diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index f1cfc82159..7174ee2800 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -17,6 +17,7 @@
     "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
     "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
     "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
+    "--volume=${localEnv:HOME}/.azure:/home/batman/.azure",
     "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
     "--shm-size=1G",
     "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
@@ -28,7 +29,9 @@
       "installOhMyZsh": false,
       "upgradePackages": false,
       "username": "batman"
-    }
+    },
+    "ghcr.io/devcontainers-contrib/features/gh-cli:1": {},
+    "ghcr.io/devcontainers/features/azure-cli:1": {}
   },
   "containerUser": "batman",
   "remoteUser": "batman",
diff --git a/.github/PULL_REQUEST_TEMPLATE/car_port.md b/.github/PULL_REQUEST_TEMPLATE/car_port.md
index 690c24c9b0..c7aa2b96c2 100644
--- a/.github/PULL_REQUEST_TEMPLATE/car_port.md
+++ b/.github/PULL_REQUEST_TEMPLATE/car_port.md
@@ -8,7 +8,7 @@ assignees: ''
 
 **Checklist**
 
-- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
index 3e3f42dcbc..2b4a5ed48f 100644
--- a/.github/pull_request_template.md
+++ b/.github/pull_request_template.md
@@ -44,7 +44,7 @@ Explain how you tested this bug fix.
 
 **Checklist**
 
-- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
diff --git a/.github/workflows/auto-cache/action.yaml b/.github/workflows/auto-cache/action.yaml
index 173803f7f0..e99c46e3c3 100644
--- a/.github/workflows/auto-cache/action.yaml
+++ b/.github/workflows/auto-cache/action.yaml
@@ -19,14 +19,14 @@ runs:
   using: "composite"
   steps:
     - name: setup namespace cache
-      if: ${{ contains(runner.name, 'nsc') }} 
+      if: ${{ contains(runner.name, 'nsc') }}
       uses: namespacelabs/nscloud-cache-action@v1
       with:
         path: ${{ inputs.path }}
 
     - name: setup github cache
       if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
-      uses: 'actions/cache@v3'
+      uses: 'actions/cache@v4'
       with:
         path: ${{ inputs.path }}
         key: ${{ inputs.key }}
@@ -34,7 +34,7 @@ runs:
 
     - name: setup github cache
       if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
-      uses: 'actions/cache/restore@v3'
+      uses: 'actions/cache/restore@v4'
       with:
         path: ${{ inputs.path }}
         key: ${{ inputs.key }}
@@ -46,4 +46,4 @@ runs:
       run: |
         mkdir -p ${{ inputs.path }}
         sudo chmod -R 777 ${{ inputs.path }}
-        sudo chown -R $USER ${{ inputs.path }}
\ No newline at end of file
+        sudo chown -R $USER ${{ inputs.path }}
diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index 42ef4dbc1c..8316fedda0 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -24,7 +24,7 @@ jobs:
     runs-on: ubuntu-latest
     if: github.repository == 'commaai/openpilot'
     steps:
-    - uses: Vankka/pr-target-branch-action@69ab6dd5c221de3548b3b6c4d102c1f4913d3baa
+    - uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
diff --git a/.github/workflows/compile-openpilot/action.yaml b/.github/workflows/compile-openpilot/action.yaml
index 2945b67d2e..4015746c0e 100644
--- a/.github/workflows/compile-openpilot/action.yaml
+++ b/.github/workflows/compile-openpilot/action.yaml
@@ -14,7 +14,7 @@ runs:
           ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
                           scons -j$(nproc) --cache-populate"
     - name: Save scons cache
-      uses: actions/cache/save@v3
+      uses: actions/cache/save@v4
       if: github.ref == 'refs/heads/master'
       with:
         path: .ci_cache/scons_cache
diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
index 990be73f72..3fdf6db202 100644
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -22,7 +22,7 @@ jobs:
     steps:
     - name: Wait for green check mark
       if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f
+      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
       with:
         ref: master
         wait-interval: 30
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index 3e3fe46e7a..346c3e85ef 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -24,7 +24,7 @@ jobs:
         sudo apt-get install -y libyaml-dev
     - name: Wait for green check mark
       if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f
+      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
       with:
         ref: master
         wait-interval: 30
diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 445a1cf11c..67f6849588 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -22,7 +22,7 @@ jobs:
         git -c submodule."tinygrad".update=none submodule update --remote
         git add .
     - name: Create Pull Request
-      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
+      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
       with:
         token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
         commit-message: bump submodules
@@ -49,7 +49,7 @@ jobs:
         git config --global --add safe.directory '*'
         pre-commit autoupdate
     - name: Create Pull Request
-      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
+      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
       with:
         token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
         commit-message: Update Python packages and pre-commit hooks
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index d1dff147f2..30ae4da783 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -69,7 +69,7 @@ jobs:
       matrix:
         arch: ${{ fromJson(
            ((github.repository == 'commaai/openpilot') &&
-              ((github.event_name != 'pull_request') || 
+              ((github.event_name != 'pull_request') ||
                (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
     runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }}
     steps:
@@ -122,7 +122,7 @@ jobs:
   static_analysis:
     name: static analysis
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') || 
+                   ((github.event_name != 'pull_request') ||
                     (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v4
@@ -155,7 +155,7 @@ jobs:
   unit_tests:
     name: unit tests
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') || 
+                   ((github.event_name != 'pull_request') ||
                     (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v4
@@ -177,7 +177,7 @@ jobs:
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         ./selfdrive/ui/tests/test_translations.py"
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v3
+      uses: codecov/codecov-action@v4
       with:
         name: ${{ github.job }}
       env:
@@ -186,7 +186,7 @@ jobs:
   process_replay:
     name: process replay
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') || 
+                   ((github.event_name != 'pull_request') ||
                     (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v4
@@ -197,7 +197,7 @@ jobs:
         docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Cache test routes
       id: dependency-cache
-      uses: actions/cache@v3
+      uses: actions/cache@v4
       with:
         path: .ci_cache/comma_download_cache
         key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
@@ -215,7 +215,7 @@ jobs:
       id: print-diff
       if: always()
       run: cat selfdrive/test/process_replay/diff.txt
-    - uses: actions/upload-artifact@v3
+    - uses: actions/upload-artifact@v4
       if: always()
       continue-on-error: true
       with:
@@ -226,7 +226,7 @@ jobs:
       run: |
         ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v3
+      uses: codecov/codecov-action@v4
       with:
         name: ${{ github.job }}
       env:
@@ -235,14 +235,14 @@ jobs:
   regen:
     name: regen
     runs-on: 'ubuntu-20.04'
-    steps: 
+    steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
     - name: Cache test routes
       id: dependency-cache
-      uses: actions/cache@v3
+      uses: actions/cache@v4
       with:
         path: .ci_cache/comma_download_cache
         key: regen-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_regen.py') }}
@@ -284,7 +284,7 @@ jobs:
         ${{ env.RUN }} "unset PYTHONWARNINGS && \
                            $PYTEST selfdrive/modeld"
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v3
+      uses: codecov/codecov-action@v4
       with:
         name: ${{ github.job }}
       env:
@@ -293,7 +293,7 @@ jobs:
   test_cars:
     name: cars
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') || 
+                   ((github.event_name != 'pull_request') ||
                     (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
     strategy:
       fail-fast: false
@@ -321,7 +321,7 @@ jobs:
         NUM_JOBS: 5
         JOB_ID: ${{ matrix.job }}
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v3
+      uses: codecov/codecov-action@v4
       with:
         name: ${{ github.job }}-${{ matrix.job }}
       env:
@@ -340,7 +340,7 @@ jobs:
       - uses: ./.github/workflows/setup-with-retry
       - name: Get base car info
         run: |
-          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"
+          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
           sudo chown -R $USER:$USER ${{ github.workspace }}
       - uses: actions/checkout@v4
         with:
@@ -352,19 +352,19 @@ jobs:
         run: |
           cd current
           ${{ env.RUN }} "scons -j$(nproc)"
-          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info")
+          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
           output="${output//$'\n'/'%0A'}"
           echo "::set-output name=diff::$output"
       - name: Find comment
         if: ${{ env.AZURE_TOKEN != '' }}
-        uses: peter-evans/find-comment@1769778a0c5bd330272d749d12c036d65e70d39d
+        uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e
         id: fc
         with:
           issue-number: ${{ github.event.pull_request.number }}
           body-includes: This PR makes changes to
       - name: Update comment
         if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
-        uses: peter-evans/create-or-update-comment@b95e16d2859ad843a14218d1028da5b2c4cbc4b4
+        uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043
         with:
           comment-id: ${{ steps.fc.outputs.comment-id }}
           issue-number: ${{ github.event.pull_request.number }}
@@ -372,7 +372,7 @@ jobs:
           edit-mode: replace
       - name: Delete comment
         if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
-        uses: actions/github-script@v6
+        uses: actions/github-script@v7
         with:
           script: |
             github.rest.issues.deleteComment({
@@ -395,10 +395,10 @@ jobs:
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&
-                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && 
+                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' &&
                             python selfdrive/ui/tests/test_ui/run.py"
       - name: Upload Test Report
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
           name: report
-          path: selfdrive/ui/tests/test_ui/report
\ No newline at end of file
+          path: selfdrive/ui/tests/test_ui/report
diff --git a/.github/workflows/setup-pre-commit/action.yaml b/.github/workflows/setup-pre-commit/action.yaml
index 1b3e16e73f..f07a106861 100644
--- a/.github/workflows/setup-pre-commit/action.yaml
+++ b/.github/workflows/setup-pre-commit/action.yaml
@@ -4,7 +4,7 @@ runs:
   using: "composite"
   steps:
     - uses: ./.github/workflows/auto-cache
-      with: 
+      with:
         path: .ci_cache/pre-commit
         key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
         restore-keys: |
diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml
index 2d60d2f0e9..b33945cae2 100644
--- a/.github/workflows/stale.yaml
+++ b/.github/workflows/stale.yaml
@@ -12,15 +12,16 @@ jobs:
   stale:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/stale@v8
+      - uses: actions/stale@v9
         with:
           exempt-milestones: true
 
           # pull request config
           stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
           close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
+          stale-pr-label: stale
           delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing,car port" # if wip or it needs testing from the community, don't mark as stale
+          exempt-pr-labels: "ignore stale,needs testing,car port,car" # if wip or it needs testing from the community, don't mark as stale
           days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
           days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
 
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index a051cb1241..ff0e29e9e2 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -31,7 +31,7 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot
       timeout-minutes: 5
-      run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ --minimal"
+      run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ opendbc/ --minimal"
     - name: Test PlotJuggler
       timeout-minutes: 2
       run: |
@@ -99,4 +99,4 @@ jobs:
     - name: Test notebooks
       timeout-minutes: 3
       run: |
-        ${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/"
\ No newline at end of file
+        ${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/"
diff --git a/.gitignore b/.gitignore
index 3da75aaea4..98fc70d029 100644
--- a/.gitignore
+++ b/.gitignore
@@ -52,7 +52,6 @@ selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
-selfdrive/modeld/_navmodeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/
 
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 6db68e55bc..ec3ec96794 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -5,7 +5,7 @@ repos:
     -   id: check-hooks-apply
     -   id: check-useless-excludes
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v4.6.0
     hooks:
     -   id: check-ast
         exclude: '^(third_party)/'
@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.2.2
+    rev: v0.4.1
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -75,7 +75,7 @@ repos:
         # relevant rules are whitelisted, see all options with: cpplint --filter=
         - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
 -   repo: https://github.com/MarcoGorelli/cython-lint
-    rev: v0.16.0
+    rev: v0.16.2
     hooks:
     -   id: cython-lint
         exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
@@ -98,6 +98,6 @@ repos:
         args:
         - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.0
+    rev: 0.28.2
     hooks:
     -   id: check-github-workflows
diff --git a/.vscode/settings.json b/.vscode/settings.json
index daf74ca777..f0731c362d 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -12,5 +12,16 @@
     "**/.git": true,
     "**/.venv": true,
     "**/__pycache__": true
-  }
-}
\ No newline at end of file
+  },
+  "python.analysis.exclude": [
+    "**/.git",
+    "**/.venv",
+    "**/__pycache__",
+    // exclude directories that should be using the symlinked version
+    "common/**",
+    "selfdrive/**",
+    "system/**",
+    "third_party/**",
+    "tools/**",
+  ]
+}
diff --git a/Jenkinsfile b/Jenkinsfile
index d716510bfe..efba905c6b 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -9,6 +9,11 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
   throw Exception("Failed after ${maxRetries} retries")
 }
 
+// check if started by timer: https://gist.github.com/aaclarker/75b8a0eb2b4d600779f84f8e849f2c37
+def isJobStartedByTimer() {
+  return currentBuild.getBuildCauses()[0]["shortDescription"].matches("Started by timer");
+}
+
 def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
@@ -26,6 +31,7 @@ export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
+export AZURE_TOKEN_OPENPILOT_RELEASES='${env.AZURE_TOKEN_OPENPILOT_RELEASES}'
 export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
 # only use 1 thread for tici tests since most require HIL
 export PYTEST_ADDOPTS="-n 0"
@@ -40,6 +46,7 @@ if [ -f /TICI ]; then
   rm -rf /tmp/tmp*
   rm -rf ~/.commacache
   rm -rf /dev/shm/*
+  rm -rf /dev/tmp/tmp*
 
   if ! systemctl is-active --quiet systemd-resolved; then
     echo "restarting resolved"
@@ -104,7 +111,7 @@ def pcStage(String stageName, Closure body) {
 
     checkout scm
 
-    def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE} --cpus=8 --memory 16g -e PYTEST_ADDOPTS='-n8'";
+    def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE} -e AZURE_TOKEN_OPENPILOT_RELEASES='${env.AZURE_TOKEN_OPENPILOT_RELEASES}' --cpus=8 --memory 16g -e PYTEST_ADDOPTS='-n8'";
 
     def openpilot_base = retryWithDelay (3, 15) {
       return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
@@ -112,7 +119,7 @@ def pcStage(String stageName, Closure body) {
 
     lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) {
       openpilot_base.inside(dockerArgs) {
-        timeout(time: 20, unit: 'MINUTES') {
+        timeout(time: 25, unit: 'MINUTES') {
           try {
             retryWithDelay (3, 15) {
               sh "git config --global --add safe.directory '*'"
@@ -134,14 +141,56 @@ def pcStage(String stageName, Closure body) {
 def setupCredentials() {
   withCredentials([
     string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
+    string(credentialsId: 'azure_token_openpilot_releases', variable: 'AZURE_TOKEN_OPENPILOT_RELEASES'),
     string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
   ]) {
     env.AZURE_TOKEN = "${AZURE_TOKEN}"
+    env.AZURE_TOKEN_OPENPILOT_RELEASES = "${AZURE_TOKEN_OPENPILOT_RELEASES}"
     env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
   }
 }
 
 
+def build_git_release(String channel_name) {
+  return parallel (
+    "${channel_name} (git)": {
+      deviceStage("build git", "tici-needs-can", [], [
+        ["build ${channel_name}", "RELEASE_BRANCH=${channel_name} $SOURCE_DIR/release/build_git_release.sh"],
+      ])
+    }
+  )
+}
+
+
+def build_casync_release(String channel_name, def is_release) {
+  def extra_env = is_release ? "RELEASE=1 " : ""
+  def build_dir = "/data/openpilot"
+
+  extra_env += "TMPDIR=/data/tmp PYTHONPATH=$SOURCE_DIR"
+
+  return deviceStage("build casync", "tici-needs-can", [], [
+    ["build", "${extra_env} $SOURCE_DIR/release/build_release.sh ${build_dir}"],
+    ["package + upload", "${extra_env} $SOURCE_DIR/release/package_casync_build.py ${build_dir}"],
+  ])
+}
+
+
+def build_stage() {
+  return parallel (
+    'nightly': {
+      build_casync_release("nightly", true);
+    },
+    'master': {
+      build_casync_release("master", false);
+    },
+    'publish agnos': {
+      pcStage("publish agnos") {
+        sh "PYTHONWARNINGS=ignore release/package_casync_agnos.py"
+      }
+    }
+  )
+}
+
 node {
   env.CI = "1"
   env.PYTHONWARNINGS = "error"
@@ -156,94 +205,105 @@ node {
                          'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
-  if (env.BRANCH_NAME != 'master') {
-    properties([
-        disableConcurrentBuilds(abortPrevious: true)
-    ])
+  def nightlyBranch = "master"
+
+  def props = [];
+
+  if (env.BRANCH_NAME == nightlyBranch) {
+    props.add(pipelineTriggers([
+      cron('0 9 * * *')     // at 2am PST (9am UTC) every night
+    ]))
   }
 
+  if (env.BRANCH_NAME != "master") {
+    props.add(disableConcurrentBuilds(abortPrevious: true))
+  }
+
+  properties(props);
+
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release3-staging", "tici-needs-can", [], [
-        ["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"],
-      ])
+      build_git_release("release3-staging")
     }
 
     if (env.BRANCH_NAME == 'master-ci') {
-      deviceStage("build nightly", "tici-needs-can", [], [
-        ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
-      ])
+      build_git_release("nightly")
     }
 
     if (!env.BRANCH_NAME.matches(excludeRegex)) {
-    parallel (
-      // tici tests
-      'onroad tests': {
-        deviceStage("onroad", "tici-needs-can", [], [
-          // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
-          //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
-          ["build openpilot", "cd selfdrive/manager && ./build.py"],
-          ["check dirty", "release/check-dirty.sh"],
-          ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
-          ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
-        ])
-      },
-      'HW + Unit Tests': {
-        deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
-          ["build", "cd selfdrive/manager && ./build.py"],
-          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
-          ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
-          ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
-          ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
-          ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
-        ])
-      },
-      'loopback': {
-        deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
-          ["build openpilot", "cd selfdrive/manager && ./build.py"],
-          ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
-        ])
-      },
-      'camerad': {
-        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
-          ["build", "cd selfdrive/manager && ./build.py"],
-          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-        ])
-        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
-          ["build", "cd selfdrive/manager && ./build.py"],
-          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-        ])
-      },
-      'sensord': {
-        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
-          ["build", "cd selfdrive/manager && ./build.py"],
-          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
-        ])
-        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
-          ["build", "cd selfdrive/manager && ./build.py"],
-          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
-        ])
-      },
-      'replay': {
-        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
-          ["build", "cd selfdrive/manager && ./build.py"],
-          ["model replay", "selfdrive/test/process_replay/model_replay.py"],
-        ])
-      },
-      'tizi': {
-        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          ["build openpilot", "cd selfdrive/manager && ./build.py"],
-          ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
-          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
-          ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
-          ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
-          ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
-        ])
-      },
+      parallel (
+        // tici tests
+        'onroad tests': {
+          deviceStage("onroad", "tici-needs-can", [], [
+            // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
+            //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
+            ["build openpilot", "cd selfdrive/manager && ./build.py"],
+            ["check dirty", "release/check-dirty.sh"],
+            ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
+            ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
+          ])
+        },
+        'HW + Unit Tests': {
+          deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
+            ["build", "cd selfdrive/manager && ./build.py"],
+            ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+            ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
+            ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
+            ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
+            ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
+          ])
+        },
+        'loopback': {
+          deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
+            ["build openpilot", "cd selfdrive/manager && ./build.py"],
+            ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+          ])
+        },
+        'camerad': {
+          deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
+            ["build", "cd selfdrive/manager && ./build.py"],
+            ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+            ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+          ])
+          deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
+            ["build", "cd selfdrive/manager && ./build.py"],
+            ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+            ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+          ])
+        },
+        'sensord': {
+          deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
+            ["build", "cd selfdrive/manager && ./build.py"],
+            ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
+          ])
+          deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
+            ["build", "cd selfdrive/manager && ./build.py"],
+            ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
+          ])
+        },
+        'replay': {
+          deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
+            ["build", "cd selfdrive/manager && ./build.py"],
+            ["model replay", "selfdrive/test/process_replay/model_replay.py"],
+          ])
+        },
+        'tizi': {
+          deviceStage("tizi", "tizi", ["UNSAFE=1"], [
+            ["build openpilot", "cd selfdrive/manager && ./build.py"],
+            ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+            ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+            ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
+            ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
+            ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
+          ])
+        },
+      )
+    }
 
-    )
+    if (env.BRANCH_NAME == nightlyBranch && isJobStartedByTimer()) {
+      stage('build release') {
+        build_stage()
+      }
     }
   } catch (Exception e) {
     currentBuild.result = 'FAILED'
diff --git a/RELEASES.md b/RELEASES.md
index 52485cc418..1cc907e407 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,6 +1,7 @@
 Version 0.9.7 (2024-XX-XX)
 ========================
 * New driving model
+* Adjust driving personality with the follow distance button
 * Support for hybrid variants of supported Ford models
 * Hyundai Palisade (with HDA II) 2023-24 support thanks to sunnyhaibin!
 * Kia Telluride (with HDA II) 2023-24 support thanks to sunnyhaibin!
diff --git a/SConstruct b/SConstruct
index c08fe48f66..4db1392a74 100644
--- a/SConstruct
+++ b/SConstruct
@@ -376,11 +376,13 @@ SConscript([
 ])
 if arch != "Darwin":
   SConscript([
-    'system/camerad/SConscript',
     'system/sensord/SConscript',
     'system/logcatd/SConscript',
   ])
 
+if arch == "larch64":
+  SConscript(['system/camerad/SConscript'])
+
 # Build openpilot
 SConscript(['third_party/SConscript'])
 
@@ -388,7 +390,8 @@ SConscript(['selfdrive/SConscript'])
 
 if Dir('#tools/cabana/').exists() and GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
-  SConscript(['tools/cabana/SConscript'])
+  if arch != "larch64":
+    SConscript(['tools/cabana/SConscript'])
 
 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:
diff --git a/cereal b/cereal
index bfbb0cab83..db1359ec22 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit bfbb0cab83e3ad49d85ad1a34ee1241bf1ff782f
+Subproject commit db1359ec22f6ab60c6e76abc4531bc843345d6b5
diff --git a/common/git.py b/common/git.py
new file mode 100644
index 0000000000..bfb18ce25d
--- /dev/null
+++ b/common/git.py
@@ -0,0 +1,42 @@
+import subprocess
+from openpilot.common.utils import cache
+from openpilot.common.run import run_cmd, run_cmd_default
+
+
+@cache
+def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
+  return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
+
+
+@cache
+def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
+  return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
+
+
+@cache
+def get_short_branch(cwd: str = None) -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
+
+
+@cache
+def get_branch(cwd: str = None) -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
+
+
+@cache
+def get_origin(cwd: str = None) -> str:
+  try:
+    local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
+    tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
+    return run_cmd(["git", "config", "remote." + tracking_remote + ".url"], cwd=cwd)
+  except subprocess.CalledProcessError:  # Not on a branch, fallback
+    return run_cmd_default(["git", "config", "--get", "remote.origin.url"], cwd=cwd)
+
+
+@cache
+def get_normalized_origin(cwd: str = None) -> str:
+  return get_origin(cwd) \
+    .replace("git@", "", 1) \
+    .replace(".git", "", 1) \
+    .replace("https://", "", 1) \
+    .replace(":", "/", 1)
diff --git a/common/params.cc b/common/params.cc
index aef2cbdecd..a00401d20a 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -89,6 +89,7 @@ private:
 
 std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
+    {"AlwaysOnDM", PERSISTENT},
     {"ApiCache_Device", PERSISTENT},
     {"ApiCache_NavDestinations", PERSISTENT},
     {"AssistNowToken", PERSISTENT},
@@ -188,6 +189,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RecordFront", PERSISTENT},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
     {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"RouteCount", PERSISTENT},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
     {"TermsVersion", PERSISTENT},
@@ -206,7 +208,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
-    {"VisionRadarToggle", PERSISTENT},
 };
 
 } // namespace
@@ -273,7 +274,9 @@ int Params::put(const char* key, const char* value, size_t value_size) {
   } while (false);
 
   close(tmp_fd);
-  ::unlink(tmp_path.c_str());
+  if (result != 0) {
+    ::unlink(tmp_path.c_str());
+  }
   return result;
 }
 
diff --git a/common/prefix.py b/common/prefix.py
index 4059ac09e2..3292acae86 100644
--- a/common/prefix.py
+++ b/common/prefix.py
@@ -4,6 +4,7 @@ import uuid
 
 
 from openpilot.common.params import Params
+from openpilot.system.hardware import PC
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
@@ -45,7 +46,8 @@ class OpenpilotPrefix:
       shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
       os.remove(symlink_path)
     shutil.rmtree(self.msgq_path, ignore_errors=True)
-    shutil.rmtree(Paths.log_root(), ignore_errors=True)
+    if PC:
+      shutil.rmtree(Paths.log_root(), ignore_errors=True)
     if not os.environ.get("COMMA_CACHE", False):
       shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
     shutil.rmtree(Paths.comma_home(), ignore_errors=True)
diff --git a/common/run.py b/common/run.py
new file mode 100644
index 0000000000..06deb6388d
--- /dev/null
+++ b/common/run.py
@@ -0,0 +1,13 @@
+import subprocess
+
+
+def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
+  return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
+
+
+def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
+  try:
+    return run_cmd(cmd, cwd=cwd, env=env)
+  except subprocess.CalledProcessError:
+    return default
+
diff --git a/common/time.py b/common/time.py
index f2e49eb546..5379faf22a 100644
--- a/common/time.py
+++ b/common/time.py
@@ -1,6 +1,15 @@
 import datetime
+from pathlib import Path
 
-MIN_DATE = datetime.datetime(year=2024, month=1, day=28)
+_MIN_DATE = datetime.datetime(year=2024, month=3, day=30)
+
+def min_date():
+  # on systemd systems, the default time is the systemd build time
+  systemd_path = Path("/lib/systemd/systemd")
+  if systemd_path.exists():
+    d = datetime.datetime.fromtimestamp(systemd_path.stat().st_mtime)
+    return d + datetime.timedelta(days=1)
+  return _MIN_DATE
 
 def system_time_valid():
-  return datetime.datetime.now() > MIN_DATE
+  return datetime.datetime.now() > min_date()
diff --git a/common/transformations/camera.py b/common/transformations/camera.py
index c643cb5702..dc3ca5f388 100644
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -1,55 +1,74 @@
+import itertools
 import numpy as np
+from dataclasses import dataclass
 
 import openpilot.common.transformations.orientation as orient
 
 ## -- hardcoded hardware params --
-eon_f_focal_length = 910.0
-eon_d_focal_length = 650.0
-tici_f_focal_length = 2648.0
-tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
+@dataclass(frozen=True)
+class CameraConfig:
+  width: int
+  height: int
+  focal_length: float
 
-eon_f_frame_size = (1164, 874)
-eon_d_frame_size = (816, 612)
-tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
+  @property
+  def size(self):
+    return (self.width, self.height)
 
-# aka 'K' aka camera_frame_from_view_frame
-eon_fcam_intrinsics = np.array([
-  [eon_f_focal_length,  0.0,  float(eon_f_frame_size[0])/2],
-  [0.0,  eon_f_focal_length,  float(eon_f_frame_size[1])/2],
-  [0.0,  0.0,                                          1.0]])
-eon_intrinsics = eon_fcam_intrinsics # xx
+  @property
+  def intrinsics(self):
+    # aka 'K' aka camera_frame_from_view_frame
+    return np.array([
+      [self.focal_length,  0.0, float(self.width)/2],
+      [0.0, self.focal_length, float(self.height)/2],
+      [0.0,  0.0, 1.0]
+    ])
 
-eon_dcam_intrinsics = np.array([
-  [eon_d_focal_length,  0.0,  float(eon_d_frame_size[0])/2],
-  [0.0,  eon_d_focal_length,  float(eon_d_frame_size[1])/2],
-  [0.0,  0.0,                                          1.0]])
+  @property
+  def intrinsics_inv(self):
+    # aka 'K_inv' aka view_frame_from_camera_frame
+    return np.linalg.inv(self.intrinsics)
 
-tici_fcam_intrinsics = np.array([
-  [tici_f_focal_length,  0.0,  float(tici_f_frame_size[0])/2],
-  [0.0,  tici_f_focal_length,  float(tici_f_frame_size[1])/2],
-  [0.0,  0.0,                                            1.0]])
+@dataclass(frozen=True)
+class _NoneCameraConfig(CameraConfig):
+  width: int = 0
+  height: int = 0
+  focal_length: float = 0
 
-tici_dcam_intrinsics = np.array([
-  [tici_d_focal_length,  0.0,  float(tici_d_frame_size[0])/2],
-  [0.0,  tici_d_focal_length,  float(tici_d_frame_size[1])/2],
-  [0.0,  0.0,                                            1.0]])
+@dataclass(frozen=True)
+class DeviceCameraConfig:
+  fcam: CameraConfig
+  dcam: CameraConfig
+  ecam: CameraConfig
 
-tici_ecam_intrinsics = tici_dcam_intrinsics
+  def all_cams(self):
+    for cam in ['fcam', 'dcam', 'ecam']:
+      if not isinstance(getattr(self, cam), _NoneCameraConfig):
+        yield cam, getattr(self, cam)
 
-# aka 'K_inv' aka view_frame_from_camera_frame
-eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
-eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
+_ar_ox_fisheye = CameraConfig(1928, 1208, 567.0)  # focal length probably wrong? magnification is not consistent across frame
+_os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
+_ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
+_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), _os_fisheye, _os_fisheye)
+_neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
 
-tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
-tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
+DEVICE_CAMERAS = {
+  # A "device camera" is defined by a device type and sensor
 
+  # sensor type was never set on eon/neo/two
+  ("neo", "unknown"): _neo_config,
+  # unknown here is AR0231, field was added with OX03C10 support
+  ("tici", "unknown"): _ar_ox_config,
 
-FULL_FRAME_SIZE = tici_f_frame_size
-FOCAL = tici_f_focal_length
-fcam_intrinsics = tici_fcam_intrinsics
-
-W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
+  # before deviceState.deviceType was set, assume tici AR config
+  ("unknown", "ar0231"): _ar_ox_config,
+  ("unknown", "ox03c10"): _ar_ox_config,
 
+  # simulator (emulates a tici)
+  ("pc", "unknown"): _ar_ox_config,
+}
+prods = itertools.product(('tici', 'tizi', 'mici'), (('ar0231', _ar_ox_config), ('ox03c10', _ar_ox_config), ('os04c10', _os_config)))
+DEVICE_CAMERAS.update({(d, c[0]): c[1] for d, c in prods})
 
 # device/mesh : x->forward, y-> right, z->down
 # view : x->right, y->down, z->forward
@@ -93,7 +112,7 @@ def roll_from_ke(m):
                     -(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
 
 
-def normalize(img_pts, intrinsics=fcam_intrinsics):
+def normalize(img_pts, intrinsics):
   # normalizes image coordinates
   # accepts single pt or array of pts
   intrinsics_inv = np.linalg.inv(intrinsics)
@@ -106,7 +125,7 @@ def normalize(img_pts, intrinsics=fcam_intrinsics):
   return img_pts_normalized[:, :2].reshape(input_shape)
 
 
-def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf):
+def denormalize(img_pts, intrinsics, width=np.inf, height=np.inf):
   # denormalizes image coordinates
   # accepts single pt or array of pts
   img_pts = np.array(img_pts)
@@ -123,7 +142,7 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf
   return img_pts_denormalized[:, :2].reshape(input_shape)
 
 
-def get_calib_from_vp(vp, intrinsics=fcam_intrinsics):
+def get_calib_from_vp(vp, intrinsics):
   vp_norm = normalize(vp, intrinsics)
   yaw_calib = np.arctan(vp_norm[0])
   pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
diff --git a/common/transformations/model.py b/common/transformations/model.py
index 7e40767f63..aaa12d776a 100644
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -1,19 +1,11 @@
 import numpy as np
 
 from openpilot.common.transformations.orientation import rot_from_euler
-from openpilot.common.transformations.camera import (
-  FULL_FRAME_SIZE, get_view_frame_from_calib_frame, view_frame_from_device_frame,
-  eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics)
+from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame
 
 # segnet
 SEGNET_SIZE = (512, 384)
 
-def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE):
-  return np.array([[float(segnet_size[0]) / full_frame_size[0],  0.0],
-                   [0.0,  float(segnet_size[1]) / full_frame_size[1]]])
-segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
-
-
 # MED model
 MEDMODEL_INPUT_SIZE = (512, 256)
 MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
@@ -63,16 +55,9 @@ calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3])
 calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3])
 
 # This function is verified to give similar results to xx.uncommon.utils.transform_img
-def get_warp_matrix(device_from_calib_euler: np.ndarray, wide_camera: bool = False, bigmodel_frame: bool = False, tici: bool = True) -> np.ndarray:
-  if tici and wide_camera:
-    cam_intrinsics = tici_ecam_intrinsics
-  elif tici:
-    cam_intrinsics = tici_fcam_intrinsics
-  else:
-    cam_intrinsics = eon_fcam_intrinsics
-
+def get_warp_matrix(device_from_calib_euler: np.ndarray, intrinsics: np.ndarray, bigmodel_frame: bool = False) -> np.ndarray:
   calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel
   device_from_calib = rot_from_euler(device_from_calib_euler)
-  camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib
+  camera_from_calib = intrinsics @ view_frame_from_device_frame @ device_from_calib
   warp_matrix: np.ndarray = camera_from_calib @ calib_from_model
   return warp_matrix
diff --git a/common/util.cc b/common/util.cc
index 8af9f5884c..b6097bf28f 100644
--- a/common/util.cc
+++ b/common/util.cc
@@ -256,8 +256,9 @@ bool starts_with(const std::string &s1, const std::string &s2) {
   return strncmp(s1.c_str(), s2.c_str(), s2.size()) == 0;
 }
 
-bool ends_with(const std::string &s1, const std::string &s2) {
-  return strcmp(s1.c_str() + (s1.size() - s2.size()), s2.c_str()) == 0;
+bool ends_with(const std::string& s, const std::string& suffix) {
+  return s.size() >= suffix.size() &&
+         strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0;
 }
 
 std::string check_output(const std::string& command) {
diff --git a/common/util.h b/common/util.h
index 0cbad5bd31..0e8bcd56bf 100644
--- a/common/util.h
+++ b/common/util.h
@@ -77,7 +77,7 @@ float getenv(const char* key, float default_val);
 std::string hexdump(const uint8_t* in, const size_t size);
 std::string dir_name(std::string const& path);
 bool starts_with(const std::string &s1, const std::string &s2);
-bool ends_with(const std::string &s1, const std::string &s2);
+bool ends_with(const std::string &s, const std::string &suffix);
 
 // ***** random helpers *****
 int random_int(int min, int max);
@@ -179,3 +179,10 @@ void update_max_atomic(std::atomic<T>& max, T const& value) {
   T prev = max;
   while (prev < value && !max.compare_exchange_weak(prev, value)) {}
 }
+
+typedef struct Rect {
+  int x;
+  int y;
+  int w;
+  int h;
+} Rect;
diff --git a/common/utils.py b/common/utils.py
index b9de020ee6..e37f2448c5 100644
--- a/common/utils.py
+++ b/common/utils.py
@@ -1,3 +1,11 @@
+from collections.abc import Callable
+from functools import lru_cache
+from typing import TypeVar
+
+
+_RT = TypeVar("_RT")
+
+
 class Freezable:
   _frozen: bool = False
 
@@ -9,3 +17,7 @@ class Freezable:
     if self._frozen:
       raise Exception("cannot modify frozen object")
     super().__setattr__(*args, **kwargs)
+
+
+def cache(user_function: Callable[..., _RT], /) -> Callable[..., _RT]:
+  return lru_cache(maxsize=None)(user_function)
diff --git a/docs/BOUNTIES.md b/docs/BOUNTIES.md
index 5ff5dd939f..7e7ee3b8d3 100644
--- a/docs/BOUNTIES.md
+++ b/docs/BOUNTIES.md
@@ -10,7 +10,8 @@ Get paid to improve openpilot!
 * open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim
 * get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders)
 
-New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord.
+We put up each bounty with the intention that it'll get merged, but occasionally the right resolution is to close the bounty, which only becomes clear once some effort is put in. 
+This is still valuable work, so we'll pay out $100 for getting any bounty closed with a good explanation.
 
