diff --git a/common/libcommon.a b/common/libcommon.a
index b5ca68a3cd..4f3cdf222d 100644
Binary files a/common/libcommon.a and b/common/libcommon.a differ
diff --git a/common/params_keys.h b/common/params_keys.h
index 900d87d3d7..d13b0e87b0 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -466,6 +466,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LeadDetectionThreshold", {PERSISTENT, INT, "35", "50", 3}},
     {"LeadIndicator", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"LeadInfo", {PERSISTENT, BOOL, "0", "0", 3}},
+    {"LeadInfoMode", {PERSISTENT, INT, "2", "2", 3}},
     {"LKASButtonControl", {PERSISTENT, INT, "5", "0", 2, SETTINGS_SIMPLE}},
     {"LockDoors", {PERSISTENT, BOOL, "1", "0", 0}},
     {"LockDoorsTimer", {PERSISTENT, INT, "0", "0", 0}},
diff --git a/common/params_pyx.so b/common/params_pyx.so
index c5024761f2..34893246f4 100755
Binary files a/common/params_pyx.so and b/common/params_pyx.so differ
diff --git a/opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc b/opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc
index 8e73e28018..bb6acbd6d7 100644
--- a/opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc
+++ b/opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc
@@ -1497,7 +1497,7 @@ BO_ 913 BCM_PO_11: 8 Vector__XXX
  SG_ BCM_Door_Dri_Status : 5|1@0+ (1,0) [0|1] "" PT_ESC_ABS
  SG_ BCM_Shift_R_MT_SW_Status : 39|2@0+ (1,0) [0|3] "" PT_ESC_ABS
  SG_ LDA_BTN : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ RAY_LKAS_BTN : 0|2@1+ (1,0) [0|3] "" XXX
+ SG_ RAY_LKAS_BTN : 4|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1426 LABEL11: 8 XXX
  SG_ CC_React : 34|1@1+ (1,0) [0|1] "" XXX
diff --git a/scripts/model_release.py b/scripts/model_release.py
index 1a749fc8bc..9b45d82a64 100755
--- a/scripts/model_release.py
+++ b/scripts/model_release.py
@@ -19,6 +19,7 @@ import shlex
 import shutil
 import subprocess
 import sys
+import tempfile
 import urllib.error
 import urllib.parse
 import urllib.request
@@ -619,6 +620,70 @@ def update_manifest(repo: Path, info: ReleaseInfo, result: dict, manifest_versio
   return path
 
 
+def manifest_models(payload: object) -> list[dict]:
+  models = payload.get("models") if isinstance(payload, dict) else payload
+  if not isinstance(models, list) or not models:
+    raise ReleaseError("Unsupported or empty Hugging Face manifest")
+  if any(not isinstance(model, dict) or not str(model.get("id") or "").strip() for model in models):
+    raise ReleaseError("Hugging Face manifest contains an invalid model entry")
+  model_ids = [str(model["id"]).strip() for model in models]
+  if len(model_ids) != len(set(model_ids)):
+    raise ReleaseError("Hugging Face manifest contains duplicate model IDs")
+  return models
+
+
+def accelerator_artifact_map(payload: object) -> dict[tuple[str, str], dict]:
+  artifacts: dict[tuple[str, str], dict] = {}
+  for model in manifest_models(payload):
+    model_id = str(model.get("id") or "").strip()
+    model_artifacts = model.get("accelerator_artifacts")
+    if not model_id or not isinstance(model_artifacts, dict):
+      continue
+    for accelerator, metadata in model_artifacts.items():
+      if isinstance(metadata, dict):
+        artifacts[(model_id, str(accelerator))] = metadata
+  return artifacts
+
+
+def validate_manifest_update(before: object, after: object, replacing_model_id: str) -> None:
+  before_by_id = {str(model["id"]).strip(): model for model in manifest_models(before)}
+  after_by_id = {str(model["id"]).strip(): model for model in manifest_models(after)}
+  before_ids = set(before_by_id)
+  after_ids = set(after_by_id)
+  expected_ids = before_ids | {replacing_model_id}
+  if after_ids != expected_ids:
+    missing = sorted(expected_ids - after_ids)
+    unexpected = sorted(after_ids - expected_ids)
+    raise ReleaseError(
+      "Refusing to publish a manifest with an unexpected model set"
+      + (f"; missing: {', '.join(missing)}" if missing else "")
+      + (f"; unexpected: {', '.join(unexpected)}" if unexpected else "")
+    )
+
+  before_artifacts = accelerator_artifact_map(before)
+  after_artifacts = accelerator_artifact_map(after)
+  regressions = [
+    f"{model_id}:{accelerator}"
+    for (model_id, accelerator), metadata in before_artifacts.items()
+    if model_id != replacing_model_id and after_artifacts.get((model_id, accelerator)) != metadata
+  ]
+  if regressions:
+    raise ReleaseError(
+      "Refusing to publish a manifest that removes or changes existing accelerator metadata for: "
+      + ", ".join(sorted(regressions))
+    )
+
+  unrelated_changes = sorted(
+    model_id for model_id, model in before_by_id.items()
+    if model_id != replacing_model_id and after_by_id[model_id] != model
+  )
+  if unrelated_changes:
+    raise ReleaseError(
+      "Refusing to publish a manifest that changes unrelated model entries: "
+      + ", ".join(unrelated_changes)
+    )
+
+
 def find_hf() -> str:
   candidates = [shutil.which("hf"), str(Path.home() / ".local/bin/hf")]
   for candidate in candidates:
@@ -633,15 +698,42 @@ def hf_copy(source: Path, bucket: str, remote_path: str) -> None:
   run([hf, "buckets", "cp", str(source), destination, "--format", "quiet"])
 
