diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index aceeff95bd..a2c27da614 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -10,6 +10,7 @@ variables:
   GIT_CONFIG_USER_NAME: "Gitlab Pipeline"
   PUBLIC_REPO_URL: "https://github.com/sunnyhaibin/sunnypilot"
 
+
 stages:
   - build
   - sanity
@@ -29,13 +30,13 @@ default:
   - 'git config --global user.name "${GIT_CONFIG_USER_NAME}"'
 
 
-workflow: # If running on any branch other than main, use the `aws-datacontracts-dev` account; otherwise use `aws-datacontracts`
+workflow: # If running on any branch other than main.
   rules:
     # We are an MR, but it's a draft, we won't proceed with anything.
     - if: '$CI_MERGE_REQUEST_TITLE =~ /^wip:/i || $CI_MERGE_REQUEST_TITLE =~ /^draft:/i'
       when: never
     # We are a merge request
-    - if: $CI_MERGE_REQUEST_IID #|| $CI_COMMIT_REF_NAME == "gitlab-pipelines" # TBD once merged
+    - if: $CI_MERGE_REQUEST_IID
       variables:
         EXTRA_VERSION_IDENTIFIER: "-${CI_PIPELINE_IID}"
         NEW_BRANCH: ${CI_COMMIT_REF_NAME}-prebuilt
@@ -98,7 +99,7 @@ build:
     - sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py # comment panda jungle when prebuilt
     - scons -j$(nproc) cache_dir=${CI_DIR}/scons_cache --minimal
     - touch ${BUILD_DIR}/prebuilt
-    - sudo rm -rf ${OUTPUT_DIR} 
+    - sudo rm -rf ${OUTPUT_DIR}
     - mkdir -p ${OUTPUT_DIR}
     # We first include the paths we want to keep, even if we later will be excluding the other things on those paths
     - rsync -avm
@@ -141,7 +142,7 @@ build:
       --chown=comma:comma
       ${BUILD_DIR}/ ${OUTPUT_DIR}/
   after_script:
-    # cleanup build dir after doing work 
+    # cleanup build dir after doing work
     - find $BUILD_DIR/ -mindepth 1 -delete
   artifacts:
     paths:
diff --git a/CHANGELOGS.md b/CHANGELOGS.md
index 06a2961de7..2fc99ab8d0 100644
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@@ -40,6 +40,11 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
   * Auto Unlock by Shift to P: All doors are automatically unlocked when shifting the shift lever to P
 * FIXED: Driving Personality:
   * Maniac mode now correctly enforced when selected
+* UI Updates
+  * Display Metrics Below Chevron
+    * NEW❗: Time to Lead Car
+      * Displays the time to reach the position previously occupied by the lead car
+    * NEW❗: Display Distance, Speed, and Time to Lead Car simultaneously
 * Kia Ceed Plug-in Hybrid Non-SCC 2022 support thanks to TerminatorNL!
 
 sunnypilot - 0.9.7.1 (2024-06-13)
diff --git a/common/params.cc b/common/params.cc
index 054c5d2355..86f18a0a5e 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -336,6 +336,8 @@ std::unordered_map<std::string, uint32_t> keys = {
 
     {"SunnylinkCache_Users", PERSISTENT},
     {"SunnylinkCache_Roles", PERSISTENT},
+    {"EnableGitlabRunner", PERSISTENT | BACKUP},
+    {"EnableSunnylinkUploader", PERSISTENT | BACKUP},
 
     // PFEIFER - MAPD {{
     {"MapdVersion", PERSISTENT},
diff --git a/release/release_files.py b/release/release_files.py
index 31d1518d74..4ae0aad1ed 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -88,6 +88,8 @@ sunnypilot_blacklist = [
   "codecov.yml",
   "conftest.py",
   "poetry.lock",
+  ".git-crypt/",
+  ".venv",
 ]
 
 # Merge the blacklists
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 6aebd2bd90..207c90678d 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -43,10 +43,28 @@ def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: dict[int, ca
   return events
 
 
-def create_mads_event(mads_event_lock: bool) -> capnp.lib.capnp._DynamicStructBuilder:
-  be = car.CarState.ButtonEvent(pressed=mads_event_lock)
-  be.type = ButtonType.altButton1
-  return be
+class ButtonEvents:
+  def __init__(self) -> None:
+    self.is_mads: bool = False
+
+  @staticmethod
+  def create_cancel_event(long_enabled: bool, prev_long_enabled: bool) -> list[capnp.lib.capnp._DynamicStructBuilder]:
+    events: list[capnp.lib.capnp._DynamicStructBuilder] = []
+
+    if not long_enabled and prev_long_enabled:
+      events.append(car.CarState.ButtonEvent(pressed=True,
+                                             type=ButtonType.cancel))
+    return events
+
+  def create_mads_event(self, mads_enabled: bool, prev_mads_enabled: bool) -> list[capnp.lib.capnp._DynamicStructBuilder]:
+    events: list[capnp.lib.capnp._DynamicStructBuilder] = []
+
+    mads_changed = prev_mads_enabled != mads_enabled
+    if (mads_changed and not self.is_mads) or (not mads_changed and self.is_mads):
+      events.append(car.CarState.ButtonEvent(pressed=mads_changed, type=ButtonType.altButton1))
+      self.is_mads = not self.is_mads
+
+    return events
 
 
 def gen_empty_fingerprint():
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index f9277af62e..54bed40b51 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -1,3 +1,5 @@
+from cereal import car
+
 import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from opendbc.can.packer import CANPacker
@@ -9,7 +11,7 @@ from openpilot.selfdrive.car.chrysler.values import RAM_CARS, RAM_DT, CarControl
 from openpilot.selfdrive.car.interfaces import CarControllerBase, FORWARD_GEARS
 from openpilot.selfdrive.controls.lib.drive_helpers import FCA_V_CRUISE_MIN
 
-BUTTONS_STATES = ["accelCruise", "decelCruise", "cancel", "resumeCruise"]
+ButtonType = car.CarState.ButtonEvent.Type
 
 
 class CarController(CarControllerBase):
@@ -104,7 +106,7 @@ class CarController(CarControllerBase):
       self.last_button_frame = CS.button_counter
 
       if ram_cars:
-        if CS.buttonStates["cancel"]:
+        if any(b.type == ButtonType.cancel for b in CS.out.buttonEvents):
           can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP, cancel=True))
         else:
           can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP,
@@ -189,8 +191,10 @@ class CarController(CarControllerBase):
 
