diff --git a/frogpilot/controls/lib/frogpilot_following.py b/frogpilot/controls/lib/frogpilot_following.py
index ca5e7977..8c236b8d 100644
--- a/frogpilot/controls/lib/frogpilot_following.py
+++ b/frogpilot/controls/lib/frogpilot_following.py
@@ -105,27 +105,23 @@ class FrogPilotFollowing:
   def update_follow_values(self, lead_distance, v_ego, v_lead, frogpilot_toggles):
     stop_distance = max(float(getattr(frogpilot_toggles, "stop_distance", STOP_DISTANCE)), 4.0)
 
-    # Offset by FrogAi for FrogPilot for a more natural approach to a faster lead
+    # Keep StarPilot behavior for lead response, while still honoring stop distance/weather offsets.
     if frogpilot_toggles.human_following and v_lead > v_ego:
       distance_factor = max(lead_distance - (v_ego * self.t_follow), 1)
       accelerating_offset = np.clip(stop_distance - v_ego, 1, distance_factor)
 
       self.acceleration_jerk /= accelerating_offset
-      self.danger_factor -= ((v_lead - v_ego) / 100)
       self.speed_jerk /= accelerating_offset
       self.t_follow /= accelerating_offset
 
-    # Offset by FrogAi for FrogPilot for a more natural approach to a slower lead
+    # Only apply the stronger slower-lead follow tightening for human-following, like StarPilot.
     if (frogpilot_toggles.conditional_slower_lead or frogpilot_toggles.human_following) and v_lead < v_ego:
       distance_factor = max(lead_distance - (v_lead * self.t_follow), 1)
       braking_offset = np.clip(min(v_ego - v_lead, v_lead) - COMFORT_BRAKE, 1, distance_factor)
 
-      if frogpilot_toggles.human_following and lead_distance >= 100:
-        far_lead_offset = max(lead_distance - (v_ego * self.t_follow) - stop_distance, 0)
-        braking_offset += far_lead_offset
-
-      if self.frogpilot_planner.tracking_lead_filter.x >= 0.9:
-        self.danger_factor += ((v_ego - v_lead) / 100)
-
-      self.t_follow /= braking_offset
+      if frogpilot_toggles.human_following:
+        far_lead_offset = 0.0
+        if lead_distance >= 100:
+          far_lead_offset = max(lead_distance - (v_ego * self.t_follow) - stop_distance, 0)
+        self.t_follow /= braking_offset + far_lead_offset
       self.slower_lead = braking_offset > 1
diff --git a/opendbc_repo/opendbc/car/gm/interface.py b/opendbc_repo/opendbc/car/gm/interface.py
index 4d280a11..1d1dadd8 100755
--- a/opendbc_repo/opendbc/car/gm/interface.py
+++ b/opendbc_repo/opendbc/car/gm/interface.py
@@ -485,7 +485,6 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.GMC_YUKON:
       ret.steerActuatorDelay = 0.5
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-      ret.dashcamOnly = True  # Needs steerRatio, tireStiffness, and lat accel factor tuning
 
