diff --git a/common/libcommon.a b/common/libcommon.a
index c19133a7..26cf3ca2 100644
Binary files a/common/libcommon.a and b/common/libcommon.a differ
diff --git a/common/watchdog.cc b/common/watchdog.cc
index 44e8c83e..09a8d88e 100644
--- a/common/watchdog.cc
+++ b/common/watchdog.cc
@@ -8,5 +8,5 @@ const std::string watchdog_fn_prefix = Path::shm_path() + "/wd_";  // + <pid>
 
 bool watchdog_kick(uint64_t ts) {
   static std::string fn = watchdog_fn_prefix + std::to_string(getpid());
-  return util::write_file(fn.c_str(), &ts, sizeof(ts), O_WRONLY | O_CREAT) > 0;
+  return util::write_file(fn.c_str(), &ts, sizeof(ts), O_WRONLY | O_CREAT) == 0;
 }
diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed
index 00b64394..56ef0889 100644
Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ
diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf
index 4b825b85..b0b86da1 100755
Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ
diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin
index b1143d3b..28de00ec 100755
Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ
diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf
index 0a8a6309..8585b244 100755
Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ
diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin
index 27fca965..926cbbe4 100755
Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ
diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin
index 727efc64..5189d04a 100755
Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ
diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin
index a3d0184a..32a7acc2 100755
Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ
diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin
index a3d0184a..32a7acc2 100755
Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ
diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin
index c50d1d11..ec86303c 100755
Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ
diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin
index 727efc64..5189d04a 100755
Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ
diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h
index 0c2869e8..d9951076 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-4b5ec507-DEBUG";
+const uint8_t gitversion[19] = "DEV-96ce4808-DEBUG";
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
index ac55238f..ac4665d0 100644
Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ
diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf
index aa2304a5..8be03172 100755
Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ
diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin
index 1daeb011..c9ae65de 100755
Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ
diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf
index 1d35cc68..7219dcdc 100755
Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ
diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed
index d72491e9..7186741d 100644
Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ
diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf
index 7f9384b5..77baaebd 100755
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diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin
index 6524e66d..423b361a 100755
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diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf
index 3d8ef7fb..a6b83781 100755
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diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed
index 28654fea..c8e78265 100644
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diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf
index ff5b504c..193ac75d 100755
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diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin
index 0b0e339a..c3195075 100755
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diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf
index 6ee53777..82e427fa 100755
Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ
diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed
index 9a8b5c54..0bcd309e 100644
Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ
diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf
index 7bcb99e9..151ff4de 100755
Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ
diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin
index 49c3c263..c5c69bfc 100755
Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ
diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf
index 061720d0..6251efe8 100755
Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ
diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed
index 4e9d3318..83a687ba 100644
Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ
diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf
index d2de86dd..cd1c97fe 100755
Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ
diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin
index 70373a26..7cc612bf 100755
Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ
diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf
index c38d47a1..81a879af 100755
Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ
diff --git a/panda/board/obj/version b/panda/board/obj/version
index d1ae0651..ab4b4465 100644
--- a/panda/board/obj/version
+++ b/panda/board/obj/version
@@ -1 +1 @@
-DEV-4b5ec507-DEBUG
\ No newline at end of file
+DEV-96ce4808-DEBUG
\ No newline at end of file
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index ccc63d54..9a6767d3 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -13,17 +13,6 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   QObject::connect(homeWindow, &HomeWindow::openSettings, this, &MainWindow::openSettings);
   QObject::connect(homeWindow, &HomeWindow::closeSettings, this, &MainWindow::closeSettings);
 
-  settingsWindow = new SettingsWindow(this);
-  main_layout->addWidget(settingsWindow);
-  QObject::connect(settingsWindow, &SettingsWindow::closeSettings, this, &MainWindow::closeSettings);
-  QObject::connect(settingsWindow, &SettingsWindow::reviewTrainingGuide, [=]() {
-    onboardingWindow->showTrainingGuide();
-    main_layout->setCurrentWidget(onboardingWindow);
-  });
-  QObject::connect(settingsWindow, &SettingsWindow::showDriverView, [=] {
-    homeWindow->showDriverView(true);
-  });
-
   onboardingWindow = new OnboardingWindow(this);
   main_layout->addWidget(onboardingWindow);
   QObject::connect(onboardingWindow, &OnboardingWindow::onboardingDone, [=]() {
@@ -39,7 +28,7 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
     }
   });
   QObject::connect(device(), &Device::interactiveTimeout, [=]() {
-    if (main_layout->currentWidget() == settingsWindow) {
+    if (settingsWindow != nullptr && main_layout->currentWidget() == settingsWindow) {
       closeSettings();
     }
   });
@@ -65,7 +54,25 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   setAttribute(Qt::WA_NoSystemBackground);
 }
 