   # multikyd methods, sunnyhaibin logic
   def get_cruise_buttons_status(self, CS):
-    if not CS.out.cruiseState.enabled or any(CS.buttonStates[button_state] for button_state in BUTTONS_STATES):
-      self.timer = 40
+    if not CS.out.cruiseState.enabled:
+      for be in CS.out.buttonEvents:
+        if be.type in (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.resumeCruise) and be.pressed:
+          self.timer = 40
     elif self.timer:
       self.timer -= 1
     else:
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index d29be9226e..a58681175e 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -3,7 +3,7 @@ from openpilot.common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
 from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS, BUTTON_STATES
+from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS, BUTTONS
 
 
 class CarState(CarStateBase):
@@ -29,8 +29,7 @@ class CarState(CarStateBase):
     self.lkas_heartbit = None
     self.lkas_disabled = False
 
-    self.buttonStates = BUTTON_STATES.copy()
-    self.buttonStatesPrev = BUTTON_STATES.copy()
+    self.button_states = {button.event_type: False for button in BUTTONS}
 
   def update(self, cp, cp_cam):
 
@@ -41,7 +40,6 @@ class CarState(CarStateBase):
 
     self.prev_mads_enabled = self.mads_enabled
     self.prev_lkas_enabled = self.lkas_enabled
-    self.buttonStatesPrev = self.buttonStates.copy()
 
     # lock info
     ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
@@ -76,6 +74,16 @@ class CarState(CarStateBase):
       unit=1,
     )
 
+    # Buttons
+    for button in BUTTONS:
+      state = (cp.vl[button.can_addr][button.can_msg] in button.values)
+      if self.button_states[button.event_type] != state:
+        event = car.CarState.ButtonEvent.new_message()
+        event.type = button.event_type
+        event.pressed = state
+        self.button_events.append(event)
+      self.button_states[button.event_type] = state
+
     # button presses
     ret.leftBlinker, ret.rightBlinker = ret.leftBlinkerOn, ret.rightBlinkerOn = self.update_blinker_from_stalk(200, cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1,
                                                                                                                     cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2)
@@ -116,11 +124,6 @@ class CarState(CarStateBase):
       ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1
       ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
 
-    self.buttonStates["accelCruise"] = bool(cp.vl["CRUISE_BUTTONS"]["ACC_Accel"])
-    self.buttonStates["decelCruise"] = bool(cp.vl["CRUISE_BUTTONS"]["ACC_Decel"])
-    self.buttonStates["cancel"] = bool(cp.vl["CRUISE_BUTTONS"]["ACC_Cancel"])
-    self.buttonStates["resumeCruise"] = bool(cp.vl["CRUISE_BUTTONS"]["ACC_Resume"])
-
     self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
     self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
     self.cruise_buttons = cp.vl["CRUISE_BUTTONS"]
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index d09fa7ac56..d4911375e7 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
-from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerFlagsSP, BUTTON_STATES
+from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerFlagsSP
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -13,7 +13,6 @@ GearShifter = car.CarState.GearShifter
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController, CarState):
     super().__init__(CP, CarController, CarState)
-    self.buttonStatesPrev = BUTTON_STATES.copy()
 
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
@@ -94,19 +93,12 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam)
     self.sp_update_params()
 
-    buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
-
-    for button in self.CS.buttonStates:
-      if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
-        be = car.CarState.ButtonEvent.new_message()
-        be.type = button
-        be.pressed = self.CS.buttonStates[button]
-        buttonEvents.append(be)
+    self.CS.button_events.extend(create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}))
 
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
     self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            buttonEvents, c.vCruise,
+                                                            self.CS.button_events, c.vCruise,
                                                             enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.resumeCruise) if not self.CP.pcmCruiseSpeed else
                                                                            (ButtonType.accelCruise, ButtonType.decelCruise),
                                                             resume_button=(ButtonType.resumeCruise,) if not self.CP.pcmCruiseSpeed else
@@ -125,7 +117,7 @@ class CarInterface(CarInterfaceBase):
     self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS)
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
-      if any(b.type == ButtonType.cancel for b in buttonEvents):
+      if any(b.type == ButtonType.cancel for b in self.CS.button_events):
         self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
       self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
@@ -143,17 +135,10 @@ class CarInterface(CarInterfaceBase):
 
     ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
 
-    # MADS BUTTON
-    if self.CS.out.madsEnabled != self.CS.madsEnabled:
-      if self.mads_event_lock:
-        buttonEvents.append(create_mads_event(self.mads_event_lock))
-        self.mads_event_lock = False
-    else:
-      if not self.mads_event_lock:
-        buttonEvents.append(create_mads_event(self.mads_event_lock))
-        self.mads_event_lock = True
-
-    ret.buttonEvents = buttonEvents
+    ret.buttonEvents = [
+      *self.CS.button_events,
+      *self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled)  # MADS BUTTON
+    ]
 
     # events
     events = self.create_common_events(ret, c, extra_gears=[car.CarState.GearShifter.low], pcm_enable=False)
@@ -180,6 +165,4 @@ class CarInterface(CarInterfaceBase):
 
     ret.events = events.to_msg()
 
-    self.buttonStatesPrev = self.CS.buttonStates.copy()
-
     return ret
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 85835d453a..c681040023 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -1,3 +1,4 @@
+from collections import namedtuple
 from enum import IntFlag
 from dataclasses import dataclass, field
 
@@ -8,6 +9,7 @@ from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarPar
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
+Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
 
 class ChryslerFlags(IntFlag):
@@ -113,12 +115,12 @@ class CarControllerParams:
       self.STEER_MAX = 261  # higher than this faults the EPS
 
 
-BUTTON_STATES = {
-  "accelCruise": False,
-  "decelCruise": False,
-  "cancel": False,
-  "resumeCruise": False,
-}
+BUTTONS = [
+  Button(car.CarState.ButtonEvent.Type.accelCruise, "CRUISE_BUTTONS", "ACC_Accel", [1]),
+  Button(car.CarState.ButtonEvent.Type.decelCruise, "CRUISE_BUTTONS", "ACC_Decel", [1]),
+  Button(car.CarState.ButtonEvent.Type.cancel, "CRUISE_BUTTONS", "ACC_Cancel", [1]),
+  Button(car.CarState.ButtonEvent.Type.resumeCruise, "CRUISE_BUTTONS", "ACC_Resume", [1]),
+]
 
