diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index bda349aec..a8300de32 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -134,6 +134,9 @@ def main() -> None:
 
       cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
 
+      # custom flasher for xnor's Rivian Longitudinal Upgrade Kit
+      flash_rivian_long(panda_serials)
+
       # skip flashing and health check if no supported panda is detected
       if not check_panda_support(panda_serials):
         continue
@@ -142,9 +145,6 @@ def main() -> None:
       panda_serial = panda_serials[0]
       panda = flash_panda(panda_serial)
 
-      # flash Rivian longitudinal upgrade panda
-      flash_rivian_long(panda)
-
       # Ensure internal panda is present if expected
       if HARDWARE.has_internal_panda() and not panda.is_internal():
         cloudlog.error("Internal panda is missing, trying again")
diff --git a/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py b/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
index 64d7a3d94..c7dedee54 100644
--- a/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
+++ b/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
@@ -23,7 +23,7 @@ class AugmentedRoadViewSP:
   def update_fade_out_bottom_overlay(self, _content_rect):
     # Fade out bottom of overlays for looks (only when engaged)
     fade_alpha = self._fade_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED)
-    if ui_state.torque_bar and ui_state.sm['controlsState'].lateralControlState.which() != 'angleState' and fade_alpha > 1e-2:
+    if ui_state.torque_bar and fade_alpha > 1e-2:
       # Scale the fade texture to the content rect
       rl.draw_texture_pro(self._fade_texture,
                           rl.Rectangle(0, 0, self._fade_texture.width, self._fade_texture.height),
diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
index 1063809c3..f8e425773 100644
--- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
+++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
@@ -131,10 +131,11 @@ class HudRendererSP(HudRenderer):
   def _render(self, rect: rl.Rectangle) -> None:
     super()._render(rect)
 
-    torque_rect = rect
-    if ui_state.developer_ui in (DeveloperUiState.BOTTOM, DeveloperUiState.BOTH):
-      torque_rect = rl.Rectangle(rect.x, rect.y, rect.width, rect.height - get_bottom_dev_ui_offset())
-    self._torque_bar.render(torque_rect)
+    if ui_state.torque_bar:
+      torque_rect = rect
+      if ui_state.developer_ui in (DeveloperUiState.BOTTOM, DeveloperUiState.BOTH):
+        torque_rect = rl.Rectangle(rect.x, rect.y, rect.width, rect.height - get_bottom_dev_ui_offset())
+      self._torque_bar.render(torque_rect)
 
     self.developer_ui.render(rect)
     self.road_name_renderer.render(rect)
diff --git a/sunnypilot/selfdrive/pandad/rivian_long_flasher.py b/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
index 24191a73a..70ddb4435 100755
--- a/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
+++ b/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
@@ -72,9 +72,10 @@ def _flash_panda(panda: Panda) -> None:
 
   _flash_static(panda._handle, code)
   panda.reconnect()
+  cloudlog.info(f"Successfully flashed xnor's Rivian Longitudinal Upgrade Kit: {panda.get_usb_serial()}")
 
 
-def flash_rivian_long(panda: Panda) -> None:
+def flash_rivian_long(panda_serials: list[str]) -> None:
   if not os.path.isfile(FW_PATH):
     cloudlog.error(f"Rivian longitudinal upgrade firmware not found at {FW_PATH}")
     return
@@ -83,13 +84,18 @@ def flash_rivian_long(panda: Panda) -> None:
     cloudlog.info("Not a Rivian, skipping longitudinal upgrade...")
     return
 
-  # only flash external black pandas (HW_TYPE_BLACK = 0x03)
-  if panda.get_type() == b'\x03' and not panda.is_internal():
-    try:
-      _flash_panda(panda)
-    except Exception:
-      cloudlog.exception(f"Failed to flash F4 panda {panda.get_usb_serial()}")
+  for serial in panda_serials:
+    panda = Panda(serial)
+    # only flash external black pandas (HW_TYPE_BLACK = 0x03)
+    if panda.get_type() == b'\x03' and not panda.is_internal():
+      try:
+        _flash_panda(panda)
+      except Exception:
+        cloudlog.exception(f"Failed to flash xnor's Rivian Longitudinal Upgrade Kit: {serial}")
+    panda.close()
+
+  return
 
 
 if __name__ == '__main__':
-  flash_rivian_long(Panda())
+  flash_rivian_long(Panda.list())