diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 080051bdaa..2daa895de9 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -395,3 +395,25 @@ jobs:
               repo: context.repo.repo,
               comment_id: ${{ steps.fc.outputs.comment-id }}
             })
+
+# need to figure out some stuff with tkinter before enabling this
+
+  # create_ui_report:
+  #   name: Create UI Report
+  #   runs-on: ubuntu-20.04
+  #   steps:
+  #     - uses: actions/checkout@v4
+  #       with:
+  #         submodules: true
+  #     - uses: ./.github/workflows/setup-with-retry
+  #     - name: Build openpilot
+  #       run: ${{ env.RUN }} "scons -j$(nproc)"
+  #     - name: Create Test Report
+  #       run: ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
+  #                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
+  #                            python selfdrive/ui/tests/test_ui/run.py"
+  #     - name: Upload Test Report
+  #       uses: actions/upload-artifact@v2
+  #       with:
+  #         name: report
+  #         path: selfdrive/ui/tests/test_ui
\ No newline at end of file
diff --git a/poetry.lock b/poetry.lock
index b7e7f6deaf..ecfdac4497 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
@@ -2216,6 +2216,21 @@ url = "https://github.com/metadriverse/metadrive.git"
 reference = "main"
 resolved_reference = "bc162e1b423bd194a58ef2269103f1bcea5f53c7"
 
+[[package]]
+name = "mouseinfo"
+version = "0.1.3"
+description = "An application to display XY position and RGB color information for the pixel currently under the mouse. Works on Python 2 and 3."
+optional = false
+python-versions = "*"
+files = [
+    {file = "MouseInfo-0.1.3.tar.gz", hash = "sha256:2c62fb8885062b8e520a3cce0a297c657adcc08c60952eb05bc8256ef6f7f6e7"},
+]
+
+[package.dependencies]
+pyperclip = "*"
+python3-Xlib = {version = "*", markers = "platform_system == \"Linux\" and python_version >= \"3.0\""}
+rubicon-objc = {version = "*", markers = "platform_system == \"Darwin\""}
+
 [[package]]
 name = "mpld3"
 version = "0.5.10"
@@ -2642,7 +2657,14 @@ files = [
 ]
 
 [package.dependencies]
-numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
+numpy = [
+    {version = ">=1.21.2", markers = "python_version >= \"3.10\""},
+    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
+    {version = ">=1.23.5", markers = "python_version >= \"3.11\""},
+    {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
+    {version = ">=1.17.0", markers = "python_version >= \"3.7\""},
+    {version = ">=1.17.3", markers = "python_version >= \"3.8\""},
+]
 
 [[package]]
 name = "opencv-python-headless"
@@ -2661,7 +2683,14 @@ files = [
 ]
 
 [package.dependencies]
-numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
+numpy = [
+    {version = ">=1.21.2", markers = "python_version >= \"3.10\""},
+    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
+    {version = ">=1.23.5", markers = "python_version >= \"3.11\""},
+    {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
+    {version = ">=1.17.0", markers = "python_version >= \"3.7\""},
+    {version = ">=1.17.3", markers = "python_version >= \"3.8\""},
+]
 
 [[package]]
 name = "packaging"
@@ -3132,6 +3161,26 @@ files = [
 [package.extras]
 test = ["numpy"]
 
+[[package]]
+name = "pyautogui"
+version = "0.9.54"
+description = "PyAutoGUI lets Python control the mouse and keyboard, and other GUI automation tasks. For Windows, macOS, and Linux, on Python 3 and 2."
+optional = false
+python-versions = "*"
+files = [
+    {file = "PyAutoGUI-0.9.54.tar.gz", hash = "sha256:dd1d29e8fd118941cb193f74df57e5c6ff8e9253b99c7b04f39cfc69f3ae04b2"},
+]
+
+[package.dependencies]
+mouseinfo = "*"
+pygetwindow = ">=0.0.5"
+pymsgbox = "*"
+pyobjc-core = {version = "*", markers = "platform_system == \"Darwin\""}
+pyobjc-framework-quartz = {version = "*", markers = "platform_system == \"Darwin\""}
+pyscreeze = ">=0.1.21"
+python3-Xlib = {version = "*", markers = "platform_system == \"Linux\" and python_version >= \"3.0\""}
+pytweening = ">=1.0.4"
+
 [[package]]
 name = "pycapnp"
 version = "1.3.0"
@@ -3262,8 +3311,6 @@ files = [
     {file = "pygame-2.5.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0e24d05184e4195fe5ebcdce8b18ecb086f00182b9ae460a86682d312ce8d31f"},
     {file = "pygame-2.5.2-cp311-cp311-win32.whl", hash = "sha256:f02c1c7505af18d426d355ac9872bd5c916b27f7b0fe224749930662bea47a50"},
     {file = "pygame-2.5.2-cp311-cp311-win_amd64.whl", hash = "sha256:6d58c8cf937815d3b7cdc0fa9590c5129cb2c9658b72d00e8a4568dea2ff1d42"},
-    {file = "pygame-2.5.2-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:1a2a43802bb5e89ce2b3b775744e78db4f9a201bf8d059b946c61722840ceea8"},
-    {file = "pygame-2.5.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:1c289f2613c44fe70a1e40769de4a49c5ab5a29b9376f1692bb1a15c9c1c9bfa"},
     {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:074aa6c6e110c925f7f27f00c7733c6303407edc61d738882985091d1eb2ef17"},
     {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:fe0228501ec616779a0b9c4299e837877783e18df294dd690b9ab0eed3d8aaab"},
     {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:31648d38ecdc2335ffc0e38fb18a84b3339730521505dac68514f83a1092e3f4"},
@@ -3307,6 +3354,19 @@ files = [
     {file = "pygame-2.5.2.tar.gz", hash = "sha256:c1b89eb5d539e7ac5cf75513125fb5f2f0a2d918b1fd6e981f23bf0ac1b1c24a"},
 ]
 
