diff --git a/Dockerfile.sparsify b/Dockerfile.sparsify
new file mode 100644
index 0000000..36cfe37
--- /dev/null
+++ b/Dockerfile.sparsify
@@ -0,0 +1,9 @@
+FROM ubuntu:24.04
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && \
+    apt-get install -y android-sdk-libsparse-utils && \
+    rm -rf /var/lib/apt/lists/*
+
+ENTRYPOINT ["tail", "-f", "/dev/null"]
diff --git a/README.md b/README.md
index 96bdc44..729ba4c 100644
--- a/README.md
+++ b/README.md
@@ -8,9 +8,10 @@ NOTE: the `edk2_tici` and `agnos-firmware` submodules are internal, private repo
 
 These tools are developed on and targeted for Ubuntu 20.04.
 
+Building requires Docker v23.0 or later and should work on any system that supports it.
+
 Run once to set things up:
 ```sh
-cd ~
 git clone https://github.com/commaai/agnos-builder.git
 
 cd agnos-builder
diff --git a/build_system.sh b/build_system.sh
index 63ca4f1..e617d76 100755
--- a/build_system.sh
+++ b/build_system.sh
@@ -4,8 +4,6 @@ set -e
 UBUNTU_BASE_URL="http://cdimage.ubuntu.com/ubuntu-base/releases/20.04/release"
 UBUNTU_FILE="ubuntu-base-20.04.1-base-arm64.tar.gz"
 
-export DOCKER_BUILDKIT=1
-
 # Make sure we're in the correct spot
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 cd $DIR
@@ -38,70 +36,96 @@ if [ ! -f $UBUNTU_FILE ]; then
   curl -C - -o $UBUNTU_FILE $UBUNTU_BASE_URL/$UBUNTU_FILE --silent
 fi
 
-if [ "$ARCH" != "arm64" ] && [ "$ARCH" != "aarch64" ]; then
-  # Register qemu multiarch
-  docker run --rm --privileged multiarch/qemu-user-static:register --reset
+# Register qemu multiarch
+if [ "$ARCH" = "x86_64" ]; then
+  echo "Registering qemu-user-static"
+  docker run --rm --privileged multiarch/qemu-user-static:register --reset > /dev/null
 fi
 
-# Start docker build
-echo "Building image"
-export DOCKER_CLI_EXPERIMENTAL=enabled
+# Start agnos-builder docker build and create container
+echo "Building agnos-builder docker image"
 docker build -f Dockerfile.agnos -t agnos-builder $DIR
+echo "Creating agnos-builder container"
+CONTAINER_ID=$(docker container create --entrypoint /bin/bash agnos-builder:latest)
 
-# Setup mount container
-MOUNT_CONTAINER_ID=$(docker run -d --privileged --volume $BUILD_DIR:$BUILD_DIR ubuntu:latest sleep infinity)
+# Setup mount container for macOS and CI support (namespace.so)
+echo "Building agnos-mount docker image"
+docker build -f Dockerfile.sparsify -t agnos-mount $DIR
+echo "Starting agnos-mount container"
+MOUNT_CONTAINER_ID=$(docker run -d --privileged -v $DIR:$DIR agnos-mount)
+
+# Cleanup containers on possible exit
+trap "echo \"Cleaning up containers:\"; \
+docker container rm -f $CONTAINER_ID $MOUNT_CONTAINER_ID" EXIT
+
+# Define functions for docker execution
+exec_as_user() {
+  docker exec -u $USERNAME $MOUNT_CONTAINER_ID "$@"
+}
+
+exec_as_root() {
+  docker exec $MOUNT_CONTAINER_ID "$@"
+}
+
+# Create host user in container (fixes namespace.so error)
+USERNAME=$(whoami)
+exec_as_root useradd --uid $(id -u) -U -m $USERNAME &> /dev/null
 
 # Create filesystem ext4 image
 echo "Creating empty filesystem"
-docker exec $MOUNT_CONTAINER_ID fallocate -l $ROOTFS_IMAGE_SIZE $ROOTFS_IMAGE
-docker exec $MOUNT_CONTAINER_ID mkfs.ext4 $ROOTFS_IMAGE > /dev/null
+exec_as_user fallocate -l $ROOTFS_IMAGE_SIZE $ROOTFS_IMAGE
+exec_as_user mkfs.ext4 $ROOTFS_IMAGE &> /dev/null
 
 # Mount filesystem
 echo "Mounting empty filesystem"
-docker exec $MOUNT_CONTAINER_ID mkdir -p $ROOTFS_DIR
-docker exec $MOUNT_CONTAINER_ID mount -o loop $ROOTFS_IMAGE $ROOTFS_DIR
+exec_as_root mkdir -p $ROOTFS_DIR
+exec_as_root mount $ROOTFS_IMAGE $ROOTFS_DIR
+
+# Also unmount filesystem (overwrite previous trap)
+trap "exec_as_root umount -l $ROOTFS_DIR &> /dev/null || true; \
+echo \"Cleaning up containers:\"; \
+docker container rm -f $CONTAINER_ID $MOUNT_CONTAINER_ID" EXIT
 
 # Extract image
 echo "Extracting docker image"
-CONTAINER_ID=$(docker container create --entrypoint /bin/bash agnos-builder:latest)
 docker container export -o $BUILD_DIR/filesystem.tar $CONTAINER_ID
-docker container rm $CONTAINER_ID > /dev/null
-docker exec $MOUNT_CONTAINER_ID tar -xf $BUILD_DIR/filesystem.tar -C $ROOTFS_DIR > /dev/null
+exec_as_root tar -xf $BUILD_DIR/filesystem.tar -C $ROOTFS_DIR > /dev/null
 
-cd $ROOTFS_DIR
-
-# Add hostname and hosts. This cannot be done in the docker container...
