo("Honda Odyssey 2018-20"),
+  HONDA_ODYSSEY = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda Odyssey 2018-20")],
    CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82),
    dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
    flags=HondaFlags.NIDEC_ALT_PCM_ACCEL,
  )
-  ODYSSEY_CHN = HondaNidecPlatformConfig(
-    "HONDA ODYSSEY CHN 2019",
-    None,  # Chinese version of Odyssey, don't show in docs
-    ODYSSEY.specs,
+  HONDA_ODYSSEY_CHN = HondaNidecPlatformConfig(
+    [],  # Chinese version of Odyssey, don't show in docs
+    HONDA_ODYSSEY.specs,
    dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
  )
  ACURA_RDX = HondaNidecPlatformConfig(
-    "ACURA RDX 2018",
-    HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
+    [HondaCarDocs("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS)],
    CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444),  # as spec
    dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
  )
-  PILOT = HondaNidecPlatformConfig(
-    "HONDA PILOT 2017",
+  HONDA_PILOT = HondaNidecPlatformConfig(
    [
-      HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
-      HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
    ],
    CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0, tireStiffnessFactor=0.444),  # as spec
    dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
  )
-  RIDGELINE = HondaNidecPlatformConfig(
-    "HONDA RIDGELINE 2017",
-    HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS),
+  HONDA_RIDGELINE = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS)],
    CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444),  # as spec
    dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
  )
-  CIVIC = HondaNidecPlatformConfig(
-    "HONDA CIVIC 2016",
-    HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
+  HONDA_CIVIC = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE")],
    CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38),  # 10.93 is end-to-end spec
    dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
  )


-HONDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+HONDA_ALT_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
  p16(0xF112)
-HONDA_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+HONDA_ALT_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
  p16(0xF112)

 FW_QUERY_CONFIG = FwQueryConfig(
@ -293,17 +276,10 @@ FW_QUERY_CONFIG = FwQueryConfig(
    ),

    # Data collection requests:
-    # Attempt to get the radarless Civic 2022+ camera FW
-    Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
-      bus=0,
-      logging=True
-    ),
-    # Log extra identifiers for current ECUs
+    # Log manufacturer-specific identifier for current ECUs
    Request(
-      [HONDA_VERSION_REQUEST],
-      [HONDA_VERSION_RESPONSE],
+      [HONDA_ALT_VERSION_REQUEST],
+      [HONDA_ALT_VERSION_RESPONSE],
      bus=1,
      logging=True,
    ),
@ -324,27 +300,24 @@ FW_QUERY_CONFIG = FwQueryConfig(
  # We lose these ECUs without the comma power on these cars.
  # Note that we still attempt to match with them when they are present
  non_essential_ecus={
-    Ecu.programmedFuelInjection: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.transmission: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.srs: [CAR.ACCORD],
-    Ecu.eps: [CAR.ACCORD],
-    Ecu.vsa: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.combinationMeter: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.gateway: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.electricBrakeBooster: [CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.shiftByWire: [CAR.ACCORD],  # existence correlates with transmission type for ICE
-    Ecu.hud: [CAR.ACCORD],  # existence correlates with trim level
+    Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G],
+    Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID,
+              CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_INSIGHT],
  },
  extra_ecus=[
+    (Ecu.combinationMeter, 0x18da60f1, None),
    # The only other ECU on PT bus accessible by camera on radarless Civic
-    (Ecu.unknown, 0x18DAB3F1, None),
+    # This is likely a manufacturer-specific sub-address implementation: the camera responds to this and 0x18dab0f1
+    # Unclear what the part number refers to: 8S103 is 'Camera Set Mono', while 36160 is 'Camera Monocular - Honda'
+    # TODO: add query back, camera does not support querying both in parallel and 0x18dab0f1 often fails to respond
+    # (Ecu.unknown, 0x18DAB3F1, None),
  ],
 )

 STEER_THRESHOLD = {
  # default is 1200, overrides go here
  CAR.ACURA_RDX: 400,
-  CAR.CRV_EU: 400,
+  CAR.HONDA_CRV_EU: 400,
 }

 HONDA_NIDEC_ALT_PCM_ACCEL = CAR.with_flags(HondaFlags.NIDEC_ALT_PCM_ACCEL)
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@ -129,7 +129,7 @@ class CarController(CarControllerBase):
          can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
        if self.frame % 2 == 0:
          can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
-                                                           set_speed_in_units))
+                                                           set_speed_in_units, hud_control))
          self.accel_last = accel
      else:
        # button presses
@ -148,7 +148,7 @@ class CarController(CarControllerBase):
        jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
        use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
-                                                        hud_control.leadVisible, set_speed_in_units, stopping,
+                                                        hud_control, set_speed_in_units, stopping,
                                                        CC.cruiseControl.override, use_fca))

      # 20 Hz LFA MFA message
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@ -118,6 +118,7 @@ class CarState(CarStateBase):
    ret.brakePressed = cp.vl["TCS13"]["DriverOverride"] == 2  # 2 includes regen braking by user on HEV/EV
    ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2  # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
    ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
+    ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
    ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED

    if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
@ -207,7 +208,7 @@ class CarState(CarStateBase):

    # TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
    left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
-    if self.CP.carFingerprint == CAR.KONA_EV_2ND_GEN:
+    if self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2ND_GEN:
      left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
                                                                      cp.vl["BLINKERS"][right_blinker_sig])
@ -255,6 +256,7 @@ class CarState(CarStateBase):
    messages = [
      # address, frequency
      ("MDPS12", 50),
+      ("TCS11", 100),
      ("TCS13", 50),
      ("TCS15", 10),
      ("CLU11", 50),
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@ -33,12 +33,12 @@ def create_lkas11(packer, frame, CP, apply_steer, steer_req,
  values["CF_Lkas_ToiFlt"] = torque_fault  # seems to allow actuation on CR_Lkas_StrToqReq
  values["CF_Lkas_MsgCount"] = frame % 0x10

-  if CP.carFingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
-                           CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
-                           CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
-                           CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
-                           CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
-                           CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN):
+  if CP.carFingerprint in (CAR.HYUNDAI_SONATA, CAR.HYUNDAI_PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.HYUNDAI_SANTA_FE,
+                           CAR.HYUNDAI_IONIQ_EV_2020, CAR.HYUNDAI_IONIQ_PHEV, CAR.KIA_SELTOS, CAR.HYUNDAI_ELANTRA_2021, CAR.GENESIS_G70_2020,
+                           CAR.HYUNDAI_ELANTRA_HEV_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
+                           CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_IONIQ_HEV_2022, CAR.HYUNDAI_SANTA_FE_HEV_2022,
+                           CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
+                           CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN):
    values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
    values["CF_Lkas_LdwsOpt_USM"] = 2

@ -126,12 +126,12 @@ def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
  }
  return packer.make_can_msg("LFAHDA_MFC", 0, values)

-def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca):
+def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca):
  commands = []

  scc11_values = {
    "MainMode_ACC": 1,
-    "TauGapSet": 4,
+    "TauGapSet": hud_control.leadDistanceBars,
    "VSetDis": set_speed if enabled else 0,
    "AliveCounterACC": idx % 0x10,
    "ObjValid": 1, # close lead makes controls tighter
@ -167,7 +167,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s
    "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
    "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
    "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
-    "ObjGap": 2 if lead_visible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
+    "ObjGap": 2 if hud_control.leadVisible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
  }
  commands.append(packer.make_can_msg("SCC14", 0, scc14_values))

--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@ -121,7 +121,7 @@ def create_lfahda_cluster(packer, CAN, enabled):
  return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)


-def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed):
+def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
  jerk = 5
  jn = jerk / 50
  if not enabled or gas_override:
@ -146,7 +146,7 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
    "SET_ME_2": 0x4,
    "SET_ME_3": 0x3,
    "SET_ME_TMP_64": 0x64,
-    "DISTANCE_SETTING": 4,
+    "DISTANCE_SETTING": hud_control.leadDistanceBars,
  }

  return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -132,7 +132,7 @@ class CarInterface(CarInterfaceBase):
    elif ret.flags & HyundaiFlags.EV:
      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS

-    if candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
+    if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022):
      ret.flags |= HyundaiFlags.ALT_LIMITS.value
      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS

@ -175,6 +175,3 @@ class CarInterface(CarInterfaceBase):
    ret.events = events.to_msg()

    return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
--- a/selfdrive/car/hyundai/tests/test_hyundai.py
+++ b/selfdrive/car/hyundai/tests/test_hyundai.py
@ -18,24 +18,26 @@ ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 NO_DATES_PLATFORMS = {
  # CAN FD
  CAR.KIA_SPORTAGE_5TH_GEN,
-  CAR.SANTA_CRUZ_1ST_GEN,
-  CAR.TUCSON_4TH_GEN,
+  CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN,
+  CAR.HYUNDAI_TUCSON_4TH_GEN,
  # CAN
-  CAR.ELANTRA,
-  CAR.ELANTRA_GT_I30,
+  CAR.HYUNDAI_ELANTRA,
+  CAR.HYUNDAI_ELANTRA_GT_I30,
  CAR.KIA_CEED,
  CAR.KIA_FORTE,
  CAR.KIA_OPTIMA_G4,
  CAR.KIA_OPTIMA_G4_FL,
  CAR.KIA_SORENTO,
-  CAR.KONA,
-  CAR.KONA_EV,
-  CAR.KONA_EV_2022,
-  CAR.KONA_HEV,
-  CAR.SONATA_LF,
-  CAR.VELOSTER,
+  CAR.HYUNDAI_KONA,
+  CAR.HYUNDAI_KONA_EV,
+  CAR.HYUNDAI_KONA_EV_2022,
+  CAR.HYUNDAI_KONA_HEV,
+  CAR.HYUNDAI_SONATA_LF,
+  CAR.HYUNDAI_VELOSTER,
 }

