diff --git a/.github/workflows/build-all-tinygrad-models.yaml b/.github/workflows/build-all-tinygrad-models.yaml
index 1c7812ee4..f1c81455c 100644
--- a/.github/workflows/build-all-tinygrad-models.yaml
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -1,40 +1,21 @@
-name: Build and push all tinygrad models
+name: Build All Tinygrad Models and Push to GitLab
 
 on:
   workflow_dispatch:
     inputs:
-      set_min_version:
-        description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
-        required: true
+      branch:
+        description: 'Branch to run workflow from'
+        required: false
+        default: 'master-new'
         type: string
 
 jobs:
   setup:
     runs-on: ubuntu-latest
     outputs:
-      json_version: ${{ steps.get-json.outputs.json_version }}
-      recompiled_dir: ${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
       json_file: ${{ steps.get-json.outputs.json_file }}
-      model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
-      tinygrad_ref: ${{ steps.get-tinygrad-ref.outputs.tinygrad_ref }}
     steps:
-      - name: Checkout sunnypilot repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot
-          path: sunnypilot
-          submodules: recursive
-
-      - name: Get tinygrad_repo ref
-        id: get-tinygrad-ref
-        run: |
-          cd sunnypilot
-          export PYTHONPATH=$(pwd)
-          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
-          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
-          echo "tinygrad_ref is $ref"
-
-      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
+      - name: Checkout docs repo
         uses: actions/checkout@v4
         with:
           repository: sunnypilot/sunnypilot-docs
@@ -42,7 +23,7 @@ jobs:
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
 
-      - name: Get next JSON version to use (from GitHub docs repo)
+      - name: Get next JSON version to use
         id: get-json
         run: |
           cd docs/docs
@@ -50,131 +31,19 @@ jobs:
           next=$((latest+1))
           json_file="driving_models_v${next}.json"
           cp "driving_models_v${latest}.json" "$json_file"
-          echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
-          echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
-          echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV
+          echo "json_file=$json_file" >> $GITHUB_OUTPUT
 
-      - name: Extract tinygrad models
-        id: set-matrix
-        working-directory: docs/docs
-        run: |
-          jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
-          echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
+      - name: Upload context for next jobs
+        uses: actions/upload-artifact@v4
         with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-      - run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+          name: context
+          path: docs
 
-      - name: Clone GitLab docs repo and create new recompiled dir
-        id: create-recompiled-dir
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
-          cd gitlab_docs
-          git checkout main
-          git sparse-checkout set --no-cone models/
-          cd models
-          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
-          if [[ -z "$latest_dir" ]]; then
-            next_dir=1
-          else
-            next_dir=$((latest_dir+1))
-          fi
-          recompiled_dir="${next_dir}"
-          mkdir -p "recompiled${recompiled_dir}"
-          touch "recompiled${recompiled_dir}/.gitkeep"
-          cd ../..
-          echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT
-
-      - name: Push empty recompiled dir to GitLab
-        run: |
-          cd gitlab_docs
-          git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
-          git push origin main
-
-      - name: Push new JSON to GitHub docs repo
-        run: |
-          cd docs
-          git pull origin gh-pages
-          git add docs/"$(basename ${{ steps.get-json.outputs.json_file }})"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Add new ${{ steps.get-json.outputs.json_file }} for build-all" || echo "No changes to commit"
-          git push origin gh-pages
-
-  get_and_build:
-    needs: [setup]
-    strategy:
-      matrix:
-        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
-      fail-fast: false
-    uses: ./.github/workflows/build-single-tinygrad-model.yaml
-    with:
-      upstream_branch: ${{ matrix.model.ref }}
-      custom_name: ${{ matrix.model.display_name }}
-      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
-      json_version: ${{ needs.setup.outputs.json_version }}
-    secrets: inherit
-
-  retry_failed_models:
-    needs: [setup, get_and_build]
+  build-all:
     runs-on: ubuntu-latest
-    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
-    outputs:
-      retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
-    steps:
-      - uses: actions/download-artifact@v4
-        with:
-          pattern: model-*
-          path: output
-
-      - id: set-retry-matrix
-        run: |
-          echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
-          built=(); while IFS= read -r line; do built+=("$line"); done < <(
-            ls output | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
-          )
-          jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
-            'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
-          echo "retry_matrix=$(cat retry_matrix.json)" >> $GITHUB_OUTPUT
-
-  retry_get_and_build:
-    needs: [setup, get_and_build, retry_failed_models]
-    if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }}
-    strategy:
-      matrix:
-        model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
-      fail-fast: false
-    uses: ./.github/workflows/build-single-tinygrad-model.yaml
-    with:
-      upstream_branch: ${{ matrix.model.ref }}
-      custom_name: ${{ matrix.model.display_name }}
-      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
-      json_version: ${{ needs.setup.outputs.json_version }}
-      artifact_suffix: -retry
-    secrets: inherit
-
-  publish_models:
-    name: Publish models sequentially
-    needs: [setup, get_and_build, retry_failed_models, retry_get_and_build]
-    if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
-    runs-on: ubuntu-latest
-    strategy:
-      max-parallel: 1
-      matrix:
-        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
+    needs: setup
     env:
-      RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
-      JSON_FILE: ${{ needs.setup.outputs.json_file }}
-      ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
+      JSON_FILE: docs/docs/${{ needs.setup.outputs.json_file }}
     steps:
       - name: Set up SSH
         uses: webfactory/ssh-agent@v0.9.0
@@ -193,73 +62,138 @@ jobs:
           echo "Cloning GitLab"
           git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
           cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
           git checkout main
           cd ..
 
-      - name: Checkout docs repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-docs
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Validate recompiled dir and JSON version
+      - name: Set next recompiled dir
+        id: set-recompiled
         run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
-          if [ ! -f "$JSON_FILE" ]; then
-            echo "JSON file $JSON_FILE does not exist!"
-            exit 1
+          cd gitlab_docs/models
+          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
+          if [[ -z "$latest_dir" ]]; then
+            next_dir=1
+          else
+            next_dir=$((latest_dir+1))
           fi
+          recompiled_dir="recompiled${next_dir}"
+          mkdir -p "$recompiled_dir"
+          echo "RECOMPILED_DIR=$recompiled_dir" >> $GITHUB_ENV
 
-      - name: Download artifact name file
+      - name: Download context
         uses: actions/download-artifact@v4
         with:
-          name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
-          path: artifact_name
+          name: context
+          path: .
 