 
 STEER_THRESHOLD = 120
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 21e2f12def..e52454f81d 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -3,7 +3,7 @@ from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.ford.fordcan import CanBus
-from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags, BUTTON_STATES
+from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags, BUTTONS
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
 GearShifter = car.CarState.GearShifter
@@ -24,15 +24,14 @@ class CarState(CarStateBase):
 
     self.lkas_enabled = None
     self.prev_lkas_enabled = None
-    self.buttonStates = BUTTON_STATES.copy()
-    self.buttonStatesPrev = BUTTON_STATES.copy()
+
+    self.button_states = {button.event_type: False for button in BUTTONS}
 
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
     self.prev_mads_enabled = self.mads_enabled
     self.prev_lkas_enabled = self.lkas_enabled
-    self.buttonStatesPrev = self.buttonStates.copy()
 
     # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
     # The vehicle usually recovers out of this state within a minute of normal driving
@@ -87,6 +86,16 @@ class CarState(CarStateBase):
       else:
         ret.gearShifter = GearShifter.drive
 
+    # Buttons
+    for button in BUTTONS:
+      state = (cp.vl[button.can_addr][button.can_msg] in button.values)
+      if self.button_states[button.event_type] != state:
+        event = car.CarState.ButtonEvent.new_message()
+        event.type = button.event_type
+        event.pressed = state
+        self.button_events.append(event)
+      self.button_states[button.event_type] = state
+
     # safety
     ret.stockFcw = bool(cp_cam.vl["ACCDATA_3"]["FcwVisblWarn_B_Rq"])
     ret.stockAeb = bool(cp_cam.vl["ACCDATA_2"]["CmbbBrkDecel_B_Rq"])
@@ -112,13 +121,6 @@ class CarState(CarStateBase):
 
     self.lkas_enabled = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
 
-    self.buttonStates["accelCruise"] = bool(cp.vl["Steering_Data_FD1"]["CcAslButtnSetIncPress"])
-    self.buttonStates["decelCruise"] = bool(cp.vl["Steering_Data_FD1"]["CcAslButtnSetDecPress"])
-    self.buttonStates["cancel"] = bool(cp.vl["Steering_Data_FD1"]["CcAslButtnCnclPress"])
-    self.buttonStates["setCruise"] = bool(cp.vl["Steering_Data_FD1"]["CcAslButtnSetPress"])
-    self.buttonStates["resumeCruise"] = bool(cp.vl["Steering_Data_FD1"]["CcAsllButtnResPress"])
-    self.buttonStates["gapAdjustCruise"] = bool(cp.vl["Steering_Data_FD1"]["AccButtnGapTogglePress"])
-
     # Stock steering buttons so that we can passthru blinkers etc.
     self.buttons_stock_values = cp.vl["Steering_Data_FD1"]
     # Stock values from IPMA so that we can retain some stock functionality
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 0c3449dc14..18dd7b4fa3 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -1,9 +1,9 @@
 from cereal import car
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.ford.fordcan import CanBus
-from openpilot.selfdrive.car.ford.values import Ecu, FordFlags, BUTTON_STATES
+from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -15,8 +15,6 @@ class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController, CarState):
     super().__init__(CP, CarController, CarState)
 
-    self.buttonStatesPrev = BUTTON_STATES.copy()
-
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
@@ -76,19 +74,12 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam)
     self.sp_update_params()
 
-    buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
-
-    for button in self.CS.buttonStates:
-      if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
-        be = car.CarState.ButtonEvent.new_message()
-        be.type = button
-        be.pressed = self.CS.buttonStates[button]
-        buttonEvents.append(be)
+    self.CS.button_events.extend(create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}))
 
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
     self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            buttonEvents, c.vCruise)
+                                                            self.CS.button_events, c.vCruise)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -101,7 +92,7 @@ class CarInterface(CarInterfaceBase):
       self.CS.madsEnabled = False
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0):
-      if any(b.type == ButtonType.cancel for b in buttonEvents):
+      if any(b.type == ButtonType.cancel for b in self.CS.button_events):
         self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
       self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
@@ -114,16 +105,10 @@ class CarInterface(CarInterfaceBase):
 
     ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
 
-    if self.CS.out.madsEnabled != self.CS.madsEnabled:
-      if self.mads_event_lock:
-        buttonEvents.append(create_mads_event(self.mads_event_lock))
-        self.mads_event_lock = False
-    else:
-      if not self.mads_event_lock:
-        buttonEvents.append(create_mads_event(self.mads_event_lock))
-        self.mads_event_lock = True
-
-    ret.buttonEvents = buttonEvents
+    ret.buttonEvents = [
+      *self.CS.button_events,
+      *self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled)  # MADS BUTTON
+    ]
 
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.manumatic], pcm_enable=False)
 
@@ -134,7 +119,4 @@ class CarInterface(CarInterfaceBase):
 
     ret.events = events.to_msg()
 
-    # update previous car states
-    self.buttonStatesPrev = self.CS.buttonStates.copy()
-
     return ret
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index edfee3ea1b..04bd592e22 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -1,5 +1,6 @@
 import copy
 import re
+from collections import namedtuple
 from dataclasses import dataclass, field, replace
 from enum import Enum, IntFlag
 
@@ -11,6 +12,7 @@ from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, Ca
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries, p16
 
 Ecu = car.CarParams.Ecu
+Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
 
 class CarControllerParams:
@@ -46,16 +48,6 @@ class FordFlags(IntFlag):
   CANFD = 1
 
 
-BUTTON_STATES = {
-  "accelCruise": False,
-  "decelCruise": False,
-  "cancel": False,
-  "setCruise": False,
-  "resumeCruise": False,
-  "gapAdjustCruise": False
-}
-
-
 class RADAR:
   DELPHI_ESR = 'ford_fusion_2018_adas'
   DELPHI_MRR = 'FORD_CADS'
@@ -154,6 +146,15 @@ class CAR(Platforms):
   )
 
