diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
index f8d2fc3cf1..63ee736dca 100644
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@@ -23,7 +23,7 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
     - name: Push badges
       run: |
-        ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"
+        ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/ui/translations/create_badges.py"
 
         rm .gitattributes
 
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 0b17807308..479a4ff21d 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -54,7 +54,7 @@ jobs:
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: |
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "python system/manager/build.py"
+        ${{ env.RUN }} "python3 system/manager/build.py"
     - name: Run tests
       timeout-minutes: 3
       run: |
@@ -221,7 +221,7 @@ jobs:
     - name: Upload reference logs
       if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
       run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
     - name: Run model replay with ONNX
       timeout-minutes: 4
@@ -291,7 +291,7 @@ jobs:
       - uses: ./.github/workflows/setup-with-retry
       - name: Get base car info
         run: |
-          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
+          ${{ env.RUN }} "scons -j$(nproc) && python3 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:
@@ -303,7 +303,7 @@ 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_docs")
+          output=$(${{ env.RUN }} "python3 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
@@ -348,7 +348,7 @@ jobs:
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&
-                            python selfdrive/ui/tests/test_ui/run.py"
+                            python3 selfdrive/ui/tests/test_ui/run.py"
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
diff --git a/.importlinter b/.importlinter
index 32e755a02f..b887776af3 100644
--- a/.importlinter
+++ b/.importlinter
@@ -33,9 +33,6 @@ ignore_imports =
     openpilot.selfdrive.car.tests.test_docs -> openpilot.common.basedir
     openpilot.selfdrive.car.docs -> openpilot.common.basedir
 
-    # car interface will not filter the speed
-    openpilot.selfdrive.car.interfaces -> openpilot.common.simple_kalman
-
     openpilot.selfdrive.car.gm.interface -> openpilot.common.basedir
     openpilot.selfdrive.car.interfaces -> openpilot.common.basedir
 
diff --git a/release/release_files.py b/release/release_files.py
index 29d565a952..5e9371c6fc 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -118,10 +118,6 @@ whitelist = [
   "opendbc_repo/dbc/toyota_tss2_adas.dbc",
   "opendbc_repo/dbc/vw_golf_mk4.dbc",
   "opendbc_repo/dbc/vw_mqb_2010.dbc",
-  "opendbc_repo/dbc/tesla_can.dbc",
-  "opendbc_repo/dbc/tesla_radar_bosch_generated.dbc",
-  "opendbc_repo/dbc/tesla_radar_continental_generated.dbc",
-  "opendbc_repo/dbc/tesla_powertrain.dbc",
 ]
 
 
diff --git a/scripts/git_rewrite/rewrite-git-history.sh b/scripts/git_rewrite/rewrite-git-history.sh
index 5a97e6bbad..cce4455ce5 100755
--- a/scripts/git_rewrite/rewrite-git-history.sh
+++ b/scripts/git_rewrite/rewrite-git-history.sh
@@ -1,4 +1,5 @@
-#!/bin/bash -e
+#!/usr/bin/env bash
+set -e
 
 SRC=/tmp/openpilot/
 SRC_CLONE=/tmp/openpilot-clone/
@@ -209,7 +210,7 @@ if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
     MERGE_BASE=$(git merge-base master origin/$BRANCH) || true
     if [ -n "$MERGE_BASE" ]; then
       echo "Rewriting branch: $BRANCH"
-      
+
       # create a new branch based on the new master
       NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}')
       if [ -z "$NEW_MERGE_BASE" ]; then
@@ -217,10 +218,10 @@ if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
         continue
       fi
       git checkout -b ${BRANCH}_new $NEW_MERGE_BASE
-      
+
       # get the range of commits unique to this branch
       COMMITS=$(git rev-list --reverse $MERGE_BASE..origin/${BRANCH})
-      
+
       HAS_ERROR=0
 
       # simple delimiter
@@ -263,7 +264,7 @@ if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
           git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
         fi
       done
-      
+
       # force push the new branch
       if [ $HAS_ERROR -eq 0 ]; then
         # git lfs goes haywire here, so we need to install and uninstall
@@ -271,7 +272,7 @@ if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
         git lfs uninstall --local > /dev/null
         git push -f origin ${BRANCH}_new:${BRANCH}
       fi
-      
+
       # clean up local branch
       git checkout master > /dev/null
       git branch -D ${BRANCH}_new > /dev/null
@@ -318,7 +319,7 @@ if [ ! -f "$SRC_CLONE/validation-done" ]; then
 
     # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
     echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"
-    
+
     # generate lists of files and their hashes for the old and new commits, excluding ignored files
     OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
     NEW_FILES=$(git ls-tree -r $NEW_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
diff --git a/scripts/lint/check_shebang_format.sh b/scripts/lint/check_shebang_format.sh
index 8d48602e6c..89b95d5929 100755
--- a/scripts/lint/check_shebang_format.sh
+++ b/scripts/lint/check_shebang_format.sh
@@ -2,12 +2,12 @@
 
 FAIL=0
 
-if grep '^#!.*python$' $@ | grep -v '#!/usr/bin/env python3$'; then
+if grep '^#!.*python' $@ | grep -v '#!/usr/bin/env python3$'; then
   echo -e "Invalid shebang! Must use '#!/usr/bin/env python3'\n"
   FAIL=1
 fi
 
-if grep '^#!.*bash$' $@ | grep -v '#!/usr/bin/env bash$'; then
+if grep '^#!.*bash' $@ | grep -v '#!/usr/bin/env bash$'; then
   echo -e "Invalid shebang! Must use '#!/usr/bin/env bash'"
   FAIL=1
 fi
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 4ee16095cc..e6a195d7c9 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -9,7 +9,7 @@ from panda.python.uds import SERVICE_TYPE
 from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.can_definitions import CanData
 from openpilot.selfdrive.car.docs_definitions import CarDocs
-from openpilot.selfdrive.car.helpers import clip, interp
+from openpilot.selfdrive.car.common.numpy_fast import clip, interp
 
 # set up logging
 carlog = logging.getLogger('carlog')
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 98ae3e0b83..e8e03320ff 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -41,7 +41,7 @@ class CarSpecificEvents:
     if self.CP.carName in ('body', 'mock'):
       events = Events()
 