-      - name: Read artifact name
-        id: read-artifact-name
+      - name: Install dependencies
         run: |
-          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
-          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
+          sudo apt-get update
+          sudo apt-get install -y jq gh
 
-      - name: Download model artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
-          path: output
-
-      - name: Remove onnx files bc not needed for recompiled dir since they already exist from single build
-        run: |
-          find output -type f -name '*.onnx' -delete
-          find output -type f -name 'big_*.pkl' -delete
-          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
-
-      - name: Copy model artifacts to gitlab
+      - name: Build all tinygrad models
+        id: trigger-builds
         env:
-          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
         run: |
-          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          mkdir -p "$ARTIFACT_DIR"
-          for path in output/*; do
-            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
-              continue
+          set -e
+          > triggered_run_ids.txt
+          BRANCH="${{ github.event.inputs.branch }}"
+          jq -c '.bundles[] | select(.runner=="tinygrad")' "$JSON_FILE" | while read -r bundle; do
+            ref=$(echo "$bundle" | jq -r '.ref')
+            display_name=$(echo "$bundle" | jq -r '.display_name' | sed 's/ ([^)]*)//g')
+            is_20hz=$(echo "$bundle" | jq -r '.is_20hz')
+            echo "Triggering build for: $display_name ($ref) [20Hz: $is_20hz]"
+            START_TIME=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
+            gh workflow run sunnypilot-build-model.yaml \
+              --repo sunnypilot/sunnypilot \
+              --ref "$BRANCH" \
+              -f upstream_branch="$ref" \
+              -f custom_name="$display_name" \
+              -f is_20hz="$is_20hz"
+            for i in {1..24}; do
+              RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="$BRANCH" --created ">$START_TIME" --limit=1 --json databaseId --jq '.[0].databaseId')
+              if [ -n "$RUN_ID" ]; then
+                break
+              fi
+              sleep 5
+            done
+            if [ -z "$RUN_ID" ]; then
+              echo "ould not find the triggered workflow run for $display_name ($ref)"
+              exit 1
             fi
-            name="$(basename "$path")"
-            if [ -d "$path" ]; then
-              mkdir -p "$ARTIFACT_DIR/$name"
-              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
-              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
+            echo "$RUN_ID" >> triggered_run_ids.txt
+          done
+
+      - name: Wait for all model builds to finish
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          set -e
+          SUCCESS_RUNS=()
+          FAILED_RUNS=()
+          declare -A RUN_ID_TO_NAME
+
+          while read -r RUN_ID; do
+            ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name' || echo "unknown")
+            RUN_ID_TO_NAME["$RUN_ID"]="$ARTIFACT_NAME"
+          done < triggered_run_ids.txt
+
+          while read -r RUN_ID; do
+            echo "Watching run ID: $RUN_ID"
+            gh run watch "$RUN_ID" --repo sunnypilot/sunnypilot
+            CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
+            ARTIFACT_NAME="${RUN_ID_TO_NAME[$RUN_ID]}"
+            echo "Run $RUN_ID ($ARTIFACT_NAME) concluded with: $CONCLUSION"
+            if [[ "$CONCLUSION" == "success" ]]; then
+              SUCCESS_RUNS+=("$RUN_ID")
             else
-              cp "$path" "$ARTIFACT_DIR/"
-              echo "Copied file $name -> $ARTIFACT_DIR/"
+              FAILED_RUNS+=("$RUN_ID")
             fi
+          done < triggered_run_ids.txt
+
+          if [[ ${#SUCCESS_RUNS[@]} -eq 0 ]]; then
+            echo "All model builds failed. Aborting."
+            exit 1
+          fi
+
+          if [[ ${#FAILED_RUNS[@]} -gt 0 ]]; then
+            echo "WARNING: The following model builds failed:"
+            for RUN_ID in "${FAILED_RUNS[@]}"; do
+              echo "- $RUN_ID (${RUN_ID_TO_NAME[$RUN_ID]})"
+            done
+            echo "You may want to rerun these models manually."
+          fi
+
+      - name: Download and extract all model artifacts
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          ARTIFACT_DIR="gitlab_docs/models/$RECOMPILED_DIR"
+          SUCCESS_RUNS=()
+          while read -r RUN_ID; do
+            CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
+            if [[ "$CONCLUSION" == "success" ]]; then
+              SUCCESS_RUNS+=("$RUN_ID")
+            fi
+          done < triggered_run_ids.txt
+
+          for RUN_ID in "${SUCCESS_RUNS[@]}"; do
+            ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name')
+            echo "Downloading artifact: $ARTIFACT_NAME from run: $RUN_ID"
+            mkdir -p "$ARTIFACT_DIR/$ARTIFACT_NAME"
+            echo "Created directory: $ARTIFACT_DIR/$ARTIFACT_NAME"
+            gh run download "$RUN_ID" --repo sunnypilot/sunnypilot -n "$ARTIFACT_NAME" --dir "$ARTIFACT_DIR/$ARTIFACT_NAME"
+            echo "Downloaded artifact zip(s) to: $ARTIFACT_DIR/$ARTIFACT_NAME"
+            ZIP_PATH=$(find "$ARTIFACT_DIR/$ARTIFACT_NAME" -type f -name '*.zip' | head -n1)
+            if [ -n "$ZIP_PATH" ]; then
+              echo "Unzipping $ZIP_PATH to $ARTIFACT_DIR/$ARTIFACT_NAME"
+              unzip -o "$ZIP_PATH" -d "$ARTIFACT_DIR/$ARTIFACT_NAME"
+              rm -f "$ZIP_PATH"
+              echo "Unzipped and removed $ZIP_PATH"
+            else
+              echo "No zip file found in $ARTIFACT_DIR/$ARTIFACT_NAME (This is NOT an error)."
+            fi
+            echo "Done processing $ARTIFACT_NAME"
           done
 
       - name: Push recompiled dir to GitLab
@@ -268,36 +202,25 @@ jobs:
         run: |
           cd gitlab_docs
           git checkout main
-          git pull origin main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
+          mkdir -p models/"$(basename $RECOMPILED_DIR)"
+          git add models/"$(basename $RECOMPILED_DIR)"
           git config --global user.name "GitHub Action"
           git config --global user.email "action@github.com"
-          git commit -m "Update $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit"
+          git commit -m "Add $(basename $RECOMPILED_DIR) from build-all-tinygrad-models"
           git push origin main
-      - run: |
-          cd docs
-          git pull origin gh-pages
 