 
+def refresh_huggingface_manifest(manifest: Path, bucket: str) -> dict:
+  remote_path = f"manifests/{manifest.name}"
+  source = f"hf://buckets/{bucket}/{remote_path}"
+  manifest.parent.mkdir(parents=True, exist_ok=True)
+  with tempfile.TemporaryDirectory(prefix=".model-release-", dir=manifest.parent) as temporary_dir:
+    candidate = Path(temporary_dir) / manifest.name
+    run([find_hf(), "buckets", "cp", source, str(candidate), "--format", "quiet"])
+    try:
+      payload = json.loads(candidate.read_text(encoding="utf-8"))
+    except (OSError, json.JSONDecodeError) as error:
+      raise ReleaseError(f"Invalid live Hugging Face manifest: {error}") from error
+    accelerator_artifact_map(payload)
+    candidate.replace(manifest)
+  return payload
+
+
+def prepare_huggingface_manifest(manifest: Path, info: ReleaseInfo, result: dict,
+                                 bucket: str, manifest_version: str) -> Path:
+  live_payload = refresh_huggingface_manifest(manifest, bucket)
+  updated_manifest = update_manifest(manifest.parent, info, result, manifest_version)
+  updated_payload = json.loads(updated_manifest.read_text(encoding="utf-8"))
+  validate_manifest_update(live_payload, updated_payload, info.model_id)
+  return updated_manifest
+
+
 def upload_huggingface(info: ReleaseInfo, result: dict, workspace: Path, bucket: str, manifest_version: str,
-                       manifest: Path, upload_onnx: bool, source: Path) -> None:
+                       manifest: Path, upload_onnx: bool, source: Path) -> Path:
   artifact_dir = Path(result["path"])
   for filename in result["files"]:
     hf_copy(artifact_dir / filename, bucket, f"models/{manifest_version}/{info.model_id}/{filename}")
   if upload_onnx:
     hf_copy(source, bucket, f"onnx/{info.model_id}/{source.name}")
+  manifest = prepare_huggingface_manifest(manifest, info, result, bucket, manifest_version)
   hf_copy(manifest, bucket, f"manifests/{manifest.name}")
   print(f"Hugging Face upload complete: {bucket}/models/{manifest_version}/{info.model_id}/")
+  return manifest
 
 
 def git_output(repo: Path, args: list[str]) -> str:
@@ -777,9 +869,9 @@ def main() -> int:
     result = remote_compile(info, source, ip, workspace, args.keep_device_files)
     resources_repo = args.resources_repo.expanduser().resolve()
     check_resources_repo(resources_repo, args.resources_branch)
-    manifest = update_manifest(resources_repo, info, result, args.manifest_version)
-    upload_huggingface(info, result, workspace, args.hf_bucket, args.manifest_version,
-                       manifest, not args.no_onnx_upload, source)
+    manifest = resources_repo / f"model_names_{args.manifest_version}.json"
+    manifest = upload_huggingface(info, result, workspace, args.hf_bucket, args.manifest_version,
+                                  manifest, not args.no_onnx_upload, source)
     push_github(info, result, resources_repo, args.manifest_version, manifest, args.resources_branch, args.force)
     print("\nRelease complete.")
     print(f"  local artifact: {result['path']}")
diff --git a/scripts/tests/test_model_release.py b/scripts/tests/test_model_release.py
index 946b25677d..fbd12eacca 100644
--- a/scripts/tests/test_model_release.py
+++ b/scripts/tests/test_model_release.py
@@ -3,8 +3,20 @@ from __future__ import annotations
 import json
 from pathlib import Path
 
+import pytest
+
 from scripts import model_release
-from scripts.model_release import parse_lfs_pointer, parse_pasted_release, runtime_file, update_manifest
+from scripts.model_release import (
+  ReleaseError,
+  parse_lfs_pointer,
+  parse_pasted_release,
+  prepare_huggingface_manifest,
+  refresh_huggingface_manifest,
+  runtime_file,
+  update_manifest,
+  upload_huggingface,
+  validate_manifest_update,
+)
 