-    elif self.CP.carName in ('tesla', 'subaru'):
+    elif self.CP.carName == 'subaru':
       events = self.create_common_events(CS.out, CS_prev)
 
     elif self.CP.carName == 'ford':
diff --git a/selfdrive/car/tesla/__init__.py b/selfdrive/car/common/__init__.py
similarity index 100%
rename from selfdrive/car/tesla/__init__.py
rename to selfdrive/car/common/__init__.py
diff --git a/selfdrive/car/filter_simple.py b/selfdrive/car/common/filter_simple.py
similarity index 100%
rename from selfdrive/car/filter_simple.py
rename to selfdrive/car/common/filter_simple.py
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/common/numpy_fast.py
similarity index 100%
rename from selfdrive/car/helpers.py
rename to selfdrive/car/common/numpy_fast.py
diff --git a/selfdrive/car/common/simple_kalman.py b/selfdrive/car/common/simple_kalman.py
new file mode 100644
index 0000000000..194b27204b
--- /dev/null
+++ b/selfdrive/car/common/simple_kalman.py
@@ -0,0 +1,54 @@
+import numpy as np
+
+
+def get_kalman_gain(dt, A, C, Q, R, iterations=100):
+  P = np.zeros_like(Q)
+  for _ in range(iterations):
+    P = A.dot(P).dot(A.T) + dt * Q
+    S = C.dot(P).dot(C.T) + R
+    K = P.dot(C.T).dot(np.linalg.inv(S))
+    P = (np.eye(len(P)) - K.dot(C)).dot(P)
+  return K
+
+
+class KF1D:
+  # this EKF assumes constant covariance matrix, so calculations are much simpler
+  # the Kalman gain also needs to be precomputed using the control module
+
+  def __init__(self, x0, A, C, K):
+    self.x0_0 = x0[0][0]
+    self.x1_0 = x0[1][0]
+    self.A0_0 = A[0][0]
+    self.A0_1 = A[0][1]
+    self.A1_0 = A[1][0]
+    self.A1_1 = A[1][1]
+    self.C0_0 = C[0]
+    self.C0_1 = C[1]
+    self.K0_0 = K[0][0]
+    self.K1_0 = K[1][0]
+
+    self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
+    self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
+    self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
+    self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
+
+    # K matrix needs to  be pre-computed as follow:
+    # import control
+    # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
+    # self.K = np.transpose(K)
+
+  def update(self, meas):
+    #self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
+    x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
+    x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
+    self.x0_0 = x0_0
+    self.x1_0 = x1_0
+    return [self.x0_0, self.x1_0]
+
+  @property
+  def x(self):
+    return [[self.x0_0], [self.x1_0]]
+
+  def set_x(self, x):
+    self.x0_0 = x[0][0]
+    self.x1_0 = x[1][0]
diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py
index dc93c38246..460bb5c90d 100644
--- a/selfdrive/car/fingerprints.py
+++ b/selfdrive/car/fingerprints.py
@@ -9,7 +9,6 @@ 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
 
@@ -276,9 +275,6 @@ MIGRATION = {
   "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,
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 993c544b85..d5b487cc76 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -3,7 +3,7 @@ from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_std_steer_angle_limits, structs
 from openpilot.selfdrive.car.ford import fordcan
 from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
-from openpilot.selfdrive.car.helpers import clip
+from openpilot.selfdrive.car.common.numpy_fast import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase, V_CRUISE_MAX
 
 LongCtrlState = structs.CarControl.Actuators.LongControlState
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 5d328367e6..c5bb88aed1 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -4,7 +4,7 @@ from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, s
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
-from openpilot.selfdrive.car.helpers import interp
+from openpilot.selfdrive.car.common.numpy_fast import interp
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 9d99576fb9..99823c9e7e 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -3,7 +3,7 @@ from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import create_button_events, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.helpers import mean
+from openpilot.selfdrive.car.common.numpy_fast import mean
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, CruiseButtons, STEER_THRESHOLD
 
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 80efae078c..530fcd4d1b 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -3,7 +3,7 @@ from collections import namedtuple
 
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, rate_limit, make_tester_present_msg, structs
-from openpilot.selfdrive.car.helpers import clip, interp
+from openpilot.selfdrive.car.common.numpy_fast import clip, interp
 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
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 0bb6ffda19..3710a1cfec 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -5,7 +5,7 @@ from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import create_button_events, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.helpers import interp
+from openpilot.selfdrive.car.common.numpy_fast 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, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 8be5c7ef73..3f0519e04a 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -2,7 +2,7 @@
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.helpers import interp
+from openpilot.selfdrive.car.common.numpy_fast import interp
 from openpilot.selfdrive.car.honda.carstate import CarState
 from openpilot.selfdrive.car.honda.hondacan import CanBus
 from openpilot.selfdrive.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, \
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 4101d25776..b15aba856a 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -2,7 +2,7 @@ import copy
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.helpers import clip
+from openpilot.selfdrive.car.common.numpy_fast import clip
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.carstate import CarState
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index bd46f18612..10c3095b9d 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -1,5 +1,5 @@
 from openpilot.selfdrive.car import CanBusBase
-from openpilot.selfdrive.car.helpers import clip
+from openpilot.selfdrive.car.common.numpy_fast import clip
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
 
 
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index cc1454e72a..05150b0532 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -10,12 +10,12 @@ from collections.abc import Callable
 from functools import cache
 
 from openpilot.common.basedir import BASEDIR
-from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
 from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.helpers import clip
+from openpilot.selfdrive.car.common.simple_kalman import KF1D, get_kalman_gain
+from openpilot.selfdrive.car.common.numpy_fast import clip
 from openpilot.selfdrive.car.values import PLATFORMS
 