     # OPGM variables
     elif candidate in (CAR.CHEVROLET_MALIBU, CAR.CHEVROLET_MALIBU_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC):
diff --git a/opendbc_repo/opendbc/dbc/gm_global_a_powertrain_volt.dbc b/opendbc_repo/opendbc/dbc/gm_global_a_powertrain_volt.dbc
new file mode 100644
index 00000000..9361c756
--- /dev/null
+++ b/opendbc_repo/opendbc/dbc/gm_global_a_powertrain_volt.dbc
@@ -0,0 +1,375 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
+
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 512 GAS_COMMAND: 6 NEO
+ SG_ GAS_COMMAND : 7|16@0+ (0.2777778,-96.111115) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.120853074,-79.15877) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.2777778,-96.111115) [0|1] "" NEO
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.120853074,-79.15877) [0|1] "" NEO
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" NEO
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" NEO
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" NEO
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+CM_ "gm_global_a_powertrain.dbc starts here";
+
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BS_:
+
+BU_: K16_BECM K73_TCIC K9_BCM K43_PSCM K17_EBCM K20_ECM K114B_HPCM NEO K124_ASCM EPB
+VAL_TABLE_ TurnSignals 2 "Right Turn" 1 "Left Turn" 0 "None" ;
+VAL_TABLE_ Intellibeam 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ HighBeamsActive 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ HighBeamsTemporary 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ ACCLeadCar 1 "Present" 0 "Not Present" ;
+VAL_TABLE_ ACCCmdActive 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
+VAL_TABLE_ DistanceButton 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ LKAButton 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
+VAL_TABLE_ DriveModeButton 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
+VAL_TABLE_ ESPButton 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ DoorStatus 1 "Opened" 0 "Closed" ;
+VAL_TABLE_ SeatBeltStatus 1 "Latched" 0 "Unlatched" ;
+VAL_TABLE_ LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
+VAL_TABLE_ GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
+VAL_TABLE_ GasRegenCmdActive 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ HandsOffSWDetectionStatus 1 "Hands On" 0 "Hands Off" ;
+VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ;
+
+
+BO_ 189 EBCMRegenPaddle: 7 K17_EBCM
+ SG_ RegenPaddle : 7|4@0+ (1,0) [0|0] ""  NEO
+
+BO_ 190 ECMAcceleratorPos: 6 K20_ECM
+ SG_ BrakePedalPos : 15|8@0+ (1,0) [0|0] "sticky"  NEO
+ SG_ GasPedalAndAcc : 23|8@0+ (1,0) [0|0] ""  NEO
+
+BO_ 201 ECMEngineStatus: 8 K20_ECM
+ SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%" NEO
+ SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM" NEO
+ SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] "" NEO
+ SG_ BrakePressed : 40|1@0+ (1,0) [0|1] "" NEO
+ SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO
+ SG_ CruiseActive : 31|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM
+ SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ Counter2 : 23|2@0+ (1,0) [0|3] "" XXX
+ SG_ BrakePedalPosition1 : 5|14@0+ (1,0) [0|16383] "" XXX
+ SG_ BrakePedalPosition2 : 21|14@0- (-1,0) [0|16383] "" XXX
+ SG_ BrakeNormalized1 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BrakeNormalized2 : 47|8@0- (-1,0) [0|255] "" XXX
+
+BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM
+ SG_ BrakePressed : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ BrakePedalPosition : 15|8@0+ (1,0) [0|255] ""  NEO
+
+BO_ 298 BCMDoorBeltStatus: 8 K9_BCM
+ SG_ RearLeftDoor : 8|1@0+ (1,0) [0|0] ""  NEO
+ SG_ FrontLeftDoor : 9|1@0+ (1,0) [0|0] ""  NEO
+ SG_ FrontRightDoor : 10|1@0+ (1,0) [0|0] ""  NEO
+ SG_ RearRightDoor : 23|1@0+ (1,0) [0|0] ""  NEO
+ SG_ LeftSeatBelt : 12|1@0+ (1,0) [0|0] ""  NEO
+ SG_ RightSeatBelt : 53|1@0+ (1,0) [0|0] ""  NEO
+
+BO_ 309 ECMPRDNL: 8 K20_ECM
+ SG_ PRNDL : 2|3@0+ (1,0) [0|0] ""  NEO
+ SG_ ESPButton : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 320 BCMTurnSignals: 3 K9_BCM
+ SG_ TurnSignals : 19|2@0+ (1,0) [0|0] ""  NEO
+ SG_ Intellibeam : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ HighBeamsActive : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ HighBeamsTemporary : 5|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 322 BCMBlindSpotMonitor: 7 K9_BCM
+ SG_ LeftBSM : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ RightBSM : 7|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 328 PSCM_148: 1 K43_PSCM
+
+BO_ 381 ESPStatus: 6 K20_ECM
+ SG_ TractionControlOn : 5|1@0+ (1,0) [0|0] ""  NEO
+ SG_ MSG17D_AccPower : 35|12@0- (1,0) [0|0] ""  NEO
+
+BO_ 384 ASCMLKASteeringCmd: 4 NEO
+ SG_ RollingCounter : 5|2@0+ (1,0) [0|0] ""  NEO
+ SG_ LKASteeringCmdChecksum : 19|12@0+ (1,0) [0|0] ""  NEO
+ SG_ LKASteeringCmdActive : 3|1@0+ (1,0) [0|0] ""  NEO
+ SG_ LKASteeringCmd : 2|11@0- (1,0) [0|0] ""  NEO
+
+BO_ 388 PSCMStatus: 8 K43_PSCM
+ SG_ HandsOffSWDetectionMode : 20|2@0+ (1,0) [0|3] "" NEO
+ SG_ HandsOffSWlDetectionStatus : 21|1@0+ (1,0) [0|1] "" NEO
+ SG_ LKATorqueDeliveredStatus : 5|3@0+ (1,0) [0|7] "" NEO
