diff --git a/.gitignore b/.gitignore
index f3a632ff..a1c7bcc6 100644
--- a/.gitignore
+++ b/.gitignore
@@ -15,6 +15,7 @@ a.out
 .cache/
 .comma_sysroot/
 .venv-linux-arm64/
+compiledmodels/
 
 /docs_site/
 
diff --git a/frogpilot/common/frogpilot_variables.py b/frogpilot/common/frogpilot_variables.py
index 05e698b2..7f97de33 100644
--- a/frogpilot/common/frogpilot_variables.py
+++ b/frogpilot/common/frogpilot_variables.py
@@ -249,11 +249,18 @@ def get_frogpilot_toggles(sm=messaging.SubMaster(["frogpilotPlan"])):
   return toggles
 
 @cache
+def _process_frogpilot_plan_toggles(toggles):
+  return SimpleNamespace(**json.loads(toggles))
+
+
 def process_frogpilot_toggles(toggles):
   if toggles:
-    return SimpleNamespace(**json.loads(toggles))
+    return _process_frogpilot_plan_toggles(toggles)
   return FrogPilotVariables().frogpilot_toggles
 
+
+process_frogpilot_toggles.cache_clear = _process_frogpilot_plan_toggles.cache_clear
+
 def update_frogpilot_toggles():
   if not hasattr(update_frogpilot_toggles, "_params_memory"):
     update_frogpilot_toggles._params_memory = Params(memory=True)
diff --git a/frogpilot/navigation/mapd_wrapper.py b/frogpilot/navigation/mapd_wrapper.py
new file mode 100644
index 00000000..ff469d8a
--- /dev/null
+++ b/frogpilot/navigation/mapd_wrapper.py
@@ -0,0 +1,152 @@
+#!/usr/bin/env python3
+import json
+import os
+import signal
+import subprocess
+import sys
+import time
+
+from collections import defaultdict, deque
+from pathlib import Path
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.swaglog import cloudlog
+
+MAPD_DIR = Path(BASEDIR) / "frogpilot/navigation"
+MAPD_BIN = MAPD_DIR / "mapd"
+OFFLINE_ROOT = Path("/data/media/0/osm/offline")
+RESTART_DELAY_S = 0.25
+FAILURE_WINDOW_S = 3.0
+FAILURE_THRESHOLD = 3
+
+
+def extract_bounds_filename(line: str) -> str | None:
+  try:
+    payload = json.loads(line)
+  except json.JSONDecodeError:
+    return None
+
+  if payload.get("msg") != "Loading bounds file":
+    return None
+
+  filename = payload.get("filename")
+  return filename if isinstance(filename, str) else None
+
+
+def is_offline_read_error(line: str) -> bool:
+  try:
+    payload = json.loads(line)
+  except json.JSONDecodeError:
+    return False
+
+  return payload.get("msg") == "could not unmarshal offline data"
+
+
+class CorruptTileMonitor:
+  def __init__(self, threshold: int = FAILURE_THRESHOLD, window_s: float = FAILURE_WINDOW_S):
+    self.threshold = threshold
+    self.window_s = window_s
+    self.current_filename: str | None = None
+    self.failures: dict[str, deque[float]] = defaultdict(deque)
+
+  def observe(self, line: str, now: float | None = None) -> str | None:
+    filename = extract_bounds_filename(line)
+    if filename is not None:
+      self.current_filename = filename
+      return None
+
+    if not is_offline_read_error(line) or self.current_filename is None:
+      return None
+
+    ts = time.monotonic() if now is None else now
+    failures = self.failures[self.current_filename]
+    failures.append(ts)
+
+    cutoff = ts - self.window_s
+    while failures and failures[0] < cutoff:
+      failures.popleft()
+
+    if len(failures) >= self.threshold:
+      return self.current_filename
+    return None
+
+
+def quarantine_offline_tile(filename: str) -> Path | None:
+  tile_path = Path(filename)
+  try:
+    tile_path.relative_to(OFFLINE_ROOT)
+  except ValueError:
+    cloudlog.warning(f"mapd_wrapper refusing to quarantine unexpected path: {filename}")
+    return None
+
+  if not tile_path.exists():
+    return None
+
+  quarantined = tile_path.with_name(f"{tile_path.name}.corrupt.{int(time.time())}")
+  tile_path.rename(quarantined)
+  return quarantined
+
+
+def terminate_child(proc: subprocess.Popen[str]) -> None:
+  if proc.poll() is not None:
+    return
+
+  proc.terminate()
+  try:
+    proc.wait(timeout=2)
+  except subprocess.TimeoutExpired:
+    proc.kill()
+    proc.wait(timeout=2)
+
+
+def run_mapd_once() -> int:
+  proc = subprocess.Popen(
+    [MAPD_BIN.as_posix()],
+    cwd=MAPD_DIR,
+    stdout=subprocess.PIPE,
+    stderr=subprocess.STDOUT,
+    text=True,
+    bufsize=1,
+  )
+  assert proc.stdout is not None
+
+  def _handle_signal(signum, _frame):
+    terminate_child(proc)
+    raise SystemExit(128 + signum)
+
+  signal.signal(signal.SIGTERM, _handle_signal)
+  signal.signal(signal.SIGINT, _handle_signal)
+
+  monitor = CorruptTileMonitor()
+
+  for line in proc.stdout:
+    print(line, end="")
+    bad_tile = monitor.observe(line)
+    if bad_tile is None:
+      continue
+
+    quarantined = quarantine_offline_tile(bad_tile)
+    if quarantined is None:
+      cloudlog.warning(f"mapd_wrapper detected repeated offline read failures for {bad_tile}, but could not quarantine it")
+    else:
+      message = f"mapd_wrapper quarantined corrupt offline tile: {bad_tile} -> {quarantined}"
+      print(message, flush=True)
+      cloudlog.warning(message)
+
+    terminate_child(proc)
+    return 1
+
+  return proc.wait()
+
+
+def main() -> None:
+  while True:
+    exit_code = run_mapd_once()
+    if exit_code == 1:
+      time.sleep(RESTART_DELAY_S)
+      continue
+    raise SystemExit(exit_code)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/frogpilot/navigation/test_mapd_wrapper.py b/frogpilot/navigation/test_mapd_wrapper.py
new file mode 100644
index 00000000..e1c591c6
--- /dev/null
+++ b/frogpilot/navigation/test_mapd_wrapper.py
@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+import json
+
+from pathlib import Path
+
+from openpilot.frogpilot.navigation.mapd_wrapper import CorruptTileMonitor, quarantine_offline_tile
+
+
+def _loading_line(filename: str) -> str:
+  return json.dumps({"msg": "Loading bounds file", "filename": filename})
+
+
+def _error_line() -> str:
+  return json.dumps({"msg": "could not unmarshal offline data", "error": "EOF"})
+
+
+def test_corrupt_tile_monitor_triggers_after_repeated_failures():
+  filename = "/data/media/0/osm/offline/36/-98/37.500000_-98.000000_37.750000_-97.750000"
+  monitor = CorruptTileMonitor(threshold=3, window_s=3.0)
+
+  assert monitor.observe(_loading_line(filename), now=0.0) is None
+  assert monitor.observe(_error_line(), now=0.1) is None
+  assert monitor.observe(_loading_line(filename), now=0.2) is None
+  assert monitor.observe(_error_line(), now=0.3) is None
+  assert monitor.observe(_loading_line(filename), now=0.4) is None
+  assert monitor.observe(_error_line(), now=0.5) == filename
+
+
+def test_quarantine_offline_tile_renames_file(tmp_path, monkeypatch):
+  offline_root = tmp_path / "offline"
+  tile = offline_root / "36/-98/37.500000_-98.000000_37.750000_-97.750000"
+  tile.parent.mkdir(parents=True)
+  tile.write_text("bad")
+
+  monkeypatch.setattr("openpilot.frogpilot.navigation.mapd_wrapper.OFFLINE_ROOT", offline_root)
+
+  quarantined = quarantine_offline_tile(tile.as_posix())
+
+  assert quarantined is not None
+  assert not tile.exists()
+  assert Path(quarantined).exists()
+  assert Path(quarantined).name.startswith(f"{tile.name}.corrupt.")
diff --git a/models b/models
new file mode 100755
index 00000000..1e648cdc
--- /dev/null
+++ b/models
@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+set -eo pipefail
+
+DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
+set +u
+source "$DIR/launch_env.sh"
+exec python3 "$DIR/scripts/model_compiler.py" "$@"
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/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed
index f8c50c0f..f08d972a 100644
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index 9bdd11ec..e928f540 100755
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diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin
index 13afad54..c47a9cf4 100755
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index 8f8dc686..ccec2665 100755
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diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin
index 4e129a1b..859fdab2 100755
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index d42e08f2..44913911 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 d42e08f2..44913911 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 4f8c37b1..024084d1 100755
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diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin
index 4e129a1b..859fdab2 100755
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diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h
index d04731af..71ab066b 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-60a7fb11-DEBUG";
+const uint8_t gitversion[19] = "DEV-d17d41fb-DEBUG";
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
index 0c650c2a..6195b612 100644
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index 06125f5b..3cc7211c 100755
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diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin
index 75dd3ae9..f0d1f590 100755
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index fdff9927..6eb51ae3 100755
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index 1e8e353f..ec4ad13a 100644
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diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed
index 690cf937..5f6f4a6c 100644
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diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf
index 9bc68593..bb949282 100755