-      - name: update json
+      - name: Run json_parser.py to update JSON
         run: |
-          ARGS=""
-          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
-          ARGS="$ARGS --sort-by-date"
-          ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
-          eval python3 docs/json_parser.py \
+          python3 docs/json_parser.py \
             --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
-            $ARGS
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR"
 
-      - name: Push updated json to GitHub
+      - name: Push updated JSON to GitHub docs repo
         run: |
           cd docs
           git config --global user.name "GitHub Action"
           git config --global user.email "action@github.com"
           git checkout gh-pages
           git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
+          git commit -m "Update $(basename $JSON_FILE) after recompiling models" || echo "No changes to commit"
           git push origin gh-pages
diff --git a/RELEASES.md b/RELEASES.md
index 1e8075345..58d0d07a7 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,17 +1,10 @@
-Version 0.10.1 (2025-09-08)
-========================
-
-Version 0.10.0 (2025-08-05)
+Version 0.10.0 (2025-07-07)
 ========================
 * New driving model
-  * New training architecture
-     * Architecture outlined in CVPR paper: "Learning to Drive from a World Model"
-     * Longitudinal MPC replaced by E2E planning from worldmodel in experimental mode
-     * Action from lateral MPC as training objective replaced by E2E planning from worldmodel
-  * Low-speed lead car ground-truth fixes
-
+  * Lead car ground-truth fixes
+  * Ported over VAE from the MLSIM stack
+  * New training architecture described in CVPR paper
 * Enable live-learned steering actuation delay
-* Record driving feedback using LKAS button when MADS is disabled
 * Opt-in audio recording for dashcam video
 
 Version 0.9.9 (2025-05-23)
diff --git a/common/model.h b/common/model.h
index a60b33c4c..ce5482e9e 100644
--- a/common/model.h
+++ b/common/model.h
@@ -1 +1 @@
-#define DEFAULT_MODEL "Down To Ride (Default)"
+#define DEFAULT_MODEL "Tomb Raider 14 (Default)"
diff --git a/common/pid.py b/common/pid.py
index 721a7c9d6..f2ab935f4 100644
--- a/common/pid.py
+++ b/common/pid.py
@@ -17,6 +17,7 @@ class PIDController:
     self.pos_limit = pos_limit
     self.neg_limit = neg_limit
 
+    self.i_unwind_rate = 0.3 / rate
     self.i_rate = 1.0 / rate
     self.speed = 0.0
 
@@ -34,6 +35,10 @@ class PIDController:
   def k_d(self):
     return np.interp(self.speed, self._k_d[0], self._k_d[1])
 
+  @property
+  def error_integral(self):
+    return self.i/self.k_i
+
   def reset(self):
     self.p = 0.0
     self.i = 0.0
@@ -41,21 +46,25 @@ class PIDController:
     self.f = 0.0
     self.control = 0
 
-  def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
+  def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False):
     self.speed = speed
+
     self.p = float(error) * self.k_p
     self.f = feedforward * self.k_f
     self.d = error_rate * self.k_d
 
-    if not freeze_integrator:
-      i = self.i + error * self.k_i * self.i_rate
+    if override:
+      self.i -= self.i_unwind_rate * float(np.sign(self.i))
+    else:
+      if not freeze_integrator:
+        self.i = self.i + error * self.k_i * self.i_rate
 
-      # Don't allow windup if already clipping
-      test_control = self.p + i + self.d + self.f
-      i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit
-      i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit
-      self.i = np.clip(i, i_lowerbound, i_upperbound)
+        # Clip i to prevent exceeding control limits
+        control_no_i = self.p + self.d + self.f
+        control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
+        self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
 
     control = self.p + self.i + self.d + self.f
+
     self.control = np.clip(control, self.neg_limit, self.pos_limit)
     return self.control
diff --git a/common/version.h b/common/version.h
index 669f30321..af827e20a 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.10.1"
+#define COMMA_VERSION "0.10.0"
diff --git a/selfdrive/assets/icons/link.png b/selfdrive/assets/icons/link.png
deleted file mode 100644
index 8a795c05b..000000000
--- a/selfdrive/assets/icons/link.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a69514fe68dd1b4c73f28771640dcba10fc40989d1c7e771cb48bfd830fef206
-size 5713
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 354405271..f2123fc27 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -48,7 +48,7 @@ class Controls(ControlsExt):
                                   poll='selfdriveState')
     self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)
 
-    self.steer_limited_by_safety = False
+    self.steer_limited_by_controls = False
     self.curvature = 0.0
     self.desired_curvature = 0.0
 
@@ -139,7 +139,7 @@ class Controls(ControlsExt):
 
     actuators.curvature = self.desired_curvature
     steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
-                                                       self.steer_limited_by_safety, self.desired_curvature,
+                                                       self.steer_limited_by_controls, self.desired_curvature,
                                                        self.calibrated_pose, curvature_limited)  # TODO what if not available
     actuators.torque = float(steer)
     actuators.steeringAngleDeg = float(steeringAngleDeg)
@@ -189,10 +189,10 @@ class Controls(ControlsExt):
     if self.sm['selfdriveState'].active:
       CO = self.sm['carOutput']
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-        self.steer_limited_by_safety = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
+        self.steer_limited_by_controls = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
                                               STEER_ANGLE_SATURATION_THRESHOLD
       else:
-        self.steer_limited_by_safety = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
+        self.steer_limited_by_controls = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
 
     # TODO: both controlsState and carControl valids should be set by
     #       sm.all_checks(), but this creates a circular dependency
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index 615168a26..a2c28ed8c 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -15,15 +15,15 @@ class LatControl(ABC):
     self.steer_max = 1.0
 
   @abstractmethod
-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     pass
 
   def reset(self):
     self.sat_count = 0.
 
