diff --git a/opendbc/car/docs_definitions.py b/opendbc/car/docs_definitions.py
index c77573930..2f49b834f 100644
--- a/opendbc/car/docs_definitions.py
+++ b/opendbc/car/docs_definitions.py
@@ -78,6 +78,7 @@ class Cable(EnumBase):
   long_obdc_cable = BasePart("long OBD-C cable (9.5 ft)")
   usb_a_2_a_cable = BasePart("USB A-A cable")
   usbc_otg_cable = BasePart("USB C OTG cable")
+  usbc_coupler = BasePart("USB-C coupler")
   obd_c_cable_2ft = BasePart("OBD-C cable (2 ft)")
 
 
@@ -111,7 +112,7 @@ class CarHarness(EnumBase):
   fca = BaseCarHarness("FCA connector")
   ram = BaseCarHarness("Ram connector")
   vw_a = BaseCarHarness("VW A connector")
-  vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
+  vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
   hyundai_a = BaseCarHarness("Hyundai A connector")
   hyundai_b = BaseCarHarness("Hyundai B connector")
   hyundai_c = BaseCarHarness("Hyundai C connector")
@@ -131,18 +132,18 @@ class CarHarness(EnumBase):
   hyundai_q = BaseCarHarness("Hyundai Q connector")
   hyundai_r = BaseCarHarness("Hyundai R connector")
   custom = BaseCarHarness("Developer connector")
-  obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable], has_connector=False)
+  obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.usbc_coupler], has_connector=False)
   gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
-  gmsdgm = BaseCarHarness("GM SDGM connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
-  nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
-  nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
+  gmsdgm = BaseCarHarness("GM SDGM connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
+  nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
+  nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
   mazda = BaseCarHarness("Mazda connector")
   ford_q3 = BaseCarHarness("Ford Q3 connector")
-  ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
-  rivian = BaseCarHarness("Rivian A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
-  tesla_a = BaseCarHarness("Tesla A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
-  tesla_b = BaseCarHarness("Tesla B connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
-  psa_a = BaseCarHarness("PSA A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
+  ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
+  rivian = BaseCarHarness("Rivian A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
+  tesla_a = BaseCarHarness("Tesla A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
+  tesla_b = BaseCarHarness("Tesla B connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
+  psa_a = BaseCarHarness("PSA A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
 
 
 class Device(EnumBase):
@@ -393,7 +394,7 @@ class CarDocs:
 
 @dataclass
 class ExtraCarDocs(CarDocs):
-  package: str = "All"
+  package: str = "Any"
   merged: bool = False
   support_type: SupportType = SupportType.INCOMPATIBLE
   support_link: str | None = "#incompatible"
diff --git a/opendbc/car/extra_cars.py b/opendbc/car/extra_cars.py
index fed2f5a49..5ffa42bf4 100644
--- a/opendbc/car/extra_cars.py
+++ b/opendbc/car/extra_cars.py
@@ -37,19 +37,19 @@ class CAR(Platforms):
 
   EXTRA_HONDA = ExtraPlatformConfig(
     [
-      CommunityCarDocs("Acura Integra 2023-25"),
+      CommunityCarDocs("Acura Integra 2023-25", "All"),
       CommunityCarDocs("Acura MDX 2015-16", "Advance Package"),
-      CommunityCarDocs("Acura MDX 2017-20"),
-      CommunityCarDocs("Acura MDX 2022-24"),
-      CommunityCarDocs("Acura RDX 2022-25"),
+      CommunityCarDocs("Acura MDX 2017-20", "All"),
+      CommunityCarDocs("Acura MDX 2022-24", "All"),
+      CommunityCarDocs("Acura RDX 2022-25", "All"),
       CommunityCarDocs("Acura RLX 2017", "Advance Package or Technology Package"),
       CommunityCarDocs("Acura TLX 2015-17", "Advance Package"),
-      CommunityCarDocs("Acura TLX 2018-20"),
-      CommunityCarDocs("Acura TLX 2022-23"),
-      GMSecurityCarDocs("Acura ZDX 2024"),
+      CommunityCarDocs("Acura TLX 2018-20", "All"),
+      CommunityCarDocs("Acura TLX 2022-23", "All"),
+      GMSecurityCarDocs("Acura ZDX 2024", "All"),
       CommunityCarDocs("Honda Accord 2016-17", "Honda Sensing"),
-      CommunityCarDocs("Honda Clarity 2018-21"),
-      GMSecurityCarDocs("Honda Prologue 2024-25"),
+      CommunityCarDocs("Honda Clarity 2018-21", "All"),
+      GMSecurityCarDocs("Honda Prologue 2024-25", "All"),
     ],
   )
 