 ## Issue bounties
 
@@ -20,6 +21,8 @@ We've tagged bounty-eligible issues across openpilot and the rest of our repos;
 * **$500** - a few days of work for an experienced openpilot developer
 * **$1k+** - a week or two of work (could be less for the right person)
 
+New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord.
+
 ## Car bounties
 
 The car bounties only apply to cars that have a path to ship in openpilot release, which excludes unsupportable cars (e.g. Fords with a steering lockout) or cars that require extra hardware (Honda Accord with serial steering).
diff --git a/docs/CARS.md b/docs/CARS.md
index bac0848ec4..6cf224d135 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,29 +4,24 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 290 Supported Cars
+# 285 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
 |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
 |Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
-|Buick|LaCrosse 2017-19[<sup>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
-|Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
-|Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
-|Cadillac|Escalade ESV 2019[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2019">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
-|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
@@ -35,7 +30,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
-|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
+|Ford|Bronco Sport 2021-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-23">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
@@ -47,31 +42,31 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
 |Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
-|Ford|Maverick 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023">Buy Here</a></sub></details>||
+|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023">Buy Here</a></sub></details>||
-|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
-|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
+|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
+|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>||
+|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
+|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
 |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
 |Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
-|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
-|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV60 (Performance Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
-|GMC|Acadia 2018[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
+|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
 |Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
-|Honda|CR-V Hybrid 2017-20|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-20">Buy Here</a></sub></details>||
+|Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
 |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
@@ -94,10 +89,10 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
@@ -107,11 +102,10 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Palisade (with HDA II) 2023-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade (with HDA II) 2023-24">Buy Here</a></sub></details>||
-|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Cruz 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
@@ -119,53 +113,53 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
 |Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
-|Hyundai|Staria 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
+|Hyundai|Staria 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2023-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
 |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
-|Hyundai|Tucson Hybrid 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Tucson Hybrid 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Carnival 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
-|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
+|Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
+|Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
 |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
-|Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Kia|EV6 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
 |Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
-|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
+|Kia|K8 Hybrid (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
 |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
+|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
 |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
 |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Hybrid 2021-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
-|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
-|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Hybrid 2021-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
+|Kia|Sportage 2023-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
+|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
-|Kia|Telluride (with HDA II) 2023-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride (with HDA II) 2023-24">Buy Here</a></sub></details>||
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
 |Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
 |Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
@@ -189,8 +183,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
@@ -198,26 +192,27 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
 |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
-|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
-|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Škoda|Fabia 2022-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Kamiq 2021-23[<sup>10,12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Karoq 2019-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Scala 2020-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
+|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
 |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
@@ -230,8 +225,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
 |Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
@@ -241,9 +236,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
 |Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
 |Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
 |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
 |Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -257,63 +252,62 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
 |Toyota|RAV4 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-24">Buy Here</a></sub></details>||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
-|Volkswagen|Passat 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|T-Roc 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-22">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
 <sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
-<sup>4</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>6</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
-<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>9</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>10</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>11</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>12</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
-<sup>13</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>14</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>5</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
+<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>8</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>9</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>10</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>11</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
+<sup>12</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>13</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
@@ -356,6 +350,7 @@ openpilot does not yet support these Toyota models due to a new message authenti
 * Toyota Tundra 2022+
 * Toyota Highlander 2024+
 * Toyota Corolla Cross 2022+ (only US model)
+* Toyota Camry 2025+
 * Lexus NX 2022+
 * Toyota bZ4x 2023+
 * Subaru Solterra 2023+
diff --git a/panda b/panda
index 424ccb8686..1585d56013 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 424ccb8686b687d749331b25297711bd1f197447
+Subproject commit 1585d56013259d21b92e1f6701a47aa02a88ada9
diff --git a/poetry.lock b/poetry.lock
index 588186d138..152ae4a49d 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -2,87 +2,87 @@
 
 [[package]]
 name = "aiohttp"
-version = "3.9.3"
+version = "3.9.5"
 description = "Async http client/server framework (asyncio)"
 optional = false
 python-versions = ">=3.8"
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 ]
 
 [package.dependencies]
@@ -112,34 +112,34 @@ ifaddr = ">=0.2.0"
 
 [[package]]
 name = "aiortc"
-version = "1.7.0"
+version = "1.8.0"
 description = "An implementation of WebRTC and ORTC"
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "aiortc-1.8.0.tar.gz", hash = "sha256:2363c08d1d2cb3aaed563c1fb256f5dae9f3ba75b70ad5e5df6d448504122591"},
 ]
 
 [package.dependencies]
@@ -255,13 +255,13 @@ files = [
 
 [[package]]
 name = "azure-core"
-version = "1.30.0"
+version = "1.30.1"
 description = "Microsoft Azure Core Library for Python"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "azure-core-1.30.0.tar.gz", hash = "sha256:6f3a7883ef184722f6bd997262eddaf80cfe7e5b3e0caaaf8db1695695893d35"},
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+    {file = "azure-core-1.30.1.tar.gz", hash = "sha256:26273a254131f84269e8ea4464f3560c731f29c0c1f69ac99010845f239c1a8f"},
+    {file = "azure_core-1.30.1-py3-none-any.whl", hash = "sha256:7c5ee397e48f281ec4dd773d67a0a47a0962ed6fa833036057f9ea067f688e74"},
 ]
 
 [package.dependencies]
@@ -274,30 +274,30 @@ aio = ["aiohttp (>=3.0)"]
 
 [[package]]
 name = "azure-identity"
-version = "1.15.0"
+version = "1.16.0"
 description = "Microsoft Azure Identity Library for Python"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
-azure-core = ">=1.23.0,<2.0.0"
+azure-core = ">=1.23.0"
 cryptography = ">=2.5"
-msal = ">=1.24.0,<2.0.0"
-msal-extensions = ">=0.3.0,<2.0.0"
+msal = ">=1.24.0"
+msal-extensions = ">=0.3.0"
 
 [[package]]
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 [package.dependencies]
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 bokeh = ["bokeh", "selenium"]
 docs = ["furo", "sphinx (>=7.2)", "sphinx-copybutton"]
-mypy = ["contourpy[bokeh,docs]", "docutils-stubs", "mypy (==1.6.1)", "types-Pillow"]
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 test = ["Pillow", "contourpy[test-no-images]", "matplotlib"]
 test-no-images = ["pytest", "pytest-cov", "pytest-xdist", "wurlitzer"]
 
 [[package]]
 name = "control"
-version = "0.9.4"
+version = "0.10.0"
 description = "Python Control Systems Library"
 optional = false
-python-versions = ">=3.8"
+python-versions = ">=3.10"
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 ]
 
 [package.dependencies]
-matplotlib = "*"
-numpy = "*"
-scipy = ">=1.3"
+matplotlib = ">=3.6"
+numpy = ">=1.23"
+scipy = ">=1.8"
 
 [package.extras]
 cvxopt = ["cvxopt (>=1.2.0)"]
@@ -751,63 +751,63 @@ test = ["pytest", "pytest-timeout"]
 
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 [package.extras]
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 ]
 
 [package.dependencies]
@@ -1098,86 +1115,85 @@ certifi = "*"
 click = ">=8.0,<9.0"
 click-plugins = ">=1.0"
 cligj = ">=0.5"
-setuptools = "*"
 six = "*"
 
 [package.extras]
-all = ["Fiona[calc,s3,test]"]
+all = ["fiona[calc,s3,test]"]
 calc = ["shapely"]
 s3 = ["boto3 (>=1.3.1)"]
-test = ["Fiona[s3]", "pytest (>=7)", "pytest-cov", "pytz"]
+test = ["fiona[s3]", "pytest (>=7)", "pytest-cov", "pytz"]
 
 [[package]]
 name = "flaky"
-version = "3.7.0"
-description = "Plugin for nose or pytest that automatically reruns flaky tests."
+version = "3.8.1"
+description = "Plugin for pytest that automatically reruns flaky tests."
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+python-versions = ">=3.5"
 files = [
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 ]
 
 [[package]]
 name = "flatbuffers"
-version = "23.5.26"
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 description = "The FlatBuffers serialization format for Python"
 optional = false
 python-versions = "*"
 files = [
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 ]
 
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 name = "fonttools"
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 description = "Tools to manipulate font files"
 optional = false
 python-versions = ">=3.8"
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 [package.extras]
@@ -1563,13 +1581,13 @@ zoneinfo = ["backports.zoneinfo (>=0.2.1)", "tzdata (>=2022.1)"]
 
 [[package]]
 name = "identify"
-version = "2.5.35"
+version = "2.5.36"
 description = "File identification library for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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 [package.extras]
@@ -1577,13 +1595,13 @@ license = ["ukkonen"]
 
 [[package]]
 name = "idna"
-version = "3.6"
+version = "3.7"
 description = "Internationalized Domain Names in Applications (IDNA)"
 optional = false
 python-versions = ">=3.5"
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 [[package]]
@@ -1610,22 +1628,22 @@ files = [
 
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+version = "7.1.0"
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 [package.dependencies]
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 [package.extras]
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 perf = ["ipython"]
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 [[package]]
 name = "iniconfig"
@@ -1930,96 +1948,174 @@ test = ["pytest"]
 
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 htmlsoup = ["BeautifulSoup4"]
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 [[package]]
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-version = "23.2"
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 python-dateutil = ">=2.8.2"
 pytz = ">=2020.1"
 tzdata = ">=2022.7"
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 files = [
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+    {file = "PyMonCtl-0.92-py3-none-any.whl", hash = "sha256:2495d8dab78f9a7dbce37e74543e60b8bd404a35c3108935697dda7768611b5a"},
 ]
 
 [package.dependencies]
+ewmhlib = {version = ">=0.1", markers = "sys_platform == \"linux\""}
 pyobjc = {version = ">=8.1", markers = "sys_platform == \"darwin\""}
 python-xlib = {version = ">=0.21", markers = "sys_platform == \"linux\""}
 pywin32 = {version = ">=302", markers = "sys_platform == \"win32\""}
 typing-extensions = ">=4.4.0"
 
 [package.extras]
-dev = ["mypy (>=0.990)", "types-python-xlib (>=0.32)", "types-pywin32 (>=305.0.0.3)", "types-setuptools (>=65.5)"]
+dev = ["mypy (>=0.990)", "pywinctl (>=0.3)", "types-python-xlib (>=0.32)", "types-pywin32 (>=305.0.0.3)", "types-setuptools (>=65.5)"]
 
 [[package]]
 name = "pymsgbox"
@@ -3495,2741 +3639,2762 @@ files = [
 
 [[package]]
 name = "pyobjc"
-version = "10.1"
+version = "10.2"
 description = "Python<->ObjC Interoperability Module"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "pyobjc-10.1-py3-none-any.whl", hash = "sha256:2687ff02217e7b2aba52c6b948bccea864a8f034af6c90528564d496b343c418"},
-    {file = "pyobjc-10.1.tar.gz", hash = "sha256:f54baff4c40d53c3fb3812816ebd130d3186805936628cc1f212f95979af5b98"},
+    {file = "pyobjc-10.2-py3-none-any.whl", hash = "sha256:976c8f8af49a91195307b3efbc2d63517be63aae2b4b3689dcff4f317669c23a"},
+    {file = "pyobjc-10.2.tar.gz", hash = "sha256:bfea9891750ce3af6439ee102e8e417917f1a7ed7fc4f54b5da9d7457fbb7fc6"},
 ]
 
 [package.dependencies]
-pyobjc-core = "10.1"
-pyobjc-framework-Accessibility = {version = "10.1", markers = "platform_release >= \"20.0\""}
-pyobjc-framework-Accounts = {version = "10.1", markers = "platform_release >= \"12.0\""}
-pyobjc-framework-AddressBook = "10.1"
-pyobjc-framework-AdServices = {version = "10.1", markers = "platform_release >= \"20.0\""}
-pyobjc-framework-AdSupport = {version = "10.1", markers = "platform_release >= \"18.0\""}
-pyobjc-framework-AppleScriptKit = "10.1"
-pyobjc-framework-AppleScriptObjC = {version = "10.1", markers = "platform_release >= \"10.0\""}
-pyobjc-framework-ApplicationServices = "10.1"
-pyobjc-framework-AppTrackingTransparency = {version = "10.1", markers = "platform_release >= \"20.0\""}
-pyobjc-framework-AudioVideoBridging = {version = "10.1", markers = "platform_release >= \"12.0\""}
-pyobjc-framework-AuthenticationServices = {version = "10.1", markers = "platform_release >= \"19.0\""}
-pyobjc-framework-AutomaticAssessmentConfiguration = {version = "10.1", markers = "platform_release >= \"19.0\""}
-pyobjc-framework-Automator = "10.1"
-pyobjc-framework-AVFoundation = {version = "10.1", markers = "platform_release >= \"11.0\""}
-pyobjc-framework-AVKit = {version = "10.1", markers = "platform_release >= \"13.0\""}
-pyobjc-framework-AVRouting = {version = "10.1", markers = "platform_release >= \"22.0\""}
-pyobjc-framework-BackgroundAssets = {version = "10.1", markers = "platform_release >= \"22.0\""}
-pyobjc-framework-BusinessChat = {version = "10.1", markers = "platform_release >= \"18.0\""}
-pyobjc-framework-CalendarStore = {version = "10.1", markers = "platform_release >= \"9.0\""}
-pyobjc-framework-CallKit = {version = "10.1", markers = "platform_release >= \"20.0\""}
-pyobjc-framework-CFNetwork = "10.1"
-pyobjc-framework-Cinematic = {version = "10.1", markers = "platform_release >= \"23.0\""}
-pyobjc-framework-ClassKit = {version = "10.1", markers = "platform_release >= \"20.0\""}
-pyobjc-framework-CloudKit = {version = "10.1", markers = "platform_release >= \"14.0\""}
-pyobjc-framework-Cocoa = "10.1"
-pyobjc-framework-Collaboration = {version = "10.1", markers = "platform_release >= \"9.0\""}
-pyobjc-framework-ColorSync = {version = "10.1", markers = "platform_release >= \"17.0\""}
-pyobjc-framework-Contacts = {version = "10.1", markers = "platform_release >= \"15.0\""}
-pyobjc-framework-ContactsUI = {version = "10.1", markers = "platform_release >= \"15.0\""}
-pyobjc-framework-CoreAudio = "10.1"
-pyobjc-framework-CoreAudioKit = "10.1"
-pyobjc-framework-CoreBluetooth = {version = "10.1", markers = "platform_release >= \"14.0\""}
-pyobjc-framework-CoreData = "10.1"
-pyobjc-framework-CoreHaptics = {version = "10.1", markers = "platform_release >= \"19.0\""}
-pyobjc-framework-CoreLocation = {version = "10.1", markers = "platform_release >= \"10.0\""}
-pyobjc-framework-CoreMedia = {version = "10.1", markers = "platform_release >= \"11.0\""}
-pyobjc-framework-CoreMediaIO = {version = "10.1", markers = "platform_release >= \"11.0\""}
-pyobjc-framework-CoreMIDI = "10.1"
-pyobjc-framework-CoreML = {version = "10.1", markers = "platform_release >= \"17.0\""}
-pyobjc-framework-CoreMotion = {version = "10.1", markers = "platform_release >= \"19.0\""}
-pyobjc-framework-CoreServices = "10.1"
-pyobjc-framework-CoreSpotlight = {version = "10.1", markers = "platform_release >= \"17.0\""}
-pyobjc-framework-CoreText = "10.1"
-pyobjc-framework-CoreWLAN = {version = "10.1", markers = "platform_release >= \"10.0\""}
-pyobjc-framework-CryptoTokenKit = {version = "10.1", markers = "platform_release >= \"14.0\""}
-pyobjc-framework-DataDetection = {version = "10.1", markers = "platform_release >= \"21.0\""}
-pyobjc-framework-DeviceCheck = {version = "10.1", markers = "platform_release >= \"19.0\""}
-pyobjc-framework-DictionaryServices = {version = "10.1", markers = "platform_release >= \"9.0\""}
-pyobjc-framework-DiscRecording = "10.1"
-pyobjc-framework-DiscRecordingUI = "10.1"
-pyobjc-framework-DiskArbitration = "10.1"
-pyobjc-framework-DVDPlayback = "10.1"
-pyobjc-framework-EventKit = {version = "10.1", markers = "platform_release >= \"12.0\""}
-pyobjc-framework-ExceptionHandling = "10.1"
-pyobjc-framework-ExecutionPolicy = {version = "10.1", markers = "platform_release >= \"19.0\""}
-pyobjc-framework-ExtensionKit = {version = "10.1", markers = "platform_release >= \"22.0\""}
-pyobjc-framework-ExternalAccessory = {version = "10.1", markers = "platform_release >= \"17.0\""}
-pyobjc-framework-FileProvider = {version = "10.1", markers = "platform_release >= \"19.0\""}
-pyobjc-framework-FileProviderUI = {version = "10.1", markers = "platform_release >= \"19.0\""}
-pyobjc-framework-FinderSync = {version = "10.1", markers = "platform_release >= \"14.0\""}
-pyobjc-framework-FSEvents = {version = "10.1", markers = "platform_release >= \"9.0\""}
-pyobjc-framework-GameCenter = {version = "10.1", markers = "platform_release >= \"12.0\""}
-pyobjc-framework-GameController = {version = "10.1", markers = "platform_release >= \"13.0\""}
-pyobjc-framework-GameKit = {version = "10.1", markers = "platform_release >= \"12.0\""}
-pyobjc-framework-GameplayKit = {version = "10.1", markers = "platform_release >= \"15.0\""}
-pyobjc-framework-HealthKit = {version = "10.1", markers = "platform_release >= \"22.0\""}
-pyobjc-framework-ImageCaptureCore = {version = "10.1", markers = "platform_release >= \"10.0\""}
-pyobjc-framework-InputMethodKit = {version = "10.1", markers = "platform_release >= \"9.0\""}
-pyobjc-framework-InstallerPlugins = "10.1"
-pyobjc-framework-InstantMessage = {version = "10.1", markers = "platform_release >= \"9.0\""}
-pyobjc-framework-Intents = {version = "10.1", markers = "platform_release >= \"16.0\""}
-pyobjc-framework-IntentsUI = {version = "10.1", markers = "platform_release >= \"21.0\""}
-pyobjc-framework-IOBluetooth = "10.1"
-pyobjc-framework-IOBluetoothUI = "10.1"
-pyobjc-framework-IOSurface = {version = "10.1", markers = "platform_release >= \"10.0\""}
-pyobjc-framework-iTunesLibrary = {version = "10.1", markers = "platform_release >= \"10.0\""}
-pyobjc-framework-KernelManagement = {version = "10.1", markers = "platform_release >= \"20.0\""}
-pyobjc-framework-LatentSemanticMapping = "10.1"
-pyobjc-framework-LaunchServices = "10.1"
-pyobjc-framework-libdispatch = {version = "10.1", markers = "platform_release >= \"12.0\""}
-pyobjc-framework-libxpc = {version = "10.1", markers = "platform_release >= \"12.0\""}
-pyobjc-framework-LinkPresentation = {version = "10.1", markers = "platform_release >= \"19.0\""}
-pyobjc-framework-LocalAuthentication = {version = "10.1", markers = "platform_release >= \"14.0\""}
-pyobjc-framework-LocalAuthenticationEmbeddedUI = {version = "10.1", markers = "platform_release >= \"21.0\""}
-pyobjc-framework-MailKit = {version = "10.1", markers = "platform_release >= \"21.0\""}
-pyobjc-framework-MapKit = {version = "10.1", markers = "platform_release >= \"13.0\""}
-pyobjc-framework-MediaAccessibility = {version = "10.1", markers = "platform_release >= \"13.0\""}
-pyobjc-framework-MediaLibrary = {version = "10.1", markers = "platform_release >= \"13.0\""}
-pyobjc-framework-MediaPlayer = {version = "10.1", markers = "platform_release >= \"16.0\""}
-pyobjc-framework-MediaToolbox = {version = "10.1", markers = "platform_release >= \"13.0\""}
-pyobjc-framework-Metal = {version = "10.1", markers = "platform_release >= \"15.0\""}
-pyobjc-framework-MetalFX = {version = "10.1", markers = "platform_release >= \"22.0\""}
-pyobjc-framework-MetalKit = {version = "10.1", markers = "platform_release >= \"15.0\""}
-pyobjc-framework-MetalPerformanceShaders = {version = "10.1", markers = "platform_release >= \"17.0\""}
-pyobjc-framework-MetalPerformanceShadersGraph = {version = "10.1", markers = "platform_release >= \"20.0\""}
-pyobjc-framework-MetricKit = {version = "10.1", markers = "platform_release >= \"21.0\""}
-pyobjc-framework-MLCompute = {version = "10.1", markers = "platform_release >= \"20.0\""}
-pyobjc-framework-ModelIO = {version = "10.1", markers = "platform_release >= \"15.0\""}
-pyobjc-framework-MultipeerConnectivity = {version = "10.1", markers = "platform_release >= \"14.0\""}
-pyobjc-framework-NaturalLanguage = {version = "10.1", markers = "platform_release >= \"18.0\""}
-pyobjc-framework-NetFS = {version = "10.1", markers = "platform_release >= \"10.0\""}
-pyobjc-framework-Network = {version = "10.1", markers = "platform_release >= \"18.0\""}
-pyobjc-framework-NetworkExtension = {version = "10.1", markers = "platform_release >= \"15.0\""}
-pyobjc-framework-NotificationCenter = {version = "10.1", markers = "platform_release >= \"14.0\""}
-pyobjc-framework-OpenDirectory = {version = "10.1", markers = "platform_release >= \"10.0\""}
-pyobjc-framework-OSAKit = "10.1"
-pyobjc-framework-OSLog = {version = "10.1", markers = "platform_release >= \"19.0\""}
-pyobjc-framework-PassKit = {version = "10.1", markers = "platform_release >= \"20.0\""}
-pyobjc-framework-PencilKit = {version = "10.1", markers = "platform_release >= \"19.0\""}
-pyobjc-framework-PHASE = {version = "10.1", markers = "platform_release >= \"21.0\""}
-pyobjc-framework-Photos = {version = "10.1", markers = "platform_release >= \"15.0\""}
-pyobjc-framework-PhotosUI = {version = "10.1", markers = "platform_release >= \"15.0\""}
-pyobjc-framework-PreferencePanes = "10.1"
-pyobjc-framework-PubSub = {version = "10.1", markers = "platform_release >= \"9.0\" and platform_release < \"18.0\""}
-pyobjc-framework-PushKit = {version = "10.1", markers = "platform_release >= \"19.0\""}
-pyobjc-framework-Quartz = "10.1"
-pyobjc-framework-QuickLookThumbnailing = {version = "10.1", markers = "platform_release >= \"19.0\""}
-pyobjc-framework-ReplayKit = {version = "10.1", markers = "platform_release >= \"20.0\""}
-pyobjc-framework-SafariServices = {version = "10.1", markers = "platform_release >= \"16.0\""}
-pyobjc-framework-SafetyKit = {version = "10.1", markers = "platform_release >= \"22.0\""}
-pyobjc-framework-SceneKit = {version = "10.1", markers = "platform_release >= \"11.0\""}
-pyobjc-framework-ScreenCaptureKit = {version = "10.1", markers = "platform_release >= \"21.4\""}
-pyobjc-framework-ScreenSaver = "10.1"
-pyobjc-framework-ScreenTime = {version = "10.1", markers = "platform_release >= \"20.0\""}
-pyobjc-framework-ScriptingBridge = {version = "10.1", markers = "platform_release >= \"9.0\""}
-pyobjc-framework-SearchKit = "10.1"
-pyobjc-framework-Security = "10.1"
-pyobjc-framework-SecurityFoundation = "10.1"
-pyobjc-framework-SecurityInterface = "10.1"
-pyobjc-framework-SensitiveContentAnalysis = {version = "10.1", markers = "platform_release >= \"23.0\""}
-pyobjc-framework-ServiceManagement = {version = "10.1", markers = "platform_release >= \"10.0\""}
-pyobjc-framework-SharedWithYou = {version = "10.1", markers = "platform_release >= \"22.0\""}
-pyobjc-framework-SharedWithYouCore = {version = "10.1", markers = "platform_release >= \"22.0\""}
-pyobjc-framework-ShazamKit = {version = "10.1", markers = "platform_release >= \"21.0\""}
-pyobjc-framework-Social = {version = "10.1", markers = "platform_release >= \"12.0\""}
-pyobjc-framework-SoundAnalysis = {version = "10.1", markers = "platform_release >= \"19.0\""}
-pyobjc-framework-Speech = {version = "10.1", markers = "platform_release >= \"19.0\""}
-pyobjc-framework-SpriteKit = {version = "10.1", markers = "platform_release >= \"13.0\""}
-pyobjc-framework-StoreKit = {version = "10.1", markers = "platform_release >= \"11.0\""}
-pyobjc-framework-Symbols = {version = "10.1", markers = "platform_release >= \"23.0\""}
-pyobjc-framework-SyncServices = "10.1"
-pyobjc-framework-SystemConfiguration = "10.1"
-pyobjc-framework-SystemExtensions = {version = "10.1", markers = "platform_release >= \"19.0\""}
-pyobjc-framework-ThreadNetwork = {version = "10.1", markers = "platform_release >= \"22.0\""}
-pyobjc-framework-UniformTypeIdentifiers = {version = "10.1", markers = "platform_release >= \"20.0\""}
-pyobjc-framework-UserNotifications = {version = "10.1", markers = "platform_release >= \"18.0\""}
-pyobjc-framework-UserNotificationsUI = {version = "10.1", markers = "platform_release >= \"20.0\""}
-pyobjc-framework-VideoSubscriberAccount = {version = "10.1", markers = "platform_release >= \"18.0\""}
-pyobjc-framework-VideoToolbox = {version = "10.1", markers = "platform_release >= \"12.0\""}
-pyobjc-framework-Virtualization = {version = "10.1", markers = "platform_release >= \"20.0\""}
-pyobjc-framework-Vision = {version = "10.1", markers = "platform_release >= \"17.0\""}
-pyobjc-framework-WebKit = "10.1"
+pyobjc-core = "10.2"
+pyobjc-framework-Accessibility = {version = "10.2", markers = "platform_release >= \"20.0\""}
+pyobjc-framework-Accounts = {version = "10.2", markers = "platform_release >= \"12.0\""}
+pyobjc-framework-AddressBook = "10.2"
+pyobjc-framework-AdServices = {version = "10.2", markers = "platform_release >= \"20.0\""}
+pyobjc-framework-AdSupport = {version = "10.2", markers = "platform_release >= \"18.0\""}
+pyobjc-framework-AppleScriptKit = "10.2"
+pyobjc-framework-AppleScriptObjC = {version = "10.2", markers = "platform_release >= \"10.0\""}
+pyobjc-framework-ApplicationServices = "10.2"
+pyobjc-framework-AppTrackingTransparency = {version = "10.2", markers = "platform_release >= \"20.0\""}
+pyobjc-framework-AudioVideoBridging = {version = "10.2", markers = "platform_release >= \"12.0\""}
+pyobjc-framework-AuthenticationServices = {version = "10.2", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-AutomaticAssessmentConfiguration = {version = "10.2", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-Automator = "10.2"
+pyobjc-framework-AVFoundation = {version = "10.2", markers = "platform_release >= \"11.0\""}
+pyobjc-framework-AVKit = {version = "10.2", markers = "platform_release >= \"13.0\""}
+pyobjc-framework-AVRouting = {version = "10.2", markers = "platform_release >= \"22.0\""}
+pyobjc-framework-BackgroundAssets = {version = "10.2", markers = "platform_release >= \"22.0\""}
+pyobjc-framework-BrowserEngineKit = {version = "10.2", markers = "platform_release >= \"23.4\""}
+pyobjc-framework-BusinessChat = {version = "10.2", markers = "platform_release >= \"18.0\""}
+pyobjc-framework-CalendarStore = {version = "10.2", markers = "platform_release >= \"9.0\""}
+pyobjc-framework-CallKit = {version = "10.2", markers = "platform_release >= \"20.0\""}
+pyobjc-framework-CFNetwork = "10.2"
+pyobjc-framework-Cinematic = {version = "10.2", markers = "platform_release >= \"23.0\""}
+pyobjc-framework-ClassKit = {version = "10.2", markers = "platform_release >= \"20.0\""}
+pyobjc-framework-CloudKit = {version = "10.2", markers = "platform_release >= \"14.0\""}
+pyobjc-framework-Cocoa = "10.2"
+pyobjc-framework-Collaboration = {version = "10.2", markers = "platform_release >= \"9.0\""}
+pyobjc-framework-ColorSync = {version = "10.2", markers = "platform_release >= \"17.0\""}
+pyobjc-framework-Contacts = {version = "10.2", markers = "platform_release >= \"15.0\""}
+pyobjc-framework-ContactsUI = {version = "10.2", markers = "platform_release >= \"15.0\""}
+pyobjc-framework-CoreAudio = "10.2"
+pyobjc-framework-CoreAudioKit = "10.2"
+pyobjc-framework-CoreBluetooth = {version = "10.2", markers = "platform_release >= \"14.0\""}
+pyobjc-framework-CoreData = "10.2"
+pyobjc-framework-CoreHaptics = {version = "10.2", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-CoreLocation = {version = "10.2", markers = "platform_release >= \"10.0\""}
+pyobjc-framework-CoreMedia = {version = "10.2", markers = "platform_release >= \"11.0\""}
+pyobjc-framework-CoreMediaIO = {version = "10.2", markers = "platform_release >= \"11.0\""}
+pyobjc-framework-CoreMIDI = "10.2"
+pyobjc-framework-CoreML = {version = "10.2", markers = "platform_release >= \"17.0\""}
+pyobjc-framework-CoreMotion = {version = "10.2", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-CoreServices = "10.2"
+pyobjc-framework-CoreSpotlight = {version = "10.2", markers = "platform_release >= \"17.0\""}
+pyobjc-framework-CoreText = "10.2"
+pyobjc-framework-CoreWLAN = {version = "10.2", markers = "platform_release >= \"10.0\""}
+pyobjc-framework-CryptoTokenKit = {version = "10.2", markers = "platform_release >= \"14.0\""}
+pyobjc-framework-DataDetection = {version = "10.2", markers = "platform_release >= \"21.0\""}
+pyobjc-framework-DeviceCheck = {version = "10.2", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-DictionaryServices = {version = "10.2", markers = "platform_release >= \"9.0\""}
+pyobjc-framework-DiscRecording = "10.2"
+pyobjc-framework-DiscRecordingUI = "10.2"
+pyobjc-framework-DiskArbitration = "10.2"
+pyobjc-framework-DVDPlayback = "10.2"
+pyobjc-framework-EventKit = {version = "10.2", markers = "platform_release >= \"12.0\""}
+pyobjc-framework-ExceptionHandling = "10.2"
+pyobjc-framework-ExecutionPolicy = {version = "10.2", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-ExtensionKit = {version = "10.2", markers = "platform_release >= \"22.0\""}
+pyobjc-framework-ExternalAccessory = {version = "10.2", markers = "platform_release >= \"17.0\""}
+pyobjc-framework-FileProvider = {version = "10.2", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-FileProviderUI = {version = "10.2", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-FinderSync = {version = "10.2", markers = "platform_release >= \"14.0\""}
+pyobjc-framework-FSEvents = {version = "10.2", markers = "platform_release >= \"9.0\""}
+pyobjc-framework-GameCenter = {version = "10.2", markers = "platform_release >= \"12.0\""}
+pyobjc-framework-GameController = {version = "10.2", markers = "platform_release >= \"13.0\""}
+pyobjc-framework-GameKit = {version = "10.2", markers = "platform_release >= \"12.0\""}
+pyobjc-framework-GameplayKit = {version = "10.2", markers = "platform_release >= \"15.0\""}
+pyobjc-framework-HealthKit = {version = "10.2", markers = "platform_release >= \"22.0\""}
+pyobjc-framework-ImageCaptureCore = {version = "10.2", markers = "platform_release >= \"10.0\""}
+pyobjc-framework-InputMethodKit = {version = "10.2", markers = "platform_release >= \"9.0\""}
+pyobjc-framework-InstallerPlugins = "10.2"
+pyobjc-framework-InstantMessage = {version = "10.2", markers = "platform_release >= \"9.0\""}
+pyobjc-framework-Intents = {version = "10.2", markers = "platform_release >= \"16.0\""}
+pyobjc-framework-IntentsUI = {version = "10.2", markers = "platform_release >= \"21.0\""}
+pyobjc-framework-IOBluetooth = "10.2"
+pyobjc-framework-IOBluetoothUI = "10.2"
+pyobjc-framework-IOSurface = {version = "10.2", markers = "platform_release >= \"10.0\""}
+pyobjc-framework-iTunesLibrary = {version = "10.2", markers = "platform_release >= \"10.0\""}
+pyobjc-framework-KernelManagement = {version = "10.2", markers = "platform_release >= \"20.0\""}
+pyobjc-framework-LatentSemanticMapping = "10.2"
+pyobjc-framework-LaunchServices = "10.2"
+pyobjc-framework-libdispatch = {version = "10.2", markers = "platform_release >= \"12.0\""}
+pyobjc-framework-libxpc = {version = "10.2", markers = "platform_release >= \"12.0\""}
+pyobjc-framework-LinkPresentation = {version = "10.2", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-LocalAuthentication = {version = "10.2", markers = "platform_release >= \"14.0\""}
+pyobjc-framework-LocalAuthenticationEmbeddedUI = {version = "10.2", markers = "platform_release >= \"21.0\""}
+pyobjc-framework-MailKit = {version = "10.2", markers = "platform_release >= \"21.0\""}
+pyobjc-framework-MapKit = {version = "10.2", markers = "platform_release >= \"13.0\""}
+pyobjc-framework-MediaAccessibility = {version = "10.2", markers = "platform_release >= \"13.0\""}
+pyobjc-framework-MediaLibrary = {version = "10.2", markers = "platform_release >= \"13.0\""}
+pyobjc-framework-MediaPlayer = {version = "10.2", markers = "platform_release >= \"16.0\""}
+pyobjc-framework-MediaToolbox = {version = "10.2", markers = "platform_release >= \"13.0\""}
+pyobjc-framework-Metal = {version = "10.2", markers = "platform_release >= \"15.0\""}
+pyobjc-framework-MetalFX = {version = "10.2", markers = "platform_release >= \"22.0\""}
+pyobjc-framework-MetalKit = {version = "10.2", markers = "platform_release >= \"15.0\""}
+pyobjc-framework-MetalPerformanceShaders = {version = "10.2", markers = "platform_release >= \"17.0\""}
+pyobjc-framework-MetalPerformanceShadersGraph = {version = "10.2", markers = "platform_release >= \"20.0\""}
+pyobjc-framework-MetricKit = {version = "10.2", markers = "platform_release >= \"21.0\""}
+pyobjc-framework-MLCompute = {version = "10.2", markers = "platform_release >= \"20.0\""}
+pyobjc-framework-ModelIO = {version = "10.2", markers = "platform_release >= \"15.0\""}
+pyobjc-framework-MultipeerConnectivity = {version = "10.2", markers = "platform_release >= \"14.0\""}
+pyobjc-framework-NaturalLanguage = {version = "10.2", markers = "platform_release >= \"18.0\""}
+pyobjc-framework-NetFS = {version = "10.2", markers = "platform_release >= \"10.0\""}
+pyobjc-framework-Network = {version = "10.2", markers = "platform_release >= \"18.0\""}
+pyobjc-framework-NetworkExtension = {version = "10.2", markers = "platform_release >= \"15.0\""}
+pyobjc-framework-NotificationCenter = {version = "10.2", markers = "platform_release >= \"14.0\""}
+pyobjc-framework-OpenDirectory = {version = "10.2", markers = "platform_release >= \"10.0\""}
+pyobjc-framework-OSAKit = "10.2"
+pyobjc-framework-OSLog = {version = "10.2", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-PassKit = {version = "10.2", markers = "platform_release >= \"20.0\""}
+pyobjc-framework-PencilKit = {version = "10.2", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-PHASE = {version = "10.2", markers = "platform_release >= \"21.0\""}
+pyobjc-framework-Photos = {version = "10.2", markers = "platform_release >= \"15.0\""}
+pyobjc-framework-PhotosUI = {version = "10.2", markers = "platform_release >= \"15.0\""}
+pyobjc-framework-PreferencePanes = "10.2"
+pyobjc-framework-PubSub = {version = "10.2", markers = "platform_release >= \"9.0\" and platform_release < \"18.0\""}
+pyobjc-framework-PushKit = {version = "10.2", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-Quartz = "10.2"
+pyobjc-framework-QuickLookThumbnailing = {version = "10.2", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-ReplayKit = {version = "10.2", markers = "platform_release >= \"20.0\""}
+pyobjc-framework-SafariServices = {version = "10.2", markers = "platform_release >= \"16.0\""}
+pyobjc-framework-SafetyKit = {version = "10.2", markers = "platform_release >= \"22.0\""}
+pyobjc-framework-SceneKit = {version = "10.2", markers = "platform_release >= \"11.0\""}
+pyobjc-framework-ScreenCaptureKit = {version = "10.2", markers = "platform_release >= \"21.4\""}
+pyobjc-framework-ScreenSaver = "10.2"
+pyobjc-framework-ScreenTime = {version = "10.2", markers = "platform_release >= \"20.0\""}
+pyobjc-framework-ScriptingBridge = {version = "10.2", markers = "platform_release >= \"9.0\""}
+pyobjc-framework-SearchKit = "10.2"
+pyobjc-framework-Security = "10.2"
+pyobjc-framework-SecurityFoundation = "10.2"
+pyobjc-framework-SecurityInterface = "10.2"
+pyobjc-framework-SensitiveContentAnalysis = {version = "10.2", markers = "platform_release >= \"23.0\""}
+pyobjc-framework-ServiceManagement = {version = "10.2", markers = "platform_release >= \"10.0\""}
+pyobjc-framework-SharedWithYou = {version = "10.2", markers = "platform_release >= \"22.0\""}
+pyobjc-framework-SharedWithYouCore = {version = "10.2", markers = "platform_release >= \"22.0\""}
+pyobjc-framework-ShazamKit = {version = "10.2", markers = "platform_release >= \"21.0\""}
+pyobjc-framework-Social = {version = "10.2", markers = "platform_release >= \"12.0\""}
+pyobjc-framework-SoundAnalysis = {version = "10.2", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-Speech = {version = "10.2", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-SpriteKit = {version = "10.2", markers = "platform_release >= \"13.0\""}
+pyobjc-framework-StoreKit = {version = "10.2", markers = "platform_release >= \"11.0\""}
+pyobjc-framework-Symbols = {version = "10.2", markers = "platform_release >= \"23.0\""}
+pyobjc-framework-SyncServices = "10.2"
+pyobjc-framework-SystemConfiguration = "10.2"
+pyobjc-framework-SystemExtensions = {version = "10.2", markers = "platform_release >= \"19.0\""}
+pyobjc-framework-ThreadNetwork = {version = "10.2", markers = "platform_release >= \"22.0\""}
+pyobjc-framework-UniformTypeIdentifiers = {version = "10.2", markers = "platform_release >= \"20.0\""}
+pyobjc-framework-UserNotifications = {version = "10.2", markers = "platform_release >= \"18.0\""}
+pyobjc-framework-UserNotificationsUI = {version = "10.2", markers = "platform_release >= \"20.0\""}
+pyobjc-framework-VideoSubscriberAccount = {version = "10.2", markers = "platform_release >= \"18.0\""}
+pyobjc-framework-VideoToolbox = {version = "10.2", markers = "platform_release >= \"12.0\""}
+pyobjc-framework-Virtualization = {version = "10.2", markers = "platform_release >= \"20.0\""}
+pyobjc-framework-Vision = {version = "10.2", markers = "platform_release >= \"17.0\""}
+pyobjc-framework-WebKit = "10.2"
 