-  def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited):
+  def _check_saturation(self, saturated, CS, steer_limited_by_controls, curvature_limited):
     # Saturated only if control output is not being limited by car torque/angle rate limits
-    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_safety and not CS.steeringPressed:
+    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_controls and not CS.steeringPressed:
       self.sat_count += self.sat_count_rate
     else:
       self.sat_count -= self.sat_count_rate
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index 787bd2dbe..fe6275d9d 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -3,7 +3,6 @@ import math
 from cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 
-# TODO This is speed dependent
 STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
 
 
@@ -11,9 +10,9 @@ class LatControlAngle(LatControl):
   def __init__(self, CP, CP_SP, CI):
     super().__init__(CP, CP_SP, CI)
     self.sat_check_min_speed = 5.
-    self.use_steer_limited_by_safety = CP.brand == "tesla"
+    self.use_steer_limited_by_controls = CP.brand == "tesla"
 
-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
     if not active:
@@ -24,9 +23,9 @@ class LatControlAngle(LatControl):
       angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
       angle_steers_des += params.angleOffsetDeg
 
-    if self.use_steer_limited_by_safety:
+    if self.use_steer_limited_by_controls:
       # these cars' carcontrollers calculate max lateral accel and jerk, so we can rely on carOutput for saturation
-      angle_control_saturated = steer_limited_by_safety
+      angle_control_saturated = steer_limited_by_controls
     else:
       # for cars which use a method of limiting torque such as a torque signal (Nissan and Toyota)
       # or relying on EPS (Ford Q3), carOutput does not capture maxing out torque  # TODO: this can be improved
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index fd79c29bd..eb8a1ed5f 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -13,7 +13,11 @@ class LatControlPID(LatControl):
                              k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.get_steer_feedforward = CI.get_steer_feedforward_function()
 
-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+  def reset(self):
+    super().reset()
+    self.pid.reset()
+
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     pid_log.steeringRateDeg = float(CS.steeringRateDeg)
@@ -25,24 +29,20 @@ class LatControlPID(LatControl):
     pid_log.steeringAngleDesiredDeg = angle_steers_des
     pid_log.angleError = error
     if not active:
-      output_torque = 0.0
+      output_steer = 0.0
       pid_log.active = False
-
+      self.pid.reset()
     else:
       # offset does not contribute to resistive torque
-      ff = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
-      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-
-      output_torque = self.pid.update(error,
-                                feedforward=ff,
-                                speed=CS.vEgo,
-                                freeze_integrator=freeze_integrator)
+      steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
 
+      output_steer = self.pid.update(error, override=CS.steeringPressed,
+                                     feedforward=steer_feedforward, speed=CS.vEgo)
       pid_log.active = True
       pid_log.p = float(self.pid.p)
       pid_log.i = float(self.pid.i)
       pid_log.f = float(self.pid.f)
-      pid_log.output = float(output_torque)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
+      pid_log.output = float(output_steer)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
 
-    return output_torque, angle_steers_des, pid_log
+    return output_steer, angle_steers_des, pid_log
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 3eb3746dc..467f40310 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -40,7 +40,7 @@ class LatControlTorque(LatControl):
     self.torque_params.latAccelOffset = latAccelOffset
     self.torque_params.friction = friction
 
-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
     if not active:
       output_torque = 0.0
@@ -75,7 +75,7 @@ class LatControlTorque(LatControl):
                                           desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
                                           desired_curvature, actual_curvature)
 
-      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+      freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
       output_torque = self.pid.update(pid_log.error,
                                       feedforward=ff,
                                       speed=CS.vEgo,
@@ -89,7 +89,7 @@ class LatControlTorque(LatControl):
       pid_log.output = float(-output_torque)
       pid_log.actualLateralAccel = float(actual_lateral_accel)
       pid_log.desiredLateralAccel = float(desired_lateral_accel)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
 
     # TODO left is positive in this convention
     return -output_torque, 0.0, pid_log
diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx
index 267fc92a3..2fb716997 100644
--- a/selfdrive/modeld/models/driving_policy.onnx
+++ b/selfdrive/modeld/models/driving_policy.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1af87c38492444521632a0e75839b5684ee46bf255b3474773784bffb9fe4f57
+oid sha256:1741cad23f6f451782b5db6182218749ee12072e393d57eac36d8d5c55d9358a
 size 15583374
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index 9e1c04873..783572d43 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -90,25 +90,19 @@ class Parser:
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_binary_crossentropy('lane_lines_prob', outs)
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    for k in ['lead_prob', 'lane_lines_prob']:
+      self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
     self.parse_binary_crossentropy('meta', outs)
-    self.parse_binary_crossentropy('lead_prob', outs)
-    if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH:
-      self.parse_mdn('lead', outs, in_N=0, out_N=0,
-                     out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
-    else:
-      self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH:
-      self.parse_mdn('plan', outs, in_N=0, out_N=0,
-                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    else:
-      self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
+    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
+                   out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
+    if 'lat_planner_solution' in outs:
+      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
     if 'desired_curvature' in outs:
       self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 54ff18935..79c03c65a 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-543bd2347fa35f8300478a3893fdd0a03a7c1fe6
\ No newline at end of file
+de16c6fbe14e121c5e74cd944ce03a0e4672540d
\ No newline at end of file
diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py
index 08879832a..d4dc420b7 100644
--- a/selfdrive/ui/layouts/settings/settings.py
+++ b/selfdrive/ui/layouts/settings/settings.py
@@ -27,7 +27,7 @@ PANEL_COLOR = rl.Color(41, 41, 41, 255)
 CLOSE_BTN_COLOR = rl.Color(41, 41, 41, 255)
 CLOSE_BTN_PRESSED = rl.Color(59, 59, 59, 255)
 TEXT_NORMAL = rl.Color(128, 128, 128, 255)
-TEXT_SELECTED = rl.WHITE
+TEXT_SELECTED = rl.Color(255, 255, 255, 255)
 
 
 class PanelType(IntEnum):
diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py
index 8c9c6ba5d..cb8c6d472 100644
--- a/selfdrive/ui/layouts/sidebar.py
+++ b/selfdrive/ui/layouts/sidebar.py
@@ -23,18 +23,18 @@ NetworkType = log.DeviceState.NetworkType
 # Color scheme
 class Colors:
   SIDEBAR_BG = rl.Color(57, 57, 57, 255)
-  WHITE = rl.WHITE
+  WHITE = rl.Color(255, 255, 255, 255)
   WHITE_DIM = rl.Color(255, 255, 255, 85)
   GRAY = rl.Color(84, 84, 84, 255)
 
   # Status colors
-  GOOD = rl.WHITE
+  GOOD = rl.Color(255, 255, 255, 255)
   WARNING = rl.Color(218, 202, 37, 255)
   DANGER = rl.Color(201, 34, 49, 255)
 
   # UI elements
   METRIC_BORDER = rl.Color(255, 255, 255, 85)
-  BUTTON_NORMAL = rl.WHITE
+  BUTTON_NORMAL = rl.Color(255, 255, 255, 255)
   BUTTON_PRESSED = rl.Color(255, 255, 255, 166)
 
 
diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py
index 975d76c17..da292d38d 100644
--- a/selfdrive/ui/onroad/hud_renderer.py
+++ b/selfdrive/ui/onroad/hud_renderer.py
@@ -34,7 +34,7 @@ class FontSizes:
 