 
+BUTTONS = [
+  Button(car.CarState.ButtonEvent.Type.accelCruise, "Steering_Data_FD1", "CcAslButtnSetIncPress", [1]),
+  Button(car.CarState.ButtonEvent.Type.decelCruise, "Steering_Data_FD1", "CcAslButtnSetDecPress", [1]),
+  Button(car.CarState.ButtonEvent.Type.cancel, "Steering_Data_FD1", "CcAslButtnCnclPress", [1]),
+  Button(car.CarState.ButtonEvent.Type.setCruise, "Steering_Data_FD1", "CcAslButtnSetPress", [1]),
+  Button(car.CarState.ButtonEvent.Type.resumeCruise, "Steering_Data_FD1", "CcAsllButtnResPress", [1]),
+]
+
+
 # FW response contains a combined software and part number
 # A-Z except no I, O or W
 # e.g. NZ6A-14C204-AAA
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 22a8d619a6..0e428bc13b 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -6,7 +6,7 @@ from panda import Panda
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
 from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
@@ -206,12 +206,11 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
     self.sp_update_params()
 
-    buttonEvents = []
     distance_button = 0
 
     # Don't add event if transitioning from INIT, unless it's to an actual button
     if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
-      buttonEvents = [
+      self.CS.button_events = [
         *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
                               unpressed_btn=CruiseButtons.UNPRESS),
         *create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
@@ -222,11 +221,11 @@ class CarInterface(CarInterfaceBase):
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
     if not self.CP.pcmCruise:
-      if any(b.type == ButtonType.accelCruise and b.pressed for b in buttonEvents):
+      if any(b.type == ButtonType.accelCruise and b.pressed for b in self.CS.button_events):
         self.CS.accEnabled = True
 
     self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            buttonEvents, c.vCruise)
+                                                            self.CS.button_events, c.vCruise)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -239,7 +238,7 @@ class CarInterface(CarInterfaceBase):
       self.CS.madsEnabled = False
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0):
-      if any(b.type == ButtonType.cancel for b in buttonEvents):
+      if any(b.type == ButtonType.cancel for b in self.CS.button_events):
         self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
       self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
@@ -252,17 +251,10 @@ class CarInterface(CarInterfaceBase):
 
     ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(distance_button))
 
-    # MADS BUTTON
-    if self.CS.out.madsEnabled != self.CS.madsEnabled:
-      if self.mads_event_lock:
-        buttonEvents.append(create_mads_event(self.mads_event_lock))
-        self.mads_event_lock = False
-    else:
-      if not self.mads_event_lock:
-        buttonEvents.append(create_mads_event(self.mads_event_lock))
-        self.mads_event_lock = True
-
-    ret.buttonEvents = buttonEvents
+    ret.buttonEvents = [
+      *self.CS.button_events,
+      *self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled)  # MADS BUTTON
+    ]
 
     # The ECM allows enabling on falling edge of set, but only rising edge of resume
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low,
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 457b095e6a..72ab68647f 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -268,7 +268,7 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
     self.sp_update_params()
 
-    buttonEvents = [
+    self.CS.button_events = [
       *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
       *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
     ]
@@ -276,7 +276,7 @@ class CarInterface(CarInterfaceBase):
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
     self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            buttonEvents, c.vCruise)
+                                                            self.CS.button_events, c.vCruise)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -289,7 +289,7 @@ class CarInterface(CarInterfaceBase):
       self.CS.madsEnabled = False
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
-      if any(b.type == ButtonType.cancel for b in buttonEvents):
+      if any(b.type == ButtonType.cancel for b in self.CS.button_events):
         self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
       self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
@@ -304,7 +304,10 @@ class CarInterface(CarInterfaceBase):
                                             min_enable_speed_pcm=(self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed),
                                             gap_button=(self.CS.cruise_setting == 3))
 
-    ret.buttonEvents = buttonEvents
+    ret.buttonEvents = [
+      *self.CS.button_events,
+      *self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled)  # MADS BUTTON
+    ]
 
     # events
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low], pcm_enable=False)
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 5b284abdcb..9e6b08f7e1 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -7,7 +7,7 @@ from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP,
                                          CANFD_UNSUPPORTED_LONGITUDINAL_CAR, NON_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
                                          UNSUPPORTED_LONGITUDINAL_CAR, Buttons
 from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
-from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
@@ -207,10 +207,10 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam)
     self.sp_update_params()
 
-    buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
+    self.CS.button_events = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
 
     self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            buttonEvents, c.vCruise)
+                                                            self.CS.button_events, c.vCruise)
 
     self.CS.mads_enabled = False if not self.mads_main_toggle else self.CS.mads_enabled
 
@@ -233,7 +233,7 @@ class CarInterface(CarInterfaceBase):
 
     if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed:
       if not self.CP.pcmCruise:
-        if any(b.type == ButtonType.cancel for b in buttonEvents):
+        if any(b.type == ButtonType.cancel for b in self.CS.button_events):
           self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
       if not self.CP.pcmCruiseSpeed:
         if not ret.cruiseState.enabled:
@@ -244,17 +244,10 @@ class CarInterface(CarInterfaceBase):
 
     ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_buttons[-1] == 3))
 
-    # MADS BUTTON
-    if self.CS.out.madsEnabled != self.CS.madsEnabled:
-      if self.mads_event_lock:
-        buttonEvents.append(create_mads_event(self.mads_event_lock))
-        self.mads_event_lock = False
-    else:
-      if not self.mads_event_lock:
-        buttonEvents.append(create_mads_event(self.mads_event_lock))
-        self.mads_event_lock = True
-
-    ret.buttonEvents = buttonEvents
+    ret.buttonEvents = [
+      *self.CS.button_events,
+      *self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled)  # MADS BUTTON
+    ]
 
     # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
     # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 5fe64832c8..b8ca13ec86 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -1,3 +1,4 @@
+import capnp
 import json
 import os
 import numpy as np
@@ -17,7 +18,7 @@ from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.common.numpy_fast import clip
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
+from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG, ButtonEvents
 from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.desire_helper import get_min_lateral_speed
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, V_CRUISE_UNSET, get_friction
@@ -253,6 +254,7 @@ class CarInterfaceBase(ABC):
     self.last_mads_init = 0.
     self.madsEnabledInit = False
     self.madsEnabledInitPrev = False
+    self.button_events = ButtonEvents()
 
     self.lat_torque_nn_model = None
     eps_firmware = str(next((fw.fwVersion for fw in CP.carFw if fw.ecu == "eps"), ""))
@@ -425,6 +427,8 @@ class CarInterfaceBase(ABC):
       if cp is not None:
         cp.update_strings(can_strings)
 