+[[package]]
+name = "pygetwindow"
+version = "0.0.9"
+description = "A simple, cross-platform module for obtaining GUI information on application's windows."
+optional = false
+python-versions = "*"
+files = [
+    {file = "PyGetWindow-0.0.9.tar.gz", hash = "sha256:17894355e7d2b305cd832d717708384017c1698a90ce24f6f7fbf0242dd0a688"},
+]
+
+[package.dependencies]
+pyrect = "*"
+
 [[package]]
 name = "pygments"
 version = "2.17.2"
@@ -3381,313 +3441,3113 @@ cffi = ">=1.0.0"
 dev = ["coverage[toml] (>=7.2.2)"]
 
 [[package]]
-name = "pyopencl"
-version = "2023.1.4"
-description = "Python wrapper for OpenCL"
+name = "pymonctl"
+version = "0.7"
+description = "Cross-Platform toolkit to get info on and control monitors connected"
 optional = false
-python-versions = "~=3.8"
+python-versions = "*"
 files = [
-    {file = "pyopencl-2023.1.4-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:ce71196cee0171a923d9ef6a8c21ce26fd7342ddaee88a29aa372ae3295f5257"},
-    {file = "pyopencl-2023.1.4-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:7bdf472b8e36f81145ac526d51f550ba539b765199da9da16732a222c7b85bee"},
-    {file = "pyopencl-2023.1.4-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:18e99bb71267ce5223814177ff8c73e98057a70d20fc6555050d77d98b01bba5"},
-    {file = "pyopencl-2023.1.4-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:11d8cbe0d2121babf7daf0bcd6ded687c191c6d2effbac85c5421659fbc26947"},
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-    {file = "pyopencl-2023.1.4-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:35fc3161b2f609018b6e1b22f4aa79fb571a388b61e90177c1d474975af15ce8"},
-    {file = "pyopencl-2023.1.4.tar.gz", hash = "sha256:220174efca900e9d5de5aef2aa1b77a6f2550501de92b035a91013aeae4d4c5e"},
+    {file = "PyMonCtl-0.7-py3-none-any.whl", hash = "sha256:20c1f7f4cf46ff3349fa60d4e63c4ac300a2b907c0d984a1dd64d452b85ea781"},
 ]
 
 [package.dependencies]
-numpy = "*"
-platformdirs = ">=2.2.0"
-pytools = ">=2021.2.7"
+pyobjc = {version = ">=8.1", markers = "sys_platform == \"darwin\""}
+python-xlib = {version = ">=0.21", markers = "sys_platform == \"linux\""}
+pywin32 = {version = ">=302", markers = "sys_platform == \"win32\""}
+typing-extensions = ">=4.4.0"
 
 [package.extras]
-oclgrind = ["oclgrind-binary-distribution (>=18.3)"]
-pocl = ["pocl-binary-distribution (>=1.2)"]
-test = ["Mako", "pytest (>=7.0.0)"]
+dev = ["mypy (>=0.990)", "types-python-xlib (>=0.32)", "types-pywin32 (>=305.0.0.3)", "types-setuptools (>=65.5)"]
 
 [[package]]
-name = "pyopenssl"
-version = "23.3.0"
-description = "Python wrapper module around the OpenSSL library"
+name = "pymsgbox"
+version = "1.0.9"
+description = "A simple, cross-platform, pure Python module for JavaScript-like message boxes."
 optional = false
-python-versions = ">=3.7"
+python-versions = "*"
 files = [
-    {file = "pyOpenSSL-23.3.0-py3-none-any.whl", hash = "sha256:6756834481d9ed5470f4a9393455154bc92fe7a64b7bc6ee2c804e78c52099b2"},
-    {file = "pyOpenSSL-23.3.0.tar.gz", hash = "sha256:6b2cba5cc46e822750ec3e5a81ee12819850b11303630d575e98108a079c2b12"},
+    {file = "PyMsgBox-1.0.9.tar.gz", hash = "sha256:2194227de8bff7a3d6da541848705a155dcbb2a06ee120d9f280a1d7f51263ff"},
 ]
 