 [package.extras]
-allbindings = ["pyobjc-core (==10.1)", "pyobjc-framework-AVFoundation (==10.1)", "pyobjc-framework-AVKit (==10.1)", "pyobjc-framework-AVRouting (==10.1)", "pyobjc-framework-Accessibility (==10.1)", "pyobjc-framework-Accounts (==10.1)", "pyobjc-framework-AdServices (==10.1)", "pyobjc-framework-AdSupport (==10.1)", "pyobjc-framework-AddressBook (==10.1)", "pyobjc-framework-AppTrackingTransparency (==10.1)", "pyobjc-framework-AppleScriptKit (==10.1)", "pyobjc-framework-AppleScriptObjC (==10.1)", "pyobjc-framework-ApplicationServices (==10.1)", "pyobjc-framework-AudioVideoBridging (==10.1)", "pyobjc-framework-AuthenticationServices (==10.1)", "pyobjc-framework-AutomaticAssessmentConfiguration (==10.1)", "pyobjc-framework-Automator (==10.1)", "pyobjc-framework-BackgroundAssets (==10.1)", "pyobjc-framework-BusinessChat (==10.1)", "pyobjc-framework-CFNetwork (==10.1)", "pyobjc-framework-CalendarStore (==10.1)", "pyobjc-framework-CallKit (==10.1)", "pyobjc-framework-Cinematic (==10.1)", 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"pyobjc-framework-DeviceCheck (==10.1)", "pyobjc-framework-DictionaryServices (==10.1)", "pyobjc-framework-DiscRecording (==10.1)", "pyobjc-framework-DiscRecordingUI (==10.1)", "pyobjc-framework-DiskArbitration (==10.1)", "pyobjc-framework-EventKit (==10.1)", "pyobjc-framework-ExceptionHandling (==10.1)", "pyobjc-framework-ExecutionPolicy (==10.1)", "pyobjc-framework-ExtensionKit (==10.1)", "pyobjc-framework-ExternalAccessory (==10.1)", "pyobjc-framework-FSEvents (==10.1)", "pyobjc-framework-FileProvider (==10.1)", "pyobjc-framework-FileProviderUI (==10.1)", "pyobjc-framework-FinderSync (==10.1)", "pyobjc-framework-GameCenter (==10.1)", "pyobjc-framework-GameController (==10.1)", "pyobjc-framework-GameKit (==10.1)", "pyobjc-framework-GameplayKit (==10.1)", "pyobjc-framework-HealthKit (==10.1)", "pyobjc-framework-IOBluetooth (==10.1)", "pyobjc-framework-IOBluetoothUI (==10.1)", "pyobjc-framework-IOSurface (==10.1)", "pyobjc-framework-ImageCaptureCore (==10.1)", 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(==10.1)", "pyobjc-framework-MetricKit (==10.1)", "pyobjc-framework-ModelIO (==10.1)", "pyobjc-framework-MultipeerConnectivity (==10.1)", "pyobjc-framework-NaturalLanguage (==10.1)", "pyobjc-framework-NetFS (==10.1)", "pyobjc-framework-Network (==10.1)", "pyobjc-framework-NetworkExtension (==10.1)", "pyobjc-framework-NotificationCenter (==10.1)", "pyobjc-framework-OSAKit (==10.1)", "pyobjc-framework-OSLog (==10.1)", "pyobjc-framework-OpenDirectory (==10.1)", "pyobjc-framework-PHASE (==10.1)", "pyobjc-framework-PassKit (==10.1)", "pyobjc-framework-PencilKit (==10.1)", "pyobjc-framework-Photos (==10.1)", "pyobjc-framework-PhotosUI (==10.1)", "pyobjc-framework-PreferencePanes (==10.1)", "pyobjc-framework-PubSub (==10.1)", "pyobjc-framework-PushKit (==10.1)", "pyobjc-framework-Quartz (==10.1)", "pyobjc-framework-QuickLookThumbnailing (==10.1)", "pyobjc-framework-ReplayKit (==10.1)", "pyobjc-framework-SafariServices (==10.1)", "pyobjc-framework-SafetyKit (==10.1)", "pyobjc-framework-SceneKit (==10.1)", "pyobjc-framework-ScreenCaptureKit (==10.1)", "pyobjc-framework-ScreenSaver (==10.1)", "pyobjc-framework-ScreenTime (==10.1)", "pyobjc-framework-ScriptingBridge (==10.1)", "pyobjc-framework-SearchKit (==10.1)", "pyobjc-framework-Security (==10.1)", "pyobjc-framework-SecurityFoundation (==10.1)", "pyobjc-framework-SecurityInterface (==10.1)", "pyobjc-framework-SensitiveContentAnalysis (==10.1)", "pyobjc-framework-ServiceManagement (==10.1)", "pyobjc-framework-SharedWithYou (==10.1)", "pyobjc-framework-SharedWithYouCore (==10.1)", "pyobjc-framework-ShazamKit (==10.1)", "pyobjc-framework-Social (==10.1)", "pyobjc-framework-SoundAnalysis (==10.1)", "pyobjc-framework-Speech (==10.1)", "pyobjc-framework-SpriteKit (==10.1)", "pyobjc-framework-StoreKit (==10.1)", "pyobjc-framework-Symbols (==10.1)", "pyobjc-framework-SyncServices (==10.1)", "pyobjc-framework-SystemConfiguration (==10.1)", "pyobjc-framework-SystemExtensions (==10.1)", "pyobjc-framework-ThreadNetwork (==10.1)", "pyobjc-framework-UniformTypeIdentifiers (==10.1)", "pyobjc-framework-UserNotifications (==10.1)", "pyobjc-framework-UserNotificationsUI (==10.1)", "pyobjc-framework-VideoSubscriberAccount (==10.1)", "pyobjc-framework-VideoToolbox (==10.1)", "pyobjc-framework-Virtualization (==10.1)", "pyobjc-framework-Vision (==10.1)", "pyobjc-framework-WebKit (==10.1)", "pyobjc-framework-iTunesLibrary (==10.1)", "pyobjc-framework-libdispatch (==10.1)", "pyobjc-framework-libxpc (==10.1)"]
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(==10.2)", "pyobjc-framework-DataDetection (==10.2)", "pyobjc-framework-DeviceCheck (==10.2)", "pyobjc-framework-DictionaryServices (==10.2)", "pyobjc-framework-DiscRecording (==10.2)", "pyobjc-framework-DiscRecordingUI (==10.2)", "pyobjc-framework-DiskArbitration (==10.2)", "pyobjc-framework-EventKit (==10.2)", "pyobjc-framework-ExceptionHandling (==10.2)", "pyobjc-framework-ExecutionPolicy (==10.2)", "pyobjc-framework-ExtensionKit (==10.2)", "pyobjc-framework-ExternalAccessory (==10.2)", "pyobjc-framework-FSEvents (==10.2)", "pyobjc-framework-FileProvider (==10.2)", "pyobjc-framework-FileProviderUI (==10.2)", "pyobjc-framework-FinderSync (==10.2)", "pyobjc-framework-GameCenter (==10.2)", "pyobjc-framework-GameController (==10.2)", "pyobjc-framework-GameKit (==10.2)", "pyobjc-framework-GameplayKit (==10.2)", "pyobjc-framework-HealthKit (==10.2)", "pyobjc-framework-IOBluetooth (==10.2)", "pyobjc-framework-IOBluetoothUI (==10.2)", "pyobjc-framework-IOSurface (==10.2)", "pyobjc-framework-ImageCaptureCore (==10.2)", "pyobjc-framework-InputMethodKit (==10.2)", "pyobjc-framework-InstallerPlugins (==10.2)", "pyobjc-framework-InstantMessage (==10.2)", "pyobjc-framework-Intents (==10.2)", "pyobjc-framework-IntentsUI (==10.2)", "pyobjc-framework-KernelManagement (==10.2)", "pyobjc-framework-LatentSemanticMapping (==10.2)", "pyobjc-framework-LaunchServices (==10.2)", "pyobjc-framework-LinkPresentation (==10.2)", "pyobjc-framework-LocalAuthentication (==10.2)", "pyobjc-framework-LocalAuthenticationEmbeddedUI (==10.2)", "pyobjc-framework-MLCompute (==10.2)", "pyobjc-framework-MailKit (==10.2)", "pyobjc-framework-MapKit (==10.2)", "pyobjc-framework-MediaAccessibility (==10.2)", "pyobjc-framework-MediaLibrary (==10.2)", "pyobjc-framework-MediaPlayer (==10.2)", "pyobjc-framework-MediaToolbox (==10.2)", "pyobjc-framework-Metal (==10.2)", "pyobjc-framework-MetalFX (==10.2)", "pyobjc-framework-MetalKit (==10.2)", "pyobjc-framework-MetalPerformanceShaders (==10.2)", 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 [[package]]
 name = "pyobjc-core"
-version = "10.1"
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 description = "Python<->ObjC Interoperability Module"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [[package]]
 name = "pyobjc-framework-accessibility"
-version = "10.1"
+version = "10.2"
 description = "Wrappers for the framework Accessibility on macOS"
 optional = false
 python-versions = ">=3.8"
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 [[package]]
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 [[package]]
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 ]
 
 [package.dependencies]
-pyobjc-core = ">=10.1"
-pyobjc-framework-Cocoa = ">=10.1"
+pyobjc-core = ">=10.2"
+pyobjc-framework-Cocoa = ">=10.2"
 
 [[package]]
 name = "pyopencl"
@@ -6294,13 +6459,13 @@ test = ["Mako", "pytest (>=7.0.0)"]
 
 [[package]]
 name = "pyopenssl"
-version = "24.0.0"
+version = "24.1.0"
 description = "Python wrapper module around the OpenSSL library"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "pyOpenSSL-24.0.0-py3-none-any.whl", hash = "sha256:ba07553fb6fd6a7a2259adb9b84e12302a9a8a75c44046e8bb5d3e5ee887e3c3"},
-    {file = "pyOpenSSL-24.0.0.tar.gz", hash = "sha256:6aa33039a93fffa4563e655b61d11364d01264be8ccb49906101e02a334530bf"},
+    {file = "pyOpenSSL-24.1.0-py3-none-any.whl", hash = "sha256:17ed5be5936449c5418d1cd269a1a9e9081bc54c17aed272b45856a3d3dc86ad"},
+    {file = "pyOpenSSL-24.1.0.tar.gz", hash = "sha256:cabed4bfaa5df9f1a16c0ef64a0cb65318b5cd077a7eda7d6970131ca2f41a6f"},
 ]
 
 [package.dependencies]
@@ -6308,17 +6473,17 @@ cryptography = ">=41.0.5,<43"
 
 [package.extras]
 docs = ["sphinx (!=5.2.0,!=5.2.0.post0,!=7.2.5)", "sphinx-rtd-theme"]
-test = ["flaky", "pretend", "pytest (>=3.0.1)"]
+test = ["pretend", "pytest (>=3.0.1)", "pytest-rerunfailures"]
 
 [[package]]
 name = "pyparsing"
-version = "3.1.1"
+version = "3.1.2"
 description = "pyparsing module - Classes and methods to define and execute parsing grammars"
 optional = false
 python-versions = ">=3.6.8"
 files = [
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 ]
 
 [package.extras]
@@ -6469,33 +6634,33 @@ cp2110 = ["hidapi"]
 
 [[package]]
 name = "pytest"
-version = "8.0.2"
+version = "8.1.1"
 description = "pytest: simple powerful testing with Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "pytest-8.1.1.tar.gz", hash = "sha256:ac978141a75948948817d360297b7aae0fcb9d6ff6bc9ec6d514b85d5a65c044"},
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 [package.dependencies]
 colorama = {version = "*", markers = "sys_platform == \"win32\""}
 iniconfig = "*"
 packaging = "*"
-pluggy = ">=1.3.0,<2.0"
+pluggy = ">=1.4,<2.0"
 
 [package.extras]
-testing = ["argcomplete", "attrs (>=19.2.0)", "hypothesis (>=3.56)", "mock", "nose", "pygments (>=2.7.2)", "requests", "setuptools", "xmlschema"]
+testing = ["argcomplete", "attrs (>=19.2)", "hypothesis (>=3.56)", "mock", "pygments (>=2.7.2)", "requests", "setuptools", "xmlschema"]
 
 [[package]]
 name = "pytest-cov"
-version = "4.1.0"
+version = "5.0.0"
 description = "Pytest plugin for measuring coverage."
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -6503,7 +6668,7 @@ coverage = {version = ">=5.2.1", extras = ["toml"]}
 pytest = ">=4.6"
 
 [package.extras]
-testing = ["fields", "hunter", "process-tests", "pytest-xdist", "six", "virtualenv"]
+testing = ["fields", "hunter", "process-tests", "pytest-xdist", "virtualenv"]
 
 [[package]]
 name = "pytest-cpp"
@@ -6536,13 +6701,13 @@ pytest = "*"
 
 [[package]]
 name = "pytest-subtests"
-version = "0.11.0"
+version = "0.12.1"
 description = "unittest subTest() support and subtests fixture"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -6551,17 +6716,17 @@ pytest = ">=7.0"
 
 [[package]]
 name = "pytest-timeout"
-version = "2.2.0"
+version = "2.3.1"
 description = "pytest plugin to abort hanging tests"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
-pytest = ">=5.0.0"
+pytest = ">=7.0.0"
 
 [[package]]
 name = "pytest-xdist"
@@ -6585,13 +6750,13 @@ testing = ["filelock"]
 
 [[package]]
 name = "python-dateutil"
-version = "2.8.2"
+version = "2.9.0.post0"
 description = "Extensions to the standard Python datetime module"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,>=2.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -6623,13 +6788,13 @@ files = [
 
 [[package]]
 name = "pytools"
-version = "2023.1.1"
+version = "2024.1.1"
 description = "A collection of tools for Python"
 optional = false
 python-versions = "~=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -6684,22 +6849,23 @@ files = [
 
 [[package]]
 name = "pywinbox"
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 description = "Cross-Platform and multi-monitor toolkit to handle rectangular areas and windows box"
 optional = false
 python-versions = "*"
 files = [
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 ]
 
 [package.dependencies]
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 pyobjc = {version = ">=8.1", markers = "sys_platform == \"darwin\""}
 python-xlib = {version = ">=0.21", markers = "sys_platform == \"linux\""}
 pywin32 = {version = ">=302", markers = "sys_platform == \"win32\""}
 typing-extensions = ">=4.4.0"
 
 [package.extras]
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+dev = ["mypy (>=0.990)", "pywinctl (>=0.3)", "types-python-xlib (>=0.32)", "types-pywin32 (>=305.0.0.3)", "types-setuptools (>=65.5)"]
 
 [[package]]
 name = "pywinctl"
@@ -6784,104 +6950,99 @@ files = [
 
 [[package]]
 name = "pyzmq"
-version = "25.1.2"
+version = "26.0.2"
 description = "Python bindings for 0MQ"
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 ]
 
 [package.dependencies]
-numpy = ">=1.22.4,<1.29.0"
+numpy = ">=1.22.4,<2.3"
 
 [package.extras]
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+dev = ["cython-lint (>=0.12.2)", "doit (>=0.36.0)", "mypy", "pycodestyle", "pydevtool", "rich-click", "ruff", "types-psutil", "typing_extensions"]
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+test = ["array-api-strict", "asv", "gmpy2", "hypothesis (>=6.30)", "mpmath", "pooch", "pytest", "pytest-cov", "pytest-timeout", "pytest-xdist", "scikit-umfpack", "threadpoolctl"]
 
 [[package]]
 name = "scons"
-version = "4.6.0.post1"
+version = "4.7.0"
 description = "Open Source next-generation build tool."
 optional = false
 python-versions = ">=3.6"
 files = [
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 ]
 
-[package.dependencies]
-setuptools = "*"
-
 [[package]]
 name = "seaborn"
 version = "0.13.2"
@@ -7028,13 +7186,13 @@ stats = ["scipy (>=1.7)", "statsmodels (>=0.12)"]
 
 [[package]]
 name = "sentry-sdk"
-version = "1.40.5"
+version = "1.45.0"
 description = "Python client for Sentry (https://sentry.io)"
 optional = false
 python-versions = "*"
 files = [
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 ]
 
 [package.dependencies]
@@ -7048,6 +7206,7 @@ asyncpg = ["asyncpg (>=0.23)"]
 beam = ["apache-beam (>=2.12)"]
 bottle = ["bottle (>=0.12.13)"]
 celery = ["celery (>=3)"]
+celery-redbeat = ["celery-redbeat (>=2)"]
 chalice = ["chalice (>=1.16.0)"]
 clickhouse-driver = ["clickhouse-driver (>=0.2.0)"]
 django = ["django (>=1.8)"]
@@ -7058,6 +7217,7 @@ grpcio = ["grpcio (>=1.21.1)"]
 httpx = ["httpx (>=0.16.0)"]
 huey = ["huey (>=2)"]
 loguru = ["loguru (>=0.5)"]
+openai = ["openai (>=1.0.0)", "tiktoken (>=0.3.0)"]
 opentelemetry = ["opentelemetry-distro (>=0.35b0)"]
 opentelemetry-experimental = ["opentelemetry-distro (>=0.40b0,<1.0)", "opentelemetry-instrumentation-aiohttp-client (>=0.40b0,<1.0)", "opentelemetry-instrumentation-django (>=0.40b0,<1.0)", "opentelemetry-instrumentation-fastapi (>=0.40b0,<1.0)", "opentelemetry-instrumentation-flask (>=0.40b0,<1.0)", "opentelemetry-instrumentation-requests (>=0.40b0,<1.0)", "opentelemetry-instrumentation-sqlite3 (>=0.40b0,<1.0)", "opentelemetry-instrumentation-urllib (>=0.40b0,<1.0)"]
 pure-eval = ["asttokens", "executing", "pure-eval"]
@@ -7173,72 +7333,72 @@ test = ["pytest"]
 
 [[package]]
 name = "setuptools"
-version = "69.1.1"
+version = "69.5.1"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
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 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]
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 [[package]]
 name = "shapely"
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+version = "2.0.4"
 description = "Manipulation and analysis of geometric objects"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
-numpy = ">=1.14,<2"
+numpy = ">=1.14,<3"
 
 [package.extras]
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@@ -7315,20 +7475,20 @@ numpy = ["NumPy"]
 
 [[package]]
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+version = "7.3.7"
 description = "Python documentation generator"
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 ]
 
 [package.dependencies]
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+alabaster = ">=0.7.14,<0.8.0"
 babel = ">=2.9"
 colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""}
-docutils = ">=0.18.1,<0.21"
+docutils = ">=0.18.1,<0.22"
 imagesize = ">=1.3"
 Jinja2 = ">=3.0"
 packaging = ">=21.0"
@@ -7344,8 +7504,8 @@ sphinxcontrib-serializinghtml = ">=1.1.9"
 
 [package.extras]
 docs = ["sphinxcontrib-websupport"]
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-test = ["cython (>=3.0)", "filelock", "html5lib", "pytest (>=4.6)", "setuptools (>=67.0)"]
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+test = ["cython (>=3.0)", "defusedxml (>=0.7.1)", "pytest (>=6.0)", "setuptools (>=67.0)"]
 
 [[package]]
 name = "sphinx-rtd-theme"
@@ -7543,23 +7703,23 @@ doc = ["reno", "sphinx", "tornado (>=4.5)"]
 
 [[package]]
 name = "timezonefinder"
-version = "6.4.0"
+version = "6.5.0"
 description = "python package for finding the timezone of any point on earth (coordinates) offline"
 optional = false
-python-versions = ">=3.9,<4"
+python-versions = ">=3.8,<4"
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-    {file = "timezonefinder-6.4.0.tar.gz", hash = "sha256:7d82ebbc822d5fa012dbfbde510999afce0d7d1482794838e6c4daf6cc327f97"},
+    {file = "timezonefinder-6.5.0-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:3c70e1ea468ecac11272aa0a727450fd7cf43039ae2a2c62f7900a0a42efb6d6"},
+    {file = "timezonefinder-6.5.0.tar.gz", hash = "sha256:7afdb1516927e7766deb6da80c8bd66734a44ba3d898038fe73aef1e9cd39bb0"},
 ]
 
 [package.dependencies]
 cffi = ">=1.15.1,<2"
 h3 = ">=3.7.6,<4"
-numpy = ">=1.18,<2"
+numpy = {version = ">=1.23,<2", markers = "python_version >= \"3.9\""}
 setuptools = ">=65.5"
 
 [package.extras]
-numba = ["numba (>=0.59,<1)"]
+numba = ["numba (>=0.56,<1)", "numba (>=0.59,<1)"]
 pytz = ["pytz (>=2022.7.1)"]
 
 [[package]]
@@ -7595,13 +7755,13 @@ telegram = ["requests"]
 
 [[package]]
 name = "types-requests"
-version = "2.31.0.20240218"
+version = "2.31.0.20240406"
 description = "Typing stubs for requests"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "types-requests-2.31.0.20240218.tar.gz", hash = "sha256:f1721dba8385958f504a5386240b92de4734e047a08a40751c1654d1ac3349c5"},
-    {file = "types_requests-2.31.0.20240218-py3-none-any.whl", hash = "sha256:a82807ec6ddce8f00fe0e949da6d6bc1fbf1715420218a9640d695f70a9e5a9b"},
+    {file = "types-requests-2.31.0.20240406.tar.gz", hash = "sha256:4428df33c5503945c74b3f42e82b181e86ec7b724620419a2966e2de604ce1a1"},
+    {file = "types_requests-2.31.0.20240406-py3-none-any.whl", hash = "sha256:6216cdac377c6b9a040ac1c0404f7284bd13199c0e1bb235f4324627e8898cf5"},
 ]
 
 [package.dependencies]
@@ -7620,13 +7780,13 @@ files = [
 
 [[package]]
 name = "typing-extensions"
-version = "4.10.0"
+version = "4.11.0"
 description = "Backported and Experimental Type Hints for Python 3.8+"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "typing_extensions-4.10.0-py3-none-any.whl", hash = "sha256:69b1a937c3a517342112fb4c6df7e72fc39a38e7891a5730ed4985b5214b5475"},
-    {file = "typing_extensions-4.10.0.tar.gz", hash = "sha256:b0abd7c89e8fb96f98db18d86106ff1d90ab692004eb746cf6eda2682f91b3cb"},
+    {file = "typing_extensions-4.11.0-py3-none-any.whl", hash = "sha256:c1f94d72897edaf4ce775bb7558d5b79d8126906a14ea5ed1635921406c0387a"},
+    {file = "typing_extensions-4.11.0.tar.gz", hash = "sha256:83f085bd5ca59c80295fc2a82ab5dac679cbe02b9f33f7d83af68e241bea51b0"},
 ]
 