 GearShifter = structs.CarState.GearShifter
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index 493a754962..47b5eb2261 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -1,7 +1,7 @@
 import copy
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
-from openpilot.selfdrive.car.helpers import clip, interp
+from openpilot.selfdrive.car.common.numpy_fast import clip, interp
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.subaru import subarucan
 from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, CanBus, CarControllerParams, SubaruFlags
diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py
deleted file mode 100644
index ded922ed08..0000000000
--- a/selfdrive/car/tesla/carcontroller.py
+++ /dev/null
@@ -1,67 +0,0 @@
-import copy
-from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_std_steer_angle_limits
-from openpilot.selfdrive.car.helpers import clip
-from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.car.tesla.teslacan import TeslaCAN
-from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams
-
-
-class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP):
-    super().__init__(dbc_name, CP)
-    self.apply_angle_last = 0
-    self.packer = CANPacker(dbc_name)
-    self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
-    self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
-
-  def update(self, CC, CS, now_nanos):
-    actuators = CC.actuators
-    pcm_cancel_cmd = CC.cruiseControl.cancel
-
-    can_sends = []
-
-    # Temp disable steering on a hands_on_fault, and allow for user override
-    hands_on_fault = CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3
-    lkas_enabled = CC.latActive and not hands_on_fault
-
-    if self.frame % 2 == 0:
-      if lkas_enabled:
-        # Angular rate limit based on speed
-        apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
-
-        # To not fault the EPS
-        apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20)
-      else:
-        apply_angle = CS.out.steeringAngleDeg
-
-      self.apply_angle_last = apply_angle
-      can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16))
-
-    # Longitudinal control (in sync with stock message, about 40Hz)
-    if self.CP.openpilotLongitudinalControl:
-      target_accel = actuators.accel
-      target_speed = max(CS.out.vEgo + (target_accel * CarControllerParams.ACCEL_TO_SPEED_MULTIPLIER), 0)
-      max_accel = 0 if target_accel < 0 else target_accel
-      min_accel = 0 if target_accel > 0 else target_accel
-
-      while len(CS.das_control_counters) > 0:
-        can_sends.extend(self.tesla_can.create_longitudinal_commands(CS.acc_state, target_speed, min_accel, max_accel, CS.das_control_counters.popleft()))
-
-    # Cancel on user steering override, since there is no steering torque blending
-    if hands_on_fault:
-      pcm_cancel_cmd = True
-
-    if self.frame % 10 == 0 and pcm_cancel_cmd:
-      # Spam every possible counter value, otherwise it might not be accepted
-      for counter in range(16):
-        can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, pcm_cancel_cmd, CANBUS.chassis, counter))
-        can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, pcm_cancel_cmd, CANBUS.autopilot_chassis, counter))
-
-    # TODO: HUD control
-
-    new_actuators = copy.deepcopy(actuators)
-    new_actuators.steeringAngleDeg = self.apply_angle_last
-
-    self.frame += 1
-    return new_actuators, can_sends
diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py
deleted file mode 100644
index 69f3fdefa6..0000000000
--- a/selfdrive/car/tesla/carstate.py
+++ /dev/null
@@ -1,140 +0,0 @@
-import copy
-from collections import deque
-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
-
-
-class CarState(CarStateBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-    self.button_states = {button.event_type: False for button in BUTTONS}
-    self.can_define = CANDefine(DBC[CP.carFingerprint]['chassis'])
-
-    # Needed by carcontroller
-    self.msg_stw_actn_req = None
-    self.hands_on_level = 0
-    self.steer_warning = None
-    self.acc_state = 0
-    self.das_control_counters = deque(maxlen=32)
-
-  def update(self, cp, cp_cam, *_) -> structs.CarState:
-    ret = structs.CarState()
-
-    # Vehicle speed
-    ret.vEgoRaw = cp.vl["ESP_B"]["ESP_vehicleSpeed"] * CV.KPH_TO_MS
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = (ret.vEgo < 0.1)
-
-    # Gas pedal
-    ret.gas = cp.vl["DI_torque1"]["DI_pedalPos"] / 100.0
-    ret.gasPressed = (ret.gas > 0)
-
-    # Brake pedal
-    ret.brake = 0
-    ret.brakePressed = bool(cp.vl["BrakeMessage"]["driverBrakeStatus"] != 1)
-
-    # Steering wheel
-    epas_status = cp_cam.vl["EPAS3P_sysStatus"] if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN else cp.vl["EPAS_sysStatus"]
-
-    self.hands_on_level = epas_status["EPAS_handsOnLevel"]
-    self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(epas_status["EPAS_eacErrorCode"]), None)
-    steer_status = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(epas_status["EPAS_eacStatus"]), None)
-
-    ret.steeringAngleDeg = -epas_status["EPAS_internalSAS"]
-    ret.steeringRateDeg = -cp.vl["STW_ANGLHP_STAT"]["StW_AnglHP_Spd"] # This is from a different angle sensor, and at different rate
-    ret.steeringTorque = -epas_status["EPAS_torsionBarTorque"]
-    ret.steeringPressed = (self.hands_on_level > 0)
-    ret.steerFaultPermanent = steer_status == "EAC_FAULT"
-    ret.steerFaultTemporary = (self.steer_warning not in ("EAC_ERROR_IDLE", "EAC_ERROR_HANDS_ON"))
-
-    # Cruise state
-    cruise_state = self.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp.vl["DI_state"]["DI_cruiseState"]), None)
-    speed_units = self.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp.vl["DI_state"]["DI_speedUnits"]), None)
-
-    acc_enabled = (cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL"))
-
-    ret.cruiseState.enabled = acc_enabled
-    if speed_units == "KPH":
-      ret.cruiseState.speed = cp.vl["DI_state"]["DI_digitalSpeed"] * CV.KPH_TO_MS
-    elif speed_units == "MPH":
-      ret.cruiseState.speed = cp.vl["DI_state"]["DI_digitalSpeed"] * CV.MPH_TO_MS
-    ret.cruiseState.available = ((cruise_state == "STANDBY") or ret.cruiseState.enabled)
-    ret.cruiseState.standstill = False # This needs to be false, since we can resume from stop without sending anything special
-
-    # Gear
-    ret.gearShifter = GEAR_MAP[self.can_define.dv["DI_torque2"]["DI_gear"].get(int(cp.vl["DI_torque2"]["DI_gear"]), "DI_GEAR_INVALID")]
-
-    # Buttons
-    buttonEvents = []
-    for button in BUTTONS:
-      state = (cp.vl[button.can_addr][button.can_msg] in button.values)
-      if self.button_states[button.event_type] != state:
-        event = structs.CarState.ButtonEvent()
-        event.type = button.event_type
-        event.pressed = state
-        buttonEvents.append(event)
-      self.button_states[button.event_type] = state
-    ret.buttonEvents = buttonEvents
-
-    # Doors
-    ret.doorOpen = any((self.can_define.dv["GTW_carState"][door].get(int(cp.vl["GTW_carState"][door]), "OPEN") == "OPEN") for door in DOORS)
-
-    # Blinkers