+ SG_ LKADriverAppldTrq : 50|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
+ SG_ LKATorqueDelivered : 18|11@0- (0.01,0) [0|1] "" NEO
+ SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
+ SG_ RollingCounter : 38|4@0+ (1,0) [0|15] "" XXX
+ SG_ PSCMStatusChecksum : 33|10@0+ (1,0) [0|1023] "" XXX
+
+BO_ 417 AcceleratorPedal: 7 XXX
+ SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] ""  NEO
+
+BO_ 451 GasAndAcc: 8 XXX
+ SG_ GasPedalAndAcc2 : 55|8@0+ (1,0) [0|0] ""  NEO
+
+BO_ 452 AcceleratorPedal2: 8 XXX
+ SG_ CruiseState : 15|3@0+ (1,0) [0|7] ""  NEO
+ SG_ AcceleratorPedal2 : 47|8@0+ (1,0) [0|0] ""  NEO
+
+BO_ 481 ASCMSteeringButton: 7 K124_ASCM
+ SG_ DistanceButton : 22|1@0+ (1,0) [0|0] ""  NEO
+ SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
+ SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
+ SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
+ SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO
+
+BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
+ SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg"  NEO
+ SG_ SteeringWheelRate : 27|12@0- (1,0) [-2047|2047] "deg/s"  NEO
+
+BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
+ SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO
+ SG_ LateralAcceleration : 3|10@0- (0.161,0) [-2047|2047] "m/s2" NEO
+ SG_ YawRate : 35|12@0- (0.625,0) [0|1] "" NEO
+ SG_ YawRate2 : 51|12@0- (0.0625,0) [-2047|2047] "grad/s" NEO
+
+BO_ 352 BCMImmobilizer: 5 K9_BCM
+ SG_ ImmobilizerInfo : 7|32@0+ (1,0) [0|4294967295] "" XXX
+
+BO_ 497 BCMGeneralPlatformStatus: 8 K9_BCM
+ SG_ SystemPowerMode : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ SystemBackUpPowerMode : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ ParkBrakeSwActive : 36|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 500 SportMode: 6 XXX
+ SG_ SportMode : 15|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 501 ECMPRDNL2: 8 K20_ECM
+ SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO
+ SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO
+ SG_ ManualMode : 41|1@0+ (1,0) [0|1] "" NEO
+
+BO_ 532 BRAKE_RELATED: 6 XXX
+ SG_ UserBrakePressure : 0|9@0+ (1,0) [0|511] "" XXX
+
+BO_ 560 EPBStatus: 8 EPB
+ SG_ EPBClosed : 12|1@0+ (1,0) [0|1] ""  NEO
+
+BO_ 562 EBCMFrictionBrakeStatus: 8 K17_EBCM
+ SG_ FrictionBrakeUnavailable : 46|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 608 SPEED_RELATED: 8 XXX
+ SG_ RollingCounter : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ ClusterSpeed : 31|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
+ SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V"  NEO
+ SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A"  NEO
+
+BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
+ SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] ""  NEO
+ SG_ RollingCounter : 7|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] ""  NEO
+
+BO_ 717 ASCM_2CD: 5 K124_ASCM
+
+BO_ 761 BRAKE_RELATED_2: 7 XXX
+ SG_ UserBrakePressure2 : 47|9@0+ (1,0) [0|511] "" XXX
+
+BO_ 789 EBCMFrictionBrakeCmd: 5 K124_ASCM
+ SG_ RollingCounter : 33|2@0+ (1,0) [0|0] ""  NEO
+ SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] ""  NEO
+ SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] ""  NEO
+ SG_ FrictionBrakeCmd : 3|12@0- (1,0) [0|0] ""  NEO
+
+BO_ 800 AEBCmd: 6 K124_ASCM
+ SG_ RollingCounter : 5|2@0+ (1,0) [0|3] "" NEO
+ SG_ AEBChecksum : 27|20@0+ (1,0) [0|0] "" NEO
+ SG_ AEBCmdActive : 3|1@1+ (1,0) [0|1] "" NEO
+ SG_ AEBCmd : 2|11@0+ (1,0) [0|0] "" NEO
+ SG_ AEBCmd2 : 23|8@0+ (1,0) [0|0] "" NEO
+
+BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC
+ SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond"  NEO
+ SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond"  NEO
+
+BO_ 840 EBCMWheelSpdFront: 5 K17_EBCM
+ SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
+ SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO
+
+BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM
+ SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO
+ SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO
+ SG_ RRWheelDir : 34|3@0+ (1,0) [0|7] "" NEO
+ SG_ RLWheelDir : 37|3@0+ (1,0) [0|7] "" NEO
+
+BO_ 869 ASCM_365: 4 K124_ASCM
+
+BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
+ SG_ ACCCruiseState : 8|3@1+ (1,0) [0|7] "" XXX
+ SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h"  NEO
+ SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] ""  NEO
+ SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] ""  NEO
+ SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] ""  NEO
+ SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 967 EVDriveMode: 4 XXX
+ SG_ SinglePedalModeActive : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ SinglePedalModeRisingEdge : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SinglePedalModeFallingEdge : 22|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 977 ECMCruiseControl: 8 K20_ECM
+ SG_ CruiseActive : 39|1@0+ (1,0) [0|3] "" NEO
+ SG_ CruiseSetSpeed : 19|12@0+ (0.0625,0) [0|0] "km/h" NEO
+
+BO_ 1001 ECMVehicleSpeed: 8 K20_ECM
+ SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph"  NEO