 @dataclass(frozen=True)
 class Colors:
-  white: rl.Color = rl.WHITE
+  white: rl.Color = rl.Color(255, 255, 255, 255)
   disengaged: rl.Color = rl.Color(145, 155, 149, 255)
   override: rl.Color = rl.Color(145, 155, 149, 255)  # Added
   engaged: rl.Color = rl.Color(128, 216, 166, 255)
@@ -47,7 +47,7 @@ class Colors:
   white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
   border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
   header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
-  header_gradient_end: rl.Color = rl.BLANK
+  header_gradient_end: rl.Color = rl.Color(0, 0, 0, 0)
 
 
 UI_CONFIG = UIConfig()
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index 89759da92..c63cc0159 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -29,7 +29,6 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
   flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size());
   settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio);
   mic_img = loadPixmap("../assets/icons/microphone.png", QSize(30, 30));
-  link_img = loadPixmap("../assets/icons/link.png", QSize(60, 60));
 
   connect(this, &Sidebar::valueChanged, [=] { update(); });
 
@@ -155,12 +154,7 @@ void Sidebar::drawSidebar(QPainter &p) {
   p.setFont(InterFont(35));
   p.setPen(QColor(0xff, 0xff, 0xff));
   const QRect r = QRect(58, 247, width() - 100, 50);
-
-  if (net_type == "Hotspot") {
-    p.drawPixmap(r.x(), r.y() + (r.height() - link_img.height()) / 2, link_img);
-  } else {
-    p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
-  }
+  p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
 
 #ifndef SUNNYPILOT
   // metrics
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
index 30a92c972..4f8409be1 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -43,7 +43,7 @@ protected:
   void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
   virtual void drawSidebar(QPainter &p);
 
-  QPixmap home_img, flag_img, settings_img, mic_img, link_img;
+  QPixmap home_img, flag_img, settings_img, mic_img;
   bool onroad, recording_audio, flag_pressed, settings_pressed, mic_indicator_pressed;
   const QMap<cereal::DeviceState::NetworkType, QString> network_type = {
     {cereal::DeviceState::NetworkType::NONE, tr("--")},
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index 7e3d18bd8..43ba7e037 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -211,7 +211,7 @@ void DevicePanelSP::updateState() {
   toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));
 
   QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
-  if (timeoutValue == "0" || timeoutValue.isEmpty()) {
+  if (timeoutValue == "0") {
     interactivityTimeout->setLabel("Default");
   } else {
     interactivityTimeout->setLabel(timeoutValue + "s");
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
index 3d4e07096..1358cbc95 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
@@ -66,14 +66,6 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   });
   list->addItem(horizontal_line());
 
-  QString sunnylinkUploaderDesc = tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)");
-  sunnylinkUploaderEnabledBtn = new ParamControlSP(
-    "EnableSunnylinkUploader",
-    tr("[Don't use] Enable sunnylink uploader"),
-    sunnylinkUploaderDesc,
-    "", nullptr, true);
-  list->addItem(sunnylinkUploaderEnabledBtn);
-
   connect(sunnylinkEnabledBtn, &ParamControl::showDescriptionEvent, [=]() {
     // resets the description to the default one for the Easter egg
     sunnylinkEnabledBtn->setDescription(sunnylinkEnabledBtnDesc);
@@ -269,8 +261,6 @@ void SunnylinkPanel::updatePanel() {
   pairSponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
   pairSponsorBtn->setValue(is_paired ? tr("Paired") : tr("Not Paired"));
 
-  sunnylinkUploaderEnabledBtn->setEnabled(max_current_sponsor_rule.roleTier == SponsorTier::Guardian && is_sunnylink_enabled);
-
   if (!is_sunnylink_enabled) {
     sunnylinkEnabledBtn->setValue("");
     sponsorBtn->setValue("");
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
index c56d8ebd1..e17c68d3a 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
@@ -49,7 +49,6 @@ private:
   QString sunnylinkBtnDescription;
   PushButtonSP *restoreSettings;
   PushButtonSP *backupSettings;
-  ParamControlSP * sunnylinkUploaderEnabledBtn;
 
   void stopSunnylink() const;
   void startSunnylink() const;
diff --git a/selfdrive/ui/widgets/exp_mode_button.py b/selfdrive/ui/widgets/exp_mode_button.py
index 961876895..83caf413d 100644
--- a/selfdrive/ui/widgets/exp_mode_button.py
+++ b/selfdrive/ui/widgets/exp_mode_button.py
@@ -1,7 +1,7 @@
 import pyray as rl
 from openpilot.common.params import Params
 from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.lib.widget import Widget
 
 
 class ExperimentalModeButton(Widget):
@@ -14,6 +14,7 @@ class ExperimentalModeButton(Widget):
 
     self.params = Params()
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
+    self.is_pressed = False
 
     self.chill_pixmap = gui_app.texture("icons/couch.png", self.img_width, self.img_width)
     self.experimental_pixmap = gui_app.texture("icons/experimental_grey.png", self.img_width, self.img_width)
@@ -31,13 +32,20 @@ class ExperimentalModeButton(Widget):
     rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), int(rect.width), int(rect.height),
                                  start_color, end_color)
 
-  def _handle_mouse_release(self, mouse_pos):
-    self.experimental_mode = not self.experimental_mode
-    # TODO: Opening settings for ExperimentalMode
-    self.params.put_bool("ExperimentalMode", self.experimental_mode)
+  def _handle_interaction(self, rect):
+    mouse_pos = rl.get_mouse_position()
+    mouse_in_rect = rl.check_collision_point_rec(mouse_pos, rect)
+
+    self.is_pressed = mouse_in_rect and rl.is_mouse_button_down(rl.MOUSE_BUTTON_LEFT)
+    return mouse_in_rect and rl.is_mouse_button_released(rl.MOUSE_BUTTON_LEFT)
 
   def _render(self, rect):
-    rl.draw_rectangle_rounded(rect, 0.08, 20, rl.WHITE)
+    if self._handle_interaction(rect):
+      self.experimental_mode = not self.experimental_mode
+      # TODO: Opening settings for ExperimentalMode
+      self.params.put_bool("ExperimentalMode", self.experimental_mode)
+
+    rl.draw_rectangle_rounded(rect, 0.08, 20, rl.Color(255, 255, 255, 255))
 
     rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
     self._draw_gradient_background(rect)
@@ -53,7 +61,7 @@ class ExperimentalModeButton(Widget):
     text_x = rect.x + self.horizontal_padding
     text_y = rect.y + rect.height / 2 - 45 // 2  # Center vertically
 