-[package.dependencies]
-cryptography = ">=41.0.5,<42"
-
-[package.extras]
-docs = ["sphinx (!=5.2.0,!=5.2.0.post0,!=7.2.5)", "sphinx-rtd-theme"]
-test = ["flaky", "pretend", "pytest (>=3.0.1)"]
-
 [[package]]
-name = "pyparsing"
-version = "3.1.1"
-description = "pyparsing module - Classes and methods to define and execute parsing grammars"
+name = "pyobjc"
+version = "10.1"
+description = "Python<->ObjC Interoperability Module"
 optional = false
-python-versions = ">=3.6.8"
+python-versions = ">=3.8"
 files = [
-    {file = "pyparsing-3.1.1-py3-none-any.whl", hash = "sha256:32c7c0b711493c72ff18a981d24f28aaf9c1fb7ed5e9667c9e84e3db623bdbfb"},
-    {file = "pyparsing-3.1.1.tar.gz", hash = "sha256:ede28a1a32462f5a9705e07aea48001a08f7cf81a021585011deba701581a0db"},
+    {file = "pyobjc-10.1-py3-none-any.whl", hash = "sha256:2687ff02217e7b2aba52c6b948bccea864a8f034af6c90528564d496b343c418"},
+    {file = "pyobjc-10.1.tar.gz", hash = "sha256:f54baff4c40d53c3fb3812816ebd130d3186805936628cc1f212f95979af5b98"},
 ]
 