@@ -78,8 +78,8 @@ class CAR(Platforms):
 
   EXTRA_VOLKSWAGEN = ExtraPlatformConfig(
     [
-      FlexRayCarDocs("Audi A4 2016-24"),
-      FlexRayCarDocs("Audi A5 2016-24"),
-      FlexRayCarDocs("Audi Q5 2017-24"),
+      FlexRayCarDocs("Audi A4 2016-24", package="All"),
+      FlexRayCarDocs("Audi A5 2016-24", package="All"),
+      FlexRayCarDocs("Audi Q5 2017-24", package="All"),
     ],
   )
diff --git a/opendbc/car/subaru/fingerprints.py b/opendbc/car/subaru/fingerprints.py
index 9addabaa1..64158446b 100644
--- a/opendbc/car/subaru/fingerprints.py
+++ b/opendbc/car/subaru/fingerprints.py
@@ -97,7 +97,6 @@ FW_VERSIONS = {
       b'\xa2 \x193\x00',
       b'\xa2 \x194\x00',
       b'\xa2 \x19`\x00',
-      b'\xa2  5\x00',
     ],
     (Ecu.eps, 0x746, None): [
       b'z\xc0\x00\x00',
@@ -107,7 +106,6 @@ FW_VERSIONS = {
       b'z\xc0\x0c\x00',
       b'\x8a\xc0\x00\x00',
       b'\x8a\xc0\x10\x00',
-      b'\x9a\xc0\x08\x00',
     ],
     (Ecu.fwdCamera, 0x787, None): [
       b'\x00\x00c\xf4\x00\x00\x00\x00',
@@ -124,7 +122,6 @@ FW_VERSIONS = {
       b'\x00\x00e\x1c\x1f@ \x14',
       b'\x00\x00e+\x00\x00\x00\x00',
       b'\x00\x00e+\x1f@ \x14',
-      b'\x00\x00eq\x1f@ "',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xaa\x00Bu\x07',
@@ -148,7 +145,6 @@ FW_VERSIONS = {
       b'\xc5!as\x07',
       b'\xc5!dr\x07',
       b'\xc5!ds\x07',
-      b'\xca\x01b0\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xe3\xd0\x081\x00',
@@ -167,7 +163,6 @@ FW_VERSIONS = {
       b'\xe5\xf5\x04\x00\x00',
       b'\xe5\xf5$\x00\x00',
       b'\xe5\xf5B\x00\x00',
-      b'\xe6\xd5\x041\x00',
     ],
   },
   CAR.SUBARU_IMPREZA_2020: {
diff --git a/opendbc/car/tesla/carcontroller.py b/opendbc/car/tesla/carcontroller.py
index 8b7d9989c..986897f84 100644
--- a/opendbc/car/tesla/carcontroller.py
+++ b/opendbc/car/tesla/carcontroller.py
@@ -20,7 +20,7 @@ class CarController(CarControllerBase):
     super().__init__(dbc_names, CP)
     self.apply_angle_last = 0
     self.packer = CANPacker(dbc_names[Bus.party])
-    self.tesla_can = TeslaCAN(CP, self.packer)
+    self.tesla_can = TeslaCAN(self.packer)
 
     # Vehicle model used for lateral limiting
     self.VM = VehicleModel(get_safety_CP())
diff --git a/opendbc/car/tesla/carstate.py b/opendbc/car/tesla/carstate.py
index 2e56a8b03..fa16116b3 100644
--- a/opendbc/car/tesla/carstate.py
+++ b/opendbc/car/tesla/carstate.py
@@ -3,7 +3,6 @@ from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
-from opendbc.car.tesla.teslacan import get_steer_ctrl_type
 from opendbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_THRESHOLD, CAR
 