+ SG_ VehicleSpeedLeft : 39|16@0+ (0.01,0) [0|0] "mph" NEO
+
+BO_ 1033 ASCMKeepAlive: 7 NEO
+ SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] ""  NEO
+
+BO_ 1034 ASCM_40A: 7 K124_ASCM
+
+BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
+ SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "C"  NEO
+
+BO_ 1249 VIN_Part2: 8 K20_ECM
+ SG_ VINPart2 : 7|64@0+ (1,0) [0|0] ""  NEO
+
+BO_ 1296 ASCM_510: 4 K124_ASCM
+
+BO_ 1300 VIN_Part1: 8 K20_ECM
+ SG_ VINPart1 : 7|64@0+ (1,0) [0|0] ""  NEO
+
+BO_ 1912 PSCM_778: 8 K43_PSCM
+
+BO_ 1930 ASCM_78A: 7 K124_ASCM
+
+BO_TX_BU_ 384 : K124_ASCM,NEO;
+BO_TX_BU_ 880 : NEO,K124_ASCM;
+BO_TX_BU_ 1033 : K124_ASCM,NEO;
+BO_TX_BU_ 715 : NEO,K124_ASCM;
+BO_TX_BU_ 789 : NEO,K124_ASCM;
+BO_TX_BU_ 800 : NEO,K124_ASCM;
+
+
+CM_ BU_ K16_BECM "Battery Energy Control Module";
+CM_ BU_ K73_TCIC "Telematics Communication Control Module";
+CM_ BU_ K9_BCM "Body Control Module";
+CM_ BU_ K43_PSCM "Power Steering Control Module";
+CM_ BU_ K17_EBCM "Electronic Brake Control Module";
+CM_ BU_ K20_ECM "Engine Control Module";
+CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module";
+CM_ BU_ NEO "Comma NEO";
+CM_ BU_ K124_ASCM "Active Safety Control Module";
+CM_ SG_ 381 MSG17D_AccPower "Need to investigate";
+CM_ BO_ 190 "Length varies from 6 to 8 bytes by car";
+CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
+CM_ SG_ 322 LeftBSM "For some cars, this can only be when the blinker is also active";
+CM_ SG_ 322 RightBSM "For some cars, this can only be when the blinker is also active";
+CM_ SG_ 352 ImmobilizerInfo "Non-zero when ignition or accessory mode";
+CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
+CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";
+CM_ SG_ 562 FrictionBrakeUnavailable "1 when ACC brake control is unavailable. Stays high if brake command messages are blocked for a period of time";
+CM_ SG_ 497 SystemPowerMode "Describes ignition";
+CM_ SG_ 497 SystemBackUpPowerMode "Describes ignition + preconditioning mode, noisy";
+CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
+CM_ SG_ 532 UserBrakePressure "can be lower than other brake position signals when the brakes are pre-filled from ACC braking and the user presses on the brakes. user-only pressure?";
+CM_ SG_ 608 ClusterSpeed "Cluster speed signal seems to match dash on newer cars, but is a lower rate and can be noisier.";
+CM_ SG_ 761 UserBrakePressure2 "Similar to BRAKE_RELATED->UserBrakePressure";
+CM_ SG_ 1001 VehicleSpeed "Spinouts show here on 2wd. Speed derived from right front wheel (drive tire)";
+BA_DEF_  "UseGMParameterIDs" INT 0 0;
+BA_DEF_  "ProtocolType" STRING ;
+BA_DEF_  "BusType" STRING ;
+BA_DEF_DEF_  "UseGMParameterIDs" 1;
+BA_DEF_DEF_  "ProtocolType" "GMLAN";
+BA_DEF_DEF_  "BusType" "";
+BA_ "BusType" "CAN";
+BA_ "ProtocolType" "GMLAN";
+BA_ "UseGMParameterIDs" 0;
+VAL_ 497 SystemPowerMode 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off";
+VAL_ 497 SystemBackUpPowerMode 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off";
+VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ;
+VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ;
+VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
+VAL_ 481 DriveModeButton 1 "Active" 0 "Inactive" ;
+VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ;
+VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ;
+VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ;
+VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
+VAL_ 842 RRWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault";
+VAL_ 842 RLWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault";
+VAL_ 880 ACCCruiseState 2 "Adaptive" 3 "Adaptive" 4 "Non-adaptive" 5 "Non-adaptive" ;
+VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ;
+VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
+VAL_ 880 ACCResumeButton 1 "Pressed" 0 "Depressed" ;
+VAL_ 880 ACCCmdActive 1 "Active" 0 "Inactive" ;
+VAL_ 388 HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ;
+VAL_ 388 HandsOffSWlDetectionStatus 1 "Hands On" 0 "Hands Off" ;
+VAL_ 388 LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ;
+VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
+VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
+VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ;
+VAL_ 320 Intellibeam 1 "Active" 0 "Inactive" ;
+VAL_ 320 HighBeamsActive 1 "Active" 0 "Inactive" ;
+VAL_ 320 HighBeamsTemporary 1 "Active" 0 "Inactive" ;
+VAL_ 501 PRNDL2 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" 0 "Shifting";
+VAL_ 501 TransmissionState 11 "Shifting" 10 "Reverse" 9 "Forward" 8 "Disengaged";
+VAL_ 501 ManualMode 1 "Active" 0 "Inactive"
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index d18e708e..46f06d95 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -2,7 +2,7 @@ from cereal import car, custom, log
 import cereal.messaging as messaging
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.chrysler.values import RAM_DT
-from opendbc.car.gm.values import GMFlags
+from opendbc.car.gm.values import CAR as GM_CAR, GMFlags, SDGM_CAR
 from opendbc.car.interfaces import MAX_CTRL_SPEED
 