+    self.CS.button_events = []
+
     # get CarState
     ret = self._update(c)
 
@@ -780,6 +784,8 @@ class CarStateBase(ABC):
     self.prev_mads_enabled = False
     self.control_initialized = False
 
+    self.button_events: list[capnp.lib.capnp._DynamicStructBuilder] = []
+
     Q = [[0.0, 0.0], [0.0, 100.0]]
     R = 0.3
     A = [[1.0, DT_CTRL], [0.0, 1.0]]
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 9832cebe46..368198e1c8 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -11,8 +11,7 @@ from openpilot.selfdrive.car.mazda.values import CarControllerParams, Buttons
 from openpilot.selfdrive.controls.lib.drive_helpers import MAZDA_V_CRUISE_MIN
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
-
-BUTTONS_STATES = ["accelCruise", "decelCruise", "cancel", "resumeCruise"]
+ButtonType = car.CarState.ButtonEvent.Type
 
 
 class CarController(CarControllerBase):
@@ -141,8 +140,10 @@ class CarController(CarControllerBase):
   # multikyd methods, sunnyhaibin logic
   def get_cruise_buttons_status(self, CS):
     if not CS.out.cruiseState.enabled:
-      if any(CS.buttonStates[button_state] for button_state in BUTTONS_STATES):
-        self.timer = 40
+      for be in CS.out.buttonEvents:
+        if be.type in (ButtonType.accelCruise, ButtonType.resumeCruise,
+                       ButtonType.decelCruise, ButtonType.setCruise) and be.pressed:
+          self.timer = 40
     elif self.timer:
       self.timer -= 1
     else:
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index dea768c03a..e5808238f8 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -3,7 +3,7 @@ from openpilot.common.conversions import Conversions as CV
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags, BUTTON_STATES
+from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags, BUTTONS
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -24,8 +24,7 @@ class CarState(CarStateBase):
     self.lkas_enabled = False
     self.prev_lkas_enabled = False
 
-    self.buttonStates = BUTTON_STATES.copy()
-    self.buttonStatesPrev = BUTTON_STATES.copy()
+    self.button_states = {button.event_type: False for button in BUTTONS}
 
   def update(self, cp, cp_cam):
 
@@ -36,7 +35,6 @@ class CarState(CarStateBase):
 
     self.prev_mads_enabled = self.mads_enabled
     self.prev_lkas_enabled = self.lkas_enabled
-    self.buttonStatesPrev = self.buttonStates.copy()
 
     ret.wheelSpeeds = self.get_wheel_speeds(
       cp.vl["WHEEL_SPEEDS"]["FL"],
@@ -56,6 +54,16 @@ class CarState(CarStateBase):
     can_gear = int(cp.vl["GEAR"]["GEAR"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
 
+    # Buttons
+    for button in BUTTONS:
+      state = (cp.vl[button.can_addr][button.can_msg] in button.values)
+      if self.button_states[button.event_type] != state:
+        event = car.CarState.ButtonEvent.new_message()
+        event.type = button.event_type
+        event.pressed = state
+        self.button_events.append(event)
+      self.button_states[button.event_type] = state
+
     ret.genericToggle = bool(cp.vl["BLINK_INFO"]["HIGH_BEAMS"])
     ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS_STATUS"] != 0
     ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS_STATUS"] != 0
@@ -114,11 +122,6 @@ class CarState(CarStateBase):
 
     self.acc_active_last = ret.cruiseState.enabled
 
-    self.buttonStates["accelCruise"] = bool(cp.vl["CRZ_BTNS"]["SET_P"])
-    self.buttonStates["decelCruise"] = bool(cp.vl["CRZ_BTNS"]["SET_M"])
-    self.buttonStates["cancel"] = bool(cp.vl["CRZ_BTNS"]["CAN_OFF"])
-    self.buttonStates["resumeCruise"] = bool(cp.vl["CRZ_BTNS"]["RES"])
-
     self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"]
 
     # camera signals
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index bb9a3f93a0..9447803ae6 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS, BUTTON_STATES
-from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
+from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -12,7 +12,6 @@ GearShifter = car.CarState.GearShifter
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController, CarState):
     super().__init__(CP, CarController, CarState)
-    self.buttonStatesPrev = BUTTON_STATES.copy()
 
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
@@ -41,19 +40,15 @@ class CarInterface(CarInterfaceBase):
     self.sp_update_params()
 
     # TODO: add button types for inc and dec
-    buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
-
-    for button in self.CS.buttonStates:
-      if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
-        be = car.CarState.ButtonEvent.new_message()
-        be.type = button
-        be.pressed = self.CS.buttonStates[button]
-        buttonEvents.append(be)
+    self.CS.button_events = [
+      *self.CS.button_events,
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ]
 
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
     self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            buttonEvents, c.vCruise)
+                                                            self.CS.button_events, c.vCruise)
 
     if ret.cruiseState.available:
       if self.enable_mads:
@@ -66,7 +61,7 @@ class CarInterface(CarInterfaceBase):
       self.CS.madsEnabled = False
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
-      if any(b.type == ButtonType.cancel for b in buttonEvents):
+      if any(b.type == ButtonType.cancel for b in self.CS.button_events):
         self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
       self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
@@ -79,17 +74,10 @@ class CarInterface(CarInterfaceBase):
 
     ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
 
-    # MADS BUTTON
-    if self.CS.out.madsEnabled != self.CS.madsEnabled:
-      if self.mads_event_lock:
-        buttonEvents.append(create_mads_event(self.mads_event_lock))
-        self.mads_event_lock = False
-    else:
-      if not self.mads_event_lock:
-        buttonEvents.append(create_mads_event(self.mads_event_lock))
-        self.mads_event_lock = True
-
-    ret.buttonEvents = buttonEvents
+    ret.buttonEvents = [
+      *self.CS.button_events,
+      *self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled)  # MADS BUTTON
+    ]
 
     # events
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
@@ -108,6 +96,4 @@ class CarInterface(CarInterfaceBase):
 
     ret.events = events.to_msg()
 
-    self.buttonStatesPrev = self.CS.buttonStates.copy()
-
     return ret
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 2aac951dbb..2889cbb7b2 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -1,3 +1,4 @@
+from collections import namedtuple
 from dataclasses import dataclass, field
 from enum import IntFlag
 
