diff --git a/RELEASES.md b/RELEASES.md
index 36a4a89dd2..aa3a80d56d 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,10 +1,14 @@
-Version 0.9.6 (20XX-XX-XX)
+Version 0.9.6 (2024-02-XX)
 ========================
 * New driving model
   * Vision model trained on more data
   * Improved driving performance
+  * Directly outputs curvature for lateral control
+* New driver monitoring model
+  * Trained on larger dataset
 * AGNOS 9
 * comma body streaming and controls over WebRTC
+* Improved fuzzy fingerprinting for many makes and models
 * Hyundai Staria 2023 support thanks to sunnyhaibin!
 * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
 * Toyota RAV4 2023-24 support
diff --git a/launch_env.sh b/launch_env.sh
index c16f061912..d86ec63593 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="9.1"
+  export AGNOS_VERSION="9.3"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py
index aaee2e1c71..ad8ebe87cd 100644
--- a/selfdrive/car/subaru/fingerprints.py
+++ b/selfdrive/car/subaru/fingerprints.py
@@ -451,6 +451,7 @@ FW_VERSIONS = {
       b'\xa1  \x06\x02',
       b'\xa1  \x07\x00',
       b'\xa1  \x07\x02',
+      b'\xa1  \x07\x03',
       b'\xa1  \x08\x00',
       b'\xa1  \x08\x01',
       b'\xa1  \x08\x02',
@@ -460,6 +461,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x746, None): [
       b'\x1b\xc0\x10\x00',
       b'\x9b\xc0\x10\x00',
+      b'\x9b\xc0\x10\x02',
       b'\x9b\xc0 \x00',
     ],
     (Ecu.fwdCamera, 0x787, None): [
@@ -478,6 +480,7 @@ FW_VERSIONS = {
       b'\xde,\xa0@\x07',
       b'\xe2"`0\x07',
       b'\xe2"`p\x07',
+      b'\xe2"`q\x07',
       b'\xe3,\xa0@\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 9fb4b45686..d9d2f78cea 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -137,6 +137,15 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
   CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
 }
 
+LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023}
+GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023}
+PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
+HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
+
+# Cars that temporarily fault when steering angle rate is greater than some threshold.
+# Appears to be all torque-based cars produced around 2019 - present
+STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER}
+
 SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
 SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
@@ -171,6 +180,10 @@ FW_QUERY_CONFIG = FwQueryConfig(
       obd_multiplexing=False,
     ),
   ],
+  # We don't get the EPS from non-OBD queries on GEN2 cars. Note that we still attempt to match when it exists
+  non_essential_ecus={
+    Ecu.eps: list(GLOBAL_GEN2),
+  }
 )
 
 DBC = {
@@ -190,12 +203,3 @@ DBC = {
   CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
   CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
 }
-
-LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023}
-GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023}
-PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
-HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
-
-# Cars that temporarily fault when steering angle rate is greater than some threshold.
-# Appears to be all torque-based cars produced around 2019 - present
-STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER}
diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py
index c9c8390967..fabc2bbbd4 100755
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@@ -16,7 +16,6 @@ def is_valid_vin(vin: str):
 
 
 def get_vin(logcan, sendcan, buses, timeout=0.1, retry=3, debug=False):
-  addrs = [0x200] + list(range(0x7e0, 0x7e8)) + list(range(0x18DA00F1, 0x18DB00F1, 0x100))  # addrs to process/wait for
   for i in range(retry):
     for bus in buses:
       # TODO: can you send to 0x7df on bolt?
@@ -24,11 +23,10 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=3, debug=False):
                                                       (StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, STANDARD_VIN_ADDRS, 0x8),
                                                       (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE, STANDARD_VIN_ADDRS, 0x8)):
         try:
-          query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], response_offset=rx_offset,
-                                     debug=debug)
+          query = IsoTpParallelQuery(sendcan, logcan, bus, STANDARD_VIN_ADDRS, [request, ], [response, ], functional_addrs=FUNCTIONAL_ADDRS, debug=debug)
           results = query.get_data(timeout)
 
-          for addr in vin_addrs:
+          for addr in STANDARD_VIN_ADDRS:
             vin = results.get((addr, None))
             if vin is not None:
               # Ford pads with null bytes
@@ -39,12 +37,13 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=3, debug=False):
               if vin.startswith(b'\x11'):
                 vin = vin[1:18]
 
+              cloudlog.warning(f"got vin with {request=}")
               return get_rx_addr_for_tx_addr(addr), bus, vin.decode()
-
-          cloudlog.error(f"vin query retry ({i+1}) ...")
         except Exception:
           cloudlog.exception("VIN query exception")
 