 
 RELEASE_TEXT = """
@@ -95,3 +107,138 @@ def test_update_manifest_replaces_one_entry(tmp_path: Path):
   assert entry["artifact_size"] == 123
   assert entry["artifact_chunk_count"] == 2
   assert entry["uses_external_gpu"]
+
+
+def test_prepare_manifest_refreshes_live_copy_before_adding_model(tmp_path: Path, monkeypatch):
+  manifest = tmp_path / "model_names_v25.json"
+  manifest.write_text(json.dumps({"models": [{"id": "stale"}]}) + "\n")
+  live_payload = {
+    "models": [{
+      "id": "small-model",
+      "model_lab_eligible": True,
+      "accelerator_artifacts": {
+        "chestnut": {
+          "artifact_filename": "small-model_driving_chestnut_tinygrad.pkl",
+          "artifact_sha256": "b" * 64,
+          "execution_device": "AMD",
+        },
+      },
+    }],
+  }
+
+  def fake_refresh(path, bucket):
+    assert bucket == "StarPilot-Driving/StarPilot-Resources"
+    path.write_text(json.dumps(live_payload) + "\n")
+    return live_payload
+
+  monkeypatch.setattr(model_release, "refresh_huggingface_manifest", fake_refresh)
+  info = parse_pasted_release(RELEASE_TEXT, "bmrlnapv4", "v16")
+  prepared = prepare_huggingface_manifest(
+    manifest,
+    info,
+    {"size": 123, "sha256": "a" * 64, "chunk_count": 2},
+    "StarPilot-Driving/StarPilot-Resources",
+    "v25",
+  )
+
+  models = {entry["id"]: entry for entry in json.loads(prepared.read_text())["models"]}
+  assert set(models) == {"small-model", "bmrlnapv4"}
+  assert models["small-model"] == live_payload["models"][0]
+  assert models["bmrlnapv4"]["artifact_sha256"] == "a" * 64
+
+
+def test_manifest_guard_rejects_unrelated_accelerator_metadata_regression():
+  chestnut = {"execution_device": "AMD", "artifact_sha256": "a" * 64}
+  before = {"models": [
+    {"id": "keep", "accelerator_artifacts": {"chestnut": chestnut}},
+    {"id": "replace", "accelerator_artifacts": {"chestnut": chestnut}},
+  ]}
+  after = {"models": [{"id": "keep"}, {"id": "replace"}]}
+
+  with pytest.raises(ReleaseError, match="keep:chestnut"):
+    validate_manifest_update(before, after, "replace")
+
+  validate_manifest_update(
+    {"models": [{"id": "replace", "accelerator_artifacts": {"chestnut": chestnut}}]},
+    {"models": [{"id": "replace"}]},
+    "replace",
+  )
+
+  with pytest.raises(ReleaseError, match="unrelated model entries: keep"):
+    validate_manifest_update(
+      {"models": [{"id": "keep", "model_lab_eligible": True}]},
+      {"models": [{"id": "keep", "model_lab_eligible": False}, {"id": "replace"}]},
+      "replace",
+    )
+
+
+def test_refresh_manifest_is_atomic_and_uses_hugging_face_bucket(tmp_path: Path, monkeypatch):
+  manifest = tmp_path / "model_names_v25.json"
+  manifest.write_text(json.dumps({"models": [{"id": "stale"}]}) + "\n")
+  live_payload = {"models": [{"id": "live"}]}
+  commands = []
+
+  monkeypatch.setattr(model_release, "find_hf", lambda: "/usr/bin/hf")
+
+  def fake_run(command, **kwargs):
+    commands.append(command)
+    Path(command[4]).write_text(json.dumps(live_payload) + "\n")
+
+  monkeypatch.setattr(model_release, "run", fake_run)
+  assert refresh_huggingface_manifest(manifest, "owner/resources") == live_payload
+  assert json.loads(manifest.read_text()) == live_payload
+  assert commands[0][0:4] == [
+    "/usr/bin/hf",
+    "buckets",
+    "cp",
+    "hf://buckets/owner/resources/manifests/model_names_v25.json",
+  ]
+
+
+def test_refresh_manifest_keeps_local_copy_when_live_json_is_invalid(tmp_path: Path, monkeypatch):
+  manifest = tmp_path / "model_names_v25.json"
+  original = {"models": [{"id": "safe"}]}
+  manifest.write_text(json.dumps(original) + "\n")
+  monkeypatch.setattr(model_release, "find_hf", lambda: "/usr/bin/hf")
+  monkeypatch.setattr(model_release, "run", lambda command, **kwargs: Path(command[4]).write_text("{"))
+
+  with pytest.raises(ReleaseError, match="Invalid live Hugging Face manifest"):
+    refresh_huggingface_manifest(manifest, "owner/resources")
+  assert json.loads(manifest.read_text()) == original
+
+
+def test_upload_refreshes_manifest_after_artifacts(tmp_path: Path, monkeypatch):
+  artifact_dir = tmp_path / "artifacts"
+  artifact_dir.mkdir()
+  manifest = tmp_path / "resources" / "model_names_v25.json"
+  manifest.parent.mkdir()
+  manifest.write_text(json.dumps({"models": [{"id": "old"}]}) + "\n")
+  source = tmp_path / "model.onnx"
+  calls = []
+  info = parse_pasted_release(RELEASE_TEXT, "bmrlnapv4", "v16")
+  result = {
+    "path": str(artifact_dir),
+    "files": ["bmrlnapv4_driving_tinygrad.pkl"],
+    "size": 123,
+    "sha256": "a" * 64,
+    "chunk_count": 0,
+  }
+
+  monkeypatch.setattr(model_release, "hf_copy", lambda source, bucket, remote: calls.append(("copy", remote)))
+
+  def fake_prepare(path, release_info, release_result, bucket, version):
+    calls.append(("prepare", path.name))
+    return path
+
+  monkeypatch.setattr(model_release, "prepare_huggingface_manifest", fake_prepare)
+  returned = upload_huggingface(
+    info, result, tmp_path, "owner/resources", "v25", manifest, True, source,
+  )
+
+  assert returned == manifest
+  assert calls == [
+    ("copy", "models/v25/bmrlnapv4/bmrlnapv4_driving_tinygrad.pkl"),
+    ("copy", "onnx/bmrlnapv4/model.onnx"),
+    ("prepare", "model_names_v25.json"),
+    ("copy", "manifests/model_names_v25.json"),
+  ]
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index dbea793485..985e49b9ec 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -262,7 +262,7 @@ class LongControl:
         output_accel = min(output_accel, 0.0)
         output_accel -= starpilot_toggles.stoppingDecelRate * DT_CTRL
       output_accel = self.vehicle_tuning.shape_stopping_accel(
-        output_accel, a_target, should_stop, CS.vEgo, has_lead, starpilot_toggles.stopAccel,
+        output_accel, a_target, should_stop, CS.vEgo, has_lead, starpilot_toggles.stopAccel, leads=leads,
       )
       output_accel = self._apply_moving_stop_target_follow(output_accel, a_target, should_stop, CS, starpilot_toggles)
       self.reset(preserve_stop_release=True)
diff --git a/selfdrive/controls/lib/longcontrol_vehicle_tunes.py b/selfdrive/controls/lib/longcontrol_vehicle_tunes.py
index a76292d138..2abb1ed91b 100644
--- a/selfdrive/controls/lib/longcontrol_vehicle_tunes.py
+++ b/selfdrive/controls/lib/longcontrol_vehicle_tunes.py
@@ -3,6 +3,7 @@ import numpy as np
 from opendbc.car.gm.values import CAR, GMFlags
 from opendbc.car.subaru.values import CAR as SUBARU_CAR
 from opendbc.car.toyota.values import CAR as TOYOTA_CAR
+from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN_CAR
 from openpilot.common.realtime import DT_CTRL
 from openpilot.starpilot.common.testing_grounds import testing_ground
 