-    ret.leftBlinker = (cp.vl["GTW_carState"]["BC_indicatorLStatus"] == 1)
-    ret.rightBlinker = (cp.vl["GTW_carState"]["BC_indicatorRStatus"] == 1)
-
-    # Seatbelt
-    if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
-      ret.seatbeltUnlatched = (cp.vl["DriverSeat"]["buckleStatus"] != 1)
-    else:
-      ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1)
-
-    # TODO: blindspot
-
-    # AEB
-    ret.stockAeb = (cp_cam.vl["DAS_control"]["DAS_aebEvent"] == 1)
-
-    # Messages needed by carcontroller
-    self.msg_stw_actn_req = copy.copy(cp.vl["STW_ACTN_RQ"])
-    self.acc_state = cp_cam.vl["DAS_control"]["DAS_accState"]
-    self.das_control_counters.extend(cp_cam.vl_all["DAS_control"]["DAS_controlCounter"])
-
-    return ret
-
-  @staticmethod
-  def get_can_parser(CP):
-    messages = [
-      # sig_address, frequency
-      ("ESP_B", 50),
-      ("DI_torque1", 100),
-      ("DI_torque2", 100),
-      ("STW_ANGLHP_STAT", 100),
-      ("EPAS_sysStatus", 25),
-      ("DI_state", 10),
-      ("STW_ACTN_RQ", 10),
-      ("GTW_carState", 10),
-      ("BrakeMessage", 50),
-    ]
-
-    if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
-      messages.append(("DriverSeat", 20))
-    else:
-      messages.append(("SDM1", 10))
-
-    return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.chassis)
-
-  @staticmethod
-  def get_cam_can_parser(CP):
-    messages = [
-      # sig_address, frequency
-      ("DAS_control", 40),
-    ]
-
-    if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
-      messages.append(("EPAS3P_sysStatus", 100))
-
-    return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.autopilot_chassis)
diff --git a/selfdrive/car/tesla/fingerprints.py b/selfdrive/car/tesla/fingerprints.py
deleted file mode 100644
index a4671a60c8..0000000000
--- a/selfdrive/car/tesla/fingerprints.py
+++ /dev/null
@@ -1,32 +0,0 @@
-from openpilot.selfdrive.car.structs import CarParams
-from openpilot.selfdrive.car.tesla.values import CAR
-
-Ecu = CarParams.Ecu
-
-FW_VERSIONS = {
-  CAR.TESLA_AP2_MODELS: {
-    (Ecu.adas, 0x649, None): [
-      b'\x01\x00\x8b\x07\x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x11',
-    ],
-    (Ecu.electricBrakeBooster, 0x64d, None): [
-      b'1037123-00-A',
-    ],
-    (Ecu.fwdRadar, 0x671, None): [
-      b'\x01\x00W\x00\x00\x00\x07\x00\x00\x00\x00\x08\x01\x00\x00\x00\x07\xff\xfe',
-    ],
-    (Ecu.eps, 0x730, None): [
-      b'\x10#\x01',
-    ],
-  },
-  CAR.TESLA_MODELS_RAVEN: {
-    (Ecu.electricBrakeBooster, 0x64d, None): [
-      b'1037123-00-A',
-    ],
-    (Ecu.fwdRadar, 0x671, None): [
-      b'\x01\x00\x99\x02\x01\x00\x10\x00\x00AP8.3.03\x00\x10',
-    ],
-    (Ecu.eps, 0x730, None): [
-      b'SX_0.0.0 (99),SR013.7',
-    ],
-  },
-}
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
deleted file mode 100755
index 6a37f0319d..0000000000
--- a/selfdrive/car/tesla/interface.py
+++ /dev/null
@@ -1,42 +0,0 @@
-#!/usr/bin/env python3
-from panda import Panda
-from openpilot.selfdrive.car import get_safety_config, structs
-from openpilot.selfdrive.car.tesla.carstate import CarState
-from openpilot.selfdrive.car.tesla.values import CANBUS, CAR
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-
-
-class CarInterface(CarInterfaceBase):
-  CS: CarState
-
-  @staticmethod
-  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
-    ret.carName = "tesla"
-
-    # There is no safe way to do steer blending with user torque,
-    # so the steering behaves like autopilot. This is not
-    # how openpilot should be, hence dashcamOnly
-    ret.dashcamOnly = True
-
-    ret.steerControlType = structs.CarParams.SteerControlType.angle
-
-    ret.longitudinalActuatorDelay = 0.5 # s
-    ret.radarTimeStep = (1.0 / 8) # 8Hz
-
-    # Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
-    # If so, we assume that it is connected to the longitudinal harness.
-    flags = (Panda.FLAG_TESLA_RAVEN if candidate == CAR.TESLA_MODELS_RAVEN else 0)
-    if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
-      ret.openpilotLongitudinalControl = True
-      flags |= Panda.FLAG_TESLA_LONG_CONTROL
-      ret.safetyConfigs = [
-        get_safety_config(structs.CarParams.SafetyModel.tesla, flags),
-        get_safety_config(structs.CarParams.SafetyModel.tesla, flags | Panda.FLAG_TESLA_POWERTRAIN),
-      ]
-    else:
-      ret.openpilotLongitudinalControl = False
-      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.tesla, flags)]
-
-    ret.steerLimitTimer = 1.0
-    ret.steerActuatorDelay = 0.25
-    return ret
diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py
deleted file mode 100755
index 22409b74e7..0000000000
--- a/selfdrive/car/tesla/radar_interface.py
+++ /dev/null
@@ -1,90 +0,0 @@
-#!/usr/bin/env python3
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS
-from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
-
-
-class RadarInterface(RadarInterfaceBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-
-    if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
-      messages = [('RadarStatus', 16)]
-      self.num_points = 40
-      self.trigger_msg = 1119
-    else:
-      messages = [('TeslaRadarSguInfo', 10)]
-      self.num_points = 32
-      self.trigger_msg = 878
-
-    for i in range(self.num_points):
-      messages.extend([
-        (f'RadarPoint{i}_A', 16),
-        (f'RadarPoint{i}_B', 16),
-      ])
-
-    self.rcp = CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar)
-    self.updated_messages = set()
-    self.track_id = 0
-
-  def update(self, can_strings):
-    if self.rcp is None:
-      return super().update(None)
-
-    values = self.rcp.update_strings(can_strings)
-    self.updated_messages.update(values)
-
-    if self.trigger_msg not in self.updated_messages:
-      return None
-
-    ret = structs.RadarData()
-
-    # Errors
-    errors = []
-    if not self.rcp.can_valid:
-      errors.append('canError')
-
-    if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
-      radar_status = self.rcp.vl['RadarStatus']
-      if radar_status['sensorBlocked'] or radar_status['shortTermUnavailable'] or radar_status['vehDynamicsError']:
-        errors.append('fault')
-    else:
-      radar_status = self.rcp.vl['TeslaRadarSguInfo']
-      if radar_status['RADC_HWFail'] or radar_status['RADC_SGUFail'] or radar_status['RADC_SensorDirty']:
-        errors.append('fault')
-
-    ret.errors = errors
-
-    # Radar tracks
-    for i in range(self.num_points):
-      msg_a = self.rcp.vl[f'RadarPoint{i}_A']
-      msg_b = self.rcp.vl[f'RadarPoint{i}_B']
-
-      # Make sure msg A and B are together
-      if msg_a['Index'] != msg_b['Index2']:
-        continue
-
-      # Check if it's a valid track
-      if not msg_a['Tracked']:
-        if i in self.pts:
-          del self.pts[i]
-        continue
-
-      # New track!
-      if i not in self.pts:
-        self.pts[i] = structs.RadarData.RadarPoint()
-        self.pts[i].trackId = self.track_id
-        self.track_id += 1
-
-      # Parse track data
-      self.pts[i].dRel = msg_a['LongDist']
-      self.pts[i].yRel = msg_a['LatDist']
-      self.pts[i].vRel = msg_a['LongSpeed']
-      self.pts[i].aRel = msg_a['LongAccel']
