diff --git a/opendbc_repo/opendbc/safety/modes/gm.h b/opendbc_repo/opendbc/safety/modes/gm.h
index 39e2fb4a..2affa1d7 100644
--- a/opendbc_repo/opendbc/safety/modes/gm.h
+++ b/opendbc_repo/opendbc/safety/modes/gm.h
@@ -316,6 +316,9 @@ static void gm_rx_hook(const CANPacket_t *msg) {
         uint32_t now_us = microsecond_timer_get();
         gm_update_periodic_phase(&gm_bd_state, now_us, GM_PADDLE_PERIOD_US, GM_PADDLE_LOCK_TOLERANCE_US);
         gm_bd_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
+        // Keep PRNDL2 locked to the same cadence as the paddle frame.
+        gm_update_periodic_phase(&gm_prndl2_state, now_us, GM_PADDLE_PERIOD_US, GM_PADDLE_LOCK_TOLERANCE_US);
+        gm_prndl2_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
         gm_try_send_periodic_spoof(now_us, 0xBDU, 7U, &gm_bd_state, GM_PADDLE_PERIOD_US);
         gm_try_send_periodic_spoof(now_us, 0x1F5U, 8U, &gm_prndl2_state, GM_PADDLE_PERIOD_US);
       }
@@ -325,6 +328,9 @@ static void gm_rx_hook(const CANPacket_t *msg) {
       uint32_t now_us = microsecond_timer_get();
       gm_update_periodic_phase(&gm_prndl2_state, now_us, GM_PADDLE_PERIOD_US, GM_PADDLE_LOCK_TOLERANCE_US);
       gm_prndl2_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
+      // Keep paddle cadence aligned if PRNDL2 is the only stable timing source.
+      gm_update_periodic_phase(&gm_bd_state, now_us, GM_PADDLE_PERIOD_US, GM_PADDLE_LOCK_TOLERANCE_US);
+      gm_bd_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
       gm_try_send_periodic_spoof(now_us, 0x1F5U, 8U, &gm_prndl2_state, GM_PADDLE_PERIOD_US);
       gm_try_send_periodic_spoof(now_us, 0xBDU, 7U, &gm_bd_state, GM_PADDLE_PERIOD_US);
     }
@@ -468,10 +474,8 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
           gm_bd_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
         }
       }
-      bool scheduler_ready = gm_periodic_scheduler_ready(&gm_bd_state, now_us, GM_PADDLE_STALE_US, GM_PADDLE_FEED_STALE_US);
-      if (scheduler_ready) {
-        tx = false;
-      }
+      // Feed-only stream: always block controller TX and let panda periodic TX own wire output.
+      tx = false;
     }
   }
 
@@ -493,10 +497,8 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
           gm_prndl2_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
         }
       }
-      bool scheduler_ready = gm_periodic_scheduler_ready(&gm_prndl2_state, now_us, GM_PADDLE_STALE_US, GM_PADDLE_FEED_STALE_US);
-      if (scheduler_ready) {
-        tx = false;
-      }
+      // Feed-only stream: always block controller TX and let panda periodic TX own wire output.
+      tx = false;
     }
   }
 
diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed
index 9fc57018..1ff4c5f0 100644
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diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf
index 70bfe2e5..383e9eda 100755
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diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin
index 7059f4fc..2e29598f 100755
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diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf
index 5ce712e4..58c89d2e 100755
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diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin
index 3525569a..91d39e82 100755
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diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin
index e7929e1b..bd25b64f 100755
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diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin
index 180c6273..cca4b4e7 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 180c6273..cca4b4e7 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 f785c32a..897cd358 100755
Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ
diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin
index e7929e1b..bd25b64f 100755
Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ
diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h
index 074a85a8..bee08588 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-6a639c86-DEBUG";
+const uint8_t gitversion[19] = "DEV-d3b1cc8e-DEBUG";
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
index 12190579..e502e644 100644
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diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf
index 652b6b96..875ebd12 100755
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diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin
index 74d5a7bb..1ca61eae 100755
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diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf
index 4758df03..51c7e3d2 100755
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diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed
index 659eaa9c..349ba556 100644
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diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf
index a59f31b1..f6cce25a 100755
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diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin
index 723750da..b5cea443 100755
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diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf
index 08730e27..eab48066 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 936615ab..f2fe4c80 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
index 50782234..af7c0e12 100755
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diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin
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index 82e1391b..c12301f1 100755
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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 6286fded..43a42687 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 e185e9d8..fa1ebce4 100755
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diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin
index 6b438ea5..5b4a4b0b 100755
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diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf
index 2460d22c..31a24cca 100755
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diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed
index c8c33bf9..0a533c6c 100644
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diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf
index 25dbad77..5b0fc0e2 100755
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diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin
index 44535f30..d87c5f91 100755
Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ
diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf
index 93371214..4ecd0b7a 100755
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diff --git a/panda/board/obj/version b/panda/board/obj/version
index 76455bbe..06f24e71 100644
--- a/panda/board/obj/version
+++ b/panda/board/obj/version
@@ -1 +1 @@
-DEV-6a639c86-DEBUG
\ No newline at end of file
+DEV-d3b1cc8e-DEBUG
\ No newline at end of file