 [[package]]
@@ -7659,13 +7819,13 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.25.1"
+version = "20.25.3"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.25.1-py3-none-any.whl", hash = "sha256:961c026ac520bac5f69acb8ea063e8a4f071bcc9457b9c1f28f6b085c511583a"},
-    {file = "virtualenv-20.25.1.tar.gz", hash = "sha256:e08e13ecdca7a0bd53798f356d5831434afa5b07b93f0abdf0797b7a06ffe197"},
+    {file = "virtualenv-20.25.3-py3-none-any.whl", hash = "sha256:8aac4332f2ea6ef519c648d0bc48a5b1d324994753519919bddbb1aff25a104e"},
+    {file = "virtualenv-20.25.3.tar.gz", hash = "sha256:7bb554bbdfeaacc3349fa614ea5bff6ac300fc7c335e9facf3a3bcfc703f45be"},
 ]
 
 [package.dependencies]
@@ -7674,7 +7834,7 @@ filelock = ">=3.12.2,<4"
 platformdirs = ">=3.9.1,<5"
 
 [package.extras]
-docs = ["furo (>=2023.7.26)", "proselint (>=0.13)", "sphinx (>=7.1.2)", "sphinx-argparse (>=0.4)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.6)"]
+docs = ["furo (>=2023.7.26)", "proselint (>=0.13)", "sphinx (>=7.1.2,!=7.3)", "sphinx-argparse (>=0.4)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.6)"]
 test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess (>=1)", "flaky (>=3.7)", "packaging (>=23.1)", "pytest (>=7.4)", "pytest-env (>=0.8.2)", "pytest-freezer (>=0.4.8)", "pytest-mock (>=3.11.1)", "pytest-randomly (>=3.12)", "pytest-timeout (>=2.1)", "setuptools (>=68)", "time-machine (>=2.10)"]
 
 [[package]]
@@ -7814,18 +7974,18 @@ multidict = ">=4.0"
 
 [[package]]
 name = "zipp"
-version = "3.17.0"
+version = "3.18.1"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "zipp-3.17.0-py3-none-any.whl", hash = "sha256:0e923e726174922dce09c53c59ad483ff7bbb8e572e00c7f7c46b88556409f31"},
-    {file = "zipp-3.17.0.tar.gz", hash = "sha256:84e64a1c28cf7e91ed2078bb8cc8c259cb19b76942096c8d7b84947690cabaf0"},
+    {file = "zipp-3.18.1-py3-none-any.whl", hash = "sha256:206f5a15f2af3dbaee80769fb7dc6f249695e940acca08dfb2a4769fe61e538b"},
+    {file = "zipp-3.18.1.tar.gz", hash = "sha256:2884ed22e7d8961de1c9a05142eb69a247f120291bc0206a00a7642f09b5b715"},
 ]
 
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
+docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
 
 [metadata]
 lock-version = "2.0"
diff --git a/pyproject.toml b/pyproject.toml
index 99a8602460..10b99a9ddc 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -21,6 +21,7 @@ testpaths = [
   "selfdrive/thermald",
   "selfdrive/test/longitudinal_maneuvers",
   "selfdrive/test/process_replay/test_fuzzy.py",
+  "selfdrive/updated",
   "system/camerad",
   "system/hardware/tici",
   "system/loggerd",
@@ -170,11 +171,14 @@ build-backend = "poetry.core.masonry.api"
 
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
+indent-width = 2
 lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
 lint.ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"]
 line-length = 160
 target-version="py311"
 exclude = [
+  "body",
+  "cereal",
   "panda",
   "opendbc",
   "rednose_repo",
@@ -194,3 +198,5 @@ lint.flake8-implicit-str-concat.allow-multiline=false
 
 [tool.coverage.run]
 concurrency = ["multiprocessing", "thread"]
+[tool.ruff.format]
+quote-style = "preserve"
diff --git a/rednose_repo b/rednose_repo
index c5762e8bc6..1dc61a60e6 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit c5762e8bc6f7338c7a30d2cd1cba8cc64e81ba19
+Subproject commit 1dc61a60e684b4bc8c591a8bce7e24e02aa8f400
diff --git a/release/README.md b/release/README.md
new file mode 100644
index 0000000000..89e6cce6f3
--- /dev/null
+++ b/release/README.md
@@ -0,0 +1,34 @@
+# openpilot releases
+
+
+## terms
+
+- `channel` - a named version of openpilot (git branch, casync caibx) which receives updates
+- `build` - a copy of openpilot ready for distribution, already built for a specific device
+- `build_style` - type of build, either `debug` or `release`
+  - `debug` - build with `ALLOW_DEBUG=true`, can test experimental features like longitudinal on alpha cars
+  - `release` - build with `ALLOW_DEBUG=false`, experimental features disabled
+
+
+## openpilot channels
+
+| channel      | build_style | description                                                       |
+| -----------  | ----------- | ----------                                                        |
+| release      | `release`   | stable release of openpilot                                       |
+| staging      | `release`   | release candidate of openpilot for final verification             |
+| nightly      | `release`   | generated nightly from last commit passing CI tests               |
+| master       | `debug`     | current master commit with experimental features enabled          |
+| git branches | `debug`     | installed manually, experimental features enabled, build required |
+
+
+## build
+
+`release/build_release.sh <build_dir>` - creates an openpilot build into `build_dir`, ready for distribution
+
+## packaging a casync release
+
+`release/package_casync_build.py <build_dir>` - packages an openpilot build into a casync tar and uploads to `openpilot-releases`
+
+## release builds
+
+to create a release build, set `RELEASE=1` environment variable when running the build script
diff --git a/release/build_git_release.sh b/release/build_git_release.sh
new file mode 100755
index 0000000000..08f8a5a185
--- /dev/null
+++ b/release/build_git_release.sh
@@ -0,0 +1,105 @@
+#!/usr/bin/bash -e
+
+# git diff --name-status origin/release3-staging | grep "^A" | less
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
+cd $DIR
+
+BUILD_DIR=/data/openpilot
+SOURCE_DIR="$(git rev-parse --show-toplevel)"
+
+if [ -f /TICI ]; then
+  FILES_SRC="release/files_tici"
+else
+  echo "no release files set"
+  exit 1
+fi
+
+if [ -z "$RELEASE_BRANCH" ]; then
+  echo "RELEASE_BRANCH is not set"
+  exit 1
+fi
+
+
+# set git identity
+source $DIR/identity.sh
+
+echo "[-] Setting up repo T=$SECONDS"
+rm -rf $BUILD_DIR
+mkdir -p $BUILD_DIR
+cd $BUILD_DIR
+git init
+git remote add origin git@github.com:commaai/openpilot.git
+git checkout --orphan $RELEASE_BRANCH
+
+# do the files copy
+echo "[-] copying files T=$SECONDS"
+cd $SOURCE_DIR
+cp -pR --parents $(cat release/files_common) $BUILD_DIR/
+cp -pR --parents $(cat $FILES_SRC) $BUILD_DIR/
+
+# in the directory
+cd $BUILD_DIR
+
+rm -f panda/board/obj/panda.bin.signed
+rm -f panda/board/obj/panda_h7.bin.signed
+
+VERSION=$(cat common/version.h | awk -F[\"-]  '{print $2}')
+echo "#define COMMA_VERSION \"$VERSION-release\"" > common/version.h
+
+echo "[-] committing version $VERSION T=$SECONDS"
+git add -f .
+git commit -a -m "openpilot v$VERSION release"
+
+# Build
+export PYTHONPATH="$BUILD_DIR"
+scons -j$(nproc)
+
+# release panda fw
+CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
+
+# Ensure no submodules in release
+if test "$(git submodule--helper list | wc -l)" -gt "0"; then
+  echo "submodules found:"
+  git submodule--helper list
+  exit 1
+fi
+git submodule status
+
+# Cleanup
+find . -name '*.a' -delete
+find . -name '*.o' -delete
+find . -name '*.os' -delete
+find . -name '*.pyc' -delete
+find . -name 'moc_*' -delete
+find . -name '__pycache__' -delete
+rm -rf .sconsign.dblite Jenkinsfile release/
+rm selfdrive/modeld/models/supercombo.onnx
+
+# Restore third_party
+git checkout third_party/
+
+# Mark as prebuilt release
+touch prebuilt
+
+# Add built files to git
+git add -f .
+git commit --amend -m "openpilot v$VERSION"
+
+# Run tests
+TEST_FILES="tools/"
+cd $SOURCE_DIR
+cp -pR -n --parents $TEST_FILES $BUILD_DIR/
+cd $BUILD_DIR
+RELEASE=1 selfdrive/test/test_onroad.py
+#selfdrive/manager/test/test_manager.py
+#selfdrive/car/tests/test_car_interfaces.py
+rm -rf $TEST_FILES
+
+if [ ! -z "$RELEASE_BRANCH" ]; then
+  echo "[-] pushing release T=$SECONDS"
+  git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH
+fi
+
+echo "[-] done T=$SECONDS"
diff --git a/release/build_release.sh b/release/build_release.sh
index fc15cf6cdf..19c06700fa 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -1,71 +1,39 @@
-#!/usr/bin/bash -e
+#!/usr/bin/bash
 
-# git diff --name-status origin/release3-staging | grep "^A" | less
+set -e
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
-cd $DIR
-
-BUILD_DIR=/data/openpilot
-SOURCE_DIR="$(git rev-parse --show-toplevel)"
+SOURCE_DIR="$(git -C $DIR rev-parse --show-toplevel)"
+BUILD_DIR=${1:-$(mktemp -d)}
 
 if [ -f /TICI ]; then
   FILES_SRC="release/files_tici"
 else
-  echo "no release files set"
-  exit 1
+  FILES_SRC="release/files_pc"
 fi
 
-if [ -z "$RELEASE_BRANCH" ]; then
-  echo "RELEASE_BRANCH is not set"
-  exit 1
-fi
+echo "Building openpilot into $BUILD_DIR"
 
-
-# set git identity
-source $DIR/identity.sh
-
-echo "[-] Setting up repo T=$SECONDS"
 rm -rf $BUILD_DIR
 mkdir -p $BUILD_DIR
-cd $BUILD_DIR
-git init
-git remote add origin git@github.com:commaai/openpilot.git
-git checkout --orphan $RELEASE_BRANCH
 
-# do the files copy
-echo "[-] copying files T=$SECONDS"
+# Copy required files to BUILD_DIR
 cd $SOURCE_DIR
 cp -pR --parents $(cat release/files_common) $BUILD_DIR/
 cp -pR --parents $(cat $FILES_SRC) $BUILD_DIR/
 
-# in the directory
+# Build + cleanup
 cd $BUILD_DIR
+export PYTHONPATH="$BUILD_DIR"
 
 rm -f panda/board/obj/panda.bin.signed
 rm -f panda/board/obj/panda_h7.bin.signed
 
-VERSION=$(cat common/version.h | awk -F[\"-]  '{print $2}')
-echo "#define COMMA_VERSION \"$VERSION-release\"" > common/version.h
-
-echo "[-] committing version $VERSION T=$SECONDS"
-git add -f .
-git commit -a -m "openpilot v$VERSION release"
-
-# Build
-export PYTHONPATH="$BUILD_DIR"
-scons -j$(nproc)
-
-# release panda fw
-CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
-
-# Ensure no submodules in release
-if test "$(git submodule--helper list | wc -l)" -gt "0"; then
-  echo "submodules found:"
-  git submodule--helper list
-  exit 1
+if [ -n "$RELEASE" ]; then
+  export CERT=/data/pandaextra/certs/release
 fi
-git submodule status
+
+scons -j$(nproc)
 
 # Cleanup
 find . -name '*.a' -delete
@@ -77,29 +45,7 @@ find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
 rm selfdrive/modeld/models/supercombo.onnx
 
-# Restore third_party
-git checkout third_party/
-
 # Mark as prebuilt release
 touch prebuilt
 
-# Add built files to git
-git add -f .
-git commit --amend -m "openpilot v$VERSION"
-
-# Run tests
-TEST_FILES="tools/"
-cd $SOURCE_DIR
-cp -pR -n --parents $TEST_FILES $BUILD_DIR/
-cd $BUILD_DIR
-RELEASE=1 selfdrive/test/test_onroad.py
-#selfdrive/manager/test/test_manager.py
-selfdrive/car/tests/test_car_interfaces.py
-rm -rf $TEST_FILES
-
-if [ ! -z "$RELEASE_BRANCH" ]; then
-  echo "[-] pushing release T=$SECONDS"
-  git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH
-fi
-
-echo "[-] done T=$SECONDS"
+echo "----- openpilot has been built to $BUILD_DIR -----"
diff --git a/release/check-submodules.sh b/release/check-submodules.sh
index 5f4e307e49..bff8d7a28f 100755
--- a/release/check-submodules.sh
+++ b/release/check-submodules.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
 
 while read hash submodule ref; do
-  git -C $submodule fetch --depth 1000 origin master
+  git -C $submodule fetch --depth 2000 origin master
   git -C $submodule branch -r --contains $hash | grep "origin/master"
   if [ "$?" -eq 0 ]; then
     echo "$submodule ok"
diff --git a/release/files_common b/release/files_common
index 3ed3e773da..093d3bccec 100644
--- a/release/files_common
+++ b/release/files_common
@@ -53,9 +53,10 @@ tools/replay/*.h
 selfdrive/__init__.py
 selfdrive/sentry.py
 selfdrive/tombstoned.py
-selfdrive/updated.py
 selfdrive/statsd.py
 
+selfdrive/updated/**
+
 system/logmessaged.py
 system/micd.py
 system/version.py
@@ -81,11 +82,11 @@ selfdrive/boardd/panda.h
 selfdrive/boardd/spi.cc
 selfdrive/boardd/panda_comms.h
 selfdrive/boardd/panda_comms.cc
-selfdrive/boardd/set_time.py
 selfdrive/boardd/pandad.py
 selfdrive/boardd/tests/test_boardd_loopback.py
 
 selfdrive/car/__init__.py
+selfdrive/car/card.py
 selfdrive/car/docs_definitions.py
 selfdrive/car/car_helpers.py
 selfdrive/car/fingerprints.py
@@ -169,7 +170,6 @@ system/hardware/tici/hardware.h
 system/hardware/tici/hardware.py
 system/hardware/tici/pins.py
 system/hardware/tici/agnos.py
-system/hardware/tici/casync.py
 system/hardware/tici/agnos.json
 system/hardware/tici/amplifier.py
 system/hardware/tici/updater
@@ -181,10 +181,13 @@ system/hardware/pc/hardware.py
 
 system/ubloxd/.gitignore
 system/ubloxd/SConscript
+system/ubloxd/pigeond.py
 system/ubloxd/generated/*
 system/ubloxd/*.h
 system/ubloxd/*.cc
 
+system/updated/*
+
 selfdrive/locationd/__init__.py
 selfdrive/locationd/SConscript
 selfdrive/locationd/.gitignore
@@ -240,7 +243,6 @@ system/sensord/SConscript
 system/sensord/sensors_qcom2.cc
 system/sensord/sensors/*.cc
 system/sensord/sensors/*.h
-system/sensord/pigeond.py
 
 system/webrtc/__init__.py
 system/webrtc/webrtcd.py
@@ -278,6 +280,8 @@ selfdrive/ui/qt/network/*.h
 selfdrive/ui/qt/offroad/*.cc
 selfdrive/ui/qt/offroad/*.h
 selfdrive/ui/qt/offroad/*.qml
+selfdrive/ui/qt/onroad/*.cc
+selfdrive/ui/qt/onroad/*.h
 selfdrive/ui/qt/widgets/*.cc
 selfdrive/ui/qt/widgets/*.h
 selfdrive/ui/qt/maps/*.cc
@@ -314,7 +318,6 @@ selfdrive/modeld/modeld.py
 selfdrive/modeld/parse_model_outputs.py
 selfdrive/modeld/fill_model_msg.py
 selfdrive/modeld/get_model_metadata.py
-selfdrive/modeld/navmodeld.py
 selfdrive/modeld/dmonitoringmodeld.py
 selfdrive/modeld/constants.py
 selfdrive/modeld/modeld
@@ -330,8 +333,6 @@ selfdrive/modeld/models/supercombo.onnx
 
 selfdrive/modeld/models/dmonitoring_model_q.dlc
 
-selfdrive/modeld/models/navmodel_q.dlc
-
 selfdrive/modeld/transforms/loadyuv.cc
 selfdrive/modeld/transforms/loadyuv.h
 selfdrive/modeld/transforms/loadyuv.cl
@@ -541,7 +542,8 @@ opendbc/vw_golf_mk4.dbc
 opendbc/vw_mqb_2010.dbc
 
 opendbc/tesla_can.dbc
-opendbc/tesla_radar.dbc
+opendbc/tesla_radar_bosch_generated.dbc
+opendbc/tesla_radar_continental_generated.dbc
 opendbc/tesla_powertrain.dbc
 
 tinygrad_repo/openpilot/compile2.py
diff --git a/release/files_tici b/release/files_tici
index 1771c45138..18860e20af 100644
--- a/release/files_tici
+++ b/release/files_tici
@@ -7,7 +7,7 @@ system/camerad/cameras/camera_qcom2.cc
 system/camerad/cameras/camera_qcom2.h
 system/camerad/cameras/camera_util.cc
 system/camerad/cameras/camera_util.h
-system/camerad/cameras/real_debayer.cl
+system/camerad/cameras/process_raw.cl
 
 system/qcomgpsd/*
 
diff --git a/release/package_casync_agnos.py b/release/package_casync_agnos.py
new file mode 100755
index 0000000000..b80cdfa98d
--- /dev/null
+++ b/release/package_casync_agnos.py
@@ -0,0 +1,59 @@
+#!/usr/bin/env python3
+import argparse
+import json
+import os
+import pathlib
+import tempfile
+import time
+from openpilot.common.basedir import BASEDIR
+from openpilot.system.hardware.tici.agnos import StreamingDecompressor, unsparsify, noop, AGNOS_MANIFEST_FILE
+from openpilot.system.updated.casync.common import create_casync_from_file
+from release.package_casync_build import upload_casync_release
+
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="creates a casync release")
+  parser.add_argument("--manifest", type=str, help="json manifest to create agnos release from", \
+                        default=str(pathlib.Path(BASEDIR) / AGNOS_MANIFEST_FILE))
+  args = parser.parse_args()
+
+  manifest_file = pathlib.Path(args.manifest)
+
+  with tempfile.TemporaryDirectory() as temp_dir:
+    working_dir = pathlib.Path(temp_dir)
+    casync_dir = working_dir / "casync"
+    casync_dir.mkdir()
+
+    agnos_casync_dir = casync_dir / "agnos"
+    agnos_casync_dir.mkdir()
+
+    entry_path = working_dir / "entry"
+
+    with open(manifest_file) as f:
+      manifest = json.load(f)
+
+    for entry in manifest:
+      print(f"creating casync agnos build from {entry}")
+      start = time.monotonic()
+      downloader = StreamingDecompressor(entry['url'])
+
+      parse_func = unsparsify if entry['sparse'] else noop
+
+      parsed_chunks = parse_func(downloader)
+
+      size = entry["size"]
+
+      cur = 0
+      with open(entry_path, "wb") as f:
+        for chunk in parsed_chunks:
+          f.write(chunk)
+
+      print(f"downloaded in {time.monotonic() - start}")
+
+      start = time.monotonic()
+      agnos_filename = os.path.basename(entry["url"]).split(".")[0]
+      create_casync_from_file(entry_path, agnos_casync_dir, agnos_filename)
+      print(f"created casnc in {time.monotonic() - start}")
+
+    upload_casync_release(casync_dir)
diff --git a/release/package_casync_build.py b/release/package_casync_build.py
new file mode 100755
index 0000000000..5f92e893be
--- /dev/null
+++ b/release/package_casync_build.py
@@ -0,0 +1,108 @@
+#!/usr/bin/env python3
+
+# packages a casync release, uploads to azure, and creates a manifest
+
+import argparse
+import dataclasses
+import json
+import os
+import pathlib
+import tempfile
+
+from openpilot.system.hardware.tici.agnos import AGNOS_MANIFEST_FILE, get_partition_path
+from openpilot.system.updated.casync.common import create_build_metadata_file, create_casync_release
+from openpilot.system.version import get_build_metadata
+from openpilot.tools.lib.azure_container import AzureContainer
+
+
+BASE_URL = "https://commadist.blob.core.windows.net"
+
+OPENPILOT_RELEASES = f"{BASE_URL}/openpilot-releases/openpilot"
+AGNOS_RELEASES = f"{BASE_URL}/openpilot-releases/agnos"
+
+
+def create_casync_caibx(target_dir: pathlib.Path, output_dir: pathlib.Path):
+  output_dir.mkdir()
+  build_metadata = get_build_metadata()
+  build_metadata.openpilot.build_style = "release" if os.environ.get("RELEASE", None) is not None else "debug"
+
+  create_build_metadata_file(target_dir, build_metadata)
+
+  digest, caibx = create_casync_release(target_dir, output_dir, build_metadata.canonical)
+
+  print(f"Created casync release from {target_dir} to {caibx} with digest {digest}")
+
+
+def upload_casync_release(casync_dir: pathlib.Path):
+  if "AZURE_TOKEN_OPENPILOT_RELEASES" in os.environ:
+    os.environ["AZURE_TOKEN"] = os.environ["AZURE_TOKEN_OPENPILOT_RELEASES"]
+
+  OPENPILOT_RELEASES_CONTAINER = AzureContainer("commadist", "openpilot-releases")
+
+  for f in casync_dir.rglob("*"):
+    if f.is_file():
+      blob_name = f.relative_to(casync_dir)
+      print(f"uploading {f} to {blob_name}")
+      OPENPILOT_RELEASES_CONTAINER.upload_file(str(f), str(blob_name), overwrite=True)
+
+
+def create_partition_manifest(partition):
+  agnos_filename = os.path.basename(partition["url"]).split(".")[0]
+
+  return {
+    "type": "partition",
+    "casync": {
+      "caibx": f"{AGNOS_RELEASES}/{agnos_filename}.caibx"
+    },
+    "path": get_partition_path(0, partition),
+    "ab": True,
+    "size": partition["size"],
+    "full_check": partition["full_check"],
+    "hash_raw": partition["hash_raw"],
+  }
+
+
+def create_openpilot_manifest(build_metadata):
+  return {
+    "type": "path_tarred",
+    "path": "/data/openpilot",
+    "casync": {
+      "caibx": f"{OPENPILOT_RELEASES}/{build_metadata.canonical}.caibx"
+    }
+  }
+
+
+def create_manifest(target_dir):
+  with open(pathlib.Path(target_dir) / AGNOS_MANIFEST_FILE) as f:
+    agnos_manifest = json.load(f)
+
+  build_metadata = get_build_metadata(args.target_dir)
+
+  return {
+    "build_metadata": dataclasses.asdict(build_metadata),
+    "manifest": [
+      *[create_partition_manifest(entry) for entry in agnos_manifest],
+      create_openpilot_manifest(build_metadata)
+    ]
+  }
+
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="creates a casync release")
+  parser.add_argument("target_dir", type=str, help="path to a release build of openpilot to create release from")
+  args = parser.parse_args()
+
+  target_dir = pathlib.Path(args.target_dir)
+
+  with tempfile.TemporaryDirectory() as temp_dir:
+    casync_dir = pathlib.Path(temp_dir) / "casync"
+    casync_dir.mkdir(parents=True)
+
+    manifest_file = pathlib.Path(temp_dir) / "manifest.json"
+
+    create_casync_caibx(target_dir, casync_dir / "openpilot")
+    upload_casync_release(casync_dir)
+    manifest = create_manifest(target_dir)
+
+    print(json.dumps(manifest, indent=2))
diff --git a/release/verify.sh b/release/verify.sh
deleted file mode 100755
index ec5266bd81..0000000000
--- a/release/verify.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/bin/bash
-
-set -e
-
-RED="\033[0;31m"
-GREEN="\033[0;32m"
-CLEAR="\033[0m"
-
-BRANCHES="devel release3"
-for b in $BRANCHES; do
-  if git diff --quiet origin/$b origin/$b-staging && [ "$(git rev-parse origin/$b)" = "$(git rev-parse origin/$b-staging)" ]; then
-    printf "%-10s $GREEN ok $CLEAR\n" "$b"
-  else
-    printf "%-10s $RED mismatch $CLEAR\n" "$b"
-  fi
-done
diff --git a/scripts/cell.sh b/scripts/cell.sh
index 3f31978af5..4ba007a532 100755
--- a/scripts/cell.sh
+++ b/scripts/cell.sh
@@ -1,3 +1,3 @@
 #!/usr/bin/bash
-nmcli connection modify --temporary lte ipv4.route-metric 1 ipv6.route-metric 1
-nmcli con up lte
+nmcli connection modify --temporary esim ipv4.route-metric 1 ipv6.route-metric 1
+nmcli con up esim
diff --git a/scripts/count_cars.py b/scripts/count_cars.py
index 8c0892bb82..28057ddb04 100755
--- a/scripts/count_cars.py
+++ b/scripts/count_cars.py
@@ -2,10 +2,10 @@
 from collections import Counter
 from pprint import pprint
 
-from openpilot.selfdrive.car.docs import get_all_car_info
+from openpilot.selfdrive.car.docs import get_all_car_docs
 
 if __name__ == "__main__":
-  cars = get_all_car_info()
+  cars = get_all_car_docs()
   make_count = Counter(l.make for l in cars)
   print("\n", "*" * 20, len(cars), "total", "*" * 20, "\n")
   pprint(make_count)
diff --git a/scripts/launch_corolla.sh b/scripts/launch_corolla.sh
index 146fbacf0a..4e5bca6ce5 100755
--- a/scripts/launch_corolla.sh
+++ b/scripts/launch_corolla.sh
@@ -2,6 +2,6 @@
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 
-export FINGERPRINT="TOYOTA COROLLA TSS2 2019"
+export FINGERPRINT="TOYOTA_COROLLA_TSS2"
 export SKIP_FW_QUERY="1"
 $DIR/../launch_openpilot.sh
diff --git a/scripts/stop_updater.sh b/scripts/stop_updater.sh
index 4243d30e9f..7f82191823 100755
--- a/scripts/stop_updater.sh
+++ b/scripts/stop_updater.sh
@@ -1,7 +1,7 @@
 #!/usr/bin/env sh
 
 # Stop updater
-pkill -2 -f selfdrive.updated
+pkill -2 -f selfdrive.updated.updated
 
 # Remove pending update
 rm -f /data/safe_staging/finalized/.overlay_consistent
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index 9f901498b7..989e284e74 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -37,7 +37,7 @@ from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_commit, get_normalized_origin, get_short_branch, get_version
+from openpilot.system.version import get_build_metadata
 from openpilot.system.hardware.hw import Paths
 
 
@@ -319,11 +319,12 @@ def getMessage(service: str, timeout: int = 1000) -> dict:
 
 @dispatcher.add_method
 def getVersion() -> dict[str, str]:
+  build_metadata = get_build_metadata()
   return {
-    "version": get_version(),
-    "remote": get_normalized_origin(),
-    "branch": get_short_branch(),
-    "commit": get_commit(),
+    "version": build_metadata.openpilot.version,
+    "remote": build_metadata.openpilot.git_normalized_origin,
+    "branch": build_metadata.channel,
+    "commit": build_metadata.openpilot.git_commit,
   }
 
 
diff --git a/selfdrive/athena/manage_athenad.py b/selfdrive/athena/manage_athenad.py
index 486e426911..2ec92cc3e0 100755
--- a/selfdrive/athena/manage_athenad.py
+++ b/selfdrive/athena/manage_athenad.py
@@ -7,7 +7,7 @@ from openpilot.common.params import Params
 from openpilot.selfdrive.manager.process import launcher
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import HARDWARE
-from openpilot.system.version import get_version, get_normalized_origin, get_short_branch, get_commit, is_dirty
+from openpilot.system.version import get_build_metadata
 
 ATHENA_MGR_PID_PARAM = "AthenadPid"
 
@@ -15,12 +15,14 @@ ATHENA_MGR_PID_PARAM = "AthenadPid"
 def main():
   params = Params()
   dongle_id = params.get("DongleId").decode('utf-8')
+  build_metadata = get_build_metadata()
+
   cloudlog.bind_global(dongle_id=dongle_id,
-                       version=get_version(),
-                       origin=get_normalized_origin(),
-                       branch=get_short_branch(),
-                       commit=get_commit(),
-                       dirty=is_dirty(),
+                       version=build_metadata.openpilot.version,
+                       origin=build_metadata.openpilot.git_normalized_origin,
+                       branch=build_metadata.channel,
+                       commit=build_metadata.openpilot.git_commit,
+                       dirty=build_metadata.openpilot.is_dirty,
                        device=HARDWARE.get_device_type())
 
   try:
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index b2b59d3752..fcbf58999e 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -49,12 +49,6 @@ std::atomic<bool> ignition(false);
 
 ExitHandler do_exit;
 
-static std::string get_time_str(const struct tm &time) {
-  char s[30] = {'\0'};
-  std::strftime(s, std::size(s), "%Y-%m-%d %H:%M:%S", &time);
-  return s;
-}
-
 bool check_all_connected(const std::vector<Panda *> &pandas) {
   for (const auto& panda : pandas) {
     if (!panda->connected()) {
@@ -65,36 +59,6 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
   return true;
 }
 
-enum class SyncTimeDir { TO_PANDA, FROM_PANDA };
-
-void sync_time(Panda *panda, SyncTimeDir dir) {
-  if (!panda->has_rtc) return;
-
-  setenv("TZ", "UTC", 1);
-  struct tm sys_time = util::get_time();
-  struct tm rtc_time = panda->get_rtc();
-
-  if (dir == SyncTimeDir::TO_PANDA) {
-    if (util::time_valid(sys_time)) {
-      // Write time to RTC if it looks reasonable
-      double seconds = difftime(mktime(&rtc_time), mktime(&sys_time));
-      if (std::abs(seconds) > 1.1) {
-        panda->set_rtc(sys_time);
-        LOGW("Updating panda RTC. dt = %.2f System: %s RTC: %s",
-              seconds, get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
-      }
-    }
-  } else if (dir == SyncTimeDir::FROM_PANDA) {
-    LOGW("System time: %s, RTC time: %s", get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
-
-    if (!util::time_valid(sys_time) && util::time_valid(rtc_time)) {
-      const struct timeval tv = {mktime(&rtc_time), 0};
-      settimeofday(&tv, 0);
-      LOGE("System time wrong, setting from RTC.");
-    }
-  }
-}
-
 bool safety_setter_thread(std::vector<Panda *> pandas) {
   LOGD("Starting safety setter thread");
 
@@ -180,7 +144,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
 Panda *connect(std::string serial="", uint32_t index=0) {
   std::unique_ptr<Panda> panda;
   try {
-    panda = std::make_unique<Panda>(serial, (index * PANDA_BUS_CNT));
+    panda = std::make_unique<Panda>(serial, (index * PANDA_BUS_OFFSET));
   } catch (std::exception &e) {
     return nullptr;
   }
@@ -195,7 +159,6 @@ Panda *connect(std::string serial="", uint32_t index=0) {
     throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
   }
 
-  sync_time(panda.get(), SyncTimeDir::FROM_PANDA);
   return panda.release();
 }
 
@@ -353,7 +316,6 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     ps.setControlsAllowed(health.controls_allowed_pkt);
     ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
     ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
-    ps.setGmlanSendErrs(health.gmlan_send_errs_pkt);
     ps.setPandaType(panda->hw_type);
     ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt));
     ps.setSafetyParam(health.safety_param_pkt);
@@ -581,11 +543,6 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
       panda->set_ir_pwr(ir_pwr);
       prev_ir_pwr = ir_pwr;
     }
-
-    // Write to rtc once per minute when no ignition present
-    if (!ignition && (sm.frame % 120 == 1)) {
-      sync_time(panda, SyncTimeDir::TO_PANDA);
-    }
   }
 }
 
diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc
index e075887a4d..a2e5574090 100644
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@@ -25,10 +25,6 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
   }
 
   hw_type = get_hw_type();
-  has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
-            (hw_type == cereal::PandaState::PandaType::DOS) ||
-            (hw_type == cereal::PandaState::PandaType::TRES);
-
   can_reset_communications();
 
   return;
@@ -77,41 +73,6 @@ cereal::PandaState::PandaType Panda::get_hw_type() {
   return (cereal::PandaState::PandaType)(hw_query[0]);
 }
 