@@ -8,6 +9,7 @@ from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarPar
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
+Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
 
 # Steer torque limits
@@ -26,14 +28,6 @@ class CarControllerParams:
     pass
 
 
-BUTTON_STATES = {
-  "accelCruise": False,
-  "decelCruise": False,
-  "cancel": False,
-  "resumeCruise": False,
-}
-
-
 @dataclass
 class MazdaCarDocs(CarDocs):
   package: str = "All"
@@ -98,6 +92,14 @@ class Buttons:
   CANCEL = 4
 
 
+BUTTONS = [
+  Button(car.CarState.ButtonEvent.Type.accelCruise, "CRZ_BTNS", "SET_P", [1]),
+  Button(car.CarState.ButtonEvent.Type.decelCruise, "CRZ_BTNS", "SET_M", [1]),
+  Button(car.CarState.ButtonEvent.Type.cancel, "CRZ_BTNS", "CAN_OFF", [1]),
+  Button(car.CarState.ButtonEvent.Type.resumeCruise, "CRZ_BTNS", "RES", [1]),
+]
+
+
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
     # TODO: check data to ensure ABS does not skip ISO-TP frames on bus 0
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 3d744a41a0..4a9e5a9125 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -1,6 +1,6 @@
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.nissan.values import CAR
 
@@ -34,7 +34,7 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
     self.sp_update_params()
 
-    buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    self.CS.button_events = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
@@ -53,24 +53,11 @@ class CarInterface(CarInterfaceBase):
 
     ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
 
-    # CANCEL
-    if self.CS.out.cruiseState.enabled and not ret.cruiseState.enabled:
-      be = car.CarState.ButtonEvent.new_message()
-      be.pressed = True
-      be.type = ButtonType.cancel
-      buttonEvents.append(be)
-
-    # MADS BUTTON
-    if self.CS.out.madsEnabled != self.CS.madsEnabled:
-      if self.mads_event_lock:
-        buttonEvents.append(create_mads_event(self.mads_event_lock))
-        self.mads_event_lock = False
-    else:
-      if not self.mads_event_lock:
-        buttonEvents.append(create_mads_event(self.mads_event_lock))
-        self.mads_event_lock = True
-
-    ret.buttonEvents = buttonEvents
+    ret.buttonEvents = [
+      *self.CS.button_events,
+      *self.button_events.create_cancel_event(ret.cruiseState.enabled, self.CS.out.cruiseState.enabled),
+      *self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled)  # MADS BUTTON
+    ]
 
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
                                        pcm_enable=False)
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 744c017a96..7eefeb66eb 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -1,6 +1,6 @@
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config, create_mads_event
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFlags, SubaruFlagsSP
@@ -118,8 +118,6 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
     self.sp_update_params()
 
-    buttonEvents = []
-
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
     if ret.cruiseState.available:
@@ -145,24 +143,11 @@ class CarInterface(CarInterfaceBase):
 
     ret, self.CS = self.get_sp_common_state(ret, self.CS)
 
-    # CANCEL
-    if self.CS.out.cruiseState.enabled and not ret.cruiseState.enabled:
-      be = car.CarState.ButtonEvent.new_message()
-      be.pressed = True
-      be.type = ButtonType.cancel
-      buttonEvents.append(be)
-
-    # MADS BUTTON
-    if self.CS.out.madsEnabled != self.CS.madsEnabled:
-      if self.mads_event_lock:
-        buttonEvents.append(create_mads_event(self.mads_event_lock))
-        self.mads_event_lock = False
-    else:
-      if not self.mads_event_lock:
-        buttonEvents.append(create_mads_event(self.mads_event_lock))
-        self.mads_event_lock = True
-
-    ret.buttonEvents = buttonEvents
+    ret.buttonEvents = [
+      *self.CS.button_events,
+      *self.button_events.create_cancel_event(ret.cruiseState.enabled, self.CS.out.cruiseState.enabled),
+      *self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled)  # MADS BUTTON
+    ]
 
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low], pcm_enable=False)
 
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 451265f9cd..d8b2516aba 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -5,7 +5,7 @@ from panda import Panda
 from panda.python import uds
 from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, ToyotaFlagsSP, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
                                         MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
-from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
@@ -212,11 +212,10 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam)
     self.sp_update_params()
 
-    buttonEvents = []
     distance_button = 0
 
     if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
-      buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+      self.CS.button_events = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
       distance_button = self.CS.distance_button
 
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
@@ -245,24 +244,11 @@ class CarInterface(CarInterfaceBase):
 
     ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(distance_button))
 
-    # CANCEL
-    if self.CS.out.cruiseState.enabled and not ret.cruiseState.enabled:
-      be = car.CarState.ButtonEvent.new_message()
-      be.pressed = True
-      be.type = ButtonType.cancel
-      buttonEvents.append(be)
-
-    # MADS BUTTON
-    if self.CS.out.madsEnabled != self.CS.madsEnabled:
-      if self.mads_event_lock:
-        buttonEvents.append(create_mads_event(self.mads_event_lock))
-        self.mads_event_lock = False
-    else:
-      if not self.mads_event_lock:
-        buttonEvents.append(create_mads_event(self.mads_event_lock))
-        self.mads_event_lock = True
-
-    ret.buttonEvents = buttonEvents
+    ret.buttonEvents = [
+      *self.CS.button_events,
+      *self.button_events.create_cancel_event(ret.cruiseState.enabled, self.CS.out.cruiseState.enabled),
+      *self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled)  # MADS BUTTON
+    ]
 
     # events
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 6ec27b8be0..1dc4c0e430 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -4,7 +4,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
-                                            CarControllerParams, VolkswagenFlags, BUTTON_STATES, VolkswagenFlagsSP
+                                            CarControllerParams, VolkswagenFlags, VolkswagenFlagsSP
 
 
 class CarState(CarStateBase):
@@ -17,8 +17,6 @@ class CarState(CarStateBase):
     self.esp_hold_confirmation = False
     self.upscale_lead_car_signal = False
     self.eps_stock_values = False
-    self.buttonStates = BUTTON_STATES.copy()
-    self.buttonStatesPrev = BUTTON_STATES.copy()
 
   def create_button_events(self, pt_cp, buttons):
     button_events = []
@@ -41,7 +39,6 @@ class CarState(CarStateBase):
     ret = car.CarState.new_message()
 
     self.prev_mads_enabled = self.mads_enabled
-    self.buttonStatesPrev = self.buttonStates.copy()
 