@@ -63,6 +64,12 @@ HYUNDAI_ELANTRA_FINAL_STOP_URGENCY_MARGIN = 0.45
 HYUNDAI_SANTA_FE_FINAL_STOP_MAX_SPEED = 1.0
 HYUNDAI_SANTA_FE_FINAL_STOP_CAP_BP = [0.0, 0.2, 0.5, HYUNDAI_SANTA_FE_FINAL_STOP_MAX_SPEED]
 HYUNDAI_SANTA_FE_FINAL_STOP_CAP_V = [-0.25, -0.30, -0.50, -0.90]
+VOLKSWAGEN_TAOS_COMFORT_STOP_MAX_SPEED = 4.5
+VOLKSWAGEN_TAOS_COMFORT_STOP_MIN_DISTANCE = 5.0
+VOLKSWAGEN_TAOS_COMFORT_STOP_MIN_TTC = 4.0
+VOLKSWAGEN_TAOS_COMFORT_STOP_MAX_CLOSING_SPEED = 1.5
+VOLKSWAGEN_TAOS_COMFORT_STOP_CAP_BP = [0.0, 0.5, 1.0, 2.0, 3.5, VOLKSWAGEN_TAOS_COMFORT_STOP_MAX_SPEED]
+VOLKSWAGEN_TAOS_COMFORT_STOP_CAP_V = [-0.45, -0.55, -0.65, -0.80, -0.95, -1.10]
 
 
 def get_bolt_acc_pedal_friction_bias(output_accel, a_target, v_ego):
@@ -152,6 +159,10 @@ class LongControlVehicleTuning:
     self.is_hyundai_santa_fe_2022 = bool(
       CP.brand == "hyundai" and str(getattr(CP, "carFingerprint", "")) == "HYUNDAI_SANTA_FE_2022"
     )
+    self.is_volkswagen_taos = bool(
+      CP.brand == "volkswagen" and
+      str(getattr(CP, "carFingerprint", "")) == str(VOLKSWAGEN_CAR.VOLKSWAGEN_TAOS_MK1)
+    )
     self.is_bolt_acc_pedal_friction_car = bool(
       CP.brand == "gm" and
       CP.enableGasInterceptorDEPRECATED and
@@ -172,8 +183,32 @@ class LongControlVehicleTuning:
     self.bolt_start_handoff_frames = 0
     self.subaru_stop_release_frames = 0
 
-  def shape_stopping_accel(self, output_accel, a_target, should_stop, v_ego, has_lead, stop_accel):
+  def shape_stopping_accel(self, output_accel, a_target, should_stop, v_ego, has_lead, stop_accel, leads=None):
     """Shape low-speed stop braking without overriding urgent targets."""
+    if self.is_volkswagen_taos and should_stop and has_lead and v_ego < VOLKSWAGEN_TAOS_COMFORT_STOP_MAX_SPEED:
+      comfort_lead = next((
+        lead for lead in (leads or ())
+        if bool(getattr(lead, "status", False)) and
+        abs(float(getattr(lead, "yRel", 0.0))) <= 1.75 and
+        float(getattr(lead, "dRel", 0.0)) > 0.0
+      ), None)
+      if comfort_lead is not None:
+        lead_distance = float(getattr(comfort_lead, "dRel", 0.0))
+        lead_speed = max(0.0, float(getattr(comfort_lead, "vLead", 0.0)))
+        closing_speed = max(0.0, float(v_ego) - lead_speed)
+        ttc = lead_distance / max(closing_speed, 0.1) if closing_speed > 0.1 else float("inf")
+        if (
+          lead_distance >= VOLKSWAGEN_TAOS_COMFORT_STOP_MIN_DISTANCE and
+          ttc >= VOLKSWAGEN_TAOS_COMFORT_STOP_MIN_TTC and
+          closing_speed <= VOLKSWAGEN_TAOS_COMFORT_STOP_MAX_CLOSING_SPEED
+        ):
+          comfort_cap = float(interp(
+            v_ego,
+            VOLKSWAGEN_TAOS_COMFORT_STOP_CAP_BP,
+            VOLKSWAGEN_TAOS_COMFORT_STOP_CAP_V,
+          ))
+          return max(float(output_accel), comfort_cap)
+
     if (
       self.is_hyundai_elantra_2021 and
       should_stop and
diff --git a/selfdrive/controls/tests/test_longcontrol.py b/selfdrive/controls/tests/test_longcontrol.py
index 7cf909731f..6249de8096 100644
--- a/selfdrive/controls/tests/test_longcontrol.py
+++ b/selfdrive/controls/tests/test_longcontrol.py
@@ -8,6 +8,7 @@ import openpilot.selfdrive.controls.lib.longcontrol_vehicle_tunes as vehicle_tun
 from opendbc.car.gm.values import CAR, GMFlags
 from opendbc.car.subaru.values import CAR as SUBARU_CAR
 from opendbc.car.toyota.values import CAR as TOYOTA_CAR
+from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN_CAR
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.longcontrol import (
   LongControl,
@@ -1236,6 +1237,34 @@ def test_santa_fe_final_stop_cap_softens_only_last_kmh():
   assert tuning.shape_stopping_accel(-2.0, 0.3, False, 0.2, False, -2.0) == pytest.approx(-2.0)
 
