diff --git a/launch_env.sh b/launch_env.sh
index b474bc2a7..8799bd88e 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -21,7 +21,7 @@ fi
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.8.28"
+  export AGNOS_VERSION="19.6.1"
 fi
 
 if [ -z "$AGNOS_ACCEPTED_VERSIONS" ]; then
diff --git a/panda/board/obj/version b/panda/board/obj/version
index 2b0ed1aeb..dd978cab4 100644
--- a/panda/board/obj/version
+++ b/panda/board/obj/version
@@ -1 +1 @@
-DEV-230ed14e-DEBUG
\ No newline at end of file
+DEV-230ed14e-DEBUG
diff --git a/release/pack.py b/release/pack.py
index b20a3ea26..9e303a98e 100755
--- a/release/pack.py
+++ b/release/pack.py
@@ -21,6 +21,10 @@ def copy(src, dest):
     shutil.copy2(src, dest, follow_symlinks=True)
 
 
+def ignore_broken_symlinks(src, names):
+  return [name for name in names if Path(src, name).is_symlink() and not Path(src, name).exists()]
+
+
 if __name__ == '__main__':
   parser = ArgumentParser(prog='pack.py', description="package script into a portable executable", epilog='comma.ai')
   parser.add_argument('-e', '--entrypoint', help="function to call in module, default is 'main'", default='main')
@@ -43,7 +47,7 @@ if __name__ == '__main__':
 
   with tempfile.TemporaryDirectory() as tmp:
     for directory in DIRS:
-      shutil.copytree(BASEDIR + '/' + directory, tmp + '/' + directory, symlinks=False, ignore_dangling_symlinks=True,
+      shutil.copytree(BASEDIR + '/' + directory, tmp + '/' + directory, symlinks=False, ignore=ignore_broken_symlinks,
                       dirs_exist_ok=True, copy_function=copy)
     entry = f'{args.module}:{args.entrypoint}'
     zipapp.create_archive(tmp, target=args.output, interpreter=INTERPRETER, main=entry)
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 3b4d4be82..f82ef6b3c 100644
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -384,8 +384,8 @@ class Controls:
       self.ecu_disable_failed = self.params.get_bool("EcuDisableFailed")
       self.ecu_disable_failed_checked = True
       if self.ecu_disable_failed and self.CP.carFingerprint == NISSAN_CAR.NISSAN_LEAF:
-        self.CP.openpilotLongitudinalControl = False
-        self.CP.pcmCruise = True
+        self.CP = messaging.log_from_bytes(self.params.get("CarParams"), car.CarParams)
+        self.FPCP = messaging.log_from_bytes(self.params.get("StarPilotCarParams"), custom.StarPilotCarParams)
 