-      self.pts[i].yvRel = msg_b['LatSpeed']
-      self.pts[i].measured = bool(msg_a['Meas'])
-
-    ret.points = list(self.pts.values())
-    self.updated_messages.clear()
-    return ret
diff --git a/selfdrive/car/tesla/teslacan.py b/selfdrive/car/tesla/teslacan.py
deleted file mode 100644
index 22e0ac6c4e..0000000000
--- a/selfdrive/car/tesla/teslacan.py
+++ /dev/null
@@ -1,94 +0,0 @@
-import crcmod
-
-from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.tesla.values import CANBUS, CarControllerParams
-
-
-class TeslaCAN:
-  def __init__(self, packer, pt_packer):
-    self.packer = packer
-    self.pt_packer = pt_packer
-    self.crc = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
-
-  @staticmethod
-  def checksum(msg_id, dat):
-    # TODO: get message ID from name instead
-    ret = (msg_id & 0xFF) + ((msg_id >> 8) & 0xFF)
-    ret += sum(dat)
-    return ret & 0xFF
-
-  def create_steering_control(self, angle, enabled, counter):
-    values = {
-      "DAS_steeringAngleRequest": -angle,
-      "DAS_steeringHapticRequest": 0,
-      "DAS_steeringControlType": 1 if enabled else 0,
-      "DAS_steeringControlCounter": counter,
-    }
-
-    data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[1]
-    values["DAS_steeringControlChecksum"] = self.checksum(0x488, data[:3])
-    return self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)
-
-  def create_action_request(self, msg_stw_actn_req, cancel, bus, counter):
-    # We copy this whole message when spamming cancel
-    values = {s: msg_stw_actn_req[s] for s in [
-      "SpdCtrlLvr_Stat",
-      "VSL_Enbl_Rq",
-      "SpdCtrlLvrStat_Inv",
-      "DTR_Dist_Rq",
-      "TurnIndLvr_Stat",
-      "HiBmLvr_Stat",
-      "WprWashSw_Psd",
-      "WprWash_R_Sw_Posn_V2",
-      "StW_Lvr_Stat",
-      "StW_Cond_Flt",
-      "StW_Cond_Psd",
-      "HrnSw_Psd",
-      "StW_Sw00_Psd",
-      "StW_Sw01_Psd",
-      "StW_Sw02_Psd",
-      "StW_Sw03_Psd",
-      "StW_Sw04_Psd",
-      "StW_Sw05_Psd",
-      "StW_Sw06_Psd",
-      "StW_Sw07_Psd",
-      "StW_Sw08_Psd",
-      "StW_Sw09_Psd",
-      "StW_Sw10_Psd",
-      "StW_Sw11_Psd",
-      "StW_Sw12_Psd",
-      "StW_Sw13_Psd",
-      "StW_Sw14_Psd",
-      "StW_Sw15_Psd",
-      "WprSw6Posn",
-      "MC_STW_ACTN_RQ",
-      "CRC_STW_ACTN_RQ",
-    ]}
-
-    if cancel:
-      values["SpdCtrlLvr_Stat"] = 1
-      values["MC_STW_ACTN_RQ"] = counter
-
-    data = self.packer.make_can_msg("STW_ACTN_RQ", bus, values)[1]
-    values["CRC_STW_ACTN_RQ"] = self.crc(data[:7])
-    return self.packer.make_can_msg("STW_ACTN_RQ", bus, values)
-
-  def create_longitudinal_commands(self, acc_state, speed, min_accel, max_accel, cnt):
-    messages = []
-    values = {
-      "DAS_setSpeed": speed * CV.MS_TO_KPH,
-      "DAS_accState": acc_state,
-      "DAS_aebEvent": 0,
-      "DAS_jerkMin": CarControllerParams.JERK_LIMIT_MIN,
-      "DAS_jerkMax": CarControllerParams.JERK_LIMIT_MAX,
-      "DAS_accelMin": min_accel,
-      "DAS_accelMax": max_accel,
-      "DAS_controlCounter": cnt,
-      "DAS_controlChecksum": 0,
-    }
-
-    for packer, bus in [(self.packer, CANBUS.chassis), (self.pt_packer, CANBUS.powertrain)]:
-      data = packer.make_can_msg("DAS_control", bus, values)[1]
-      values["DAS_controlChecksum"] = self.checksum(0x2b9, data[:7])
-      messages.append(packer.make_can_msg("DAS_control", bus, values))
-    return messages
diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py
deleted file mode 100644
index 2872a941d3..0000000000
--- a/selfdrive/car/tesla/values.py
+++ /dev/null
@@ -1,98 +0,0 @@
-from collections import namedtuple
-
-from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car import structs
-from openpilot.selfdrive.car.docs_definitions import CarDocs
-from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
-
-Ecu = structs.CarParams.Ecu
-
-Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
-
-class CAR(Platforms):
-  TESLA_AP1_MODELS = PlatformConfig(
-    [CarDocs("Tesla AP1 Model S", "All")],
-    CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0),
-    dbc_dict('tesla_powertrain', 'tesla_radar_bosch_generated', chassis_dbc='tesla_can')
-  )
-  TESLA_AP2_MODELS = PlatformConfig(
-    [CarDocs("Tesla AP2 Model S", "All")],
-    TESLA_AP1_MODELS.specs,
-    TESLA_AP1_MODELS.dbc_dict
-  )
-  TESLA_MODELS_RAVEN = PlatformConfig(
-    [CarDocs("Tesla Model S Raven", "All")],
-    TESLA_AP1_MODELS.specs,
-    dbc_dict('tesla_powertrain', 'tesla_radar_continental_generated', chassis_dbc='tesla_can')
-  )
-
-FW_QUERY_CONFIG = FwQueryConfig(
-  requests=[
-    Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.eps],
-      rx_offset=0x08,
-      bus=0,
-    ),
-    Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.SUPPLIER_SOFTWARE_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.SUPPLIER_SOFTWARE_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.eps],
-      rx_offset=0x08,
-      bus=0,
-    ),
-    Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.adas, Ecu.electricBrakeBooster, Ecu.fwdRadar],
-      rx_offset=0x10,
-      bus=0,
-    ),
-  ]
-)
-
-class CANBUS:
-  # Lateral harness
-  chassis = 0
-  radar = 1
-  autopilot_chassis = 2
-
-  # Longitudinal harness
-  powertrain = 4
-  private = 5
-  autopilot_powertrain = 6
-
-GEAR_MAP = {
-  "DI_GEAR_INVALID": structs.CarState.GearShifter.unknown,
-  "DI_GEAR_P": structs.CarState.GearShifter.park,
-  "DI_GEAR_R": structs.CarState.GearShifter.reverse,
-  "DI_GEAR_N": structs.CarState.GearShifter.neutral,
-  "DI_GEAR_D": structs.CarState.GearShifter.drive,
-  "DI_GEAR_SNA": structs.CarState.GearShifter.unknown,
-}
-
-DOORS = ["DOOR_STATE_FL", "DOOR_STATE_FR", "DOOR_STATE_RL", "DOOR_STATE_RR", "DOOR_STATE_FrontTrunk", "BOOT_STATE"]
-
-# Make sure the message and addr is also in the CAN parser!
-BUTTONS = [
-  Button(structs.CarState.ButtonEvent.Type.leftBlinker, "STW_ACTN_RQ", "TurnIndLvr_Stat", [1]),
-  Button(structs.CarState.ButtonEvent.Type.rightBlinker, "STW_ACTN_RQ", "TurnIndLvr_Stat", [2]),
-  Button(structs.CarState.ButtonEvent.Type.accelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [4, 16]),
-  Button(structs.CarState.ButtonEvent.Type.decelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [8, 32]),
-  Button(structs.CarState.ButtonEvent.Type.cancel, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [1]),
-  Button(structs.CarState.ButtonEvent.Type.resumeCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [2]),
-]
-
-class CarControllerParams:
-  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 1.6, .3])
-  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 7.0, 0.8])
-  JERK_LIMIT_MAX = 8
-  JERK_LIMIT_MIN = -8
-  ACCEL_TO_SPEED_MULTIPLIER = 3
-
-  def __init__(self, CP):
-    pass
-
-
-DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 0fc800a47d..aecf75358f 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -12,7 +12,6 @@ from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.car.values import Platform
 from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
-from openpilot.selfdrive.car.tesla.values import CAR as TESLA
 from openpilot.selfdrive.car.body.values import CAR as COMMA
 
