diff --git a/opendbc_repo/opendbc/safety/modes/body.h b/opendbc_repo/opendbc/safety/modes/body.h
index 00d05bd0e5..7ab29a1a16 100644
--- a/opendbc_repo/opendbc/safety/modes/body.h
+++ b/opendbc_repo/opendbc/safety/modes/body.h
@@ -43,7 +43,7 @@ static bool body_tx_hook(const CANPacket_t *msg) {
 }
 
 static safety_config body_init(uint16_t param) {
-  static RxCheck body_rx_checks[] = {
+  static const RxCheck body_rx_checks[] = {
     {.msg = {{0x201, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
   };
 
diff --git a/opendbc_repo/opendbc/safety/modes/byd.h b/opendbc_repo/opendbc/safety/modes/byd.h
index df00939bd0..2e53c53eb6 100644
--- a/opendbc_repo/opendbc/safety/modes/byd.h
+++ b/opendbc_repo/opendbc/safety/modes/byd.h
@@ -99,7 +99,7 @@ static safety_config byd_init(uint16_t param) {
     {0x3B0, 0, 8, .check_relay = false},  // PCM_BUTTONS (cruise cancel button spoof)
   };
 
-  static RxCheck byd_rx_checks[] = {
+  static const RxCheck byd_rx_checks[] = {
     {.msg = {{0x11F, 0, 5, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // STEER_MODULE_2 (steering angle)
     {.msg = {{0x1F0, 0, 8,  50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // WHEELSPEED_CLEAN (vehicle speed)
     {.msg = {{0x242, 0, 8,  50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // DRIVE_STATE (gas and brake pressed)
diff --git a/opendbc_repo/opendbc/safety/modes/chrysler.h b/opendbc_repo/opendbc/safety/modes/chrysler.h
index f091cdb1f6..94d92ca921 100644
--- a/opendbc_repo/opendbc/safety/modes/chrysler.h
+++ b/opendbc_repo/opendbc/safety/modes/chrysler.h
@@ -196,7 +196,7 @@ static safety_config chrysler_init(uint16_t param) {
   chrysler_hold_stock_timestamp = 0U;
   for (int i = 0; i < 8; i++) { chrysler_hold_stock[i] = 0U; }
 
-  static RxCheck chrysler_ram_dt_rx_checks[] = {
+  static const RxCheck chrysler_ram_dt_rx_checks[] = {
     {.msg = {{CHRYSLER_RAM_DT_EPS_2, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{CHRYSLER_RAM_DT_ESP_1, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{CHRYSLER_RAM_DT_ESP_8, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
@@ -204,7 +204,7 @@ static safety_config chrysler_init(uint16_t param) {
     {.msg = {{CHRYSLER_RAM_DT_DAS_3, 2, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
   };
 
-  static RxCheck chrysler_rx_checks[] = {
+  static const RxCheck chrysler_rx_checks[] = {
     {.msg = {{CHRYSLER_EPS_2, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{CHRYSLER_ESP_1, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{514, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
@@ -232,7 +232,7 @@ static safety_config chrysler_init(uint16_t param) {
   };
 
 #ifdef ALLOW_DEBUG
-  static RxCheck chrysler_ram_hd_rx_checks[] = {
+  static const RxCheck chrysler_ram_hd_rx_checks[] = {
     {.msg = {{CHRYSLER_RAM_HD_EPS_2, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{CHRYSLER_RAM_HD_ESP_1, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{CHRYSLER_RAM_HD_ESP_8, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
diff --git a/opendbc_repo/opendbc/safety/modes/chrysler_cusw.h b/opendbc_repo/opendbc/safety/modes/chrysler_cusw.h
index f3009e9da7..4bf7eff7d4 100644
--- a/opendbc_repo/opendbc/safety/modes/chrysler_cusw.h
+++ b/opendbc_repo/opendbc/safety/modes/chrysler_cusw.h
@@ -9,7 +9,7 @@ static safety_config chrysler_cusw_init(uint16_t param) {
     {0x2FAU, 0, 3, .check_relay = false},
   };
 
-  static RxCheck chrysler_cusw_rx_checks[] = {
+  static const RxCheck chrysler_cusw_rx_checks[] = {
     {.msg = {{0x1E4U, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{0x1E8U, 0, 5, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{0x1ECU, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
diff --git a/opendbc_repo/opendbc/safety/modes/ford.h b/opendbc_repo/opendbc/safety/modes/ford.h
index a415289742..7d792e5a50 100644
--- a/opendbc_repo/opendbc/safety/modes/ford.h
+++ b/opendbc_repo/opendbc/safety/modes/ford.h
@@ -444,13 +444,16 @@ static safety_config ford_init(uint16_t configured_param) {
   const bool manual_valid = !manual || ford_aol_param_valid(configured_param);
   // warning: quality flags are not yet checked in openpilot's CAN parser,
   // this may be the cause of blocked messages
-  // Shared entries preserve all current checksum/counter/quality contracts.
-  #define FORD_COMMON_RX_CHECKS \
-    {.msg = {{FORD_BrakeSysFeatures, 0, 8, 50U, .max_counter = 15U}, { 0 }, { 0 }}}, \
-    {.msg = {{FORD_EngVehicleSpThrottle2, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true}, { 0 }, { 0 }}}, \
-    {.msg = {{FORD_Yaw_Data_FD1, 0, 8, 100U, .max_counter = 255U}, { 0 }, { 0 }}}, \
-    {.msg = {{FORD_EngBrakeData, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
-    {.msg = {{FORD_EngVehicleSpThrottle, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
+  static const RxCheck ford_rx_checks[] = {
+    {.msg = {{FORD_BrakeSysFeatures, 0, 8, 50U, .max_counter = 15U}, { 0 }, { 0 }}},
+    // FORD_EngVehicleSpThrottle2 has a counter that either randomly skips or by 2, likely ECU bug
+    // Some hybrid models also experience a bug where this checksum mismatches for one or two frames under heavy acceleration with ACC
+    // It has been confirmed that the Bronco Sport's camera only disallows ACC for bad quality flags, not counters or checksums, so we match that
+    {.msg = {{FORD_EngVehicleSpThrottle2, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true}, { 0 }, { 0 }}},
+    {.msg = {{FORD_Yaw_Data_FD1, 0, 8, 100U, .max_counter = 255U}, { 0 }, { 0 }}},
+    // These messages have no counter or checksum
+    {.msg = {{FORD_EngBrakeData, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+    {.msg = {{FORD_EngVehicleSpThrottle, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{FORD_DesiredTorqBrk, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
   static RxCheck ford_rx_checks[] = { FORD_COMMON_RX_CHECKS };
   static RxCheck ford_lka_rx_checks[] = {
diff --git a/opendbc_repo/opendbc/safety/modes/gm.h b/opendbc_repo/opendbc/safety/modes/gm.h
index 5af417f35c..92150e717f 100644
--- a/opendbc_repo/opendbc/safety/modes/gm.h
+++ b/opendbc_repo/opendbc/safety/modes/gm.h
@@ -1160,7 +1160,7 @@ static safety_config gm_init(uint16_t safety_param) {
   gm_extended_rx_checks[3].msg[0].addr = (gm_camera_pedal && !gm_camera_pedal_f1) ? 0xBEU : 0xF1U;
 