-void Panda::set_rtc(struct tm sys_time) {
-  // tm struct has year defined as years since 1900
-  handle->control_write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0);
-  handle->control_write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0);
-  handle->control_write(0xa3, (uint16_t)sys_time.tm_mday, 0);
-  // handle->control_write(0xa4, (uint16_t)(1 + sys_time.tm_wday), 0);
-  handle->control_write(0xa5, (uint16_t)sys_time.tm_hour, 0);
-  handle->control_write(0xa6, (uint16_t)sys_time.tm_min, 0);
-  handle->control_write(0xa7, (uint16_t)sys_time.tm_sec, 0);
-}
-
-struct tm Panda::get_rtc() {
-  struct __attribute__((packed)) timestamp_t {
-    uint16_t year; // Starts at 0
-    uint8_t month;
-    uint8_t day;
-    uint8_t weekday;
-    uint8_t hour;
-    uint8_t minute;
-    uint8_t second;
-  } rtc_time = {0};
-
-  handle->control_read(0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time));
-
-  struct tm new_time = { 0 };
-  new_time.tm_year = rtc_time.year - 1900; // tm struct has year defined as years since 1900
-  new_time.tm_mon  = rtc_time.month - 1;
-  new_time.tm_mday = rtc_time.day;
-  new_time.tm_hour = rtc_time.hour;
-  new_time.tm_min  = rtc_time.minute;
-  new_time.tm_sec  = rtc_time.second;
-
-  return new_time;
-}
-
 void Panda::set_fan_speed(uint16_t fan_speed) {
   handle->control_write(0xb1, fan_speed, 0);
 }
@@ -211,7 +172,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
   for (auto cmsg : can_data_list) {
     // check if the message is intended for this panda
     uint8_t bus = cmsg.getSrc();
-    if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_CNT)) {
+    if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_OFFSET)) {
       continue;
     }
     auto can_data = cmsg.getDat();
@@ -284,6 +245,13 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_fra
       break;
     }
 
+    if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) {
+      // TODO: also reset CAN comms?
+      LOGE("Panda CAN checksum failed");
+      size = 0;
+      return false;
+    }
+
     can_frame &canData = out_vec.emplace_back();
     canData.busTime = 0;
     canData.address = header.addr;
@@ -295,12 +263,6 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_fra
       canData.src += CAN_RETURNED_BUS_OFFSET;
     }
 
-    if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) {
-      LOGE("Panda CAN checksum failed");
-      size = 0;
-      return false;
-    }
-
     canData.dat.assign((char *)&data[pos + sizeof(can_header)], data_len);
 
     pos += sizeof(can_header) + data_len;
diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h
index 9d4b1b2092..3002afeba9 100644
--- a/selfdrive/boardd/panda.h
+++ b/selfdrive/boardd/panda.h
@@ -23,6 +23,8 @@
 #define CAN_REJECTED_BUS_OFFSET   0xC0U
 #define CAN_RETURNED_BUS_OFFSET 0x80U
 
+#define PANDA_BUS_OFFSET 4
+
 struct __attribute__((packed)) can_header {
   uint8_t reserved : 1;
   uint8_t bus : 3;
@@ -50,7 +52,6 @@ public:
   Panda(std::string serial="", uint32_t bus_offset=0);
 
   cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
-  bool has_rtc = false;
   const uint32_t bus_offset;
 
   bool connected();
@@ -64,8 +65,6 @@ public:
   cereal::PandaState::PandaType get_hw_type();
   void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
   void set_alternative_experience(uint16_t alternative_experience);
-  void set_rtc(struct tm sys_time);
-  struct tm get_rtc();
   void set_fan_speed(uint16_t fan_speed);
   uint16_t get_fan_speed();
   void set_ir_pwr(uint16_t ir_pwr);
diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py
index 988d1a2409..b4ac2d9548 100755
--- a/selfdrive/boardd/pandad.py
+++ b/selfdrive/boardd/pandad.py
@@ -5,12 +5,10 @@ import usb1
 import time
 import subprocess
 from typing import NoReturn
-from functools import cmp_to_key
 
 from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.selfdrive.boardd.set_time import set_time
 from openpilot.system.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog
 
@@ -63,24 +61,6 @@ def flash_panda(panda_serial: str) -> Panda:
   return panda
 
 
-def panda_sort_cmp(a: Panda, b: Panda):
-  a_type = a.get_type()
-  b_type = b.get_type()
-
-  # make sure the internal one is always first
-  if a.is_internal() and not b.is_internal():
-    return -1
-  if not a.is_internal() and b.is_internal():
-    return 1
-
-  # sort by hardware type
-  if a_type != b_type:
-    return a_type < b_type
-
-  # last resort: sort by serial number
-  return a.get_usb_serial() < b.get_usb_serial()
-
-
 def main() -> NoReturn:
   count = 0
   first_run = True
@@ -137,7 +117,10 @@ def main() -> NoReturn:
       no_internal_panda_count = 0
 
       # sort pandas to have deterministic order
-      pandas.sort(key=cmp_to_key(panda_sort_cmp))
+      # * the internal one is always first
+      # * then sort by hardware type
+      # * as a last resort, sort by serial number
+      pandas.sort(key=lambda x: (not x.is_internal(), x.get_type(), x.get_usb_serial()))
       panda_serials = [p.get_usb_serial() for p in pandas]
 
       # log panda fw versions
@@ -154,16 +137,9 @@ def main() -> NoReturn:
           cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial())
 
         if first_run:
-          if panda.is_internal():
-            # update time from RTC
-            set_time(cloudlog)
-
           # reset panda to ensure we're in a good state
           cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
-          if panda.is_internal():
-            HARDWARE.reset_internal_panda()
-          else:
-            panda.reset(reconnect=False)
+          panda.reset(reconnect=True)
 
       for p in pandas:
         p.close()
diff --git a/selfdrive/boardd/set_time.py b/selfdrive/boardd/set_time.py
deleted file mode 100755
index fe17f64e82..0000000000
--- a/selfdrive/boardd/set_time.py
+++ /dev/null
@@ -1,38 +0,0 @@
-#!/usr/bin/env python3
-import os
-import datetime
-from panda import Panda
-
-from openpilot.common.time import MIN_DATE
-
-def set_time(logger):
-  sys_time = datetime.datetime.today()
-  if sys_time > MIN_DATE:
-    logger.info("System time valid")
-    return
-
-  try:
-    ps = Panda.list()
-    if len(ps) == 0:
-      logger.error("Failed to set time, no pandas found")
-      return
-
-    for s in ps:
-      with Panda(serial=s) as p:
-        if not p.is_internal():
-          continue
-
-        # Set system time from panda RTC time
-        panda_time = p.get_datetime()
-        if panda_time > MIN_DATE:
-          logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
-          os.system(f"TZ=UTC date -s '{panda_time}'")
-        break
-  except Exception:
-    logger.exception("Failed to fetch time from panda")
-
-if __name__ == "__main__":
-  import logging
-  logging.basicConfig(level=logging.DEBUG)
-
-  set_time(logging)
diff --git a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc
index 86476d05cd..aa67e8cf8c 100644
--- a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc
+++ b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc
@@ -40,7 +40,7 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState
     uint32_t id = util::random_int(0, std::size(dlc_to_len) - 1);
     const std::string &dat = test_data[dlc_to_len[id]];
     can.setAddress(i);
-    can.setSrc(util::random_int(0, 3) + bus_offset);
+    can.setSrc(util::random_int(0, 2) + bus_offset);
     can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size()));
     total_pakets_size += sizeof(can_header) + dat.size();
   }
diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py
index 21cc0b5f37..3434be3fe4 100755
--- a/selfdrive/boardd/tests/test_pandad.py
+++ b/selfdrive/boardd/tests/test_pandad.py
@@ -23,23 +23,28 @@ class TestPandad(unittest.TestCase):
     if len(Panda.list()) == 0:
       self._run_test(60)
 
+    self.spi = HARDWARE.get_device_type() != 'tici'
+
   def tearDown(self):
     managed_processes['pandad'].stop()
 
-  def _run_test(self, timeout=30):
+  def _run_test(self, timeout=30) -> float:
+    st = time.monotonic()
+    sm = messaging.SubMaster(['pandaStates'])
+
     managed_processes['pandad'].start()
-
-    sm = messaging.SubMaster(['peripheralState'])
-    for _ in range(timeout*10):
+    while (time.monotonic() - st) < timeout:
       sm.update(100)
-      if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
+      if len(sm['pandaStates']) and sm['pandaStates'][0].pandaType != log.PandaState.PandaType.unknown:
         break
-
+    dt = time.monotonic() - st
     managed_processes['pandad'].stop()
 
-    if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
+    if len(sm['pandaStates']) == 0 or sm['pandaStates'][0].pandaType == log.PandaState.PandaType.unknown:
       raise Exception("boardd failed to start")
 
+    return dt
+
   def _go_to_dfu(self):
     HARDWARE.recover_internal_panda()
     assert Panda.wait_for_dfu(None, 10)
@@ -88,14 +93,23 @@ class TestPandad(unittest.TestCase):
     assert any(Panda(s).is_internal() for s in Panda.list())
 
   def test_best_case_startup_time(self):
-    # run once so we're setup
+    # run once so we're up to date
     self._run_test(60)
 
-    # should be fast this time
-    self._run_test(8)
+    ts = []
+    for _ in range(10):
+      # should be nearly instant this time
+      dt = self._run_test(5)
+      ts.append(dt)
+
+    # 5s for USB (due to enumeration)
+    # - 0.2s pandad -> boardd
+    # - plus some buffer
+    assert 0.1 < (sum(ts)/len(ts)) < (0.5 if self.spi else 5.0)
+    print("startup times", ts, sum(ts) / len(ts))
 
   def test_protocol_version_check(self):
-    if HARDWARE.get_device_type() == 'tici':
+    if not self.spi:
       raise unittest.SkipTest("SPI test")
     # flash old fw
     fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index 73ddb02899..2f49e79b81 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -12,12 +12,12 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# {{all_car_info | length}} Supported Cars
+# {{all_car_docs | length}} Supported Cars
 
 |{{Column | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}|
 |---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%}
-{% for car_info in all_car_info %}
-|{% for column in Column %}{{car_info.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
+{% for car_docs in all_car_docs %}
+|{% for column in Column %}{{car_docs.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
 
 {% endfor %}
 
@@ -67,6 +67,7 @@ openpilot does not yet support these Toyota models due to a new message authenti
 * Toyota Tundra 2022+
 * Toyota Highlander 2024+
 * Toyota Corolla Cross 2022+ (only US model)
+* Toyota Camry 2025+
 * Lexus NX 2022+
 * Toyota bZ4x 2023+
 * Subaru Solterra 2023+
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index c7af2da686..bbdae4f3d4 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -1,7 +1,7 @@
 # functions common among cars
 from collections import defaultdict, namedtuple
 from dataclasses import dataclass
-from enum import IntFlag, ReprEnum
+from enum import IntFlag, ReprEnum, EnumType
 from dataclasses import replace
 
 import capnp
@@ -9,7 +9,7 @@ import capnp
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.utils import Freezable
-from openpilot.selfdrive.car.docs_definitions import CarInfo
+from openpilot.selfdrive.car.docs_definitions import CarDocs
 
 
 # kg of standard extra cargo to count for drive, gas, etc...
@@ -165,41 +165,6 @@ def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_fra
   return above_limit_frames, request
 
 
-def crc8_pedal(data):
-  crc = 0xFF    # standard init value
-  poly = 0xD5   # standard crc8: x8+x7+x6+x4+x2+1
-  size = len(data)
-  for i in range(size - 1, -1, -1):
-    crc ^= data[i]
-    for _ in range(8):
-      if ((crc & 0x80) != 0):
-        crc = ((crc << 1) ^ poly) & 0xFF
-      else:
-        crc <<= 1
-  return crc
-
-
-def create_gas_interceptor_command(packer, gas_amount, idx):
-  # Common gas pedal msg generator
-  enable = gas_amount > 0.001
-
-  values = {
-    "ENABLE": enable,
-    "COUNTER_PEDAL": idx & 0xF,
-  }
-
-  if enable:
-    values["GAS_COMMAND"] = gas_amount * 255.
-    values["GAS_COMMAND2"] = gas_amount * 255.
-
-  dat = packer.make_can_msg("GAS_COMMAND", 0, values)[2]
-
-  checksum = crc8_pedal(dat[:-1])
-  values["CHECKSUM_PEDAL"] = checksum
-
-  return packer.make_can_msg("GAS_COMMAND", 0, values)
-
-
 def make_can_msg(addr, dat, bus):
   return [addr, 0, dat, bus]
 
@@ -245,9 +210,6 @@ class CanSignalRateCalculator:
     return self.rate
 
 
-CarInfos = CarInfo | list[CarInfo] | None
-
-
 @dataclass(frozen=True, kw_only=True)
 class CarSpecs:
   mass: float  # kg, curb weight
@@ -264,14 +226,15 @@ class CarSpecs:
 
 @dataclass(order=True)
 class PlatformConfig(Freezable):
-  platform_str: str
-  car_info: CarInfos
+  car_docs: list[CarDocs]
   specs: CarSpecs
 
   dbc_dict: DbcDict
 
   flags: int = 0
 
+  platform_str: str | None = None
+
   def __hash__(self) -> int:
     return hash(self.platform_str)
 
@@ -283,10 +246,18 @@ class PlatformConfig(Freezable):
 
   def __post_init__(self):
     self.init()
-    self.freeze()
 
 
-class Platforms(str, ReprEnum):
+class PlatformsType(EnumType):
+  def __new__(metacls, cls, bases, classdict, *, boundary=None, _simple=False, **kwds):
+    for key in classdict._member_names.keys():
+      cfg: PlatformConfig = classdict[key]
+      cfg.platform_str = key
+      cfg.freeze()
+    return super().__new__(metacls, cls, bases, classdict, boundary=boundary, _simple=_simple, **kwds)
+
+
+class Platforms(str, ReprEnum, metaclass=PlatformsType):
   config: PlatformConfig
 
   def __new__(cls, platform_config: PlatformConfig):
@@ -295,18 +266,21 @@ class Platforms(str, ReprEnum):
     member._value_ = platform_config.platform_str
     return member
 
+  def __repr__(self):
+    return f"<{self.__class__.__name__}.{self.name}>"
+
   @classmethod
   def create_dbc_map(cls) -> dict[str, DbcDict]:
     return {p: p.config.dbc_dict for p in cls}
 
-  @classmethod
-  def create_carinfo_map(cls) -> dict[str, CarInfos]:
-    return {p: p.config.car_info for p in cls}
-
   @classmethod
   def with_flags(cls, flags: IntFlag) -> set['Platforms']:
     return {p for p in cls if p.config.flags & flags}
 
+  @classmethod
+  def without_flags(cls, flags: IntFlag) -> set['Platforms']:
+    return {p for p in cls if not (p.config.flags & flags)}
+
   @classmethod
   def print_debug(cls, flags):
     platforms_with_flag = defaultdict(list)
diff --git a/selfdrive/car/body/fingerprints.py b/selfdrive/car/body/fingerprints.py
index 6efaabc137..ab7a5f8d7b 100644
--- a/selfdrive/car/body/fingerprints.py
+++ b/selfdrive/car/body/fingerprints.py
@@ -8,13 +8,13 @@ Ecu = car.CarParams.Ecu
 
 
 FINGERPRINTS = {
-  CAR.BODY: [{
+  CAR.COMMA_BODY: [{
     513: 8, 516: 8, 514: 3, 515: 4
   }],
 }
 
 FW_VERSIONS = {
-  CAR.BODY: {
+  CAR.COMMA_BODY: {
     (Ecu.engine, 0x720, None): [
       b'0.0.01',
       b'0.3.00a',
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index 4d72d2f604..f797a7ecf8 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -37,6 +37,3 @@ class CarInterface(CarInterfaceBase):
     self.frame += 1
 
     return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py
index 82b00ee47d..a1195f7cb5 100644
--- a/selfdrive/car/body/values.py
+++ b/selfdrive/car/body/values.py
@@ -1,6 +1,6 @@
 from cereal import car
 from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarInfo
+from openpilot.selfdrive.car.docs_definitions import CarDocs
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
@@ -20,9 +20,8 @@ class CarControllerParams:
 
 
 class CAR(Platforms):
-  BODY = PlatformConfig(
-    "COMMA BODY",
-    CarInfo("comma body", package="All"),
+  COMMA_BODY = PlatformConfig(
+    [CarDocs("comma body", package="All")],
     CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44),
     dbc_dict('comma_body', None),
   )
@@ -38,5 +37,4 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ],
 )
 
-CAR_INFO = CAR.create_carinfo_map()
 DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 74499fbbb0..66097339b1 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -4,9 +4,6 @@ from collections.abc import Callable
 
 from cereal import car
 from openpilot.common.params import Params
-from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.car.values import PLATFORMS
-from openpilot.system.version import is_comma_remote, is_tested_branch
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
@@ -15,6 +12,7 @@ from openpilot.selfdrive.car.mock.values import CAR as MOCK
 from openpilot.common.swaglog import cloudlog
 import cereal.messaging as messaging
 from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.system.version import get_build_metadata
 
 FRAME_FINGERPRINT = 100  # 1s
 
@@ -22,7 +20,8 @@ EventName = car.CarEvent.EventName
 
 
 def get_startup_event(car_recognized, controller_available, fw_seen):
-  if is_comma_remote() and is_tested_branch():
+  build_metadata = get_build_metadata()
+  if build_metadata.openpilot.comma_remote and build_metadata.tested_channel:
     event = EventName.startup
   else:
     event = EventName.startupMaster
@@ -49,17 +48,8 @@ def load_interfaces(brand_names):
   for brand_name in brand_names:
     path = f'openpilot.selfdrive.car.{brand_name}'
     CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
-
-    if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carstate.py'):
-      CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
-    else:
-      CarState = None
-
-    if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carcontroller.py'):
-      CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
-    else:
-      CarController = None
-
+    CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
+    CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
     for model_name in brand_names[brand_name]:
       ret[model_name] = (CarInterface, CarController, CarState)
   return ret
@@ -149,10 +139,10 @@ def fingerprint(logcan, sendcan, num_pandas):
       # VIN query only reliably works through OBDII
       vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1))
       ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas)
-      car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
+      car_fw = get_fw_versions_ordered(logcan, sendcan, vin, ecu_rx_addrs, num_pandas=num_pandas)
       cached = False
 
-    exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
+    exact_fw_match, fw_candidates = match_fw_to_car(car_fw, vin)
   else:
     vin_rx_addr, vin_rx_bus, vin = -1, -1, VIN_UNKNOWN
     exact_fw_match, fw_candidates, car_fw = True, set(), []
@@ -192,9 +182,12 @@ def fingerprint(logcan, sendcan, num_pandas):
                  fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
                  fingerprints=repr(finger), fw_query_time=fw_query_time, error=True)
 
-  car_platform = PLATFORMS.get(car_fingerprint, MOCK.MOCK)
+  return car_fingerprint, finger, vin, car_fw, source, exact_match
 
-  return car_platform, finger, vin, car_fw, source, exact_match
+
+def get_car_interface(CP):
+  CarInterface, CarController, CarState = interfaces[CP.carFingerprint]
+  return CarInterface(CP, CarController, CarState)
 
 
 def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
@@ -202,16 +195,16 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
 
   if candidate is None:
     cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True)
-    candidate = "mock"
+    candidate = "MOCK"
 
-  CarInterface, CarController, CarState = interfaces[candidate]
+  CarInterface, _, _ = interfaces[candidate]
   CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
   CP.carVin = vin
   CP.carFw = car_fw
   CP.fingerprintSource = source
   CP.fuzzyFingerprint = not exact_match
 
-  return CarInterface(CP, CarController, CarState), CP
+  return get_car_interface(CP), CP
 
 def write_car_param(platform=MOCK.MOCK):
   params = Params()
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
new file mode 100755
index 0000000000..82335500d8
--- /dev/null
+++ b/selfdrive/car/card.py
@@ -0,0 +1,142 @@
+#!/usr/bin/env python3
+import os
+import time
+
+import cereal.messaging as messaging
+
+from cereal import car
+
+from panda import ALTERNATIVE_EXPERIENCE
+
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_CTRL
+
+from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+
+
+REPLAY = "REPLAY" in os.environ
+
+
+class CarD:
+  CI: CarInterfaceBase
+  CS: car.CarState
+
+  def __init__(self, CI=None):
+    self.can_sock = messaging.sub_sock('can', timeout=20)
+    self.sm = messaging.SubMaster(['pandaStates'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
+
+    self.can_rcv_timeout_counter = 0      # conseuctive timeout count
+    self.can_rcv_cum_timeout_counter = 0  # cumulative timeout count
+
+    self.CC_prev = car.CarControl.new_message()
+
+    self.last_actuators = None
+
+    self.params = Params()
+
+    if CI is None:
+      # wait for one pandaState and one CAN packet
+      print("Waiting for CAN messages...")
+      get_one_can(self.can_sock)
+
+      num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
+      experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
+      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas)
+    else:
+      self.CI, self.CP = CI, CI.CP
+
+    # set alternative experiences from parameters
+    disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    self.CP.alternativeExperience = 0
+    if not disengage_on_accelerator:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
+
+    car_recognized = self.CP.carName != 'mock'
+    openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
+
+    controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
+
+    self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly
+    if self.CP.passive:
+      safety_config = car.CarParams.SafetyConfig.new_message()
+      safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
+      self.CP.safetyConfigs = [safety_config]
+
+    # Write previous route's CarParams
+    prev_cp = self.params.get("CarParamsPersistent")
+    if prev_cp is not None:
+      self.params.put("CarParamsPrevRoute", prev_cp)
+
+    # Write CarParams for controls and radard
+    cp_bytes = self.CP.to_bytes()
+    self.params.put("CarParams", cp_bytes)
+    self.params.put_nonblocking("CarParamsCache", cp_bytes)
+    self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
+
+  def initialize(self):
+    """Initialize CarInterface, once controls are ready"""
+    self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
+
+  def state_update(self):
+    """carState update loop, driven by can"""
+
+    # Update carState from CAN
+    can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
+    self.CS = self.CI.update(self.CC_prev, can_strs)
+
+    self.sm.update(0)
+
+    can_rcv_valid = len(can_strs) > 0
+
+    # Check for CAN timeout
+    if not can_rcv_valid:
+      self.can_rcv_timeout_counter += 1
+      self.can_rcv_cum_timeout_counter += 1
+    else:
+      self.can_rcv_timeout_counter = 0
+
+    self.can_rcv_timeout = self.can_rcv_timeout_counter >= 5
+
+    if can_rcv_valid and REPLAY:
+      self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
+
+    self.state_publish()
+
+    return self.CS
+
+  def state_publish(self):
+    """carState and carParams publish loop"""
+
+    # carState
+    cs_send = messaging.new_message('carState')
+    cs_send.valid = self.CS.canValid
+    cs_send.carState = self.CS
+    self.pm.send('carState', cs_send)
+
+    # carParams - logged every 50 seconds (> 1 per segment)
+    if (self.sm.frame % int(50. / DT_CTRL) == 0):
+      cp_send = messaging.new_message('carParams')
+      cp_send.valid = True
+      cp_send.carParams = self.CP
+      self.pm.send('carParams', cp_send)
+
+    # publish new carOutput
+    co_send = messaging.new_message('carOutput')
+    co_send.valid = True
+    if self.last_actuators is not None:
+      co_send.carOutput.actuatorsOutput = self.last_actuators
+    self.pm.send('carOutput', co_send)
+
+  def controls_update(self, CC: car.CarControl):
+    """control update loop, driven by carControl"""
+
+    # send car controls over can
+    now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
+    self.last_actuators, can_sends = self.CI.apply(CC, now_nanos)
+    self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=self.CS.canValid))
+
+    self.CC_prev = CC
+
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index eb1cf7e7d5..91b922c596 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -21,10 +21,16 @@ class CarState(CarStateBase):
     else:
       self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
 
+    self.prev_distance_button = 0
+    self.distance_button = 0
+
   def update(self, cp, cp_cam):
 
     ret = car.CarState.new_message()
 
+    self.prev_distance_button = self.distance_button
+    self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
+
     # lock info
     ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
                         cp.vl["BCM_1"]["DOOR_OPEN_FR"],
diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 3444b4cc5b..76d04d2e36 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -4,7 +4,7 @@ from openpilot.selfdrive.car.chrysler.values import CAR
 Ecu = car.CarParams.Ecu
 
 FW_VERSIONS = {
-  CAR.PACIFICA_2017_HYBRID: {
+  CAR.CHRYSLER_PACIFICA_2017_HYBRID: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68239262AH',
       b'68239262AI',
@@ -33,7 +33,7 @@ FW_VERSIONS = {
       b'05190226AK',
     ],
   },
-  CAR.PACIFICA_2018: {
+  CAR.CHRYSLER_PACIFICA_2018: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68227902AF',
       b'68227902AG',
@@ -81,6 +81,7 @@ FW_VERSIONS = {
       b'68277370AJ',
       b'68277370AM',
       b'68277372AD',
+      b'68277372AE',
       b'68277372AN',
       b'68277374AA',
       b'68277374AB',
@@ -90,14 +91,16 @@ FW_VERSIONS = {
       b'68380571AB',
     ],
   },
-  CAR.PACIFICA_2020: {
+  CAR.CHRYSLER_PACIFICA_2020: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68405327AC',
       b'68436233AB',
       b'68436233AC',
+      b'68436234AB',
       b'68436250AE',
       b'68529067AA',
       b'68594993AB',
+      b'68594994AB',
     ],
     (Ecu.srs, 0x744, None): [
       b'68405565AB',
@@ -121,15 +124,18 @@ FW_VERSIONS = {
       b'68540436AC',
       b'68540436AD',
       b'68598670AB',
+      b'68598670AC',
     ],
     (Ecu.eps, 0x75a, None): [
       b'68416742AA',
       b'68460393AA',
       b'68460393AB',
       b'68494461AB',
+      b'68494461AC',
       b'68524936AA',
       b'68524936AB',
       b'68525338AB',
+      b'68594337AB',
       b'68594340AB',
     ],
     (Ecu.engine, 0x7e0, None): [
@@ -141,10 +147,14 @@ FW_VERSIONS = {
       b'68443120AE ',
       b'68443123AC ',
       b'68443125AC ',
+      b'68496647AJ ',
+      b'68496650AH ',
+      b'68496650AI ',
       b'68526752AD ',
       b'68526752AE ',
       b'68526754AE ',
       b'68536264AE ',
+      b'68700304AB ',
       b'68700306AB ',
     ],
     (Ecu.transmission, 0x7e1, None): [
@@ -155,12 +165,14 @@ FW_VERSIONS = {
       b'68443155AC',
       b'68443158AB',
       b'68501050AD',
+      b'68501055AD',
       b'68527221AB',
       b'68527223AB',
       b'68586231AD',
+      b'68586233AD',
     ],
   },
-  CAR.PACIFICA_2018_HYBRID: {
+  CAR.CHRYSLER_PACIFICA_2018_HYBRID: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68358439AE',
       b'68358439AG',
@@ -187,7 +199,7 @@ FW_VERSIONS = {
       b'05190226AM',
     ],
   },
-  CAR.PACIFICA_2019_HYBRID: {
+  CAR.CHRYSLER_PACIFICA_2019_HYBRID: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68405292AC',
       b'68434956AC',
@@ -258,6 +270,7 @@ FW_VERSIONS = {
       b'68331511AC',
       b'68331574AC',
       b'68331687AC',
+      b'68331690AC',
       b'68340272AD',
     ],
     (Ecu.srs, 0x744, None): [
@@ -362,7 +375,7 @@ FW_VERSIONS = {
       b'68503664AC',
     ],
   },
-  CAR.RAM_1500: {
+  CAR.RAM_1500_5TH_GEN: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68294051AG',
       b'68294051AI',
@@ -379,10 +392,12 @@ FW_VERSIONS = {
       b'68434859AC',
       b'68434860AC',
       b'68453483AC',
+      b'68453483AD',
       b'68453487AD',
       b'68453491AC',
       b'68453499AD',
       b'68453503AC',
+      b'68453503AD',
       b'68453505AC',
       b'68453505AD',
       b'68453511AC',
@@ -404,9 +419,12 @@ FW_VERSIONS = {
       b'68527383AD',
       b'68527387AE',
       b'68527403AC',
+      b'68527403AD',
       b'68546047AF',
       b'68631938AA',
+      b'68631940AA',
       b'68631942AA',
+      b'68631943AB',
     ],
     (Ecu.srs, 0x744, None): [
       b'68428609AB',
@@ -418,6 +436,7 @@ FW_VERSIONS = {
       b'68615034AA',
     ],
     (Ecu.abs, 0x747, None): [
+      b'68292406AG',
       b'68292406AH',
       b'68432418AB',
       b'68432418AD',
@@ -469,6 +488,7 @@ FW_VERSIONS = {
       b'68552790AA',
       b'68552791AB',
       b'68552794AA',
+      b'68552794AD',
       b'68585106AB',
       b'68585107AB',
       b'68585108AB',
@@ -477,9 +497,12 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7e0, None): [
       b'05035699AG ',
+      b'05035841AC ',
+      b'05035841AD ',
       b'05036026AB ',
       b'05036065AE ',
       b'05036066AE ',
+      b'05036193AA ',
       b'05149368AA ',
       b'05149591AD ',
       b'05149591AE ',
@@ -496,6 +519,7 @@ FW_VERSIONS = {
       b'68378701AI ',
       b'68378702AI ',
       b'68378710AL ',
+      b'68378742AI ',
       b'68378748AL ',
       b'68378758AM ',
       b'68448163AJ',
@@ -509,27 +533,32 @@ FW_VERSIONS = {
       b'68455145AE ',
       b'68455146AC ',
       b'68467915AC ',
+      b'68467916AC ',
       b'68467936AC ',
       b'68500630AD',
       b'68500630AE',
       b'68502719AC ',
       b'68502722AC ',
+      b'68502733AC ',
       b'68502734AF ',
       b'68502740AF ',
       b'68502741AF ',
       b'68502742AC ',
+      b'68502742AF ',
       b'68539650AD',
       b'68539650AF',
       b'68539651AD',
       b'68586101AA ',
       b'68586105AB ',
       b'68629922AC ',
+      b'68629925AC ',
       b'68629926AC ',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'05035706AD',
       b'05035842AB',
       b'05036069AA',
+      b'05036181AA',
       b'05149536AC',
       b'05149537AC',
       b'05149543AC',
@@ -539,6 +568,7 @@ FW_VERSIONS = {
       b'68360081AM',
       b'68360085AJ',
       b'68360085AL',
+      b'68360086AH',
       b'68384328AD',
       b'68384332AD',
       b'68445531AC',
@@ -559,7 +589,7 @@ FW_VERSIONS = {
       b'68629936AC',
     ],
   },
-  CAR.RAM_HD: {
+  CAR.RAM_HD_5TH_GEN: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68361606AH',
       b'68437735AC',
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index eb40bc6f6e..217a1a756c 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -1,10 +1,12 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
+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
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
+ButtonType = car.CarState.ButtonEvent.Type
+
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
@@ -27,13 +29,14 @@ class CarInterface(CarInterfaceBase):
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     if candidate not in RAM_CARS:
       # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
-      new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
+      new_eps_platform = candidate in (CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
       new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
       if new_eps_platform or new_eps_firmware:
         ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
 
     # Chrysler
-    if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.DODGE_DURANGO):
+    if candidate in (CAR.CHRYSLER_PACIFICA_2017_HYBRID, CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, \
+                     CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
@@ -49,14 +52,14 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kf = 0.00006
 
     # Ram
-    elif candidate == CAR.RAM_1500:
+    elif candidate == CAR.RAM_1500_5TH_GEN:
       ret.steerActuatorDelay = 0.2
       ret.wheelbase = 3.88
       # Older EPS FW allow steer to zero
       if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
         ret.minSteerSpeed = 0.
 
