diff --git a/opendbc_repo/opendbc/safety/modes/gm.h b/opendbc_repo/opendbc/safety/modes/gm.h
index 39e2fb4a84..2affa1d706 100644
--- a/opendbc_repo/opendbc/safety/modes/gm.h
+++ b/opendbc_repo/opendbc/safety/modes/gm.h
@@ -316,6 +316,9 @@ static void gm_rx_hook(const CANPacket_t *msg) {
         uint32_t now_us = microsecond_timer_get();
         gm_update_periodic_phase(&gm_bd_state, now_us, GM_PADDLE_PERIOD_US, GM_PADDLE_LOCK_TOLERANCE_US);
         gm_bd_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
+        // Keep PRNDL2 locked to the same cadence as the paddle frame.
+        gm_update_periodic_phase(&gm_prndl2_state, now_us, GM_PADDLE_PERIOD_US, GM_PADDLE_LOCK_TOLERANCE_US);
+        gm_prndl2_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
         gm_try_send_periodic_spoof(now_us, 0xBDU, 7U, &gm_bd_state, GM_PADDLE_PERIOD_US);
         gm_try_send_periodic_spoof(now_us, 0x1F5U, 8U, &gm_prndl2_state, GM_PADDLE_PERIOD_US);
       }
@@ -325,6 +328,9 @@ static void gm_rx_hook(const CANPacket_t *msg) {
       uint32_t now_us = microsecond_timer_get();
       gm_update_periodic_phase(&gm_prndl2_state, now_us, GM_PADDLE_PERIOD_US, GM_PADDLE_LOCK_TOLERANCE_US);
       gm_prndl2_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
+      // Keep paddle cadence aligned if PRNDL2 is the only stable timing source.
+      gm_update_periodic_phase(&gm_bd_state, now_us, GM_PADDLE_PERIOD_US, GM_PADDLE_LOCK_TOLERANCE_US);
+      gm_bd_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
       gm_try_send_periodic_spoof(now_us, 0x1F5U, 8U, &gm_prndl2_state, GM_PADDLE_PERIOD_US);
       gm_try_send_periodic_spoof(now_us, 0xBDU, 7U, &gm_bd_state, GM_PADDLE_PERIOD_US);
     }
@@ -468,10 +474,8 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
           gm_bd_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
         }
       }
-      bool scheduler_ready = gm_periodic_scheduler_ready(&gm_bd_state, now_us, GM_PADDLE_STALE_US, GM_PADDLE_FEED_STALE_US);
-      if (scheduler_ready) {
-        tx = false;
-      }
+      // Feed-only stream: always block controller TX and let panda periodic TX own wire output.
+      tx = false;
     }
   }
 
@@ -493,10 +497,8 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
           gm_prndl2_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
         }
       }
-      bool scheduler_ready = gm_periodic_scheduler_ready(&gm_prndl2_state, now_us, GM_PADDLE_STALE_US, GM_PADDLE_FEED_STALE_US);
-      if (scheduler_ready) {
-        tx = false;
-      }
+      // Feed-only stream: always block controller TX and let panda periodic TX own wire output.
+      tx = false;
     }
   }
 
diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed
index 9fc5701806..1ff4c5f0b1 100644
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diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf
index 70bfe2e57c..383e9edac3 100755
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diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin
index 7059f4fc91..2e29598f62 100755
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diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf
index 5ce712e44c..58c89d2e10 100755
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diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin
index 3525569af0..91d39e8227 100755
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diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin
index e7929e1b02..bd25b64fd2 100755
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diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin
index 180c62734b..cca4b4e72d 100755
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diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin
index 180c62734b..cca4b4e72d 100755
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diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin
index f785c32aef..897cd358a7 100755
Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ
diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin
index e7929e1b02..bd25b64fd2 100755
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diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h
index 074a85a861..bee0858843 100644
--- a/panda/board/obj/gitversion.h
+++ b/panda/board/obj/gitversion.h
@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-6a639c86-DEBUG";
+const uint8_t gitversion[19] = "DEV-d3b1cc8e-DEBUG";
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
index 1219057952..e502e6447c 100644
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diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf
index 652b6b9603..875ebd125d 100755
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diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin
index 74d5a7bb17..1ca61eae1d 100755
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diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf
index 4758df03ec..51c7e3d2ad 100755
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diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed
index 659eaa9c4b..349ba55688 100644
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diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf
index a59f31b19b..f6cce25a4b 100755
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diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin
index 723750da10..b5cea4438d 100755
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diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf
index 08730e2781..eab4806685 100755
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diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed
index 936615ab79..f2fe4c8039 100644
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diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf
index 5078223472..af7c0e1281 100755
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diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed
index 6286fdede4..43a426878f 100644
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diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf
index e185e9d8ce..fa1ebce423 100755
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diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin
index 6b438ea54b..5b4a4b0b50 100755
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diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf
index 2460d22c6a..31a24cca7f 100755
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diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed
index c8c33bf9a1..0a533c6ca2 100644
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diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf
index 25dbad77db..5b0fc0e293 100755
Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ
diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin
index 44535f302e..d87c5f912a 100755
Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ
diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf
index 93371214b8..4ecd0b7a98 100755
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diff --git a/panda/board/obj/version b/panda/board/obj/version
index 76455bbe2f..06f24e71b2 100644
--- a/panda/board/obj/version
+++ b/panda/board/obj/version
@@ -1 +1 @@
-DEV-6a639c86-DEBUG
\ No newline at end of file
+DEV-d3b1cc8e-DEBUG
\ No newline at end of file