diff --git a/openpilot/common/gpio.py b/openpilot/common/gpio.py
index 8f025a2daf..5f4295e7bd 100644
--- a/openpilot/common/gpio.py
+++ b/openpilot/common/gpio.py
@@ -27,16 +27,6 @@ def gpio_read(pin: int) -> bool | None:
 
   return val
 
-def gpio_export(pin: int) -> None:
-  if os.path.isdir(f"/sys/class/gpio/gpio{pin}"):
-    return
-
-  try:
-    with open("/sys/class/gpio/export", 'w') as f:
-      f.write(str(pin))
-  except Exception:
-    print(f"Failed to export gpio {pin}")
-
 @cache
 def get_irq_action(irq: int) -> list[str]:
   try:
diff --git a/openpilot/common/utils.py b/openpilot/common/utils.py
index a73d2b8226..28b3782a4c 100644
--- a/openpilot/common/utils.py
+++ b/openpilot/common/utils.py
@@ -5,7 +5,6 @@ import contextlib
 import subprocess
 import time
 import functools
-from subprocess import Popen, PIPE, TimeoutExpired
 import zstandard as zstd
 
 LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
@@ -157,20 +156,6 @@ def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> st
     return default
 
 
-@contextlib.contextmanager
-def managed_proc(cmd: list[str], env: dict[str, str]):
-  proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
-  try:
-    yield proc
-  finally:
-    if proc.poll() is None:
-      proc.terminate()
-    try:
-      proc.wait(timeout=5)
-    except TimeoutExpired:
-      proc.kill()
-
-
 def tabulate(tabular_data, headers=(), tablefmt="simple", floatfmt="g", stralign="left", numalign=None):
   rows = [list(row) for row in tabular_data]
 
diff --git a/openpilot/selfdrive/controls/lib/drive_helpers.py b/openpilot/selfdrive/controls/lib/drive_helpers.py
index 35ca45e56e..c350cff632 100644
--- a/openpilot/selfdrive/controls/lib/drive_helpers.py
+++ b/openpilot/selfdrive/controls/lib/drive_helpers.py
@@ -4,7 +4,6 @@ from openpilot.common.realtime import DT_CTRL, DT_MDL
 
 MIN_SPEED = 1.0
 CONTROL_N = 17
-CAR_ROTATION_RADIUS = 0.0
 # This is a turn radius smaller than most cars can achieve
 MAX_CURVATURE = 0.2
 MIN_STABLE_DELAY = 0.3
diff --git a/openpilot/selfdrive/test/helpers.py b/openpilot/selfdrive/test/helpers.py
index 71cdcee5e7..aa949edf70 100644
--- a/openpilot/selfdrive/test/helpers.py
+++ b/openpilot/selfdrive/test/helpers.py
@@ -105,17 +105,6 @@ def with_processes(processes, init_time=0, ignore_stopped=None):
   return wrapper
 
 
-def noop(*args, **kwargs):
-  pass
-
-
-def read_segment_list(segment_list_path):
-  with open(segment_list_path) as f:
-    seg_list = f.read().splitlines()
-
-  return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)]
-
-
 @contextlib.contextmanager
 def http_server_context(handler, setup=None):
   host = '127.0.0.1'
@@ -133,32 +122,3 @@ def http_server_context(handler, setup=None):
     server.shutdown()
     server.server_close()
     t.join()
-
-
-def with_http_server(func, handler=http.server.BaseHTTPRequestHandler, setup=None):
-  @wraps(func)
-  def inner(*args, **kwargs):
-    with http_server_context(handler, setup) as (host, port):
-      return func(*args, f"http://{host}:{port}", **kwargs)
-  return inner
-
-
-def DirectoryHttpServer(directory) -> type[http.server.SimpleHTTPRequestHandler]:
-  # creates an http server that serves files from directory
-  class Handler(http.server.SimpleHTTPRequestHandler):
-    API_NO_RESPONSE = False
-    API_BAD_RESPONSE = False
-
-    def do_GET(self):
-      if self.API_NO_RESPONSE:
-        return
-
-      if self.API_BAD_RESPONSE:
-        self.send_response(500, "")
-        return
-      super().do_GET()
-
-    def __init__(self, *args, **kwargs):
-      super().__init__(*args, directory=str(directory), **kwargs)
-
-  return Handler
diff --git a/openpilot/tools/lib/auth_config.py b/openpilot/tools/lib/auth_config.py
index 954225d4d3..cc29b3ba1a 100644
--- a/openpilot/tools/lib/auth_config.py
+++ b/openpilot/tools/lib/auth_config.py
@@ -21,10 +21,3 @@ def set_token(token):
   os.makedirs(Paths.config_root(), exist_ok=True)
   with atomic_write(os.path.join(Paths.config_root(), 'auth.json'), overwrite=True) as f:
     json.dump({'access_token': token}, f)
-
-
-def clear_token():
-  try:
-    os.unlink(os.path.join(Paths.config_root(), 'auth.json'))
-  except FileNotFoundError:
-    pass