diff --git a/SConstruct b/SConstruct
index 5f450e6b5..cb1c97d15 100644
--- a/SConstruct
+++ b/SConstruct
@@ -40,9 +40,10 @@ assert arch in [
 
 if arch != "larch64":
   import capnproto
+  import eigen
   import ffmpeg as ffmpeg_pkg
   import zeromq
-  pkgs = [capnproto, ffmpeg_pkg, zeromq]
+  pkgs = [capnproto, eigen, ffmpeg_pkg, zeromq]
 else:
   # TODO: remove when AGNOS has our new vendor pkgs
   pkgs = []
diff --git a/pyproject.toml b/pyproject.toml
index 3697b004c..03ab5902f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -27,6 +27,7 @@ dependencies = [
 
   # vendored native dependencies
   "capnproto @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=capnproto",
+  "eigen @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=eigen",
   "ffmpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ffmpeg",
   "zeromq @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zeromq",
   "git-lfs @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=git-lfs",
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index d14a2a535..effa68b9c 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -35,7 +35,6 @@ function install_ubuntu_common_requirements() {
 
   $SUDO apt-get install -y --no-install-recommends \
     libbz2-dev \
-    libeigen3-dev \
     libgles2-mesa-dev \
     libjpeg-dev \
     libncurses5-dev \
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index f9f773205..1a8a17bfe 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -28,7 +28,6 @@ fi
 
 brew bundle --file=- <<-EOS
 brew "coreutils"
-brew "eigen"
 EOS
 
 echo "[ ] finished brew install t=$SECONDS"
diff --git a/uv.lock b/uv.lock
index 9432df071..33c210a90 100644
--- a/uv.lock
+++ b/uv.lock
@@ -116,7 +116,7 @@ wheels = [
 [[package]]
 name = "capnproto"
 version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=releases#d9eaf5b01ed0b0f036a0463e13d6e101352ffdd6" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=releases#96208e8726374ab5229366102a17401edb68076c" }
 
 [[package]]
 name = "casadi"
@@ -373,6 +373,11 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/ba/5a/18ad964b0086c6e62e2e7500f7edc89e3faa45033c71c1893d34eed2b2de/dnspython-2.8.0-py3-none-any.whl", hash = "sha256:01d9bbc4a2d76bf0db7c1f729812ded6d912bd318d3b1cf81d30c0f845dbf3af", size = 331094, upload-time = "2025-09-07T18:57:58.071Z" },
 ]
 
+[[package]]
+name = "eigen"
+version = "3.4.0"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=releases#96208e8726374ab5229366102a17401edb68076c" }
+
 [[package]]
 name = "execnet"
 version = "2.1.2"
@@ -385,7 +390,7 @@ wheels = [
 [[package]]
 name = "ffmpeg"
 version = "7.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=releases#d9eaf5b01ed0b0f036a0463e13d6e101352ffdd6" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=releases#96208e8726374ab5229366102a17401edb68076c" }
 
 [[package]]
 name = "fonttools"
@@ -432,7 +437,7 @@ wheels = [
 [[package]]
 name = "gcc-arm-none-eabi"
 version = "13.2.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=releases#d9eaf5b01ed0b0f036a0463e13d6e101352ffdd6" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=releases#96208e8726374ab5229366102a17401edb68076c" }
 
 [[package]]
 name = "ghp-import"
@@ -449,7 +454,7 @@ wheels = [
 [[package]]
 name = "git-lfs"
 version = "3.6.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=releases#d9eaf5b01ed0b0f036a0463e13d6e101352ffdd6" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=releases#96208e8726374ab5229366102a17401edb68076c" }
 
 [[package]]
 name = "google-crc32c"
@@ -772,6 +777,7 @@ dependencies = [
     { name = "cffi" },
     { name = "crcmod-plus" },
     { name = "cython" },
+    { name = "eigen" },
     { name = "ffmpeg" },
     { name = "git-lfs" },
     { name = "inputs" },
@@ -844,6 +850,7 @@ requires-dist = [
     { name = "crcmod-plus" },
     { name = "cython" },
     { name = "dearpygui", marker = "(platform_machine != 'aarch64' and extra == 'tools') or (sys_platform != 'linux' and extra == 'tools')", specifier = ">=2.1.0" },
+    { name = "eigen", git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=releases" },
     { name = "ffmpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=releases" },
     { name = "gcc-arm-none-eabi", marker = "extra == 'dev'", git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=releases" },
     { name = "git-lfs", git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=releases" },
@@ -1623,7 +1630,7 @@ wheels = [
 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=releases#d9eaf5b01ed0b0f036a0463e13d6e101352ffdd6" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=releases#96208e8726374ab5229366102a17401edb68076c" }
 
 [[package]]
 name = "zstandard"