+void MainWindow::ensureSettingsWindow() {
+  if (settingsWindow != nullptr) {
+    return;
+  }
+
+  settingsWindow = new SettingsWindow(this);
+  main_layout->insertWidget(1, settingsWindow);
+  QObject::connect(settingsWindow, &SettingsWindow::closeSettings, this, &MainWindow::closeSettings);
+  QObject::connect(settingsWindow, &SettingsWindow::reviewTrainingGuide, [=]() {
+    onboardingWindow->showTrainingGuide();
+    main_layout->setCurrentWidget(onboardingWindow);
+  });
+  QObject::connect(settingsWindow, &SettingsWindow::showDriverView, [=] {
+    homeWindow->showDriverView(true);
+  });
+}
+
 void MainWindow::openSettings(int index, const QString &param) {
+  ensureSettingsWindow();
   main_layout->setCurrentWidget(settingsWindow);
   settingsWindow->setCurrentPanel(index, param);
 }
diff --git a/selfdrive/ui/qt/window.h b/selfdrive/ui/qt/window.h
index 88f4b241..762f2ca5 100644
--- a/selfdrive/ui/qt/window.h
+++ b/selfdrive/ui/qt/window.h
@@ -15,12 +15,13 @@ public:
 
 private:
   bool eventFilter(QObject *obj, QEvent *event) override;
+  void ensureSettingsWindow();
   void openSettings(int index = 0, const QString &param = "");
   void closeSettings();
 
   QStackedLayout *main_layout;
   HomeWindow *homeWindow;
-  SettingsWindow *settingsWindow;
+  SettingsWindow *settingsWindow = nullptr;
   OnboardingWindow *onboardingWindow;
 
   Params params;
diff --git a/selfdrive/ui/stall_monitor.py b/selfdrive/ui/stall_monitor.py
index 0e9ced8c..d53f2d2a 100644
--- a/selfdrive/ui/stall_monitor.py
+++ b/selfdrive/ui/stall_monitor.py
@@ -3,6 +3,7 @@ import sys
 import time
 import traceback
 import threading
+from collections import deque
 from pathlib import Path
 
 from openpilot.common.swaglog import cloudlog
@@ -32,6 +33,8 @@ class UIStallMonitor:
     self._stalled_phase = self._phase
 
     self._lock = threading.Lock()
+    self._history = deque(maxlen=max(1, int(os.getenv("UI_STALL_HISTORY_LEN", "64"))))
+    self._history.append((now, self._phase))
     self._stop_event = threading.Event()
     self._thread = threading.Thread(target=self._run, name=f"{name}_stall_probe", daemon=True)
 
@@ -54,6 +57,7 @@ class UIStallMonitor:
       if phase != self._phase:
         self._phase = phase
         self._phase_entered = now
+        self._history.append((now, phase))
       self._last_progress = now
 
       if self._stall_reported:
@@ -101,6 +105,15 @@ class UIStallMonitor:
       "",
     ]
 
+    with self._lock:
+      history = list(self._history)
+
+    lines.append("Recent phase transitions:")
+    for ts, phase_name in history:
+      age_s = now - ts
+      lines.append(f"  - {ts:.6f} ({age_s:.3f}s ago) {phase_name}")
+    lines.append("")
+
     ordered_idents = sorted(frames.keys(), key=lambda ident: ident != self._main_thread_id)
     for ident in ordered_idents:
       thread = threads.get(ident)
diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui
index bd6617d9..349ef058 100755
Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ
diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index 90ec25a8..bb3c6c91 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -569,13 +569,19 @@ class GuiApplication:
           continue
 
         if self._render_texture:
-          self._mark_progress("gui_app.begin_texture_mode")
+          self._mark_progress("gui_app.before_begin_texture_mode")
           rl.begin_texture_mode(self._render_texture)
+          self._mark_progress("gui_app.after_begin_texture_mode")
+          self._mark_progress("gui_app.before_clear_background")
           rl.clear_background(rl.BLACK)
+          self._mark_progress("gui_app.after_clear_background")
         else:
-          self._mark_progress("gui_app.begin_drawing")
+          self._mark_progress("gui_app.before_begin_drawing")
           rl.begin_drawing()
+          self._mark_progress("gui_app.after_begin_drawing")
+          self._mark_progress("gui_app.before_clear_background")
           rl.clear_background(rl.BLACK)
+          self._mark_progress("gui_app.after_clear_background")
 
         # Handle modal overlay rendering and input processing
         if self._render_nav_stack():
@@ -594,19 +600,24 @@ class GuiApplication:
         if self._render_texture:
           self._mark_progress("gui_app.end_texture_mode")
           rl.end_texture_mode()
-          self._mark_progress("gui_app.begin_present")
+          self._mark_progress("gui_app.before_present_begin_drawing")
           rl.begin_drawing()
+          self._mark_progress("gui_app.after_present_begin_drawing")
+          self._mark_progress("gui_app.before_present_clear_background")
           rl.clear_background(rl.BLACK)
+          self._mark_progress("gui_app.after_present_clear_background")
           src_rect = rl.Rectangle(0, 0, float(self._width), -float(self._height))
           dst_rect = rl.Rectangle(0, 0, float(self._scaled_width), float(self._scaled_height))
           texture = self._render_texture.texture
           if texture:
+            self._mark_progress("gui_app.before_present_draw_texture")
             if BURN_IN_MODE and self._burn_in_shader:
               rl.begin_shader_mode(self._burn_in_shader)
               rl.draw_texture_pro(texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE)
               rl.end_shader_mode()
             else:
               rl.draw_texture_pro(texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE)
+            self._mark_progress("gui_app.after_present_draw_texture")
 
         if self._show_fps:
           rl.draw_fps(10, 10)