diff --git a/CHANGELOG.md b/CHANGELOG.md
index 732b987dd..416ee1658 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -18,6 +18,7 @@ sunnypilot Version MR.ONE-2026 (2026-09-28)
   * system: force timezone Asia/Shanghai (Beijing)
   * system: re-enable loggerd dashcam recordings
   * agnos: patched 19.7-c3xl-dev system image with tap-reset formatting and install-time network validation disabled
+  * agnos: update C3XL system and boot images to AGNOS 20.2
   * ui: clarify camera offset label and software update prompt translations
   * updater: show download percentage and speed for Git and AGNOS updates
   * updater: check for updates while online; downloads and installs remain offroad-only
diff --git a/launch_env.sh b/launch_env.sh
index 9c9162564..749a679f3 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -19,7 +19,7 @@ export QCOM_PRIORITY=12
 export FPS=30
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="19.7-c3xl-dev"
+  export AGNOS_VERSION="20.2"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/openpilot/common/hardware/comma/agnos.json b/openpilot/common/hardware/comma/agnos.json
index 2717036f0..25228f5de 100644
--- a/openpilot/common/hardware/comma/agnos.json
+++ b/openpilot/common/hardware/comma/agnos.json
@@ -57,28 +57,23 @@
   {
     "full_check": true,
     "has_ab": true,
-    "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
-    "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "hash": "afb0b1dfc2a983f758a92c1a14cb9b20a83089755b37af28baaf8e0e4cf970e3",
+    "hash_raw": "afb0b1dfc2a983f758a92c1a14cb9b20a83089755b37af28baaf8e0e4cf970e3",
     "name": "boot",
-    "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0",
-    "size": 18515968,
+    "ondevice_hash": "afb0b1dfc2a983f758a92c1a14cb9b20a83089755b37af28baaf8e0e4cf970e3",
+    "size": 46962688,
     "sparse": false,
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz"
+    "url": "https://pub-c2f6aecf8ae1480090fc1e130c185fa2.r2.dev/agnos20.2/boot-afb0b1dfc2a983f758a92c1a14cb9b20a83089755b37af28baaf8e0e4cf970e3.img.xz"
   },
   {
-    "alt": {
-      "hash": "6da24e3033d1604821b1a6b2b7f5ca6434e689d826c97f62c7583e7be724d868",
-      "size": 4718592000,
-      "url": "https://pub-c2f6aecf8ae1480090fc1e130c185fa2.r2.dev/system-6da24e3033d1604821b1a6b2b7f5ca6434e689d826c97f62c7583e7be724d868.img"
-    },
     "full_check": false,
     "has_ab": true,
-    "hash": "530cf466eef1fb6b1a66ec873f6be811c571a9dca8cb86e5282cc1157d7033be",
-    "hash_raw": "6da24e3033d1604821b1a6b2b7f5ca6434e689d826c97f62c7583e7be724d868",
+    "hash": "a78759fb2ce70b9b59fb8798013b3983e7f4a085ca8789e6d60f40387ad13dcc",
+    "hash_raw": "c12e6b817765fec667645b24d6d7918281ce16e6ab74d82a0fceb76b8df9bb8f",
     "name": "system",
-    "ondevice_hash": "6da24e3033d1604821b1a6b2b7f5ca6434e689d826c97f62c7583e7be724d868",
-    "size": 4718592000,
+    "ondevice_hash": "c12e6b817765fec667645b24d6d7918281ce16e6ab74d82a0fceb76b8df9bb8f",
+    "size": 2147483648,
     "sparse": true,
-    "url": "https://pub-c2f6aecf8ae1480090fc1e130c185fa2.r2.dev/system-530cf466eef1fb6b1a66ec873f6be811c571a9dca8cb86e5282cc1157d7033be.img.xz"
+    "url": "https://pub-c2f6aecf8ae1480090fc1e130c185fa2.r2.dev/agnos20.2/system-a78759fb2ce70b9b59fb8798013b3983e7f4a085ca8789e6d60f40387ad13dcc.img.xz"
   }
 ]