 
-  static RxCheck gm_rx_checks[] = {
+  static const RxCheck gm_rx_checks[] = {
     GM_COMMON_RX_CHECKS
   };
 #define GM_ASCM_INTERCEPT_RX_CHECKS \
@@ -1237,7 +1237,7 @@ static safety_config gm_init(uint16_t safety_param) {
     {.msg = {{0x1F5, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
   };
 
-  static RxCheck gm_ev_rx_checks[] = {
+  static const RxCheck gm_ev_rx_checks[] = {
     GM_COMMON_RX_CHECKS
     {.msg = {{0xBD, 0, 7, 40U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
   };
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai.h b/opendbc_repo/opendbc/safety/modes/hyundai.h
index 0adec32964..22cf85a6a3 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai.h
@@ -668,88 +668,9 @@ static safety_config hyundai_init(uint16_t param) {
   hyundai_legacy = false;
 
   safety_config ret;
-#ifdef ALLOW_DEBUG
-  if (hyundai_blended_alpha) {
-    static const CanMsg alpha_hda1_tx[] = {
-      {0x340, 0, 8, .check_relay = true, .disable_static_blocking = true},
-      {0x485, 0, 8, .check_relay = true, .disable_static_blocking = true},
-      {0x364, 0, 8, .check_relay = true, .disable_static_blocking = true}, {0x420, 0, 8, .check_relay = true},
-      {0x421, 0, 8, .check_relay = true}, {0x389, 0, 8, .check_relay = true},
-      {0x7D0, 0, 8, .check_relay = false}, {0x363, 0, 8, .check_relay = false},
-      {0x398, 0, 8, .check_relay = false},
-    };
-    static const CanMsg alpha_hda2_tx[] = {
-      {0x50, 0, 16, .check_relay = true, .disable_static_blocking = true},
-      {0x2A4, 0, 24, .check_relay = true, .disable_static_blocking = true},
-      {0x51, 0, 32, .check_relay = false}, {0x730, 1, 8, .check_relay = false},
-      {0x340, 1, 8, .check_relay = true, .disable_static_blocking = true},
-      {0x485, 1, 8, .check_relay = true, .disable_static_blocking = true},
-      {0x420, 1, 8, .check_relay = true}, {0x421, 1, 8, .check_relay = true},
-      {0x389, 1, 8, .check_relay = true}, {0x38D, 1, 8, .check_relay = false},
-      {0x363, 1, 8, .check_relay = false},
-      {0x398, 1, 8, .check_relay = false}, {0x399, 1, 8, .check_relay = false},
-      {0x39A, 1, 8, .check_relay = false}, {0x39B, 1, 8, .check_relay = false},
-      {0x39C, 1, 8, .check_relay = false}, {0x43A, 1, 8, .check_relay = false},
-    };
-    if (hyundai_blended_hda2) {
-      static RxCheck alpha_hda2_rx[] = {
-        HYUNDAI_BLENDED_ALPHA_RX_CHECKS(1, 50U)
-        {.msg = {{0x2A4, 2, 24, 20U, .max_counter = 255U, .ignore_quality_flag = true}, {0}, {0}}},
-      };
-      ret = BUILD_SAFETY_CFG(alpha_hda2_rx, alpha_hda2_tx);
-    } else {
-      static RxCheck alpha_hda1_rx[] = {
-        HYUNDAI_BLENDED_ALPHA_RX_CHECKS(0, 100U)
-        {.msg = {{0x391, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
-                 {0x50C, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
-                 {0x50C, 1, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}}},
-      };
-      ret = BUILD_SAFETY_CFG(alpha_hda1_rx, alpha_hda1_tx);
-    }
-  } else
-#endif
-  if (hyundai_blended_stock) {
-    static const CanMsg blended_tx[] = {
-      {0x340, 0, 8, .check_relay = true},
-      {0x4F1, 0, 4, .check_relay = false},
-      {0x485, 0, 8, .check_relay = true},
-      {0x364, 0, 8, .check_relay = true},
-    };
-    static const CanMsg blended_hda2_tx[] = {
-      {0x50, 0, 16, .check_relay = true},
-      {0x4F1, 1, 4, .check_relay = false},
-      {0x2A4, 0, 24, .check_relay = true},
-      {0x485, 1, 8, .check_relay = false},
-    };
-    static const CanMsg blended_hda2_aol_tx[] = {
-      {0x50, 0, 16, .check_relay = true, .disable_static_blocking = true},
-      {0x4F1, 1, 4, .check_relay = false},
-      {0x2A4, 0, 24, .check_relay = true, .disable_static_blocking = true},
-      {0x485, 1, 8, .check_relay = false, .disable_static_blocking = true},
-    };
-    static const CanMsg blended_aol_tx_msgs[] = {
-      {0x340, 0, 8, .check_relay = true, .disable_static_blocking = true},
-      {0x4F1, 0, 4, .check_relay = false},
-      {0x485, 0, 8, .check_relay = true, .disable_static_blocking = true},
-      {0x364, 0, 8, .check_relay = true, .disable_static_blocking = true},
-    };
-    if (hyundai_blended_hda2) {
-      static RxCheck blended_hda2_rx[] = {
-        HYUNDAI_BLENDED_COMMON_RX_CHECKS(1, 50U)
-        {.msg = {{0x2A4, 2, 24, 20U, .max_counter = 255U, .ignore_quality_flag = true}, {0}, {0}}},
-      };
-      ret = blended_aol_enabled ? BUILD_SAFETY_CFG(blended_hda2_rx, blended_hda2_aol_tx) :
-                                BUILD_SAFETY_CFG(blended_hda2_rx, blended_hda2_tx);
-    } else {
-      static RxCheck blended_rx[] = {HYUNDAI_BLENDED_COMMON_RX_CHECKS(0, 100U)};
-      ret = blended_aol_enabled ? BUILD_SAFETY_CFG(blended_rx, blended_aol_tx_msgs) : BUILD_SAFETY_CFG(blended_rx, blended_tx);
-    }
-  } else if (hyundai_ray_pedal) {
-    static const CanMsg ray_tx_msgs[] = {
-      HYUNDAI_COMMON_TX_MSGS(0, true)
-      {0x200, 0, 6, .check_relay = false},
-    };
-    static RxCheck ray_rx_checks[] = {
+  if (hyundai_longitudinal) {
+    // Use CLU11 (buttons) to manage controls allowed instead of SCC cruise state
+    static const RxCheck hyundai_long_rx_checks[] = {
       HYUNDAI_COMMON_RX_CHECKS(false)
       {.msg = {{0x592, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, {0}, {0}}},
       HYUNDAI_LDA_BUTTON_ADDR_CHECK
@@ -760,7 +681,7 @@ static safety_config hyundai_init(uint16_t param) {
   } else if (hyundai_longitudinal) {
     // Use CLU11 (buttons) to manage controls allowed instead of SCC cruise state
 