 
+def test_taos_comfort_stop_cap_softens_non_urgent_moving_lead():
+  CP = make_longcontrol_cp(
+    brand="volkswagen",
+    carFingerprint=VOLKSWAGEN_CAR.VOLKSWAGEN_TAOS_MK1,
+  )
+  tuning = vehicle_tunes.LongControlVehicleTuning(CP)
+  moving_lead = SimpleNamespace(status=True, dRel=7.0, vLead=2.6, yRel=0.0)
+
+  output = tuning.shape_stopping_accel(
+    -1.88, -2.12, True, 3.4, True, -0.55, leads=(moving_lead,)
+  )
+
+  assert output == pytest.approx(-0.94)
+
+
+def test_taos_comfort_stop_cap_preserves_urgent_lead_braking():
+  CP = make_longcontrol_cp(
+    brand="volkswagen",
+    carFingerprint=VOLKSWAGEN_CAR.VOLKSWAGEN_TAOS_MK1,
+  )
+  tuning = vehicle_tunes.LongControlVehicleTuning(CP)
+  stopped_lead = SimpleNamespace(status=True, dRel=6.0, vLead=0.2, yRel=0.0)
+
+  assert tuning.shape_stopping_accel(
+    -1.88, -2.12, True, 3.4, True, -0.55, leads=(stopped_lead,)
+  ) == pytest.approx(-1.88)
+
+
 def test_toyota_sienna_target_filter_smooths_mild_high_speed_handoffs():
   CP = make_longcontrol_cp(brand="toyota", carFingerprint=TOYOTA_CAR.TOYOTA_SIENNA_4TH_GEN)
   tuning = vehicle_tunes.LongControlVehicleTuning(CP)
diff --git a/selfdrive/ui/lib/starpilot_visuals.py b/selfdrive/ui/lib/starpilot_visuals.py
index 1669eeb841..84a013d5c7 100644
--- a/selfdrive/ui/lib/starpilot_visuals.py
+++ b/selfdrive/ui/lib/starpilot_visuals.py
@@ -1,6 +1,7 @@
 from __future__ import annotations
 
 import math
+from enum import IntEnum
 
 import pyray as rl
 
@@ -11,6 +12,12 @@ _BORDER_ROUNDNESS = 0.12
 _BORDER_RADIUS_MULTIPLE = 3.0
 
 
+class LeadInfoMode(IntEnum):
+  OFF = 0
+  DISTANCE = 1
+  SPEED = 2
+
+
 def get_border_roundness(rect: rl.Rectangle, border_width: float) -> float:
   """Keep a rectangular camera inset inside the rounded frame at thin widths."""
   min_dimension = max(1.0, min(rect.width, rect.height))
@@ -43,3 +50,16 @@ def lead_indicator_enabled(params: Params | None = None, *, hide_by_default: boo
   if active_params.get("HideLeadMarker") is None:
     return not hide_by_default
   return not active_params.get_bool("HideLeadMarker")
+
+
+def lead_info_mode(params: Params | None = None) -> LeadInfoMode:
+  active_params = params if params is not None else Params()
+  if not active_params.get_bool("LeadInfo"):
+    return LeadInfoMode.OFF
+
+  try:
+    mode = LeadInfoMode(active_params.get_int("LeadInfoMode", return_default=True, default=LeadInfoMode.SPEED))
+  except ValueError:
+    mode = LeadInfoMode.SPEED
+
+  return LeadInfoMode.SPEED if mode == LeadInfoMode.OFF else mode
diff --git a/selfdrive/ui/mici/layouts/settings/visuals.py b/selfdrive/ui/mici/layouts/settings/visuals.py
index 61fdabddd0..723ac844f6 100644
--- a/selfdrive/ui/mici/layouts/settings/visuals.py
+++ b/selfdrive/ui/mici/layouts/settings/visuals.py
@@ -1,11 +1,16 @@
 from openpilot.common.params import Params
-from openpilot.selfdrive.ui.lib.starpilot_visuals import lead_indicator_enabled
+from openpilot.selfdrive.ui.lib.starpilot_visuals import LeadInfoMode, lead_indicator_enabled, lead_info_mode
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigParamControl, BigToggle
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigMultiOptionDialog
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets.scroller import NavScroller
 
 CAMERA_VIEW_LABELS = ["Auto", "Driver", "Standard", "Wide", "None"]
+LEAD_INFO_LABELS = {
+  LeadInfoMode.OFF: "Off",
+  LeadInfoMode.DISTANCE: "Distance",
+  LeadInfoMode.SPEED: "Speed",
+}
 
 
 class CameraViewBigButton(BigButton):
@@ -53,6 +58,37 @@ class LeadIndicatorBigButton(BigToggle):
     self.set_checked(lead_indicator_enabled(self.params, hide_by_default=True))
 