-    elif candidate == CAR.RAM_HD:
+    elif candidate == CAR.RAM_HD_5TH_GEN:
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
 
@@ -76,6 +79,8 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
+    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     # events
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
 
@@ -90,6 +95,3 @@ class CarInterface(CarInterfaceBase):
     ret.events = events.to_msg()
 
     return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 78b22bea45..42ea94cf86 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -4,7 +4,7 @@ from dataclasses import dataclass, field
 from cereal import car
 from panda.python import uds
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
+from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
@@ -15,7 +15,7 @@ class ChryslerFlags(IntFlag):
   HIGHER_MIN_STEERING_SPEED = 1
 
 @dataclass
-class ChryslerCarInfo(CarInfo):
+class ChryslerCarDocs(CarDocs):
   package: str = "Adaptive Cruise Control (ACC)"
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
 
@@ -32,67 +32,57 @@ class ChryslerCarSpecs(CarSpecs):
 
 class CAR(Platforms):
   # Chrysler
-  PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA HYBRID 2017",
-    ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"),
+  CHRYSLER_PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017")],
     ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
   )
-  PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA HYBRID 2018",
-    ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
-    PACIFICA_2017_HYBRID.specs,
+  CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2018")],
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
-  PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA HYBRID 2019",
-    ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
-    PACIFICA_2017_HYBRID.specs,
+  CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-23")],
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
-  PACIFICA_2018 = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA 2018",
-    ChryslerCarInfo("Chrysler Pacifica 2017-18"),
-    PACIFICA_2017_HYBRID.specs,
+  CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Chrysler Pacifica 2017-18")],
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
-  PACIFICA_2020 = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA 2020",
+  CHRYSLER_PACIFICA_2020 = ChryslerPlatformConfig(
     [
-      ChryslerCarInfo("Chrysler Pacifica 2019-20"),
-      ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
+      ChryslerCarDocs("Chrysler Pacifica 2019-20"),
+      ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"),
     ],
-    PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
 
   # Dodge
   DODGE_DURANGO = ChryslerPlatformConfig(
-    "DODGE DURANGO 2021",
-    ChryslerCarInfo("Dodge Durango 2020-21"),
-    PACIFICA_2017_HYBRID.specs,
+    [ChryslerCarDocs("Dodge Durango 2020-21")],
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
 
   # Jeep
   JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig(  # includes 2017 Trailhawk
-    "JEEP GRAND CHEROKEE V6 2018",
-    ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
+    [ChryslerCarDocs("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk")],
     ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
   )
 
   JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig(  # includes 2020 Trailhawk
-    "JEEP GRAND CHEROKEE 2019",
-    ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
+    [ChryslerCarDocs("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4")],
     JEEP_GRAND_CHEROKEE.specs,
   )
 
   # Ram
-  RAM_1500 = ChryslerPlatformConfig(
-    "RAM 1500 5TH GEN",
-    ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
+  RAM_1500_5TH_GEN = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram]))],
     ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
     dbc_dict('chrysler_ram_dt_generated', None),
   )
-  RAM_HD = ChryslerPlatformConfig(
-    "RAM HD 5TH GEN",
+  RAM_HD_5TH_GEN = ChryslerPlatformConfig(
     [
-      ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
-      ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
+      ChryslerCarDocs("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
+      ChryslerCarDocs("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
     ],
     ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
     dbc_dict('chrysler_ram_hd_generated', None),
@@ -119,8 +109,8 @@ class CarControllerParams:
 
 STEER_THRESHOLD = 120
 
-RAM_DT = {CAR.RAM_1500, }
-RAM_HD = {CAR.RAM_HD, }
+RAM_DT = {CAR.RAM_1500_5TH_GEN, }
+RAM_HD = {CAR.RAM_HD_5TH_GEN, }
 RAM_CARS = RAM_DT | RAM_HD
 
 
@@ -163,5 +153,4 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ],
 )
 
-CAR_INFO = CAR.create_carinfo_map()
 DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py
index caa79a8f87..7bf6a6ad22 100755
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@@ -9,8 +9,9 @@ from natsort import natsorted
 from cereal import car
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType
+from openpilot.selfdrive.car.docs_definitions import CarDocs, Column, CommonFootnote, PartType
 from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr
+from openpilot.selfdrive.car.values import PLATFORMS
 
 
 def get_all_footnotes() -> dict[Enum, int]:
@@ -24,45 +25,43 @@ CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
 CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
 
 
-def get_all_car_info() -> list[CarInfo]:
-  all_car_info: list[CarInfo] = []
+def get_all_car_docs() -> list[CarDocs]:
+  all_car_docs: list[CarDocs] = []
   footnotes = get_all_footnotes()
-  for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
+  for model, platform in PLATFORMS.items():
+    car_docs = platform.config.car_docs
     # If available, uses experimental longitudinal limits for the docs
-    CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(),
+    CP = interfaces[model][0].get_params(platform, fingerprint=gen_empty_fingerprint(),
                                          car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True)
 
-    if CP.dashcamOnly or car_info is None:
+    if CP.dashcamOnly or not len(car_docs):
       continue
 
     # A platform can include multiple car models
-    if not isinstance(car_info, list):
-      car_info = (car_info,)
-
-    for _car_info in car_info:
-      if not hasattr(_car_info, "row"):
-        _car_info.init_make(CP)
-        _car_info.init(CP, footnotes)
-      all_car_info.append(_car_info)
+    for _car_docs in car_docs:
+      if not hasattr(_car_docs, "row"):
+        _car_docs.init_make(CP)
+        _car_docs.init(CP, footnotes)
+      all_car_docs.append(_car_docs)
 
   # Sort cars by make and model + year
-  sorted_cars: list[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower())
+  sorted_cars: list[CarDocs] = natsorted(all_car_docs, key=lambda car: car.name.lower())
   return sorted_cars
 
 
-def group_by_make(all_car_info: list[CarInfo]) -> dict[str, list[CarInfo]]:
-  sorted_car_info = defaultdict(list)
-  for car_info in all_car_info:
-    sorted_car_info[car_info.make].append(car_info)
-  return dict(sorted_car_info)
+def group_by_make(all_car_docs: list[CarDocs]) -> dict[str, list[CarDocs]]:
+  sorted_car_docs = defaultdict(list)
+  for car_docs in all_car_docs:
+    sorted_car_docs[car_docs.make].append(car_docs)
+  return dict(sorted_car_docs)
 
 
-def generate_cars_md(all_car_info: list[CarInfo], template_fn: str) -> str:
+def generate_cars_md(all_car_docs: list[CarDocs], template_fn: str) -> str:
   with open(template_fn) as f:
     template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
 
   footnotes = [fn.value.text for fn in get_all_footnotes()]
-  cars_md: str = template.render(all_car_info=all_car_info, PartType=PartType,
+  cars_md: str = template.render(all_car_docs=all_car_docs, PartType=PartType,
                                  group_by_make=group_by_make, footnotes=footnotes,
                                  Column=Column)
   return cars_md
@@ -77,5 +76,5 @@ if __name__ == "__main__":
   args = parser.parse_args()
 
   with open(args.out, 'w') as f:
-    f.write(generate_cars_md(get_all_car_info(), args.template))
+    f.write(generate_cars_md(get_all_car_docs(), args.template))
   print(f"Generated and written to {args.out}")
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 1adf78b1c8..bb1ca6bd42 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -220,7 +220,7 @@ def split_name(name: str) -> tuple[str, str, str]:
 
 
 @dataclass
-class CarInfo:
+class CarDocs:
   # make + model + model years
   name: str
 
@@ -266,7 +266,7 @@ class CarInfo:
     # min steer & enable speed columns
     # TODO: set all the min steer speeds in carParams and remove this
     if self.min_steer_speed is not None:
-      assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarInfo and CarParams"
+      assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarDocs and CarParams"
     else:
       self.min_steer_speed = CP.minSteerSpeed
 
@@ -317,7 +317,7 @@ class CarInfo:
     return self
 
   def init_make(self, CP: car.CarParams):
-    """CarInfo subclasses can add make-specific logic for harness selection, footnotes, etc."""
+    """CarDocs subclasses can add make-specific logic for harness selection, footnotes, etc."""
 
   def get_detail_sentence(self, CP):
     if not CP.notCar:
@@ -340,13 +340,13 @@ class CarInfo:
 
       # experimental mode
       exp_link = "<a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='link-light-new-regular-text'>Experimental mode</a>"
-      if CP.openpilotLongitudinalControl or CP.experimentalLongitudinalAvailable:
+      if CP.openpilotLongitudinalControl and not CP.experimentalLongitudinalAvailable:
         sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}."
 
       return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)
 
     else:
-      if CP.carFingerprint == "COMMA BODY":
+      if CP.carFingerprint == "COMMA_BODY":
         return "The body is a robotics dev kit that can run openpilot. <a href='https://www.commabody.com'>Learn more.</a>"
       else:
         raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py
index 6a7c3c75be..1128a31c29 100644
--- a/selfdrive/car/fingerprints.py
+++ b/selfdrive/car/fingerprints.py
@@ -1,4 +1,17 @@
 from openpilot.selfdrive.car.interfaces import get_interface_attr
+from openpilot.selfdrive.car.body.values import CAR as BODY
+from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER
+from openpilot.selfdrive.car.ford.values import CAR as FORD
+from openpilot.selfdrive.car.gm.values import CAR as GM
+from openpilot.selfdrive.car.honda.values import CAR as HONDA
+from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
+from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
+from openpilot.selfdrive.car.mock.values import CAR as MOCK
+from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
+from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
+from openpilot.selfdrive.car.tesla.values import CAR as TESLA
+from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.car.volkswagen.values import CAR as VW
 
 FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)
 _FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True)
@@ -44,3 +57,291 @@ def all_known_cars():
 def all_legacy_fingerprint_cars():
   """Returns a list of all known car strings, FPv1 only."""
   return list(_FINGERPRINTS.keys())
+
+
+# A dict that maps old platform strings to their latest representations
+MIGRATION = {
+  "ACURA ILX 2016 ACURAWATCH PLUS": HONDA.ACURA_ILX,
+  "ACURA RDX 2018 ACURAWATCH PLUS": HONDA.ACURA_RDX,
+  "ACURA RDX 2020 TECH": HONDA.ACURA_RDX_3G,
+  "AUDI A3": VW.AUDI_A3_MK3,
+  "HONDA ACCORD 2018 HYBRID TOURING": HONDA.HONDA_ACCORD,
+  "HONDA ACCORD 1.5T 2018": HONDA.HONDA_ACCORD,
+  "HONDA ACCORD 2018 LX 1.5T": HONDA.HONDA_ACCORD,
+  "HONDA ACCORD 2018 SPORT 2T": HONDA.HONDA_ACCORD,
+  "HONDA ACCORD 2T 2018": HONDA.HONDA_ACCORD,
+  "HONDA ACCORD HYBRID 2018": HONDA.HONDA_ACCORD,
+  "HONDA CIVIC 2016 TOURING": HONDA.HONDA_CIVIC,
+  "HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019": HONDA.HONDA_CIVIC_BOSCH,
+  "HONDA CIVIC SEDAN 1.6 DIESEL": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
+  "HONDA CR-V 2016 EXECUTIVE": HONDA.HONDA_CRV_EU,
+  "HONDA CR-V 2016 TOURING": HONDA.HONDA_CRV,
+  "HONDA CR-V 2017 EX": HONDA.HONDA_CRV_5G,
+  "HONDA CR-V 2019 HYBRID": HONDA.HONDA_CRV_HYBRID,
+  "HONDA FIT 2018 EX": HONDA.HONDA_FIT,
+  "HONDA HRV 2019 TOURING": HONDA.HONDA_HRV,
+  "HONDA INSIGHT 2019 TOURING": HONDA.HONDA_INSIGHT,
+  "HONDA ODYSSEY 2018 EX-L": HONDA.HONDA_ODYSSEY,
+  "HONDA ODYSSEY 2019 EXCLUSIVE CHN": HONDA.HONDA_ODYSSEY_CHN,
+  "HONDA PILOT 2017 TOURING": HONDA.HONDA_PILOT,
+  "HONDA PILOT 2019 ELITE": HONDA.HONDA_PILOT,
+  "HONDA PILOT 2019": HONDA.HONDA_PILOT,
+  "HONDA PASSPORT 2021": HONDA.HONDA_PILOT,
+  "HONDA RIDGELINE 2017 BLACK EDITION": HONDA.HONDA_RIDGELINE,
+  "HYUNDAI ELANTRA LIMITED ULTIMATE 2017": HYUNDAI.HYUNDAI_ELANTRA,
+  "HYUNDAI SANTA FE LIMITED 2019": HYUNDAI.HYUNDAI_SANTA_FE,
+  "HYUNDAI TUCSON DIESEL 2019": HYUNDAI.HYUNDAI_TUCSON,
+  "KIA OPTIMA 2016": HYUNDAI.KIA_OPTIMA_G4,
+  "KIA OPTIMA 2019": HYUNDAI.KIA_OPTIMA_G4_FL,
+  "KIA OPTIMA SX 2019 & 2016": HYUNDAI.KIA_OPTIMA_G4_FL,
+  "LEXUS CT 200H 2018": TOYOTA.LEXUS_CTH,
+  "LEXUS ES 300H 2018": TOYOTA.LEXUS_ES,
+  "LEXUS ES 300H 2019": TOYOTA.LEXUS_ES_TSS2,
+  "LEXUS IS300 2018": TOYOTA.LEXUS_IS,
+  "LEXUS NX300 2018": TOYOTA.LEXUS_NX,
+  "LEXUS NX300H 2018": TOYOTA.LEXUS_NX,
+  "LEXUS RX 350 2016": TOYOTA.LEXUS_RX,
+  "LEXUS RX350 2020": TOYOTA.LEXUS_RX_TSS2,
+  "LEXUS RX450 HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
+  "TOYOTA SIENNA XLE 2018": TOYOTA.TOYOTA_SIENNA,
+  "TOYOTA C-HR HYBRID 2018": TOYOTA.TOYOTA_CHR,
+  "TOYOTA COROLLA HYBRID TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
+  "TOYOTA RAV4 HYBRID 2019": TOYOTA.TOYOTA_RAV4_TSS2,
+  "LEXUS ES HYBRID 2019": TOYOTA.LEXUS_ES_TSS2,
+  "LEXUS NX HYBRID 2018": TOYOTA.LEXUS_NX,
+  "LEXUS NX HYBRID 2020": TOYOTA.LEXUS_NX_TSS2,
+  "LEXUS RX HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
+  "TOYOTA ALPHARD HYBRID 2021": TOYOTA.TOYOTA_ALPHARD_TSS2,
+  "TOYOTA AVALON HYBRID 2019": TOYOTA.TOYOTA_AVALON_2019,
+  "TOYOTA AVALON HYBRID 2022": TOYOTA.TOYOTA_AVALON_TSS2,
+  "TOYOTA CAMRY HYBRID 2018": TOYOTA.TOYOTA_CAMRY,
+  "TOYOTA CAMRY HYBRID 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
+  "TOYOTA C-HR HYBRID 2022": TOYOTA.TOYOTA_CHR_TSS2,
+  "TOYOTA HIGHLANDER HYBRID 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
+  "TOYOTA RAV4 HYBRID 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
+  "TOYOTA RAV4 HYBRID 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
+  "TOYOTA HIGHLANDER HYBRID 2018": TOYOTA.TOYOTA_HIGHLANDER,
+  "LEXUS ES HYBRID 2018": TOYOTA.LEXUS_ES,
+  "LEXUS RX HYBRID 2017": TOYOTA.LEXUS_RX,
+  "HYUNDAI TUCSON HYBRID 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
+  "KIA SPORTAGE HYBRID 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
+  "KIA SORENTO PLUG-IN HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
+  "CADILLAC ESCALADE ESV PLATINUM 2019": GM.CADILLAC_ESCALADE_ESV_2019,
+
+  # Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/
+  "COMMA BODY": BODY.COMMA_BODY,
+  "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID,
+  "CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
+  "CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID,
+  "CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018,
+  "CHRYSLER PACIFICA 2020": CHRYSLER.CHRYSLER_PACIFICA_2020,
+  "DODGE DURANGO 2021": CHRYSLER.DODGE_DURANGO,
+  "JEEP GRAND CHEROKEE V6 2018": CHRYSLER.JEEP_GRAND_CHEROKEE,
+  "JEEP GRAND CHEROKEE 2019": CHRYSLER.JEEP_GRAND_CHEROKEE_2019,
+  "RAM 1500 5TH GEN": CHRYSLER.RAM_1500_5TH_GEN,
+  "RAM HD 5TH GEN": CHRYSLER.RAM_HD_5TH_GEN,
+  "FORD BRONCO SPORT 1ST GEN": FORD.FORD_BRONCO_SPORT_MK1,
+  "FORD ESCAPE 4TH GEN": FORD.FORD_ESCAPE_MK4,
+  "FORD EXPLORER 6TH GEN": FORD.FORD_EXPLORER_MK6,
+  "FORD F-150 14TH GEN": FORD.FORD_F_150_MK14,
+  "FORD F-150 LIGHTNING 1ST GEN": FORD.FORD_F_150_LIGHTNING_MK1,
+  "FORD FOCUS 4TH GEN": FORD.FORD_FOCUS_MK4,
+  "FORD MAVERICK 1ST GEN": FORD.FORD_MAVERICK_MK1,
+  "FORD MUSTANG MACH-E 1ST GEN": FORD.FORD_MUSTANG_MACH_E_MK1,
+  "HOLDEN ASTRA RS-V BK 2017": GM.HOLDEN_ASTRA,
+  "CHEVROLET VOLT PREMIER 2017": GM.CHEVROLET_VOLT,
+  "CADILLAC ATS Premium Performance 2018": GM.CADILLAC_ATS,
+  "CHEVROLET MALIBU PREMIER 2017": GM.CHEVROLET_MALIBU,
+  "GMC ACADIA DENALI 2018": GM.GMC_ACADIA,
+  "BUICK LACROSSE 2017": GM.BUICK_LACROSSE,
+  "BUICK REGAL ESSENCE 2018": GM.BUICK_REGAL,
+  "CADILLAC ESCALADE 2017": GM.CADILLAC_ESCALADE,
+  "CADILLAC ESCALADE ESV 2016": GM.CADILLAC_ESCALADE_ESV,
+  "CADILLAC ESCALADE ESV 2019": GM.CADILLAC_ESCALADE_ESV_2019,
+  "CHEVROLET BOLT EUV 2022": GM.CHEVROLET_BOLT_EUV,
+  "CHEVROLET SILVERADO 1500 2020": GM.CHEVROLET_SILVERADO,
+  "CHEVROLET EQUINOX 2019": GM.CHEVROLET_EQUINOX,
+  "CHEVROLET TRAILBLAZER 2021": GM.CHEVROLET_TRAILBLAZER,
+  "HONDA ACCORD 2018": HONDA.HONDA_ACCORD,
+  "HONDA CIVIC (BOSCH) 2019": HONDA.HONDA_CIVIC_BOSCH,
+  "HONDA CIVIC SEDAN 1.6 DIESEL 2019": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
+  "HONDA CIVIC 2022": HONDA.HONDA_CIVIC_2022,
+  "HONDA CR-V 2017": HONDA.HONDA_CRV_5G,
+  "HONDA CR-V HYBRID 2019": HONDA.HONDA_CRV_HYBRID,
+  "HONDA HR-V 2023": HONDA.HONDA_HRV_3G,
+  "ACURA RDX 2020": HONDA.ACURA_RDX_3G,
+  "HONDA INSIGHT 2019": HONDA.HONDA_INSIGHT,
+  "HONDA E 2020": HONDA.HONDA_E,
+  "ACURA ILX 2016": HONDA.ACURA_ILX,
+  "HONDA CR-V 2016": HONDA.HONDA_CRV,
+  "HONDA CR-V EU 2016": HONDA.HONDA_CRV_EU,
+  "HONDA FIT 2018": HONDA.HONDA_FIT,
+  "HONDA FREED 2020": HONDA.HONDA_FREED,
+  "HONDA HRV 2019": HONDA.HONDA_HRV,
+  "HONDA ODYSSEY 2018": HONDA.HONDA_ODYSSEY,
+  "HONDA ODYSSEY CHN 2019": HONDA.HONDA_ODYSSEY_CHN,
+  "ACURA RDX 2018": HONDA.ACURA_RDX,
+  "HONDA PILOT 2017": HONDA.HONDA_PILOT,
+  "HONDA RIDGELINE 2017": HONDA.HONDA_RIDGELINE,
+  "HONDA CIVIC 2016": HONDA.HONDA_CIVIC,
+  "HYUNDAI AZERA 6TH GEN": HYUNDAI.HYUNDAI_AZERA_6TH_GEN,
+  "HYUNDAI AZERA HYBRID 6TH GEN": HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN,
+  "HYUNDAI ELANTRA 2017": HYUNDAI.HYUNDAI_ELANTRA,
+  "HYUNDAI I30 N LINE 2019 & GT 2018 DCT": HYUNDAI.HYUNDAI_ELANTRA_GT_I30,
+  "HYUNDAI ELANTRA 2021": HYUNDAI.HYUNDAI_ELANTRA_2021,
+  "HYUNDAI ELANTRA HYBRID 2021": HYUNDAI.HYUNDAI_ELANTRA_HEV_2021,
+  "HYUNDAI GENESIS 2015-2016": HYUNDAI.HYUNDAI_GENESIS,
+  "HYUNDAI IONIQ HYBRID 2017-2019": HYUNDAI.HYUNDAI_IONIQ,
+  "HYUNDAI IONIQ HYBRID 2020-2022": HYUNDAI.HYUNDAI_IONIQ_HEV_2022,
+  "HYUNDAI IONIQ ELECTRIC LIMITED 2019": HYUNDAI.HYUNDAI_IONIQ_EV_LTD,
+  "HYUNDAI IONIQ ELECTRIC 2020": HYUNDAI.HYUNDAI_IONIQ_EV_2020,
+  "HYUNDAI IONIQ PLUG-IN HYBRID 2019": HYUNDAI.HYUNDAI_IONIQ_PHEV_2019,
+  "HYUNDAI IONIQ PHEV 2020": HYUNDAI.HYUNDAI_IONIQ_PHEV,
+  "HYUNDAI KONA 2020": HYUNDAI.HYUNDAI_KONA,
+  "HYUNDAI KONA ELECTRIC 2019": HYUNDAI.HYUNDAI_KONA_EV,
+  "HYUNDAI KONA ELECTRIC 2022": HYUNDAI.HYUNDAI_KONA_EV_2022,
+  "HYUNDAI KONA ELECTRIC 2ND GEN": HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN,
+  "HYUNDAI KONA HYBRID 2020": HYUNDAI.HYUNDAI_KONA_HEV,
+  "HYUNDAI SANTA FE 2019": HYUNDAI.HYUNDAI_SANTA_FE,
+  "HYUNDAI SANTA FE 2022": HYUNDAI.HYUNDAI_SANTA_FE_2022,
+  "HYUNDAI SANTA FE HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022,
+  "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022,
+  "HYUNDAI SONATA 2020": HYUNDAI.HYUNDAI_SONATA,
+  "HYUNDAI SONATA 2019": HYUNDAI.HYUNDAI_SONATA_LF,
+  "HYUNDAI STARIA 4TH GEN": HYUNDAI.HYUNDAI_STARIA_4TH_GEN,
+  "HYUNDAI TUCSON 2019": HYUNDAI.HYUNDAI_TUCSON,
+  "HYUNDAI PALISADE 2020": HYUNDAI.HYUNDAI_PALISADE,
+  "HYUNDAI VELOSTER 2019": HYUNDAI.HYUNDAI_VELOSTER,
+  "HYUNDAI SONATA HYBRID 2021": HYUNDAI.HYUNDAI_SONATA_HYBRID,
+  "HYUNDAI IONIQ 5 2022": HYUNDAI.HYUNDAI_IONIQ_5,
+  "HYUNDAI IONIQ 6 2023": HYUNDAI.HYUNDAI_IONIQ_6,
+  "HYUNDAI TUCSON 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
+  "HYUNDAI SANTA CRUZ 1ST GEN": HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN,
+  "HYUNDAI CUSTIN 1ST GEN": HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN,
+  "KIA FORTE E 2018 & GT 2021": HYUNDAI.KIA_FORTE,
+  "KIA K5 2021": HYUNDAI.KIA_K5_2021,
+  "KIA K5 HYBRID 2020": HYUNDAI.KIA_K5_HEV_2020,
+  "KIA K8 HYBRID 1ST GEN": HYUNDAI.KIA_K8_HEV_1ST_GEN,
+  "KIA NIRO EV 2020": HYUNDAI.KIA_NIRO_EV,
+  "KIA NIRO EV 2ND GEN": HYUNDAI.KIA_NIRO_EV_2ND_GEN,
+  "KIA NIRO HYBRID 2019": HYUNDAI.KIA_NIRO_PHEV,
+  "KIA NIRO PLUG-IN HYBRID 2022": HYUNDAI.KIA_NIRO_PHEV_2022,
+  "KIA NIRO HYBRID 2021": HYUNDAI.KIA_NIRO_HEV_2021,
+  "KIA NIRO HYBRID 2ND GEN": HYUNDAI.KIA_NIRO_HEV_2ND_GEN,
+  "KIA OPTIMA 4TH GEN": HYUNDAI.KIA_OPTIMA_G4,
+  "KIA OPTIMA 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_G4_FL,
+  "KIA OPTIMA HYBRID 2017 & SPORTS 2019": HYUNDAI.KIA_OPTIMA_H,
+  "KIA OPTIMA HYBRID 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_H_G4_FL,
+  "KIA SELTOS 2021": HYUNDAI.KIA_SELTOS,
+  "KIA SPORTAGE 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
+  "KIA SORENTO GT LINE 2018": HYUNDAI.KIA_SORENTO,
+  "KIA SORENTO 4TH GEN": HYUNDAI.KIA_SORENTO_4TH_GEN,
+  "KIA SORENTO HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
+  "KIA STINGER GT2 2018": HYUNDAI.KIA_STINGER,
+  "KIA STINGER 2022": HYUNDAI.KIA_STINGER_2022,
+  "KIA CEED INTRO ED 2019": HYUNDAI.KIA_CEED,
+  "KIA EV6 2022": HYUNDAI.KIA_EV6,
+  "KIA CARNIVAL 4TH GEN": HYUNDAI.KIA_CARNIVAL_4TH_GEN,
+  "GENESIS GV60 ELECTRIC 1ST GEN": HYUNDAI.GENESIS_GV60_EV_1ST_GEN,
+  "GENESIS G70 2018": HYUNDAI.GENESIS_G70,
+  "GENESIS G70 2020": HYUNDAI.GENESIS_G70_2020,
+  "GENESIS GV70 1ST GEN": HYUNDAI.GENESIS_GV70_1ST_GEN,
+  "GENESIS G80 2017": HYUNDAI.GENESIS_G80,
+  "GENESIS G90 2017": HYUNDAI.GENESIS_G90,
+  "GENESIS GV80 2023": HYUNDAI.GENESIS_GV80,
+  "MAZDA CX-5": MAZDA.MAZDA_CX5,
+  "MAZDA CX-9": MAZDA.MAZDA_CX9,
+  "MAZDA 3": MAZDA.MAZDA_3,
+  "MAZDA 6": MAZDA.MAZDA_6,
+  "MAZDA CX-9 2021": MAZDA.MAZDA_CX9_2021,
+  "MAZDA CX-5 2022": MAZDA.MAZDA_CX5_2022,
+  "NISSAN X-TRAIL 2017": NISSAN.NISSAN_XTRAIL,
+  "NISSAN LEAF 2018": NISSAN.NISSAN_LEAF,
+  "NISSAN LEAF 2018 Instrument Cluster": NISSAN.NISSAN_LEAF_IC,
+  "NISSAN ROGUE 2019": NISSAN.NISSAN_ROGUE,
+  "NISSAN ALTIMA 2020": NISSAN.NISSAN_ALTIMA,
+  "SUBARU ASCENT LIMITED 2019": SUBARU.SUBARU_ASCENT,
+  "SUBARU OUTBACK 6TH GEN": SUBARU.SUBARU_OUTBACK,
+  "SUBARU LEGACY 7TH GEN": SUBARU.SUBARU_LEGACY,
+  "SUBARU IMPREZA LIMITED 2019": SUBARU.SUBARU_IMPREZA,
+  "SUBARU IMPREZA SPORT 2020": SUBARU.SUBARU_IMPREZA_2020,
+  "SUBARU CROSSTREK HYBRID 2020": SUBARU.SUBARU_CROSSTREK_HYBRID,
+  "SUBARU FORESTER 2019": SUBARU.SUBARU_FORESTER,
+  "SUBARU FORESTER HYBRID 2020": SUBARU.SUBARU_FORESTER_HYBRID,
+  "SUBARU FORESTER 2017 - 2018": SUBARU.SUBARU_FORESTER_PREGLOBAL,
+  "SUBARU LEGACY 2015 - 2018": SUBARU.SUBARU_LEGACY_PREGLOBAL,
+  "SUBARU OUTBACK 2015 - 2017": SUBARU.SUBARU_OUTBACK_PREGLOBAL,
+  "SUBARU OUTBACK 2018 - 2019": SUBARU.SUBARU_OUTBACK_PREGLOBAL_2018,
+  "SUBARU FORESTER 2022": SUBARU.SUBARU_FORESTER_2022,
+  "SUBARU OUTBACK 7TH GEN": SUBARU.SUBARU_OUTBACK_2023,
+  "SUBARU ASCENT 2023": SUBARU.SUBARU_ASCENT_2023,
+  'TESLA AP1 MODEL S': TESLA.TESLA_AP1_MODELS,
+  'TESLA AP2 MODEL S': TESLA.TESLA_AP2_MODELS,
+  'TESLA MODEL S RAVEN': TESLA.TESLA_MODELS_RAVEN,
+  "TOYOTA ALPHARD 2020": TOYOTA.TOYOTA_ALPHARD_TSS2,
+  "TOYOTA AVALON 2016": TOYOTA.TOYOTA_AVALON,
+  "TOYOTA AVALON 2019": TOYOTA.TOYOTA_AVALON_2019,
+  "TOYOTA AVALON 2022": TOYOTA.TOYOTA_AVALON_TSS2,
+  "TOYOTA CAMRY 2018": TOYOTA.TOYOTA_CAMRY,
+  "TOYOTA CAMRY 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
+  "TOYOTA C-HR 2018": TOYOTA.TOYOTA_CHR,
+  "TOYOTA C-HR 2021": TOYOTA.TOYOTA_CHR_TSS2,
+  "TOYOTA COROLLA 2017": TOYOTA.TOYOTA_COROLLA,
+  "TOYOTA COROLLA TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
+  "TOYOTA HIGHLANDER 2017": TOYOTA.TOYOTA_HIGHLANDER,
+  "TOYOTA HIGHLANDER 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
+  "TOYOTA PRIUS 2017": TOYOTA.TOYOTA_PRIUS,
+  "TOYOTA PRIUS v 2017": TOYOTA.TOYOTA_PRIUS_V,
+  "TOYOTA PRIUS TSS2 2021": TOYOTA.TOYOTA_PRIUS_TSS2,
+  "TOYOTA RAV4 2017": TOYOTA.TOYOTA_RAV4,
+  "TOYOTA RAV4 HYBRID 2017": TOYOTA.TOYOTA_RAV4H,
+  "TOYOTA RAV4 2019": TOYOTA.TOYOTA_RAV4_TSS2,
+  "TOYOTA RAV4 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
+  "TOYOTA RAV4 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
+  "TOYOTA MIRAI 2021": TOYOTA.TOYOTA_MIRAI,
+  "TOYOTA SIENNA 2018": TOYOTA.TOYOTA_SIENNA,
+  "LEXUS CT HYBRID 2018": TOYOTA.LEXUS_CTH,
+  "LEXUS ES 2018": TOYOTA.LEXUS_ES,
+  "LEXUS ES 2019": TOYOTA.LEXUS_ES_TSS2,
+  "LEXUS IS 2018": TOYOTA.LEXUS_IS,
+  "LEXUS IS 2023": TOYOTA.LEXUS_IS_TSS2,
+  "LEXUS NX 2018": TOYOTA.LEXUS_NX,
+  "LEXUS NX 2020": TOYOTA.LEXUS_NX_TSS2,
+  "LEXUS LC 2024": TOYOTA.LEXUS_LC_TSS2,
+  "LEXUS RC 2020": TOYOTA.LEXUS_RC,
+  "LEXUS RX 2016": TOYOTA.LEXUS_RX,
+  "LEXUS RX 2020": TOYOTA.LEXUS_RX_TSS2,
+  "LEXUS GS F 2016": TOYOTA.LEXUS_GS_F,
+  "VOLKSWAGEN ARTEON 1ST GEN": VW.VOLKSWAGEN_ARTEON_MK1,
+  "VOLKSWAGEN ATLAS 1ST GEN": VW.VOLKSWAGEN_ATLAS_MK1,
+  "VOLKSWAGEN CADDY 3RD GEN": VW.VOLKSWAGEN_CADDY_MK3,
+  "VOLKSWAGEN CRAFTER 2ND GEN": VW.VOLKSWAGEN_CRAFTER_MK2,
+  "VOLKSWAGEN GOLF 7TH GEN": VW.VOLKSWAGEN_GOLF_MK7,
+  "VOLKSWAGEN JETTA 7TH GEN": VW.VOLKSWAGEN_JETTA_MK7,
+  "VOLKSWAGEN PASSAT 8TH GEN": VW.VOLKSWAGEN_PASSAT_MK8,
+  "VOLKSWAGEN PASSAT NMS": VW.VOLKSWAGEN_PASSAT_NMS,
+  "VOLKSWAGEN POLO 6TH GEN": VW.VOLKSWAGEN_POLO_MK6,
+  "VOLKSWAGEN SHARAN 2ND GEN": VW.VOLKSWAGEN_SHARAN_MK2,
+  "VOLKSWAGEN TAOS 1ST GEN": VW.VOLKSWAGEN_TAOS_MK1,
+  "VOLKSWAGEN T-CROSS 1ST GEN": VW.VOLKSWAGEN_TCROSS_MK1,
+  "VOLKSWAGEN TIGUAN 2ND GEN": VW.VOLKSWAGEN_TIGUAN_MK2,
+  "VOLKSWAGEN TOURAN 2ND GEN": VW.VOLKSWAGEN_TOURAN_MK2,
+  "VOLKSWAGEN TRANSPORTER T6.1": VW.VOLKSWAGEN_TRANSPORTER_T61,
+  "VOLKSWAGEN T-ROC 1ST GEN": VW.VOLKSWAGEN_TROC_MK1,
+  "AUDI A3 3RD GEN": VW.AUDI_A3_MK3,
+  "AUDI Q2 1ST GEN": VW.AUDI_Q2_MK1,
+  "AUDI Q3 2ND GEN": VW.AUDI_Q3_MK2,
+  "SEAT ATECA 1ST GEN": VW.SEAT_ATECA_MK1,
+  "SEAT LEON 3RD GEN": VW.SEAT_ATECA_MK1,
+  "SEAT_LEON_MK3": VW.SEAT_ATECA_MK1,
+  "SKODA FABIA 4TH GEN": VW.SKODA_FABIA_MK4,
+  "SKODA KAMIQ 1ST GEN": VW.SKODA_KAMIQ_MK1,
+  "SKODA KAROQ 1ST GEN": VW.SKODA_KAROQ_MK1,
+  "SKODA KODIAQ 1ST GEN": VW.SKODA_KODIAQ_MK1,
+  "SKODA OCTAVIA 3RD GEN": VW.SKODA_OCTAVIA_MK3,
+  "SKODA SCALA 1ST GEN": VW.SKODA_KAMIQ_MK1,
+  "SKODA_SCALA_MK1": VW.SKODA_KAMIQ_MK1,
+  "SKODA SUPERB 3RD GEN": VW.SKODA_SUPERB_MK3,
+
+  "mock": MOCK.MOCK,
+}
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 390325a8ec..47082fb56f 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -35,6 +35,7 @@ class CarController(CarControllerBase):
     self.main_on_last = False
     self.lkas_enabled_last = False
     self.steer_alert_last = False
+    self.lead_distance_bars_last = None
 
   def update(self, CC, CS, now_nanos):
     can_sends = []
@@ -73,7 +74,7 @@ class CarController(CarControllerBase):
       if self.CP.flags & FordFlags.CANFD:
         # TODO: extended mode
         mode = 1 if CC.latActive else 0
-        counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF
+        counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
         can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
       else:
         can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
@@ -98,15 +99,19 @@ class CarController(CarControllerBase):
     # send lkas ui msg at 1Hz or if ui state changes
     if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
       can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
+
     # send acc ui msg at 5Hz or if ui state changes
+    if hud_control.leadDistanceBars != self.lead_distance_bars_last:
+      send_ui = True
     if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
       can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
-                                         fcw_alert, CS.out.cruiseState.standstill, hud_control,
-                                         CS.acc_tja_status_stock_values))
+                                                 fcw_alert, CS.out.cruiseState.standstill, hud_control,
+                                                 CS.acc_tja_status_stock_values))
 
     self.main_on_last = main_on
     self.lkas_enabled_last = CC.latActive
     self.steer_alert_last = steer_alert
+    self.lead_distance_bars_last = hud_control.leadDistanceBars
 
     new_actuators = actuators.copy()
     new_actuators.curvature = self.apply_curvature_last
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 039e245754..78f48ec5c4 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -19,6 +19,9 @@ class CarState(CarStateBase):
 
     self.vehicle_sensors_valid = False
 
+    self.prev_distance_button = 0
+    self.distance_button = 0
+
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
@@ -54,7 +57,8 @@ class CarState(CarStateBase):
       ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3)
 