+    cloudlog.error(f"vin query retry ({i+1}) ...")
+
   return -1, -1, VIN_UNKNOWN
 
 
diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current
index 065bc7d489..ed495df3a8 100644
--- a/selfdrive/modeld/models/dmonitoring_model.current
+++ b/selfdrive/modeld/models/dmonitoring_model.current
@@ -1,2 +1,2 @@
-d1124586-761e-4e18-a771-6b5ef35124fe
-6fec774f513a19e44d4316e46ad38277197d45ea
\ No newline at end of file
+60abed33-9f25-4e34-9937-aaf918d41dfc
+50887963963a3022e85ac0c94b0801aef955a608
\ No newline at end of file
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
index f8bf94c061..3e94e7d36a 100644
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:517262fa9f1ad3cc8049ad3722903f40356d87ea423ee5cf011226fb6cfc3d5b
-size 16072278
+oid sha256:9a667cbde6eca86c5b653f57853e3d33b9a875bceb557e193d1bef78c2df9c37
+size 16132779
diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc
index e4e6fb3347..041949ad94 100644
--- a/selfdrive/modeld/models/dmonitoring_model_q.dlc
+++ b/selfdrive/modeld/models/dmonitoring_model_q.dlc
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:64b94659226a1e3c6594a13c2e5d029465d5803a5c3005121ec7217acdbbef20
-size 4443461
+oid sha256:f5729c457dd47f6c35e2a818eae14113526fd0bfac6417a809cbaf9d38697d9b
+size 4488413
diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py
index ab82da301f..2279002f35 100644
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -29,10 +29,10 @@ class DRIVER_MONITOR_SETTINGS():
     self._FACE_THRESHOLD = 0.7
     self._EYE_THRESHOLD = 0.65
     self._SG_THRESHOLD = 0.9
-    self._BLINK_THRESHOLD = 0.895
+    self._BLINK_THRESHOLD = 0.865
 
-    self._EE_THRESH11 = 0.275
-    self._EE_THRESH12 = 5.5
+    self._EE_THRESH11 = 0.241
+    self._EE_THRESH12 = 4.7
     self._EE_MAX_OFFSET1 = 0.06
     self._EE_MIN_OFFSET1 = 0.025
     self._EE_THRESH21 = 0.01
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 2e78b1e608..9ec78e1401 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-4b983afeba5ec953f0d37e7b3499bde5209728eb
+4a01784a6b83a49301a68adf52bb7dcfcb7173b5
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 3fe3942305..a87f3d278d 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,9 +1,9 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-fd30f580375279ff4605034ec13711890a2b227205571a087cdc5226a2710275.img.xz",
-    "hash": "fd30f580375279ff4605034ec13711890a2b227205571a087cdc5226a2710275",
-    "hash_raw": "fd30f580375279ff4605034ec13711890a2b227205571a087cdc5226a2710275",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f.img.xz",
+    "hash": "1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f",
+    "hash_raw": "1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f",
     "size": 15636480,
     "sparse": false,
     "full_check": true,
@@ -11,9 +11,9 @@
   },
   {
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-bb234733816781b3d09266f91f741436e9bf17e1a7caf468cf7d09ee788cef4a.img.xz",
-    "hash": "bb234733816781b3d09266f91f741436e9bf17e1a7caf468cf7d09ee788cef4a",
-    "hash_raw": "bb234733816781b3d09266f91f741436e9bf17e1a7caf468cf7d09ee788cef4a",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39.img.xz",
+    "hash": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39",
+    "hash_raw": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39",
     "size": 274432,
     "sparse": false,
     "full_check": true,
@@ -61,17 +61,17 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-e1952bb363688c0f5c0646e39bcdfb45be25b5e2baed37d1ba7801aa1a3a9c98.img.xz",
-    "hash": "3b6cdf9bd881a5e90b21dd02c6faa923b415e32ecae9bfdc96753d4208fb82fe",
-    "hash_raw": "e1952bb363688c0f5c0646e39bcdfb45be25b5e2baed37d1ba7801aa1a3a9c98",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082.img.xz",
+    "hash": "5dc1718e21c49e4fa910fbb3b2321381f497b38335a0cf3ca923157d589abe89",
+    "hash_raw": "38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082",
     "size": 10737418240,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
     "alt": {
-      "hash": "2fb81e58f4bc6c4e5e71c8e7ac7553f85082c430627d7a5cc54a6bbc82862500",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-e1952bb363688c0f5c0646e39bcdfb45be25b5e2baed37d1ba7801aa1a3a9c98.img.xz",
-      "size": 4543090376
+      "hash": "1809e36d8e376e0a0c8348e3f684aba4100fe0382042c051efd0e946af1ce696",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082.img.xz",
+      "size": 4077270244
     }
   }
 ]
\ No newline at end of file
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 192ee8e6f2..c53b9c4c79 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -275,9 +275,11 @@ are uploaded or auto fallback to qlogs with '/a' selector at the end of the rout
   def from_bytes(dat):
     return _LogFileReader("", dat=dat)
 
+  def filter(self, msg_type: str):
+    return (getattr(m, m.which()) for m in filter(lambda m: m.which() == msg_type, self))
+
   def first(self, msg_type: str):
-    m = next(filter(lambda m: m.which() == msg_type, self), None)
-    return None if m is None else getattr(m, msg_type)
+    return next(self.filter(msg_type), None)
 
 
 if __name__ == "__main__":
diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py
index d8a9c14088..676d2bbadf 100644
--- a/tools/lib/tests/test_logreader.py
+++ b/tools/lib/tests/test_logreader.py
@@ -118,6 +118,12 @@ class TestLogReader(unittest.TestCase):
 
     self.assertEqual(qlog_len1, qlog_len2)
 
+  @pytest.mark.slow
+  def test_helpers(self):
+    lr = LogReader(f"{TEST_ROUTE}/0/q")
+    self.assertEqual(lr.first("carParams").carFingerprint, "SUBARU OUTBACK 6TH GEN")
+    self.assertTrue(0 < len(list(lr.filter("carParams"))) < len(list(lr)))
+
 
 if __name__ == "__main__":
   unittest.main()