   def state_control(self):
     CS = self.sm['carState']
diff --git a/selfdrive/controls/tests/test_nissan_leaf_fallback.py b/selfdrive/controls/tests/test_nissan_leaf_fallback.py
new file mode 100644
index 000000000..e27f16f9f
--- /dev/null
+++ b/selfdrive/controls/tests/test_nissan_leaf_fallback.py
@@ -0,0 +1,56 @@
+import cereal.messaging as messaging
+
+from cereal import car, custom
+from opendbc.car.nissan.values import CAR as NISSAN_CAR
+
+from openpilot.selfdrive.car.cruise_state import should_cancel_stock_cruise
+from openpilot.selfdrive.controls.controlsd import Controls
+
+
+class FakeFallbackParams:
+  def __init__(self, fallback_cp, fallback_fpcp):
+    self.values = {
+      "CarParams": fallback_cp.to_bytes(),
+      "StarPilotCarParams": fallback_fpcp.to_bytes(),
+    }
+
+  def get_bool(self, key):
+    return key in ("ControlsReady", "EcuDisableFailed")
+
+  def get(self, key):
+    return self.values[key]
+
+
+def test_leaf_ecu_disable_fallback_reloads_read_only_car_params():
+  initial_cp = car.CarParams.new_message()
+  initial_cp.carFingerprint = NISSAN_CAR.NISSAN_LEAF
+  initial_cp.openpilotLongitudinalControl = True
+  initial_cp.pcmCruise = False
+  initial_fpcp = custom.StarPilotCarParams.new_message()
+  initial_fpcp.safetyConfigs = [custom.StarPilotCarParams.SafetyConfig.new_message(safetyParam=2)]
+
+  fallback_cp = car.CarParams.new_message()
+  fallback_cp.carFingerprint = NISSAN_CAR.NISSAN_LEAF
+  fallback_cp.openpilotLongitudinalControl = False
+  fallback_cp.pcmCruise = True
+  fallback_fpcp = custom.StarPilotCarParams.new_message()
+  fallback_fpcp.safetyConfigs = [custom.StarPilotCarParams.SafetyConfig.new_message(safetyParam=0)]
+
+  initial_cp_reader = messaging.log_from_bytes(initial_cp.to_bytes(), car.CarParams)
+  controls = Controls.__new__(Controls)
+  controls.CP = initial_cp_reader
+  controls.FPCP = messaging.log_from_bytes(initial_fpcp.to_bytes(), custom.StarPilotCarParams)
+  controls.params = FakeFallbackParams(fallback_cp, fallback_fpcp)
+  controls.ecu_disable_failed = False
+  controls.ecu_disable_failed_checked = False
+
+  controls.update_ecu_disable_failed()
+
+  assert controls.ecu_disable_failed
+  assert controls.ecu_disable_failed_checked
+  assert not controls.CP.openpilotLongitudinalControl
+  assert controls.CP.pcmCruise
+  assert controls.FPCP.safetyConfigs[0].safetyParam == 0
+  assert initial_cp_reader.openpilotLongitudinalControl
+  assert not initial_cp_reader.pcmCruise
+  assert not should_cancel_stock_cruise(controls.CP, cruise_enabled=True, controls_enabled=True)
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index c8b48609b..12474c1d8 100644
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -297,11 +297,9 @@ class SelfdriveD:
       self.ecu_disable_failed = self.params.get_bool("EcuDisableFailed")
       self.ecu_disable_failed_checked = True
       if self.ecu_disable_failed:
-        fallback_cp = messaging.log_from_bytes(self.params.get("CarParams"), car.CarParams)
-        fallback_fpcp = messaging.log_from_bytes(self.params.get("StarPilotCarParams"), custom.StarPilotCarParams)
-        self.CP.openpilotLongitudinalControl = fallback_cp.openpilotLongitudinalControl
-        self.CP.pcmCruise = fallback_cp.pcmCruise
-        self.FPCP = fallback_fpcp
+        self.CP = messaging.log_from_bytes(self.params.get("CarParams"), car.CarParams)
+        self.FPCP = messaging.log_from_bytes(self.params.get("StarPilotCarParams"), custom.StarPilotCarParams)
+        self.car_events = CarSpecificEvents(self.CP)
 
   def clear_longitudinal_excessive_actuation_alert(self):
     alert = self.params.get("Offroad_ExcessiveActuation")
diff --git a/selfdrive/selfdrived/tests/test_selfdrived.py b/selfdrive/selfdrived/tests/test_selfdrived.py
index 965bd5553..09fdb2eb8 100644
--- a/selfdrive/selfdrived/tests/test_selfdrived.py
+++ b/selfdrive/selfdrived/tests/test_selfdrived.py
@@ -1,4 +1,6 @@
-from cereal import car, custom
+import cereal.messaging as messaging
+
+from cereal import car, custom, log
 from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR
 from opendbc.car.nissan.values import CAR as NISSAN_CAR
 
@@ -63,8 +65,9 @@ def test_ecu_disable_fallback_synchronizes_behavior_and_safety_params():
   fallback_fpcp.safetyConfigs = [custom.StarPilotCarParams.SafetyConfig.new_message(safetyParam=0)]
 
