diff --git a/openpilot/common/pid.py b/openpilot/common/pid.py
index b5bb0e00b..f2765fdd7 100644
--- a/openpilot/common/pid.py
+++ b/openpilot/common/pid.py
@@ -60,16 +60,11 @@ class PIDController:
 
 
 class MultiplicativeUnwindPID:
-  def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100, min_cmd=1e-10, ki_red_time=1.0):
-    if isinstance(k_p, Number):
-      k_p = [[0], [k_p]]
-    if isinstance(k_i, Number):
-      k_i = [[0], [k_i]]
-    if isinstance(k_d, Number):
-      k_d = [[0], [k_d]]
-    self._k_p = k_p
-    self._k_i = k_i
-    self._k_d = k_d
+  def __init__(self, k_p: Gain, k_i: Gain, k_f=0., k_d: Gain = 0., pos_limit=1e308, neg_limit=-1e308,
+               rate=100, min_cmd=1e-10, ki_red_time=1.0):
+    self._k_p = ([0], [k_p]) if isinstance(k_p, (int, float)) else k_p
+    self._k_i = ([0], [k_i]) if isinstance(k_i, (int, float)) else k_i
+    self._k_d = ([0], [k_d]) if isinstance(k_d, (int, float)) else k_d
     self.k_f = float(k_f)
     self.pos_limit = pos_limit
     self.neg_limit = neg_limit
diff --git a/openpilot/common/pt2.py b/openpilot/common/pt2.py
index 14270619f..070586835 100644
--- a/openpilot/common/pt2.py
+++ b/openpilot/common/pt2.py
@@ -34,7 +34,7 @@ class PT2Filter:
 
     => Zeitbereich: y[k] = -a1*y[k-1] - a2*y[k-2] + b0*u[k] + b1*u[k-1] + b2*u[k-2].
     """
-        
+
     Ts = dt
     wd = w0
     alpha = 2.0 / Ts
@@ -66,14 +66,14 @@ class PT2Filter:
     return (a1d, a2d, b0d, b1d, b2d)
 
   def sync(self, target: float):
-    steps = compute_saturation_steps(self.w0, self.zeta, self.dt)
-    for i in range(1, steps + 1):
-      update(target)
+    steps = self.compute_saturation_steps(self.w0, self.zeta, self.dt)
+    for _ in range(steps):
+      self.update(target)
 
   def compute_saturation_steps(self, w0: float, zeta: float, dt: float) -> int:
     """
     Berechnet eine Abschätzung der Schritte, bis der Filter (95% des Endwerts) erreicht ist.
-    
+
     Wir nutzen hier die Abschätzung:
         T_s = 4 / (zeta * w0)
     und setzen N = T_s / dt.
@@ -103,10 +103,10 @@ class PT2Filter:
         + self.b1 * self.u1
         + self.b2 * self.u2
     )
-        
+
     self.y2 = self.y1
     self.y1 = y
     self.u2 = self.u1
     self.u1 = u
-        
+
     return y
diff --git a/openpilot/selfdrive/controls/controlsd.py b/openpilot/selfdrive/controls/controlsd.py
index 62755531e..ac2e0dea9 100644
--- a/openpilot/selfdrive/controls/controlsd.py
+++ b/openpilot/selfdrive/controls/controlsd.py
@@ -19,13 +19,11 @@ from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
 from openpilot.selfdrive.controls.lib.latcontrol_curvature import LatControlCurvature
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
-from openpilot.selfdrive.controls.lib.latcontrol_curvature import LatControlCurvature
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.modeld.modeld import LAT_SMOOTH_SECONDS
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import get_T_FOLLOW
 from openpilot.common.pt2 import PT2Filter
-from openpilot.common.realtime import DT_CTRL
 