 ButtonType = structs.CarState.ButtonEvent.Type
@@ -106,11 +105,7 @@ class CarState(CarStateBase):
     ret.stockAeb = cp_ap_party.vl["DAS_control"]["DAS_aebEvent"] == 1
 
     # LKAS
-    # On FSD 14+, ANGLE_CONTROL behavior changed to allow user winddown while actuating.
-    # FSD switched from using ANGLE_CONTROL to LANE_KEEP_ASSIST to likely keep the old steering override disengage logic.
-    # LKAS switched from LANE_KEEP_ASSIST to ANGLE_CONTROL to likely allow overriding LKAS events smoothly
-    lkas_ctrl_type = get_steer_ctrl_type(self.CP.flags, 2)
-    ret.stockLkas = cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"] == lkas_ctrl_type  # LANE_KEEP_ASSIST
+    ret.stockLkas = cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"] == 2  # LANE_KEEP_ASSIST
 
     # Stock Autosteer should be off (includes FSD)
     if self.CP.carFingerprint in (CAR.TESLA_MODEL_3, CAR.TESLA_MODEL_Y):
diff --git a/opendbc/car/tesla/fingerprints.py b/opendbc/car/tesla/fingerprints.py
index 2ebaef0b8..54705385a 100644
--- a/opendbc/car/tesla/fingerprints.py
+++ b/opendbc/car/tesla/fingerprints.py
@@ -36,8 +36,6 @@ FW_VERSIONS = {
       b'TeMYG4_Legacy3Y_0.0.0 (5),Y4P003.03.2',
       b'TeMYG4_SingleECU_0.0.0 (28),Y4S002.23.0',
       b'TeMYG4_SingleECU_0.0.0 (33),Y4S002.26',
-      b'TeMYG4_Legacy3Y_0.0.0 (6),Y4003.04.0',
-      b'TeMYG4_Main_0.0.0 (77),Y4003.05.4',
     ],
   },
   CAR.TESLA_MODEL_X: {
diff --git a/opendbc/car/tesla/interface.py b/opendbc/car/tesla/interface.py
index c53ad6219..baf159323 100644
--- a/opendbc/car/tesla/interface.py
+++ b/opendbc/car/tesla/interface.py
@@ -2,7 +2,7 @@ from opendbc.car import get_safety_config, structs
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.tesla.carcontroller import CarController
 from opendbc.car.tesla.carstate import CarState
-from opendbc.car.tesla.values import TeslaSafetyFlags, TeslaFlags, CAR, FSD_14_FW, Ecu
+from opendbc.car.tesla.values import TeslaSafetyFlags, CAR
 
 
 class CarInterface(CarInterfaceBase):
@@ -31,11 +31,6 @@ class CarInterface(CarInterfaceBase):
       ret.vEgoStarting = 0.1
       ret.stoppingDecelRate = 0.3
 
-    fsd_14 = any(fw.ecu == Ecu.eps and fw.fwVersion in FSD_14_FW.get(candidate, []) for fw in car_fw)
-    if fsd_14:
-      ret.flags |= TeslaFlags.FSD_14.value
-      ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.FSD_14.value
-
-    ret.dashcamOnly = candidate in (CAR.TESLA_MODEL_X,)  # dashcam only, pending find invalidLkasSetting signal
+    ret.dashcamOnly = candidate in (CAR.TESLA_MODEL_X) # dashcam only, pending find invalidLkasSetting signal
 
     return ret
diff --git a/opendbc/car/tesla/teslacan.py b/opendbc/car/tesla/teslacan.py
index 7449b961f..4bfc67a4e 100644
--- a/opendbc/car/tesla/teslacan.py
+++ b/opendbc/car/tesla/teslacan.py
@@ -1,29 +1,16 @@
 from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.tesla.values import CANBUS, CarControllerParams, TeslaFlags
-
-
-def get_steer_ctrl_type(flags: int, ctrl_type: int) -> int:
-  # Returns the flipped signal value for DAS_steeringControlType on FSD 14
-  if flags & TeslaFlags.FSD_14:
-    return {1: 2, 2: 1}.get(ctrl_type, ctrl_type)
-  else:
-    return ctrl_type
+from opendbc.car.tesla.values import CANBUS, CarControllerParams
 