+[package.dependencies]
+pyobjc-core = "10.1"
+pyobjc-framework-Accessibility = {version = "10.1", markers = "platform_release >= \"20.0\""}
+pyobjc-framework-Accounts = {version = "10.1", markers = "platform_release >= \"12.0\""}
+pyobjc-framework-AddressBook = "10.1"
+pyobjc-framework-AdServices = {version = "10.1", markers = "platform_release >= \"20.0\""}
+pyobjc-framework-AdSupport = {version = "10.1", markers = "platform_release >= \"18.0\""}
+pyobjc-framework-AppleScriptKit = "10.1"
+pyobjc-framework-AppleScriptObjC = {version = "10.1", markers = "platform_release >= \"10.0\""}
+pyobjc-framework-ApplicationServices = "10.1"
+pyobjc-framework-AppTrackingTransparency = {version = "10.1", markers = "platform_release >= \"20.0\""}
+pyobjc-framework-AudioVideoBridging = {version = "10.1", markers = "platform_release >= \"12.0\""}
+pyobjc-framework-AuthenticationServices = {version = "10.1", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-AutomaticAssessmentConfiguration = {version = "10.1", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-Automator = "10.1"
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+pyobjc-framework-AVKit = {version = "10.1", markers = "platform_release >= \"13.0\""}
+pyobjc-framework-AVRouting = {version = "10.1", markers = "platform_release >= \"22.0\""}
+pyobjc-framework-BackgroundAssets = {version = "10.1", markers = "platform_release >= \"22.0\""}
+pyobjc-framework-BusinessChat = {version = "10.1", markers = "platform_release >= \"18.0\""}
+pyobjc-framework-CalendarStore = {version = "10.1", markers = "platform_release >= \"9.0\""}
+pyobjc-framework-CallKit = {version = "10.1", markers = "platform_release >= \"20.0\""}
+pyobjc-framework-CFNetwork = "10.1"
+pyobjc-framework-Cinematic = {version = "10.1", markers = "platform_release >= \"23.0\""}
+pyobjc-framework-ClassKit = {version = "10.1", markers = "platform_release >= \"20.0\""}
+pyobjc-framework-CloudKit = {version = "10.1", markers = "platform_release >= \"14.0\""}
+pyobjc-framework-Cocoa = "10.1"
+pyobjc-framework-Collaboration = {version = "10.1", markers = "platform_release >= \"9.0\""}
+pyobjc-framework-ColorSync = {version = "10.1", markers = "platform_release >= \"17.0\""}
+pyobjc-framework-Contacts = {version = "10.1", markers = "platform_release >= \"15.0\""}
+pyobjc-framework-ContactsUI = {version = "10.1", markers = "platform_release >= \"15.0\""}
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+pyobjc-framework-CoreAudioKit = "10.1"
+pyobjc-framework-CoreBluetooth = {version = "10.1", markers = "platform_release >= \"14.0\""}
+pyobjc-framework-CoreData = "10.1"
+pyobjc-framework-CoreHaptics = {version = "10.1", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-CoreLocation = {version = "10.1", markers = "platform_release >= \"10.0\""}
+pyobjc-framework-CoreMedia = {version = "10.1", markers = "platform_release >= \"11.0\""}
+pyobjc-framework-CoreMediaIO = {version = "10.1", markers = "platform_release >= \"11.0\""}
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+pyobjc-framework-CoreMotion = {version = "10.1", markers = "platform_release >= \"19.0\""}
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+pyobjc-framework-CryptoTokenKit = {version = "10.1", markers = "platform_release >= \"14.0\""}
+pyobjc-framework-DataDetection = {version = "10.1", markers = "platform_release >= \"21.0\""}
+pyobjc-framework-DeviceCheck = {version = "10.1", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-DictionaryServices = {version = "10.1", markers = "platform_release >= \"9.0\""}
+pyobjc-framework-DiscRecording = "10.1"
+pyobjc-framework-DiscRecordingUI = "10.1"
+pyobjc-framework-DiskArbitration = "10.1"
+pyobjc-framework-DVDPlayback = "10.1"
+pyobjc-framework-EventKit = {version = "10.1", markers = "platform_release >= \"12.0\""}
+pyobjc-framework-ExceptionHandling = "10.1"
+pyobjc-framework-ExecutionPolicy = {version = "10.1", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-ExtensionKit = {version = "10.1", markers = "platform_release >= \"22.0\""}
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+pyobjc-framework-GameController = {version = "10.1", markers = "platform_release >= \"13.0\""}
+pyobjc-framework-GameKit = {version = "10.1", markers = "platform_release >= \"12.0\""}
+pyobjc-framework-GameplayKit = {version = "10.1", markers = "platform_release >= \"15.0\""}
+pyobjc-framework-HealthKit = {version = "10.1", markers = "platform_release >= \"22.0\""}
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+pyobjc-framework-IntentsUI = {version = "10.1", markers = "platform_release >= \"21.0\""}
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+pyobjc-framework-iTunesLibrary = {version = "10.1", markers = "platform_release >= \"10.0\""}
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+pyobjc-framework-MediaLibrary = {version = "10.1", markers = "platform_release >= \"13.0\""}
+pyobjc-framework-MediaPlayer = {version = "10.1", markers = "platform_release >= \"16.0\""}
+pyobjc-framework-MediaToolbox = {version = "10.1", markers = "platform_release >= \"13.0\""}
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+pyobjc-framework-MetricKit = {version = "10.1", markers = "platform_release >= \"21.0\""}
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+pyobjc-framework-MultipeerConnectivity = {version = "10.1", markers = "platform_release >= \"14.0\""}
+pyobjc-framework-NaturalLanguage = {version = "10.1", markers = "platform_release >= \"18.0\""}
+pyobjc-framework-NetFS = {version = "10.1", markers = "platform_release >= \"10.0\""}
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+pyobjc-framework-OpenDirectory = {version = "10.1", markers = "platform_release >= \"10.0\""}
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+pyobjc-framework-PHASE = {version = "10.1", markers = "platform_release >= \"21.0\""}
+pyobjc-framework-Photos = {version = "10.1", markers = "platform_release >= \"15.0\""}
+pyobjc-framework-PhotosUI = {version = "10.1", markers = "platform_release >= \"15.0\""}
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+pyobjc-framework-PushKit = {version = "10.1", markers = "platform_release >= \"19.0\""}
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+pyobjc-framework-SceneKit = {version = "10.1", markers = "platform_release >= \"11.0\""}
+pyobjc-framework-ScreenCaptureKit = {version = "10.1", markers = "platform_release >= \"21.4\""}
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+pyobjc-framework-ScriptingBridge = {version = "10.1", markers = "platform_release >= \"9.0\""}
+pyobjc-framework-SearchKit = "10.1"
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+pyobjc-framework-SharedWithYou = {version = "10.1", markers = "platform_release >= \"22.0\""}
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+pyobjc-framework-Social = {version = "10.1", markers = "platform_release >= \"12.0\""}
+pyobjc-framework-SoundAnalysis = {version = "10.1", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-Speech = {version = "10.1", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-SpriteKit = {version = "10.1", markers = "platform_release >= \"13.0\""}
+pyobjc-framework-StoreKit = {version = "10.1", markers = "platform_release >= \"11.0\""}
+pyobjc-framework-Symbols = {version = "10.1", markers = "platform_release >= \"23.0\""}
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+pyobjc-framework-ThreadNetwork = {version = "10.1", markers = "platform_release >= \"22.0\""}
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+pyobjc-framework-Vision = {version = "10.1", markers = "platform_release >= \"17.0\""}
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+
 [package.extras]
-diagrams = ["jinja2", "railroad-diagrams"]
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+    {file = "pytest-cov-4.1.0.tar.gz", hash = "sha256:3904b13dfbfec47f003b8e77fd5b589cd11904a21ddf1ab38a64f204d6a10ef6"},
+    {file = "pytest_cov-4.1.0-py3-none-any.whl", hash = "sha256:6ba70b9e97e69fcc3fb45bfeab2d0a138fb65c4d0d6a41ef33983ad114be8c3a"},
+]
+
+[package.dependencies]
+coverage = {version = ">=5.2.1", extras = ["toml"]}
+pytest = ">=4.6"
+
+[package.extras]
+testing = ["fields", "hunter", "process-tests", "pytest-xdist", "six", "virtualenv"]
+
+[[package]]
+name = "pytest-cpp"
+version = "2.5.0"
+description = "Use pytest's runner to discover and execute C++ tests"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "pytest-cpp-2.5.0.tar.gz", hash = "sha256:695604baa21bc95291bb4ea7263a7aa960753de57c2d17d224c4652fbcf65cdc"},
+    {file = "pytest_cpp-2.5.0-py3-none-any.whl", hash = "sha256:137bcaa6487307b4c362245fcd4abf35de64ee85e6375f4d06cd31e6a64f9701"},
+]
+
+[package.dependencies]
+colorama = "*"
+pytest = ">=7.0"
+
+[[package]]
+name = "pytest-randomly"
+version = "3.15.0"
+description = "Pytest plugin to randomly order tests and control random.seed."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "pytest_randomly-3.15.0-py3-none-any.whl", hash = "sha256:0516f4344b29f4e9cdae8bce31c4aeebf59d0b9ef05927c33354ff3859eeeca6"},
+    {file = "pytest_randomly-3.15.0.tar.gz", hash = "sha256:b908529648667ba5e54723088edd6f82252f540cc340d748d1fa985539687047"},
+]
+
+[package.dependencies]
+pytest = "*"
+
+[[package]]
+name = "pytest-subtests"
+version = "0.11.0"
+description = "unittest subTest() support and subtests fixture"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "pytest-subtests-0.11.0.tar.gz", hash = "sha256:51865c88457545f51fb72011942f0a3c6901ee9e24cbfb6d1b9dc1348bafbe37"},
+    {file = "pytest_subtests-0.11.0-py3-none-any.whl", hash = "sha256:453389984952eec85ab0ce0c4f026337153df79587048271c7fd0f49119c07e4"},
+]
+
+[package.dependencies]
+attrs = ">=19.2.0"
+pytest = ">=7.0"
+
+[[package]]
+name = "pytest-timeout"
+version = "2.2.0"
+description = "pytest plugin to abort hanging tests"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "pytest-timeout-2.2.0.tar.gz", hash = "sha256:3b0b95dabf3cb50bac9ef5ca912fa0cfc286526af17afc806824df20c2f72c90"},
+    {file = "pytest_timeout-2.2.0-py3-none-any.whl", hash = "sha256:bde531e096466f49398a59f2dde76fa78429a09a12411466f88a07213e220de2"},
+]
+
+[package.dependencies]
+pytest = ">=5.0.0"
+
+[[package]]
+name = "pytest-xdist"
+version = "3.5.0"
+description = "pytest xdist plugin for distributed testing, most importantly across multiple CPUs"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "pytest-xdist-3.5.0.tar.gz", hash = "sha256:cbb36f3d67e0c478baa57fa4edc8843887e0f6cfc42d677530a36d7472b32d8a"},
+    {file = "pytest_xdist-3.5.0-py3-none-any.whl", hash = "sha256:d075629c7e00b611df89f490a5063944bee7a4362a5ff11c7cc7824a03dfce24"},
 ]
 