-    static RxCheck hyundai_fcev_long_rx_checks[] = {
+    static const RxCheck hyundai_fcev_long_rx_checks[] = {
       HYUNDAI_COMMON_RX_CHECKS(false)
       HYUNDAI_FCEV_GAS_ADDR_CHECK
     };
@@ -784,7 +705,7 @@ static safety_config hyundai_init(uint16_t param) {
       }
     }
   } else if (hyundai_camera_scc) {
-    static RxCheck hyundai_cam_scc_rx_checks[] = {
+    static const RxCheck hyundai_cam_scc_rx_checks[] = {
       HYUNDAI_COMMON_RX_CHECKS(false)
       HYUNDAI_SCC12_ADDR_CHECK(2)
     };
@@ -796,12 +717,12 @@ static safety_config hyundai_init(uint16_t param) {
       ret = BUILD_SAFETY_CFG(hyundai_cam_scc_rx_checks, HYUNDAI_CAMERA_SCC_TX_MSGS);
     }
   } else {
-    static RxCheck hyundai_rx_checks[] = {
+    static const RxCheck hyundai_rx_checks[] = {
        HYUNDAI_COMMON_RX_CHECKS(false)
        HYUNDAI_SCC12_ADDR_CHECK(0)
     };
 
-    static RxCheck hyundai_fcev_rx_checks[] = {
+    static const RxCheck hyundai_fcev_rx_checks[] = {
       HYUNDAI_COMMON_RX_CHECKS(false)
       HYUNDAI_SCC12_ADDR_CHECK(0)
       HYUNDAI_FCEV_GAS_ADDR_CHECK
@@ -908,7 +829,7 @@ static safety_config hyundai_init(uint16_t param) {
 
 static safety_config hyundai_legacy_init(uint16_t param) {
   // older hyundai models have less checks due to missing counters and checksums
-  static RxCheck hyundai_legacy_rx_checks[] = {
+  static const RxCheck hyundai_legacy_rx_checks[] = {
     HYUNDAI_COMMON_RX_CHECKS(true)
     HYUNDAI_SCC12_ADDR_CHECK(0)
   };
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
index 6c7c702af5..f3fcbb3944 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
@@ -1744,7 +1744,7 @@ static safety_config hyundai_canfd_init_validated(uint16_t supplied_param) {
 #endif
   if (hyundai_longitudinal) {
     if (hyundai_canfd_lka_steer_msg) {
-      static RxCheck hyundai_canfd_lka_steer_msg_long_rx_checks[] = {
+      static const RxCheck hyundai_canfd_lka_steer_msg_long_rx_checks[] = {
         HYUNDAI_CANFD_STD_BUTTONS_RX_CHECKS(1)
       };
 
