diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index 4d651ce37f..d1b04a0d50 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -81,14 +81,24 @@ void HomeWindow::showDriverView(bool show) {
 }
 
 void HomeWindow::mousePressEvent(QMouseEvent* e) {
-  // Handle sidebar collapsing
-  if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {
-    sidebar->setVisible(!sidebar->isVisible() && !onroad->isMapVisible());
+  if (uiState()->scene.started) {
+    if (uiState()->scene.onroadScreenOff != -2) {
+      uiState()->scene.touched2 = true;
+      QTimer::singleShot(500, []() { uiState()->scene.touched2 = false; });
+    }
+    if (uiState()->scene.button_auto_hide) {
+      uiState()->scene.touch_to_wake = true;
+      uiState()->scene.sleep_btn_fading_in = true;
+      QTimer::singleShot(500, []() { uiState()->scene.touch_to_wake = false; });
+    }
   }
 
-  if (uiState()->scene.started && uiState()->scene.onroadScreenOff != -2) {
-    uiState()->scene.touched2 = true;
-    QTimer::singleShot(500, []() { uiState()->scene.touched2 = false; });
+  // Handle sidebar collapsing
+  if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {
+    if ((uiState()->scene.sleep_btn != 0 && uiState()->scene.sleep_btn_opacity != 0) ||
+        (uiState()->scene.sleep_time != 0 && uiState()->scene.onroadScreenOff != -2)) {
+      sidebar->setVisible(!sidebar->isVisible() && !onroad->isMapVisible());
+    }
   }
 }
 
diff --git a/selfdrive/ui/qt/offroad/sunnypilot_settings.cc b/selfdrive/ui/qt/offroad/sunnypilot_settings.cc
index 0f553d62cd..e82971f9b0 100644
--- a/selfdrive/ui/qt/offroad/sunnypilot_settings.cc
+++ b/selfdrive/ui/qt/offroad/sunnypilot_settings.cc
@@ -594,6 +594,16 @@ SPVisualsPanel::SPVisualsPanel(QWidget *parent) : QWidget(parent) {
   main_layout->addWidget(devUiMain);
 
 
+  // Visuals: Auto-Hide UI Button
+  main_layout->addWidget(horizontal_line());
+  main_layout->addWidget(new ParamControl(
+    "ButtonAutoHide",
+    tr("Auto-Hide UI Buttons"),
+    tr("Hide UI buttons on driving screen after a 30-second timeout. Tap on the screen at anytime to reveal the UI buttons."),
+    "../assets/offroad/icon_road.png"
+  ));
+
+
   // Visuals: OSM: Show debug UI elements
   main_layout->addWidget(horizontal_line());
   main_layout->addWidget(new ParamControl(
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 69a979b944..0032cf5d30 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -160,13 +160,13 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
   QRect debug_tap_rect = QRect(rect().center().x() - 200, rect().center().y() - 200, 400, 400);
   QRect speed_limit_touch_rect = speed_sgn_rc.adjusted(-50, -50, 50, 50);
 
-  if (scene.dynamic_lane_profile_toggle && dlp_btn_rect.contains(e->x(), e->y())) {
+  if (scene.dynamic_lane_profile_toggle && scene.sleep_btn_opacity == 20 && dlp_btn_rect.contains(e->x(), e->y())) {
     scene.dynamic_lane_profile++;
     scene.dynamic_lane_profile = scene.dynamic_lane_profile > 2 ? 0 : scene.dynamic_lane_profile;
     params.put("DynamicLaneProfile", std::to_string(scene.dynamic_lane_profile));
     propagate_event = false;
   } else if (scene.gac && scene.gac_mode != 0 && scene.longitudinal_control && !controls_state.getExperimentalMode() &&
-             car_state.getCruiseState().getAvailable() && gac_btn_rect.contains(e->x(), e->y())) {
+             car_state.getCruiseState().getAvailable() && scene.sleep_btn_opacity == 20 && gac_btn_rect.contains(e->x(), e->y())) {
     scene.gac_tr--;
     scene.gac_tr = scene.gac_tr < scene.gac_min ? scene.gac_max : scene.gac_tr;
     params.put("GapAdjustCruiseTr", std::to_string(scene.gac_tr));
@@ -470,6 +470,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   setProperty("liveValid", ltp.getLiveValid());
   // ############################## DEV UI END ##############################
 
+  setProperty("btnPerc", s.scene.sleep_btn_opacity * 0.05);
+
   // update engageability/experimental mode button
   experimental_btn->updateState(s);
 