+CANFD_EXPECTED_ECUS = {Ecu.fwdCamera, Ecu.fwdRadar}
+

 class TestHyundaiFingerprint(unittest.TestCase):
  def test_can_features(self):
@ -51,23 +53,21 @@ class TestHyundaiFingerprint(unittest.TestCase):
    self.assertEqual(HYBRID_CAR & EV_CAR, set(), "Shared cars between hybrid and EV")
    self.assertEqual(CANFD_CAR & HYBRID_CAR, set(), "Hard coding CAN FD cars as hybrid is no longer supported")

-  def test_auxiliary_request_ecu_whitelist(self):
-    # Asserts only auxiliary Ecus can exist in database for CAN-FD cars
-    whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.auxiliary}
-
+  def test_canfd_ecu_whitelist(self):
+    # Asserts only expected Ecus can exist in database for CAN-FD cars
    for car_model in CANFD_CAR:
      ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}
-      ecus_not_in_whitelist = ecus - whitelisted_ecus
+      ecus_not_in_whitelist = ecus - CANFD_EXPECTED_ECUS
      ecu_strings = ", ".join([f"Ecu.{ECU_NAME[ecu]}" for ecu in ecus_not_in_whitelist])
      self.assertEqual(len(ecus_not_in_whitelist), 0,
-                       f"{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}")
+                       f"{car_model}: Car model has unexpected ECUs: {ecu_strings}")

  def test_blacklisted_parts(self):
    # Asserts no ECUs known to be shared across platforms exist in the database.
    # Tucson having Santa Cruz camera and EPS for example
    for car_model, ecus in FW_VERSIONS.items():
      with self.subTest(car_model=car_model.value):
-        if car_model == CAR.SANTA_CRUZ_1ST_GEN:
+        if car_model == CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN:
          raise unittest.SkipTest("Skip checking Santa Cruz for its parts")

        for code, _ in get_platform_codes(ecus[(Ecu.fwdCamera, 0x7c4, None)]):
@ -85,10 +85,8 @@ class TestHyundaiFingerprint(unittest.TestCase):
    for car_model, ecus in FW_VERSIONS.items():
      with self.subTest(car_model=car_model.value):
        for ecu, fws in ecus.items():
-          # TODO: enable for Ecu.fwdRadar, Ecu.abs, Ecu.eps, Ecu.transmission
-          if ecu[0] in (Ecu.fwdCamera,):
-            self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws),
-                            f"FW from unexpected request in database: {(ecu, fws)}")
+          self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws),
+                          f"FW from unexpected request in database: {(ecu, fws)}")

  @settings(max_examples=100)
  @given(data=st.data())
@ -108,9 +106,9 @@ class TestHyundaiFingerprint(unittest.TestCase):

          # Third and fourth character are usually EV/hybrid identifiers
          codes = {code.split(b"-")[0][:2] for code, _ in get_platform_codes(fws)}
-          if car_model == CAR.PALISADE:
+          if car_model == CAR.HYUNDAI_PALISADE:
            self.assertEqual(codes, {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}")
-          elif car_model == CAR.KONA_EV and ecu[0] == Ecu.fwdCamera:
+          elif car_model == CAR.HYUNDAI_KONA_EV and ecu[0] == Ecu.fwdCamera:
            self.assertEqual(codes, {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}")
          else:
            self.assertEqual(len(codes), 1, f"Car has multiple platform codes: {car_model} {codes}")
@ -120,7 +118,7 @@ class TestHyundaiFingerprint(unittest.TestCase):
  def test_platform_code_ecus_available(self):
    # TODO: add queries for these non-CAN FD cars to get EPS
    no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H,
-                                    CAR.KIA_OPTIMA_H_G4_FL, CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.ELANTRA}
+                                    CAR.KIA_OPTIMA_H_G4_FL, CAR.HYUNDAI_SONATA_LF, CAR.HYUNDAI_TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA}

    # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
    for car_model, ecus in FW_VERSIONS.items():
@ -211,7 +209,7 @@ class TestHyundaiFingerprint(unittest.TestCase):
                         "subAddress": 0 if sub_addr is None else sub_addr})

      CP = car.CarParams.new_message(carFw=car_fw)
-      matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), FW_VERSIONS)
+      matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
      if len(matches) == 1:
        self.assertEqual(list(matches)[0], platform)
      else:
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -6,7 +6,7 @@ from cereal import car
 from panda.python import uds
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16

 Ecu = car.CarParams.Ecu
@ -35,8 +35,8 @@ class CarControllerParams:

    # To determine the limit for your car, find the maximum value that the stock LKAS will request.
    # If the max stock LKAS request is <384, add your car to this list.
-    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.IONIQ,
-                               CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
+    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.HYUNDAI_ELANTRA, CAR.HYUNDAI_ELANTRA_GT_I30, CAR.HYUNDAI_IONIQ,
+                               CAR.HYUNDAI_IONIQ_EV_LTD, CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.HYUNDAI_SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
                               CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO):
      self.STEER_MAX = 255