@@ -1754,11 +1754,11 @@ static safety_config hyundai_canfd_init_validated(uint16_t supplied_param) {
       }
     } else {
       // Longitudinal checks for LFA steering
-      static RxCheck hyundai_canfd_long_rx_checks[] = {
+      static const RxCheck hyundai_canfd_long_rx_checks[] = {
         HYUNDAI_CANFD_STD_BUTTONS_RX_CHECKS(0)
       };
 
-      static RxCheck hyundai_canfd_alt_buttons_long_rx_checks[] = {
+      static const RxCheck hyundai_canfd_alt_buttons_long_rx_checks[] = {
         HYUNDAI_CANFD_ALT_BUTTONS_RX_CHECKS(0)
       };
 
@@ -1790,7 +1790,7 @@ static safety_config hyundai_canfd_init_validated(uint16_t supplied_param) {
       // *** LKA steering checks ***
       // E-CAN is on bus 1, SCC messages are sent on cars with ADRV ECU.
       // Does not use the alt buttons message
-      static RxCheck hyundai_canfd_lka_steer_msg_rx_checks[] = {
+      static const RxCheck hyundai_canfd_lka_steer_msg_rx_checks[] = {
         HYUNDAI_CANFD_STD_BUTTONS_RX_CHECKS(1)
         HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
       };
@@ -1819,12 +1819,12 @@ static safety_config hyundai_canfd_init_validated(uint16_t supplied_param) {
       }
     } else if (!hyundai_camera_scc) {
       // Radar sends SCC messages on these cars instead of camera
-      static RxCheck hyundai_canfd_radar_scc_rx_checks[] = {
+      static const RxCheck hyundai_canfd_radar_scc_rx_checks[] = {
         HYUNDAI_CANFD_STD_BUTTONS_RX_CHECKS(0)
         HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
       };
 
-      static RxCheck hyundai_canfd_alt_buttons_radar_scc_rx_checks[] = {
+      static const RxCheck hyundai_canfd_alt_buttons_radar_scc_rx_checks[] = {
         HYUNDAI_CANFD_ALT_BUTTONS_RX_CHECKS(0)
         HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
       };
@@ -1840,12 +1840,12 @@ static safety_config hyundai_canfd_init_validated(uint16_t supplied_param) {
       // *** LFA steering checks ***
       // Camera sends SCC messages on LFA steering cars.
       // Both button messages exist on some platforms, so we ensure we track the correct one using flag
-      static RxCheck hyundai_canfd_rx_checks[] = {
+      static const RxCheck hyundai_canfd_rx_checks[] = {
         HYUNDAI_CANFD_STD_BUTTONS_RX_CHECKS(0)
         HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
       };
 
-      static RxCheck hyundai_canfd_alt_buttons_rx_checks[] = {
+      static const RxCheck hyundai_canfd_alt_buttons_rx_checks[] = {
         HYUNDAI_CANFD_ALT_BUTTONS_RX_CHECKS(0)
         HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
       };
diff --git a/opendbc_repo/opendbc/safety/modes/mazda.h b/opendbc_repo/opendbc/safety/modes/mazda.h
index f6af2afe01..4a1dd219d6 100644
--- a/opendbc_repo/opendbc/safety/modes/mazda.h
+++ b/opendbc_repo/opendbc/safety/modes/mazda.h
@@ -91,7 +91,7 @@ static safety_config mazda_init(uint16_t param) {
     {MAZDA_LKAS_HUD, 0, 8, .check_relay = true},
   };
 
-  static RxCheck mazda_rx_checks[] = {
+  static const RxCheck mazda_rx_checks[] = {
     {.msg = {{MAZDA_CRZ_CTRL,     0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{MAZDA_CRZ_BTNS,     0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{MAZDA_STEER_TORQUE, 0, 8, 83U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
diff --git a/opendbc_repo/opendbc/safety/modes/mg.h b/opendbc_repo/opendbc/safety/modes/mg.h
index 3273c5c945..72c385f5d2 100644
--- a/opendbc_repo/opendbc/safety/modes/mg.h
+++ b/opendbc_repo/opendbc/safety/modes/mg.h
@@ -124,7 +124,7 @@ static safety_config mg_init(uint16_t param) {
 
   static const CanMsg MG_TX_MSGS[] = {{0x1fd, 0, 8, .check_relay = true}};
 
-  static RxCheck mg_rx_checks[] = {
+  static const RxCheck mg_rx_checks[] = {
     {.msg = {{0x23c, 0, 8, .frequency = 50U,  .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   // SCS_HSC2_FrP19 (speed)
     {.msg = {{0xaf,  0, 8, .frequency = 100U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   // GW_HSC2_HCU_FrP00 (gas pedal)
     {.msg = {{0x1ec, 0, 8, .frequency = 50U,  .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   // EPS_HSC2_FrP03 (driver torque)
diff --git a/opendbc_repo/opendbc/safety/modes/nissan.h b/opendbc_repo/opendbc/safety/modes/nissan.h
index 936ed82c66..00c7e9268d 100644
--- a/opendbc_repo/opendbc/safety/modes/nissan.h
+++ b/opendbc_repo/opendbc/safety/modes/nissan.h
@@ -105,7 +105,7 @@ static safety_config nissan_init(uint16_t param) {
   };
 
   // Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model.
-  static const RxCheck nissan_rx_defaults[] = {
+  static const RxCheck nissan_rx_checks[] = {
     {.msg = {{0x185, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // STEER_TORQUE_SENSOR
     {.msg = {{0x285, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
              {0x285, 1, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }}},  // WHEEL_SPEEDS_REAR
diff --git a/opendbc_repo/opendbc/safety/modes/psa.h b/opendbc_repo/opendbc/safety/modes/psa.h
index 115b162032..382c44c3b1 100644
--- a/opendbc_repo/opendbc/safety/modes/psa.h
+++ b/opendbc_repo/opendbc/safety/modes/psa.h
@@ -109,7 +109,7 @@ static safety_config psa_init(uint16_t param) {
     {PSA_LANE_KEEP_ASSIST, PSA_MAIN_BUS, 8, .check_relay = true},  // EPS steering
   };
 