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diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin
index 1b88b64e..7e42e0f8 100755
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diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf
index 6ca31b2c..45467650 100755
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diff --git a/panda/board/obj/version b/panda/board/obj/version
index 5c83ce11..57b311e4 100644
--- a/panda/board/obj/version
+++ b/panda/board/obj/version
@@ -1 +1 @@
-DEV-60a7fb11-DEBUG
\ No newline at end of file
+DEV-d17d41fb-DEBUG
\ No newline at end of file
diff --git a/scripts/model_compiler.py b/scripts/model_compiler.py
new file mode 100644
index 00000000..18340d06
--- /dev/null
+++ b/scripts/model_compiler.py
@@ -0,0 +1,233 @@
+#!/usr/bin/env python3
+import argparse
+import codecs
+import os
+import pickle
+import re
+import shutil
+import subprocess
+import sys
+
+from pathlib import Path
+
+
+REPO_ROOT = Path(__file__).resolve().parents[1]
+DEFAULT_INPUT_ROOT = Path("/data/openpilot/uncompiledmodels")
+DEFAULT_OUTPUT_ROOT = Path("/data/openpilot/compiledmodels")
+COMPILE_SCRIPT = REPO_ROOT / "tinygrad_repo/examples/openpilot/compile3.py"
+
+COMPONENT_ALIASES = {
+  "driving_off_policy": ("driving_off_policy", "off_policy", "offpolicy"),
+  "driving_policy": ("driving_policy", "policy"),
+  "driving_vision": ("driving_vision", "vision"),
+}
+REQUIRED_COMPONENTS = {"driving_policy", "driving_vision"}
+
+
+def parse_args() -> argparse.Namespace:
+  parser = argparse.ArgumentParser(
+    description="Compile staged ONNX driving models into tinygrad pkls without touching selfdrive/modeld/models.",
+  )
+  parser.add_argument("--model", help="Output model key, for example sc2.")
+  parser.add_argument("--input-dir", type=Path, default=DEFAULT_INPUT_ROOT, help="Directory containing staged ONNX files. Flat root files like driving_policy.onnx are preferred.")
+  parser.add_argument("--output-dir", type=Path, default=DEFAULT_OUTPUT_ROOT, help="Directory for compiled tinygrad pkls and metadata.")
+  parser.add_argument("--list", action="store_true", help="List detected staged models and exit.")
+  parser.add_argument("--force", action="store_true", help="Legacy no-op. Compiled outputs are always cleared before a build.")
+
+  args, unknown = parser.parse_known_args()
+  dynamic_model_flags = [arg[2:] for arg in unknown if arg.startswith("--")]
+  invalid = [arg for arg in unknown if not arg.startswith("--")]
+  if invalid:
+    parser.error(f"Unexpected arguments: {' '.join(invalid)}")
+  if len(dynamic_model_flags) > 1:
+    parser.error("Pass only one dynamic model flag, for example ./models --sc2")
+  if args.model and dynamic_model_flags and args.model != dynamic_model_flags[0]:
+    parser.error("Use either --model sc2 or --sc2, not both with different values.")
+  args.model = args.model or (dynamic_model_flags[0] if dynamic_model_flags else None)
+  return args
+
+
+def detect_component(path: Path) -> str | None:
+  stem = path.stem.lower()
+  for component, aliases in COMPONENT_ALIASES.items():
+    if any(alias in stem for alias in aliases):
+      return component
+  return None
+
+
+def find_staged_models(input_root: Path) -> dict[str, dict[str, Path]]:
+  found: dict[str, dict[str, Path]] = {}
+  if not input_root.is_dir():
+    return found
+
+  for child in sorted(input_root.iterdir()):
+    if not child.is_dir():
+      continue
+    model_files = {}
+    for onnx_file in sorted(child.glob("*.onnx")):
+      component = detect_component(onnx_file)
+      if component:
+        model_files[component] = onnx_file
+    if model_files:
+      found[child.name] = model_files
+
+  flat_root_files = {}
+  for onnx_file in sorted(input_root.glob("*.onnx")):
+    component = detect_component(onnx_file)
+    if component is None:
+      continue
+
+    model_key = None
+    lowered = onnx_file.stem.lower()
+    for alias in COMPONENT_ALIASES[component]:
+      if lowered == alias:
+        model_key = None
+        break
+      suffix = f"_{alias}"
+      if lowered.endswith(suffix):
+        model_key = onnx_file.stem[:-len(suffix)]
+        break
+
+    if model_key in ("", "driving"):
+      model_key = None
+
+    if model_key:
+      found.setdefault(model_key, {})[component] = onnx_file
+    else:
+      flat_root_files[component] = onnx_file
+
+  if flat_root_files:
+    found["_root"] = flat_root_files
+
+  return found
+
+
+def resolve_model_files(input_root: Path, model_key: str) -> dict[str, Path]:
+  staged = find_staged_models(input_root)
+  if model_key in staged:
+    return staged[model_key]
+
+  root_files = staged.get("_root")
+  if root_files and len(staged) == 1:
+    return root_files
+
+  prefixed_files = {}
+  for onnx_file in sorted(input_root.glob(f"{model_key}_*.onnx")):
+    component = detect_component(onnx_file)
+    if component:
+      prefixed_files[component] = onnx_file
+  return prefixed_files
+
+
+def get_metadata_value_by_name(model, name: str):
+  for prop in model.metadata_props:
+    if prop.key == name:
+      return prop.value
+  return None
+
+
+def write_metadata(onnx_path: Path, output_path: Path) -> None:
+  import onnx
+
+  model = onnx.load(str(onnx_path))
+  output_slices = get_metadata_value_by_name(model, "output_slices")
+  if output_slices is None:
+    raise ValueError(f"output_slices not found in metadata for {onnx_path.name}")
+
+  def get_name_and_shape(value_info) -> tuple[str, tuple[int, ...]]:
+    shape = tuple(int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim)
+    return value_info.name, shape
+
+  metadata = {
+    "model_checkpoint": get_metadata_value_by_name(model, "model_checkpoint"),
+    "output_slices": pickle.loads(codecs.decode(output_slices.encode(), "base64")),
+    "input_shapes": dict(get_name_and_shape(x) for x in model.graph.input),
+    "output_shapes": dict(get_name_and_shape(x) for x in model.graph.output),
+  }
+
+  with open(output_path, "wb") as f:
+    pickle.dump(metadata, f)
+
+
+def compile_component(onnx_path: Path, output_path: Path) -> None:
+  env = os.environ.copy()
+  existing_pythonpath = env.get("PYTHONPATH", "")
+  env["PYTHONPATH"] = f"{REPO_ROOT}:{existing_pythonpath}" if existing_pythonpath else str(REPO_ROOT)
+  subprocess.run(
+    [sys.executable, str(COMPILE_SCRIPT), str(onnx_path), str(output_path)],
+    cwd=REPO_ROOT,
+    env=env,
+    check=True,
+  )
+
+
+def clear_existing_outputs(output_dir: Path) -> list[Path]:
+  removed = []
+  for existing in sorted(output_dir.iterdir()):
+    if existing.is_file() or existing.is_symlink():
+      existing.unlink()
+    elif existing.is_dir():
+      shutil.rmtree(existing)
+    removed.append(existing)
+  return removed
+
+
+def list_models(staged: dict[str, dict[str, Path]], input_root: Path) -> int:
+  if not staged:
+    print(f"No staged models found in {input_root}")
+    return 0
+
+  for model_key, files in sorted(staged.items()):
+    print(model_key)
+    for component, path in sorted(files.items()):
+      print(f"  {component}: {path}")
+  return 0
+
+
+def main() -> int:
+  args = parse_args()
+  staged = find_staged_models(args.input_dir)
+
+  if args.list:
+    return list_models(staged, args.input_dir)
+
+  if not args.model:
+    available = ", ".join(sorted(k for k in staged if k != "_root"))
+    raise SystemExit(f"Choose a model key, for example ./models --sc2. Available staged models: {available or 'none'}")
+
+  model_key = args.model.strip()
+  files = resolve_model_files(args.input_dir, model_key)
+  if not files:
+    raise SystemExit(
+      f"No staged ONNX files found for {model_key} in {args.input_dir}. "
+      f"Use {args.input_dir}/driving_policy.onnx and {args.input_dir}/driving_vision.onnx, "
+      f"or optionally {args.input_dir / model_key}/*.onnx"
+    )
+
+  missing = sorted(REQUIRED_COMPONENTS - set(files))
+  if missing:
+    raise SystemExit(f"Missing required ONNX files for {model_key}: {', '.join(missing)}")
+
+  args.output_dir.mkdir(parents=True, exist_ok=True)
+  print(f"Compiling {model_key} from {args.input_dir} -> {args.output_dir}")
+
+  removed = clear_existing_outputs(args.output_dir)
+  if removed:
+    print(f"  cleared {len(removed)} existing output entries")
+
+  for component, onnx_path in sorted(files.items()):
+    output_pkl = args.output_dir / f"{model_key}_{component}_tinygrad.pkl"
+    output_metadata = args.output_dir / f"{model_key}_{component}_metadata.pkl"
+
+    print(f"  compiling {component}: {onnx_path.name}")
+    compile_component(onnx_path, output_pkl)
+    write_metadata(onnx_path, output_metadata)
+    print(f"  saved {output_pkl.name}")
+    print(f"  saved {output_metadata.name}")
+
+  print("Done.")
+  return 0
+
+
+if __name__ == "__main__":
+  raise SystemExit(main())
diff --git a/selfdrive/assets/icons_mici/settings/horizontal_scroll_indicator.png b/selfdrive/assets/icons_mici/settings/horizontal_scroll_indicator.png
new file mode 100644
index 00000000..4b848657
Binary files /dev/null and b/selfdrive/assets/icons_mici/settings/horizontal_scroll_indicator.png differ
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 3e357ee0..28190db3 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -25,7 +25,6 @@ MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
 METADATA_PATH = Path(__file__).parent / 'models/dmonitoring_model_metadata.pkl'
 MODELS_DIR = Path(__file__).parent / 'models'
 