@ -104,7 +104,7 @@ class Footnote(Enum):


@dataclass
-class HyundaiCarInfo(CarInfo):
+class HyundaiCarDocs(CarDocs):
  package: str = "Smart Cruise Control (SCC)"

  def init_make(self, CP: car.CarParams):
@ -134,418 +134,360 @@ class HyundaiCanFDPlatformConfig(PlatformConfig):

 class CAR(Platforms):
  # Hyundai
-  AZERA_6TH_GEN = HyundaiPlatformConfig(
-    "HYUNDAI AZERA 6TH GEN",
-    HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  HYUNDAI_AZERA_6TH_GEN = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
    CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5),
  )
-  AZERA_HEV_6TH_GEN = HyundaiPlatformConfig(
-    "HYUNDAI AZERA HYBRID 6TH GEN",
+  HYUNDAI_AZERA_HEV_6TH_GEN = HyundaiPlatformConfig(
    [
-      HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
-      HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+      HyundaiCarDocs("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
+      HyundaiCarDocs("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
    ],
    CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5),
    flags=HyundaiFlags.HYBRID,
  )
-  ELANTRA = HyundaiPlatformConfig(
-    "HYUNDAI ELANTRA 2017",
+  HYUNDAI_ELANTRA = HyundaiPlatformConfig(
    [
      # TODO: 2017-18 could be Hyundai G
-      HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
-      HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
+      HyundaiCarDocs("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
+      HyundaiCarDocs("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
    ],
    # steerRatio: 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535, stiffnessFactor settled on 1.0081302973865127
    CarSpecs(mass=1275, wheelbase=2.7, steerRatio=15.4, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
  )
-  ELANTRA_GT_I30 = HyundaiPlatformConfig(
-    "HYUNDAI I30 N LINE 2019 & GT 2018 DCT",
+  HYUNDAI_ELANTRA_GT_I30 = HyundaiPlatformConfig(
    [
-      HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
-      HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
+      HyundaiCarDocs("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
+      HyundaiCarDocs("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
    ],
-    ELANTRA.specs,
+    HYUNDAI_ELANTRA.specs,
    flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
  )
-  ELANTRA_2021 = HyundaiPlatformConfig(
-    "HYUNDAI ELANTRA 2021",
-    HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  HYUNDAI_ELANTRA_2021 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k]))],
    CarSpecs(mass=2800 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.CHECKSUM_CRC8,
  )
-  ELANTRA_HEV_2021 = HyundaiPlatformConfig(
-    "HYUNDAI ELANTRA HYBRID 2021",
-    HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
-                   car_parts=CarParts.common([CarHarness.hyundai_k])),
+  HYUNDAI_ELANTRA_HEV_2021 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
+                    car_parts=CarParts.common([CarHarness.hyundai_k]))],
    CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
  )
  HYUNDAI_GENESIS = HyundaiPlatformConfig(
-    "HYUNDAI GENESIS 2015-2016",
    [
      # TODO: check 2015 packages
-      HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
-      HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
+      HyundaiCarDocs("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
+      HyundaiCarDocs("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
    ],
    CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5, minSteerSpeed=60 * CV.KPH_TO_MS),
    flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY,
  )
-  IONIQ = HyundaiPlatformConfig(
-    "HYUNDAI IONIQ HYBRID 2017-2019",
-    HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])),
+  HYUNDAI_IONIQ = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c]))],
    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
  )
-  IONIQ_HEV_2022 = HyundaiPlatformConfig(
-    "HYUNDAI IONIQ HYBRID 2020-2022",
-    HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])),  # TODO: confirm 2020-21 harness,
+  HYUNDAI_IONIQ_HEV_2022 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h]))],  # TODO: confirm 2020-21 harness,
    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
  )
-  IONIQ_EV_LTD = HyundaiPlatformConfig(
-    "HYUNDAI IONIQ ELECTRIC LIMITED 2019",
-    HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
+  HYUNDAI_IONIQ_EV_LTD = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))],
    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH,
  )
-  IONIQ_EV_2020 = HyundaiPlatformConfig(
-    "HYUNDAI IONIQ ELECTRIC 2020",
-    HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+  HYUNDAI_IONIQ_EV_2020 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.EV,
  )
-  IONIQ_PHEV_2019 = HyundaiPlatformConfig(
-    "HYUNDAI IONIQ PLUG-IN HYBRID 2019",
-    HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
+  HYUNDAI_IONIQ_PHEV_2019 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))],
    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
  )
-  IONIQ_PHEV = HyundaiPlatformConfig(
-    "HYUNDAI IONIQ PHEV 2020",
-    HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+  HYUNDAI_IONIQ_PHEV = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.HYBRID,
  )
-  KONA = HyundaiPlatformConfig(
-    "HYUNDAI KONA 2020",
-    HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
+  HYUNDAI_KONA = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b]))],
    CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.CLUSTER_GEARS,
  )
-  KONA_EV = HyundaiPlatformConfig(
-    "HYUNDAI KONA ELECTRIC 2019",
-    HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
+  HYUNDAI_KONA_EV = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
    CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.EV,
  )
-  KONA_EV_2022 = HyundaiPlatformConfig(
-    "HYUNDAI KONA ELECTRIC 2022",
-    HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
+  HYUNDAI_KONA_EV_2022 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o]))],
    CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV,
  )
-  KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    "HYUNDAI KONA ELECTRIC 2ND GEN",
-    HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
-                   car_parts=CarParts.common([CarHarness.hyundai_r])),
+  HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
+                    car_parts=CarParts.common([CarHarness.hyundai_r]))],
    CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
  )
-  KONA_HEV = HyundaiPlatformConfig(
-    "HYUNDAI KONA HYBRID 2020",
-    HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages,
+  HYUNDAI_KONA_HEV = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))],  # TODO: check packages,
    CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.HYBRID,
  )
-  SANTA_FE = HyundaiPlatformConfig(
-    "HYUNDAI SANTA FE 2019",
-    HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
-                   car_parts=CarParts.common([CarHarness.hyundai_d])),
+  HYUNDAI_SANTA_FE = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
+                    car_parts=CarParts.common([CarHarness.hyundai_d]))],
    CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82),
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
  )
-  SANTA_FE_2022 = HyundaiPlatformConfig(
-    "HYUNDAI SANTA FE 2022",
-    HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
-                   car_parts=CarParts.common([CarHarness.hyundai_l])),
-    SANTA_FE.specs,
+  HYUNDAI_SANTA_FE_2022 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
+                    car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    HYUNDAI_SANTA_FE.specs,
    flags=HyundaiFlags.CHECKSUM_CRC8,
  )
-  SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
-    "HYUNDAI SANTA FE HYBRID 2022",
-    HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-    SANTA_FE.specs,
+  HYUNDAI_SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    HYUNDAI_SANTA_FE.specs,
    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
  )
-  SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
-    "HYUNDAI SANTA FE PlUG-IN HYBRID 2022",
-    HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-    SANTA_FE.specs,
+  HYUNDAI_SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    HYUNDAI_SANTA_FE.specs,
    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
  )
-  SONATA = HyundaiPlatformConfig(
-    "HYUNDAI SONATA 2020",
-    HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
-                   car_parts=CarParts.common([CarHarness.hyundai_a])),
+  HYUNDAI_SONATA = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
+                   car_parts=CarParts.common([CarHarness.hyundai_a]))],
    CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65),  # 15% higher at the center seems reasonable
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
  )
-  SONATA_LF = HyundaiPlatformConfig(
-    "HYUNDAI SONATA 2019",
-    HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
+  HYUNDAI_SONATA_LF = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))],
    CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15),  # 15% higher at the center seems reasonable

    flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
  )
-  STARIA_4TH_GEN = HyundaiCanFDPlatformConfig(
-    "HYUNDAI STARIA 4TH GEN",
-    HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  HYUNDAI_STARIA_4TH_GEN = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
    CarSpecs(mass=2205, wheelbase=3.273, steerRatio=11.94),  # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf
  )
-  TUCSON = HyundaiPlatformConfig(
-    "HYUNDAI TUCSON 2019",
+  HYUNDAI_TUCSON = HyundaiPlatformConfig(
    [
-      HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
-      HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarDocs("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarDocs("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
    ],
    CarSpecs(mass=3520 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=16.1, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.TCU_GEARS,
  )
-  PALISADE = HyundaiPlatformConfig(
-    "HYUNDAI PALISADE 2020",
+  HYUNDAI_PALISADE = HyundaiPlatformConfig(
    [
-      HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
-      HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+      HyundaiCarDocs("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
+      HyundaiCarDocs("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
    ],
    CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63),
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
  )
-  VELOSTER = HyundaiPlatformConfig(
-    "HYUNDAI VELOSTER 2019",
-    HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])),
+  HYUNDAI_VELOSTER = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e]))],
    CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS,
  )
-  SONATA_HYBRID = HyundaiPlatformConfig(
-    "HYUNDAI SONATA HYBRID 2021",
-    HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-    SONATA.specs,
+  HYUNDAI_SONATA_HYBRID = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    HYUNDAI_SONATA.specs,
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
  )
-  IONIQ_5 = HyundaiCanFDPlatformConfig(
-    "HYUNDAI IONIQ 5 2022",
+  HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
    [
-      HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
-      HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
-      HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
    ],
    CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.EV,
  )
-  IONIQ_6 = HyundaiCanFDPlatformConfig(
-    "HYUNDAI IONIQ 6 2023",
-    HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
-    IONIQ_5.specs,
+  HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
+    HYUNDAI_IONIQ_5.specs,
    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
  )
-  TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
-    "HYUNDAI TUCSON 4TH GEN",
+  HYUNDAI_TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
    [
-      HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
-      HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
-      HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
+      HyundaiCarDocs("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
+      HyundaiCarDocs("Hyundai Tucson 2023-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
+      HyundaiCarDocs("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
    ],
-    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=16, tireStiffnessFactor=0.385),
+    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
  )
-  SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
-    "HYUNDAI SANTA CRUZ 1ST GEN",
-    HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
+  HYUNDAI_SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))],
    # weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
    CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
  )
-  CUSTIN_1ST_GEN = HyundaiPlatformConfig(
-    "HYUNDAI CUSTIN 1ST GEN",
-    HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  HYUNDAI_CUSTIN_1ST_GEN = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
    CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17),  # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
    flags=HyundaiFlags.CHECKSUM_CRC8,
  )