-  static RxCheck psa_rx_checks[] = {
+  static const RxCheck psa_rx_checks[] = {
     {.msg = {{PSA_HS2_DAT_MDD_CMD_452, PSA_ADAS_BUS, 6, 20U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},                        // cruise state
     {.msg = {{PSA_HS2_DYN_ABR_38D, PSA_MAIN_BUS, 8, 25U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},                            // speed
     {.msg = {{PSA_STEERING_ALT, PSA_MAIN_BUS, 7, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // steering angle
diff --git a/opendbc_repo/opendbc/safety/modes/rivian.h b/opendbc_repo/opendbc/safety/modes/rivian.h
index 5ebcb32b2d..e7182f7d5d 100644
--- a/opendbc_repo/opendbc/safety/modes/rivian.h
+++ b/opendbc_repo/opendbc/safety/modes/rivian.h
@@ -165,7 +165,7 @@ static safety_config rivian_init(uint16_t param) {
   };
 #endif
 
-  static const RxCheck rivian_rx_descriptors[] = {
+  static const RxCheck rivian_rx_checks[] = {
     {.msg = {{0x208, 0, 8, 50U, .max_counter = 14U}, { 0 }, { 0 }}},   // ESP_Status (speed)
     {.msg = {{0x150, 0, 7, 50U, .max_counter = 14U}, { 0 }, { 0 }}},   // VDM_PropStatus (gas pedal & 2nd speed)
     {.msg = {{0x38f, 0, 6, 50U, .max_counter = 14U}, { 0 }, { 0 }}},   // iBESP2 (brakes)
diff --git a/opendbc_repo/opendbc/safety/modes/subaru.h b/opendbc_repo/opendbc/safety/modes/subaru.h
index 11dffb2595..8c8253735c 100644
--- a/opendbc_repo/opendbc/safety/modes/subaru.h
+++ b/opendbc_repo/opendbc/safety/modes/subaru.h
@@ -416,38 +416,7 @@ static safety_config subaru_init(uint16_t raw_param) {
   }
 
   safety_config ret;
-  // Only one Subaru profile is active; share its mutable RX workspace.
-  static RxCheck subaru_rx_workspace[8];
-  int rx_count;
-  if (subaru_lkas_angle) {
-    static const RxCheck subaru_gen2_angle_rx_checks[] = {
-      SUBARU_GEN2_ANGLE_RX_CHECKS()
-      {.msg = {{MSG_SUBARU_ES_Distance, SUBARU_ALT_BUS, 8, 20U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
-    };
-    rx_count = sizeof(subaru_gen2_angle_rx_checks) / sizeof(subaru_gen2_angle_rx_checks[0]);
-    for (int i = 0; i < rx_count; i++) {
-      subaru_rx_workspace[i] = subaru_gen2_angle_rx_checks[i];
-    }
-    // Only one Subaru angle profile is active. Rebind the complete topology
-    // on every init; the safety selector resets every selected RX status afterward.
-    subaru_rx_workspace[0].msg[0].bus = subaru_d_platform ? SUBARU_ALT_BUS : SUBARU_MAIN_BUS;
-    subaru_rx_workspace[3].msg[0].bus = subaru_forester_angle ? SUBARU_MAIN_BUS : SUBARU_ALT_BUS;
-    subaru_rx_workspace[4].msg[0].bus = subaru_forester_angle ? SUBARU_MAIN_BUS : SUBARU_ALT_BUS;
-    subaru_rx_workspace[5].msg[0].bus = subaru_forester_angle ? SUBARU_CAM_BUS : SUBARU_ALT_BUS;
-    ret = subaru_d_platform ? (stop_start ? BUILD_SAFETY_CFG(subaru_rx_workspace, SUBARU_OUTBACK_STOP_START_TX_MSGS) :
-                                          BUILD_SAFETY_CFG(subaru_rx_workspace, SUBARU_ASCENT_ANGLE_TX_MSGS_LIST)) :
-          subaru_forester_angle ? BUILD_SAFETY_CFG(subaru_rx_workspace, SUBARU_FORESTER_ANGLE_TX_MSGS) :
-          avh ? (stop_start ? BUILD_SAFETY_CFG(subaru_rx_workspace, SUBARU_AVH_STOP_START_TX_MSGS) :
-                              BUILD_SAFETY_CFG(subaru_rx_workspace, SUBARU_AVH_TX_MSGS)) :
-          stop_start ? BUILD_SAFETY_CFG(subaru_rx_workspace, SUBARU_STOP_START_TX_MSGS) :
-          ascent_alert ? BUILD_SAFETY_CFG(subaru_rx_workspace, SUBARU_ASCENT_ALERT_TX_MSGS) :
-          subaru_angle_main_bus ? BUILD_SAFETY_CFG(subaru_rx_workspace, SUBARU_ASCENT_ANGLE_TX_MSGS_LIST) :
-                                  BUILD_SAFETY_CFG(subaru_rx_workspace, SUBARU_GEN2_ANGLE_TX_MSGS_LIST);
-    // Keep the original seven checks on other profiles; only MAIN arming needs ACC health.
-    if (!subaru_aol_main_arm) {
-      rx_count--;
-    }
-  } else if (subaru_gen2) {
+  if (subaru_gen2) {
     static const RxCheck subaru_gen2_rx_checks[] = {
       SUBARU_COMMON_RX_CHECKS(SUBARU_ALT_BUS)
     };
diff --git a/opendbc_repo/opendbc/safety/modes/subaru_preglobal.h b/opendbc_repo/opendbc/safety/modes/subaru_preglobal.h
index 6011c89685..cc10569f3c 100644
--- a/opendbc_repo/opendbc/safety/modes/subaru_preglobal.h
+++ b/opendbc_repo/opendbc/safety/modes/subaru_preglobal.h
@@ -83,7 +83,7 @@ static safety_config subaru_preglobal_init(uint16_t param) {
   };
 