     # Update vehicle speed and acceleration from ABS wheel speeds.
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -150,18 +147,10 @@ class CarState(CarStateBase):
       if ret.cruiseState.speed > 90:
         ret.cruiseState.speed = 0
 
-    # Update control button states for turn signals and ACC controls.
-    self.buttonStates["accelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Hoch"])
-    self.buttonStates["decelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Runter"])
-    self.buttonStates["cancel"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Abbrechen"])
-    self.buttonStates["setCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Setzen"])
-    self.buttonStates["resumeCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Wiederaufnahme"])
-    self.buttonStates["gapAdjustCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Verstellung_Zeitluecke"])
-
     # Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
     ret.leftBlinker = ret.leftBlinkerOn = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"])
     ret.rightBlinker = ret.rightBlinkerOn = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
-    ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
+    self.button_events = self.create_button_events(pt_cp, self.CCP.BUTTONS)
     self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
 
     # Additional safety checks performed in CarInterface.
@@ -177,7 +166,6 @@ class CarState(CarStateBase):
     ret = car.CarState.new_message()
 
     self.prev_mads_enabled = self.mads_enabled
-    self.buttonStatesPrev = self.buttonStates.copy()
 
     # Update vehicle speed and acceleration from ABS wheel speeds.
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -265,18 +253,10 @@ class CarState(CarStateBase):
     if ret.cruiseState.speed > 70:  # 255 kph in m/s == no current setpoint
       ret.cruiseState.speed = 0
 
-    # Update control button states for turn signals and ACC controls.
-    self.buttonStates["accelCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Up_kurz"])
-    self.buttonStates["decelCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Down_kurz"])
-    self.buttonStates["cancel"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Abbrechen"])
-    self.buttonStates["setCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Neu_Setzen"])
-    self.buttonStates["resumeCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Recall"])
-    self.buttonStates["gapAdjustCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Zeitluecke"])
-
     # Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
     ret.leftBlinker, ret.rightBlinker = ret.leftBlinkerOn, ret.rightBlinkerOn = self.update_blinker_from_stalk(300, pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_li"],
                                                                                                                       pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_re"])
-    ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
+    self.button_events = self.create_button_events(pt_cp, self.CCP.BUTTONS)
     self.gra_stock_values = pt_cp.vl["GRA_Neu"]
 
     # Additional safety checks performed in CarInterface.
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 31dea25cbb..d965cf2e8b 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -1,10 +1,10 @@
 from cereal import car
 from panda import Panda
 from openpilot.common.params import Params
-from openpilot.selfdrive.car import get_safety_config, create_mads_event
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, CarControllerParams, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags, \
-                                                      BUTTON_STATES, VolkswagenFlagsSP
+                                                      VolkswagenFlagsSP
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -21,8 +21,6 @@ class CarInterface(CarInterfaceBase):
       self.ext_bus = CANBUS.cam
       self.cp_ext = self.cp_cam
 
-    self.buttonStatesPrev = BUTTON_STATES.copy()
-
   @staticmethod
   def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "volkswagen"
@@ -117,21 +115,10 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
     self.sp_update_params()
 
-    buttonEvents = []
-
-    # Check for and process state-change events (button press or release) from
-    # the turn stalk switch or ACC steering wheel/control stalk buttons.
-    for button in self.CS.buttonStates:
-      if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
-        be = car.CarState.ButtonEvent.new_message()
-        be.type = button
-        be.pressed = self.CS.buttonStates[button]
-        buttonEvents.append(be)
-
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
     self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
-                                                            buttonEvents, c.vCruise,
+                                                            self.CS.button_events, c.vCruise,
                                                             enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
 
     if ret.cruiseState.available:
@@ -144,7 +131,7 @@ class CarInterface(CarInterfaceBase):
     self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS)
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
-      if any(b.type == ButtonType.cancel for b in buttonEvents):
+      if any(b.type == ButtonType.cancel for b in self.CS.button_events):
         self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
       self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
@@ -155,19 +142,13 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.buttonStates["gapAdjustCruise"]))
+    ret, self.CS = self.get_sp_common_state(ret, self.CS,
+                                            gap_button=any(b.type == ButtonType.gapAdjustCruise and b.pressed for b in self.CS.button_events))
 
-    # MADS BUTTON
-    if self.CS.out.madsEnabled != self.CS.madsEnabled:
-      if self.mads_event_lock:
-        buttonEvents.append(create_mads_event(self.mads_event_lock))
-        self.mads_event_lock = False
-    else:
-      if not self.mads_event_lock:
-        buttonEvents.append(create_mads_event(self.mads_event_lock))
-        self.mads_event_lock = True
-
-    ret.buttonEvents = buttonEvents
+    ret.buttonEvents = [
+      *self.CS.button_events,
+      *self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled)  # MADS BUTTON
+    ]
 
     events = self.create_common_events(ret, c, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
                                        pcm_enable=False,
@@ -199,8 +180,4 @@ class CarInterface(CarInterfaceBase):
 
     ret.events = events.to_msg()
 
-    # update previous car states
-    self.buttonStatesPrev = self.CS.buttonStates.copy()
-
     return ret
-
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 2996db602f..80b7ca0b0b 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -147,16 +147,6 @@ class VolkswagenFlagsSP(IntFlag):
   SP_CC_ONLY_NO_RADAR = 2
 
 
-BUTTON_STATES = {
-  "accelCruise": False,
-  "decelCruise": False,
-  "cancel": False,
-  "setCruise": False,
-  "resumeCruise": False,
-  "gapAdjustCruise": False
-}
-
-
 @dataclass
 class VolkswagenMQBPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_mqb_2010', None))
diff --git a/selfdrive/ui/qt/offroad/sunnypilot/visuals_settings.cc b/selfdrive/ui/qt/offroad/sunnypilot/visuals_settings.cc
index 46bd84b6d9..742725e8ab 100644
--- a/selfdrive/ui/qt/offroad/sunnypilot/visuals_settings.cc
+++ b/selfdrive/ui/qt/offroad/sunnypilot/visuals_settings.cc
@@ -82,12 +82,12 @@ VisualsPanel::VisualsPanel(QWidget *parent) : ListWidget(parent) {
   dev_ui_settings->showDescription();
 
