diff --git a/CHANGELOGS.md b/CHANGELOGS.md
index f3523a410d..36630a042b 100644
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@@ -5,6 +5,10 @@ sunnypilot - 0.9.6.1 (2023-xx-xx)
 * UPDATED: Vision-based Turn Speed Control (V-TSC) implementation
   * Refactored implementation thanks to pfeiferj!
   * More accurate and consistent velocity calculation to achieve smoother longitudinal control in curves
+* UI updates
+  * RE-ENABLED: Navigation: Full screen support
+    * Display the map view in full screen
+    * To switch back to driving view, tap on the border edge\
 * Hyundai Bayon Non-SCC 2019 support thanks to polein78!
 
 sunnypilot - 0.9.5.2 (2023-12-07)
diff --git a/selfdrive/ui/qt/offroad/sunnypilot/visuals_settings.cc b/selfdrive/ui/qt/offroad/sunnypilot/visuals_settings.cc
index 0dfe86b317..f75b98ac9e 100644
--- a/selfdrive/ui/qt/offroad/sunnypilot/visuals_settings.cc
+++ b/selfdrive/ui/qt/offroad/sunnypilot/visuals_settings.cc
@@ -45,6 +45,12 @@ VisualsPanel::VisualsPanel(QWidget *parent) : ListWidget(parent) {
       tr("Enable this will display an icon that appears when the End-to-end model decides to start or stop."),
       "../assets/offroad/icon_blank.png",
     },
+    {
+      "MapboxFullScreen",
+      tr("Navigation: Display in Full Screen"),
+      QString(tr("Enable this will display the built-in navigation in full screen.<br>To switch back to driving view, <font color='yellow'>tap on the border edge</font>.")),
+      "../assets/offroad/icon_blank.png",
+    },
     {
       "Map3DBuildings",
       tr("Map: Display 3D Buildings"),
@@ -101,4 +107,8 @@ VisualsPanel::VisualsPanel(QWidget *parent) : ListWidget(parent) {
   // trigger offroadTransition when going onroad/offroad
   connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
   });
+
+  QObject::connect(toggles["MapboxFullScreen"], &ToggleControl::toggleFlipped, [=](bool state) {
+    toggles["MapboxFullScreen"]->showDescription();
+  });
 }
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 88813d7767..4416e58338 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -109,7 +109,7 @@ void OnroadWindow::updateState(const UIState &s) {
   Alert alert = Alert::get(*(s.sm), s.scene.started_frame, s.scene.display_debug_alert_frame);
   alerts->updateAlert(alert);
 
-  if (s.scene.map_on_left) {
+  if (s.scene.map_on_left || s.scene.mapbox_fullscreen) {
     split->setDirection(QBoxLayout::LeftToRight);
   } else {
     split->setDirection(QBoxLayout::RightToLeft);
@@ -208,6 +208,7 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
         // Switch between map and sidebar when using navigate on openpilot
         bool sidebarVisible = geometry().x() > 0;
         bool show_map = uiState()->scene.navigate_on_openpilot ? sidebarVisible : !sidebarVisible;
+        updateMapSize(scene);
         map->setVisible(show_map && !map->isVisible());
       }
     }
@@ -236,7 +237,8 @@ void OnroadWindow::offroadTransition(bool offroad) {
       QObject::connect(nvg->map_settings_btn, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings);
       nvg->map_settings_btn->setEnabled(true);
 
-      m->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE);
+      m->setFixedWidth(uiState()->scene.mapbox_fullscreen ? topWidget(this)->width() :
+                                                            topWidget(this)->width() / 2 - UI_BORDER_SIZE);
       split->insertWidget(0, m);
 
       // hidden by default, made visible when navRoute is published
@@ -263,6 +265,12 @@ void OnroadWindow::offroadTransition(bool offroad) {
   alerts->updateAlert({});
 }
 
+void OnroadWindow::updateMapSize(const UIScene &scene) {
+  map->setFixedWidth(scene.mapbox_fullscreen ? topWidget(this)->width() :
+                                               topWidget(this)->width() / 2 - UI_BORDER_SIZE);
+  split->insertWidget(0, map);
+}
+
 void OnroadWindow::primeChanged(bool prime) {
 #ifdef ENABLE_MAPS
   if (map && (!prime && MAPBOX_TOKEN.isEmpty())) {
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index d534471746..8b444002e7 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -306,9 +306,11 @@ private:
   QHBoxLayout* split;
 
   QWidget *onroad_settings = nullptr;
+  Params params;
 
 private slots:
   void offroadTransition(bool offroad);
   void primeChanged(bool prime);
   void updateState(const UIState &s);
+  void updateMapSize(const UIScene &scene);
 };
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 6162957919..d688954d34 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -253,6 +253,7 @@ void ui_update_params(UIState *s) {
   s->scene.live_torque_toggle = params.getBool("LiveTorque");
   s->scene.torqued_override = params.getBool("TorquedOverride");
   s->scene.speed_limit_control_engage_type = std::atoi(params.get("SpeedLimitEngageType").c_str());
+  s->scene.mapbox_fullscreen = params.getBool("MapboxFullScreen");
 
   // Handle Onroad Screen Off params
   if (s->scene.onroadScreenOff > 0) {
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 6a6dab5a7d..3cb9bc3368 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -241,6 +241,8 @@ typedef struct UIScene {
   QRect sl_sign_rect;
 
   int speed_limit_control_engage_type;
+
+  bool mapbox_fullscreen;
 } UIScene;
 
 class UIState : public QObject {