-
 class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
@@ -46,42 +45,8 @@ class ModelState:
     self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
     self._blob_cache : dict[int, Tensor] = {}
     self.image_warp = None
-    self._warp_rebuild_attempted: set[tuple[int, int]] = set()
-    self._warp_backend_rebuild_attempted: set[tuple[int, int]] = set()
     self.model_run = pickle.loads(read_file_chunked(str(MODEL_PKL_PATH)))
 
-  def _load_or_rebuild_dm_warp(self, width: int, height: int):
-    warp_path = MODELS_DIR / f'dm_warp_{width}x{height}_tinygrad.pkl'
-    resolution_key = (width, height)
-
-    def load_warp():
-      with open(warp_path, "rb") as f:
-        return pickle.load(f)
-
-    try:
-      return load_warp()
-    except Exception as error:
-      if resolution_key in self._warp_rebuild_attempted:
-        raise
-
-      self._warp_rebuild_attempted.add(resolution_key)
-      cloudlog.exception(f"Failed to load DM warp artifact {warp_path}: {error}")
-      cloudlog.warning(f"Rebuilding DM warp artifact for {width}x{height}")
-
-      try:
-        warp_path.unlink(missing_ok=True)
-      except Exception:
-        pass
-
-      from openpilot.selfdrive.modeld.compile_warp import compile_dm_warp
-      compile_dm_warp(width, height)
-
-      try:
-        return load_warp()
-      except Exception as retry_error:
-        cloudlog.exception(f"Reload failed after rebuilding {warp_path}: {retry_error}")
-        raise
-
   def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
     self.numpy_inputs['calib'][0,:] = calib
 
@@ -89,33 +54,16 @@ class ModelState:
 
     if self.image_warp is None:
       self.frame_buf_params = get_nv12_info(buf.width, buf.height)
-      self.image_warp = self._load_or_rebuild_dm_warp(buf.width, buf.height)
+      warp_path = MODELS_DIR / f'dm_warp_{buf.width}x{buf.height}_tinygrad.pkl'
+      with open(warp_path, "rb") as f:
+        self.image_warp = pickle.load(f)
     ptr = buf.data.ctypes.data
     # There is a ringbuffer of imgs, just cache tensors pointing to all of them
     if ptr not in self._blob_cache:
       self._blob_cache[ptr] = Tensor.from_blob(ptr, (self.frame_buf_params[3],), dtype='uint8')
 
     self.warp_inputs_np['transform'][:] = transform[:]
-    resolution_key = (buf.width, buf.height)
-    try:
-      self.tensor_inputs['input_img'] = self.image_warp(self._blob_cache[ptr], self.warp_inputs['transform']).realize()
-    except AssertionError as error:
-      # Handle runtime backend mismatch (e.g. CPU-captured warp artifact on QCOM device).
-      if "args mismatch in JIT" not in str(error) or resolution_key in self._warp_backend_rebuild_attempted:
-        raise
-
-      self._warp_backend_rebuild_attempted.add(resolution_key)
-      cloudlog.warning(f"DM warp JIT backend mismatch for {buf.width}x{buf.height}; rebuilding artifact for active backend")
-      warp_path = MODELS_DIR / f'dm_warp_{buf.width}x{buf.height}_tinygrad.pkl'
-      try:
-        warp_path.unlink(missing_ok=True)
-      except Exception:
-        pass
-
-      from openpilot.selfdrive.modeld.compile_warp import compile_dm_warp
-      compile_dm_warp(buf.width, buf.height)
-      self.image_warp = self._load_or_rebuild_dm_warp(buf.width, buf.height)
-      self.tensor_inputs['input_img'] = self.image_warp(self._blob_cache[ptr], self.warp_inputs['transform']).realize()
+    self.tensor_inputs['input_img'] = self.image_warp(self._blob_cache[ptr], self.warp_inputs['transform']).realize()
 
     output = self.model_run(**self.tensor_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
 
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
index 0e08fe94..7d59ce24 100644
Binary files a/selfdrive/modeld/models/dmonitoring_model.onnx and b/selfdrive/modeld/models/dmonitoring_model.onnx differ
diff --git a/selfdrive/modeld/models/dmonitoring_model_metadata.pkl b/selfdrive/modeld/models/dmonitoring_model_metadata.pkl
index efcdd4c3..71e4b289 100644
Binary files a/selfdrive/modeld/models/dmonitoring_model_metadata.pkl and b/selfdrive/modeld/models/dmonitoring_model_metadata.pkl differ
diff --git a/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl b/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl
index f80ca5a2..299065b5 100644
Binary files a/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl and b/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl differ
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index fe51af1c..d2a6163a 100644
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -48,16 +48,11 @@ def dmonitoringd_thread():
       DM.always_on = params.get_bool("AlwaysOnDM")
       demo_mode = params.get_bool("IsDriverViewEnabled") and sm["carState"].gearShifter != GearShifter.reverse
 
-    # save rhd virtual toggle every 5 mins, but only with clear confidence.
+    # save rhd virtual toggle every 5 mins
     if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
-        DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT):
-      wheelpos_mean = DM.wheelpos.prob_offseter.filtered_stat.M
-      save_rhd = DM.settings._WHEELPOS_THRESHOLD_ENTER_RHD + DM.settings._WHEELPOS_SAVE_MARGIN
-      save_lhd = DM.settings._WHEELPOS_THRESHOLD_ENTER_LHD - DM.settings._WHEELPOS_SAVE_MARGIN
-      if wheelpos_mean >= save_rhd:
-        params.put_bool_nonblocking("IsRhdDetected", True)
-      elif wheelpos_mean <= save_lhd:
-        params.put_bool_nonblocking("IsRhdDetected", False)
+     DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
+     DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
+      params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
 
 def main():
   dmonitoringd_thread()
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 70945f8c..ca569627 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -35,11 +35,7 @@ class DRIVER_MONITOR_SETTINGS:
     self._EYE_THRESHOLD = 0.65
     self._SG_THRESHOLD = 0.9
     self._BLINK_THRESHOLD = 0.865
-
-    self._PHONE_THRESH = 0.75 if device_type == 'mici' else 0.4
-    self._PHONE_THRESH2 = 15.0
-    self._PHONE_MAX_OFFSET = 0.06
-    self._PHONE_MIN_OFFSET = 0.025
+    self._PHONE_THRESH = 0.5
 
