diff --git a/.github/workflows/cereal_validation.yaml b/.github/workflows/cereal_validation.yaml
index 9833f472fe..2290481c56 100644
--- a/.github/workflows/cereal_validation.yaml
+++ b/.github/workflows/cereal_validation.yaml
@@ -21,8 +21,8 @@ concurrency:
 
 env:
   PYTHONWARNINGS: error
-  BASE_IMAGE: sunnypilot-base
-  BUILD: release/ci/docker_build_sp.sh base
+  BASE_IMAGE: openpilot-base
+  BUILD: selfdrive/test/docker_build.sh base
   RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
 jobs:
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 6f653a788c..360c1a4730 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -97,7 +97,7 @@ class Controls(ControlsExt, ModelStateBase):
 
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
 
-      self.lat_delay = get_lat_delay(self.params, self.lat_delay, self.sm.updated["liveDelay"])
+      self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
       self.LaC.extension.update_lateral_lag(self.lat_delay)
 
     long_plan = self.sm['longitudinalPlan']
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index ee12f2c36c..130a352c5b 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -180,7 +180,7 @@ class TorqueEstimator(ParameterEstimator):
     elif which == "liveCalibration":
       self.calibrator.feed_live_calib(msg)
     elif which == "liveDelay":
-      self.lag = get_lat_delay(self.params, self.lag, True)
+      self.lag = get_lat_delay(self.params, msg.lateralDelay)
     # calculate lateral accel from past steering torque
     elif which == "livePose":
       if len(self.raw_points['steer_torque']) == self.hist_len:
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 13f4b6e123..27bf4c6ebb 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -296,8 +296,10 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    model.lat_delay = get_lat_delay(params, model.lat_delay, sm.updated["liveDelay"]) + LAT_SMOOTH_SECONDS
-    lateral_control_params = np.array([v_ego, model.lat_delay], dtype=np.float32)
+    if sm.frame % 60 == 0:
+      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
+    lat_delay = model.lat_delay + LAT_SMOOTH_SECONDS
+    lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -343,7 +345,7 @@ def main(demo=False):
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
 
-      action = get_action_from_model(model_output, prev_action, model.lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
+      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
diff --git a/sunnypilot/livedelay/helpers.py b/sunnypilot/livedelay/helpers.py
index fe0760c1ca..0f7437ceea 100644
--- a/sunnypilot/livedelay/helpers.py
+++ b/sunnypilot/livedelay/helpers.py
@@ -7,8 +7,8 @@ See the LICENSE.md file in the root directory for more details.
 from openpilot.common.params import Params
 
 
-def get_lat_delay(params: Params, cur_val: float, updated: bool) -> float:
-  if updated and params.get_bool("LagdToggle"):
+def get_lat_delay(params: Params, stock_lat_delay: float) -> float:
+  if params.get_bool("LagdToggle"):
     return float(params.get("LagdValueCache", return_default=True))
 
-  return cur_val
+  return stock_lat_delay
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
index 8e20e6b62a..b94e166bc6 100755
--- a/sunnypilot/modeld/modeld.py
+++ b/sunnypilot/modeld/modeld.py
@@ -248,8 +248,9 @@ def main(demo=False):
     v_ego = sm["carState"].vEgo
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
-    model.lat_delay = get_lat_delay(params, model.lat_delay, sm.updated["liveDelay"]) + model.LAT_SMOOTH_SECONDS
-
+    if sm.frame % 60 == 0:
+      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
+    lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -283,7 +284,7 @@ def main(demo=False):
       }
 
     if "lateral_control_params" in model.inputs.keys():
-      inputs['lateral_control_params'] = np.array([max(v_ego, 0.), model.lat_delay], dtype=np.float32)
+      inputs['lateral_control_params'] = np.array([max(v_ego, 0.), lat_delay], dtype=np.float32)
 
     if "driving_style" in model.inputs.keys():
       inputs['driving_style'] = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32)
@@ -306,7 +307,7 @@ def main(demo=False):
       action = model.get_action_from_model(model_output, prev_action, long_delay + DT_MDL)
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen,
-                     v_ego, model.lat_delay, model.meta)
+                     v_ego, lat_delay, model.meta)
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index cec54c0033..2dc1026c01 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -288,7 +288,9 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    model.lat_delay = get_lat_delay(params, model.lat_delay, sm.updated["liveDelay"]) + model.LAT_SMOOTH_SECONDS
+    if sm.frame % 60 == 0:
+      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
+    lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -325,7 +327,7 @@ def main(demo=False):
     }
 
     if "lateral_control_params" in model.numpy_inputs.keys():
-      inputs['lateral_control_params'] = np.array([v_ego, model.lat_delay], dtype=np.float32)
+      inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)
 
     mt1 = time.perf_counter()
     model_output = model.run(bufs, transforms, inputs, prepare_only)
@@ -337,7 +339,7 @@ def main(demo=False):
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
 
-      action = model.get_action_from_model(model_output, prev_action, model.lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
+      action = model.get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,