   // TODO: do checksum and counter checks after adding the signals to the outback dbc file
-  static RxCheck subaru_preglobal_rx_checks[] = {
+  static const RxCheck subaru_preglobal_rx_checks[] = {
     {.msg = {{MSG_SUBARU_PG_Throttle,       SUBARU_PG_MAIN_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{MSG_SUBARU_PG_Steering_Torque, SUBARU_PG_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{MSG_SUBARU_PG_CruiseControl,   SUBARU_PG_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
diff --git a/opendbc_repo/opendbc/safety/modes/tesla.h b/opendbc_repo/opendbc/safety/modes/tesla.h
index 73a32e2d09..7be13cc090 100644
--- a/opendbc_repo/opendbc/safety/modes/tesla.h
+++ b/opendbc_repo/opendbc/safety/modes/tesla.h
@@ -341,7 +341,7 @@ static safety_config tesla_init(uint16_t param) {
   tesla_autopark = true;
   tesla_autopark_prev = false;
 
-  static RxCheck tesla_model3_y_rx_checks[] = {
+  static const RxCheck tesla_model3_y_rx_checks[] = {
     {.msg = {{0x2b9, 2, 8, 25U, .max_counter = 7U, .ignore_quality_flag = true}, { 0 }, { 0 }}},    // DAS_control
     {.msg = {{0x488, 2, 4, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   // DAS_steeringControl
     {.msg = {{0x257, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},   // DI_speed (speed in kph)
diff --git a/opendbc_repo/opendbc/safety/modes/toyota.h b/opendbc_repo/opendbc/safety/modes/toyota.h
index 132e64d073..50af6925e2 100644
--- a/opendbc_repo/opendbc/safety/modes/toyota.h
+++ b/opendbc_repo/opendbc/safety/modes/toyota.h
@@ -729,116 +729,32 @@ static safety_config toyota_init(uint16_t param) {
   }
 
   if (toyota_secoc) {
-    static RxCheck toyota_secoc_rx_checks[] = {
+    static const RxCheck toyota_secoc_rx_checks[] = {
       TOYOTA_SECOC_RX_CHECKS
     };
 