     self._POSE_PITCH_THRESHOLD = 0.3133
     self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
@@ -50,6 +46,8 @@ class DRIVER_MONITOR_SETTINGS:
     self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
     self._PITCH_NATURAL_THRESHOLD = 0.449
     self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
+    self._PITCH_NATURAL_VAR = 3*0.01
+    self._YAW_NATURAL_VAR = 3*0.05
     self._PITCH_MAX_OFFSET = 0.124
     self._PITCH_MIN_OFFSET = -0.0881
     self._YAW_MAX_OFFSET = 0.289
@@ -70,18 +68,9 @@ class DRIVER_MONITOR_SETTINGS:
     self._WHEELPOS_CALIB_MIN_SPEED = 11
     self._WHEELPOS_THRESHOLD = 0.5
     self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side
-    self._WHEELPOS_THRESHOLD_ENTER_RHD = self._WHEELPOS_THRESHOLD
-    self._WHEELPOS_THRESHOLD_ENTER_LHD = self._WHEELPOS_THRESHOLD
-    self._WHEELPOS_SAVE_MARGIN = 0.0
-    self._WHEELPOS_STARTUP_OVERRIDE_RHD = 0.55
-    self._WHEELPOS_STARTUP_OVERRIDE_LHD = 0.45
-
-    # C4 (mici) has shown borderline wheel-side probabilities around 0.5x.
-    # Use hysteresis and stricter persistence thresholds to avoid false RHD latching.
-    if device_type == 'mici':
-      self._WHEELPOS_THRESHOLD_ENTER_RHD = 0.65
-      self._WHEELPOS_THRESHOLD_ENTER_LHD = 0.35
-      self._WHEELPOS_SAVE_MARGIN = 0.05
+    self._WHEELPOS_DATA_AVG = 0.03
+    self._WHEELPOS_DATA_VAR = 3*5.5e-5
+    self._WHEELPOS_MAX_COUNT = -1
 
     self._RECOVERY_FACTOR_MAX = 5.  # relative to minus step change
     self._RECOVERY_FACTOR_MIN = 1.25  # relative to minus step change
@@ -96,24 +85,26 @@ class DistractedType:
   DISTRACTED_PHONE = 1 << 2
 
 class DriverPose:
-  def __init__(self, max_trackable):
+  def __init__(self, settings):
+    pitch_filter_raw_priors = (settings._PITCH_NATURAL_OFFSET, settings._PITCH_NATURAL_VAR, 2)
+    yaw_filter_raw_priors = (settings._YAW_NATURAL_OFFSET, settings._YAW_NATURAL_VAR, 2)
     self.yaw = 0.
     self.pitch = 0.
     self.roll = 0.
     self.yaw_std = 0.
     self.pitch_std = 0.
     self.roll_std = 0.
-    self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable)
-    self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable)
+    self.pitch_offseter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
+    self.yaw_offseter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
     self.calibrated = False
     self.low_std = True
     self.cfactor_pitch = 1.
     self.cfactor_yaw = 1.
 
 class DriverProb:
-  def __init__(self, max_trackable):
+  def __init__(self, raw_priors, max_trackable):
     self.prob = 0.
-    self.prob_offseter = RunningStatFilter(max_trackable=max_trackable)
+    self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
     self.prob_calibrated = False
 
 class DriverBlink:
@@ -152,10 +143,11 @@ class DriverMonitoring:
     self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
 
     # init driver status
-    self.wheelpos = DriverProb(-1)
-    self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
-    self.phone = DriverProb(self.settings._POSE_OFFSET_MAX_COUNT)
+    wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
+    self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
+    self.pose = DriverPose(settings=self.settings)
     self.blink = DriverBlink()
+    self.phone_prob = 0.
 
     self.always_on = always_on
     self.distracted_types = []
@@ -256,12 +248,7 @@ class DriverMonitoring:
     if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
       distracted_types.append(DistractedType.DISTRACTED_BLINK)
 
-    if self.phone.prob_calibrated:
-      using_phone = self.phone.prob > max(min(self.phone.prob_offseter.filtered_stat.M, self.settings._PHONE_MAX_OFFSET), self.settings._PHONE_MIN_OFFSET) \
-                                      * self.settings._PHONE_THRESH2
-    else:
-      using_phone = self.phone.prob > self.settings._PHONE_THRESH
-    if using_phone:
+    if self.phone_prob > self.settings._PHONE_THRESH:
       distracted_types.append(DistractedType.DISTRACTED_PHONE)
 
     return distracted_types
@@ -274,34 +261,8 @@ class DriverMonitoring:
       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
-    startup_override = None
-    if not self.wheelpos.prob_calibrated and not demo_mode and not op_engaged:
-      left_face_detected = driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD
-      right_face_detected = driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD
-      if rhd_pred <= self.settings._WHEELPOS_STARTUP_OVERRIDE_LHD and left_face_detected and not right_face_detected:
-        startup_override = False
-      elif rhd_pred >= self.settings._WHEELPOS_STARTUP_OVERRIDE_RHD and right_face_detected and not left_face_detected:
-        startup_override = True
-
     if self.wheelpos.prob_calibrated or demo_mode:
-      wheelpos_mean = self.wheelpos.prob_offseter.filtered_stat.M
-      enter_rhd = self.settings._WHEELPOS_THRESHOLD_ENTER_RHD
-      enter_lhd = self.settings._WHEELPOS_THRESHOLD_ENTER_LHD
-
-      # Hysteresis: avoid side flapping near 0.5 and preserve last stable side.
-      if self.wheel_on_right_last is None:
-        if wheelpos_mean >= enter_rhd:
-          self.wheel_on_right = True
-        elif wheelpos_mean <= enter_lhd:
-          self.wheel_on_right = False
-        else:
-          self.wheel_on_right = self.wheel_on_right_default
-      elif self.wheel_on_right_last:
-        self.wheel_on_right = wheelpos_mean > enter_lhd
-      else:
-        self.wheel_on_right = wheelpos_mean >= enter_rhd
-    elif startup_override is not None:
-      self.wheel_on_right = startup_override
+      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
     # make sure no switching when engaged
@@ -325,7 +286,7 @@ class DriverMonitoring:
                       * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
     self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
                       * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.phone.prob = driver_data.phoneProb
+    self.phone_prob = driver_data.phoneProb
 
     self.distracted_types = self._get_distracted_types()
     self.driver_distracted = (DistractedType.DISTRACTED_PHONE in self.distracted_types
@@ -339,11 +300,9 @@ class DriverMonitoring:
     if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted):
       self.pose.pitch_offseter.push_and_update(self.pose.pitch)
       self.pose.yaw_offseter.push_and_update(self.pose.yaw)
-      self.phone.prob_offseter.push_and_update(self.phone.prob)
 
     self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
                            self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
-    self.phone.prob_calibrated = self.phone.prob_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
 
     if self.face_detected and not self.driver_distracted:
       if model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD:
@@ -449,8 +408,8 @@ class DriverMonitoring:
       "posePitchValidCount": self.pose.pitch_offseter.filtered_stat.n,
       "poseYawOffset": self.pose.yaw_offseter.filtered_stat.mean(),
       "poseYawValidCount": self.pose.yaw_offseter.filtered_stat.n,
-      "phoneProbOffset": self.phone.prob_offseter.filtered_stat.mean(),
-      "phoneProbValidCount": self.phone.prob_offseter.filtered_stat.n,
+      "phoneProbOffset": 0.,
+      "phoneProbValidCount": 0,
       "stepChange": self.step_change,
       "awarenessActive": self.awareness_active,
       "awarenessPassive": self.awareness_passive,
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index 46fe72b1..6ea9b802 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -30,23 +30,6 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
   return ds
 
 
-def make_dual_msg(left_face_prob, right_face_prob, wheel_on_right_prob=0., model_uncertain=False):
-  ds = log.DriverStateV2.new_message()
-  ds.wheelOnRightProb = wheel_on_right_prob
-  for side, face_prob in ((ds.leftDriverData, left_face_prob), (ds.rightDriverData, right_face_prob)):
-    side.faceOrientation = [0., 0., 0.]
-    side.facePosition = [0., 0.]
-    side.faceProb = face_prob
-    side.leftEyeProb = 1.
-    side.rightEyeProb = 1.
-    side.leftBlinkProb = 0.
-    side.rightBlinkProb = 0.
-    side.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
-    side.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
-    side.phoneProb = 0.
-  return ds
-
-
 # driver state from neural net, 10Hz
 msg_NO_FACE_DETECTED = make_msg(False)
 msg_ATTENTIVE = make_msg(True)
@@ -88,16 +71,6 @@ class TestMonitoring:
     events, _ = self._run_seq(always_attentive, always_false, always_true, always_false)
     self._assert_no_events(events)
 
-  def test_saved_rhd_recovers_to_lhd_with_strong_left_face(self):
-    settings = DRIVER_MONITOR_SETTINGS(device_type='mici')
-    DM = DriverMonitoring(rhd_saved=True, settings=settings)
-    msg = make_dual_msg(left_face_prob=0.95, right_face_prob=0.2, wheel_on_right_prob=0.35)
-
-    DM._update_states(msg, [0, 0, 0], 0, False, False)
-
-    assert not DM.wheel_on_right
-    assert DM.face_detected
-
   # engaged, driver is distracted and does nothing
   def test_fully_distracted_driver(self):
     events, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
@@ -230,3 +203,4 @@ class TestMonitoring:
                               events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
     assert EventName.driverUnresponsive in \
                               events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
+
diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py
index b1c4cab5..05f99bec 100644
--- a/selfdrive/ui/mici/layouts/settings/developer.py
+++ b/selfdrive/ui/mici/layouts/settings/developer.py
@@ -91,7 +91,7 @@ class DeveloperLayoutMici(NavWidget):
       self._long_maneuver_toggle,
       self._alpha_long_toggle,
       self._debug_mode_toggle,
-    ], snap_items=False)
+    ], snap_items=False, scroll_indicator=True, edge_shadows=True)
 