   // Visuals: Display Metrics above Chevron
-  std::vector<QString> chevron_info_settings_texts{tr("Off"), tr("Distance"), tr("Speed"), tr("Distance\nSpeed")};
+  std::vector<QString> chevron_info_settings_texts{tr("Off"), tr("Distance"), tr("Speed"), tr("Time"), tr("All")};
   chevron_info_settings = new ButtonParamControl(
     "ChevronInfo", tr("Display Metrics Below Chevron"), tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control)."),
     "../assets/offroad/icon_blank.png",
     chevron_info_settings_texts,
-    340
+    300
   );
   chevron_info_settings->showDescription();
 
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index 009ff76138..bb19798e92 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -1525,20 +1525,28 @@ void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState
   painter.drawPolygon(chevron, std::size(chevron));
 
   if (num == 0) {  // Display metrics to the 0th lead car
-    int chevron_types = 2;
+    const int chevron_types = 3;
+    const int chevron_all = chevron_types + 1;  // All metrics
     QStringList chevron_text[chevron_types];
     int position;
     float val;
-    if (chevron_data == 1 || chevron_data == 3) {
+    if (chevron_data == 1 || chevron_data == chevron_all) {
       position = 0;
       val = std::max(0.0f, d_rel);
       chevron_text[position].append(QString::number(val,'f', 0) + " " + "m");
     }
-    if (chevron_data == 2 || chevron_data == 3) {
+    if (chevron_data == 2 || chevron_data == chevron_all) {
       position = (chevron_data == 2) ? 0 : 1;
       val = std::max(0.0f, (v_rel + v_ego) * (is_metric ? static_cast<float>(MS_TO_KPH) : static_cast<float>(MS_TO_MPH)));
       chevron_text[position].append(QString::number(val,'f', 0) + " " + (is_metric ? "km/h" : "mph"));
     }
+    if (chevron_data == 3 || chevron_data == chevron_all) {
+      position = (chevron_data == 3) ? 0 : 2;
+      val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f;
+
+      QString ttc_str = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---";
+      chevron_text[position].append(ttc_str);
+    }
 
     float str_w = 200; // Width of the text box, might need adjustment
     float str_h = 50; // Height of the text box, adjust as necessary
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 388198736c..032fc0a667 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -117,6 +117,8 @@ def manager_init() -> None:
     ("CustomDrivingModel", "0"),
     ("DrivingModelGeneration", "4"),
     ("LastSunnylinkPingTime", "0"),
+    ("EnableGitlabRunner", "0"),
+    ("EnableSunnylinkUploader", "0"),
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat().encode('utf8')))
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 8818d3b851..a718ea021b 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -6,7 +6,7 @@ from openpilot.system.hardware import PC, TICI
 from openpilot.selfdrive.modeld.custom_model_metadata import CustomModelMetadata, ModelCapabilities
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
 from openpilot.system.mapd_manager import MAPD_PATH, COMMON_DIR
-from openpilot.system.manager.sunnylink import sunnylink_need_register, sunnylink_ready
+from openpilot.system.manager.sunnylink import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
 
@@ -44,6 +44,10 @@ def only_onroad(started: bool, params, CP: car.CarParams) -> bool:
 def only_offroad(started, params, CP: car.CarParams) -> bool:
   return not started
 
+def use_gitlab_runner(started, params, CP: car.CarParams) -> bool:
+  return (not PC and params.get_bool("EnableGitlabRunner") and only_offroad(started, params, CP)
+          and os.path.exists("./gitlab_runner.sh"))
+
 def model_use_nav(started, params, CP: car.CarParams) -> bool:
   custom_model_metadata = CustomModelMetadata(params=params, init_only=True)
   return started and custom_model_metadata.valid and custom_model_metadata.capabilities & ModelCapabilities.NoO
@@ -56,6 +60,10 @@ def sunnylink_need_register_shim(started, params, CP: car.CarParams) -> bool:
   """Shim for sunnylink_need_register to match the process manager signature."""
   return sunnylink_need_register(params)
 
+def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
+  """Shim for use_sunnylink_uploader to match the process manager signature."""
+  return use_sunnylink_uploader(params) and os.path.exists("../loggerd/sunnylink_uploader.py")
+
 procs = [
   DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
 
@@ -112,21 +120,12 @@ procs = [
   PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
   PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
 
+  # Sunnypilot devs
+  NativeProcess("gitlab_runner_start", "system/manager", ["./gitlab_runner.sh", "start"], use_gitlab_runner, sigkill=False),
   # Sunnylink <3
   DaemonProcess("manage_sunnylinkd", "system.athena.manage_sunnylinkd", "SunnylinkdPid"),
   PythonProcess("sunnylink_registration", "system.manager.sunnylink", sunnylink_need_register_shim),
+  PythonProcess("sunnylink_uploader", "system.loggerd.sunnylink_uploader", use_sunnylink_uploader_shim),
 ]
 
-if os.path.exists("../loggerd/sunnylink_uploader.py"):
-  procs += [
-    PythonProcess("sunnylink_uploader", "system.loggerd.sunnylink_uploader", sunnylink_ready_shim),
-  ]
-
-if os.path.exists("./gitlab_runner.sh") and not PC:
-  # Only devs!
-  procs += [
-    NativeProcess("gitlab_runner_start", "system/manager", ["./gitlab_runner.sh", "start"], only_offroad, sigkill=False),
-    NativeProcess("gitlab_runner_stop", "system/manager", ["./gitlab_runner.sh", "stop"], only_onroad, sigkill=False)
-  ]
-
 managed_processes = {p.name: p for p in procs}
diff --git a/system/manager/sunnylink.py b/system/manager/sunnylink.py
index 84161fb817..10a5f95a3d 100755
--- a/system/manager/sunnylink.py
+++ b/system/manager/sunnylink.py
@@ -27,6 +27,11 @@ def sunnylink_ready(params=Params()) -> bool:
   return is_sunnylink_enabled and is_registered
 
 
+def use_sunnylink_uploader(params) -> bool:
+  """Check if the device is ready to use Sunnylink and the uploader is enabled."""
+  return sunnylink_ready(params) and params.get_bool("EnableSunnylinkUploader")
+
+
 def sunnylink_need_register(params=Params()) -> bool:
   """Check if the device needs to be registered with Sunnylink."""
   is_sunnylink_enabled, is_registered = get_sunnylink_status(params)