     SET_RX_CHECKS(toyota_secoc_rx_checks, ret);
+  } else if (toyota_lta) {
+    // Check the quality flag for angle measurement when using LTA, since it's not set on TSS-P cars
+    static const RxCheck toyota_lta_rx_checks[] = {
+      TOYOTA_RX_CHECKS(true)
+    };
+
+    SET_RX_CHECKS(toyota_lta_rx_checks, ret);
   } else {
-    // These profiles use the same four base checks. Share their mutable
-    // workspace; set_safety_hooks resets every active status on each switch.
-    static RxCheck toyota_rx_checks[] = {
+    static const RxCheck toyota_lka_rx_checks[] = {
       TOYOTA_RX_CHECKS(false)
       {.msg = {{0x2FF, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = false}, { 0 }, { 0 }}},
       {.msg = {{0x365, 0, 7, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
       {.msg = {{0x1D3, 0, 8, 10U, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
       {.msg = {{0x201, 0, 6, 50U, .max_counter = 15U, .ignore_quality_flag = false}, { 0 }, { 0 }}},
     };
-    // LTA alone validates initialized measured angle. Preserve the existing
-    // alternate-brake selection only on non-LTA profiles.
-    toyota_rx_checks[1].msg[0].ignore_quality_flag = !toyota_lta;
-    toyota_rx_checks[3].msg[0].addr = (!toyota_lta && toyota_alt_brake) ? 0x224U : 0x226U;
-    const bool standalone_pedal = toyota_pedal && !toyota_pedal_composite;
-    toyota_rx_checks[4].msg[0] = (CanMsgCheck){.addr = toyota_alt_cruise ? 0x365 : (standalone_pedal ? 0x201 : 0x2FF),
-      .bus = 0U, .len = toyota_alt_cruise ? 7 : (standalone_pedal ? 6 : 8), .frequency = toyota_alt_cruise ? 10U : 50U,
-      .ignore_checksum = !standalone_pedal, .ignore_counter = !standalone_pedal,
-      .max_counter = standalone_pedal ? 15U : 0U, .ignore_quality_flag = toyota_alt_cruise};
-    if (toyota_legacy_sdsu) {
-      // Alternate DSU MAIN and smartDSU state are independent mandatory sources.
-      toyota_rx_checks[4].msg[0] = (CanMsgCheck){.addr = 0x2FF, .bus = 0U, .len = 8, .frequency = 50U,
-        .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = false};
-    }
-    // Restore the sixth row on every warm switch before specializing the new owner.
-    toyota_rx_checks[5].msg[0] = (CanMsgCheck){.addr = 0x365, .bus = 0U, .len = 7, .frequency = 10U,
-      .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true};
-    if (toyota_legacy_advert_param(base_param) || toyota_camera_2aa_param(base_param) || toyota_prius_advert_param(base_param) || (base_param == 856U)) {
-      toyota_rx_checks[4].msg[0] = (CanMsgCheck){.addr = 0x262, .bus = 0U, .len = (toyota_camera_2aa_param(base_param) || toyota_prius_advert_param(base_param)) ? 8 : 5, .frequency = 25U,
-        .ignore_counter = true, .ignore_quality_flag = true};
-      if (!toyota_alt_cruise) {
-        toyota_rx_checks[5].msg[0] = (CanMsgCheck){.addr = 0x1D3, .bus = 0U, .len = 8, .frequency = 10U,
-          .ignore_counter = true, .ignore_quality_flag = true};
-      }
-    }
-    if (toyota_prius_sdsu_param(base_param)) {
-      toyota_rx_checks[5].msg[0] = (CanMsgCheck){.addr = 0x262, .bus = 0U, .len = 8, .frequency = 25U,
-        .ignore_counter = true, .ignore_quality_flag = true};
-      toyota_rx_checks[6].msg[0] = (CanMsgCheck){.addr = 0x1D3, .bus = 0U, .len = 8, .frequency = 10U,
-        .ignore_counter = true, .ignore_quality_flag = true};
-    }
-    if (toyota_factory_stock) {
-      toyota_rx_checks[4].msg[0] = (CanMsgCheck){.addr = 0x262, .bus = 0U, .len = toyota_factory_eps5 ? 5 : 8,
-        .frequency = 25U, .ignore_counter = true, .ignore_quality_flag = true};
-      toyota_rx_checks[5].msg[0] = (CanMsgCheck){.addr = toyota_factory_alt_main ? 0x365 : 0x1D3, .bus = 0U,
-        .len = toyota_factory_alt_main ? 7 : 8, .frequency = 10U, .ignore_checksum = toyota_factory_alt_main,
-        .ignore_counter = true, .ignore_quality_flag = true};
-    }
-    ret.rx_checks = toyota_rx_checks;
-    ret.disable_forwarding = false;
-    if (toyota_factory_stock) {
-      ret.rx_checks_len = 6;
-    } else if (toyota_prius_sdsu_param(base_param)) {
-      ret.rx_checks_len = 7;
-    } else if ((toyota_legacy_sdsu && toyota_alt_cruise) || toyota_legacy_advert_param(base_param) || toyota_camera_2aa_param(base_param) || toyota_prius_advert_param(base_param) || (base_param == 856U)) {
-      ret.rx_checks_len = 6;
-    } else if (standalone_pedal || toyota_alt_cruise || toyota_sdsu_status) {
-      ret.rx_checks_len = 5;
-    } else {
-      ret.rx_checks_len = 4;
-    }
-    if (toyota_dsu_bypass) {
-      toyota_rx_checks[4].msg[0] = (CanMsgCheck){.addr = 0x343, .bus = 2U, .len = 8, .frequency = 33U,
-        .ignore_counter = true, .ignore_quality_flag = true};
-      toyota_rx_checks[5].msg[0] = (CanMsgCheck){.addr = 0x262, .bus = 0U, .len = toyota_bypass_eps5 ? 5 : 8, .frequency = 25U,
-        .ignore_counter = true, .ignore_quality_flag = true};
-      toyota_rx_checks[6].msg[0] = (CanMsgCheck){.addr = toyota_alt_cruise ? 0x365 : 0x1D3, .bus = 0U,
-        .len = toyota_alt_cruise ? 7 : 8, .frequency = 10U, .ignore_checksum = toyota_alt_cruise,
-        .ignore_counter = true, .ignore_quality_flag = true};
-      ret.rx_checks_len = 7;
-    }
-    if ((param == 0xB049U) || (param == 0xB249U)) {
-      // Keep all parent checks, including smartDSU status, independently required.
-      toyota_rx_checks[5].msg[0] = (CanMsgCheck){.addr = 0x201, .bus = 0U, .len = 6, .frequency = 50U,
-        .max_counter = 15U, .ignore_quality_flag = false};
-      toyota_rx_checks[6].msg[0] = (CanMsgCheck){.addr = 0x262, .bus = 0U, .len = 5, .frequency = 25U,
-        .ignore_counter = true, .ignore_quality_flag = true};
-      toyota_rx_checks[7].msg[0] = (CanMsgCheck){.addr = 0x1D3, .bus = 0U, .len = 8, .frequency = 10U,
-        .ignore_counter = true, .ignore_quality_flag = true};
-      ret.rx_checks_len = 8;
-    } else if (toyota_pedal_composite) {
-      // Append independent physical sources and pedal to the unchanged parent
-      // catalog. Eight rows cover the largest parent without shrinking buffers.
-      bool eps_required = false;
-      bool main_required = false;
-      for (int i = 0; i < ret.rx_checks_len; i++) {
-        eps_required |= toyota_rx_checks[i].msg[0].addr == 0x262;
-        main_required |= toyota_rx_checks[i].msg[0].addr == (toyota_alt_cruise ? 0x365 : 0x1D3);
-      }
-      if (!eps_required) {
-        const bool eps5 = (toyota_dsu_bypass && toyota_bypass_eps5) || toyota_aol_rav4h_filter ||
-                          toyota_legacy_sdsu || toyota_legacy_advert();
-        toyota_rx_checks[ret.rx_checks_len].msg[0] = (CanMsgCheck){.addr = 0x262, .bus = 0U,
-          .len = eps5 ? 5 : 8, .frequency = 25U, .ignore_counter = true, .ignore_quality_flag = true};
-        ret.rx_checks_len++;
-      }
-      if (!main_required) {
-        toyota_rx_checks[ret.rx_checks_len].msg[0] = (CanMsgCheck){.addr = toyota_alt_cruise ? 0x365 : 0x1D3,
-          .bus = 0U, .len = toyota_alt_cruise ? 7 : 8, .frequency = 10U, .ignore_checksum = toyota_alt_cruise,
-          .ignore_counter = true, .ignore_quality_flag = true};
-        ret.rx_checks_len++;
-      }
-      toyota_rx_checks[ret.rx_checks_len].msg[0] = (CanMsgCheck){.addr = 0x201, .bus = 0U, .len = 6,
-        .frequency = 50U, .max_counter = 15U, .ignore_quality_flag = false};
-      ret.rx_checks_len++;
+    static const RxCheck toyota_lka_alt_brake_rx_checks[] = {
+      TOYOTA_ALT_BRAKE_RX_CHECKS(false)
+    };
+
+    if (!toyota_alt_brake) {
+      SET_RX_CHECKS(toyota_lka_rx_checks, ret);
     } else {
     }
   }
diff --git a/opendbc_repo/opendbc/safety/modes/volkswagen_meb.h b/opendbc_repo/opendbc/safety/modes/volkswagen_meb.h
index dbe8335b90..f6c8a6d5e5 100644
--- a/opendbc_repo/opendbc/safety/modes/volkswagen_meb.h
+++ b/opendbc_repo/opendbc/safety/modes/volkswagen_meb.h
@@ -138,7 +138,7 @@ static safety_config volkswagen_meb_init(uint16_t param) {
 