     # Toggle lists
     self._refresh_toggles = (
diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py
index e37869ee..70a8e8ca 100644
--- a/selfdrive/ui/mici/layouts/settings/device.py
+++ b/selfdrive/ui/mici/layouts/settings/device.py
@@ -76,6 +76,8 @@ def _engaged_confirmation_callback(callback: Callable, action_text: str):
       icon = "icons_mici/settings/device/reboot.png"
     elif action_text == "reset":
       icon = "icons_mici/settings/device/lkas.png"
+    elif action_text == "reset driver monitoring":
+      icon = "icons_mici/settings/device/cameras.png"
     elif action_text == "uninstall":
       icon = "icons_mici/settings/device/uninstall.png"
     else:
@@ -83,7 +85,7 @@ def _engaged_confirmation_callback(callback: Callable, action_text: str):
       icon = "icons_mici/settings/comma_icon.png"
 
     dlg: BigConfirmationDialogV2 | BigDialog = BigConfirmationDialogV2(f"slide to\n{action_text.lower()}", icon, red=red,
-                                                                       exit_on_confirm=action_text == "reset",
+                                                                       exit_on_confirm=action_text in {"reset", "reset driver monitoring"},
                                                                        confirm_callback=confirm_callback)
     gui_app.set_modal_overlay(dlg)
   else:
@@ -459,9 +461,17 @@ class DeviceLayoutMici(NavWidget):
       params.remove("LiveDelay")
       params.put_bool("OnroadCycleRequested", True)
 
+    def reset_driver_monitoring_callback():
+      params = ui_state.params
+      params.remove("IsRhdDetected")
+      params.put_bool("OnroadCycleRequested", True)
+
     def uninstall_openpilot_callback():
       ui_state.params.put_bool("DoUninstall", True)
 
+    reset_driver_monitoring_btn = BigButton("reset driver monitoring calibration", "", "icons_mici/settings/device/cameras.png")
+    reset_driver_monitoring_btn.set_click_callback(lambda: _engaged_confirmation_callback(reset_driver_monitoring_callback, "reset driver monitoring"))
+
     reset_calibration_btn = BigButton("reset calibration", "", "icons_mici/settings/device/lkas.png")
     reset_calibration_btn.set_click_callback(lambda: _engaged_confirmation_callback(reset_calibration_callback, "reset"))
 
@@ -508,13 +518,14 @@ class DeviceLayoutMici(NavWidget):
       PairBigButton(),
       review_training_guide_btn,
       driver_cam_btn,
+      reset_driver_monitoring_btn,
       # lang_button,
       reset_calibration_btn,
       uninstall_openpilot_btn,
       regulatory_btn,
       reboot_btn,
       self._power_off_btn,
-    ], snap_items=False)
+    ], snap_items=False, scroll_indicator=True, edge_shadows=True)
 
     # Set up back navigation
     self.set_back_callback(back_callback)
diff --git a/selfdrive/ui/mici/layouts/settings/network/__init__.py b/selfdrive/ui/mici/layouts/settings/network/__init__.py
index 1faf4931..0326f71b 100644
--- a/selfdrive/ui/mici/layouts/settings/network/__init__.py
+++ b/selfdrive/ui/mici/layouts/settings/network/__init__.py
@@ -3,7 +3,7 @@ from enum import IntEnum
 from collections.abc import Callable
 
 from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
+from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici, WifiIcon, normalize_ssid
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle, BigParamControl
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -75,8 +75,14 @@ class NetworkLayoutMici(NavWidget):
     self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
     self._network_metered_btn.set_enabled(False)
 
-    wifi_button = BigButton("wi-fi")
+    self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 64, 56)
+    self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 64, 47)
+    self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 64, 47)
+    self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 64, 47)
+
+    wifi_button = BigButton("wi-fi", "not connected", self._wifi_slash_txt)
     wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))
+    self._wifi_button = wifi_button
 
     # ******** Advanced settings ********
     # ******** Roaming toggle ********
@@ -101,7 +107,7 @@ class NetworkLayoutMici(NavWidget):
       self._cellular_metered_btn,
       # */
       self._ip_address_btn,
-    ], snap_items=False)
+    ], snap_items=False, scroll_indicator=True, edge_shadows=True)
 
     # Set initial config
     roaming_enabled = ui_state.params.get_bool("GsmRoaming")
diff --git a/selfdrive/ui/mici/layouts/settings/settings.py b/selfdrive/ui/mici/layouts/settings/settings.py
index 41267f16..3471b348 100644
--- a/selfdrive/ui/mici/layouts/settings/settings.py
+++ b/selfdrive/ui/mici/layouts/settings/settings.py
@@ -90,7 +90,7 @@ class SettingsLayout(NavWidget):
       #BigDialogButton("manual", "", "icons_mici/settings/manual_icon.png", "Check out the mici user\nmanual at comma.ai/setup"),
       firehose_btn,
       developer_btn,
-    ], snap_items=False)
+    ], snap_items=False, scroll_indicator=True, edge_shadows=True)
 
     # Set up back navigation
     self.set_back_callback(self.close_settings)
diff --git a/selfdrive/ui/mici/layouts/settings/toggles.py b/selfdrive/ui/mici/layouts/settings/toggles.py
index c16504fa..b847fe74 100644
--- a/selfdrive/ui/mici/layouts/settings/toggles.py
+++ b/selfdrive/ui/mici/layouts/settings/toggles.py
@@ -35,7 +35,7 @@ class TogglesLayoutMici(NavWidget):
       record_front,
       record_mic,
       enable_openpilot,
-    ], snap_items=False)
+    ], snap_items=False, scroll_indicator=True, edge_shadows=True)
 
     # Toggle lists
     self._refresh_toggles = (
diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index 75291fb7..1575a2f8 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -214,6 +214,10 @@ class AugmentedRoadView(CameraView):
     # debug
     self._pm = messaging.PubMaster(['uiDebug'])
 
+  @staticmethod
+  def _controls_ready() -> bool:
+    return ui_state.sm.recv_frame["selfdriveState"] >= ui_state.started_frame
+
   def is_swiping_left(self) -> bool:
     """Check if currently swiping left (for scroller to disable)."""
     return self._bookmark_icon.is_swiping_left()
@@ -224,6 +228,8 @@ class AugmentedRoadView(CameraView):
     # update offroad label
     if ui_state.panda_type == log.PandaState.PandaType.unknown:
       self._offroad_label.set_text("system booting")
+    elif ui_state.started and not self._controls_ready():
+      self._offroad_label.set_text("waiting for\ncontrols to start")
     else:
       self._offroad_label.set_text("start the car to\nuse openpilot")
 
@@ -259,6 +265,21 @@ class AugmentedRoadView(CameraView):
     # Render the base camera view
     super()._render(self._content_rect)
 
+    waiting_for_controls = ui_state.started and not self._controls_ready()
+    if waiting_for_controls:
+      rl.draw_rectangle(int(self._content_rect.x), int(self._content_rect.y),
+                        int(self._content_rect.width), int(self._content_rect.height),
+                        rl.Color(0, 0, 0, 145))
+      self._offroad_label.render(self._content_rect)
+      rl.end_scissor_mode()
+      self._draw_border()
+      self._bookmark_icon.render(self.rect)
+
+      msg = messaging.new_message('uiDebug')
+      msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
+      self._pm.send('uiDebug', msg)
+      return
+
     in_reverse = self._is_in_reverse()
 
     # Draw all UI overlays
diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py
index be08e0fe..b500f143 100644
--- a/selfdrive/ui/mici/widgets/button.py
+++ b/selfdrive/ui/mici/widgets/button.py
@@ -110,6 +110,7 @@ class BigButton(Widget):
     self.text = text
     self.value = value
     self.set_icon(icon)
+    self._label_font_size_override: int | None = None
 
     self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps)
 
@@ -136,6 +137,18 @@ class BigButton(Widget):
   def set_icon(self, icon: Union[str, rl.Texture]):
     self._txt_icon = gui_app.texture(icon, 64, 64) if isinstance(icon, str) and len(icon) else icon
 