 from openpilot.selfdrive.selfdrived.events import Events
@@ -39,6 +39,21 @@ BRAND_EXTRA_GEARS = {
   'hyundai': [GearShifter.sport, GearShifter.manumatic]
 }
 
+GM_STANDSTILL_BRAKE_CAMERA_CARS = {
+  GM_CAR.CHEVROLET_VOLT,
+  GM_CAR.CHEVROLET_VOLT_2019,
+  GM_CAR.CHEVROLET_VOLT_ASCM,
+  GM_CAR.CHEVROLET_VOLT_CAMERA,
+  GM_CAR.CHEVROLET_VOLT_CC,
+  GM_CAR.CHEVROLET_MALIBU,
+  GM_CAR.CHEVROLET_MALIBU_ASCM,
+  GM_CAR.CHEVROLET_MALIBU_SDGM,
+  GM_CAR.CHEVROLET_MALIBU_CC,
+  GM_CAR.CHEVROLET_MALIBU_HYBRID_CC,
+  GM_CAR.CHEVROLET_BLAZER,
+  GM_CAR.CHEVROLET_TRAVERSE,
+}
+
 
 class CarSpecificEvents:
   def __init__(self, CP: structs.CarParams):
@@ -124,16 +139,23 @@ class CarSpecificEvents:
         events.add(EventName.belowSteerSpeed)
         self.gm_low_speed_alert_shown = True
 