   safety_config ret;
   if (volkswagen_meb_alt_crc) {
-    static RxCheck volkswagen_meb_gen2_rx_checks[] = {
+    static const RxCheck volkswagen_meb_gen2_rx_checks[] = {
       VOLKSWAGEN_MEB_COMMON_RX_CHECKS
       {.msg = {{MSG_Motor_51, 0, 48, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
       {.msg = {{MSG_ESC_51, 0, 64, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
@@ -146,7 +146,7 @@ static safety_config volkswagen_meb_init(uint16_t param) {
 
     ret = BUILD_SAFETY_CFG(volkswagen_meb_gen2_rx_checks, VOLKSWAGEN_MEB_TX_MSGS);
   } else {
-    static RxCheck volkswagen_meb_rx_checks[] = {
+    static const RxCheck volkswagen_meb_rx_checks[] = {
       VOLKSWAGEN_MEB_COMMON_RX_CHECKS
       {.msg = {{MSG_Motor_51, 0, 32, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
       {.msg = {{MSG_ESC_51, 0, 48, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
diff --git a/opendbc_repo/opendbc/safety/modes/volkswagen_mlb.h b/opendbc_repo/opendbc/safety/modes/volkswagen_mlb.h
index 25eeca9d10..5e3c0f5d30 100644
--- a/opendbc_repo/opendbc/safety/modes/volkswagen_mlb.h
+++ b/opendbc_repo/opendbc/safety/modes/volkswagen_mlb.h
@@ -12,7 +12,7 @@ static safety_config volkswagen_mlb_init(uint16_t param) {
     {MSG_LS_01, 2, 4, .check_relay = false},
   };
 
-  static RxCheck volkswagen_mlb_rx_checks[] = {
+  static const RxCheck volkswagen_mlb_rx_checks[] = {
     // TODO: implement checksum validation
     {.msg = {{MSG_ESP_03, 0, 8, 50U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{MSG_LH_EPS_03, 0, 8, 100U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
diff --git a/opendbc_repo/opendbc/safety/modes/volkswagen_mqb.h b/opendbc_repo/opendbc/safety/modes/volkswagen_mqb.h
index ef4a60f9a5..5366acbf52 100644
--- a/opendbc_repo/opendbc/safety/modes/volkswagen_mqb.h
+++ b/opendbc_repo/opendbc/safety/modes/volkswagen_mqb.h
@@ -24,19 +24,7 @@ static safety_config volkswagen_mqb_init(uint16_t param) {
     {MSG_ACC_07, 0, 8, .check_relay = true},
   };
 
-#ifdef ALLOW_DEBUG
-  static const CanMsg VOLKSWAGEN_MQB_AOL_LONG_TX_MSGS[] = {
-    {MSG_HCA_01, 0, 8, .check_relay = true, .disable_static_blocking = true},
-    {MSG_LDW_02, 0, 8, .check_relay = true, .disable_static_blocking = true},
-    {MSG_LH_EPS_03, 2, 8, .check_relay = true, .disable_static_blocking = true},
-    {MSG_ACC_02, 0, 8, .check_relay = true},
-    {MSG_ACC_06, 0, 8, .check_relay = true},
-    {MSG_ACC_07, 0, 8, .check_relay = true},
-  };
-
-#endif
-
-  static RxCheck volkswagen_mqb_rx_checks[] = {
+  static const RxCheck volkswagen_mqb_rx_checks[] = {
     {.msg = {{MSG_ESP_19, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{MSG_LH_EPS_03, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{MSG_ESP_05, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
diff --git a/opendbc_repo/opendbc/safety/modes/volkswagen_pq.h b/opendbc_repo/opendbc/safety/modes/volkswagen_pq.h
index ddad3f69b1..cdc1856836 100644
--- a/opendbc_repo/opendbc/safety/modes/volkswagen_pq.h
+++ b/opendbc_repo/opendbc/safety/modes/volkswagen_pq.h
@@ -62,7 +62,7 @@ static safety_config volkswagen_pq_init(uint16_t param) {
     {MSG_ACC_GRA_ANZEIGE, 0, 8, .check_relay = true},
   };
 
-  static RxCheck volkswagen_pq_rx_checks[] = {
+  static const RxCheck volkswagen_pq_rx_checks[] = {
     {.msg = {{MSG_LENKHILFE_3, 0, 6, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{MSG_BREMSE_1, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
     {.msg = {{MSG_MOTOR_2, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},