 [package.dependencies]
@@ -3713,6 +6573,30 @@ files = [
 [package.dependencies]
 six = ">=1.5"
 
+[[package]]
+name = "python-xlib"
+version = "0.33"
+description = "Python X Library"
+optional = false
+python-versions = "*"
+files = [
+    {file = "python-xlib-0.33.tar.gz", hash = "sha256:55af7906a2c75ce6cb280a584776080602444f75815a7aff4d287bb2d7018b32"},
+    {file = "python_xlib-0.33-py2.py3-none-any.whl", hash = "sha256:c3534038d42e0df2f1392a1b30a15a4ff5fdc2b86cfa94f072bf11b10a164398"},
+]
+
+[package.dependencies]
+six = ">=1.10.0"
+
+[[package]]
+name = "python3-xlib"
+version = "0.15"
+description = "Python3 X Library"
+optional = false
+python-versions = "*"
+files = [
+    {file = "python3-xlib-0.15.tar.gz", hash = "sha256:dc4245f3ae4aa5949c1d112ee4723901ade37a96721ba9645f2bfa56e5b383f8"},
+]
+
 [[package]]
 name = "pytools"
 version = "2023.1.1"
@@ -3730,6 +6614,16 @@ platformdirs = ">=2.2.0"
 [package.extras]
 numpy = ["numpy (>=1.6.0)"]
 
+[[package]]
+name = "pytweening"
+version = "1.0.7"
+description = "A collection of tweening / easing functions."
+optional = false
+python-versions = "*"
+files = [
+    {file = "pytweening-1.0.7.tar.gz", hash = "sha256:767134f1bf57b76c1ce9f692dd1cfc776d9a279de6724e8d04854508fd7ededb"},
+]
+
 [[package]]
 name = "pytz"
 version = "2023.3.post1"
@@ -3764,6 +6658,46 @@ files = [
     {file = "pywin32-306-cp39-cp39-win_amd64.whl", hash = "sha256:39b61c15272833b5c329a2989999dcae836b1eed650252ab1b7bfbe1d59f30f4"},
 ]
 