-    rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.BLACK)
+    rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.Color(0, 0, 0, 255))
 
     # Draw icon (right aligned)
     icon_x = rect.x + rect.width - self.horizontal_padding - self.img_width
@@ -63,4 +71,4 @@ class ExperimentalModeButton(Widget):
     # Draw current mode icon
     current_icon = self.experimental_pixmap if self.experimental_mode else self.chill_pixmap
     source_rect = rl.Rectangle(0, 0, current_icon.width, current_icon.height)
-    rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.WHITE)
+    rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.Color(255, 255, 255, 255))
diff --git a/selfdrive/ui/widgets/prime.py b/selfdrive/ui/widgets/prime.py
index d36541e5a..afdfa33e7 100644
--- a/selfdrive/ui/widgets/prime.py
+++ b/selfdrive/ui/widgets/prime.py
@@ -36,7 +36,7 @@ class PrimeWidget(Widget):
     font = gui_app.font(FontWeight.LIGHT)
     wrapped_text = "\n".join(wrap_text(font, "Become a comma prime member at connect.comma.ai", 56, int(w)))
     text_size = measure_text_cached(font, wrapped_text, 56)
-    rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.WHITE)
+    rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.Color(255, 255, 255, 255))
 
     # Features section
     features_y = desc_y + text_size.y + 50
diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/sunnypilot/modeld_v2/parse_model_outputs_split.py
index ba8592ed1..79fa8ec2f 100644
--- a/sunnypilot/modeld_v2/parse_model_outputs_split.py
+++ b/sunnypilot/modeld_v2/parse_model_outputs_split.py
@@ -106,7 +106,9 @@ class Parser:
                        out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
     if 'plan' in outs:
       if self.generation >= 12 and \
-        outs['plan'].shape[1] == 2 * SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH:
+        outs['plan'].shape[1] > 2 * SplitModelConstants.PLAN_WIDTH * SplitModelConstants.IDX_N:
+        self._parse_plan_mhp(outs)
+      elif self.generation >= 12:
         self.parse_mdn('plan', outs, in_N=0, out_N=0,
                        out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
       else:
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 60a222a36..02ae52d77 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -5,6 +5,7 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
+import json
 import time
 
 import requests
@@ -87,8 +88,8 @@ class ModelCache:
   def _is_expired(self) -> bool:
     """Checks if the cache has expired"""
     current_time = int(time.monotonic() * 1e9)
-    last_sync = self.params.get(self._LAST_SYNC_KEY) or 0
-    return bool(last_sync == 0) or (current_time - last_sync) >= self.cache_timeout
+    last_sync = int(self.params.get(self._LAST_SYNC_KEY, encoding="utf-8") or 0)
+    return last_sync == 0 or (current_time - last_sync) >= self.cache_timeout
 
   def get(self) -> tuple[dict, bool]:
     """
@@ -97,24 +98,24 @@ class ModelCache:
     If no cached data exists or on error, returns an empty dict
     """
     try:
-      cached_data = self.params.get(self._CACHE_KEY)
+      cached_data = self.params.get(self._CACHE_KEY, encoding="utf-8")
       if not cached_data:
         cloudlog.warning("No cached model data available")
         return {}, True
-      return cached_data, self._is_expired()
+      return json.loads(cached_data), self._is_expired()
     except Exception as e:
       cloudlog.exception(f"Error retrieving cached model data: {str(e)}")
       return {}, True
 
   def set(self, data: dict) -> None:
     """Updates the cache with new model data"""
-    self.params.put(self._CACHE_KEY, data)
-    self.params.put(self._LAST_SYNC_KEY, int(time.monotonic() * 1e9))
+    self.params.put(self._CACHE_KEY, json.dumps(data))
+    self.params.put(self._LAST_SYNC_KEY, str(int(time.monotonic() * 1e9)))
 
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v7.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v4.json"
 
   def __init__(self, params: Params):
     self.params = params
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index 79241cd83..61a7e1a00 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -9,6 +9,7 @@ import hashlib
 import os
 import pickle
 import numpy as np
+import json
 
 from openpilot.common.params import Params
 from cereal import custom
@@ -18,9 +19,8 @@ from openpilot.system.hardware import PC
 from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
-# see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 9
-REQUIRED_MIN_SELECTOR_VERSION = 9
+CURRENT_SELECTOR_VERSION = 7
+REQUIRED_MIN_SELECTOR_VERSION = 5
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
 
@@ -63,14 +63,13 @@ def is_bundle_version_compatible(bundle: dict) -> bool:
   """
   return bool(REQUIRED_MIN_SELECTOR_VERSION <= bundle.get("minimumSelectorVersion", 0) <= CURRENT_SELECTOR_VERSION)
 
-
 def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundle:
   """Gets the active model bundle from cache"""
   if params is None:
     params = Params()
 
   try:
-    if (active_bundle := params.get("ModelManager_ActiveBundle") or {}) and is_bundle_version_compatible(active_bundle):
+    if (active_bundle := json.loads(params.get("ModelManager_ActiveBundle") or "{}")) and is_bundle_version_compatible(active_bundle):
       return custom.ModelManagerSP.ModelBundle(**active_bundle)
   except Exception:
     pass
@@ -111,7 +110,7 @@ def get_active_model_runner(params: Params = None, force_check=False) -> custom.
     runner_type = active_bundle.runner.raw
 
   if cached_runner_type != runner_type:
-    params.put("ModelRunnerTypeCache", int(runner_type))
+    params.put("ModelRunnerTypeCache", str(int(runner_type)))
 
   return runner_type
 
diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash
index 6ee27c30e..6df03c31d 100644
--- a/sunnypilot/models/tests/model_hash
+++ b/sunnypilot/models/tests/model_hash
@@ -1 +1 @@
-cee4a5f34c3c741fd67e4f130a7c21fd92258c9abfc0416c4d619d94e08a72eb
\ No newline at end of file
+61bb1f3077ef8219a44c8c627d5345d1a96e7f859b850bed6215eec91090becb
\ No newline at end of file
diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index 5e75c754f..a67582062 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -15,7 +15,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
-  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler
+  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                        create_connection)
 