+  def _refresh_label_metrics(self):
+    font_size = self._label_font_size_override if self._label_font_size_override is not None else self._get_label_font_size()
+    self._label.set_font_size(font_size)
+    self._needs_scroll = measure_text_cached(self._label_font, self.text, font_size).x + 25 > self._rect.width
+    self._scroll_offset = 0
+    self._scroll_timer = 0
+    self._scroll_state = ScrollState.PRE_SCROLL
+
+  def _set_label_font_size_override(self, font_size: int | None):
+    self._label_font_size_override = font_size
+    self._refresh_label_metrics()
+
   def set_rotate_icon(self, rotate: bool):
     if rotate and self._rotate_icon_t is not None:
       return
@@ -165,10 +178,12 @@ class BigButton(Widget):
   def set_text(self, text: str):
     self.text = text
     self._label.set_text(text)
+    self._refresh_label_metrics()
 
   def set_value(self, value: str):
     self.value = value
     self._sub_label.set_text(value)
+    self._refresh_label_metrics()
 
   def get_value(self) -> str:
     return self.value
@@ -256,7 +271,7 @@ class BigToggle(BigButton):
     self._checked = initial_state
     self._toggle_callback = toggle_callback
 
-    self._label.set_font_size(48)
+    self._set_label_font_size_override(48)
 
   def _load_images(self):
     super()._load_images()
@@ -296,8 +311,8 @@ class BigMultiToggle(BigToggle):
     self._select_callback = select_callback
 
     self._label.set_width(int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2 - self._txt_enabled_toggle.width))
-    # TODO: why isn't this automatic?
-    self._label.set_font_size(self._get_label_font_size())
+    # Keep the title size stable when the selected option changes.
+    self._set_label_font_size_override(self._get_label_font_size())
 
     self.set_value(self._options[0])
 
diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py
index 34760925..5f201766 100644
--- a/selfdrive/ui/mici/widgets/dialog.py
+++ b/selfdrive/ui/mici/widgets/dialog.py
@@ -113,6 +113,14 @@ class BigConfirmationDialogV2(BigDialogBase):
       self._slider = BigSlider(title, icon_txt, confirm_callback=self._on_confirm)
     self._slider.set_enabled(lambda: not self._swiping_away)
 
+  def show_event(self):
+    super().show_event()
+    self._slider.show_event()
+
+  def hide_event(self):
+    super().hide_event()
+    self._slider.hide_event()
+
   def _on_confirm(self):
     if self._confirm_callback:
       self._confirm_callback()
@@ -122,7 +130,7 @@ class BigConfirmationDialogV2(BigDialogBase):
   def _update_state(self):
     super()._update_state()
     if self._swiping_away and not self._slider.confirmed:
-      self._slider.reset()
+      self._slider.reset(reset_shimmer=False)
 
   def _render(self, _) -> DialogResult:
     self._slider.render(self._rect)
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index e54c6f6f..65568e71 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -363,6 +363,26 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); });
   addItem(dcamBtn);
 
+  resetDmCalibBtn = new ButtonControl(
+    tr("Reset Driver Monitoring"),
+    tr("RESET"),
+    tr("Clears the saved driver monitoring wheel-side calibration if the device thinks you're seated on the wrong side. "
+       "Resetting will restart openpilot if the car is powered on.")
+  );
+  connect(resetDmCalibBtn, &ButtonControl::clicked, [&]() {
+    if (!uiState()->engaged()) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to reset driver monitoring calibration?"), tr("Reset"), this)) {
+        if (!uiState()->engaged()) {
+          params.remove("IsRhdDetected");
+          params.putBool("OnroadCycleRequested", true);
+        }
+      }
+    } else {
+      ConfirmationDialog::alert(tr("Disengage to Reset Driver Monitoring"), this);
+    }
+  });
+  addItem(resetDmCalibBtn);
+
   resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
   connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, this, &DevicePanel::updateCalibDescription);
   connect(resetCalibBtn, &ButtonControl::clicked, [&]() {
@@ -420,7 +440,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<ButtonControl *>()) {
-      if (btn != pair_device && btn != resetCalibBtn) {
+      if (btn != pair_device && btn != resetCalibBtn && btn != resetDmCalibBtn) {
         btn->setEnabled(offroad);
       }
     }
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
index 438ee0eb..252b5062 100644
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -94,6 +94,7 @@ private:
   ButtonControl *pair_galaxy;
   QPushButton *galaxy_qr_btn;
   ButtonControl *resetCalibBtn;
+  ButtonControl *resetDmCalibBtn;
 };
 
 class TogglesPanel : public ListWidget {
diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui
index 2035f80e..e1077059 100755
Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ
diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py
index b09db0ab..5296cfaa 100644
--- a/system/ui/lib/wifi_manager.py
+++ b/system/ui/lib/wifi_manager.py
@@ -324,6 +324,14 @@ class WifiManager:
   def ipv4_address(self) -> str:
     return self._ipv4_address
 
+  @property
+  def networks(self) -> list[Network]:
+    return list(self._networks)
+
+  @property
+  def connecting_to_ssid(self) -> str:
+    return self._connecting_to_ssid
+
   @property
   def current_network_metered(self) -> MeteredType:
     return self._current_network_metered
diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py
index 3624fd77..079267b6 100644
--- a/system/ui/mici_setup.py
+++ b/system/ui/mici_setup.py
@@ -133,11 +133,17 @@ class SoftwareSelectionPage(Widget):
     super().__init__()
 
     self._openpilot_slider = LargerSlider("slide to use\nstarpilot", use_openpilot_callback)
-    self._custom_software_slider = LargerSlider("slide to use\ncustom software", use_custom_software_callback, green=False)
+    self._custom_software_slider = LargerSlider("slide to use\ncustom software", use_custom_software_callback,
+                                                green=False, shimmer_offset=0.4)
+
+  def show_event(self):
+    super().show_event()
+    self._openpilot_slider.show_event()
+    self._custom_software_slider.show_event()
 
   def reset(self):
-    self._openpilot_slider.reset()
-    self._custom_software_slider.reset()
+    self._openpilot_slider.reset(reset_shimmer=False)
+    self._custom_software_slider.reset(reset_shimmer=False)
 
   def _render(self, rect: rl.Rectangle):
     self._openpilot_slider.set_opacity(1.0 - self._custom_software_slider.slider_percentage)
diff --git a/system/ui/widgets/label.py b/system/ui/widgets/label.py
index 97b29308..7bfbd6dc 100644
--- a/system/ui/widgets/label.py
+++ b/system/ui/widgets/label.py
@@ -1,3 +1,4 @@
+import math
 from enum import IntEnum
 from collections.abc import Callable
 from itertools import zip_longest
@@ -401,6 +402,12 @@ class UnifiedLabel(Widget):
   - Proper multiline vertical alignment
   - Height calculation for layout purposes
   """
+  SHIMMER_BAND_WIDTH = 0.3
+  SHIMMER_BLUR_RADIUS = 0.12
+  SHIMMER_CYCLE_PERIOD = 2.5
+  SHIMMER_SWEEP_FRACTION = 0.9
+  SHIMMER_LOW_OPACITY = 0.65
+
   def __init__(self,
                text: str | Callable[[], str],
                font_size: int = DEFAULT_TEXT_SIZE,
@@ -414,7 +421,8 @@ class UnifiedLabel(Widget):
                wrap_text: bool = True,
                scroll: bool = False,
                line_height: float = 1.0,
-               letter_spacing: float = 0.0):
+               letter_spacing: float = 0.0,
+               shimmer: bool = False):
     super().__init__()
     self._text = text
     self._font_size = font_size
@@ -431,6 +439,8 @@ class UnifiedLabel(Widget):
     self._line_height = line_height * 0.9
     self._letter_spacing = letter_spacing  # 0.1 = 10%
     self._spacing_pixels = font_size * letter_spacing
+    self._shimmer = shimmer
+    self._shimmer_start_time = 0.0
 
     # Scroll state
     self._scroll = scroll
@@ -489,6 +499,13 @@ class UnifiedLabel(Widget):
       self._spacing_pixels = self._font_size * letter_spacing
       self._cached_text = None  # Invalidate cache
 
+  def set_line_height(self, line_height: float):
+    """Update line height (multiplier, e.g., 1.0 = default)."""
+    new_line_height = line_height * 0.9
+    if self._line_height != new_line_height:
+      self._line_height = new_line_height
+      self._cached_text = None
+
   def set_font_weight(self, font_weight: FontWeight):
     """Update the font weight."""
     if self._font_weight != font_weight:
@@ -510,6 +527,9 @@ class UnifiedLabel(Widget):
     self._scroll_pause_t = None
     self._scroll_state = ScrollState.STARTING
 
+  def reset_shimmer(self, offset: float = 0.0):
+    self._shimmer_start_time = rl.get_time() + offset
+
   def set_max_width(self, max_width: int | None):
     """Set the maximum width constraint for wrapping/eliding."""
     if self._max_width != max_width:
@@ -627,6 +647,25 @@ class UnifiedLabel(Widget):
       return self._cached_total_height
     return 0.0
 