+[[package]]
+name = "pywinbox"
+version = "0.6"
+description = "Cross-Platform and multi-monitor toolkit to handle rectangular areas and windows box"
+optional = false
+python-versions = "*"
+files = [
+    {file = "PyWinBox-0.6-py3-none-any.whl", hash = "sha256:3547e459caf466d3beb2230b02208a348478428ebca61ce3e004fb5468976f33"},
+]
+
+[package.dependencies]
+pyobjc = {version = ">=8.1", markers = "sys_platform == \"darwin\""}
+python-xlib = {version = ">=0.21", markers = "sys_platform == \"linux\""}
+pywin32 = {version = ">=302", markers = "sys_platform == \"win32\""}
+typing-extensions = ">=4.4.0"
+
+[package.extras]
+dev = ["mypy (>=0.990)", "pywinctl (>=0.1)", "types-python-xlib (>=0.32)", "types-pywin32 (>=305.0.0.3)", "types-setuptools (>=65.5)"]
+
+[[package]]
+name = "pywinctl"
+version = "0.3"
+description = "Cross-Platform toolkit to get info on and control windows on screen"
+optional = false
+python-versions = "*"
+files = [
+    {file = "PyWinCtl-0.3-py3-none-any.whl", hash = "sha256:3603981c87b0c64987e7be857d89450f98792b01f49006a17dac758e11141dd7"},
+]
+
+[package.dependencies]
+pymonctl = ">=0.6"
+pyobjc = {version = ">=8.1", markers = "sys_platform == \"darwin\""}
+python-xlib = {version = ">=0.21", markers = "sys_platform == \"linux\""}
+pywin32 = {version = ">=302", markers = "sys_platform == \"win32\""}
+pywinbox = ">=0.6"
+typing-extensions = ">=4.4.0"
+
+[package.extras]
+dev = ["mypy (>=0.990)", "types-python-xlib (>=0.32)", "types-pywin32 (>=305.0.0.3)", "types-setuptools (>=65.5)"]
+
 [[package]]
 name = "pyyaml"
 version = "6.0.1"
@@ -3776,7 +6710,6 @@ files = [
     {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:69b023b2b4daa7548bcfbd4aa3da05b3a74b772db9e23b982788168117739938"},
     {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:81e0b275a9ecc9c0c0c07b4b90ba548307583c125f54d5b6946cfee6360c733d"},
     {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ba336e390cd8e4d1739f42dfe9bb83a3cc2e80f567d8805e11b46f4a943f5515"},
-    {file = "PyYAML-6.0.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:326c013efe8048858a6d312ddd31d56e468118ad4cdeda36c719bf5bb6192290"},
     {file = "PyYAML-6.0.1-cp310-cp310-win32.whl", hash = "sha256:bd4af7373a854424dabd882decdc5579653d7868b8fb26dc7d0e99f823aa5924"},
     {file = "PyYAML-6.0.1-cp310-cp310-win_amd64.whl", hash = "sha256:fd1592b3fdf65fff2ad0004b5e363300ef59ced41c2e6b3a99d4089fa8c5435d"},
     {file = "PyYAML-6.0.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:6965a7bc3cf88e5a1c3bd2e0b5c22f8d677dc88a455344035f03399034eb3007"},
@@ -3784,16 +6717,8 @@ files = [
     {file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:42f8152b8dbc4fe7d96729ec2b99c7097d656dc1213a3229ca5383f973a5ed6d"},
     {file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:062582fca9fabdd2c8b54a3ef1c978d786e0f6b3a1510e0ac93ef59e0ddae2bc"},
     {file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d2b04aac4d386b172d5b9692e2d2da8de7bfb6c387fa4f801fbf6fb2e6ba4673"},
-    {file = "PyYAML-6.0.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:e7d73685e87afe9f3b36c799222440d6cf362062f78be1013661b00c5c6f678b"},
     {file = "PyYAML-6.0.1-cp311-cp311-win32.whl", hash = "sha256:1635fd110e8d85d55237ab316b5b011de701ea0f29d07611174a1b42f1444741"},
     {file = "PyYAML-6.0.1-cp311-cp311-win_amd64.whl", hash = "sha256:bf07ee2fef7014951eeb99f56f39c9bb4af143d8aa3c21b1677805985307da34"},
-    {file = "PyYAML-6.0.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:855fb52b0dc35af121542a76b9a84f8d1cd886ea97c84703eaa6d88e37a2ad28"},
-    {file = "PyYAML-6.0.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:40df9b996c2b73138957fe23a16a4f0ba614f4c0efce1e9406a184b6d07fa3a9"},
-    {file = "PyYAML-6.0.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a08c6f0fe150303c1c6b71ebcd7213c2858041a7e01975da3a99aed1e7a378ef"},
-    {file = "PyYAML-6.0.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6c22bec3fbe2524cde73d7ada88f6566758a8f7227bfbf93a408a9d86bcc12a0"},
-    {file = "PyYAML-6.0.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8d4e9c88387b0f5c7d5f281e55304de64cf7f9c0021a3525bd3b1c542da3b0e4"},
-    {file = "PyYAML-6.0.1-cp312-cp312-win32.whl", hash = "sha256:d483d2cdf104e7c9fa60c544d92981f12ad66a457afae824d146093b8c294c54"},
-    {file = "PyYAML-6.0.1-cp312-cp312-win_amd64.whl", hash = "sha256:0d3304d8c0adc42be59c5f8a4d9e3d7379e6955ad754aa9d6ab7a398b59dd1df"},
     {file = "PyYAML-6.0.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:50550eb667afee136e9a77d6dc71ae76a44df8b3e51e41b77f6de2932bfe0f47"},
     {file = "PyYAML-6.0.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1fe35611261b29bd1de0070f0b2f47cb6ff71fa6595c077e42bd0c419fa27b98"},
     {file = "PyYAML-6.0.1-cp36-cp36m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:704219a11b772aea0d8ecd7058d0082713c3562b4e271b849ad7dc4a5c90c13c"},
@@ -3810,7 +6735,6 @@ files = [
     {file = "PyYAML-6.0.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a0cd17c15d3bb3fa06978b4e8958dcdc6e0174ccea823003a106c7d4d7899ac5"},
     {file = "PyYAML-6.0.1-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:28c119d996beec18c05208a8bd78cbe4007878c6dd15091efb73a30e90539696"},
     {file = "PyYAML-6.0.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7e07cbde391ba96ab58e532ff4803f79c4129397514e1413a7dc761ccd755735"},
-    {file = "PyYAML-6.0.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:49a183be227561de579b4a36efbb21b3eab9651dd81b1858589f796549873dd6"},
     {file = "PyYAML-6.0.1-cp38-cp38-win32.whl", hash = "sha256:184c5108a2aca3c5b3d3bf9395d50893a7ab82a38004c8f61c258d4428e80206"},
     {file = "PyYAML-6.0.1-cp38-cp38-win_amd64.whl", hash = "sha256:1e2722cc9fbb45d9b87631ac70924c11d3a401b2d7f410cc0e3bbf249f2dca62"},
     {file = "PyYAML-6.0.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:9eb6caa9a297fc2c2fb8862bc5370d0303ddba53ba97e71f08023b6cd73d16a8"},
@@ -3818,7 +6742,6 @@ files = [
     {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5773183b6446b2c99bb77e77595dd486303b4faab2b086e7b17bc6bef28865f6"},
     {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:b786eecbdf8499b9ca1d697215862083bd6d2a99965554781d0d8d1ad31e13a0"},
     {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bc1bf2925a1ecd43da378f4db9e4f799775d6367bdb94671027b73b393a7c42c"},
-    {file = "PyYAML-6.0.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:04ac92ad1925b2cff1db0cfebffb6ffc43457495c9b3c39d3fcae417d7125dc5"},
     {file = "PyYAML-6.0.1-cp39-cp39-win32.whl", hash = "sha256:faca3bdcf85b2fc05d06ff3fbc1f83e1391b3e724afa3feba7d13eeab355484c"},
     {file = "PyYAML-6.0.1-cp39-cp39-win_amd64.whl", hash = "sha256:510c9deebc5c0225e8c96813043e62b680ba2f9c50a08d3724c7f28a747d1486"},
     {file = "PyYAML-6.0.1.tar.gz", hash = "sha256:bfdf460b1736c775f2ba9f6a92bca30bc2095067b8a9d77876d1fad6cc3b4a43"},
@@ -3950,6 +6873,21 @@ urllib3 = ">=1.21.1,<3"
 socks = ["PySocks (>=1.5.6,!=1.5.7)"]
 use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
 