     # cruise state
-    ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * CV.MPH_TO_MS
+    is_metric = cp.vl["INSTRUMENT_PANEL"]["METRIC_UNITS"] == 1 if not self.CP.flags & FordFlags.CANFD else False
+    ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
     ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5)
     ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5)
     ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
@@ -83,6 +87,8 @@ class CarState(CarStateBase):
     ret.rightBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 2
     # TODO: block this going to the camera otherwise it will enable stock TJA
     ret.genericToggle = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
+    self.prev_distance_button = self.distance_button
+    self.distance_button = cp.vl["Steering_Data_FD1"]["AccButtnGapTogglePress"]
 
     # lock info
     ret.doorOpen = any([cp.vl["BodyInfo_3_FD1"]["DrStatDrv_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatPsngr_B_Actl"],
@@ -126,6 +132,10 @@ class CarState(CarStateBase):
       messages += [
         ("Lane_Assist_Data3_FD1", 33),
       ]
+    else:
+      messages += [
+        ("INSTRUMENT_PANEL", 1),
+      ]
 
     if CP.transmissionType == TransmissionType.automatic:
       messages += [
diff --git a/selfdrive/car/ford/fingerprints.py b/selfdrive/car/ford/fingerprints.py
index a5d465849a..4dcf2a65fd 100644
--- a/selfdrive/car/ford/fingerprints.py
+++ b/selfdrive/car/ford/fingerprints.py
@@ -4,23 +4,26 @@ from openpilot.selfdrive.car.ford.values import CAR
 Ecu = car.CarParams.Ecu
 
 FW_VERSIONS = {
-  CAR.BRONCO_SPORT_MK1: {
+  CAR.FORD_BRONCO_SPORT_MK1: {
     (Ecu.eps, 0x730, None): [
       b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
       b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-2D053-RF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [
       b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'M1PT-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.ESCAPE_MK4: {
+  CAR.FORD_ESCAPE_MK4: {
     (Ecu.eps, 0x730, None): [
       b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -43,7 +46,7 @@ FW_VERSIONS = {
       b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.EXPLORER_MK6: {
+  CAR.FORD_EXPLORER_MK6: {
     (Ecu.eps, 0x730, None): [
       b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -71,7 +74,7 @@ FW_VERSIONS = {
       b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.F_150_MK14: {
+  CAR.FORD_F_150_MK14: {
     (Ecu.eps, 0x730, None): [
       b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -82,10 +85,11 @@ FW_VERSIONS = {
       b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [
+      b'ML3T-14H102-ABR\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.F_150_LIGHTNING_MK1: {
+  CAR.FORD_F_150_LIGHTNING_MK1: {
     (Ecu.abs, 0x760, None): [
       b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -96,7 +100,7 @@ FW_VERSIONS = {
       b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.MUSTANG_MACH_E_MK1: {
+  CAR.FORD_MUSTANG_MACH_E_MK1: {
     (Ecu.eps, 0x730, None): [
       b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -111,7 +115,7 @@ FW_VERSIONS = {
       b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.FOCUS_MK4: {
+  CAR.FORD_FOCUS_MK4: {
     (Ecu.eps, 0x730, None): [
       b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -125,14 +129,17 @@ FW_VERSIONS = {
       b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.MAVERICK_MK1: {
+  CAR.FORD_MAVERICK_MK1: {
     (Ecu.eps, 0x730, None): [
+      b'NZ6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
+      b'NZ6C-2D053-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PZ6C-2D053-EE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6C-2D053-EF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -141,4 +148,18 @@ FW_VERSIONS = {
       b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
+  CAR.FORD_RANGER_MK2: {
+    (Ecu.eps, 0x730, None): [
+      b'NL14-14D003-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'PB3C-2D053-ZD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
 }
diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
index c5ef0900f3..2cfd61a191 100644
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@@ -212,7 +212,7 @@ def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw
       "AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0,  # Lead indicator
       "AccStopMde_B_Dsply": 1 if standstill else 0,
       "AccWarn_D_Dsply": 0,                                       # ACC warning
-      "AccTGap_D_Dsply": 4,                                       # Fixed time gap in UI
+      "AccTGap_D_Dsply": hud_control.leadDistanceBars,            # Time gap
     })
 
   # Forwards FCW alert from IPMA
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index a79b4af2e0..7dca458083 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -1,11 +1,12 @@
 from cereal import car
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import get_safety_config
+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
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
+ButtonType = car.CarState.ButtonEvent.Type
 TransmissionType = car.CarParams.TransmissionType
 GearShifter = car.CarState.GearShifter
 
@@ -61,6 +62,8 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
+    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
     if not self.CS.vehicle_sensors_valid:
       events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
@@ -68,6 +71,3 @@ class CarInterface(CarInterfaceBase):
     ret.events = events.to_msg()
 
     return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index fe776fea72..a5494c921c 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -1,10 +1,11 @@
-from dataclasses import dataclass, field
+import copy
+from dataclasses import dataclass, field, replace
 from enum import Enum, IntFlag
 
 import panda.python.uds as uds
 from cereal import car
 from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
                                                      Device
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
@@ -58,12 +59,14 @@ class Footnote(Enum):
 
 
 @dataclass
-class FordCarInfo(CarInfo):
+class FordCarDocs(CarDocs):
   package: str = "Co-Pilot360 Assist+"
+  hybrid: bool = False
+  plug_in_hybrid: bool = False
 
   def init_make(self, CP: car.CarParams):
     harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3
-    if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1, CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1):
+    if CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_MAVERICK_MK1, CAR.FORD_F_150_MK14, CAR.FORD_F_150_LIGHTNING_MK1):
       self.car_parts = CarParts([Device.threex_angled_mount, harness])
     else:
       self.car_parts = CarParts([Device.threex, harness])
@@ -73,6 +76,15 @@ class FordCarInfo(CarInfo):
 class FordPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR))
 
+  def init(self):
+    for car_docs in list(self.car_docs):
+      if car_docs.hybrid:
+        name = f"{car_docs.make} {car_docs.model} Hybrid {car_docs.years}"
+        self.car_docs.append(replace(copy.deepcopy(car_docs), name=name))
+      if car_docs.plug_in_hybrid:
+        name = f"{car_docs.make} {car_docs.model} Plug-in Hybrid {car_docs.years}"
+        self.car_docs.append(replace(copy.deepcopy(car_docs), name=name))
+
 
 @dataclass
 class FordCANFDPlatformConfig(FordPlatformConfig):
@@ -84,69 +96,51 @@ class FordCANFDPlatformConfig(FordPlatformConfig):
 
 
 class CAR(Platforms):
-  BRONCO_SPORT_MK1 = FordPlatformConfig(
-    "FORD BRONCO SPORT 1ST GEN",
-    FordCarInfo("Ford Bronco Sport 2021-22"),
+  FORD_BRONCO_SPORT_MK1 = FordPlatformConfig(
+    [FordCarDocs("Ford Bronco Sport 2021-23")],
     CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
   )
-  ESCAPE_MK4 = FordPlatformConfig(
-    "FORD ESCAPE 4TH GEN",
+  FORD_ESCAPE_MK4 = FordPlatformConfig(
     [
-      FordCarInfo("Ford Escape 2020-22"),
-      FordCarInfo("Ford Escape Hybrid 2020-22"),
-      FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"),
-      FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
-      FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
-      FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
+      FordCarDocs("Ford Escape 2020-22", hybrid=True, plug_in_hybrid=True),
+      FordCarDocs("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering", hybrid=True, plug_in_hybrid=True),
     ],
     CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
   )
-  EXPLORER_MK6 = FordPlatformConfig(
-    "FORD EXPLORER 6TH GEN",
+  FORD_EXPLORER_MK6 = FordPlatformConfig(
     [
-      FordCarInfo("Ford Explorer 2020-23"),
-      FordCarInfo("Ford Explorer Hybrid 2020-23"),  # Limited and Platinum only
-      FordCarInfo("Lincoln Aviator 2020-23", "Co-Pilot360 Plus"),
-      FordCarInfo("Lincoln Aviator Plug-in Hybrid 2020-23", "Co-Pilot360 Plus"),  # Grand Touring only
+      FordCarDocs("Ford Explorer 2020-23", hybrid=True),  # Hybrid: Limited and Platinum only
+      FordCarDocs("Lincoln Aviator 2020-23", "Co-Pilot360 Plus", plug_in_hybrid=True),  # Hybrid: Grand Touring only
     ],
     CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
   )
-  F_150_MK14 = FordCANFDPlatformConfig(
-    "FORD F-150 14TH GEN",
-    [
-      FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
-      FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"),
-    ],
+  FORD_F_150_MK14 = FordCANFDPlatformConfig(
+    [FordCarDocs("Ford F-150 2022-23", "Co-Pilot360 Active 2.0", hybrid=True)],
     CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
   )
-  F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig(
-    "FORD F-150 LIGHTNING 1ST GEN",
-    FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
+  FORD_F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig(
+    [FordCarDocs("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0")],
     CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
   )
-  FOCUS_MK4 = FordPlatformConfig(
-    "FORD FOCUS 4TH GEN",
-    [
-      FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
-      FordCarInfo("Ford Focus Hybrid 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),  # mHEV only
-    ],
+  FORD_FOCUS_MK4 = FordPlatformConfig(
+    [FordCarDocs("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)],  # mHEV only
     CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
   )
-  MAVERICK_MK1 = FordPlatformConfig(
-    "FORD MAVERICK 1ST GEN",
+  FORD_MAVERICK_MK1 = FordPlatformConfig(
     [
-      FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
-      FordCarInfo("Ford Maverick Hybrid 2022", "LARIAT Luxury"),
-      FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
-      FordCarInfo("Ford Maverick Hybrid 2023", "Co-Pilot360 Assist"),
+      FordCarDocs("Ford Maverick 2022", "LARIAT Luxury", hybrid=True),
+      FordCarDocs("Ford Maverick 2023-24", "Co-Pilot360 Assist", hybrid=True),
     ],
     CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
   )
-  MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
-    "FORD MUSTANG MACH-E 1ST GEN",
-    FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
+  FORD_MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
+    [FordCarDocs("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0")],
     CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0),  # TODO: check steer ratio
   )
+  FORD_RANGER_MK2 = FordCANFDPlatformConfig(
+    [FordCarDocs("Ford Ranger 2024", "Adaptive Cruise Control with Lane Centering")],
+    CarSpecs(mass=2000, wheelbase=3.27, steerRatio=17.0),
+  )
 
 
 DATA_IDENTIFIER_FORD_ASBUILT = 0xDE00
@@ -209,5 +203,4 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ],
 )
 
-CAR_INFO = CAR.create_carinfo_map()
 DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py
index 80492b4177..ad4dcdc8f1 100755
--- a/selfdrive/car/fw_query_definitions.py
+++ b/selfdrive/car/fw_query_definitions.py
@@ -47,6 +47,11 @@ class StdQueries:
   MANUFACTURER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
     p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
 
+  SUPPLIER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+    p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
+  SUPPLIER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+    p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
+
   UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
     p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
   UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
@@ -92,9 +97,9 @@ class FwQueryConfig:
   non_essential_ecus: dict[capnp.lib.capnp._EnumModule, list[str]] = field(default_factory=dict)
   # Ecus added for data collection, not to be fingerprinted on
   extra_ecus: list[tuple[capnp.lib.capnp._EnumModule, int, int | None]] = field(default_factory=list)
-  # Function a brand can implement to provide better fuzzy matching. Takes in FW versions,
+  # Function a brand can implement to provide better fuzzy matching. Takes in FW versions and VIN,
   # returns set of candidates. Only will match if one candidate is returned
-  match_fw_to_car_fuzzy: Callable[[LiveFwVersions, OfflineFwVersions], set[str]] | None = None
+  match_fw_to_car_fuzzy: Callable[[LiveFwVersions, str, OfflineFwVersions], set[str]] | None = None
 
   def __post_init__(self):
     for i in range(len(self.requests)):
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 7673814195..f2aff2e6f9 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -1,19 +1,20 @@
 #!/usr/bin/env python3
 from collections import defaultdict
-from typing import Any, TypeVar
 from collections.abc import Iterator
+from typing import Any, Protocol, TypeVar
+
 from tqdm import tqdm
 import capnp
 
 import panda.python.uds as uds
 from cereal import car
 from openpilot.common.params import Params
-from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs
-from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig
-from openpilot.selfdrive.car.interfaces import get_interface_attr
-from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
-from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs
+from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
+from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig, LiveFwVersions, OfflineFwVersions
+from openpilot.selfdrive.car.interfaces import get_interface_attr
+from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 
 Ecu = car.CarParams.Ecu
 ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
@@ -38,8 +39,7 @@ def is_brand(brand: str, filter_brand: str | None) -> bool:
   return filter_brand is None or brand == filter_brand
 
 
-def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder],
-                  filter_brand: str = None) -> dict[AddrType, set[bytes]]:
+def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], filter_brand: str = None) -> dict[AddrType, set[bytes]]:
   fw_versions_dict: defaultdict[AddrType, set[bytes]] = defaultdict(set)
   for fw in fw_versions:
     if is_brand(fw.brand, filter_brand) and not fw.logging:
@@ -48,7 +48,12 @@ def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder],
   return dict(fw_versions_dict)
 
 
-def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=None):
+class MatchFwToCar(Protocol):
+  def __call__(self, live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True) -> set[str]:
+    ...
+
+
+def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True, exclude: str = None) -> set[str]:
   """Do a fuzzy FW match. This function will return a match, and the number of firmware version
   that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
   the match is rejected."""
@@ -73,7 +78,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=
         all_fw_versions[(addr[1], addr[2], f)].append(candidate)
 
   matched_ecus = set()
-  candidate = None
+  match: str | None = None
   for addr, versions in live_fw_versions.items():
     ecu_key = (addr[0], addr[1])
     for version in versions:
@@ -82,23 +87,23 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=
 
       if len(candidates) == 1:
         matched_ecus.add(ecu_key)
-        if candidate is None:
-          candidate = candidates[0]
+        if match is None:
+          match = candidates[0]
         # We uniquely matched two different cars. No fuzzy match possible
-        elif candidate != candidates[0]:
+        elif match != candidates[0]:
           return set()
 
   # Note that it is possible to match to a candidate without all its ECUs being present
   # if there are enough matches. FIXME: parameterize this or require all ECUs to exist like exact matching
-  if len(matched_ecus) >= 2:
+  if match and len(matched_ecus) >= 2:
     if log:
-      cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {len(matched_ecus)} matching ECUs")
-    return {candidate}
+      cloudlog.error(f"Fingerprinted {match} using fuzzy match. {len(matched_ecus)} matching ECUs")
+    return {match}
   else:
     return set()
 
 
-def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw_versions=None) -> set[str]:
+def match_fw_to_car_exact(live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True, extra_fw_versions: dict = None) -> set[str]:
   """Do an exact FW match. Returns all cars that match the given
   FW versions for a list of "essential" ECUs. If an ECU is not considered
   essential the FW version can be missing to get a fingerprint, but if it's present it
@@ -139,9 +144,10 @@ def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw
   return set(candidates.keys()) - invalid
 
 
-def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
+def match_fw_to_car(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], vin: str,
+                    allow_exact: bool = True, allow_fuzzy: bool = True, log: bool = True) -> tuple[bool, set[str]]:
   # Try exact matching first
-  exact_matches = []
+  exact_matches: list[tuple[bool, MatchFwToCar]] = []
   if allow_exact:
     exact_matches = [(True, match_fw_to_car_exact)]
   if allow_fuzzy:
@@ -149,7 +155,7 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
 
   for exact_match, match_func in exact_matches:
     # For each brand, attempt to fingerprint using all FW returned from its queries
-    matches = set()
+    matches: set[str] = set()
     for brand in VERSIONS.keys():
       fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
       matches |= match_func(fw_versions_dict, match_brand=brand, log=log)
@@ -157,7 +163,7 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
       # If specified and no matches so far, fall back to brand's fuzzy fingerprinting function
       config = FW_QUERY_CONFIGS[brand]
       if not exact_match and not len(matches) and config.match_fw_to_car_fuzzy is not None:
-        matches |= config.match_fw_to_car_fuzzy(fw_versions_dict, VERSIONS[brand])
+        matches |= config.match_fw_to_car_fuzzy(fw_versions_dict, vin, VERSIONS[brand])
 
     if len(matches):
       return exact_match, matches
@@ -165,12 +171,12 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
   return True, set()
 
 
-def get_present_ecus(logcan, sendcan, num_pandas=1) -> set[EcuAddrBusType]:
+def get_present_ecus(logcan, sendcan, num_pandas: int = 1) -> set[EcuAddrBusType]:
   params = Params()
   # queries are split by OBD multiplexing mode
   queries: dict[bool, list[list[EcuAddrBusType]]] = {True: [], False: []}
   parallel_queries: dict[bool, list[EcuAddrBusType]] = {True: [], False: []}
-  responses = set()
+  responses: set[EcuAddrBusType] = set()
 
   for brand, config, r in REQUESTS:
     # Skip query if no panda available
@@ -231,8 +237,8 @@ def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
     cloudlog.warning("OBD multiplexing set successfully")
 
 
-def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \
-  list[capnp.lib.capnp._DynamicStructBuilder]:
+def get_fw_versions_ordered(logcan, sendcan, vin: str, ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1,
+                            debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
   """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
 
   all_car_fw = []
@@ -247,15 +253,15 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
     all_car_fw.extend(car_fw)
 
     # If there is a match using this brand's FW alone, finish querying early
-    _, matches = match_fw_to_car(car_fw, log=False)
+    _, matches = match_fw_to_car(car_fw, vin, log=False)
     if len(matches) == 1:
       break
 
   return all_car_fw
 
 
-def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \
-  list[capnp.lib.capnp._DynamicStructBuilder]:
+def get_fw_versions(logcan, sendcan, query_brand: str = None, extra: OfflineFwVersions = None, timeout: float = 0.1, num_pandas: int = 1,
+                    debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
   versions = VERSIONS.copy()
   params = Params()
 
@@ -367,6 +373,7 @@ if __name__ == "__main__":
 
   t = time.time()
   print("Getting vin...")
+  set_obd_multiplexing(params, True)
   vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), retry=10, debug=args.debug)
   print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
   print(f"Getting VIN took {time.time() - t:.3f} s")
@@ -374,7 +381,7 @@ if __name__ == "__main__":
 
   t = time.time()
   fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
-  _, candidates = match_fw_to_car(fw_vers)
+  _, candidates = match_fw_to_car(fw_vers, vin)
 
   print()
   print("Found FW versions")
@@ -382,7 +389,8 @@ if __name__ == "__main__":
   padding = max([len(fw.brand) for fw in fw_vers] or [0])
   for version in fw_vers:
     subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-    print(f"  Brand: {version.brand:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
+    print(f"  Brand: {version.brand:{padding}}, bus: {version.bus}, OBD: {version.obdMultiplexing} - " +
+          f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
   print("}")
 
   print()
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index e010c56536..f8d747029b 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -118,7 +118,7 @@ class CarController(CarControllerBase):
         # Send dashboard UI commands (ACC status)
         send_fcw = hud_alert == VisualAlert.fcw
         can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
-                                                            hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw))
+                                                            hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
 
       # Radar needs to know current speed and yaw rate (50hz),
       # and that ADAS is alive (10hz)
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index c3d061de78..a1129c59c8 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -26,11 +26,16 @@ class CarState(CarStateBase):
     self.cam_lka_steering_cmd_counter = 0
     self.buttons_counter = 0
 
+    self.prev_distance_button = 0
+    self.distance_button = 0
+
   def update(self, pt_cp, cam_cp, loopback_cp):
     ret = car.CarState.new_message()
 
     self.prev_cruise_buttons = self.cruise_buttons
+    self.prev_distance_button = self.distance_button
     self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+    self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
     self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
     self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
     # This is to avoid a fault where you engage while still moving backwards after shifting to D.
diff --git a/selfdrive/car/gm/fingerprints.py b/selfdrive/car/gm/fingerprints.py
index 73a205a250..3752fbb8d3 100644
--- a/selfdrive/car/gm/fingerprints.py
+++ b/selfdrive/car/gm/fingerprints.py
@@ -9,7 +9,7 @@ FINGERPRINTS = {
   CAR.HOLDEN_ASTRA: [{
     190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7
   }],
-  CAR.VOLT: [{
+  CAR.CHEVROLET_VOLT: [{
     170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
   },
   {
@@ -27,31 +27,31 @@ FINGERPRINTS = {
   CAR.CADILLAC_ATS: [{
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
   }],
-  CAR.MALIBU: [{
+  CAR.CHEVROLET_MALIBU: [{
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8
   }],
-  CAR.ACADIA: [{
+  CAR.GMC_ACADIA: [{
     190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7
   },
   {
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
   }],
-  CAR.ESCALADE: [{
+  CAR.CADILLAC_ESCALADE: [{
     170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
   }],
-  CAR.ESCALADE_ESV: [{
+  CAR.CADILLAC_ESCALADE_ESV: [{
     309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
   }],
-  CAR.ESCALADE_ESV_2019: [{
+  CAR.CADILLAC_ESCALADE_ESV_2019: [{
     715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7
   }],
-  CAR.BOLT_EUV: [{
+  CAR.CHEVROLET_BOLT_EUV: [{
     189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
   }],
-  CAR.SILVERADO: [{
+  CAR.CHEVROLET_SILVERADO: [{
     190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
   }],
-  CAR.EQUINOX: [{
+  CAR.CHEVROLET_EQUINOX: [{
     190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
   },
   {
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index bd1e29ce3b..e833e77636 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -76,7 +76,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
   mode = 0x1
 
   # TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake
-  if enabled and CP.carFingerprint in (CAR.BOLT_EUV,):
+  if enabled and CP.carFingerprint in (CAR.CHEVROLET_BOLT_EUV,):
     mode = 0x9
 
   if apply_brake > 0:
@@ -102,17 +102,17 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
   return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
 
 
-def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw):
+def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_control, fcw):
   target_speed = min(target_speed_kph, 255)
 
   values = {
     "ACCAlwaysOne": 1,
     "ACCResumeButton": 0,
     "ACCSpeedSetpoint": target_speed,
-    "ACCGapLevel": 3 * enabled,  # 3 "far", 0 "inactive"
+    "ACCGapLevel": hud_control.leadDistanceBars * enabled,  # 3 "far", 0 "inactive"
     "ACCCmdActive": enabled,
     "ACCAlwaysOne2": 1,
-    "ACCLeadCar": lead_car_in_sight,
+    "ACCLeadCar": hud_control.leadVisible,
     "FCWAlert": 0x3 if fcw else 0
   }
 
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index e0dde4d0e9..358bc9e5ba 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -22,9 +22,9 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
 
 
 NON_LINEAR_TORQUE_PARAMS = {
-  CAR.BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
-  CAR.ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
-  CAR.SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
+  CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
+  CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
+  CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
 }
 
 NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_weights.json')
@@ -43,7 +43,7 @@ class CarInterface(CarInterfaceBase):
     return 0.10006696 * sigmoid * (v_ego + 3.12485927)
 
   def get_steer_feedforward_function(self):
-    if self.CP.carFingerprint == CAR.VOLT:
+    if self.CP.carFingerprint == CAR.CHEVROLET_VOLT:
       return self.get_steer_feedforward_volt
     else:
       return CarInterfaceBase.get_steer_feedforward_default
@@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase):
     return float(self.neural_ff_model.predict(inputs)) + friction
 
   def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
-    if self.CP.carFingerprint == CAR.BOLT_EUV:
+    if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_EUV:
       self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint)
       return self.torque_from_lateral_accel_neural
     elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
@@ -137,7 +137,7 @@ class CarInterface(CarInterfaceBase):
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL} or \
+    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.CHEVROLET_MALIBU, CAR.BUICK_REGAL} or \
                       (ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
 
     # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
@@ -145,15 +145,12 @@ class CarInterface(CarInterfaceBase):
     ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
     ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
-    ret.tireStiffnessFactor = 0.444  # not optimized yet
 
     ret.steerLimitTimer = 0.4
     ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
     ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
 
-    if candidate == CAR.VOLT:
-      ret.tireStiffnessFactor = 0.469  # Stock Michelin Energy Saver A/S, LiveParameters
-
+    if candidate == CAR.CHEVROLET_VOLT:
       ret.lateralTuning.pid.kpBP = [0., 40.]
       ret.lateralTuning.pid.kpV = [0., 0.17]
       ret.lateralTuning.pid.kiBP = [0.]
@@ -161,7 +158,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_volt()
       ret.steerActuatorDelay = 0.2
 
-    elif candidate == CAR.ACADIA:
+    elif candidate == CAR.GMC_ACADIA:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@@ -169,15 +166,14 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.BUICK_LACROSSE:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.ESCALADE:
+    elif candidate == CAR.CADILLAC_ESCALADE:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019):
+    elif candidate in (CAR.CADILLAC_ESCALADE_ESV, CAR.CADILLAC_ESCALADE_ESV_2019):
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
-      ret.tireStiffnessFactor = 1.0
 
-      if candidate == CAR.ESCALADE_ESV:
+      if candidate == CAR.CADILLAC_ESCALADE_ESV:
         ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
         ret.lateralTuning.pid.kf = 0.000045
@@ -185,13 +181,11 @@ class CarInterface(CarInterfaceBase):
         ret.steerActuatorDelay = 0.2
         CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.BOLT_EUV:
-      ret.tireStiffnessFactor = 1.0
+    elif candidate == CAR.CHEVROLET_BOLT_EUV:
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.SILVERADO:
-      ret.tireStiffnessFactor = 1.0
+    elif candidate == CAR.CHEVROLET_SILVERADO:
       # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
       # with foot on brake to allow engagement, but this platform only has that check in the camera.
       # TODO: check if this is split by EV/ICE with more platforms in the future
@@ -199,11 +193,10 @@ class CarInterface(CarInterfaceBase):
         ret.minEnableSpeed = -1.
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.EQUINOX:
+    elif candidate == CAR.CHEVROLET_EQUINOX:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.TRAILBLAZER:
-      ret.tireStiffnessFactor = 1.0
+    elif candidate == CAR.CHEVROLET_TRAILBLAZER:
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
@@ -215,8 +208,12 @@ class CarInterface(CarInterfaceBase):
 
     # 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:
-      ret.buttonEvents = create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
-                                              unpressed_btn=CruiseButtons.UNPRESS)
+      ret.buttonEvents = [
+        *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,
+                              {1: ButtonType.gapAdjustCruise})
+      ]
 
     # The ECM allows enabling on falling edge of set, but only rising edge of resume
     events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
@@ -240,6 +237,3 @@ class CarInterface(CarInterfaceBase):
     ret.events = events.to_msg()
 
     return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/gm/tests/test_gm.py b/selfdrive/car/gm/tests/test_gm.py
index 2aea5b231b..01ec8533b8 100755
--- a/selfdrive/car/gm/tests/test_gm.py
+++ b/selfdrive/car/gm/tests/test_gm.py
@@ -3,7 +3,7 @@ from parameterized import parameterized
 import unittest
 
 from openpilot.selfdrive.car.gm.fingerprints import FINGERPRINTS
-from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, GM_RX_OFFSET
+from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, GM_RX_OFFSET
 
 CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
 
@@ -13,12 +13,10 @@ class TestGMFingerprint(unittest.TestCase):
   def test_can_fingerprints(self, car_model, fingerprints):
     self.assertGreater(len(fingerprints), 0)
 
-    # Trailblazer is in dashcam
-    if car_model != CAR.TRAILBLAZER:
-      self.assertTrue(all(len(finger) for finger in fingerprints))
+    self.assertTrue(all(len(finger) for finger in fingerprints))
 
     # The camera can sometimes be communicating on startup
-    if car_model in CAMERA_ACC_CAR - {CAR.TRAILBLAZER}:
+    if car_model in CAMERA_ACC_CAR:
       for finger in fingerprints:
         for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET):
           self.assertEqual(finger.get(required_addr), 8, required_addr)
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index e3414df2bf..53a4621d27 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -1,9 +1,8 @@
 from dataclasses import dataclass, field
-from enum import Enum
 
 from cereal import car
 from openpilot.selfdrive.car import dbc_dict, PlatformConfig, DbcDict, Platforms, CarSpecs
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
+from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
@@ -60,15 +59,8 @@ class CarControllerParams:
     self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
 
