diff --git a/common/params_keys.h b/common/params_keys.h
index 2d0ea8605..7a563bd2b 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -132,4 +132,5 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"dp_ui_hide_hud_speed_kph", PERSISTENT},
     {"dp_lon_ext_radar", PERSISTENT},
     {"dp_lat_road_edge_detection", PERSISTENT},
+    {"dp_ui_rainbow", PERSISTENT},
 };
diff --git a/selfdrive/ui/qt/offroad/dp_panel.cc b/selfdrive/ui/qt/offroad/dp_panel.cc
index 3eead0558..998a76718 100644
--- a/selfdrive/ui/qt/offroad/dp_panel.cc
+++ b/selfdrive/ui/qt/offroad/dp_panel.cc
@@ -197,6 +197,11 @@ void DPPanel::add_ui_toggles() {
       QString::fromUtf8("🐉 ") + tr("UI"),
       "",
     },
+    {
+      "dp_ui_rainbow",
+      tr("Rainbow Driving Path like Tesla"),
+      tr("Why not?"),
+    },
   };
   std::vector<QString> display_off_mode_texts{tr("Std."), tr("MAIN+"), tr("OP+"), tr("MAIN-"), tr("OP-")};
   ButtonParamControl* display_off_mode_setting = new ButtonParamControl("dp_ui_display_mode", tr("Display Mode"),
diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
index 52902abdc..5dc6117cc 100644
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -107,7 +107,39 @@ void ModelRenderer::drawLaneLines(QPainter &painter) {
 
 void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height) {
   QLinearGradient bg(0, height, 0, 0);
-  if (experimental_mode) {
+
+  auto *s = uiState();
+  if (s->scene.dp_ui_rainbow) {
+    constexpr int NUM_COLORS = 25;
+    constexpr int ALPHA = 128;
+
+    float v_ego = (*uiState()->sm)["carState"].getCarState().getVEgo();
+
+    if (!dp_rainbow_init) {
+      dp_rainbow_color_list.reserve(NUM_COLORS);
+      for (int i = 0; i < NUM_COLORS; ++i) {
+        qreal t = static_cast<qreal>(i) / (NUM_COLORS - 1);
+        dp_rainbow_color_list.append(QColor::fromHsvF(t, 1.0, 1.0, ALPHA / 255.0));
+      }
+      dp_rainbow_init = true;
+    }
+    bg.setSpread(QGradient::RepeatSpread);
+    // bigger = faster, however it is still limited to the global UI_FREQ (refresh rate)
+    // only way to make it move faster is to reduce NUM_COLORS, but that will also reduce the color smoothness.
+    qreal rotation_speed = std::max(0.01f, v_ego) / UI_FREQ;
+    dp_rainbow_rotation -= rotation_speed;
+
+    if (dp_rainbow_rotation < 0.0) {
+      dp_rainbow_rotation += 1.0;
+      dp_rainbow_color_list.append(dp_rainbow_color_list.takeFirst());
+    }
+    // fill color
+    const qreal step = 1.0 / (NUM_COLORS - 1);
+    for (int i = 0; i < NUM_COLORS; ++i) {
+      bg.setColorAt(i * step, dp_rainbow_color_list.at(i));
+    }
+
+  } else if (experimental_mode) {
     // The first half of track_vertices are the points for the right side of the path
     const auto &acceleration = model.getAcceleration().getX();
     const int max_len = std::min<int>(track_vertices.length() / 2, acceleration.size());
diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h
index 79547e4b8..ea2d1ddda 100644
--- a/selfdrive/ui/qt/onroad/model.h
+++ b/selfdrive/ui/qt/onroad/model.h
@@ -36,4 +36,7 @@ private:
   QPointF lead_vertices[2] = {};
   Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
   QRectF clip_region;
+  QVector<QColor> dp_rainbow_color_list;
+  qreal dp_rainbow_rotation = 0;
+  bool dp_rainbow_init = false;
 };
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 98676aba4..0ef2ba59d 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -69,6 +69,7 @@ void ui_update_params(UIState *s) {
   s->scene.disable_driver = getenv("DISABLE_DRIVER");
   s->scene.display_mode = std::atoi(params.get("dp_ui_display_mode").c_str());
   s->scene.dp_ui_hide_hud_speed_kph = std::atoi(params.get("dp_ui_hide_hud_speed_kph").c_str());
+  s->scene.dp_ui_rainbow = params.getBool("dp_ui_rainbow");
 }
 
 void UIState::updateStatus() {
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 3c47c821d..379ddea0e 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -61,6 +61,7 @@ typedef struct UIScene {
 
   float light_sensor = -1;
   bool started, ignition, is_metric;
+  bool dp_ui_rainbow;
   uint64_t started_frame;
   bool disable_driver = false;
   bool alka_active;
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 991a5b0bb..60e312db1 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -54,6 +54,7 @@ def manager_init() -> None:
     ("dp_ui_hide_hud_speed_kph", "0"),
     ("dp_lon_ext_radar", "0"),
     ("dp_lat_road_edge_detection", "0"),
+    ("dp_ui_rainbow", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):