+  def _compute_shimmer_alpha(self, char_center_x: float, text_left: float, text_width: float) -> float:
+    if text_width <= 0:
+      return self.SHIMMER_LOW_OPACITY
+
+    elapsed = rl.get_time() - self._shimmer_start_time
+    sigma = text_width * self.SHIMMER_BLUR_RADIUS
+
+    t_raw = (elapsed % self.SHIMMER_CYCLE_PERIOD) / self.SHIMMER_CYCLE_PERIOD
+    t_clamped = max(0.0, min(t_raw / self.SHIMMER_SWEEP_FRACTION, 1.0))
+    t = t_clamped * t_clamped * (3.0 - 2.0 * t_clamped)
+
+    margin = text_width * self.SHIMMER_BAND_WIDTH
+    text_right = text_left + text_width
+    center = text_right + margin - t * (text_width + 2.0 * margin)
+
+    d = char_center_x - center
+    shimmer = math.exp(-0.5 * d * d / (sigma * sigma)) if sigma > 0 else 0.0
+    return self.SHIMMER_LOW_OPACITY + (1.0 - self.SHIMMER_LOW_OPACITY) * shimmer
+
   def _render(self, _):
     """Render the label."""
     if self._rect.width <= 0 or self._rect.height <= 0:
@@ -770,6 +809,20 @@ class UnifiedLabel(Widget):
       line_x = self._rect.x + self._text_padding
     line_x += self._scroll_offset + x_offset
 
+    if self._shimmer and not emojis and line:
+      base_alpha = self._text_color.a / 255.0
+      text_width = max(size.x, 1.0)
+      cursor_x = line_x
+      for char in line:
+        char_width = measure_text_cached(self._font, char, self._font_size, self._spacing_pixels).x
+        char_center_x = cursor_x + char_width / 2.0
+        shimmer_alpha = self._compute_shimmer_alpha(char_center_x, line_x, text_width)
+        char_alpha = int(255 * base_alpha * shimmer_alpha)
+        char_color = rl.Color(self._text_color.r, self._text_color.g, self._text_color.b, char_alpha)
+        rl.draw_text_ex(self._font, char, rl.Vector2(cursor_x, current_y), self._font_size, self._spacing_pixels, char_color)
+        cursor_x += char_width
+      return
+
     # Render line with emojis
     line_pos = rl.Vector2(line_x, current_y)
     prev_index = 0
diff --git a/system/ui/widgets/scroller.py b/system/ui/widgets/scroller.py
index f33ba941..e941486a 100644
--- a/system/ui/widgets/scroller.py
+++ b/system/ui/widgets/scroller.py
@@ -11,6 +11,7 @@ ITEM_SPACING = 20
 LINE_COLOR = rl.GRAY
 LINE_PADDING = 40
 ANIMATION_SCALE = 0.6
+EDGE_SHADOW_WIDTH = 20
 
 MIN_ZOOM_ANIMATION_TIME = 0.075  # seconds
 DO_ZOOM = False
@@ -33,9 +34,50 @@ class LineSeparator(Widget):
                  LINE_COLOR)
 
 
+class ScrollIndicator(Widget):
+  def __init__(self):
+    super().__init__()
+    self._txt_scroll_indicator = gui_app.texture("icons_mici/settings/horizontal_scroll_indicator.png", 96, 48)
+    self._scroll_offset: float = 0.0
+    self._content_size: float = 0.0
+    self._viewport: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
+
+  def update(self, scroll_offset: float, content_size: float, viewport: rl.Rectangle) -> None:
+    self._scroll_offset = scroll_offset
+    self._content_size = content_size
+    self._viewport = viewport
+
+  def _render(self, _):
+    if self._viewport.width <= 0 or self._viewport.height <= 0:
+      return
+
+    indicator_w = min(float(np.interp(self._content_size, [1000, 3000], [300, 100])), self._viewport.width)
+    max_scroll = self._content_size - self._viewport.width
+    if max_scroll > 0:
+      scroll_ratio = -self._scroll_offset / max_scroll
+      slide_range = max(self._viewport.width - indicator_w, 0.0)
+      x = self._viewport.x + scroll_ratio * slide_range
+    else:
+      x = self._viewport.x + (self._viewport.width - indicator_w) / 2
+    y = max(self._viewport.y, 0) + self._viewport.height - self._txt_scroll_indicator.height / 2
+
+    dest_left = max(x, self._viewport.x)
+    dest_right = min(x + indicator_w, self._viewport.x + self._viewport.width)
+    dest_w = max(indicator_w / 2, dest_right - dest_left)
+
+    dest_left = min(dest_left, self._viewport.x + self._viewport.width - dest_w)
+    dest_left = max(dest_left, self._viewport.x)
+
+    src_rec = rl.Rectangle(0, 0, self._txt_scroll_indicator.width, self._txt_scroll_indicator.height)
+    dest_rec = rl.Rectangle(dest_left, y, dest_w, self._txt_scroll_indicator.height)
+    rl.draw_texture_pro(self._txt_scroll_indicator, src_rec, dest_rec, rl.Vector2(0, 0), 0.0,
+                        rl.Color(255, 255, 255, int(255 * 0.45)))
+
+
 class Scroller(Widget):
   def __init__(self, items: list[Widget], horizontal: bool = True, snap_items: bool = True, spacing: int = ITEM_SPACING,
-               line_separator: bool = False, pad_start: int = ITEM_SPACING, pad_end: int = ITEM_SPACING):
+               line_separator: bool = False, pad_start: int = ITEM_SPACING, pad_end: int = ITEM_SPACING,
+               scroll_indicator: bool = False, edge_shadows: bool = False):
     super().__init__()
     self._items: list[Widget] = []
     self._horizontal = horizontal
@@ -65,11 +107,18 @@ class Scroller(Widget):
     self.scroll_panel = GuiScrollPanel2(self._horizontal, handle_out_of_bounds=not self._snap_items)
     self._scroll_enabled: bool | Callable[[], bool] = True
 
-    self._txt_scroll_indicator = gui_app.texture("icons_mici/settings/vertical_scroll_indicator.png", 40, 80)
+    self._txt_vertical_scroll_indicator = gui_app.texture("icons_mici/settings/vertical_scroll_indicator.png", 40, 80)
+    self._show_scroll_indicator = scroll_indicator and self._horizontal
+    self._scroll_indicator = ScrollIndicator()
+    self._edge_shadows = edge_shadows and self._horizontal
 
     for item in items:
       self.add_widget(item)
 
+  @property
+  def items(self) -> list[Widget]:
+    return self._items
+
   def set_reset_scroll_at_show(self, scroll: bool):
     self._reset_scroll_at_show = scroll
 
@@ -93,6 +142,14 @@ class Scroller(Widget):
     self._items.append(item)
     item.set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid() and self.enabled)
 
+  def move_item(self, from_index: int, to_index: int) -> None:
+    if from_index == to_index:
+      return
+    if not (0 <= from_index < len(self._items) and 0 <= to_index < len(self._items)):
+      return
+    item = self._items.pop(from_index)
+    self._items.insert(to_index, item)
+
   def set_scrolling_enabled(self, enabled: bool | Callable[[], bool]) -> None:
     """Set whether scrolling is enabled (does not affect widget enabled state)."""
     self._scroll_enabled = enabled
@@ -243,13 +300,27 @@ class Scroller(Widget):
 
     # Draw scroll indicator
     if SCROLL_BAR and not self._horizontal and len(self._visible_items) > 0:
-      _real_content_size = self._content_size - self._rect.height + self._txt_scroll_indicator.height
+      _real_content_size = self._content_size - self._rect.height + self._txt_vertical_scroll_indicator.height
       scroll_bar_y = -self._scroll_offset / _real_content_size * self._rect.height
-      scroll_bar_y = min(max(scroll_bar_y, self._rect.y), self._rect.y + self._rect.height - self._txt_scroll_indicator.height)
-      rl.draw_texture_ex(self._txt_scroll_indicator, rl.Vector2(self._rect.x, scroll_bar_y), 0, 1.0, rl.WHITE)
+      scroll_bar_y = min(max(scroll_bar_y, self._rect.y), self._rect.y + self._rect.height - self._txt_vertical_scroll_indicator.height)
+      rl.draw_texture_ex(self._txt_vertical_scroll_indicator, rl.Vector2(self._rect.x, scroll_bar_y), 0, 1.0, rl.WHITE)
 
     rl.end_scissor_mode()
 
+    if self._edge_shadows:
+      rl.draw_rectangle_gradient_h(int(self._rect.x), int(self._rect.y),
+                                   EDGE_SHADOW_WIDTH, int(self._rect.height),
+                                   rl.Color(0, 0, 0, 166), rl.BLANK)
+
+      right_x = int(self._rect.x + self._rect.width - EDGE_SHADOW_WIDTH)
+      rl.draw_rectangle_gradient_h(right_x, int(self._rect.y),
+                                   EDGE_SHADOW_WIDTH, int(self._rect.height),
+                                   rl.BLANK, rl.Color(0, 0, 0, 166))
+
+    if self._show_scroll_indicator and len(self._visible_items) > 0:
+      self._scroll_indicator.update(self._scroll_offset, self._content_size, self._rect)
+      self._scroll_indicator.render()
+
   def show_event(self):
     super().show_event()
     if self._reset_scroll_at_show:
diff --git a/system/ui/widgets/slider.py b/system/ui/widgets/slider.py
index 455cdeef..e606c5c3 100644
--- a/system/ui/widgets/slider.py
+++ b/system/ui/widgets/slider.py
@@ -5,17 +5,19 @@ import pyray as rl
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
 
 
 class SmallSlider(Widget):
   HORIZONTAL_PADDING = 8
   CONFIRM_DELAY = 0.2
+  PRESSED_SCALE = 1.07
 