 
 class TeslaCAN:
-  def __init__(self, CP, packer):
-    self.CP = CP
+  def __init__(self, packer):
     self.packer = packer
 
   def create_steering_control(self, angle, enabled):
-    # On FSD 14+, ANGLE_CONTROL behavior changed to allow user winddown while actuating.
-    # with openpilot, after overriding w/ ANGLE_CONTROL the wheel snaps back to the original angle abruptly
-    # so we now use LANE_KEEP_ASSIST to match stock FSD.
-    # see carstate.py for more details
     values = {
       "DAS_steeringAngleRequest": -angle,
       "DAS_steeringHapticRequest": 0,
-      "DAS_steeringControlType": get_steer_ctrl_type(self.CP.flags, 1 if enabled else 0),
+      "DAS_steeringControlType": 1 if enabled else 0,
     }
 
     return self.packer.make_can_msg("DAS_steeringControl", CANBUS.party, values)
diff --git a/opendbc/car/tesla/values.py b/opendbc/car/tesla/values.py
index 92a08d2a8..6fedfaac0 100644
--- a/opendbc/car/tesla/values.py
+++ b/opendbc/car/tesla/values.py
@@ -72,14 +72,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ]
 )
 
-# Cars with this EPS FW have FSD 14 and use TeslaFlags.FSD_14
-FSD_14_FW = {
-  CAR.TESLA_MODEL_Y: [
-    b'TeMYG4_Legacy3Y_0.0.0 (6),Y4003.04.0',
-    b'TeMYG4_Main_0.0.0 (77),Y4003.05.4',
-  ]
-}
-
 
 class CANBUS:
   party = 0
@@ -127,12 +119,10 @@ class CarControllerParams:
 
 class TeslaSafetyFlags(IntFlag):
   LONG_CONTROL = 1
-  FSD_14 = 2
 
 
 class TeslaFlags(IntFlag):
   LONG_CONTROL = 1
-  FSD_14 = 2
 
 
 DBC = CAR.create_dbc_map()
diff --git a/opendbc/car/toyota/carcontroller.py b/opendbc/car/toyota/carcontroller.py
index 380c64b3a..627a2e1bf 100644
--- a/opendbc/car/toyota/carcontroller.py
+++ b/opendbc/car/toyota/carcontroller.py
@@ -182,14 +182,13 @@ class CarController(CarControllerBase):
       # if user engages at a stop with foot on brake, PCM starts in a special cruise standstill mode. on resume press,
       # brakes can take a while to ramp up causing a lurch forward. prevent resume press until planner wants to move.
       # don't use CC.cruiseControl.resume since it is gated on CS.cruiseState.standstill which goes false for 3s after resume press
-      # whitelist hybrids as they do not have this issue and can stay stopped after resume press
-      if not self.CP.flags & ToyotaFlags.HYBRID.value:
-        should_resume = actuators.accel > 0
-        if should_resume:
-          self.standstill_req = False
+      # TODO: hybrids do not have this issue and can stay stopped after resume press, whitelist them
+      should_resume = actuators.accel > 0
+      if should_resume:
+        self.standstill_req = False
 
-        if not should_resume and CS.out.cruiseState.standstill:
-          self.standstill_req = True
+      if not should_resume and CS.out.cruiseState.standstill:
+        self.standstill_req = True
 
     self.last_standstill = CS.out.standstill
 
diff --git a/opendbc/safety/modes/tesla.h b/opendbc/safety/modes/tesla.h
index 33f5e14ee..b8f41f045 100644
--- a/opendbc/safety/modes/tesla.h
+++ b/opendbc/safety/modes/tesla.h
@@ -3,7 +3,6 @@
 #include "opendbc/safety/declarations.h"
 
 static bool tesla_longitudinal = false;
-static bool tesla_fsd_14 = false;
 static bool tesla_stock_aeb = false;
 