@@ -855,27 +857,27 @@ void AnnotatedCameraWidget::drawVisionTurnControllerUI(QPainter &p, int x, int y
 void AnnotatedCameraWidget::drawDlpButton(QPainter &p, int x, int y, int w, int h) {
   int prev_dynamic_lane_profile = -1;
   QString dlp_text = "";
-  QColor dlp_border = QColor(255, 255, 255, 255);
+  QColor dlp_border = QColor(255, 255, 255, (255 * btnPerc));
 
   if (prev_dynamic_lane_profile != dynamicLaneProfile) {
     prev_dynamic_lane_profile = dynamicLaneProfile;
     if (dynamicLaneProfile == 0) {
       dlp_text = tr("Lane\nonly");
-      dlp_border = QColor("#2020f8");
+      dlp_border = QColor(32, 32, 248, (255 * btnPerc));
     } else if (dynamicLaneProfile == 1) {
       dlp_text = tr("Lane\nless");
-      dlp_border = QColor("#0df87a");
+      dlp_border = QColor(13, 248, 122, (255 * btnPerc));
     } else if (dynamicLaneProfile == 2) {
       dlp_text = tr("Auto\nLane");
-      dlp_border = QColor("#0df8f8");
+      dlp_border = QColor(13, 248, 248, (255 * btnPerc));
     }
   }
 
   QRect dlpBtn(x, y, w, h);
   p.setPen(QPen(dlp_border, 6));
-  p.setBrush(QColor(75, 75, 75, 75));
+  p.setBrush(QColor(75, 75, 75, (75 * btnPerc)));
   p.drawEllipse(dlpBtn);
-  p.setPen(QColor(Qt::white));
+  p.setPen(QColor(255, 255, 255, (255 * btnPerc)));
   configFont(p, "Inter", 36, "SemiBold");
   p.drawText(dlpBtn, Qt::AlignCenter, dlp_text);
 }
@@ -883,27 +885,27 @@ void AnnotatedCameraWidget::drawDlpButton(QPainter &p, int x, int y, int w, int
 void AnnotatedCameraWidget::drawGacButton(QPainter &p, int x, int y, int w, int h) {
   int prev_gac_tr = -1;
   QString gac_text = "";
-  QColor gac_border = QColor(255, 255, 255, 255);
+  QColor gac_border = QColor(255, 255, 255, (255 * btnPerc));
 
   if (prev_gac_tr != gacTr) {
     prev_gac_tr = gacTr;
     if (gacTr == 1) {
       gac_text = "Aggro\nGap";
-      gac_border = QColor("#ff4b4b");
+      gac_border = QColor(255, 75, 75, (255 * btnPerc));
     } else if (gacTr == 2) {
       gac_text = "Mild\nGap";
-      gac_border = QColor("#fcff4b");
+      gac_border = QColor(252, 255, 75, (255 * btnPerc));
     } else {
       gac_text = "Stock\nGap";
-      gac_border = QColor("#4bff66");
+      gac_border = QColor(75, 255, 102, (255 * btnPerc));
     }
   }
 
   QRect gacBtn(x, y, w, h);
   p.setPen(QPen(gac_border, 6));
-  p.setBrush(QColor(75, 75, 75, 75));
+  p.setBrush(QColor(75, 75, 75, (75 * btnPerc)));
   p.drawEllipse(gacBtn);
-  p.setPen(QColor(Qt::white));
+  p.setPen(QColor(255, 255, 255, (255 * btnPerc)));
   configFont(p, "Inter", 36, "SemiBold");
   p.drawText(gacBtn, Qt::AlignCenter, gac_text);
 }
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 32c22f949f..993bf42b2d 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -137,6 +137,8 @@ class AnnotatedCameraWidget : public CameraWidget {
   Q_PROPERTY(bool liveValid MEMBER liveValid);
   // ############################## DEV UI END ##############################
 
+  Q_PROPERTY(float btnPerc MEMBER btnPerc);
+
 public:
   explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
   void updateState(const UIState &s);
@@ -263,6 +265,8 @@ private:
   bool liveValid;
   // ############################## DEV UI END ##############################
 
