diff --git a/common/libcommon.a b/common/libcommon.a
index 0ce5a4034..f6f1f3244 100644
Binary files a/common/libcommon.a and b/common/libcommon.a differ
diff --git a/common/params_keys.h b/common/params_keys.h
index 343a547a9..dc9aeae0f 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -146,7 +146,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"AdvancedLateralTune", {PERSISTENT, BOOL, "1", "0", 2}},
     {"AdvancedLongitudinalTune", {PERSISTENT, BOOL, "1", "0", 3}},
     {"AggressiveFollow", {PERSISTENT, FLOAT, "1.25", "1.25", 2}},
-    {"AggressiveFollowHigh", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
+    {"AggressiveFollowHigh", {PERSISTENT, FLOAT, "1.25", "1.25", 2}},
     {"AggressiveJerkAcceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
     {"AggressiveJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
     {"AggressiveJerkDeceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
@@ -397,7 +397,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ReduceLateralAccelerationSnow", {PERSISTENT, INT, "0", "0", 2}},
     {"RefuseVolume", {PERSISTENT, INT, "101", "101", 2}},
     {"RelaxedFollow", {PERSISTENT, FLOAT, "1.75", "1.75", 2}},
-    {"RelaxedFollowHigh", {PERSISTENT, FLOAT, "1.4", "1.4", 2}},
+    {"RelaxedFollowHigh", {PERSISTENT, FLOAT, "1.75", "1.75", 2}},
     {"RelaxedJerkAcceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
     {"RelaxedJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
     {"RelaxedJerkDeceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
@@ -463,7 +463,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"VisionSpeedLimitAutoPreserveSegment", {PERSISTENT, BOOL, "0", "0", 0}},
     {"VisionSpeedLimitDetection", {PERSISTENT, BOOL, "0", "0", 0}},
     {"StandardFollow", {PERSISTENT, FLOAT, "1.45", "1.45", 2}},
-    {"StandardFollowHigh", {PERSISTENT, FLOAT, "1.2", "1.2", 2}},
+    {"StandardFollowHigh", {PERSISTENT, FLOAT, "1.45", "1.45", 2}},
     {"StandardJerkAcceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
     {"StandardJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
     {"StandardJerkDeceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
diff --git a/common/params_pyx.so b/common/params_pyx.so
index 6b4062c2c..ac0e57e5c 100755
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diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed
index 3a847b948..dfdb3177d 100644
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diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf
index 789ca46cf..c3504b03b 100755
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diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin
index ca394c436..37db0d943 100755
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diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf
index b62427094..4027f5723 100755
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diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin
index 1806d2078..f939c44b1 100755
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diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin
index 4d07debf3..9e428092b 100755
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diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin
index 3c1de2231..654aa6e92 100755
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diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin
index 3c1de2231..654aa6e92 100755
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diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin
index e605c995d..3acfb8e0a 100755
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diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin
index 4d07debf3..9e428092b 100755
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diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h
index 834450bd7..068ece5bc 100644
--- a/panda/board/obj/gitversion.h
+++ b/panda/board/obj/gitversion.h
@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-2f9cdc2b-DEBUG";
+const uint8_t gitversion[19] = "DEV-902e6183-DEBUG";
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
index f51954841..62d0d57e5 100644
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diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf
index 231ff5f0a..2c3da0921 100755
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diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin
index 12de2982c..e86997d6d 100755
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diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf
index 1d2f10b8d..25fbf917b 100755
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diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed
index 2ec85212a..d6794e36e 100644
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index 8b09455e5..846bbd46d 100755
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diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed
index 52042fe20..40ac843c5 100644
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diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf
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diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed
index 2652ede76..e9db4ea30 100644
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diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf
index 7c6b55df0..e8edc3d57 100755
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diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed
index e101c10d6..c399d142e 100644
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diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf
index 75a248c36..c8092ff74 100755
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diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin
index 08f085782..bc7dd6f92 100755
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diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf
index d35d00762..10357a2f8 100755
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diff --git a/panda/board/obj/version b/panda/board/obj/version
index 3961eaf49..e1075db25 100644
--- a/panda/board/obj/version
+++ b/panda/board/obj/version
@@ -1 +1 @@
-DEV-2f9cdc2b-DEBUG
\ No newline at end of file
+DEV-902e6183-DEBUG
\ No newline at end of file
diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad
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diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui
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diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog
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