   selfdrived = SelfdriveD.__new__(SelfdriveD)
-  selfdrived.CP = initial_cp
-  selfdrived.FPCP = initial_fpcp
+  initial_cp_reader = messaging.log_from_bytes(initial_cp.to_bytes(), car.CarParams)
+  selfdrived.CP = initial_cp_reader
+  selfdrived.FPCP = messaging.log_from_bytes(initial_fpcp.to_bytes(), custom.StarPilotCarParams)
   selfdrived.params = FakeFallbackParams(True, True, fallback_cp, fallback_fpcp)
   selfdrived.ecu_disable_failed = False
   selfdrived.ecu_disable_failed_checked = False
@@ -76,6 +79,16 @@ def test_ecu_disable_fallback_synchronizes_behavior_and_safety_params():
   assert not selfdrived.CP.openpilotLongitudinalControl
   assert selfdrived.CP.pcmCruise
   assert selfdrived.FPCP.safetyConfigs[0].safetyParam == 0
+  assert initial_cp_reader.openpilotLongitudinalControl
+  assert not initial_cp_reader.pcmCruise
+
+  CS = car.CarState.new_message()
+  CS.gearShifter = car.CarState.GearShifter.drive
+  CS.cruiseState.available = True
+  CS.cruiseState.enabled = True
+  CS_prev = car.CarState.new_message()
+  events = selfdrived.car_events.update(CS, CS_prev, car.CarControl.new_message())
+  assert log.OnroadEvent.EventName.pcmEnable in events.names
 
 
 def test_ecu_disable_fallback_does_not_change_other_cars():
@@ -93,8 +106,10 @@ def test_ecu_disable_fallback_does_not_change_other_cars():
   fallback_fpcp.safetyConfigs = [custom.StarPilotCarParams.SafetyConfig.new_message(safetyParam=0)]
 
   selfdrived = SelfdriveD.__new__(SelfdriveD)
-  selfdrived.CP = initial_cp
-  selfdrived.FPCP = initial_fpcp
+  initial_cp_reader = messaging.log_from_bytes(initial_cp.to_bytes(), car.CarParams)
+  initial_fpcp_reader = messaging.log_from_bytes(initial_fpcp.to_bytes(), custom.StarPilotCarParams)
+  selfdrived.CP = initial_cp_reader
+  selfdrived.FPCP = initial_fpcp_reader
   selfdrived.params = FakeFallbackParams(True, True, fallback_cp, fallback_fpcp)
   selfdrived.ecu_disable_failed = False
   selfdrived.ecu_disable_failed_checked = False
@@ -105,3 +120,5 @@ def test_ecu_disable_fallback_does_not_change_other_cars():
   assert selfdrived.CP.openpilotLongitudinalControl
   assert not selfdrived.CP.pcmCruise
   assert selfdrived.FPCP.safetyConfigs[0].safetyParam == 4
+  assert selfdrived.CP is initial_cp_reader
+  assert selfdrived.FPCP is initial_fpcp_reader
diff --git a/system/camerad/camerad b/system/camerad/camerad
index b9639caef..442d0b999 100755
Binary files a/system/camerad/camerad and b/system/camerad/camerad differ
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index c2b113393..1f4e34ee9 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -24,6 +24,8 @@
 #include "common/clutil.h"
 #include "common/params.h"
 #include "common/swaglog.h"
+#include "common/timing.h"
+#include "common/watchdog.h"
 
 
 ExitHandler do_exit;
@@ -285,6 +287,7 @@ void camerad_thread() {
   // poll events
   LOG("-- Dequeueing Video events");
   while (!do_exit) {
+    watchdog_kick(nanos_since_boot());
     struct pollfd fds[1] = {{.fd = m.video0_fd, .events = POLLPRI}};
     int ret = poll(fds, std::size(fds), 1000);
     if (ret < 0) {
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 3b5888b73..babb1a085 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -276,7 +276,9 @@ int SpectraCamera::clear_req_queue() {
       .flush_type = CAM_FLUSH_TYPE_ALL,
     };
     int err = do_cam_control(m->icp_fd, CAM_FLUSH_REQ, &cmd, sizeof(cmd));
-    assert(err == 0);
+    if (err != 0) {
+      LOGE("failed to flush BPS requests: %d", err);
+    }
     LOGD("flushed bps: %d", err);
   }
 