 
+class LeadInfoBigButton(BigButton):
+  def __init__(self):
+    super().__init__("lead info", "", gui_app.texture("icons_mici/onroad/eye_fill.png", 64, 64))
+    self.params = Params()
+    self.set_click_callback(self._show_selector)
+    self.refresh()
+
+  def refresh(self):
+    self.set_value(LEAD_INFO_LABELS[lead_info_mode(self.params)].lower())
+
+  def _show_selector(self):
+    current_mode = lead_info_mode(self.params)
+    options = list(LEAD_INFO_LABELS.values())
+    dialog_holder: dict[str, BigMultiOptionDialog] = {}
+
+    def on_confirm():
+      selected = dialog_holder["dialog"].get_selected_option()
+      try:
+        selected_mode = next(mode for mode, label in LEAD_INFO_LABELS.items() if label == selected)
+      except StopIteration:
+        gui_app.push_widget(BigDialog("", "Invalid lead info mode"))
+        return
+      self.params.put_int("LeadInfoMode", int(selected_mode))
+      self.params.put_bool("LeadInfo", selected_mode != LeadInfoMode.OFF)
+      self.refresh()
+
+    dialog = BigMultiOptionDialog(options=options, default=LEAD_INFO_LABELS[current_mode], right_btn_callback=on_confirm)
+    dialog_holder["dialog"] = dialog
+    gui_app.push_widget(dialog)
+
+
 class VisualsLayoutMici(NavScroller):
   def __init__(self):
     super().__init__()
@@ -63,7 +99,7 @@ class VisualsLayoutMici(NavScroller):
     self._torque_bar_btn = BigParamControl("torque bar", "EnableTorqueBarWidget")
     self._rainbow_path_btn = BigParamControl("rainbow road", "RainbowPath")
     self._lead_indicator_btn = LeadIndicatorBigButton()
-    self._lead_info_btn = BigParamControl("show lead speed", "LeadInfo")
+    self._lead_info_btn = LeadInfoBigButton()
     self._speed_limit_signs_btn = BigParamControl("show speed limits", "ShowSpeedLimits")
     self._slc_confirmation_btn = BigParamControl("confirm new speed limits", "SLCConfirmation")
     self._slc_confirmation_lower_btn = BigParamControl("confirm lower limits", "SLCConfirmationLower")
@@ -95,6 +131,7 @@ class VisualsLayoutMici(NavScroller):
   def _refresh(self):
     self._camera_view_btn.refresh()
     self._lead_indicator_btn.refresh()
+    self._lead_info_btn.refresh()
     self._lead_info_btn.set_enabled(lead_indicator_enabled(self._lead_info_btn.params, hide_by_default=True))
     confirmation_enabled = self._slc_confirmation_btn.params.get_bool("SLCConfirmation")
     self._slc_confirmation_lower_btn.set_visible(confirmation_enabled)
diff --git a/selfdrive/ui/mici/onroad/model_renderer.py b/selfdrive/ui/mici/onroad/model_renderer.py
index 66ec790aac..adf8b866d7 100644
--- a/selfdrive/ui/mici/onroad/model_renderer.py
+++ b/selfdrive/ui/mici/onroad/model_renderer.py
@@ -10,7 +10,7 @@ from openpilot.selfdrive.controls.lib.lane_centering import get_lane_centering_v
 from openpilot.selfdrive.locationd.calibrationd import HEIGHT_INIT
 from openpilot.selfdrive.ui.lib.starpilot_theme import get_param_color, get_theme_color, get_visual_color, is_stock_color_scheme, with_alpha
 from openpilot.selfdrive.ui.onroad.starpilot.rainbow_path import RainbowPath
-from openpilot.selfdrive.ui.lib.starpilot_visuals import blend_colors, lead_indicator_enabled
+from openpilot.selfdrive.ui.lib.starpilot_visuals import LeadInfoMode, blend_colors, lead_indicator_enabled, lead_info_mode
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.mici.onroad.starpilot_status import get_border_color
 from openpilot.system.ui.lib.application import gui_app, FontWeight
@@ -67,7 +67,7 @@ class ModelRenderer(Widget):
     self._lane_line_probs = np.zeros(4, dtype=np.float32)
     self._road_edge_stds = np.zeros(2, dtype=np.float32)
     self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
-    self._lead_info_enabled = False
+    self._lead_info_mode = LeadInfoMode.OFF
     self._path_offset_z = HEIGHT_INIT[0]
 
     # Initialize ModelPoints objects
@@ -138,7 +138,7 @@ class ModelRenderer(Widget):
     model = sm['modelV2']
     radar_state = sm['radarState'] if sm.valid['radarState'] else None
     lead_one = radar_state.leadOne if radar_state else None
-    self._lead_info_enabled = self._params.get_bool("LeadInfo")
+    self._lead_info_mode = lead_info_mode(self._params)
     render_lead_indicator = self._should_render_lead_indicator(radar_state)
 
     # Update model data when needed
@@ -512,8 +512,15 @@ class ModelRenderer(Widget):
       rl.draw_triangle_fan(lead.chevron, len(lead.chevron), with_alpha(lead_color, lead.fill_alpha))
 
     lead_one = radar_state.leadOne
-    if self._lead_info_enabled and lead_one and lead_one.status:
-      self._draw_lead_speed(lead_one)
+    if self._lead_info_mode != LeadInfoMode.OFF and lead_one and lead_one.status:
+      self._draw_lead_info(lead_one)
+
+  @staticmethod
+  def _format_lead_distance(lead_distance: float, is_metric: bool, use_si_metrics: bool) -> str:
+    lead_distance = max(float(lead_distance), 0.0)
+    if is_metric or use_si_metrics:
+      return f"{round(lead_distance)} m"
+    return f"{round(lead_distance * CV.METER_TO_FOOT)} ft"
 