  # Kia
  KIA_FORTE = HyundaiPlatformConfig(
-    "KIA FORTE E 2018 & GT 2021",
    [
-      HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
-      HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
+      HyundaiCarDocs("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
+      HyundaiCarDocs("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
    ],
    CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
  )
  KIA_K5_2021 = HyundaiPlatformConfig(
-    "KIA K5 2021",
-    HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    [HyundaiCarDocs("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a]))],
    CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5),  # 2021 Kia K5 Steering Ratio (all trims)
    flags=HyundaiFlags.CHECKSUM_CRC8,
  )
  KIA_K5_HEV_2020 = HyundaiPlatformConfig(
-    "KIA K5 HYBRID 2020",
-    HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    [HyundaiCarDocs("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a]))],
    KIA_K5_2021.specs,
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
  )
  KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig(
-    "KIA K8 HYBRID 1ST GEN",
-    HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
+    [HyundaiCarDocs("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q]))],
    # mass: https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid, steerRatio: guesstimate from K5 platform
    CarSpecs(mass=1630, wheelbase=2.895, steerRatio=13.27)
  )
  KIA_NIRO_EV = HyundaiPlatformConfig(
-    "KIA NIRO EV 2020",
    [
-      HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
-      HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
-      HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
-      HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
+      HyundaiCarDocs("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
+      HyundaiCarDocs("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
+      HyundaiCarDocs("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
+      HyundaiCarDocs("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
    ],
    CarSpecs(mass=3543 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=13.6, tireStiffnessFactor=0.385),  # average of all the cars
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV,
  )
  KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    "KIA NIRO EV 2ND GEN",
-    HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    [HyundaiCarDocs("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
    KIA_NIRO_EV.specs,
    flags=HyundaiFlags.EV,
  )
  KIA_NIRO_PHEV = HyundaiPlatformConfig(
-    "KIA NIRO HYBRID 2019",
    [
-      HyundaiCarInfo("Kia Niro Hybrid 2018", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
-      HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
-      HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
+      HyundaiCarDocs("Kia Niro Hybrid 2018", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
+      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
+      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_d])),
    ],
    KIA_NIRO_EV.specs,
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.MIN_STEER_32_MPH,
  )
  KIA_NIRO_PHEV_2022 = HyundaiPlatformConfig(
-    "KIA NIRO PLUG-IN HYBRID 2022",
    [
-      HyundaiCarInfo("Kia Niro Plug-in Hybrid 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
-      HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
+      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
    ],
    KIA_NIRO_EV.specs,
    flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR,
  )
  KIA_NIRO_HEV_2021 = HyundaiPlatformConfig(
-    "KIA NIRO HYBRID 2021",
    [
-      HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
-      HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
+      HyundaiCarDocs("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
+      HyundaiCarDocs("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
    ],
    KIA_NIRO_EV.specs,
    flags=HyundaiFlags.HYBRID,
  )
  KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    "KIA NIRO HYBRID 2ND GEN",
-    HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    [HyundaiCarDocs("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a]))],
    KIA_NIRO_EV.specs,
  )
  KIA_OPTIMA_G4 = HyundaiPlatformConfig(
-    "KIA OPTIMA 4TH GEN",
-    HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
-                   car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
+    [HyundaiCarDocs("Kia Optima 2017", "Advanced Smart Cruise Control",
+                    car_parts=CarParts.common([CarHarness.hyundai_b]))],  # TODO: may support 2016, 2018
    CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
  )
  KIA_OPTIMA_G4_FL = HyundaiPlatformConfig(
-    "KIA OPTIMA 4TH GEN FACELIFT",
-    HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
+    [HyundaiCarDocs("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g]))],
    CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
  )
  # TODO: may support adjacent years. may have a non-zero minimum steering speed
  KIA_OPTIMA_H = HyundaiPlatformConfig(
-    "KIA OPTIMA HYBRID 2017 & SPORTS 2019",
-    HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])),
+    [HyundaiCarDocs("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c]))],
    CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
  )
  KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig(
-    "KIA OPTIMA HYBRID 4TH GEN FACELIFT",
-    HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])),
+    [HyundaiCarDocs("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h]))],
    CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
  )
  KIA_SELTOS = HyundaiPlatformConfig(
-    "KIA SELTOS 2021",
-    HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    [HyundaiCarDocs("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a]))],
    CarSpecs(mass=1337, wheelbase=2.63, steerRatio=14.56),
    flags=HyundaiFlags.CHECKSUM_CRC8,
  )
  KIA_SPORTAGE_5TH_GEN = HyundaiCanFDPlatformConfig(
-    "KIA SPORTAGE 5TH GEN",
    [
-      HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
-      HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
+      HyundaiCarDocs("Kia Sportage 2023-24", car_parts=CarParts.common([CarHarness.hyundai_n])),
+      HyundaiCarDocs("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
    ],
    # weight from SX and above trims, average of FWD and AWD version, steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
    CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6),
  )
  KIA_SORENTO = HyundaiPlatformConfig(
-    "KIA SORENTO GT LINE 2018",
    [
-      HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
+      HyundaiCarDocs("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
                     car_parts=CarParts.common([CarHarness.hyundai_e])),
-      HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
+      HyundaiCarDocs("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
    ],
    CarSpecs(mass=1985, wheelbase=2.78, steerRatio=14.4 * 1.1),  # 10% higher at the center seems reasonable
    flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
  )
  KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig(
-    "KIA SORENTO 4TH GEN",
-    HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    [HyundaiCarDocs("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k]))],
    CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
    flags=HyundaiFlags.RADAR_SCC,
  )
  KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
-    "KIA SORENTO HYBRID 4TH GEN",
    [
-      HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-      HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarDocs("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarDocs("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
    ],
    CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
    flags=HyundaiFlags.RADAR_SCC,
  )
  KIA_STINGER = HyundaiPlatformConfig(
-    "KIA STINGER GT2 2018",
-    HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
-                   car_parts=CarParts.common([CarHarness.hyundai_c])),
+    [HyundaiCarDocs("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
+                    car_parts=CarParts.common([CarHarness.hyundai_c]))],
    CarSpecs(mass=1825, wheelbase=2.78, steerRatio=14.4 * 1.15)  # 15% higher at the center seems reasonable
  )
  KIA_STINGER_2022 = HyundaiPlatformConfig(
-    "KIA STINGER 2022",
-    HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    [HyundaiCarDocs("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
    KIA_STINGER.specs,
  )
  KIA_CEED = HyundaiPlatformConfig(
-    "KIA CEED INTRO ED 2019",
-    HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])),
+    [HyundaiCarDocs("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e]))],
    CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.LEGACY,
  )
  KIA_EV6 = HyundaiCanFDPlatformConfig(
-    "KIA EV6 2022",
    [
-      HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
-      HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
-      HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
+      HyundaiCarDocs("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
+      HyundaiCarDocs("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarDocs("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
    ],
    CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.EV,
  )
  KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig(
-    "KIA CARNIVAL 4TH GEN",
    [
-      HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
-      HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
+      HyundaiCarDocs("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarDocs("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
    ],
    CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23),
    flags=HyundaiFlags.RADAR_SCC,
@ -553,49 +495,47 @@ class CAR(Platforms):