 // Only rising edges while controls are not allowed are considered for these systems:
@@ -92,20 +91,6 @@ static bool tesla_get_quality_flag_valid(const CANPacket_t *msg) {
   return valid;
 }
 
-static int tesla_get_steer_ctrl_type(const int ctrl_type) {
-  // Returns ANGLE_CONTROL-equivalent control type for FSD 14
-  int steer_ctrl_type = ctrl_type;
-  if (tesla_fsd_14) {
-    if (ctrl_type == 1) {
-      steer_ctrl_type = 2;
-    } else if (ctrl_type == 2) {
-      steer_ctrl_type = 1;
-    } else {
-    }
-  }
-  return steer_ctrl_type;
-}
-
 static void tesla_rx_hook(const CANPacket_t *msg) {
 
   if (msg->bus == 0U) {
@@ -191,7 +176,7 @@ static void tesla_rx_hook(const CANPacket_t *msg) {
     // DAS_steeringControl
     if (msg->addr == 0x488U) {
       int steering_control_type = msg->data[2] >> 6;
-      bool tesla_stock_lkas_now = steering_control_type == tesla_get_steer_ctrl_type(2);  // "LANE_KEEP_ASSIST"
+      bool tesla_stock_lkas_now = steering_control_type == 2;  // "LANE_KEEP_ASSIST"
 
       // Only consider rising edges while controls are not allowed
       if (tesla_stock_lkas_now && !tesla_stock_lkas_prev && !controls_allowed) {
@@ -240,15 +225,14 @@ static bool tesla_tx_hook(const CANPacket_t *msg) {
     int raw_angle_can = ((msg->data[0] & 0x7FU) << 8) | msg->data[1];
     int desired_angle = raw_angle_can - 16384;
     int steer_control_type = msg->data[2] >> 6;
-    const int angle_ctrl_type = tesla_get_steer_ctrl_type(1);
-    bool steer_control_enabled = steer_control_type == angle_ctrl_type;  // ANGLE_CONTROL
+    bool steer_control_enabled = steer_control_type == 1;  // ANGLE_CONTROL
 
     if (steer_angle_cmd_checks_vm(desired_angle, steer_control_enabled, TESLA_STEERING_LIMITS, TESLA_STEERING_PARAMS)) {
       violation = true;
     }
 
     bool valid_steer_control_type = (steer_control_type == 0) ||  // NONE
-                                    (steer_control_type == angle_ctrl_type);    // ANGLE_CONTROL
+                                    (steer_control_type == 1);    // ANGLE_CONTROL
     if (!valid_steer_control_type) {
       violation = true;
     }
@@ -344,9 +328,7 @@ static safety_config tesla_init(uint16_t param) {
     {0x27D, 0, 3, .check_relay = true, .disable_static_blocking = true},  // APS_eacMonitor
   };
 
-  const uint16_t TESLA_FLAG_FSD_14 = 2;
-  tesla_fsd_14 = GET_FLAG(param, TESLA_FLAG_FSD_14);
-
+  SAFETY_UNUSED(param);
 #ifdef ALLOW_DEBUG
   const uint16_t TESLA_FLAG_LONGITUDINAL_CONTROL = 1;
   tesla_longitudinal = GET_FLAG(param, TESLA_FLAG_LONGITUDINAL_CONTROL);
diff --git a/opendbc/safety/tests/test_tesla.py b/opendbc/safety/tests/test_tesla.py
index a6b9265ba..52390f81a 100755
--- a/opendbc/safety/tests/test_tesla.py
+++ b/opendbc/safety/tests/test_tesla.py
@@ -4,8 +4,7 @@ import unittest
 import numpy as np
 
 from opendbc.car.lateral import get_max_angle_delta_vm, get_max_angle_vm
-from opendbc.car.tesla.teslacan import get_steer_ctrl_type
-from opendbc.car.tesla.values import CarControllerParams, TeslaSafetyFlags, TeslaFlags
+from opendbc.car.tesla.values import CarControllerParams, TeslaSafetyFlags
 from opendbc.car.tesla.carcontroller import get_safety_CP
 from opendbc.car.structs import CarParams
 from opendbc.car.vehicle_model import VehicleModel
@@ -27,8 +26,6 @@ def round_angle(apply_angle, can_offset=0):
 
