diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 4ba4e30823..e17d777c24 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -1,6 +1,6 @@
-from cereal import car
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 13731a7bba..815f7992a1 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -48,8 +48,8 @@ class CarInterface(CarInterfaceBase):
     else:
       return CarInterfaceBase.get_steer_feedforward_default
 
-  def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning, lateral_accel_error: float,
-                                       lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
+  def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning,
+                                       lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
     friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
 
     def sig(val):
@@ -70,8 +70,8 @@ class CarInterface(CarInterfaceBase):
     steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c)
     return float(steer_torque) + friction
 
-  def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning, lateral_accel_error: float,
-                                       lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
+  def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning,
+                                       lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
     friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
     inputs = list(latcontrol_inputs)
     if gravity_adjusted:
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 1c55f5b2cd..294742a841 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -1,10 +1,9 @@
 from collections import defaultdict
 
-from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.helpers import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus, get_cruise_speed_conversion
 from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
@@ -12,7 +11,7 @@ from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HOND
                                                  HondaFlags
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
-TransmissionType = CarParams.TransmissionType
+TransmissionType = structs.CarParams.TransmissionType
 
 
 def get_can_messages(CP, gearbox_msg):
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 5e8acb13dc..66d23386d6 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -2,9 +2,9 @@ from collections import deque
 import copy
 import math
 
-from cereal import car
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index 159f75d861..0103fa9fb7 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -1,6 +1,6 @@
-from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags
diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
index 8ebf6990b1..6d9a35991e 100755
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import cereal.messaging as messaging
-from openpilot.selfdrive.car.structs import CarParams
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 # mocked car interface for dashcam mode
@@ -12,7 +12,7 @@ class CarInterface(CarInterfaceBase):
     self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
 
   @staticmethod
-  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "mock"
     ret.mass = 1700.
     ret.wheelbase = 2.70
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 40c4063b1a..6c31110d14 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -34,7 +34,7 @@ class CarInterface(CarInterfaceBase):
 
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
-    events = self.create_common_events(ret, extra_gears=[CarState.GearShifter.brake])
+    events = self.create_common_events(ret, extra_gears=[structs.CarState.GearShifter.brake])
 
     if self.CS.lkas_enabled:
       events.add(car.CarEvent.EventName.invalidLkasSetting)
diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py
index 7094c44f73..a2d0a867aa 100644
--- a/selfdrive/car/tesla/carstate.py
+++ b/selfdrive/car/tesla/carstate.py
@@ -3,6 +3,7 @@ from collections import deque
 from cereal import car
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
 from openpilot.selfdrive.car.interfaces import CarStateBase
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 862fa7cc06..42c6a57659 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -1,6 +1,7 @@
 import numpy as np
 from cereal import car
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \