diff --git a/conftest.py b/conftest.py
index e368b01e8..dd159129b 100644
--- a/conftest.py
+++ b/conftest.py
@@ -12,9 +12,6 @@ collect_ignore = [
   "selfdrive/test/process_replay/test_processes.py",
   "selfdrive/test/process_replay/test_regen.py",
 ]
-collect_ignore_glob = [
-  "selfdrive/debug/*.py",
-]
 
 
 def pytest_sessionstart(session):
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index 6e13d55b2..ef6795ef8 100644
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -1,9 +1,5 @@
-import os
 
-from openpilot.common.basedir import BASEDIR
 from opendbc.car.docs import generate_cars_md, get_all_car_docs
-from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
-from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
 from openpilot.selfdrive.car.docs import CARS_MD_TEMPLATE
 
 
@@ -14,9 +10,3 @@ class TestCarDocs:
 
   def test_generator(self):
     generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
-
-  def test_docs_diff(self):
-    dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
-    dump_car_docs(dump_path)
-    print_car_docs_diff(dump_path)
-    os.remove(dump_path)
diff --git a/selfdrive/debug/README.md b/selfdrive/debug/README.md
deleted file mode 100644
index 83b8a994d..000000000
--- a/selfdrive/debug/README.md
+++ /dev/null
@@ -1,59 +0,0 @@
-# debug scripts
-
-## [can_printer.py](can_printer.py)
-
-```
-usage: can_printer.py [-h] [--bus BUS] [--max_msg MAX_MSG] [--addr ADDR]
-
-simple CAN data viewer
-
-optional arguments:
-  -h, --help         show this help message and exit
-  --bus BUS          CAN bus to print out (default: 0)
-  --max_msg MAX_MSG  max addr (default: None)
-  --addr ADDR
-```
-
-## [dump.py](dump.py)
-
-```
-usage: dump.py [-h] [--pipe] [--raw] [--json] [--dump-json] [--no-print] [--addr ADDR] [--values VALUES] [socket [socket ...]]
-
-Dump communication sockets. See cereal/services.py for a complete list of available sockets.
-
-positional arguments:
-  socket           socket names to dump. defaults to all services defined in cereal
-
-optional arguments:
-  -h, --help       show this help message and exit
-  --pipe
-  --raw
-  --json
-  --dump-json
-  --no-print
-  --addr ADDR
-  --values VALUES  values to monitor (instead of entire event)
-```
-
-## [vw_mqb_config.py](vw_mqb_config.py)
-
-```
-usage: vw_mqb_config.py [-h] [--debug] {enable,show,disable}
-
-Shows Volkswagen EPS software and coding info, and enables or disables Heading Control
-Assist (Lane Assist). Useful for enabling HCA on cars without factory Lane Assist that want
-to use openpilot integrated at the CAN gateway (J533).
-
-positional arguments:
-  {enable,show,disable}
-                        show or modify current EPS HCA config
-
-optional arguments:
-  -h, --help            show this help message and exit
-  --debug               enable ISO-TP/UDS stack debugging output
-
-This tool is meant to run directly on a vehicle-installed comma three, with
-the openpilot/tmux processes stopped. It should also work on a separate PC with a USB-
-attached comma panda. Vehicle ignition must be on. Recommend engine not be running when
-making changes. Must turn ignition off and on again for any changes to take effect.
-```
diff --git a/selfdrive/debug/analyze-msg-size.py b/selfdrive/debug/analyze-msg-size.py
deleted file mode 100755
index 69015a6be..000000000
--- a/selfdrive/debug/analyze-msg-size.py
+++ /dev/null
@@ -1,82 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-from tqdm import tqdm
-
-from cereal.services import SERVICE_LIST, QueueSize
-from openpilot.tools.lib.logreader import LogReader
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="Analyze message sizes from a log route")
-  parser.add_argument("route", nargs="?", default="98395b7c5b27882e/000000a8--f87e7cd255",
-                      help="Log route to analyze (default: 98395b7c5b27882e/000000a8--f87e7cd255)")
-  args = parser.parse_args()
-
-  lr = LogReader(args.route)
-
-  szs = {}
-  for msg in tqdm(lr):
-    sz = len(msg.as_builder().to_bytes())
-    msg_type = msg.which()
-    if msg_type not in szs:
-      szs[msg_type] = {'min': sz, 'max': sz, 'sum': sz, 'count': 1}
-    else:
-      szs[msg_type]['min'] = min(szs[msg_type]['min'], sz)
-      szs[msg_type]['max'] = max(szs[msg_type]['max'], sz)
-      szs[msg_type]['sum'] += sz
-      szs[msg_type]['count'] += 1
-
-  print()
-  print(f"{'Service':<36} {'Min (KB)':>12} {'Max (KB)':>12} {'Avg (KB)':>12} {'KB/min':>12} {'KB/sec':>12} {'Minutes in 10MB':>18} {'Seconds in Queue':>18}")
-  print("-" * 132)
-  def sort_key(x):
-    k, v = x
-    avg = v['sum'] / v['count']
-    freq = SERVICE_LIST.get(k, None)
-    freq_val = freq.frequency if freq else 0.0
-    kb_per_min = (avg * freq_val * 60) / 1024 if freq_val > 0 else 0.0
-    return kb_per_min
-  total_kb_per_min = 0.0
-  RINGBUFFER_SIZE_KB = 10 * 1024  # 10MB old default
-  for k, v in sorted(szs.items(), key=sort_key, reverse=True):
-    avg = v['sum'] / v['count']
-    service = SERVICE_LIST.get(k, None)
-    freq_val = service.frequency if service else 0.0
-    queue_size_kb = (service.queue_size / 1024) if service else 250  # default to SMALL
-    kb_per_min = (avg * freq_val * 60) / 1024 if freq_val > 0 else 0.0
-    kb_per_sec = kb_per_min / 60
-    minutes_in_buffer = RINGBUFFER_SIZE_KB / kb_per_min if kb_per_min > 0 else float('inf')
-    seconds_in_queue = (queue_size_kb / kb_per_sec) if kb_per_sec > 0 else float('inf')
-    total_kb_per_min += kb_per_min
-    min_str = f"{minutes_in_buffer:.2f}" if minutes_in_buffer != float('inf') else "inf"
-    sec_queue_str = f"{seconds_in_queue:.2f}" if seconds_in_queue != float('inf') else "inf"
-    print(f"{k:<36} {v['min']/1024:>12.2f} {v['max']/1024:>12.2f} {avg/1024:>12.2f} {kb_per_min:>12.2f} {kb_per_sec:>12.2f} {min_str:>18} {sec_queue_str:>18}")
-
-  # Summary section
-  print()
-  print(f"Total usage: {total_kb_per_min / 1024:.2f} MB/min")
-
-  # Calculate memory usage: old (10MB for all) vs new (from services.py)
-  OLD_SIZE = 10 * 1024 * 1024  # 10MB was the old default
-  old_total = len(SERVICE_LIST) * OLD_SIZE
-
-  new_total = sum(s.queue_size for s in SERVICE_LIST.values())
-
-  # Count by queue size
-  size_counts = {QueueSize.BIG: 0, QueueSize.MEDIUM: 0, QueueSize.SMALL: 0}
-  for s in SERVICE_LIST.values():
-    size_counts[s.queue_size] += 1
-
-  savings_pct = (1 - new_total / old_total) * 100
-
-  print()
-  print(f"{'Queue Size Comparison':<40}")
-  print("-" * 60)
-  print(f"{'Old (10MB default):':<30} {old_total / 1024 / 1024:>10.2f} MB")
-  print(f"{'New (from services.py):':<30} {new_total / 1024 / 1024:>10.2f} MB")
-  print(f"{'Savings:':<30} {savings_pct:>10.1f}%")
-  print()
-  print(f"{'Breakdown:':<30}")
-  print(f"  BIG (10MB):    {size_counts[QueueSize.BIG]:>3} services")
-  print(f"  MEDIUM (2MB):  {size_counts[QueueSize.MEDIUM]:>3} services")
-  print(f"  SMALL (250KB): {size_counts[QueueSize.SMALL]:>3} services")
diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py
deleted file mode 100755
index 20987b3cf..000000000
--- a/selfdrive/debug/check_can_parser_performance.py
+++ /dev/null
@@ -1,36 +0,0 @@
-#!/usr/bin/env python3
-import numpy as np
-import time
-from tqdm import tqdm
-
-from cereal import car
-from opendbc.car.tests.routes import CarTestRoute
-from openpilot.selfdrive.car.tests.test_models import TestCarModelBase
-from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE
-
-N_RUNS = 10
-
-
-class CarModelTestCase(TestCarModelBase):
-  test_route = CarTestRoute(DEMO_ROUTE, None)
-
-
-if __name__ == '__main__':
-  # Get CAN messages and parsers
-  tm = CarModelTestCase()
-  tm.setUpClass()
-  tm.setUp()
-
-  CC = car.CarControl.new_message()
-  ets = []
-  for _ in tqdm(range(N_RUNS)):
-    start_t = time.process_time_ns()
-    for msg in tm.can_msgs:
-      for cp in tm.CI.can_parsers.values():
-        if cp is not None:
-          cp.update_strings(msg)
-    ets.append((time.process_time_ns() - start_t) * 1e-6)
-
-  print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs')
-  print(f'{np.mean(ets):.2f} mean ms, {max(ets):.2f} max ms, {min(ets):.2f} min ms, {np.std(ets):.2f} std ms')
-  print(f'{np.mean(ets) / len(tm.can_msgs):.4f} mean ms / CAN packet')
diff --git a/selfdrive/debug/check_freq.py b/selfdrive/debug/check_freq.py
deleted file mode 100755
index 1765aeb86..000000000
--- a/selfdrive/debug/check_freq.py
+++ /dev/null
@@ -1,50 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import numpy as np
-import time
-from collections import defaultdict, deque
-from collections.abc import MutableSequence
-
-import cereal.messaging as messaging
-
-
-if __name__ == "__main__":
-  context = messaging.Context()
-  poller = messaging.Poller()
-
-  parser = argparse.ArgumentParser()
-  parser.add_argument("socket", type=str, nargs='*', help="socket name")
-  args = parser.parse_args()
-
-  socket_names = args.socket
-  sockets = {}
-
-  rcv_times: defaultdict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100))
-  valids: defaultdict[str, deque[bool]] = defaultdict(lambda: deque(maxlen=100))
-
-  t = time.monotonic()
-  for name in socket_names:
-    sock = messaging.sub_sock(name, poller=poller)
-    sockets[sock] = name
-
-  prev_print = t
-  while True:
-    for socket in poller.poll(100):
-      msg = messaging.recv_one(socket)
-      if msg is None:
-        continue
-
-      name = msg.which()
-
-      t = time.monotonic()
-      rcv_times[name].append(msg.logMonoTime / 1e9)
-      valids[name].append(msg.valid)
-
-    if t - prev_print > 1:
-      print()
-      for name in socket_names:
-        dts = np.diff(rcv_times[name])
-        mean = np.mean(dts)
-        print(f"{name}: Freq {1.0 / mean:.2f} Hz, Min {np.min(dts) / mean * 100:.2f}%, Max {np.max(dts) / mean * 100:.2f}%, valid ", all(valids[name]))
-
-      prev_print = t
diff --git a/selfdrive/debug/check_lag.py b/selfdrive/debug/check_lag.py
deleted file mode 100755
index 341ae79c8..000000000
--- a/selfdrive/debug/check_lag.py
+++ /dev/null
@@ -1,27 +0,0 @@
-#!/usr/bin/env python3
-
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
-
-TO_CHECK = ['carState']
-
-
-if __name__ == "__main__":
-  sm = messaging.SubMaster(TO_CHECK)
-
-  prev_t: dict[str, float] = {}
-
-  while True:
-    sm.update()
-
-    for s in TO_CHECK:
-      if sm.updated[s]:
-        t = sm.logMonoTime[s] / 1e9
-
-        if s in prev_t:
-          expected = 1.0 / (SERVICE_LIST[s].frequency)
-          dt = t - prev_t[s]
-          if dt > 10 * expected:
-            print(t, s, dt)
-
-        prev_t[s] = t
diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py
deleted file mode 100755
index fc527cd81..000000000
--- a/selfdrive/debug/check_timings.py
+++ /dev/null
@@ -1,36 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import time
-import numpy as np
-import datetime
-from collections.abc import MutableSequence
-from collections import defaultdict
-
-import cereal.messaging as messaging
-
-
-if __name__ == "__main__":
-  ts: defaultdict[str, MutableSequence[float]] = defaultdict(list)
-  socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]}
-  try:
-    st = time.monotonic()
-    while True:
-      print()
-      for s, sock in socks.items():
-        msgs = messaging.drain_sock(sock)
-        for m in msgs:
-          ts[s].append(m.logMonoTime / 1e6)
-
-        if len(ts[s]) > 2:
-          d = np.diff(ts[s])[-100:]
-          print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}")
-      time.sleep(1)
-  except KeyboardInterrupt:
-    print("\n")
-    print("="*5, "timing summary", "="*5)
-    for s, sock in socks.items():
-      msgs = messaging.drain_sock(sock)
-      if len(ts[s]) > 2:
-        d = np.diff(ts[s])
-        print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}")
-    print("="*5, datetime.timedelta(seconds=time.monotonic()-st), "="*5)
diff --git a/selfdrive/debug/dump_car_docs.py b/selfdrive/debug/dump_car_docs.py
deleted file mode 100755
index f0e99cda2..000000000
--- a/selfdrive/debug/dump_car_docs.py
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import pickle
-
-from opendbc.car.docs import get_all_car_docs
-
-
-def dump_car_docs(path):
-  with open(path, 'wb') as f:
-    pickle.dump(get_all_car_docs(), f)
-  print(f'Dumping car info to {path}')
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("--path", required=True)
-  args = parser.parse_args()
-  dump_car_docs(args.path)
diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py
deleted file mode 100755
index c7850939f..000000000
--- a/selfdrive/debug/print_docs_diff.py
+++ /dev/null
@@ -1,120 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-from collections import defaultdict
-import difflib
-import pickle
-
-from opendbc.car.docs import get_all_car_docs
-from opendbc.car.docs_definitions import Column
-
-FOOTNOTE_TAG = "<sup>{}</sup>"
-STAR_ICON = '<a href="##"><img valign="top" ' + \
-            'src="https://media.githubusercontent.com/media/commaai/openpilot/master/docs/assets/icon-star-{}.svg" width="22" /></a>'
-VIDEO_ICON = '<a href="{}" target="_blank">' + \
-             '<img height="18px" src="https://media.githubusercontent.com/media/commaai/openpilot/master/docs/assets/icon-youtube.svg" /></a>'
-COLUMNS = "|" + "|".join([column.value for column in Column]) + "|"
-COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3)))
-ARROW_SYMBOL = "➡️"
-
-
-def load_base_car_docs(path):
-  with open(path, "rb") as f:
-    return pickle.load(f)
-
-
-def match_cars(base_cars, new_cars):
-  changes = []
-  additions = []
-  for new in new_cars:
-    # Addition if no close matches or close match already used
-    # Change if close match and not already used
-    matches = difflib.get_close_matches(new.name, [b.name for b in base_cars], cutoff=0.)
-    if not len(matches) or matches[0] in [c[1].name for c in changes]:
-      additions.append(new)
-    else:
-      changes.append((new, next(car for car in base_cars if car.name == matches[0])))
-
-  # Removal if base car not in changes
-  removals = [b for b in base_cars if b.name not in [c[1].name for c in changes]]
-  return changes, additions, removals
-
-
-def build_column_diff(base_car, new_car):
-  row_builder = []
-  for column in Column:
-    base_column = base_car.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG)
-    new_column = new_car.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG)
-
-    if base_column != new_column:
-      row_builder.append(f"{base_column} {ARROW_SYMBOL} {new_column}")
-    else:
-      row_builder.append(new_column)
-
-  return format_row(row_builder)
-
-
-def format_row(builder):
-  return "|" + "|".join(builder) + "|"
-
-
-def print_car_docs_diff(path):
-  base_car_docs = defaultdict(list)
-  new_car_docs = defaultdict(list)
-
-  for car in load_base_car_docs(path):
-    base_car_docs[car.car_fingerprint].append(car)
-  for car in get_all_car_docs():
-    new_car_docs[car.car_fingerprint].append(car)
-
-  # Add new platforms to base cars so we can detect additions and removals in one pass
-  base_car_docs.update({car: [] for car in new_car_docs if car not in base_car_docs})
-
-  changes = defaultdict(list)
-  for base_car_model, base_cars in base_car_docs.items():
-    # Match car info changes, and get additions and removals
-    new_cars = new_car_docs[base_car_model]
-    car_changes, car_additions, car_removals = match_cars(base_cars, new_cars)
-
-    # Removals
-    for car_docs in car_removals:
-      changes["removals"].append(format_row([car_docs.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) for column in Column]))
-
-    # Additions
-    for car_docs in car_additions:
-      changes["additions"].append(format_row([car_docs.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) for column in Column]))
-
-    for new_car, base_car in car_changes:
-      # Column changes
-      row_diff = build_column_diff(base_car, new_car)
-      if ARROW_SYMBOL in row_diff:
-        changes["column"].append(row_diff)
-
-      # Detail sentence changes
-      if base_car.detail_sentence != new_car.detail_sentence:
-        changes["detail"].append(f"- Sentence for {base_car.name} changed!\n" +
-                                 "  ```diff\n" +
-                                 f"  - {base_car.detail_sentence}\n" +
-                                 f"  + {new_car.detail_sentence}\n" +
-                                 "  ```")
-
-  # Print diff
-  if any(len(c) for c in changes.values()):
-    markdown_builder = ["### ⚠️ This PR makes changes to [CARS.md](../blob/master/docs/CARS.md) ⚠️"]
-
-    for title, category in (("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"),
-                            ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")):
-      if len(changes[category]):
-        markdown_builder.append(title)
-        if category not in ("detail",):
-          markdown_builder.append(COLUMNS)
-          markdown_builder.append(COLUMN_HEADER)
-        markdown_builder.extend(changes[category])
-
-    print("\n".join(markdown_builder))
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("--path", required=True)
-  args = parser.parse_args()
-  print_car_docs_diff(args.path)
diff --git a/selfdrive/debug/touch_replay.py b/selfdrive/debug/touch_replay.py
deleted file mode 100755
index 6e5ecbbe5..000000000
--- a/selfdrive/debug/touch_replay.py
+++ /dev/null
@@ -1,54 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-
-import numpy as np
-import matplotlib.pyplot as plt
-
-from openpilot.tools.lib.logreader import LogReader
-
-if __name__ == '__main__':
-  parser = argparse.ArgumentParser()
-  parser.add_argument('--width', default=2160, type=int)
-  parser.add_argument('--height', default=1080, type=int)
-  parser.add_argument('--route', default='rlog', type=str)
-  args = parser.parse_args()
-
-  w = args.width
-  h = args.height
-  route = args.route
-
-  fingers = [[-1, -1]] * 5
-  touch_points = []
-  current_slot = 0
-
-  lr = list(LogReader(route))
-  for msg in lr:
-    if msg.which() == 'touch':
-      for event in msg.touch:
-        if event.type == 3 and event.code == 47:
-          current_slot = event.value
-        elif event.type == 3 and event.code == 57 and event.value == -1:
-          fingers[current_slot] = [-1, -1]
-        elif event.type == 3 and event.code == 53:
-          fingers[current_slot][1] = event.value
-          if fingers[current_slot][0] != -1:
-            touch_points.append(fingers[current_slot].copy())
-        elif event.type == 3 and event.code == 54:
-          fingers[current_slot][0] = w - event.value
-          if fingers[current_slot][1] != -1:
-            touch_points.append(fingers[current_slot].copy())
-
-  if not touch_points:
-    print(f'No touch events found for {route}')
-    quit()
-
-  unique_points, counts = np.unique(touch_points, axis=0, return_counts=True)
-
-  plt.figure(figsize=(10, 3))
-  plt.scatter(unique_points[:, 0], unique_points[:, 1], c=counts, s=counts * 20, edgecolors='red')
-  plt.colorbar()
-  plt.title(f'Touches for {route}')
-  plt.xlim(0, w)
-  plt.ylim(0, h)
-  plt.grid(True)
-  plt.show()
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 8161dca13..a08912fde 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -284,7 +284,7 @@ class TestOnroad:
     print("--------------- Memory Usage -------------------")
     print("------------------------------------------------")
 
-    from openpilot.selfdrive.debug.mem_usage import print_report
+    from openpilot.tools.scripts.mem_usage import print_report
     print_report(self.msgs['procLog'], self.msgs['deviceState'])
 
     offset = int(SERVICE_LIST['deviceState'].frequency * LOG_OFFSET)
diff --git a/tools/CTF.md b/tools/CTF.md
index 32891cd38..609c82ad5 100644
--- a/tools/CTF.md
+++ b/tools/CTF.md
@@ -6,7 +6,7 @@ Welcome to the first part of the comma CTF!
 * everything you'll need to find the flags is in the openpilot repo
   * grep is also your friend
   * first, [setup](https://github.com/commaai/openpilot/tree/master/tools#setup-your-pc) your PC
-  * read the docs & checkout out the tools in tools/ and selfdrive/debug/
+  * read the docs & checkout out the tools in tools/
   * tip: once you get the replay and UI up, start by familiarizing yourself with seeking in replay
 
 getting started
diff --git a/selfdrive/debug/__init__.py b/tools/scripts/__init__.py
similarity index 100%
rename from selfdrive/debug/__init__.py
rename to tools/scripts/__init__.py
diff --git a/selfdrive/debug/can_print_changes.py b/tools/scripts/car/can_print_changes.py
similarity index 98%
rename from selfdrive/debug/can_print_changes.py
rename to tools/scripts/car/can_print_changes.py
index 97d60b2b0..c2e152e1e 100755
--- a/selfdrive/debug/can_print_changes.py
+++ b/tools/scripts/car/can_print_changes.py
@@ -5,7 +5,7 @@ import time
 from collections import defaultdict
 
 import cereal.messaging as messaging
-from openpilot.selfdrive.debug.can_table import can_table
+from openpilot.tools.scripts.can_table import can_table
 from openpilot.tools.lib.logreader import LogIterable, LogReader
 
 RED = '\033[91m'
diff --git a/selfdrive/debug/can_printer.py b/tools/scripts/car/can_printer.py
similarity index 100%
rename from selfdrive/debug/can_printer.py
rename to tools/scripts/car/can_printer.py
diff --git a/selfdrive/debug/can_table.py b/tools/scripts/car/can_table.py
similarity index 100%
rename from selfdrive/debug/can_table.py
rename to tools/scripts/car/can_table.py
diff --git a/selfdrive/debug/car/clear_dtc.py b/tools/scripts/car/clear_dtc.py
similarity index 100%
rename from selfdrive/debug/car/clear_dtc.py
rename to tools/scripts/car/clear_dtc.py
diff --git a/selfdrive/debug/car/disable_ecu.py b/tools/scripts/car/disable_ecu.py
similarity index 100%
rename from selfdrive/debug/car/disable_ecu.py
rename to tools/scripts/car/disable_ecu.py
diff --git a/selfdrive/debug/car/ecu_addrs.py b/tools/scripts/car/ecu_addrs.py
similarity index 100%
rename from selfdrive/debug/car/ecu_addrs.py
rename to tools/scripts/car/ecu_addrs.py
diff --git a/selfdrive/debug/car/fw_versions.py b/tools/scripts/car/fw_versions.py
similarity index 100%
rename from selfdrive/debug/car/fw_versions.py
rename to tools/scripts/car/fw_versions.py
diff --git a/selfdrive/debug/car/hyundai_enable_radar_points.py b/tools/scripts/car/hyundai_enable_radar_points.py
similarity index 100%
rename from selfdrive/debug/car/hyundai_enable_radar_points.py
rename to tools/scripts/car/hyundai_enable_radar_points.py
diff --git a/selfdrive/debug/max_lat_accel.py b/tools/scripts/car/max_lat_accel.py
similarity index 100%
rename from selfdrive/debug/max_lat_accel.py
rename to tools/scripts/car/max_lat_accel.py
diff --git a/selfdrive/debug/measure_torque_time_to_max.py b/tools/scripts/car/measure_torque_time_to_max.py
similarity index 100%
rename from selfdrive/debug/measure_torque_time_to_max.py
rename to tools/scripts/car/measure_torque_time_to_max.py
diff --git a/selfdrive/debug/read_dtc_status.py b/tools/scripts/car/read_dtc_status.py
similarity index 100%
rename from selfdrive/debug/read_dtc_status.py
rename to tools/scripts/car/read_dtc_status.py
diff --git a/selfdrive/debug/car/toyota_eps_factor.py b/tools/scripts/car/toyota_eps_factor.py
similarity index 100%
rename from selfdrive/debug/car/toyota_eps_factor.py
rename to tools/scripts/car/toyota_eps_factor.py
diff --git a/selfdrive/debug/car/vin.py b/tools/scripts/car/vin.py
similarity index 100%
rename from selfdrive/debug/car/vin.py
rename to tools/scripts/car/vin.py
diff --git a/selfdrive/debug/car/vw_mqb_config.py b/tools/scripts/car/vw_mqb_config.py
similarity index 100%
rename from selfdrive/debug/car/vw_mqb_config.py
rename to tools/scripts/car/vw_mqb_config.py
diff --git a/selfdrive/debug/count_events.py b/tools/scripts/count_events.py
similarity index 100%
rename from selfdrive/debug/count_events.py
rename to tools/scripts/count_events.py
diff --git a/selfdrive/debug/cpu_usage_stat.py b/tools/scripts/cpu_usage_stat.py
similarity index 98%
rename from selfdrive/debug/cpu_usage_stat.py
rename to tools/scripts/cpu_usage_stat.py
index 089685103..5b72eacc6 100755
--- a/selfdrive/debug/cpu_usage_stat.py
+++ b/tools/scripts/cpu_usage_stat.py
@@ -8,7 +8,7 @@ System tools like top/htop can only show current cpu usage values, so I write th
     Calculate minumium/maximum/accumulated_average cpu usage as long term inspections.
     Monitor multiple processes simuteneously.
   Sample usage:
-    root@localhost:/data/openpilot$ python selfdrive/debug/cpu_usage_stat.py pandad,ubloxd
+    root@localhost:/data/openpilot$ python tools/scripts/cpu_usage_stat.py pandad,ubloxd
     ('Add monitored proc:', './pandad')
     ('Add monitored proc:', 'python locationd/ubloxd.py')
     pandad: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96%
diff --git a/selfdrive/debug/cycle_alerts.py b/tools/scripts/cycle_alerts.py
similarity index 100%
rename from selfdrive/debug/cycle_alerts.py
rename to tools/scripts/cycle_alerts.py
diff --git a/selfdrive/debug/debug_fw_fingerprinting_offline.py b/tools/scripts/debug_fw_fingerprinting_offline.py
similarity index 100%
rename from selfdrive/debug/debug_fw_fingerprinting_offline.py
rename to tools/scripts/debug_fw_fingerprinting_offline.py
diff --git a/selfdrive/debug/dump.py b/tools/scripts/dump.py
similarity index 100%
rename from selfdrive/debug/dump.py
rename to tools/scripts/dump.py
diff --git a/tools/scripts/fetch_image_from_route.py b/tools/scripts/fetch_image_from_route.py
deleted file mode 100755
index a05371480..000000000
--- a/tools/scripts/fetch_image_from_route.py
+++ /dev/null
@@ -1,43 +0,0 @@
-#!/usr/bin/env python3
-import sys
-
-if len(sys.argv) < 4:
-  print(f"{sys.argv[0]} <route> <segment> <frame number> [front|wide|driver]")
-  print('example: ./fetch_image_from_route.py "02c45f73a2e5c6e9|2020-06-01--18-03-08" 3 500 driver')
-  exit(0)
-
-cameras = {
-  "front": "cameras",
-  "wide": "ecameras",
-  "driver": "dcameras"
-}
-
-import requests
-from PIL import Image
-from openpilot.tools.lib.auth_config import get_token
-from openpilot.tools.lib.framereader import FrameReader
-
-jwt = get_token()
-
-route = sys.argv[1]
-segment = int(sys.argv[2])
-frame = int(sys.argv[3])
-camera = cameras[sys.argv[4]] if len(sys.argv) > 4 and sys.argv[4] in cameras else "cameras"
-
-url = f'https://api.commadotai.com/v1/route/{route}/files'
-r = requests.get(url, headers={"Authorization": f"JWT {jwt}"}, timeout=10)
-assert r.status_code == 200
-print("got api response")
-
-segments = r.json()[camera]
-if segment >= len(segments):
-  raise Exception(f"segment {segment} not found, got {len(segments)} segments")
-
-fr = FrameReader(segments[segment])
-if frame >= fr.frame_count:
-  raise Exception(f"frame {frame} not found, got {fr.frame_count} frames")
-
-im = Image.fromarray(fr.get(frame))
-fn = f"uxxx_{route.replace('|', '_')}_{segment}_{frame}.png"
-im.save(fn)
-print(f"saved {fn}")
diff --git a/selfdrive/debug/filter_log_message.py b/tools/scripts/filter_log_message.py
similarity index 100%
rename from selfdrive/debug/filter_log_message.py
rename to tools/scripts/filter_log_message.py
diff --git a/selfdrive/debug/fingerprint_from_route.py b/tools/scripts/fingerprint_from_route.py
similarity index 100%
rename from selfdrive/debug/fingerprint_from_route.py
rename to tools/scripts/fingerprint_from_route.py
diff --git a/selfdrive/debug/fuzz_fw_fingerprint.py b/tools/scripts/fuzz_fw_fingerprint.py
similarity index 100%
rename from selfdrive/debug/fuzz_fw_fingerprint.py
rename to tools/scripts/fuzz_fw_fingerprint.py
diff --git a/selfdrive/debug/get_fingerprint.py b/tools/scripts/get_fingerprint.py
similarity index 100%
rename from selfdrive/debug/get_fingerprint.py
rename to tools/scripts/get_fingerprint.py
diff --git a/selfdrive/debug/live_cpu_and_temp.py b/tools/scripts/live_cpu_and_temp.py
similarity index 100%
rename from selfdrive/debug/live_cpu_and_temp.py
rename to tools/scripts/live_cpu_and_temp.py
diff --git a/selfdrive/debug/mem_usage.py b/tools/scripts/mem_usage.py
similarity index 100%
rename from selfdrive/debug/mem_usage.py
rename to tools/scripts/mem_usage.py
diff --git a/selfdrive/debug/print_flags.py b/tools/scripts/print_flags.py
similarity index 100%
rename from selfdrive/debug/print_flags.py
rename to tools/scripts/print_flags.py
diff --git a/tools/profiling/clpeak/.gitignore b/tools/scripts/profiling/clpeak/.gitignore
similarity index 100%
rename from tools/profiling/clpeak/.gitignore
rename to tools/scripts/profiling/clpeak/.gitignore
diff --git a/tools/profiling/clpeak/build.sh b/tools/scripts/profiling/clpeak/build.sh
similarity index 100%
rename from tools/profiling/clpeak/build.sh
rename to tools/scripts/profiling/clpeak/build.sh
diff --git a/tools/profiling/clpeak/no_print.patch b/tools/scripts/profiling/clpeak/no_print.patch
similarity index 100%
rename from tools/profiling/clpeak/no_print.patch
rename to tools/scripts/profiling/clpeak/no_print.patch
diff --git a/tools/profiling/clpeak/run_continuously.patch b/tools/scripts/profiling/clpeak/run_continuously.patch
similarity index 100%
rename from tools/profiling/clpeak/run_continuously.patch
rename to tools/scripts/profiling/clpeak/run_continuously.patch
diff --git a/tools/profiling/ftrace.sh b/tools/scripts/profiling/ftrace.sh
similarity index 100%
rename from tools/profiling/ftrace.sh
rename to tools/scripts/profiling/ftrace.sh
diff --git a/tools/profiling/palanteer/.gitignore b/tools/scripts/profiling/palanteer/.gitignore
similarity index 100%
rename from tools/profiling/palanteer/.gitignore
rename to tools/scripts/profiling/palanteer/.gitignore
diff --git a/tools/profiling/palanteer/setup.sh b/tools/scripts/profiling/palanteer/setup.sh
similarity index 100%
rename from tools/profiling/palanteer/setup.sh
rename to tools/scripts/profiling/palanteer/setup.sh
diff --git a/tools/profiling/perfetto/.gitignore b/tools/scripts/profiling/perfetto/.gitignore
similarity index 100%
rename from tools/profiling/perfetto/.gitignore
rename to tools/scripts/profiling/perfetto/.gitignore
diff --git a/tools/profiling/perfetto/build.sh b/tools/scripts/profiling/perfetto/build.sh
similarity index 100%
rename from tools/profiling/perfetto/build.sh
rename to tools/scripts/profiling/perfetto/build.sh
diff --git a/tools/profiling/perfetto/copy.sh b/tools/scripts/profiling/perfetto/copy.sh
similarity index 100%
rename from tools/profiling/perfetto/copy.sh
rename to tools/scripts/profiling/perfetto/copy.sh
diff --git a/tools/profiling/perfetto/record.sh b/tools/scripts/profiling/perfetto/record.sh
similarity index 100%
rename from tools/profiling/perfetto/record.sh
rename to tools/scripts/profiling/perfetto/record.sh
diff --git a/tools/profiling/perfetto/server.sh b/tools/scripts/profiling/perfetto/server.sh
similarity index 100%
rename from tools/profiling/perfetto/server.sh
rename to tools/scripts/profiling/perfetto/server.sh
diff --git a/tools/profiling/perfetto/traces.sh b/tools/scripts/profiling/perfetto/traces.sh
similarity index 100%
rename from tools/profiling/perfetto/traces.sh
rename to tools/scripts/profiling/perfetto/traces.sh
diff --git a/tools/profiling/py-spy/profile.sh b/tools/scripts/profiling/py-spy/profile.sh
similarity index 100%
rename from tools/profiling/py-spy/profile.sh
rename to tools/scripts/profiling/py-spy/profile.sh
diff --git a/tools/profiling/snapdragon/.gitignore b/tools/scripts/profiling/snapdragon/.gitignore
similarity index 100%
rename from tools/profiling/snapdragon/.gitignore
rename to tools/scripts/profiling/snapdragon/.gitignore
diff --git a/tools/profiling/snapdragon/README.md b/tools/scripts/profiling/snapdragon/README.md
similarity index 100%
rename from tools/profiling/snapdragon/README.md
rename to tools/scripts/profiling/snapdragon/README.md
diff --git a/tools/profiling/snapdragon/setup-agnos.sh b/tools/scripts/profiling/snapdragon/setup-agnos.sh
similarity index 100%
rename from tools/profiling/snapdragon/setup-agnos.sh
rename to tools/scripts/profiling/snapdragon/setup-agnos.sh
diff --git a/tools/profiling/snapdragon/setup-profiler.sh b/tools/scripts/profiling/snapdragon/setup-profiler.sh
similarity index 100%
rename from tools/profiling/snapdragon/setup-profiler.sh
rename to tools/scripts/profiling/snapdragon/setup-profiler.sh
diff --git a/tools/profiling/watch-irqs.sh b/tools/scripts/profiling/watch-irqs.sh
similarity index 100%
rename from tools/profiling/watch-irqs.sh
rename to tools/scripts/profiling/watch-irqs.sh
diff --git a/selfdrive/debug/qlog_size.py b/tools/scripts/qlog_size.py
similarity index 100%
rename from selfdrive/debug/qlog_size.py
rename to tools/scripts/qlog_size.py
diff --git a/selfdrive/debug/run_process_on_route.py b/tools/scripts/run_process_on_route.py
similarity index 100%
rename from selfdrive/debug/run_process_on_route.py
rename to tools/scripts/run_process_on_route.py
diff --git a/tools/scripts/save_ubloxraw_stream.py b/tools/scripts/save_ubloxraw_stream.py
deleted file mode 100755
index b5354a783..000000000
--- a/tools/scripts/save_ubloxraw_stream.py
+++ /dev/null
@@ -1,47 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import os
-import sys
-from openpilot.common.basedir import BASEDIR
-from openpilot.tools.lib.logreader import LogReader
-
-os.environ['BASEDIR'] = BASEDIR
-
-
-def get_arg_parser():
-  parser = argparse.ArgumentParser(
-      description="Unlogging and save to file",
-      formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-
-  parser.add_argument("route", type=(lambda x: x.replace("#", "|")), nargs="?",
-                      help="The route whose messages will be published.")
-  parser.add_argument("--out_path", nargs='?', default='/data/ubloxRaw.stream',
-                      help="Output pickle file path")
-  return parser
-
-
-def main():
-  args = get_arg_parser().parse_args(sys.argv[1:])
-
-  lr = LogReader(args.route)
-
-  with open(args.out_path, 'wb') as f:
-    try:
-      done = False
-      i = 0
-      while not done:
-        msg = next(lr)
-        if not msg:
-          break
-        smsg = msg.as_builder()
-        typ = smsg.which()
-        if typ == 'ubloxRaw':
-          f.write(smsg.to_bytes())
-          i += 1
-    except StopIteration:
-      print('All done')
-  print(f'Writed {i} msgs')
-
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/debug/set_car_params.py b/tools/scripts/set_car_params.py
similarity index 100%
rename from selfdrive/debug/set_car_params.py
rename to tools/scripts/set_car_params.py
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/tools/scripts/test_fw_query_on_routes.py
similarity index 100%
rename from selfdrive/debug/test_fw_query_on_routes.py
rename to tools/scripts/test_fw_query_on_routes.py
diff --git a/selfdrive/debug/uiview.py b/tools/scripts/uiview.py
similarity index 100%
rename from selfdrive/debug/uiview.py
rename to tools/scripts/uiview.py
diff --git a/tools/scripts/watch_timings.py b/tools/scripts/watch_timings.py
new file mode 100755
index 000000000..874720dd2
--- /dev/null
+++ b/tools/scripts/watch_timings.py
@@ -0,0 +1,102 @@
+#!/usr/bin/env python3
+import argparse
+import datetime
+import time
+from collections import deque
+from dataclasses import dataclass, field
+
+import numpy as np
+
+import cereal.messaging as messaging
+from cereal.services import SERVICE_LIST
+
+
+@dataclass
+class ServiceTiming:
+  times: list[float] = field(default_factory=list)
+  window: deque[float] = field(default_factory=lambda: deque(maxlen=100))
+  valids: deque[bool] = field(default_factory=lambda: deque(maxlen=100))
+  lag_events: list[tuple[float, float]] = field(default_factory=list)
+
+  def add(self, mono_time: float, valid: bool, expected_interval: float | None, lag_threshold: float) -> None:
+    if self.times:
+      dt = mono_time - self.times[-1]
+      self.window.append(dt)
+      if expected_interval is not None and dt > lag_threshold * expected_interval:
+        self.lag_events.append((mono_time, dt))
+
+    self.times.append(mono_time)
+    self.valids.append(valid)
+
+  def intervals(self, latest_only: bool) -> np.ndarray:
+    if latest_only:
+      return np.array(self.window)
+    return np.diff(self.times)
+
+
+def format_row(name: str, timing: ServiceTiming, latest_only: bool) -> str:
+  dts = timing.intervals(latest_only)
+  if len(dts) == 0:
+    return f"{name:25} waiting for messages"
+
+  mean = np.mean(dts)
+  hz = 1.0 / mean if mean > 0 else 0.0
+  valid = all(timing.valids) if timing.valids else False
+  return f"{name:25} {hz:8.2f}Hz {mean * 1e3:8.2f}ms {np.std(dts) * 1e3:8.2f}ms {np.max(dts) * 1e3:8.2f}ms {np.min(dts) * 1e3:8.2f}ms valid={valid}"
+
+
+def print_lag_events(name: str, timing: ServiceTiming, printed_lags: dict[str, int]) -> None:
+  start = printed_lags.get(name, 0)
+  for mono_time, dt in timing.lag_events[start:]:
+    print(f"{mono_time:.3f} {name} lag {dt:.3f}s", flush=True)
+  printed_lags[name] = len(timing.lag_events)
+
+
+def monitor_services(socket_names: list[str], print_interval: float, lag_threshold: float, lag_only: bool) -> None:
+  sockets = {name: messaging.sub_sock(name, conflate=False) for name in socket_names}
+  timings = {name: ServiceTiming() for name in socket_names}
+  printed_lags: dict[str, int] = {}
+
+  start_time = time.monotonic()
+  last_print = start_time
+
+  try:
+    while True:
+      for name, sock in sockets.items():
+        for msg in messaging.drain_sock(sock):
+          expected_interval = 1.0 / SERVICE_LIST[name].frequency if name in SERVICE_LIST else None
+          timings[name].add(msg.logMonoTime / 1e9, msg.valid, expected_interval, lag_threshold)
+
+      now = time.monotonic()
+      if now - last_print < print_interval:
+        time.sleep(0.01)
+        continue
+
+      if not lag_only:
+        print(flush=True)
+        print(f"{'service':25} {'freq':>10} {'mean':>10} {'std':>10} {'max':>10} {'min':>10} valid", flush=True)
+        for name in socket_names:
+          print(format_row(name, timings[name], latest_only=True), flush=True)
+
+      for name in socket_names:
+        print_lag_events(name, timings[name], printed_lags)
+
+      last_print = now
+  except KeyboardInterrupt:
+    print("\n", flush=True)
+    print("=" * 5, "timing summary", "=" * 5, flush=True)
+    print(f"{'service':25} {'freq':>10} {'mean':>10} {'std':>10} {'max':>10} {'min':>10} valid", flush=True)
+    for name in socket_names:
+      print(format_row(name, timings[name], latest_only=False), flush=True)
+    print("=" * 5, datetime.timedelta(seconds=time.monotonic() - start_time), "=" * 5, flush=True)
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Check live service timing, frequency, validity, and lag")
+  parser.add_argument("socket", nargs="*", default=["carState"], help="service/socket name")
+  parser.add_argument("--lag-threshold", type=float, default=10.0, help="report intervals above this multiple of the expected service interval")
+  parser.add_argument("--lag-only", action="store_true", help="only print lag events")
+  parser.add_argument("--print-interval", type=float, default=1.0, help="seconds between table updates")
+  args = parser.parse_args()
+
+  monitor_services(args.socket, args.print_interval, args.lag_threshold, args.lag_only)