@@ -1012,7 +1014,7 @@ void SpectraCamera::enqueue_frame(uint64_t request_id) {
   }
 
   if (icp_dev_handle > 0) {
-    ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
+    ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
     if (ret != 0) {
       LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
     } else {
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 3c46f277d..759eb169d 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -56,23 +56,24 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz",
-    "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
-    "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
-    "size": 18515968,
+    "url": "https://www.dropbox.com/scl/fi/9l9io42qfx2shr9er5jqx/boot9.img.xz?rlkey=lbtxz862kxbvn3jn98ejitj8p&st=vr35tgz7&dl=1",
+    "hash": "ab2eba0f96b2f48efa376330c3eb509158361adf3ad9c20f269ec92457aa841f",
+    "hash_raw": "ab2eba0f96b2f48efa376330c3eb509158361adf3ad9c20f269ec92457aa841f",
+    "size": 48343040,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0"
+    "ondevice_hash": "c12865a879012d6ad3da538c2ae8aff7d58c308c303fc5d8af309cb1707bc036"
   },
   {
     "name": "system",
-    "url": "https://www.dropbox.com/scl/fi/8fd3w7hbhsyq146kqqdab/system8.img.xz?rlkey=5zt15mtuehdlj8ncj6pwn7zjy&st=j6tr4d47&dl=1",
-    "hash": "4c01245932068aedfceb41cb1aab1f7f044f6659aa2fe2de558f99e2d3aa5793",
-    "hash_raw": "4c01245932068aedfceb41cb1aab1f7f044f6659aa2fe2de558f99e2d3aa5793",
-    "size": 5368709120,
+    "url": "https://www.dropbox.com/scl/fi/3gtw78kxn6xs6dil10fmc/system9.img.xz?rlkey=uwj6tss7lw3j1di09xvtdugcy&st=ghnm9teb&dl=1",
+    "hash": "b6f1e5ade7baa0078990e881b9f392b6a29164347df8f54be20c81e9c9dbabfe",
+    "hash_raw": "b6f1e5ade7baa0078990e881b9f392b6a29164347df8f54be20c81e9c9dbabfe",
+    "size": 4718592000,
     "sparse": false,
     "full_check": false,
-    "has_ab": true
+    "has_ab": true,
+    "ondevice_hash": "b6f1e5ade7baa0078990e881b9f392b6a29164347df8f54be20c81e9c9dbabfe"
   }
 ]
diff --git a/system/manager/process.py b/system/manager/process.py
index 516d34159..434c917b0 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -522,6 +522,14 @@ class ManagerProcess(ABC):
     if dt > self.watchdog_max_dt and ENABLE_WATCHDOG:
       self.capture_watchdog_debug_dump_async(f"watchdog_timeout started={started}", dt)
       cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})")
+      if isinstance(self, NativeProcess):
+        sentry.capture_message(
+          f"Native process watchdog timeout: {self.name}",
+          level="fatal",
+          tags={"process": self.name, "process_kind": "native", "failure": "watchdog"},
+          extras={"pid": self.proc.pid, "watchdog_dt": dt, "started": started},
+          flush_timeout=0.5,
+        )
       self.restart()
 
   def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals = None) -> int | None:
@@ -715,7 +723,16 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None
   for p in procs:
     # Reap crashed processes so they can be cleanly restarted below.
     if p.proc is not None and p.proc.exitcode is not None and not p.shutting_down:
-      cloudlog.error(f"Process {p.name} crashed with exitcode {p.proc.exitcode}, restarting")
+      exitcode = p.proc.exitcode
+      cloudlog.error(f"Process {p.name} crashed with exitcode {exitcode}, restarting")
+      if isinstance(p, NativeProcess):
+        sentry.capture_message(
+          f"Native process crashed: {p.name}",
+          level="fatal",
+          tags={"process": p.name, "process_kind": "native"},
+          extras={"exitcode": exitcode, "started": started},
+          flush_timeout=0.5,
+        )
       p.stop(retry=False)
 
     if p.enabled and p.name not in not_run and p.should_run(started, params, CP, starpilot_toggles):
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 2ae8bf309..ce878a925 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -12,6 +12,7 @@ from openpilot.system.manager.process import PythonProcess, NativeProcess, Daemo
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
 UI_WATCHDOG_MAX_DT = int(os.getenv("UI_WATCHDOG_MAX_DT", "10"))
+CAMERAD_WATCHDOG_MAX_DT = int(os.getenv("CAMERAD_WATCHDOG_MAX_DT", "5"))
 
 def driverview(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
   return started or params.get_bool("IsDriverViewEnabled")
@@ -123,7 +124,8 @@ procs = [
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], or_(and_(livestream, not_(iscar)), notcar)),
   PythonProcess("logmessaged", "system.logmessaged", always_run),
 