@@ -47,7 +47,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
               threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
               threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
               threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
-              threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
+              # threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
               # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
               # threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
             ] + [
diff --git a/sunnypilot/sunnylink/uploader.py b/sunnypilot/sunnylink/uploader.py
index 117fbdc15..69ef2cfd8 100755
--- a/sunnypilot/sunnylink/uploader.py
+++ b/sunnypilot/sunnylink/uploader.py
@@ -1,38 +1,40 @@
 #!/usr/bin/env python3
+import bz2
+import datetime
+import io
 import json
 import os
 import random
-import requests
 import threading
 import time
 import traceback
-import datetime
 from collections.abc import Iterator
+from typing import BinaryIO
 
-from cereal import log
-import cereal.messaging as messaging
-from sunnypilot.sunnylink.api import SunnylinkApi
-from openpilot.common.file_helpers import get_upload_stream
+import requests
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
+from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
-from openpilot.common.swaglog import cloudlog
+
+import cereal.messaging as messaging
+from cereal import log
+from sunnypilot.sunnylink.api import SunnylinkApi
 
 NetworkType = log.DeviceState.NetworkType
 UPLOAD_ATTR_NAME = 'user.sunny.upload'
+
 UPLOAD_ATTR_VALUE = b'1'
 
-MAX_UPLOAD_SIZES = {
-  "qlog": 25*1e6,  # can't be too restrictive here since we use qlogs to find
-  # bugs, including ones that can cause massive log sizes
-  "qcam": 5*1e6,
-}
+UPLOAD_QLOG_QCAM_MAX_SIZE = 5 * 1e6  # MB
 
 allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1"))
 force_wifi = os.getenv("FORCEWIFI") is not None
 fake_upload = os.getenv("FAKEUPLOAD") is not None
 
+OFFROAD_TRANSITION_TIMEOUT = 900.  # wait until offroad for 15 minutes before allowing uploads
+
 
 class FakeRequest:
   def __init__(self):
@@ -50,6 +52,7 @@ def get_directory_sort(d: str) -> list[str]:
   o = ["0", ] if d.startswith("2024-") else ["1", ]
   return o + [s.rjust(10, '0') for s in d.rsplit('--', 1)]
 
+
 def listdir_by_creation(d: str) -> list[str]:
   if not os.path.isdir(d):
     return []
@@ -62,6 +65,7 @@ def listdir_by_creation(d: str) -> list[str]:
     cloudlog.exception("listdir_by_creation failed")
     return []
 
+
 def clear_locks(root: str) -> None:
   for logdir in os.listdir(root):
     path = os.path.join(root, logdir)
@@ -85,11 +89,11 @@ class Uploader:
     self.last_filename = ""
 
     self.immediate_folders = ["crash/", "boot/"]
-    self.immediate_priority = {"qlog": 0, "qlog.zst": 0, "qcamera.ts": 1}
+    self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1}
 
   def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]:
-    r = self.params.get("AthenadRecentlyViewedRoutes")
-    requested_routes = [] if r is None else [route for route in r.split(",") if route]
+    r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8")
+    requested_routes = [] if r is None else r.split(",")
 
     for logdir in listdir_by_creation(self.root):
       path = os.path.join(self.root, logdir)
@@ -133,11 +137,11 @@ class Uploader:
       if any(f in fn for f in self.immediate_folders):
         return name, key, fn
 
-    for name, key, fn in upload_files:
-      if name in self.immediate_priority:
-        return name, key, fn
-
-    return None
+    return next(
+      ((name, key, fn)
+       for name, key, fn in upload_files if name in self.immediate_priority),
+      None,
+    )
 
   def do_upload(self, key: str, fn: str):
     url_resp = self.api.get(
@@ -157,15 +161,15 @@ class Uploader:
     if fake_upload:
       return FakeResponse()
 
-    stream = None
-    try:
-      compress = key.endswith('.zst') and not fn.endswith('.zst')
-      stream, _ = get_upload_stream(fn, compress)
-      response = requests.put(url, data=stream, headers=headers, timeout=10)
-      return response
-    finally:
-      if stream:
-        stream.close()
+    with open(fn, "rb") as f:
+      data: BinaryIO
+      if key.endswith('.bz2') and not fn.endswith('.bz2'):
+        compressed = bz2.compress(f.read())
+        data = io.BytesIO(compressed)
+      else:
+        data = f
+
+      return requests.put(url, data=data, headers=headers, timeout=10)
 
   def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool:
     try:
@@ -179,7 +183,7 @@ class Uploader:
     if sz == 0:
       # tag files of 0 size as uploaded
       success = True
-    elif name in MAX_UPLOAD_SIZES and sz > MAX_UPLOAD_SIZES[name]:
+    elif name in self.immediate_priority and sz > UPLOAD_QLOG_QCAM_MAX_SIZE:
       cloudlog.event("uploader_too_large", key=key, fn=fn, sz=sz)
       success = True
     else:
@@ -220,7 +224,6 @@ class Uploader:
 
     return success
 
-
   def step(self, network_type: int, metered: bool) -> bool | None:
     d = self.next_file_to_upload(metered)
     if d is None:
@@ -229,8 +232,8 @@ class Uploader:
     name, key, fn = d
 
     # qlogs and bootlogs need to be compressed before uploading
-    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.zst')):
-      key += ".zst"
+    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')):
+      key += ".bz2"
 
     return self.upload(name, key, fn, network_type, metered)
 
@@ -247,7 +250,10 @@ def main(exit_event: threading.Event = None) -> None:
   clear_locks(Paths.log_root())
 
   params = Params()
-  dongle_id = params.get("SunnylinkDongleId")
+  dongle_id = params.get("SunnylinkDongleId", encoding='utf8')
+
+  offroad_transition_prev = 0.
+  offroad_last = False
 
   if dongle_id is None:
     cloudlog.info("uploader missing dongle_id")
@@ -259,13 +265,35 @@ def main(exit_event: threading.Event = None) -> None:
   backoff = 0.1
   while not exit_event.is_set():
     sm.update(0)
+
     offroad = params.get_bool("IsOffroad")
-    network_type = sm['deviceState'].networkType if not force_wifi else NetworkType.wifi
+    t = time.monotonic()
+    if offroad and not offroad_last and t > 300.:
+      offroad_transition_prev = time.monotonic()
+    offroad_last = offroad
+
+    network_type = NetworkType.wifi if force_wifi else sm['deviceState'].networkType
     if network_type == NetworkType.none:
       if allow_sleep:
         time.sleep(60 if offroad else 5)
       continue
 