 # TODO: add routes for these cars
@@ -289,10 +288,6 @@ routes = [
   CarTestRoute("f6d5b1a9d7a1c92e|2021-07-08--06-56-59", MAZDA.MAZDA_CX9_2021),
   CarTestRoute("a4af1602d8e668ac|2022-02-03--12-17-07", MAZDA.MAZDA_CX5_2022),
 
-  CarTestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.TESLA_AP1_MODELS),
-  CarTestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.TESLA_AP2_MODELS),
-  CarTestRoute("66c1699b7697267d/2024-03-03--13-09-53", TESLA.TESLA_MODELS_RAVEN),
-
   # Segments that test specific issues
   # Controls mismatch due to standstill threshold
   CarTestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.HONDA_CRV_HYBRID, segment=22),
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 0833fe0df6..60db118cf5 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -142,7 +142,7 @@ class TestCarInterfaces:
   def test_interface_attrs(self):
     """Asserts basic behavior of interface attribute getter"""
     num_brands = len(get_interface_attr('CAR'))
-    assert num_brands >= 13
+    assert num_brands >= 12
 
     # Should return value for all brands when not combining, even if attribute doesn't exist
     ret = get_interface_attr('FAKE_ATTR')
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index cf3fa8c037..c859287cbd 100644
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -265,7 +265,7 @@ class TestFwFingerprintTiming:
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   def test_fw_query_timing(self, subtests, mocker):
-    total_ref_time = {1: 7.2, 2: 7.8}
+    total_ref_time = {1: 6.9, 2: 7.5}
     brand_ref_times = {
       1: {
         'gm': 1.0,
@@ -277,14 +277,12 @@ class TestFwFingerprintTiming:
         'mazda': 0.1,
         'nissan': 0.8,
         'subaru': 0.65,
-        'tesla': 0.3,
         'toyota': 0.7,
         'volkswagen': 0.65,
       },
       2: {
         'ford': 1.6,
         'hyundai': 1.15,
-        'tesla': 0.3,
       }
     }
 
diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml
index 993eb3fb3c..a4fc2a479f 100644
--- a/selfdrive/car/torque_data/override.toml
+++ b/selfdrive/car/torque_data/override.toml
@@ -15,11 +15,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 # Toyota LTA also has torque
 "TOYOTA_RAV4_TSS2_2023" = [nan, 3.0, nan]
 