-  NativeProcess("camerad", "system/camerad", ["./camerad"], or_(camera_run, livestream), enabled=not WEBCAM),
+  NativeProcess("camerad", "system/camerad", ["./camerad"], or_(camera_run, livestream), enabled=not WEBCAM,
+                watchdog_max_dt=CAMERAD_WATCHDOG_MAX_DT),
   PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
   PythonProcess("proclogd", "system.proclogd", and_(allow_logging, only_onroad), enabled=platform.system() != "Darwin"),
   PythonProcess("journald", "system.journald", and_(allow_logging, only_onroad), platform.system() != "Darwin"),
diff --git a/tools/agnos/flash_local_agnos_pair_to_comma.sh b/tools/agnos/flash_local_agnos_pair_to_comma.sh
new file mode 100755
index 000000000..a615928bd
--- /dev/null
+++ b/tools/agnos/flash_local_agnos_pair_to_comma.sh
@@ -0,0 +1,159 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+HOST="${1:-comma@192.168.3.110}"
+MANIFEST="${2:?usage: $0 [host] manifest.json boot.img.xz system.img.xz}"
+BOOT_IMAGE="${3:?missing boot image}"
+SYSTEM_IMAGE="${4:?missing system image}"
+EXPECTED_VERSION="${EXPECTED_VERSION:-19.6.1}"
+
+SCRIPT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
+REPO_ROOT="$(cd -- "${SCRIPT_DIR}/../.." && pwd)"
+
+SSH_OPTS=(-o BatchMode=yes -o StrictHostKeyChecking=no -o UserKnownHostsFile=/dev/null)
+if [[ -n "${SSH_KEY:-}" ]]; then
+  SSH_OPTS=(-i "$SSH_KEY" "${SSH_OPTS[@]}")
+fi
+
+for path in "$MANIFEST" "$BOOT_IMAGE" "$SYSTEM_IMAGE"; do
+  if [[ ! -f "$path" ]]; then
+    echo "missing file: $path" >&2
+    exit 1
+  fi
+done
+
+SESSION="local_agnos_pair_flash"
+REMOTE_DIR="/data/local_agnos_pair_flash"
+REMOTE_MANIFEST="${REMOTE_DIR}/agnos-local.json"
+REMOTE_RUNNER="${REMOTE_DIR}/run_flash.sh"
+REMOTE_AGNOS="${REMOTE_DIR}/agnos.py"
+PORT="8989"
+
+LOCAL_DIR="$(mktemp -d "${TMPDIR:-/tmp}/agnos-pair.XXXXXX")"
+trap 'rm -rf "$LOCAL_DIR"' EXIT
+LOCAL_MANIFEST="${LOCAL_DIR}/agnos-local.json"
+LOCAL_AGNOS="${LOCAL_DIR}/agnos.py"
+
+python3 - "$MANIFEST" "$LOCAL_MANIFEST" "$PORT" "$BOOT_IMAGE" "$SYSTEM_IMAGE" <<'PY'
+import json
+import sys
+from pathlib import Path
+
+source, destination, port, boot_image, system_image = sys.argv[1:]
+images = {"boot": Path(boot_image), "system": Path(system_image)}
+manifest = json.loads(Path(source).read_text(encoding="utf-8"))
+
+if len(manifest) != len(images) or {entry.get("name") for entry in manifest} != set(images):
+  raise SystemExit("local test manifest must contain exactly boot and system entries")
+
+for entry in manifest:
+  name = entry["name"]
+  if not entry.get("has_ab"):
+    raise SystemExit(f"{name} must be an A/B partition")
+  if entry.get("sparse"):
+    raise SystemExit(f"{name} must use a raw, non-sparse payload for local flashing")
+  entry["url"] = f"http://127.0.0.1:{port}/{images[name].name}"
+  entry.pop("alt", None)
+  entry.pop("casync_caibx", None)
+  entry.pop("casync_store", None)
+
+Path(destination).write_text(json.dumps(manifest, indent=2) + "\n", encoding="utf-8")
+PY
+
+python3 - "$REPO_ROOT/system/hardware/tici/agnos.py" "$LOCAL_AGNOS" <<'PY'
+import sys
+from pathlib import Path
+
+src, dst = map(Path, sys.argv[1:])
+data = src.read_text(encoding="utf-8")
+needle = "import openpilot.system.updated.casync.casync as casync"
+if data.count(needle) != 1:
+  raise SystemExit("could not isolate the casync dependency in agnos.py")
+data = data.replace(
+  needle,
+  '''class _UnusedCasync:
+  ChunkReader = object
+  ChunkDict = object
+
+  def __getattr__(self, name):
+    raise RuntimeError("casync support is unavailable in local AGNOS flash runner")
+casync = _UnusedCasync()''',
+)
+dst.write_text(data, encoding="utf-8")
+PY
+
+ssh "${SSH_OPTS[@]}" "$HOST" "mkdir -p '$REMOTE_DIR'"
+scp "${SSH_OPTS[@]}" "$LOCAL_MANIFEST" "$HOST:$REMOTE_MANIFEST"
+scp "${SSH_OPTS[@]}" "$LOCAL_AGNOS" "$HOST:$REMOTE_AGNOS"
+scp "${SSH_OPTS[@]}" "$BOOT_IMAGE" "$SYSTEM_IMAGE" "$HOST:$REMOTE_DIR/"
+
+ssh "${SSH_OPTS[@]}" "$HOST" "cat > '$REMOTE_RUNNER' && chmod +x '$REMOTE_RUNNER'" <<'REMOTE_RUNNER'
+#!/usr/bin/env bash
+set -euo pipefail
+
+: "${REMOTE_DIR:?}"
+: "${REMOTE_MANIFEST:?}"
+: "${REMOTE_AGNOS:?}"
+: "${PORT:?}"
+: "${EXPECTED_VERSION:?}"
+
+exec > >(tee -a "${REMOTE_DIR}/flash.log") 2>&1
+
+echo "[STEP] Local AGNOS boot+system flash"
+echo "[CHECK] Device: $(tr -d '\0' </sys/firmware/devicetree/base/model)"
+echo "[CHECK] Installed AGNOS: $(cat /VERSION 2>/dev/null || echo unknown)"
+echo "[CHECK] Target AGNOS: ${EXPECTED_VERSION}"
+echo "[CHECK] Active slot before flash: $(abctl --boot_slot)"
+df -h /data
+
+if [[ -x /usr/local/venv/bin/python3 ]]; then
+  PYTHON_BIN="/usr/local/venv/bin/python3"
+else
+  PYTHON_BIN="python3"
+fi
+
+pkill -f "http.server ${PORT}.*${REMOTE_DIR}" >/dev/null 2>&1 || true
+"$PYTHON_BIN" -m http.server "$PORT" --bind 127.0.0.1 --directory "$REMOTE_DIR" >"${REMOTE_DIR}/http.log" 2>&1 &
+http_pid="$!"
+trap 'kill "$http_pid" >/dev/null 2>&1 || true' EXIT
+
+http_ready=0
+for _ in $(seq 1 20); do
+  if "$PYTHON_BIN" - "$REMOTE_MANIFEST" <<'PY'
+import json
+import sys
+import urllib.request
+from pathlib import Path
+
+for entry in json.loads(Path(sys.argv[1]).read_text(encoding="utf-8")):
+  with urllib.request.urlopen(entry["url"], timeout=2) as response:
+    response.read(1)
+PY
+  then
+    http_ready=1
+    break
+  fi
+  sleep 0.25
+done
+
+if [[ "$http_ready" != "1" ]]; then
+  echo "[ERROR] Local image HTTP server did not become ready" >&2
+  cat "${REMOTE_DIR}/http.log" >&2 || true
+  exit 1
+fi
+
+echo "[FLASH] Writing boot and system to the inactive AGNOS slot"
+PYTHONPATH="$(dirname "$REMOTE_AGNOS")" "$PYTHON_BIN" "$REMOTE_AGNOS" --swap "$REMOTE_MANIFEST"
+
+echo "[DONE] Both partitions verified and the inactive slot was selected"
+echo "[REBOOT] Rebooting now"
+sudo reboot
+REMOTE_RUNNER
+
+ssh "${SSH_OPTS[@]}" "$HOST" "tmux kill-session -t '$SESSION' >/dev/null 2>&1 || true"
+ssh "${SSH_OPTS[@]}" "$HOST" "rm -f '$REMOTE_DIR/flash.log' '$REMOTE_DIR/http.log'"
+ssh "${SSH_OPTS[@]}" "$HOST" \
+  "tmux new-session -d -s '$SESSION' \"REMOTE_DIR='$REMOTE_DIR' REMOTE_MANIFEST='$REMOTE_MANIFEST' REMOTE_AGNOS='$REMOTE_AGNOS' PORT='$PORT' EXPECTED_VERSION='$EXPECTED_VERSION' bash '$REMOTE_RUNNER'\""
+
+echo "Started remote tmux session: $SESSION"
+echo "Watch it with: ssh $HOST 'tmux attach -t $SESSION'"
diff --git a/tools/agnos/patch_system_reset_image.py b/tools/agnos/patch_system_reset_image.py
index 1aab299df..9b9f1c595 100644
--- a/tools/agnos/patch_system_reset_image.py
+++ b/tools/agnos/patch_system_reset_image.py
@@ -263,6 +263,9 @@ def patch_setup_branding_script(original: bytes, entry_name: str) -> bytes:
 