-  def __init__(self, title: str, confirm_callback: Callable | None = None):
+  def __init__(self, title: str, confirm_callback: Callable | None = None, shimmer_offset: float = 0.0):
     # TODO: unify this with BigConfirmationDialogV2
     super().__init__()
     self._confirm_callback = confirm_callback
+    self._shimmer_offset = shimmer_offset
 
     self._font = gui_app.font(FontWeight.DISPLAY)
 
@@ -30,29 +32,40 @@ class SmallSlider(Widget):
     self._start_x_circle = 0.0
     self._scroll_x_circle = 0.0
     self._scroll_x_circle_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
+    self._circle_scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self._circle_press_time: float | None = None
 
     self._is_dragging_circle = False
 
-    self._label = UnifiedLabel(title, font_size=36, font_weight=FontWeight.MEDIUM, text_color=rl.Color(255, 255, 255, int(255 * 0.65)),
+    self._label = UnifiedLabel(title, font_size=36, font_weight=FontWeight.SEMI_BOLD, text_color=rl.WHITE,
                                alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
-                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, line_height=0.9)
+                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, line_height=0.9, shimmer=True)
 
   def _load_assets(self):
     self.set_rect(rl.Rectangle(0, 0, 316 + self.HORIZONTAL_PADDING * 2, 100))
 
     self._bg_txt = gui_app.texture("icons_mici/setup/small_slider/slider_bg.png", 316, 100)
     self._circle_bg_txt = gui_app.texture("icons_mici/setup/small_slider/slider_red_circle.png", 100, 100)
+    self._circle_bg_pressed_txt = self._circle_bg_txt
     self._circle_arrow_txt = gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 37, 32)
 
   @property
   def confirmed(self) -> bool:
     return self._confirmed_time > 0.0
 
-  def reset(self):
+  def show_event(self):
+    super().show_event()
+    self.reset()
+
+  def reset(self, reset_shimmer: bool = True):
     # reset all slider state
     self._is_dragging_circle = False
     self._confirmed_time = 0.0
     self._confirm_callback_called = False
+    self._circle_press_time = None
+    self._circle_scale_filter.x = 1.0
+    if reset_shimmer:
+      self._label.reset_shimmer(self._shimmer_offset)
 
   def set_opacity(self, opacity: float, smooth: bool = False):
     if smooth:
@@ -83,6 +96,7 @@ class SmallSlider(Widget):
       if rl.check_collision_point_rec(mouse_event.pos, circle_button_rect):
         self._start_x_circle = mouse_event.pos.x
         self._is_dragging_circle = True
+        self._circle_press_time = rl.get_time()
 
     elif mouse_event.left_released:
       # swiped to left
@@ -129,8 +143,9 @@ class SmallSlider(Widget):
     btn_x = bg_txt_x + self._bg_txt.width - self._circle_bg_txt.width + self._scroll_x_circle_filter.x
     btn_y = self._rect.y + (self._rect.height - self._circle_bg_txt.height) / 2
 
-    if self._confirmed_time == 0.0 or self._scroll_x_circle > 0:
-      self._label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.65 * (1.0 - self.slider_percentage) * self._opacity_filter.x)))
+    label_alpha = int(255 * (1.0 - self.slider_percentage) * self._opacity_filter.x)
+    if label_alpha > 0:
+      self._label.set_text_color(rl.Color(255, 255, 255, label_alpha))
       label_rect = rl.Rectangle(
         self._rect.x + 20,
         self._rect.y,
@@ -139,18 +154,24 @@ class SmallSlider(Widget):
       )
       self._label.render(label_rect)
 
-    # circle and arrow
-    rl.draw_texture_ex(self._circle_bg_txt, rl.Vector2(btn_x, btn_y), 0.0, 1.0, white)
+    circle_pressed = self._is_dragging_circle or self.confirmed or (
+      self._circle_press_time is not None and rl.get_time() - self._circle_press_time < 0.075
+    )
+    circle_bg_txt = self._circle_bg_pressed_txt if circle_pressed else self._circle_bg_txt
+    scale = self._circle_scale_filter.update(self.PRESSED_SCALE if circle_pressed else 1.0)
+    scaled_btn_x = btn_x + (self._circle_bg_txt.width * (1 - scale)) / 2
+    scaled_btn_y = btn_y + (self._circle_bg_txt.height * (1 - scale)) / 2
+    rl.draw_texture_ex(circle_bg_txt, rl.Vector2(scaled_btn_x, scaled_btn_y), 0.0, scale, white)
 
-    arrow_x = btn_x + (self._circle_bg_txt.width - self._circle_arrow_txt.width) / 2
-    arrow_y = btn_y + (self._circle_bg_txt.height - self._circle_arrow_txt.height) / 2
+    arrow_x = scaled_btn_x + (self._circle_bg_txt.width * scale - self._circle_arrow_txt.width) / 2
+    arrow_y = scaled_btn_y + (self._circle_bg_txt.height * scale - self._circle_arrow_txt.height) / 2
     rl.draw_texture_ex(self._circle_arrow_txt, rl.Vector2(arrow_x, arrow_y), 0.0, 1.0, white)
 
 
 class LargerSlider(SmallSlider):
-  def __init__(self, title: str, confirm_callback: Callable | None = None, green: bool = True):
+  def __init__(self, title: str, confirm_callback: Callable | None = None, green: bool = True, shimmer_offset: float = 0.0):
     self._green = green
-    super().__init__(title, confirm_callback=confirm_callback)
+    super().__init__(title, confirm_callback=confirm_callback, shimmer_offset=shimmer_offset)
 
   def _load_assets(self):
     self.set_rect(rl.Rectangle(0, 0, 520 + self.HORIZONTAL_PADDING * 2, 115))
@@ -158,6 +179,7 @@ class LargerSlider(SmallSlider):
     self._bg_txt = gui_app.texture("icons_mici/setup/small_slider/slider_bg_larger.png", 520, 115)
     circle_fn = "slider_green_rounded_rectangle" if self._green else "slider_black_rounded_rectangle"
     self._circle_bg_txt = gui_app.texture(f"icons_mici/setup/small_slider/{circle_fn}.png", 180, 115)
+    self._circle_bg_pressed_txt = self._circle_bg_txt
     self._circle_arrow_txt = gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 55)
 
 
@@ -165,15 +187,16 @@ class BigSlider(SmallSlider):
   def __init__(self, title: str, icon: rl.Texture, confirm_callback: Callable | None = None):
     self._icon = icon
     super().__init__(title, confirm_callback=confirm_callback)
-    self._label = UnifiedLabel(title, font_size=48, font_weight=FontWeight.DISPLAY, text_color=rl.Color(255, 255, 255, int(255 * 0.65)),
+    self._label = UnifiedLabel(title, font_size=48, font_weight=FontWeight.DISPLAY, text_color=rl.WHITE,
                                alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
-                               line_height=0.875)
+                               line_height=0.875, shimmer=True)
 
   def _load_assets(self):
     self.set_rect(rl.Rectangle(0, 0, 520 + self.HORIZONTAL_PADDING * 2, 180))
 
     self._bg_txt = gui_app.texture("icons_mici/buttons/slider_bg.png", 520, 180)
     self._circle_bg_txt = gui_app.texture("icons_mici/buttons/button_circle.png", 180, 180)
+    self._circle_bg_pressed_txt = gui_app.texture("icons_mici/buttons/button_circle_hover.png", 180, 180)
     self._circle_arrow_txt = self._icon
 
 
@@ -183,4 +206,5 @@ class RedBigSlider(BigSlider):
 
     self._bg_txt = gui_app.texture("icons_mici/buttons/slider_bg.png", 520, 180)
     self._circle_bg_txt = gui_app.texture("icons_mici/buttons/button_circle_red.png", 180, 180)
+    self._circle_bg_pressed_txt = gui_app.texture("icons_mici/buttons/button_circle_red_hover.png", 180, 180)
     self._circle_arrow_txt = self._icon
diff --git a/uncompiledmodels/driving_policy.onnx b/uncompiledmodels/driving_policy.onnx
new file mode 100644
index 00000000..706c95db
Binary files /dev/null and b/uncompiledmodels/driving_policy.onnx differ
diff --git a/uncompiledmodels/driving_vision.onnx b/uncompiledmodels/driving_vision.onnx
new file mode 100644
index 00000000..902f1dd3
Binary files /dev/null and b/uncompiledmodels/driving_vision.onnx differ