-# Tesla has high torque
-"TESLA_AP1_MODELS" = [nan, 2.5, nan]
-"TESLA_AP2_MODELS" = [nan, 2.5, nan]
-"TESLA_MODELS_RAVEN" = [nan, 2.5, nan]
-
 # Guess
 "FORD_BRONCO_SPORT_MK1" = [nan, 1.5, nan]
 "FORD_ESCAPE_MK4" = [nan, 1.5, nan]
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index b705c5dffb..e2e435aa60 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -1,7 +1,7 @@
 import copy
 from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_tester_present_msg, structs
 from openpilot.selfdrive.car.can_definitions import CanData
-from openpilot.selfdrive.car.helpers import clip
+from openpilot.selfdrive.car.common.numpy_fast import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.toyota import toyotacan
 from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 9b32403055..2970d8c34d 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -4,8 +4,8 @@ from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import DT_CTRL, create_button_events, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.filter_simple import FirstOrderFilter
-from openpilot.selfdrive.car.helpers import mean
+from openpilot.selfdrive.car.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.car.common.numpy_fast import mean
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
diff --git a/selfdrive/car/values.py b/selfdrive/car/values.py
index bf5d378ab4..0622339f8a 100644
--- a/selfdrive/car/values.py
+++ b/selfdrive/car/values.py
@@ -9,11 +9,10 @@ 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 VOLKSWAGEN
 
-Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN
+Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN | SUBARU | TOYOTA | VOLKSWAGEN
 BRANDS = get_args(Platform)
 
 PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in brand}
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 3086b35931..51e0278fb4 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -2,7 +2,7 @@ import copy
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.helpers import clip
+from openpilot.selfdrive.car.common.numpy_fast import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
 from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 6916161307..08aaff2f7e 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -382,6 +382,7 @@ class Controls:
 
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
+      # Not show in first 1.5 km to allow for driving out of garage. This event shows after 5 minutes
       gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0
       if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500):
         self.events.add(EventName.noGps)
diff --git a/selfdrive/test/ci_shell.sh b/selfdrive/test/ci_shell.sh
index a5ff714b2d..76f0a9f78c 100755
--- a/selfdrive/test/ci_shell.sh
+++ b/selfdrive/test/ci_shell.sh
@@ -1,4 +1,5 @@
-#!/bin/bash -e
+#!/usr/bin/env bash
+set -e
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 OP_ROOT="$DIR/../../"
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 84a19aa0a9..95b104966f 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -36,7 +36,6 @@ source_segments = [
   ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),        # FORD.FORD_BRONCO_SPORT_MK1
 
   # Enable when port is tested and dashcamOnly is no longer set
-  #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"),      # TESLA.TESLA_AP2_MODELS
   #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"),  # VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS
 ]
 
@@ -61,7 +60,7 @@ segments = [
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "tesla"]
+excluded_interfaces = ["mock"]
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index 75b966c9aa..52d618ab48 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -102,8 +102,6 @@ void Sidebar::updateState(const UIState &s) {
   ItemStatus pandaStatus = {{tr("VEHICLE"), tr("ONLINE")}, good_color};
   if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
     pandaStatus = {{tr("NO"), tr("PANDA")}, danger_color};
-  } else if (s.scene.started && !sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) {
-    pandaStatus = {{tr("GPS"), tr("SEARCH")}, warning_color};
   }
   setProperty("pandaStatus", QVariant::fromValue(pandaStatus));
 }
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 15b97511bc..6286517ee6 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -116,7 +116,7 @@ class TestUI:
 
   def setup(self):
     self.sm = SubMaster(["uiDebug"])
-    self.pm = PubMaster(["deviceState", "pandaStates", "controlsState", 'roadCameraState', 'wideRoadCameraState', 'liveLocationKalman'])
+    self.pm = PubMaster(["deviceState", "pandaStates", "controlsState", 'roadCameraState', 'wideRoadCameraState'])
     while not self.sm.valid["uiDebug"]:
       self.sm.update(1)
     time.sleep(UI_DELAY) # wait a bit more for the UI to start rendering
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index a8a1f29d23..645a63a493 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -779,14 +779,6 @@ This may take up to a minute.</source>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>بحث</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 0b2b794ac4..48180eef92 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -762,14 +762,6 @@ This may take up to a minute.</source>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>SUCHEN</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index c8093e3029..150c00d117 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -763,14 +763,6 @@ Esto puede tardar un minuto.</translation>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>BÚSQUEDA</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 480d70c481..a678742f74 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -763,14 +763,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>RECHERCHE</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index c448186823..096fa95091 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -757,14 +757,6 @@ This may take up to a minute.</source>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>検索</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 40d07d9b1c..df012d3e85 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -759,14 +759,6 @@ This may take up to a minute.</source>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>검색중</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index c0c7fcb3e8..1500f07e63 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -763,14 +763,6 @@ Isso pode levar até um minuto.</translation>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>PROCURA</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 1d7aa3df00..bae326d532 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -759,14 +759,6 @@ This may take up to a minute.</source>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>จีพีเอส</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>ค้นหา</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 3fabd5a384..72148807d4 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -757,14 +757,6 @@ This may take up to a minute.</source>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>ARA</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 255886a15e..976b58b31d 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -759,14 +759,6 @@ This may take up to a minute.</source>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>搜索中</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 9cea6a1bbc..de8d3ff701 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -759,14 +759,6 @@ This may take up to a minute.</source>
         <source>PANDA</source>
         <translation>車輛通訊</translation>
     </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>車輛通訊</translation>
-    </message>
     <message>
         <source>--</source>
         <translation>--</translation>
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index bd26741193..6de0babc7b 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -242,7 +242,7 @@ void UIState::updateStatus() {
 UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
-    "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
+    "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "clocks",
   });
 
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index 1616f2aec3..293b363532 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -63,7 +63,7 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
       QString message;
       if (auth_content.empty()) {
         message = "Authentication Required. Please run the following command to authenticate:\n\n"
-                  "python tools/lib/auth.py\n\n"
+                  "python3 tools/lib/auth.py\n\n"
                   "This will grant access to routes from your comma account.";
       } else {
         message = tr("Access Denied. You do not have permission to access route:\n\n%1\n\n"
diff --git a/tools/camerastream/README.md b/tools/camerastream/README.md
index 76133f07cd..7dbafb4be5 100644
--- a/tools/camerastream/README.md
+++ b/tools/camerastream/README.md
@@ -1,10 +1,10 @@
 # Camera stream
 
-`compressed_vipc.py` connects to a remote device running openpilot, decodes the video streams, and republishes them over VisionIPC. 
+`compressed_vipc.py` connects to a remote device running openpilot, decodes the video streams, and republishes them over VisionIPC.
 