  # Genesis
  GENESIS_GV60_EV_1ST_GEN = HyundaiCanFDPlatformConfig(
-    "GENESIS GV60 ELECTRIC 1ST GEN",
    [
-      HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-      HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+      HyundaiCarDocs("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarDocs("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
    ],
    CarSpecs(mass=2205, wheelbase=2.9, steerRatio=12.6),  # steerRatio: https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
    flags=HyundaiFlags.EV,
  )
  GENESIS_G70 = HyundaiPlatformConfig(
-    "GENESIS G70 2018",
-    HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+    [HyundaiCarDocs("Genesis G70 2018", "All", car_parts=CarParts.common([CarHarness.hyundai_f]))],
    CarSpecs(mass=1640, wheelbase=2.84, steerRatio=13.56),
    flags=HyundaiFlags.LEGACY,
  )
  GENESIS_G70_2020 = HyundaiPlatformConfig(
-    "GENESIS G70 2020",
-    HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+    [
+      # TODO: 2021 MY harness is unknown
+      HyundaiCarDocs("Genesis G70 2019-21", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+      # TODO: From 3.3T Sport Advanced 2022 & Prestige 2023 Trim, 2.0T is unknown
+      HyundaiCarDocs("Genesis G70 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+    ],
    CarSpecs(mass=3673 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=12.9),
    flags=HyundaiFlags.MANDO_RADAR,
  )
  GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
-    "GENESIS GV70 1ST GEN",
    [
-      HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-      HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
+      HyundaiCarDocs("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarDocs("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
    ],
    CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6),
    flags=HyundaiFlags.RADAR_SCC,
  )
  GENESIS_G80 = HyundaiPlatformConfig(
-    "GENESIS G80 2017",
-    HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+    [HyundaiCarDocs("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
    CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5),
    flags=HyundaiFlags.LEGACY,
  )
  GENESIS_G90 = HyundaiPlatformConfig(
-    "GENESIS G90 2017",
-    HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
+    [HyundaiCarDocs("Genesis G90 2017-20", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))],
    CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069),
  )
  GENESIS_GV80 = HyundaiCanFDPlatformConfig(
-    "GENESIS GV80 2023",
-    HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
+    [HyundaiCarDocs("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m]))],
    CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14),
    flags=HyundaiFlags.RADAR_SCC,
  )
@ -628,7 +568,7 @@ def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes | Non
  return codes


-def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> set[str]:
+def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str]:
  # Non-electric CAN FD platforms often do not have platform code specifiers needed
  # to distinguish between hybrid and ICE. All EVs so far are either exclusively
  # electric or specify electric in the platform code.
@ -684,11 +624,6 @@ HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER])
 HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
  p16(0xf110)  # Alt long description

-HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
-  p16(0xf100)
-
 HYUNDAI_ECU_MANUFACTURING_DATE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
  p16(uds.DATA_IDENTIFIER_TYPE.ECU_MANUFACTURING_DATE)

@ -701,7 +636,9 @@ DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)')
 PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])')

 # We've seen both ICE and hybrid for these platforms, and they have hybrid descriptors (e.g. MQ4 vs MQ4H)
-CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
+CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_K8_HEV_1ST_GEN,
+                         # TODO: the hybrid variant is not out yet
+                         CAR.KIA_CARNIVAL_4TH_GEN}

 # List of ECUs expected to have platform codes, camera and radar should exist on all cars
 # TODO: use abs, it has the platform code and part number on many platforms
@ -710,37 +647,25 @@ PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
 # TODO: there are date codes in the ABS firmware versions in hex
 DATE_FW_ECUS = [Ecu.fwdCamera]

-ALL_HYUNDAI_ECUS = [Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.engine, Ecu.parkingAdas,
-                    Ecu.transmission, Ecu.adas, Ecu.hvac, Ecu.cornerRadar, Ecu.combinationMeter]
-
 FW_QUERY_CONFIG = FwQueryConfig(
  requests=[
-    # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD
+    # TODO: add back whitelists
    # CAN queries (OBD-II port)
    Request(
      [HYUNDAI_VERSION_REQUEST_LONG],
      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera],
-    ),
-    Request(
-      [HYUNDAI_VERSION_REQUEST_MULTI],
-      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar],
    ),

-    # CAN-FD queries (from camera)
-    # TODO: combine shared whitelists with CAN requests
+    # CAN & CAN-FD queries (from camera)
    Request(
      [HYUNDAI_VERSION_REQUEST_LONG],
      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac, Ecu.eps],
      bus=0,
      auxiliary=True,
    ),
    Request(
      [HYUNDAI_VERSION_REQUEST_LONG],
      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar, Ecu.hvac],
      bus=1,
      auxiliary=True,
      obd_multiplexing=False,
@ -751,44 +676,15 @@ FW_QUERY_CONFIG = FwQueryConfig(
    Request(
      [HYUNDAI_ECU_MANUFACTURING_DATE],
      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera],
-      bus=0,
-      auxiliary=True,
-      logging=True,
-    ),
-
-    # CAN & CAN FD logging queries (from camera)
-    Request(
-      [HYUNDAI_VERSION_REQUEST_LONG],
-      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=ALL_HYUNDAI_ECUS,
      bus=0,
      auxiliary=True,
      logging=True,
    ),
-    Request(
-      [HYUNDAI_VERSION_REQUEST_MULTI],
-      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=ALL_HYUNDAI_ECUS,
-      bus=0,
-      auxiliary=True,
-      logging=True,
-    ),
-    Request(
-      [HYUNDAI_VERSION_REQUEST_LONG],
-      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=ALL_HYUNDAI_ECUS,
-      bus=1,
-      auxiliary=True,
-      obd_multiplexing=False,
-      logging=True,
-    ),

-    # CAN-FD alt request logging queries
+    # CAN-FD alt request logging queries for hvac and parkingAdas
    Request(
      [HYUNDAI_VERSION_REQUEST_ALT],
      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
      bus=0,
      auxiliary=True,
      logging=True,
@ -796,7 +692,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
    Request(
      [HYUNDAI_VERSION_REQUEST_ALT],
      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
      bus=1,
      auxiliary=True,
      logging=True,
@ -806,9 +701,9 @@ FW_QUERY_CONFIG = FwQueryConfig(
  # We lose these ECUs without the comma power on these cars.
  # Note that we still attempt to match with them when they are present
  non_essential_ecus={
-    Ecu.transmission: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.PALISADE, CAR.SONATA],
-    Ecu.engine: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.PALISADE, CAR.SONATA],
-    Ecu.abs: [CAR.PALISADE, CAR.SONATA],
+    Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_ELANTRA_2021,
+              CAR.HYUNDAI_SANTA_FE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.KIA_SORENTO,
+              CAR.KIA_CEED, CAR.KIA_SELTOS],
  },
  extra_ecus=[
    (Ecu.adas, 0x730, None),              # ADAS Driving ECU on HDA2 platforms
--- a/Show More
+++ b/Show More