   if entry_name == MICI_SETUP_ENTRY_IN_SETUP_ZIPAPP:
     text = text.replace('LargerSlider("slide to use\\nopenpilot"', 'LargerSlider("slide to use\\nstarpilot"')
+    text = text.replace('LargerSlider("slide to install\\nopenpilot"', 'LargerSlider("slide to install\\nstarpilot"')
+    text = text.replace('BigPillButton("install openpilot"', 'BigPillButton("install StarPilot"')
+    text = text.replace('set_text("install openpilot"', 'set_text("install StarPilot"')
   elif entry_name == TICI_SETUP_ENTRY_IN_SETUP_ZIPAPP:
     text = text.replace('ButtonRadio("openpilot"', 'ButtonRadio("StarPilot"')
 
@@ -810,6 +813,9 @@ def setup_zipapp_has_expected_content(data: bytes) -> bool:
           return False
         if b"installer.comma.ai/firestar5683/StarPilot" not in setup_script:
           return False
+      mici_setup = z.read(MICI_SETUP_ENTRY_IN_SETUP_ZIPAPP)
+      if b"install openpilot" in mici_setup or b"slide to install\\nopenpilot" in mici_setup:
+        return False
     except KeyError:
       return False
   return True
diff --git a/tools/agnos/test_patch_system_reset_image.py b/tools/agnos/test_patch_system_reset_image.py
index 3bb857f62..c2742978a 100644
--- a/tools/agnos/test_patch_system_reset_image.py
+++ b/tools/agnos/test_patch_system_reset_image.py
@@ -10,6 +10,7 @@ from tools.agnos.patch_system_reset_image import (
   find_default_reference_manifest,
   format_debugfs_mode,
   patch_comma_sh_display_wait,
+  patch_setup_branding_script,
   sha256_zstd_payload,
 )
 
@@ -50,6 +51,22 @@ def test_patch_comma_sh_display_wait_rejects_unknown_layout():
     patch_comma_sh_display_wait(b"#!/usr/bin/env bash\nexec /data/continue.sh\n")
 
 
+@pytest.mark.parametrize("slider_text", ["slide to use", "slide to install"])
+def test_patch_mici_setup_branding_handles_old_and_new_labels(slider_text):
+  original = f'''OPENPILOT_URL = "https://openpilot.comma.ai"
+self._openpilot_slider = LargerSlider("{slider_text}\\nopenpilot", callback)
+self._continue_button = BigPillButton("install openpilot", green=True)
+self._continue_button.set_text("install openpilot" if not custom_software else "choose software")
+'''.encode()
+
+  patched = patch_setup_branding_script(original, "openpilot/system/ui/mici_setup.py")
+
+  assert b"installer.comma.ai/firestar5683/StarPilot" in patched
+  assert f"{slider_text}\\nstarpilot".encode() in patched
+  assert b"install StarPilot" in patched
+  assert b"install openpilot" not in patched
+
+
 @pytest.mark.parametrize(("mode", "expected"), [
   ("100775", "0100775"),
   ("100644", "0100644"),