   @staticmethod
   def _format_lead_speed(lead_speed: float, is_metric: bool, use_si_metrics: bool) -> str:
@@ -524,14 +531,16 @@ class ModelRenderer(Widget):
       return f"{round(lead_speed * CV.MS_TO_KPH)} km/h"
     return f"{round(lead_speed * CV.MS_TO_MPH)} mph"
 
-  def _draw_lead_speed(self, lead_data) -> None:
+  def _format_lead_info(self, lead_data, is_metric: bool, use_si_metrics: bool) -> str:
+    if self._lead_info_mode == LeadInfoMode.DISTANCE:
+      return self._format_lead_distance(getattr(lead_data, "dRel", 0.0), is_metric, use_si_metrics)
+    return self._format_lead_speed(getattr(lead_data, "vLead", 0.0), is_metric, use_si_metrics)
+
+  def _draw_lead_info(self, lead_data) -> None:
     from openpilot.selfdrive.ui.onroad.starpilot.path import _draw_text_with_outline
 
-    text = self._format_lead_speed(
-      getattr(lead_data, "vLead", 0.0),
-      ui_state.is_metric,
-      ui_state.starpilot_toggles.get("UseSiMetrics", False),
-    )
+    use_si_metrics = ui_state.starpilot_toggles.get("UseSiMetrics", False)
+    text = self._format_lead_info(lead_data, ui_state.is_metric, use_si_metrics)
     font = gui_app.font(FontWeight.SEMI_BOLD)
     font_size = 40
     text_size = measure_text_cached(font, text, font_size)
diff --git a/selfdrive/ui/mici/tests/test_lead_indicator.py b/selfdrive/ui/mici/tests/test_lead_indicator.py
index ac5aef7944..a6131d3688 100644
--- a/selfdrive/ui/mici/tests/test_lead_indicator.py
+++ b/selfdrive/ui/mici/tests/test_lead_indicator.py
@@ -6,9 +6,10 @@ import openpilot.selfdrive.ui.mici.onroad.model_renderer as model_renderer
 
 
 class _FakeParams:
-  def __init__(self, enabled: bool, lead_info: bool = False):
+  def __init__(self, enabled: bool, lead_info: bool = False, lead_info_mode: int = model_renderer.LeadInfoMode.SPEED):
     self.enabled = enabled
     self.lead_info = lead_info
+    self.lead_info_mode = lead_info_mode
 
   def get(self, key):
     assert key == "HideLeadMarker"
@@ -21,6 +22,10 @@ class _FakeParams:
       return self.lead_info
     raise AssertionError(key)
 
+  def get_int(self, key, **_kwargs):
+    assert key == "LeadInfoMode"
+    return self.lead_info_mode
+
 
 def test_lead_indicator_renders_in_aol_without_longitudinal_control(monkeypatch):
   monkeypatch.setattr(model_renderer, "ui_state", SimpleNamespace(always_on_lateral_active=True))
@@ -47,17 +52,59 @@ def test_lead_indicator_still_honors_disabled_setting():
     (False, True, "10 m/s"),
   ],
 )
-def test_lead_speed_uses_c3_units(is_metric, use_si_metrics, expected):
+def test_lead_speed_uses_selected_units(is_metric, use_si_metrics, expected):
   assert model_renderer.ModelRenderer._format_lead_speed(10.0, is_metric, use_si_metrics) == expected
 
 
-def test_lead_metrics_draw_only_speed_when_enabled(monkeypatch):
+@pytest.mark.parametrize(
+  ("is_metric", "use_si_metrics", "expected"),
+  [
+    (False, False, "33 ft"),
+    (True, False, "10 m"),
+    (False, True, "10 m"),
+  ],
+)
+def test_lead_distance_uses_selected_units(is_metric, use_si_metrics, expected):
+  assert model_renderer.ModelRenderer._format_lead_distance(10.0, is_metric, use_si_metrics) == expected
+
+
+@pytest.mark.parametrize(
+  ("lead_info", "configured_mode", "expected"),
+  [
+    (False, model_renderer.LeadInfoMode.SPEED, model_renderer.LeadInfoMode.OFF),
+    (True, model_renderer.LeadInfoMode.DISTANCE, model_renderer.LeadInfoMode.DISTANCE),
+    (True, model_renderer.LeadInfoMode.SPEED, model_renderer.LeadInfoMode.SPEED),
+    (True, model_renderer.LeadInfoMode.OFF, model_renderer.LeadInfoMode.SPEED),
+    (True, 99, model_renderer.LeadInfoMode.SPEED),
+  ],
+)
+def test_lead_info_mode_preserves_legacy_speed_behavior(lead_info, configured_mode, expected):
+  params = _FakeParams(enabled=True, lead_info=lead_info, lead_info_mode=configured_mode)
+  assert model_renderer.lead_info_mode(params) == expected
+
+
+@pytest.mark.parametrize(
+  ("mode", "expected"),
+  [
+    (model_renderer.LeadInfoMode.DISTANCE, "82 ft"),
+    (model_renderer.LeadInfoMode.SPEED, "27 mph"),
+  ],
+)
+def test_lead_info_formats_selected_metric(mode, expected):
+  renderer = object.__new__(model_renderer.ModelRenderer)
+  renderer._lead_info_mode = mode
+  lead = SimpleNamespace(dRel=25.0, vLead=12.0)
+
+  assert renderer._format_lead_info(lead, is_metric=False, use_si_metrics=False) == expected
+
+
+def test_lead_metrics_draw_selected_value_when_enabled(monkeypatch):
   drawn_metrics = []
   monkeypatch.setattr(model_renderer, "get_theme_color", lambda *_args: model_renderer.rl.RED)
   monkeypatch.setattr(model_renderer.rl, "draw_triangle_fan", lambda *_args: None)
 