 from openpilot.sunnypilot.selfdrive.controls.controlsd_ext import ControlsExt
 
@@ -119,7 +117,7 @@ class Controls(ControlsExt):
       self.force_rhd_for_bsm = self.params.get_bool("ForceRHDForBSM")
       self.enable_long_comfort_mode = self.params.get_bool("EnableLongComfortMode")
       self.disable_car_steer_alerts = self.params.get_bool("DisableCarSteerAlerts")
-  
+
   def state_control(self):
     CS = self.sm['carState']
 
diff --git a/openpilot/selfdrive/controls/lib/latcontrol_curvature.py b/openpilot/selfdrive/controls/lib/latcontrol_curvature.py
index 05c40a130..5ea185c87 100644
--- a/openpilot/selfdrive/controls/lib/latcontrol_curvature.py
+++ b/openpilot/selfdrive/controls/lib/latcontrol_curvature.py
@@ -1,5 +1,4 @@
 import math
-import numpy as np
 
 from openpilot.cereal import log
 from openpilot.common.pid import MultiplicativeUnwindPID
@@ -25,7 +24,7 @@ class LatControlCurvature(LatControl):
     else:
       self.pid = None
       self.kf = 1.
-      
+
   def set_pid_enabled(self, enabled: bool) -> None:
     self.enable_pid = enabled
 
diff --git a/openpilot/selfdrive/controls/lib/latcontrol_curvature_pid_backup.py b/openpilot/selfdrive/controls/lib/latcontrol_curvature_pid_backup.py
index 50eb23bf5..9dfeb4239 100644
--- a/openpilot/selfdrive/controls/lib/latcontrol_curvature_pid_backup.py
+++ b/openpilot/selfdrive/controls/lib/latcontrol_curvature_pid_backup.py
@@ -19,7 +19,7 @@
 #  def reset(self):
 #    super().reset()
 #    self.pid.reset()
-#  
+#
 #  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
 #    pid_log = log.ControlsState.LateralCurvatureState.new_message()
 #    if not active:
@@ -35,10 +35,10 @@
 #      actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
 #
 #      desired_curvature_corr = desired_curvature - roll_compensation
-#      
+#
 #      pid_log.error = float(desired_curvature - actual_curvature)
 #      freeze_integrator = steer_limited_by_safety or CS.vEgo < 5 or CS.steeringPressed
-#      
+#
 #      pid_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature_corr, speed=CS.vEgo,
 #                                      freeze_integrator=freeze_integrator, override=CS.steeringPressed)
 #
diff --git a/openpilot/selfdrive/controls/lib/longitudinal_planner.py b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
index 19caae7a8..d2454103c 100644
--- a/openpilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -32,7 +32,7 @@ def get_max_accel(v_ego):
 
 def get_coast_accel(pitch):
   return np.sin(pitch) * -5.65 - 0.3  # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
-  
+
 
 def get_lead_distance(radarState):
   if radarState.leadOne.present and (not radarState.leadTwo.present or radarState.leadOne.dRel < radarState.leadTwo.dRel):
@@ -40,7 +40,7 @@ def get_lead_distance(radarState):
   if radarState.leadTwo.present:
     return radarState.leadTwo.dRel
   return 0
-  
+
 
 def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   """
diff --git a/openpilot/selfdrive/controls/tests/test_curvatured.py b/openpilot/selfdrive/controls/tests/test_curvatured.py
index d0f86509b..cbea511b6 100644
--- a/openpilot/selfdrive/controls/tests/test_curvatured.py
+++ b/openpilot/selfdrive/controls/tests/test_curvatured.py
@@ -232,7 +232,7 @@ class TestCurvatureDController:
     def counting(*args, **kwargs):
       call_count["n"] += 1
       return original(*args, **kwargs)
-    CurvatureDLookup.interp_curve_value = counting
+    CurvatureDLookup.interp_curve_value = counting  # ty: ignore[invalid-assignment]
     try:
       # First call: cache miss, calls interp_curve_value once
       first = controller.get_correction(32e-6, v_ego)
diff --git a/openpilot/selfdrive/locationd/curvatured.py b/openpilot/selfdrive/locationd/curvatured.py
index 4d0f2b724..f96fb9c8e 100644
--- a/openpilot/selfdrive/locationd/curvatured.py
+++ b/openpilot/selfdrive/locationd/curvatured.py
@@ -550,7 +550,7 @@ class CurvatureEstimator(CurvatureDLookup):
     self._restore_cached_params()
     self.update_use_params(force=True)
 
-    cloudlog.info(f"curvatured init brand={self.CP.brand} fingerprint={self.CP.carFingerprint} "
+    cloudlog.info(f"curvatured init brand={self.CP.brand} fingerprint={self.CP.carFingerprint} " +
                   f"steerControlType={self.CP.steerControlType} history={HISTORY:.2f}s")
 
   @staticmethod
@@ -596,8 +596,8 @@ class CurvatureEstimator(CurvatureDLookup):
       self.use_params = self.enable_curvatured and self.CP.brand in ALLOWED_CARS and \
                         self.CP.steerControlType == car.CarParams.SteerControlType.curvature
       if self.prev_use_params != self.use_params:
-        cloudlog.info(f"curvatured use_params={self.use_params} toggle={self.enable_curvatured} "
-                      f"brand={self.CP.brand} allowed={self.CP.brand in ALLOWED_CARS} "
+        cloudlog.info(f"curvatured use_params={self.use_params} toggle={self.enable_curvatured} " +
+                      f"brand={self.CP.brand} allowed={self.CP.brand in ALLOWED_CARS} " +
                       f"steerControlType={self.CP.steerControlType}")
         self.prev_use_params = self.use_params
       if not self.use_params:
@@ -960,10 +960,10 @@ class CurvatureEstimator(CurvatureDLookup):
     self.last_status_log_t = t
 
     checks = sm.all_checks(tracked_services) if valid is None else valid
-    cloudlog.info(f"curvatured status use_params={self.use_params} checks={checks} "
-                  f"lag={self.lag:.3f} total_points={int(round(float(self.counts.sum())))} "
-                  f"bucket={self.current_bucket} bucket_points={self.current_bucket_points} "
-                  f"corr={self.current_correction:.8f} cal={self.calibration_percent(self.counts)} "
+    cloudlog.info(f"curvatured status use_params={self.use_params} checks={checks} " +
+                  f"lag={self.lag:.3f} total_points={int(round(float(self.counts.sum())))} " +
+                  f"bucket={self.current_bucket} bucket_points={self.current_bucket_points} " +
+                  f"corr={self.current_correction:.8f} cal={self.calibration_percent(self.counts)} " +
                    f"invalid={invalid} not_alive={not_alive}")
 
 
diff --git a/openpilot/selfdrive/locationd/paramsd.py b/openpilot/selfdrive/locationd/paramsd.py
index e6c1ff7b4..c1088a818 100755
--- a/openpilot/selfdrive/locationd/paramsd.py
+++ b/openpilot/selfdrive/locationd/paramsd.py
@@ -276,4 +276,4 @@ def main():
 
 
 if __name__ == "__main__":
-  main()
\ No newline at end of file
+  main()
diff --git a/openpilot/selfdrive/locationd/test/test_curvatured.py b/openpilot/selfdrive/locationd/test/test_curvatured.py
index 62145f20d..bc40ea0bb 100644
--- a/openpilot/selfdrive/locationd/test/test_curvatured.py
+++ b/openpilot/selfdrive/locationd/test/test_curvatured.py
@@ -1,5 +1,6 @@
 import numpy as np
 
+from openpilot.cereal import custom
 from opendbc.car.structs import car
 
 from opendbc.car.volkswagen.values import CAR
@@ -233,7 +234,7 @@ class TestCurvatureEstimator:
     speed_idx = len(CurvatureDLookup.SPEED_ANCHORS) - 1
     v_ego = float(CurvatureDLookup.SPEED_ANCHORS[speed_idx])
     required = CurvatureDLookup.required_support_bucket_count(speed_idx)
-    selected_indices = list(range(0, required - 1)) + [required]
+    selected_indices = list(range(required - 1)) + [required]
 
     for bucket_idx in selected_indices:
       desired_curvature = float(CurvatureDLookup.CURVATURE_BUCKET_CENTERS[bucket_idx])
@@ -262,7 +263,6 @@ class TestCurvatureEstimator:
 
   def test_outer_learned_buckets_stay_invalid_for_apply(self):
     speed_idx = len(CurvatureDLookup.SPEED_ANCHORS) - 1
-    v_ego = float(CurvatureDLookup.SPEED_ANCHORS[speed_idx])
     outer_idx = len(CurvatureDLookup.CURVATURE_BUCKET_CENTERS) - 1
     counts = np.zeros(CurvatureDLookup.bucket_shape(), dtype=np.float32)
     bias = np.zeros(CurvatureDLookup.bucket_shape(), dtype=np.float32)
diff --git a/openpilot/selfdrive/locationd/torqued.py b/openpilot/selfdrive/locationd/torqued.py
index a1010ca55..1d4aa8bc3 100755
--- a/openpilot/selfdrive/locationd/torqued.py
+++ b/openpilot/selfdrive/locationd/torqued.py
@@ -289,4 +289,4 @@ if __name__ == "__main__":
   parser = argparse.ArgumentParser(description='Process the --demo argument.')
   parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
   args = parser.parse_args()
-  main(demo=args.demo)
\ No newline at end of file
+  main(demo=args.demo)
diff --git a/openpilot/selfdrive/ui/layouts/settings/ictoggles.py b/openpilot/selfdrive/ui/layouts/settings/ictoggles.py
index b8d9566fa..bb8159ddd 100644
--- a/openpilot/selfdrive/ui/layouts/settings/ictoggles.py
+++ b/openpilot/selfdrive/ui/layouts/settings/ictoggles.py
@@ -1,4 +1,3 @@
-from openpilot.cereal import log
 from openpilot.common.params import Params, UnknownKeyName
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.list_view import toggle_item
@@ -16,7 +15,8 @@ DESCRIPTIONS = {
     "Enables curvature PID post-processing additionally to QFK curvature offset"
   ),
   "EnableCurvatureD": tr_noop(
-    "Learns speed- and curvature-dependent steering corrections around center for dynamic steering behavior. Experimental and only used on curvature-based steering paths."
+    "Learns speed- and curvature-dependent steering corrections around center for dynamic steering behavior. " +
+    "Experimental and only used on curvature-based steering paths."
   ),
   "ShowDynamicSteeringLearnerGraph": tr_noop(
     "Display the current dynamic steering learner fit, marker, and status information in the onroad UI."
diff --git a/openpilot/selfdrive/ui/layouts/settings/software.py b/openpilot/selfdrive/ui/layouts/settings/software.py
index 41badce55..ab8cf6fb4 100644
--- a/openpilot/selfdrive/ui/layouts/settings/software.py
+++ b/openpilot/selfdrive/ui/layouts/settings/software.py
@@ -100,15 +100,15 @@ class SoftwareLayout(Widget):
     self._version_item.action_item.set_text(current_desc)
     self._version_item.set_description(current_release_notes)
 
-    # Update download button visibility and state
-    self._download_btn.set_visible(ui_state.is_offroad())
-    self._force_download_btn.set_visible(ui_state.is_offroad())
-
     updater_state = ui_state.params.get("UpdaterState") or "idle"
     failed_count = ui_state.params.get("UpdateFailedCount") or 0
     fetch_available = ui_state.params.get_bool("UpdaterFetchAvailable")
     update_available = ui_state.params.get_bool("UpdateAvailable")
 
+    # Update download button visibility and state
+    self._download_btn.set_visible(ui_state.is_offroad())
+    self._force_download_btn.set_visible(ui_state.is_offroad() and not update_available)
+
     if updater_state != "idle":
       # Updater responded
       self._waiting_for_updater = False
@@ -189,7 +189,7 @@ class SoftwareLayout(Widget):
     self._force_download_btn.action_item.set_enabled(False)
     self._waiting_for_updater = True
     self._waiting_start_ts = time.monotonic()
-    os.system("pkill -SIGUSR2 -f system.updated.updated")
+    subprocess.run("pkill -SIGUSR2 -f openpilot.system.updated.updated", shell=True)
 
   def _on_select_branch(self):
     # Get available branches and order
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/ictoggles.py b/openpilot/selfdrive/ui/mici/layouts/settings/ictoggles.py
index 0bd78042a..a2ad07d01 100644
--- a/openpilot/selfdrive/ui/mici/layouts/settings/ictoggles.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/ictoggles.py
@@ -1,9 +1,6 @@
-from openpilot.cereal import log
-
 from openpilot.system.ui.widgets.scroller import NavScroller
-from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl, BigMultiParamToggle
+from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
 from openpilot.selfdrive.ui.ui_state import ui_state
 
 
@@ -25,7 +22,7 @@ class ICTogglesLayoutMici(NavScroller):
     enable_accel_bar            = BigParamControl("Enable Accel Bar", "ShowAccelBar")
     enable_curvatured           = BigParamControl("Enable Dynamic Steering Learner", "EnableCurvatureD")
     show_curvatured_graph       = BigParamControl("Show Dynamic Steering Learner Graph", "ShowDynamicSteeringLearnerGraph")
-    
+
     self._scroller.add_widgets([
       enable_curvature_correction,
       enable_long_comfort_mode,
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/settings.py b/openpilot/selfdrive/ui/mici/layouts/settings/settings.py
index c27a89fd5..c0e00e449 100644
--- a/openpilot/selfdrive/ui/mici/layouts/settings/settings.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/settings.py
@@ -24,11 +24,11 @@ class SettingsLayout(NavScroller):
     toggles_panel = TogglesLayoutMici()
     toggles_btn = SettingsBigButton("toggles", "", gui_app.texture("icons_mici/settings.png", 64, 64))
     toggles_btn.set_click_callback(lambda: gui_app.push_widget(toggles_panel))
-    
+
     ictoggles_panel = ICTogglesLayoutMici()
     ictoggles_btn = SettingsBigButton("ictoggles", "", gui_app.texture("icons_mici/settings.png", 64, 64))
     ictoggles_btn.set_click_callback(lambda: gui_app.push_widget(ictoggles_panel))
-    
+
     network_panel = NetworkLayoutMici()
     network_btn = SettingsBigButton("network", "", gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 76, 56))
     network_btn.set_click_callback(lambda: gui_app.push_widget(network_panel))
diff --git a/openpilot/selfdrive/ui/mici/onroad/dynamic_steering_learner_graph.py b/openpilot/selfdrive/ui/mici/onroad/dynamic_steering_learner_graph.py
index 2bc312d8c..074c2711c 100644
--- a/openpilot/selfdrive/ui/mici/onroad/dynamic_steering_learner_graph.py
+++ b/openpilot/selfdrive/ui/mici/onroad/dynamic_steering_learner_graph.py
@@ -124,7 +124,6 @@ class DynamicSteeringLearnerGraphMici(Widget):
     lcp = sm["liveCurvatureParameters"]
     lcp_frame = sm.recv_frame["liveCurvatureParameters"]
     car_state = sm["carState"]
-    controls_state = sm["controlsState"]
 
     fit_corrections = np.zeros(CurvatureDLookup.bucket_shape(), dtype=np.float32)
     fit_valid = np.zeros(CurvatureDLookup.bucket_shape(), dtype=bool)
@@ -194,7 +193,8 @@ class DynamicSteeringLearnerGraphMici(Widget):
       0.0, 1.0,
     ))
     marker_x = plot_rect.x + marker_alpha * plot_rect.width
-    marker_correction = float(np.interp(abs(desired_curvature), np.abs(self._plot_x), self._cached_fit_curve))
+    center_idx = len(self._plot_x) // 2
+    marker_correction = float(np.interp(abs(desired_curvature), self._plot_x[center_idx:], corrections[center_idx:]))
     marker_y = self._map_y(plot_rect, marker_correction, min_y, max_y)
     rl.draw_circle(int(marker_x), int(marker_y), 5, self._marker_glow_color)
     rl.draw_circle(int(marker_x), int(marker_y), 3, self._marker_color)
diff --git a/openpilot/selfdrive/ui/onroad/battery_details.py b/openpilot/selfdrive/ui/onroad/battery_details.py
index 8b936c6b4..ebdebde69 100644
--- a/openpilot/selfdrive/ui/onroad/battery_details.py
+++ b/openpilot/selfdrive/ui/onroad/battery_details.py
@@ -1,7 +1,8 @@
-import pyray as rl
 import time
-
 from dataclasses import dataclass
+
+import pyray as rl
+
 from openpilot.common.params import Params
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import gui_app, FontWeight
@@ -16,19 +17,21 @@ class BatteryPanelConfig:
   line_height: int = 48            # Basis-Zeilenhöhe
   label_width: int = 320
   text_margin: int = 25            # Abstand Label → Wert
-  
+
+
 CONFIG = BatteryPanelConfig()
 
+
 class BatteryDetails(Widget):
   def __init__(self) -> None:
     super().__init__()
     self._params = Params()
-    
+
     self._capacity: float = 0.0
     self._charge: float = 0.0
     self._soc: float = 0.0
     self._temperature: float = 0.0
-    self._heaterActive: bool = False
+    self._heater_active: bool = False
     self._voltage: float = 0.0
     self._current: float = 0.0
     self._power: float = 0.0
@@ -37,21 +40,23 @@ class BatteryDetails(Widget):
     self._panel_bg: rl.Color = rl.Color(0, 0, 0, 128)
     self._label_color: rl.Color = rl.Color(220, 220, 220, 255)
     self._value_color: rl.Color = rl.Color(255, 255, 255, 255)
-    
+
     self._display_enabled: bool = False
+    self._data_valid: bool = False
     self._param_update_time: float = 0.0
-    
+
     self._update_params()
 
   def _update_state(self) -> None:
     if time.monotonic() - self._param_update_time > 2.0:
       self._update_params()
-    
+
     if not self._display_enabled:
       return
-      
+
     sm = ui_state.sm
-    if sm.recv_frame["carState"] < ui_state.started_frame:
+    if (sm.recv_frame["carStateIC"] < ui_state.started_frame or
+        not sm.valid["carStateIC"] or not sm.alive["carStateIC"]):
       self._reset_values()
       return
 
@@ -66,11 +71,12 @@ class BatteryDetails(Widget):
     self._voltage       = float(battery_data.voltage)
     self._current       = float(battery_data.current)
     self._power         = float(battery_data.power)
-    
+    self._data_valid = True
+
   def _update_params(self) -> None:
     self._param_update_time = time.monotonic()
     self._display_enabled = self._params.get_bool("BatteryDetails")
-    
+
   def _reset_values(self) -> None:
     self._capacity = 0.0
     self._charge = 0.0
@@ -80,9 +86,10 @@ class BatteryDetails(Widget):
     self._voltage = 0.0
     self._current = 0.0
     self._power = 0.0
+    self._data_valid = False
 
   def _render(self, rect: rl.Rectangle) -> None:
-    if not self._display_enabled:
+    if not self._display_enabled or not self._data_valid:
       return
 
     scale = CONFIG.scale_factor
@@ -103,7 +110,6 @@ class BatteryDetails(Widget):
     label_width = CONFIG.label_width
     text_margin = CONFIG.text_margin
     column_spacing = panel_width // 2 - 40
-    value_width = column_spacing - label_width - text_margin
 
     labels = [
       "Capacity:", "Charge:", "SoC:", "Temperature:",
@@ -121,9 +127,7 @@ class BatteryDetails(Widget):
       f"{self._power:.2f} kW",
     ]
 
-    rl.draw_text_ex
-
-    for i, (label, value) in enumerate(zip(labels, values)):
+    for i, (label, value) in enumerate(zip(labels, values, strict=True)):
       column = i // 4
       row = i % 4
 
diff --git a/openpilot/selfdrive/ui/onroad/dynamic_steering_learner_graph.py b/openpilot/selfdrive/ui/onroad/dynamic_steering_learner_graph.py
index 2055d8019..36b84b1ab 100644
--- a/openpilot/selfdrive/ui/onroad/dynamic_steering_learner_graph.py
+++ b/openpilot/selfdrive/ui/onroad/dynamic_steering_learner_graph.py
@@ -133,7 +133,6 @@ class DynamicSteeringLearnerGraph(Widget):
     rl.draw_rectangle_rounded(graph_rect, 0.08, 8, self._panel_bg)
 
     lcp_frame = sm.recv_frame["liveCurvatureParameters"]
-    controls_state = sm["controlsState"]
     car_state = sm["carState"]
 
     fit_corrections = np.zeros(CurvatureDLookup.bucket_shape(), dtype=np.float32)
@@ -276,17 +275,17 @@ class DynamicSteeringLearnerGraph(Widget):
     rl.draw_text_ex(self._font_bold, title, rl.Vector2(text_x, title_y), title_size, 0, self._text_color)
 
     status_text = (
-      f"live={payload_valid} transport={transport_valid} cal={int(getattr(lcp, 'calPerc', 0))}% "
+      f"live={payload_valid} transport={transport_valid} cal={int(getattr(lcp, 'calPerc', 0))}% " +
       f"points={int(getattr(lcp, 'totalBucketPoints', 0))}"
     )
     rl.draw_text_ex(self._font_medium, status_text, rl.Vector2(text_x, status_y), status_size, 0, self._muted_text_color)
 
     speed_mix = (
-      f"v={v_ego * 3.6:.0f} km/h  mix={CurvatureDLookup.SPEED_ANCHORS[low_idx] * 3.6:.0f}/"
+      f"v={v_ego * 3.6:.0f} km/h  mix={CurvatureDLookup.SPEED_ANCHORS[low_idx] * 3.6:.0f}/" +
       f"{CurvatureDLookup.SPEED_ANCHORS[high_idx] * 3.6:.0f} alpha={alpha:.2f}"
     )
     marker_info = (
-      f"k={desired_curvature:.2e}  corr={display_correction:.2e}  "
+      f"k={desired_curvature:.2e}  corr={display_correction:.2e}  " +
       f"bucket=({int(getattr(lcp, 'bucketSpeed', -1))}, {int(getattr(lcp, 'bucketCurvature', -1))})"
     )
     rl.draw_text_ex(self._font_medium, speed_mix, rl.Vector2(text_x, footer_y1), footer_size, 0, self._muted_text_color)
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
index 008d8c791..796196962 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
@@ -120,7 +120,9 @@ class SteeringLayout(Widget):
   def _update_state(self):
     super()._update_state()
 
-    torque_allowed = ui_state.CP is not None and ui_state.CP.steerControlType not in (car.CarParams.SteerControlType.angle, car.CarParams.SteerControlType.curvature)
+    torque_allowed = (ui_state.CP is not None and
+                      ui_state.CP.steerControlType not in (car.CarParams.SteerControlType.angle,
+                                                           car.CarParams.SteerControlType.curvature))
     if ui_state.CP is not None:
       mads_main_desc = self._mads_limited_desc if self._mads_settings_layout._mads_limited_settings() else self._mads_full_desc
       self._mads_toggle.set_description(f"<b>{mads_main_desc}</b><br><br>{self._mads_base_desc}")
diff --git a/openpilot/selfdrive/ui/tests/diff/replay_script.py b/openpilot/selfdrive/ui/tests/diff/replay_script.py
index 109f32e47..ebfb6d5f7 100644
--- a/openpilot/selfdrive/ui/tests/diff/replay_script.py
+++ b/openpilot/selfdrive/ui/tests/diff/replay_script.py
@@ -381,6 +381,14 @@ def build_mici_script(pm: PubMaster, main_layout, script: Script) -> None:
 def build_tizi_script(pm: PubMaster, main_layout, script: Script) -> None:
   """Build the replay script for the tizi layout."""
 
+  def select_settings_panel(panel_name: str) -> None:
+    """Select a settings panel without relying on stock or sunnypilot sidebar coordinates."""
+    from openpilot.selfdrive.ui.layouts.main import MainState
+
+    settings_layout = main_layout._layouts[MainState.SETTINGS]
+    panel_type = next(panel_type for panel_type in settings_layout._panels if panel_type.name == panel_name)
+    settings_layout.set_current_panel(panel_type)
+
   def make_home_refresh_setup(fn: Callable) -> Callable:
     """Return setup function that calls the given function to modify state and forces an immediate refresh on the home layout."""
     from openpilot.selfdrive.ui.layouts.main import MainState
@@ -457,7 +465,7 @@ def build_tizi_script(pm: PubMaster, main_layout, script: Script) -> None:
   script.click(2000, 970)  # OK
 
   # === Settings - Network ===
-  script.click(278, 450)
+  script.setup(lambda: select_settings_panel("NETWORK"))
   # TODO: mock networks
   script.click(1880, 100)  # advanced network settings
 
@@ -473,12 +481,12 @@ def build_tizi_script(pm: PubMaster, main_layout, script: Script) -> None:
   script.click(630, 80)  # back from advanced network
 
   # === Settings - Toggles ===
-  script.click(278, 600)
+  script.setup(lambda: select_settings_panel("TOGGLES"))
   script.click(1200, 280)  # expand experimental mode description
 
   # === Settings - Software ===
   script.setup(lambda: setup_update_available(False), wait_after=0)  # start with no update available
-  script.click(278, 720)  # software
+  script.setup(lambda: select_settings_panel("SOFTWARE"))
   for _ in range(2):
     script.click(720, 120)  # toggle current release notes
   script.setup(setup_update_available)  # set update available
@@ -491,11 +499,11 @@ def build_tizi_script(pm: PubMaster, main_layout, script: Script) -> None:
   script.click(650, 750)  # cancel uninstall
 
   # === Settings - Firehose ===
-  script.click(278, 845)
+  script.setup(lambda: select_settings_panel("FIREHOSE"))
 
   # === Settings - Developer (set CarParamsPersistent first) ===
   script.setup(setup_developer_params, wait_after=0)
-  script.click(278, 950)
+  script.setup(lambda: select_settings_panel("DEVELOPER"))
   script.click(1930, 470)  # SSH keys (keyboard)
   script.click(1930, 115)  # click cancel on keyboard
   script.click(2000, 960)  # toggle alpha long
diff --git a/openpilot/selfdrive/ui/ui_state.py b/openpilot/selfdrive/ui/ui_state.py
index db1f6d17e..5221af953 100644
--- a/openpilot/selfdrive/ui/ui_state.py
+++ b/openpilot/selfdrive/ui/ui_state.py
@@ -99,7 +99,7 @@ class UIState(UIStateSP):
     self.is_body: bool | None = None
     self.CP: car.CarParams | None = None
     self.light_sensor: float = -1.0
-    
+
     self.dark_mode: bool = False
     self.onroad_screen_timeout: bool = False
     self.enable_accel_bar: bool = False
@@ -190,11 +190,11 @@ class UIState(UIStateSP):
         self.status = UIStatus.OVERRIDE
       else:
         self.status = UIStatus.ENGAGED if ss.enabled else UIStatus.DISENGAGED
-        
+
       # detect status change
       self.has_status_change = True if self.status != self._status_prev else False
       self._status_prev = self.status
-        
+
       # check for alert
       self.has_alert = True if ss.alertSize != 0 else False