 ## Usage
 
-### On the device 
+### On the device
 SSH into the device and run following in separate terminals:
 
 `cd /data/openpilot/cereal/messaging && ./bridge`
@@ -30,7 +30,7 @@ Alternatively paste this as a single command:
   wait
 ) ; trap 'kill $(jobs -p)' SIGINT
 ```
-Ctrl+C will stop all three processes. 
+Ctrl+C will stop all three processes.
 
 ### On the PC
 Decode the stream with `compressed_vipc.py`:
@@ -43,7 +43,7 @@ To actually display the stream, run `watch3` in separate terminal:
 
 ## compressed_vipc.py usage
 ```
-$ python compressed_vipc.py -h
+$ python3 compressed_vipc.py -h
 usage: compressed_vipc.py [-h] [--nvidia] [--cams CAMS] [--silent] addr
 
 Decode video streams and broadcast on VisionIPC
diff --git a/tools/car_porting/README.md b/tools/car_porting/README.md
index a32e9f96c9..68b0a57fb3 100644
--- a/tools/car_porting/README.md
+++ b/tools/car_porting/README.md
@@ -21,7 +21,7 @@ Given a route and platform, automatically inserts FW fingerprints from the platf
 
 Example:
 ```bash
-> python tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'OUTBACK'
+> python3 tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'OUTBACK'
 Attempting to add fw version for:  OUTBACK
 ```
 
@@ -45,7 +45,7 @@ Given a route, runs most of the car interface to check for common errors like mi
 
 #### Example: panda safety mismatch for gasPressed
 ```bash
-> python tools/car_porting/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21'
+> python3 tools/car_porting/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21'
 
 =====================================================================
 FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_carstate)
@@ -93,4 +93,4 @@ vin: 1FM5K8GC7NGXXXXXX real platform: FORD EXPLORER 6TH GEN              determi
 vin: 5LM5J7XC8MGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False
 vin: 3FTTW8E31PRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False
 vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False
-```
\ No newline at end of file
+```
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index 2783f7282a..5e66b9d0cb 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -32,9 +32,8 @@ fi
 echo "updating uv..."
 update_uv
 
-# TODO: remove --no-cache once this is fixed: https://github.com/astral-sh/uv/issues/4378
 echo "installing python packages..."
-uv --no-cache sync --frozen --all-extras
+uv sync --frozen --all-extras
 source .venv/bin/activate
 
 # TODO: remove this. Workaround till get a new release. PEP508 doesn't seem to have find-links option
diff --git a/tools/latencylogger/README.md b/tools/latencylogger/README.md
index 421a6a0b4a..24169dfaef 100644
--- a/tools/latencylogger/README.md
+++ b/tools/latencylogger/README.md
@@ -5,7 +5,7 @@ LatencyLogger is a tool to track the time from first pixel to actuation. Timesta
 ## Usage
 
 ```
-$ python latency_logger.py -h
+$ python3 latency_logger.py -h
 usage: latency_logger.py [-h] [--relative] [--demo] [--plot] [route_or_segment_name]
 
 A tool for analyzing openpilot's end-to-end latency
diff --git a/tools/op.sh b/tools/op.sh
index 0dde7d1908..05a55cd35b 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -312,19 +312,22 @@ function op_default() {
   echo ""
   echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] <COMMAND>"
   echo ""
-  echo -e "${BOLD}${UNDERLINE}Commands:${NC}"
-  echo -e "  ${BOLD}venv${NC}     Activate the python virtual environment"
+  echo -e "${BOLD}${UNDERLINE}Commands [System]:${NC}"
   echo -e "  ${BOLD}check${NC}    Check the development environment (git, os, python) to start using openpilot"
+  echo -e "  ${BOLD}venv${NC}     Activate the python virtual environment"
   echo -e "  ${BOLD}setup${NC}    Install openpilot dependencies"
   echo -e "  ${BOLD}build${NC}    Run the openpilot build system in the current working directory"
-  echo -e "  ${BOLD}sim${NC}      Run openpilot in a simulator"
+  echo -e "  ${BOLD}install${NC}  Install the 'op' tool system wide"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Commands [Tooling]:${NC}"
   echo -e "  ${BOLD}juggle${NC}   Run PlotJuggler"
   echo -e "  ${BOLD}replay${NC}   Run Replay"
   echo -e "  ${BOLD}cabana${NC}   Run Cabana"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Commands [Testing]:${NC}"
+  echo -e "  ${BOLD}sim${NC}      Run openpilot in a simulator"
   echo -e "  ${BOLD}lint${NC}     Run the linter"
   echo -e "  ${BOLD}test${NC}     Run all unit tests from pytest"
-  echo -e "  ${BOLD}help${NC}     Show this message"
-  echo -e "  ${BOLD}install${NC}  Install the 'op' tool system wide"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Options:${NC}"
   echo -e "  ${BOLD}-d, --dir${NC}"
diff --git a/tools/replay/README.md b/tools/replay/README.md
index 122af71521..67cfcd75a6 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -6,7 +6,7 @@
 
 ```bash
 # Log in via browser to have access to routes from your comma account
-python tools/lib/auth.py
+python3 tools/lib/auth.py
 
 # Start a replay
 tools/replay/replay <route-name>
@@ -20,7 +20,7 @@ tools/replay/replay --demo
 cd selfdrive/ui && ./ui
 
 # or try out radar point visualization in Rerun:
-python replay/rp_visualization.py
+python3 replay/rp_visualization.py
 
 # NOTE: To visualize radar points, make sure tools/replay/replay is running.
 ```
diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh
index 30c5b73827..fa5ac731bd 100755
--- a/tools/sim/launch_openpilot.sh
+++ b/tools/sim/launch_openpilot.sh
@@ -12,7 +12,7 @@ if [[ "$CI" ]]; then
   export BLOCK="${BLOCK},ui"
 fi
 
-python -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()"
+python3 -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()"
 
 SCRIPT_DIR=$(dirname "$0")
 OPENPILOT_DIR=$SCRIPT_DIR/../../