 
 class TestTeslaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest, common.LongitudinalAccelSafetyTest):
-  SAFETY_PARAM = 0
-
   RELAY_MALFUNCTION_ADDRS = {0: (MSG_DAS_steeringControl, MSG_APS_eacMonitor)}
   FWD_BLACKLISTED_ADDRS = {2: [MSG_DAS_steeringControl, MSG_APS_eacMonitor]}
   TX_MSGS = [[MSG_DAS_steeringControl, 0], [MSG_APS_eacMonitor, 0], [MSG_DAS_Control, 0]]
@@ -72,15 +69,7 @@ class TestTeslaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest,
 
     self.steer_control_types = {d: v for v, d in self.define.dv["DAS_steeringControl"]["DAS_steeringControlType"].items()}
 
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.tesla, self.SAFETY_PARAM)
-    self.safety.init_tests()
-
   def _angle_cmd_msg(self, angle: float, state: bool | int, increment_timer: bool = True, bus: int = 0):
-    # If FSD 14, translate steer control type to new flipped definition
-    if self.safety.get_current_safety_param() & TeslaSafetyFlags.FSD_14:
-      state = get_steer_ctrl_type(TeslaFlags.FSD_14, int(state))
-
     values = {"DAS_steeringAngleRequest": angle, "DAS_steeringControlType": state}
     if increment_timer:
       self.safety.set_timer(self.cnt_angle_cmd * int(1e6 / self.LATERAL_FREQUENCY))
@@ -369,6 +358,12 @@ class TestTeslaStockSafety(TestTeslaSafetyBase):
 
   LONGITUDINAL = False
 
+  def setUp(self):
+    super().setUp()
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.tesla, 0)
+    self.safety.init_tests()
+
   def test_cancel(self):
     for acc_state in range(16):
       self.safety.set_controls_allowed(True)
@@ -400,16 +395,16 @@ class TestTeslaStockSafety(TestTeslaSafetyBase):
     self.assertFalse(self._tx(no_aeb_msg))
 
 
-class TestTeslaFSD14StockSafety(TestTeslaStockSafety):
-  SAFETY_PARAM = TeslaSafetyFlags.FSD_14
-
-
 class TestTeslaLongitudinalSafety(TestTeslaSafetyBase):
-  SAFETY_PARAM = TeslaSafetyFlags.LONG_CONTROL
-
   RELAY_MALFUNCTION_ADDRS = {0: (MSG_DAS_steeringControl, MSG_APS_eacMonitor, MSG_DAS_Control)}
   FWD_BLACKLISTED_ADDRS = {2: [MSG_DAS_steeringControl, MSG_APS_eacMonitor, MSG_DAS_Control]}
 
+  def setUp(self):
+    super().setUp()
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.tesla, TeslaSafetyFlags.LONG_CONTROL)
+    self.safety.init_tests()
+
   def test_no_aeb(self):
     for aeb_event in range(4):
       self.assertEqual(self._tx(self._long_control_msg(10, aeb_event=aeb_event)), aeb_event == 0)
@@ -452,9 +447,5 @@ class TestTeslaLongitudinalSafety(TestTeslaSafetyBase):
     self.assertFalse(self._tx(self._long_control_msg(set_speed=0, accel_limits=(-0.1, -0.1))))
 
 
-class TestTeslaFSD14LongitudinalSafety(TestTeslaLongitudinalSafety):
-  SAFETY_PARAM = TeslaSafetyFlags.LONG_CONTROL | TeslaSafetyFlags.FSD_14
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/setup.sh b/setup.sh
index 4aee2d16d..0234610f8 100755
--- a/setup.sh
+++ b/setup.sh
@@ -39,7 +39,7 @@ if ! command -v uv &>/dev/null; then
 fi
 
 export UV_PROJECT_ENVIRONMENT="$BASEDIR/.venv"
-uv sync --all-extras --inexact
+uv sync --all-extras
 source "$PYTHONPATH/.venv/bin/activate"
 
 $BASEDIR/opendbc/safety/tests/misra/install.sh