+  float btnPerc;
+
 protected:
   void paintGL() override;
   void initializeGL() override;
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index dc8b7737f4..bf37c73e30 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -248,6 +248,7 @@ void ui_update_params(UIState *s) {
   s->scene.gac_max = std::atoi(params.get("GapAdjustCruiseMax").c_str());
   s->scene.dev_ui_enabled = params.getBool("DevUI");
   s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
+  s->scene.button_auto_hide = params.getBool("ButtonAutoHide");
 
   if (s->scene.onroadScreenOff > 0) {
     s->scene.osoTimer = s->scene.onroadScreenOff * 60 * UI_FREQ;
@@ -296,6 +297,50 @@ void UIState::updateStatus() {
     emit primeTypeChanged(prime_type);
     Params().put("PrimeType", std::to_string(prime_type));
   }
+
+  if (scene.started) {
+    if (scene.button_auto_hide) {
+      if (scene.touch_to_wake) {
+        scene.sleep_btn = 30 * UI_FREQ;
+      } else if (scene.sleep_btn > 0) {
+        scene.sleep_btn--;
+      } else if (scene.sleep_btn == -1) {
+        scene.sleep_btn = 30 * UI_FREQ;
+      }
+      // Check if the sleep button should be fading in
+      if (scene.sleep_btn_fading_in) {
+        // Increase the opacity of the sleep button by a small amount
+        if (scene.sleep_btn_opacity < 20) {
+          scene.sleep_btn_opacity+= 10;
+        }
+        if (scene.sleep_btn_opacity >= 20) {
+          // If the opacity has reached its maximum value, stop fading in
+          scene.sleep_btn_fading_in = false;
+          scene.sleep_btn_opacity = 20;
+        }
+      } else if (scene.sleep_btn == 0) {
+        // Fade out the sleep button as before
+        if (scene.sleep_btn_opacity > 0) {
+          scene.sleep_btn_opacity-= 2;
+        }
+      } else {
+        // Set the opacity of the sleep button to its maximum value
+        scene.sleep_btn_opacity = 20;
+      }
+    } else {
+      scene.sleep_btn_opacity = 20;
+    }
+
+    if (scene.onroadScreenOff != -2 && scene.touched2) {
+      scene.sleep_time = scene.osoTimer;
+    } else if (scene.controlsState.getAlertSize() != cereal::ControlsState::AlertSize::NONE && scene.onroadScreenOff != -2) {
+      scene.sleep_time = scene.osoTimer;
+    } else if (scene.sleep_time > 0 && scene.onroadScreenOff != -2) {
+      scene.sleep_time--;
+    } else if (scene.sleep_time == -1 && scene.onroadScreenOff != -2) {
+      scene.sleep_time = scene.osoTimer;
+    }
+  }
 }
 
 UIState::UIState(QObject *parent) : QObject(parent) {
@@ -369,21 +414,12 @@ void Device::updateBrightness(const UIState &s) {
 
     // Scale back to 10% to 100%
     clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f);
-    if (s.scene.onroadScreenOff != -2 && s.scene.touched2) {
-      sleep_time = s.scene.osoTimer;
-    } else if (s.scene.controlsState.getAlertSize() != cereal::ControlsState::AlertSize::NONE && s.scene.onroadScreenOff != -2) {
-      sleep_time = s.scene.osoTimer;
-    } else if (sleep_time > 0 && s.scene.onroadScreenOff != -2) {
-      sleep_time--;
-    } else if (s.scene.started && sleep_time == -1 && s.scene.onroadScreenOff != -2) {
-      sleep_time = s.scene.osoTimer;
-    }
   }
 
   int brightness = brightness_filter.update(clipped_brightness);
   if (!awake) {
     brightness = 0;
-  } else if (s.scene.started && sleep_time == 0 && s.scene.onroadScreenOff != -2) {
+  } else if (s.scene.started && s.scene.sleep_time == 0 && s.scene.onroadScreenOff != -2) {
     brightness = s.scene.onroadScreenOffBrightness * 0.01 * brightness;
   } else if (s.scene.brightness) {
     brightness = s.scene.brightness * 0.99;
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index eed3f92a6a..a13154aff3 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -159,6 +159,7 @@ typedef struct UIScene {
   bool visual_brake_lights;
 
   int onroadScreenOff, osoTimer, brightness, onroadScreenOffBrightness, awake;
+  int sleep_time = -1;
   bool touched2 = false;
 
   bool stand_still_timer;
@@ -176,6 +177,12 @@ typedef struct UIScene {
   int rn_offset;
   bool live_torque_toggle;
   bool custom_torque_toggle;
+
+  bool touch_to_wake = false;
+  int sleep_btn = -1;
+  bool sleep_btn_fading_in = false;
+  int sleep_btn_opacity = 20;
+  bool button_auto_hide;
 } UIScene;
 
 class UIState : public QObject {
@@ -240,8 +247,6 @@ private:
   bool motionTriggered(const UIState &s);
   void setAwake(bool on);
 
-  int sleep_time = -1;
-
 signals:
   void displayPowerChanged(bool on);
   void interactiveTimout();