   renderer = object.__new__(model_renderer.ModelRenderer)
-  renderer._lead_info_enabled = True
+  renderer._lead_info_mode = model_renderer.LeadInfoMode.DISTANCE
   renderer._lead_vehicles = [
     model_renderer.LeadVehicle(
       glow=[(1.0, 2.0)] * 3,
@@ -66,8 +113,8 @@ def test_lead_metrics_draw_only_speed_when_enabled(monkeypatch):
     ),
     model_renderer.LeadVehicle(),
   ]
-  renderer._draw_lead_speed = drawn_metrics.append
-  lead_one = SimpleNamespace(status=True, vLead=10.0)
+  renderer._draw_lead_info = drawn_metrics.append
+  lead_one = SimpleNamespace(status=True, dRel=25.0, vLead=10.0)
 
   renderer._draw_lead_indicator(SimpleNamespace(leadOne=lead_one, leadTwo=SimpleNamespace(status=False)))
 
diff --git a/starpilot/system/the_galaxy/the_galaxy.py b/starpilot/system/the_galaxy/the_galaxy.py
index 25d698f275..9542a2a481 100644
--- a/starpilot/system/the_galaxy/the_galaxy.py
+++ b/starpilot/system/the_galaxy/the_galaxy.py
@@ -60,7 +60,6 @@ from openpilot.starpilot.assets.model_manager import (
   external_gpu_available,
   get_model_profile,
   is_builtin_model_key,
-  model_accelerator_catalog_artifact_metadata,
   model_accelerator_artifact_filename,
   model_key_aliases,
   model_uses_external_gpu,
@@ -7424,18 +7423,15 @@ def setup(app):
       metadata = artifact_metadata.get(canonical_key, {})
       metadata = metadata if isinstance(metadata, dict) else {}
       small_model = is_small_model_metadata({**metadata, "uses_external_gpu": requires_external_gpu})
-      lab_compatible = model_lab_manifest_eligible({**metadata, "uses_external_gpu": requires_external_gpu}, model_version)
+      lab_eligible = model_lab_manifest_eligible({**metadata, "uses_external_gpu": requires_external_gpu}, model_version)
       accelerator_artifacts = metadata.get("accelerator_artifacts", {})
       accelerator_artifacts = accelerator_artifacts if isinstance(accelerator_artifacts, dict) else {}
       chestnut_artifact = accelerator_artifacts.get("chestnut", {})
       chestnut_artifact = chestnut_artifact if isinstance(chestnut_artifact, dict) else {}
-      if not chestnut_artifact:
-        chestnut_artifact = model_accelerator_catalog_artifact_metadata(canonical_key)
       lab_artifact_available = (
         bool(chestnut_artifact)
         and str(chestnut_artifact.get("execution_device") or chestnut_artifact.get("device") or "").strip().upper() == "AMD"
       )
-      lab_eligible = lab_compatible and lab_artifact_available
       lab_artifact_path = MODELS_PATH / model_accelerator_artifact_filename(canonical_key)
       lab_artifact_installed = lab_artifact_available and file_chunked_exists(lab_artifact_path)
       existing = models_by_key.get(canonical_key)
@@ -7482,11 +7478,6 @@ def setup(app):
       existing["modelLabArtifactInstalled"] = existing["modelLabArtifactInstalled"] and lab_artifact_installed
 
     default_key = _default_model_key()
-    default_chestnut_artifact = model_accelerator_catalog_artifact_metadata(default_key)
-    default_lab_artifact_available = (
-      bool(default_chestnut_artifact)
-      and str(default_chestnut_artifact.get("execution_device") or default_chestnut_artifact.get("device") or "").strip().upper() == "AMD"
-    )
     default_entry = models_by_key.setdefault(default_key, {
       "value": default_key,
       "label": _default_model_name(),
@@ -7498,13 +7489,9 @@ def setup(app):
       "small": True,
       "modelSize": "small (inferred)",
       "manifestDeclaredSize": False,
-      "modelLabEligible": default_lab_artifact_available and model_lab_manifest_eligible(
-        artifact_metadata.get(default_key, {}), _default_model_version()
-      ),
-      "modelLabArtifactAvailable": default_lab_artifact_available,
-      "modelLabArtifactInstalled": default_lab_artifact_available and file_chunked_exists(
-        MODELS_PATH / model_accelerator_artifact_filename(default_key)
-      ),
+      "modelLabEligible": model_lab_manifest_eligible(artifact_metadata.get(default_key, {}), _default_model_version()),
+      "modelLabArtifactAvailable": False,
+      "modelLabArtifactInstalled": False,
       "released": "",
       "builtin": True,
       "communityFavorite": default_key in community_favorites,
diff --git a/tools/StarPilot/feasibleparams.txt b/tools/StarPilot/feasibleparams.txt
index 9ed6d64b10..384349a71b 100644
--- a/tools/StarPilot/feasibleparams.txt
+++ b/tools/StarPilot/feasibleparams.txt
@@ -166,6 +166,7 @@ LateralTune
 LeadDepartingAlert
 LeadDetectionThreshold
 LeadInfo
+LeadInfoMode
 LiveDelay
 LiveParameters
 LiveParametersV2