 echo "Setting network stuff"
-HOST=comma
-docker exec -w $ROOTFS_DIR $MOUNT_CONTAINER_ID bash -c "\
-ln -sf /proc/sys/kernel/hostname etc/hostname; \
-echo \"127.0.0.1    localhost.localdomain localhost\" > etc/hosts; \
-echo \"127.0.0.1    $HOST\" >> etc/hosts"
+set_network_stuff() {
+  cd $ROOTFS_DIR
+  # Add hostname and hosts. This cannot be done in the docker container...
+  HOST=comma
+  bash -c "ln -sf /proc/sys/kernel/hostname etc/hostname"
+  bash -c "echo \"127.0.0.1    localhost.localdomain localhost\" > etc/hosts"
+  bash -c "echo \"127.0.0.1    $HOST\" >> etc/hosts"
 
-# Fix resolv config
-docker exec -w $ROOTFS_DIR $MOUNT_CONTAINER_ID bash -c "ln -sf /run/systemd/resolve/stub-resolv.conf etc/resolv.conf"
+  # Fix resolv config
+  bash -c "ln -sf /run/systemd/resolve/stub-resolv.conf etc/resolv.conf"
 
-# Write build info
-DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
+  # Write build info
+  DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
+  bash -c "printf \"$GIT_HASH\n$DATETIME\" > BUILD"
+}
 GIT_HASH=$(git --git-dir=$DIR/.git rev-parse HEAD)
-docker exec -w $ROOTFS_DIR $MOUNT_CONTAINER_ID bash -c "printf \"$GIT_HASH\n$DATETIME\" > BUILD"
+exec_as_root bash -c "set -e; export ROOTFS_DIR=$ROOTFS_DIR GIT_HASH=$GIT_HASH; $(declare -f set_network_stuff); set_network_stuff"
 
 # Unmount image
 echo "Unmount filesystem"
-docker exec $MOUNT_CONTAINER_ID umount -l $ROOTFS_DIR
-docker rm -f $MOUNT_CONTAINER_ID > /dev/null
-
-cd $DIR
+exec_as_root umount -l $ROOTFS_DIR
 
 # Sparsify
-echo "Sparsify image"
-TMP_SPARSE="$(mktemp)"
-img2simg $ROOTFS_IMAGE $TMP_SPARSE
-mv $TMP_SPARSE $SPARSE_IMAGE
+echo "Sparsify image $(basename $SPARSE_IMAGE)"
+exec_as_user bash -c "\
+TMP_SPARSE=\$(mktemp); \
+img2simg $ROOTFS_IMAGE \$TMP_SPARSE; \
+mv \$TMP_SPARSE $SPARSE_IMAGE"
 
 # Make image with skipped chunks
-TMP_SKIP="$(mktemp)"
-$DIR/tools/simg2dontcare.py $SPARSE_IMAGE $TMP_SKIP
-mv $TMP_SKIP $SKIP_CHUNKS_IMAGE
+echo "Sparsify image $(basename $SKIP_CHUNKS_IMAGE)"
+exec_as_user bash -c "\
+TMP_SKIP=\$(mktemp); \
+$DIR/tools/simg2dontcare.py $SPARSE_IMAGE \$TMP_SKIP; \
+mv \$TMP_SKIP $SKIP_CHUNKS_IMAGE"
 
 echo "Done!"