+[[package]]
+name = "rubicon-objc"
+version = "0.4.7"
+description = "A bridge between an Objective C runtime environment and Python."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "rubicon-objc-0.4.7.tar.gz", hash = "sha256:be937d864bd1229f860defabb89b40c53634eedc36448d89ad3c14eb3286e509"},
+    {file = "rubicon_objc-0.4.7-py3-none-any.whl", hash = "sha256:f37108e35d5da1a78ab3eed2d03b095934f5f618329a939e4bd2ada9894eff6e"},
+]
+
+[package.extras]
+dev = ["pre-commit (==3.5.0)", "pytest (==7.4.2)", "pytest-tldr (==0.2.5)", "setuptools-scm[toml] (==8.0.4)", "tox (==4.11.3)"]
+docs = ["furo (==2023.9.10)", "pyenchant (==3.2.2)", "sphinx (==7.1.2)", "sphinx (==7.2.6)", "sphinx-autobuild (==2021.3.14)", "sphinx-copybutton (==0.5.2)", "sphinx-tabs (==3.4.1)", "sphinxcontrib-spelling (==8.0.0)"]
+
 [[package]]
 name = "ruff"
 version = "0.1.14"
@@ -4853,4 +7791,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "1976ee7795d5ac5b257cac8dd83e408ae6e75c48d8c349e3e8e56519727cf52f"
+content-hash = "80980e271850e99a5b9005dda4b25a822a4d2b15ba152697c5fb692be4b3bb13"
diff --git a/pyproject.toml b/pyproject.toml
index 5641a55101..6930193242 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -136,8 +136,10 @@ parameterized = "^0.8"
 pprofile = "*"
 polyline = "*"
 pre-commit = "*"
+pyautogui = "*"
 pyopencl = "*"
 pygame = "*"
+pywinctl = "*"
 pyprof2calltree = "*"
 pytest = "*"
 pytest-cov = "*"
diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh
index 79110fc4fb..806515b0f9 100755
--- a/selfdrive/test/setup_xvfb.sh
+++ b/selfdrive/test/setup_xvfb.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Sets up a virtual display for running map renderer and simulator without an X11 display
 
diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore
index 94ba9a3a97..6c624b66d3 100644
--- a/selfdrive/ui/tests/.gitignore
+++ b/selfdrive/ui/tests/.gitignore
@@ -3,3 +3,4 @@ playsound
 test_sound
 test_translations
 ui_snapshot
+test_ui/report
\ No newline at end of file
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
new file mode 100644
index 0000000000..f943786350
--- /dev/null
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -0,0 +1,121 @@
+import pathlib
+import shutil
+import jinja2
+import matplotlib.pyplot as plt
+import numpy as np
+import os
+import pyautogui
+import pywinctl
+import time
+import unittest
+
+from parameterized import parameterized
+from cereal import messaging, log
+
+from cereal.messaging import SubMaster, PubMaster
+from openpilot.common.params import Params
+from openpilot.selfdrive.test.helpers import with_processes
+
+UI_DELAY = 0.5 # may be slower on CI?
+
+NetworkType = log.DeviceState.NetworkType
+NetworkStrength = log.DeviceState.NetworkStrength
+
+def setup_common(click, pm: PubMaster):
+  Params().put("DongleId", "123456789012345")
+  dat = messaging.new_message('deviceState')
+  dat.deviceState.networkType = NetworkType.cell4G
+  dat.deviceState.networkStrength = NetworkStrength.moderate
+
+  pm.send("deviceState", dat)
+
+  time.sleep(UI_DELAY)
+
+def setup_homescreen(click, pm: PubMaster):
+  setup_common(click, pm)
+
+def setup_settings_device(click, pm: PubMaster):
+  setup_common(click, pm)
+
+  click(100, 100)
+  time.sleep(UI_DELAY)
+
+def setup_settings_network(click, pm: PubMaster):
+  setup_common(click, pm)
+
+  setup_settings_device(click, pm)
+  click(300, 600)
+  time.sleep(UI_DELAY)
+
+CASES = {
+  "homescreen": setup_homescreen,
+  "settings_device": setup_settings_device,
+  "settings_network": setup_settings_network,
+}
+
+
+TEST_DIR = pathlib.Path(__file__).parent
+
+TEST_OUTPUT_DIR = TEST_DIR / "report"
+SCREENSHOTS_DIR = TEST_OUTPUT_DIR / "screenshots"
+
+
+class TestUI(unittest.TestCase):
+  @classmethod
+  def setUpClass(cls):
+    os.environ["SCALE"] = "1"
+
+  def setup(self):
+    self.sm = SubMaster(["uiDebug"])
+    self.pm = PubMaster(["deviceState"])
+    while not self.sm.valid["uiDebug"]:
+      self.sm.update(1)
+    time.sleep(UI_DELAY) # wait a bit more for the UI to finish rendering
+    self.ui = pywinctl.getWindowsWithTitle("ui")[0]
+
+  def screenshot(self):
+    im = pyautogui.screenshot(region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height))
+    self.assertEqual(im.width, 2160)
+    self.assertEqual(im.height, 1080)
+    img = np.array(im)
+    im.close()
+    return img
+
+  def click(self, x, y, *args, **kwargs):
+    pyautogui.click(self.ui.left + x, self.ui.top + y, *args, **kwargs)
+
+  @parameterized.expand(CASES.items())
+  @with_processes(["ui"])
+  def test_ui(self, name, setup_case):
+    self.setup()
+
+    setup_case(self.click, self.pm)
+
+    im = self.screenshot()
+    plt.imsave(SCREENSHOTS_DIR / f"{name}.png", im)
+
+
+def create_html_report():
+  OUTPUT_FILE = TEST_OUTPUT_DIR / "index.html"
+
+  with open(TEST_DIR / "template.html") as f:
+    template = jinja2.Template(f.read())
+
+  cases = {f.stem: (str(f.relative_to(TEST_OUTPUT_DIR)), "reference.png") for f in SCREENSHOTS_DIR.glob("*.png")}
+
+  with open(OUTPUT_FILE, "w") as f:
+    f.write(template.render(cases=cases))
+
+def create_screenshots():
+  if TEST_OUTPUT_DIR.exists():
+    shutil.rmtree(TEST_OUTPUT_DIR)
+
+  SCREENSHOTS_DIR.mkdir(parents=True)
+  unittest.main(exit=False)
+
+if __name__ == "__main__":
+  print("creating test screenshots")
+  create_screenshots()
+
+  print("creating html report")
+  create_html_report()
diff --git a/selfdrive/ui/tests/test_ui/template.html b/selfdrive/ui/tests/test_ui/template.html
new file mode 100644
index 0000000000..68df5879e6
--- /dev/null
+++ b/selfdrive/ui/tests/test_ui/template.html
@@ -0,0 +1,34 @@
+<html>
+
+<style>
+ .column {
+  float: left;
+  width: 50%;
+  padding: 5px;
+}
+
+.row::after {
+  content: "";
+  clear: both;
+  display: table;
+} 
+
+.image {
+  width: 100%;
+}
+
+</style>
+
+{% for name, (image, ref_image) in cases.items() %}
+
+<h1>{{name}}</h1>
+<div class="row">
+  <div class="column">
+    <img class="image" src="{{ image }}"  />
+  </div>
+</div>
+
+<br>
+
+{% endfor %}
+</html>
\ No newline at end of file