+    if params.get_bool("DisableOnroadUploads"):
+      if not offroad or (offroad_transition_prev > 0. and t - offroad_transition_prev < OFFROAD_TRANSITION_TIMEOUT):
+        if not offroad:
+          cloudlog.info("not uploading: onroad uploads disabled")
+        else:
+          wait_minutes = int(OFFROAD_TRANSITION_TIMEOUT / 60)
+          time_left = OFFROAD_TRANSITION_TIMEOUT - (t - offroad_transition_prev)
+          if time_left > 2.0 * 60.0:
+            time_left_str = f"{int(time_left / 60)} minute(s)"
+          else:
+            time_left_str = f"{int(time_left)} seconds(s)"
+          cloudlog.info(f"not uploading: waiting until offroad for {wait_minutes} minutes; {time_left_str} left")
+        if allow_sleep:
+          time.sleep(60)
+        continue
+
     success = uploader.step(sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered)
     if success is None:
       backoff = 60 if offroad else 5
@@ -273,7 +301,7 @@ def main(exit_event: threading.Event = None) -> None:
       backoff = 0.1
     else:
       cloudlog.info("upload backoff %r", backoff)
-      backoff = min(backoff*2, 120)
+      backoff = min(backoff * 2, 120)
     if allow_sleep:
       time.sleep(backoff + random.uniform(0, backoff))
 
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index ad4e0780b..487f0e970 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -172,7 +172,7 @@ procs += [
 if os.path.exists("./github_runner.sh"):
   procs += [NativeProcess("github_runner_start", "system/manager", ["./github_runner.sh", "start"], and_(only_offroad, use_github_runner), sigkill=False)]
 
-if os.path.exists("../../sunnypilot/sunnylink/uploader.py"):
+if os.path.exists("../sunnypilot/sunnylink/uploader.py"):
   procs += [PythonProcess("sunnylink_uploader", "sunnypilot.sunnylink.uploader", use_sunnylink_uploader_shim)]
 
 managed_processes = {p.name: p for p in procs}
diff --git a/system/ui/lib/button.py b/system/ui/lib/button.py
index 65916cb5e..121e7f86f 100644
--- a/system/ui/lib/button.py
+++ b/system/ui/lib/button.py
@@ -29,7 +29,7 @@ BUTTON_TEXT_COLOR = {
   ButtonStyle.PRIMARY: rl.Color(228, 228, 228, 255),
   ButtonStyle.DANGER: rl.Color(228, 228, 228, 255),
   ButtonStyle.TRANSPARENT: rl.BLACK,
-  ButtonStyle.ACTION: rl.BLACK,
+  ButtonStyle.ACTION: rl.Color(0, 0, 0, 255),
   ButtonStyle.LIST_ACTION: rl.Color(228, 228, 228, 255),
 }
 
diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py
index 8e49a0230..75d1bdbfd 100644
--- a/system/ui/lib/wifi_manager.py
+++ b/system/ui/lib/wifi_manager.py
@@ -101,8 +101,8 @@ class WifiManager:
     """Connect to the DBus system bus."""
     try:
       self.bus = await MessageBus(bus_type=BusType.SYSTEM).connect()
-      while not await self._find_wifi_device():
-        await asyncio.sleep(1)
+      if not await self._find_wifi_device():
+        raise ValueError("No Wi-Fi device found")
 
       await self._setup_signals(self.device_path)
       self.active_ap_path = await self.get_active_access_point()
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index 19ef77e01..d23052d0f 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -50,7 +50,6 @@ brew "zeromq"
 cask "gcc-arm-embedded"
 brew "portaudio"
 brew "gcc@13"
-cask "font-noto-color-emoji"
 EOS
 
 echo "[ ] finished brew install t=$SECONDS"
diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py
index 7e4e97574..a2f437819 100755
--- a/tools/tuning/measure_steering_accuracy.py
+++ b/tools/tuning/measure_steering_accuracy.py
@@ -49,7 +49,7 @@ class SteeringAccuracyTool:
     active = sm['controlsState'].active
     steer = sm['carOutput'].actuatorsOutput.torque
     standstill = sm['carState'].standstill
-    steer_limited_by_safety = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2
+    steer_limited_by_controls = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2
     overriding = sm['carState'].steeringPressed
     changing_lanes = sm['modelV2'].meta.laneChangeState != 0
     model_points = sm['modelV2'].position.y
@@ -77,7 +77,7 @@ class SteeringAccuracyTool:
             self.speed_group_stats[group][angle_abs]["steer"] += abs(steer)
             if len(model_points):
               self.speed_group_stats[group][angle_abs]["dpp"] += abs(model_points[0])
-            if steer_limited_by_safety:
+            if steer_limited_by_controls:
               self.speed_group_stats[group][angle_abs]["limited"] += 1
             if control_state.saturated:
               self.speed_group_stats[group][angle_abs]["saturated"] += 1
diff --git a/uv.lock b/uv.lock
index ca73140ab..05a674636 100644
--- a/uv.lock
+++ b/uv.lock
@@ -709,41 +709,40 @@ wheels = [
 
 [[package]]
 name = "kiwisolver"
-version = "1.4.9"
+version = "1.4.8"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/5c/3c/85844f1b0feb11ee581ac23fe5fce65cd049a200c1446708cc1b7f922875/kiwisolver-1.4.9.tar.gz", hash = "sha256:c3b22c26c6fd6811b0ae8363b95ca8ce4ea3c202d3d0975b2914310ceb1bcc4d", size = 97564, upload-time = "2025-08-10T21:27:49.279Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/82/59/7c91426a8ac292e1cdd53a63b6d9439abd573c875c3f92c146767dd33faf/kiwisolver-1.4.8.tar.gz", hash = "sha256:23d5f023bdc8c7e54eb65f03ca5d5bb25b601eac4d7f1a042888a1f45237987e", size = 97538, upload-time = "2024-12-24T18:30:51.519Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/6f/ab/c80b0d5a9d8a1a65f4f815f2afff9798b12c3b9f31f1d304dd233dd920e2/kiwisolver-1.4.9-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:eb14a5da6dc7642b0f3a18f13654847cd8b7a2550e2645a5bda677862b03ba16", size = 124167, upload-time = "2025-08-10T21:25:53.403Z" },
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