-      # Enabling at a standstill with brake is allowed
-      # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
-      if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
-                                                   self.CP.networkLocation == NetworkLocation.fwdCamera):
+      # Match StarPilot's GM-specific standstill engage behavior. Most camera-ACC cars can
+      # engage below 5 kph only when stopped with brake applied; SDGM remains narrower.
+      standstill_brake_enable_allowed = (
+        CS.standstill and
+        CS.brake >= 20 and
+        self.CP.networkLocation == NetworkLocation.fwdCamera and
+        (self.CP.carFingerprint in GM_STANDSTILL_BRAKE_CAMERA_CARS or self.CP.carFingerprint not in SDGM_CAR)
+      )
+      if CS.vEgo < self.CP.minEnableSpeed and not standstill_brake_enable_allowed:
         events.add(EventName.belowEngageSpeed)
       if CS.cruiseState.standstill and not self.CP.autoResumeSng:
         events.add(EventName.resumeRequired)
 
-      # OPGM variables
-      if (self.CP.flags & GMFlags.CC_LONG) and CS.vEgo < self.CP.minEnableSpeed and CS.cruiseState.enabled:
+      # Preserve the prior cycle's cruise-enabled state so low-speed disengage matches StarPilot.
+      if ((self.CP.flags & GMFlags.CC_LONG) and
+          CS.vEgo < self.CP.minEnableSpeed and
+          (CS.cruiseState.enabled or CS_prev.cruiseState.enabled)):
         events.add(EventName.speedTooLow)
 
     elif self.CP.brand == 'volkswagen':
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index d3e944d2..5f2bba80 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -95,6 +95,8 @@ class LongitudinalPlanner:
 
   @staticmethod
   def get_model_speed_error(model_msg, v_ego):
+    if len(model_msg.temporalPose.trans):
+      return float(np.clip(model_msg.temporalPose.trans[0] - v_ego, -5.0, 5.0))
     if len(model_msg.velocity.x) == ModelConstants.IDX_N:
       return float(np.clip(model_msg.velocity.x[0] - v_ego, -5.0, 5.0))
     return 0.0
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index a1d1a5cb..ca569627 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -255,11 +255,9 @@ class DriverMonitoring:
 
   def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False):
     rhd_pred = driver_state.wheelOnRightProb
-    left_face_prob = driver_state.leftDriverData.faceProb
-    right_face_prob = driver_state.rightDriverData.faceProb
     # calibrates only when there's movement and either face detected
-    if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (left_face_prob > self.settings._FACE_THRESHOLD or
-                                          right_face_prob > self.settings._FACE_THRESHOLD):
+    if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
+                                          driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
       self.wheelpos.prob_offseter.push_and_update(rhd_pred)
 
     self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT
@@ -267,19 +265,6 @@ class DriverMonitoring:
       self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
     else:
       self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
-
-    # On mici/C4, wheel-side inference can hover around 0.5 during startup or after off-car testing.
-    # If one face side is clearly valid and the other is below threshold, prefer the obvious face side
-    # when the wheel-side signal is still weak instead of latching the wrong side and reporting no face.
-    left_face_detected = left_face_prob > self.settings._FACE_THRESHOLD
-    right_face_detected = right_face_prob > self.settings._FACE_THRESHOLD
-    weak_wheelside_signal = abs(rhd_pred - self.settings._WHEELPOS_THRESHOLD) < 0.1
-    if weak_wheelside_signal or not self.wheelpos.prob_calibrated:
-      if left_face_detected and not right_face_detected:
-        self.wheel_on_right = False
-      elif right_face_detected and not left_face_detected:
-        self.wheel_on_right = True
-
     # make sure no switching when engaged
     if op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right and not demo_mode:
       self.wheel_on_right = self.wheel_on_right_last