 
-class Footnote(Enum):
-  OBD_II = CarFootnote(
-    'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. ' +
-    '<b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b>',
-    Column.MODEL)
-
-
 @dataclass
-class GMCarInfo(CarInfo):
+class GMCarDocs(CarDocs):
   package: str = "Adaptive Cruise Control (ACC)"
 
   def init_make(self, CP: car.CarParams):
@@ -76,7 +68,11 @@ class GMCarInfo(CarInfo):
       self.car_parts = CarParts.common([CarHarness.gm])
     else:
       self.car_parts = CarParts.common([CarHarness.obd_ii])
-      self.footnotes.append(Footnote.OBD_II)
+
+
+@dataclass(frozen=True, kw_only=True)
+class GMCarSpecs(CarSpecs):
+  tireStiffnessFactor: float = 0.444  # not optimized yet
 
 
 @dataclass
@@ -84,82 +80,75 @@ class GMPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
 
 
+@dataclass
+class GMASCMPlatformConfig(GMPlatformConfig):
+  def init(self):
+    # ASCM is supported, but due to a janky install and hardware configuration, we are not showing in the car docs
+    self.car_docs = []
+
+
 class CAR(Platforms):
-  HOLDEN_ASTRA = GMPlatformConfig(
-    "HOLDEN ASTRA RS-V BK 2017",
-    GMCarInfo("Holden Astra 2017"),
-    CarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
+  HOLDEN_ASTRA = GMASCMPlatformConfig(
+    [GMCarDocs("Holden Astra 2017")],
+    GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
   )
-  VOLT = GMPlatformConfig(
-    "CHEVROLET VOLT PREMIER 2017",
-    GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
-    CarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45),
+  CHEVROLET_VOLT = GMASCMPlatformConfig(
+    [GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")],
+    GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469),
   )
-  CADILLAC_ATS = GMPlatformConfig(
-    "CADILLAC ATS Premium Performance 2018",
-    GMCarInfo("Cadillac ATS Premium Performance 2018"),
-    CarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
+  CADILLAC_ATS = GMASCMPlatformConfig(
+    [GMCarDocs("Cadillac ATS Premium Performance 2018")],
+    GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
   )
-  MALIBU = GMPlatformConfig(
-    "CHEVROLET MALIBU PREMIER 2017",
-    GMCarInfo("Chevrolet Malibu Premier 2017"),
-    CarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
+  CHEVROLET_MALIBU = GMASCMPlatformConfig(
+    [GMCarDocs("Chevrolet Malibu Premier 2017")],
+    GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
   )
-  ACADIA = GMPlatformConfig(
-    "GMC ACADIA DENALI 2018",
-    GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
-    CarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
+  GMC_ACADIA = GMASCMPlatformConfig(
+    [GMCarDocs("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
+    GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
   )
-  BUICK_LACROSSE = GMPlatformConfig(
-    "BUICK LACROSSE 2017",
-    GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
-    CarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
+  BUICK_LACROSSE = GMASCMPlatformConfig(
+    [GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
+    GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
   )
-  BUICK_REGAL = GMPlatformConfig(
-    "BUICK REGAL ESSENCE 2018",
-    GMCarInfo("Buick Regal Essence 2018"),
-    CarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
+  BUICK_REGAL = GMASCMPlatformConfig(
+    [GMCarDocs("Buick Regal Essence 2018")],
+    GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
   )
-  ESCALADE = GMPlatformConfig(
-    "CADILLAC ESCALADE 2017",
-    GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
-    CarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
+  CADILLAC_ESCALADE = GMASCMPlatformConfig(
+    [GMCarDocs("Cadillac Escalade 2017", "Driver Assist Package")],
+    GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
   )
-  ESCALADE_ESV = GMPlatformConfig(
-    "CADILLAC ESCALADE ESV 2016",
-    GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
-    CarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3),
+  CADILLAC_ESCALADE_ESV = GMASCMPlatformConfig(
+    [GMCarDocs("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS")],
+    GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0),
   )
-  ESCALADE_ESV_2019 = GMPlatformConfig(
-    "CADILLAC ESCALADE ESV 2019",
-    GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
-    ESCALADE_ESV.specs,
+  CADILLAC_ESCALADE_ESV_2019 = GMASCMPlatformConfig(
+    [GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")],
+    CADILLAC_ESCALADE_ESV.specs,
   )
-  BOLT_EUV = GMPlatformConfig(
-    "CHEVROLET BOLT EUV 2022",
+  CHEVROLET_BOLT_EUV = GMPlatformConfig(
     [
-      GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
-      GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
+      GMCarDocs("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
+      GMCarDocs("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
     ],
-    CarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4),
+    GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
   )
-  SILVERADO = GMPlatformConfig(
-    "CHEVROLET SILVERADO 1500 2020",
+  CHEVROLET_SILVERADO = GMPlatformConfig(
     [
-      GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
-      GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
+      GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
+      GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
     ],
-    CarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3),
+    GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
   )
-  EQUINOX = GMPlatformConfig(
-    "CHEVROLET EQUINOX 2019",
-    GMCarInfo("Chevrolet Equinox 2019-22"),
-    CarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
+  CHEVROLET_EQUINOX = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Equinox 2019-22")],
+    GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
   )
-  TRAILBLAZER = GMPlatformConfig(
-    "CHEVROLET TRAILBLAZER 2021",
-    GMCarInfo("Chevrolet Trailblazer 2021-22"),
-    CarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4),
+  CHEVROLET_TRAILBLAZER = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Trailblazer 2021-22")],
+    GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
   )
 
 
@@ -235,12 +224,11 @@ FW_QUERY_CONFIG = FwQueryConfig(
   extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
 )
 
-EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
+EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV}
 
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
-CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER}
+CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER}
 
 STEER_THRESHOLD = 1.0
 
-CAR_INFO = CAR.create_carinfo_map()
 DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 547abcd9b9..6fe8c27585 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -4,7 +4,6 @@ from cereal import car
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import create_gas_interceptor_command
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
@@ -96,7 +95,7 @@ def process_hud_alert(hud_alert):
 
 HUDData = namedtuple("HUDData",
                      ["pcm_accel", "v_cruise", "lead_visible",
-                      "lanes_visible", "fcw", "acc_alert", "steer_required"])
+                      "lanes_visible", "fcw", "acc_alert", "steer_required", "lead_distance_bars"])
 
 
 def rate_limit_steer(new_steer, last_steer):
@@ -183,7 +182,7 @@ class CarController(CarControllerBase):
                     0.5]
     # The Honda ODYSSEY seems to have different PCM_ACCEL
     # msgs, is it other cars too?
-    if self.CP.enableGasInterceptor or not CC.longActive:
+    if not CC.longActive:
       pcm_speed = 0.0
       pcm_accel = int(0.0)
     elif self.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL:
@@ -235,30 +234,15 @@ class CarController(CarControllerBase):
           self.apply_brake_last = apply_brake
           self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX
 
-          if self.CP.enableGasInterceptor:
-            # way too aggressive at low speed without this
-            gas_mult = interp(CS.out.vEgo, [0., 10.], [0.4, 1.0])
-            # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
-            # This prevents unexpected pedal range rescaling
-            # Sending non-zero gas when OP is not enabled will cause the PCM not to respond to throttle as expected
-            # when you do enable.
-            if CC.longActive:
-              self.gas = clip(gas_mult * (gas - brake + wind_brake * 3 / 4), 0., 1.)
-            else:
-              self.gas = 0.0
-            can_sends.append(create_gas_interceptor_command(self.packer, self.gas, self.frame // 2))
-
     # Send dashboard UI commands.
     if self.frame % 10 == 0:
       hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
-                    hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
+                    hud_control.lanesVisible, fcw_display, acc_alert, steer_required, hud_control.leadDistanceBars)
       can_sends.extend(hondacan.create_ui_commands(self.packer, self.CAN, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud))
 
       if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
         self.speed = pcm_speed
-
-        if not self.CP.enableGasInterceptor:
-          self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
+        self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
 
     new_actuators = actuators.copy()
     new_actuators.speed = self.speed
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 7784581e1c..c98d1a72d3 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -28,7 +28,7 @@ def get_can_messages(CP, gearbox_msg):
     ("STEER_MOTOR_TORQUE", 0),  # TODO: not on every car
   ]
 
-  if CP.carFingerprint == CAR.ODYSSEY_CHN:
+  if CP.carFingerprint == CAR.HONDA_ODYSSEY_CHN:
     messages += [
       ("SCM_FEEDBACK", 25),
       ("SCM_BUTTONS", 50),
@@ -39,7 +39,7 @@ def get_can_messages(CP, gearbox_msg):
       ("SCM_BUTTONS", 25),
     ]
 
-  if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
+  if CP.carFingerprint in (CAR.HONDA_CRV_HYBRID, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
     messages.append((gearbox_msg, 50))
   else:
     messages.append((gearbox_msg, 100))
@@ -47,7 +47,7 @@ def get_can_messages(CP, gearbox_msg):
   if CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
     messages.append(("BRAKE_MODULE", 50))
 
-  if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
+  if CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
     messages.append(("EPB_STATUS", 50))
 
   if CP.carFingerprint in HONDA_BOSCH:
@@ -58,24 +58,20 @@ def get_can_messages(CP, gearbox_msg):
         ("ACC_CONTROL", 50),
       ]
   else:  # Nidec signals
-    if CP.carFingerprint == CAR.ODYSSEY_CHN:
+    if CP.carFingerprint == CAR.HONDA_ODYSSEY_CHN:
       messages.append(("CRUISE_PARAMS", 10))
     else:
       messages.append(("CRUISE_PARAMS", 50))
 
   # TODO: clean this up
-  if CP.carFingerprint in (CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
-                           CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
+  if CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
+                           CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
     pass
-  elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
+  elif CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
     pass
   else:
     messages.append(("DOORS_STATUS", 3))
 
-  # add gas interceptor reading if we are using it
-  if CP.enableGasInterceptor:
-    messages.append(("GAS_SENSOR", 50))
-
   if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
     messages.append(("CRUISE_FAULT_STATUS", 50))
   elif CP.openpilotLongitudinalControl:
@@ -89,7 +85,7 @@ class CarState(CarStateBase):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     self.gearbox_msg = "GEARBOX"
-    if CP.carFingerprint == CAR.ACCORD and CP.transmissionType == TransmissionType.cvt:
+    if CP.carFingerprint == CAR.HONDA_ACCORD and CP.transmissionType == TransmissionType.cvt:
       self.gearbox_msg = "GEARBOX_15T"
 
     self.main_on_sig_msg = "SCM_FEEDBACK"
@@ -129,10 +125,10 @@ class CarState(CarStateBase):
     # panda checks if the signal is non-zero
     ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
     # TODO: find a common signal across all cars
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
-                                  CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
+    if self.CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
+                                  CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
-    elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
+    elif self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
       ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
     else:
       ret.doorOpen = any([cp.vl["DOORS_STATUS"]["DOOR_OPEN_FL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_FR"],
@@ -185,25 +181,24 @@ class CarState(CarStateBase):
     ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
 
     # TODO: set for all cars
-    if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
+    if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
       ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
 
     gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
 
-    if self.CP.enableGasInterceptor:
-      # Same threshold as panda, equivalent to 1e-5 with previous DBC scaling
-      ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
-      ret.gasPressed = ret.gas > 492
-    else:
-      ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
-      ret.gasPressed = ret.gas > 1e-5
+    ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
+    ret.gasPressed = ret.gas > 1e-5
 
     ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
     ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)
 
     if self.CP.carFingerprint in HONDA_BOSCH:
+      # The PCM always manages its own cruise control state, but doesn't publish it
+      if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+        ret.cruiseState.nonAdaptive = cp_cam.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
+
       if not self.CP.openpilotLongitudinalControl:
         # ACC_HUD is on camera bus on radarless cars
         acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
@@ -237,7 +232,7 @@ class CarState(CarStateBase):
     ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
 
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
-    if self.CP.carFingerprint in (CAR.PILOT, CAR.RIDGELINE):
+    if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):
       if ret.brake > 0.1:
         ret.brakePressed = True
 
@@ -276,9 +271,10 @@ class CarState(CarStateBase):
     ]
 
     if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
-      messages.append(("LKAS_HUD", 10))
-      if not CP.openpilotLongitudinalControl:
-        messages.append(("ACC_HUD", 10))
+      messages += [
+        ("ACC_HUD", 10),
+        ("LKAS_HUD", 10),
+      ]
 
     elif CP.carFingerprint not in HONDA_BOSCH:
       messages += [
diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py
index a842baac88..55bd8b7aec 100644
--- a/selfdrive/car/honda/fingerprints.py
+++ b/selfdrive/car/honda/fingerprints.py
@@ -10,7 +10,7 @@ Ecu = car.CarParams.Ecu
 
 
 FW_VERSIONS = {
-  CAR.ACCORD: {
+  CAR.HONDA_ACCORD: {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-6A0-8720\x00\x00',
       b'37805-6A0-9520\x00\x00',
@@ -39,9 +39,11 @@ FW_VERSIONS = {
       b'37805-6B2-A810\x00\x00',
       b'37805-6B2-A820\x00\x00',
       b'37805-6B2-A920\x00\x00',
+      b'37805-6B2-A960\x00\x00',
       b'37805-6B2-AA10\x00\x00',
       b'37805-6B2-C520\x00\x00',
       b'37805-6B2-C540\x00\x00',
+      b'37805-6B2-C560\x00\x00',
       b'37805-6B2-M520\x00\x00',
       b'37805-6B2-Y810\x00\x00',
       b'37805-6M4-B730\x00\x00',
@@ -120,52 +122,6 @@ FW_VERSIONS = {
       b'77959-TWA-L420\x00\x00',
       b'77959-TWB-H220\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TBX-H310\x00\x00',
-      b'78109-TVA-A010\x00\x00',
-      b'78109-TVA-A020\x00\x00',
-      b'78109-TVA-A030\x00\x00',
-      b'78109-TVA-A110\x00\x00',
-      b'78109-TVA-A120\x00\x00',
-      b'78109-TVA-A130\x00\x00',
-      b'78109-TVA-A210\x00\x00',
-      b'78109-TVA-A220\x00\x00',
-      b'78109-TVA-A230\x00\x00',
-      b'78109-TVA-A310\x00\x00',
-      b'78109-TVA-C010\x00\x00',
-      b'78109-TVA-C130\x00\x00',
-      b'78109-TVA-L010\x00\x00',
-      b'78109-TVA-L210\x00\x00',
-      b'78109-TVA-R310\x00\x00',
-      b'78109-TVC-A010\x00\x00',
-      b'78109-TVC-A020\x00\x00',
-      b'78109-TVC-A030\x00\x00',
-      b'78109-TVC-A110\x00\x00',
-      b'78109-TVC-A130\x00\x00',
-      b'78109-TVC-A210\x00\x00',
-      b'78109-TVC-A220\x00\x00',
-      b'78109-TVC-A230\x00\x00',
-      b'78109-TVC-C010\x00\x00',
-      b'78109-TVC-C110\x00\x00',
-      b'78109-TVC-L010\x00\x00',
-      b'78109-TVC-L210\x00\x00',
-      b'78109-TVC-M510\x00\x00',
-      b'78109-TVC-YF10\x00\x00',
-      b'78109-TVE-H610\x00\x00',
-      b'78109-TWA-A010\x00\x00',
-      b'78109-TWA-A020\x00\x00',
-      b'78109-TWA-A030\x00\x00',
-      b'78109-TWA-A110\x00\x00',
-      b'78109-TWA-A120\x00\x00',
-      b'78109-TWA-A130\x00\x00',
-      b'78109-TWA-A210\x00\x00',
-      b'78109-TWA-A220\x00\x00',
-      b'78109-TWA-A230\x00\x00',
-      b'78109-TWA-A610\x00\x00',
-      b'78109-TWA-H210\x00\x00',
-      b'78109-TWA-L010\x00\x00',
-      b'78109-TWA-L210\x00\x00',
-    ],
     (Ecu.hud, 0x18da61f1, None): [
       b'78209-TVA-A010\x00\x00',
       b'78209-TVA-A110\x00\x00',
@@ -204,7 +160,7 @@ FW_VERSIONS = {
       b'38897-TWD-J020\x00\x00',
     ],
   },
-  CAR.CIVIC: {
+  CAR.HONDA_CIVIC: {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-5AA-A640\x00\x00',
       b'37805-5AA-A650\x00\x00',
@@ -270,25 +226,6 @@ FW_VERSIONS = {
       b'77959-TBG-A030\x00\x00',
       b'77959-TEA-Q820\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TBA-A510\x00\x00',
-      b'78109-TBA-A520\x00\x00',
-      b'78109-TBA-A530\x00\x00',
-      b'78109-TBA-C310\x00\x00',
-      b'78109-TBA-C520\x00\x00',
-      b'78109-TBC-A310\x00\x00',
-      b'78109-TBC-A320\x00\x00',
-      b'78109-TBC-A510\x00\x00',
-      b'78109-TBC-A520\x00\x00',
-      b'78109-TBC-A530\x00\x00',
-      b'78109-TBC-C510\x00\x00',
-      b'78109-TBC-C520\x00\x00',
-      b'78109-TBC-C530\x00\x00',
-      b'78109-TBH-A510\x00\x00',
-      b'78109-TBH-A530\x00\x00',
-      b'78109-TED-Q510\x00\x00',
-      b'78109-TEG-A310\x00\x00',
-    ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36161-TBA-A020\x00\x00',
       b'36161-TBA-A030\x00\x00',
@@ -304,7 +241,7 @@ FW_VERSIONS = {
       b'38897-TBA-A020\x00\x00',
     ],
   },
-  CAR.CIVIC_BOSCH: {
+  CAR.HONDA_CIVIC_BOSCH: {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-5AA-A940\x00\x00',
       b'37805-5AA-A950\x00\x00',
@@ -419,40 +356,6 @@ FW_VERSIONS = {
       b'77959-TGG-J320\x00\x00',
       b'77959-TGG-Z820\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TBA-A110\x00\x00',
-      b'78109-TBA-A910\x00\x00',
-      b'78109-TBA-C340\x00\x00',
-      b'78109-TBA-C910\x00\x00',
-      b'78109-TBC-A740\x00\x00',
-      b'78109-TBC-C540\x00\x00',
-      b'78109-TBG-A110\x00\x00',
-      b'78109-TBH-A710\x00\x00',
-      b'78109-TEG-A720\x00\x00',
-      b'78109-TFJ-G020\x00\x00',
-      b'78109-TGG-9020\x00\x00',
-      b'78109-TGG-A210\x00\x00',
-      b'78109-TGG-A220\x00\x00',
-      b'78109-TGG-A310\x00\x00',
-      b'78109-TGG-A320\x00\x00',
-      b'78109-TGG-A330\x00\x00',
-      b'78109-TGG-A610\x00\x00',
-      b'78109-TGG-A620\x00\x00',
-      b'78109-TGG-A810\x00\x00',
-      b'78109-TGG-A820\x00\x00',
-      b'78109-TGG-C010\x00\x00',
-      b'78109-TGG-C220\x00\x00',
-      b'78109-TGG-E110\x00\x00',
-      b'78109-TGG-G030\x00\x00',
-      b'78109-TGG-G230\x00\x00',
-      b'78109-TGG-G410\x00\x00',
-      b'78109-TGK-Z410\x00\x00',
-      b'78109-TGL-G120\x00\x00',
-      b'78109-TGL-G130\x00\x00',
-      b'78109-TGL-G210\x00\x00',
-      b'78109-TGL-G230\x00\x00',
-      b'78109-TGL-GM10\x00\x00',
-    ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TBA-A150\x00\x00',
       b'36802-TBA-A160\x00\x00',
@@ -489,7 +392,7 @@ FW_VERSIONS = {
       b'39494-TGL-G030\x00\x00',
     ],
   },
-  CAR.CIVIC_BOSCH_DIESEL: {
+  CAR.HONDA_CIVIC_BOSCH_DIESEL: {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-59N-G630\x00\x00',
       b'37805-59N-G830\x00\x00',
@@ -508,10 +411,6 @@ FW_VERSIONS = {
       b'77959-TFK-G210\x00\x00',
       b'77959-TGN-G220\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TFK-G020\x00\x00',
-      b'78109-TGN-G120\x00\x00',
-    ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TFK-G130\x00\x00',
       b'36802-TGN-G130\x00\x00',
@@ -527,7 +426,7 @@ FW_VERSIONS = {
       b'38897-TBA-A020\x00\x00',
     ],
   },
-  CAR.CRV: {
+  CAR.HONDA_CRV: {
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-T1W-A230\x00\x00',
       b'57114-T1W-A240\x00\x00',
@@ -536,18 +435,13 @@ FW_VERSIONS = {
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-T0A-A230\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-T1W-A210\x00\x00',
-      b'78109-T1W-C210\x00\x00',
-      b'78109-T1X-A210\x00\x00',
-    ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36161-T1W-A830\x00\x00',
       b'36161-T1W-C830\x00\x00',
       b'36161-T1X-A830\x00\x00',
     ],
   },
-  CAR.CRV_5G: {
+  CAR.HONDA_CRV_5G: {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-5PA-3060\x00\x00',
       b'37805-5PA-3080\x00\x00',
@@ -575,6 +469,7 @@ FW_VERSIONS = {
       b'37805-5PA-AB10\x00\x00',
       b'37805-5PA-AD10\x00\x00',
       b'37805-5PA-AF20\x00\x00',
+      b'37805-5PA-AF30\x00\x00',
       b'37805-5PA-AH20\x00\x00',
       b'37805-5PA-BF10\x00\x00',
       b'37805-5PA-C680\x00\x00',
@@ -620,25 +515,6 @@ FW_VERSIONS = {
       b'46114-TLA-A930\x00\x00',
       b'46114-TMC-U020\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TLA-A020\x00\x00',
-      b'78109-TLA-A110\x00\x00',
-      b'78109-TLA-A120\x00\x00',
-      b'78109-TLA-A210\x00\x00',
-      b'78109-TLA-A220\x00\x00',
-      b'78109-TLA-C020\x00\x00',
-      b'78109-TLA-C110\x00\x00',
-      b'78109-TLA-C210\x00\x00',
-      b'78109-TLA-C310\x00\x00',
-      b'78109-TLB-A020\x00\x00',
-      b'78109-TLB-A110\x00\x00',
-      b'78109-TLB-A120\x00\x00',
-      b'78109-TLB-A210\x00\x00',
-      b'78109-TLB-A220\x00\x00',
-      b'78109-TMC-Q210\x00\x00',
-      b'78109-TMM-F210\x00\x00',
-      b'78109-TMM-M110\x00\x00',
-    ],
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TLA-A010\x00\x00',
       b'38897-TLA-A110\x00\x00',
@@ -675,7 +551,7 @@ FW_VERSIONS = {
       b'77959-TMM-F040\x00\x00',
     ],
   },
-  CAR.CRV_EU: {
+  CAR.HONDA_CRV_EU: {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-R5Z-G740\x00\x00',
       b'37805-R5Z-G780\x00\x00',
@@ -693,15 +569,11 @@ FW_VERSIONS = {
       b'28101-5LH-E120\x00\x00',
       b'28103-5LH-E100\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-T1B-3050\x00\x00',
-      b'78109-T1V-G020\x00\x00',
-    ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-T1G-G940\x00\x00',
     ],
   },
-  CAR.CRV_HYBRID: {
+  CAR.HONDA_CRV_HYBRID: {
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TMB-H030\x00\x00',
       b'57114-TPA-G020\x00\x00',
@@ -727,12 +599,6 @@ FW_VERSIONS = {
       b'36161-TPG-A030\x00\x00',
       b'36161-TPG-A040\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TMB-H220\x00\x00',
-      b'78109-TPA-G520\x00\x00',
-      b'78109-TPG-A110\x00\x00',
-      b'78109-TPG-A210\x00\x00',
-    ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TMB-H040\x00\x00',
       b'36802-TPA-E040\x00\x00',
@@ -746,7 +612,7 @@ FW_VERSIONS = {
       b'77959-TLA-H240\x00\x00',
     ],
   },
-  CAR.FIT: {
+  CAR.HONDA_FIT: {
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-T5R-L020\x00\x00',
       b'57114-T5R-L220\x00\x00',
@@ -758,12 +624,6 @@ FW_VERSIONS = {
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-T5A-J010\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-T5A-A210\x00\x00',
-      b'78109-T5A-A410\x00\x00',
-      b'78109-T5A-A420\x00\x00',
-      b'78109-T5A-A910\x00\x00',
-    ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36161-T5R-A040\x00\x00',
       b'36161-T5R-A240\x00\x00',
@@ -773,7 +633,7 @@ FW_VERSIONS = {
       b'77959-T5R-A230\x00\x00',
     ],
   },
-  CAR.FREED: {
+  CAR.HONDA_FREED: {
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TDK-J010\x00\x00',
     ],
@@ -785,23 +645,20 @@ FW_VERSIONS = {
       b'57114-TDK-J120\x00\x00',
       b'57114-TDK-J330\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TDK-J310\x00\x00',
-      b'78109-TDK-J320\x00\x00',
-    ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36161-TDK-J070\x00\x00',
       b'36161-TDK-J080\x00\x00',
       b'36161-TDK-J530\x00\x00',
     ],
   },
-  CAR.ODYSSEY: {
+  CAR.HONDA_ODYSSEY: {
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-THR-A010\x00\x00',
       b'38897-THR-A020\x00\x00',
     ],
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-5MR-3050\x00\x00',
+      b'37805-5MR-3150\x00\x00',
       b'37805-5MR-3250\x00\x00',
       b'37805-5MR-4070\x00\x00',
       b'37805-5MR-4080\x00\x00',
@@ -861,53 +718,17 @@ FW_VERSIONS = {
       b'57114-THR-A040\x00\x00',
       b'57114-THR-A110\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-THR-A220\x00\x00',
-      b'78109-THR-A230\x00\x00',
-      b'78109-THR-A420\x00\x00',
-      b'78109-THR-A430\x00\x00',
-      b'78109-THR-A720\x00\x00',
-      b'78109-THR-A730\x00\x00',
-      b'78109-THR-A820\x00\x00',
-      b'78109-THR-A830\x00\x00',
-      b'78109-THR-AB20\x00\x00',
-      b'78109-THR-AB30\x00\x00',
-      b'78109-THR-AB40\x00\x00',
-      b'78109-THR-AC20\x00\x00',
-      b'78109-THR-AC30\x00\x00',
-      b'78109-THR-AC40\x00\x00',
-      b'78109-THR-AC50\x00\x00',
-      b'78109-THR-AD30\x00\x00',
-      b'78109-THR-AE20\x00\x00',
-      b'78109-THR-AE30\x00\x00',
-      b'78109-THR-AE40\x00\x00',
-      b'78109-THR-AK10\x00\x00',
-      b'78109-THR-AL10\x00\x00',
-      b'78109-THR-AN10\x00\x00',
-      b'78109-THR-C220\x00\x00',
-      b'78109-THR-C320\x00\x00',
-      b'78109-THR-C330\x00\x00',
-      b'78109-THR-CE20\x00\x00',
-      b'78109-THR-CL10\x00\x00',
-      b'78109-THR-DA20\x00\x00',
-      b'78109-THR-DA30\x00\x00',
-      b'78109-THR-DA40\x00\x00',
-      b'78109-THR-K120\x00\x00',
-    ],
     (Ecu.shiftByWire, 0x18da0bf1, None): [
       b'54008-THR-A020\x00\x00',
     ],
   },
-  CAR.ODYSSEY_CHN: {
+  CAR.HONDA_ODYSSEY_CHN: {
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-T6D-H220\x00\x00',
     ],
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-T6A-J010\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-T6A-F310\x00\x00',
-    ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36161-T6A-P040\x00\x00',
     ],
@@ -915,12 +736,13 @@ FW_VERSIONS = {
       b'77959-T6A-P110\x00\x00',
     ],
   },
-  CAR.PILOT: {
+  CAR.HONDA_PILOT: {
     (Ecu.shiftByWire, 0x18da0bf1, None): [
       b'54008-TG7-A520\x00\x00',
       b'54008-TG7-A530\x00\x00',
     ],
     (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-5EY-A040\x00\x00',
       b'28101-5EY-A050\x00\x00',
       b'28101-5EY-A100\x00\x00',
       b'28101-5EY-A430\x00\x00',
@@ -941,6 +763,7 @@ FW_VERSIONS = {
       b'37805-RLV-4070\x00\x00',
       b'37805-RLV-5140\x00\x00',
       b'37805-RLV-5230\x00\x00',
+      b'37805-RLV-A630\x00\x00',
       b'37805-RLV-A830\x00\x00',
       b'37805-RLV-A840\x00\x00',
       b'37805-RLV-B210\x00\x00',
@@ -1011,43 +834,6 @@ FW_VERSIONS = {
       b'77959-TGS-A010\x00\x00',
       b'77959-TGS-A110\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TG7-A040\x00\x00',
-      b'78109-TG7-A050\x00\x00',
-      b'78109-TG7-A420\x00\x00',
-      b'78109-TG7-A520\x00\x00',
-      b'78109-TG7-A720\x00\x00',
-      b'78109-TG7-AJ10\x00\x00',
-      b'78109-TG7-AJ20\x00\x00',
-      b'78109-TG7-AK10\x00\x00',
-      b'78109-TG7-AK20\x00\x00',
-      b'78109-TG7-AM20\x00\x00',
-      b'78109-TG7-AP10\x00\x00',
-      b'78109-TG7-AP20\x00\x00',
-      b'78109-TG7-AS20\x00\x00',
-      b'78109-TG7-AT20\x00\x00',
-      b'78109-TG7-AU20\x00\x00',
-      b'78109-TG7-AX20\x00\x00',
-      b'78109-TG7-D020\x00\x00',
-      b'78109-TG7-DJ10\x00\x00',
-      b'78109-TG7-YK20\x00\x00',
-      b'78109-TG8-A420\x00\x00',
-      b'78109-TG8-A520\x00\x00',
-      b'78109-TG8-AJ10\x00\x00',
-      b'78109-TG8-AJ20\x00\x00',
-      b'78109-TG8-AK20\x00\x00',
-      b'78109-TG8-AS20\x00\x00',
-      b'78109-TGS-AB10\x00\x00',
-      b'78109-TGS-AC10\x00\x00',
-      b'78109-TGS-AD10\x00\x00',
-      b'78109-TGS-AJ20\x00\x00',
-      b'78109-TGS-AK20\x00\x00',
-      b'78109-TGS-AP20\x00\x00',
-      b'78109-TGS-AT20\x00\x00',
-      b'78109-TGS-AX20\x00\x00',
-      b'78109-TGT-AJ20\x00\x00',
-      b'78109-TGT-AK30\x00\x00',
-    ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TG7-A130\x00\x00',
       b'57114-TG7-A140\x00\x00',
@@ -1056,6 +842,7 @@ FW_VERSIONS = {
       b'57114-TG7-A630\x00\x00',
       b'57114-TG7-A730\x00\x00',
       b'57114-TG8-A140\x00\x00',
+      b'57114-TG8-A230\x00\x00',
       b'57114-TG8-A240\x00\x00',
       b'57114-TG8-A630\x00\x00',
       b'57114-TG8-A730\x00\x00',
@@ -1077,12 +864,6 @@ FW_VERSIONS = {
       b'77959-TX4-C010\x00\x00',
       b'77959-TX4-C020\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TX4-A210\x00\x00',
-      b'78109-TX4-A310\x00\x00',
-      b'78109-TX5-A210\x00\x00',
-      b'78109-TX5-A310\x00\x00',
-    ],
   },
   CAR.ACURA_RDX_3G: {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
@@ -1095,6 +876,7 @@ FW_VERSIONS = {
       b'37805-5YF-A750\x00\x00',
       b'37805-5YF-A760\x00\x00',
       b'37805-5YF-A850\x00\x00',
+      b'37805-5YF-A860\x00\x00',
       b'37805-5YF-A870\x00\x00',
       b'37805-5YF-AD20\x00\x00',
       b'37805-5YF-C210\x00\x00',
@@ -1132,24 +914,6 @@ FW_VERSIONS = {
       b'28102-5YL-A700\x00\x00',
       b'28102-5YL-A711\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TJB-A140\x00\x00',
-      b'78109-TJB-A240\x00\x00',
-      b'78109-TJB-A420\x00\x00',
-      b'78109-TJB-AB10\x00\x00',
-      b'78109-TJB-AD10\x00\x00',
-      b'78109-TJB-AF10\x00\x00',
-      b'78109-TJB-AQ20\x00\x00',
-      b'78109-TJB-AR10\x00\x00',
-      b'78109-TJB-AS10\x00\x00',
-      b'78109-TJB-AU10\x00\x00',
-      b'78109-TJB-AW10\x00\x00',
-      b'78109-TJC-A240\x00\x00',
-      b'78109-TJC-A420\x00\x00',
-      b'78109-TJC-AA10\x00\x00',
-      b'78109-TJC-AD10\x00\x00',
-      b'78109-TJC-AF10\x00\x00',
-    ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TJB-A040\x00\x00',
       b'77959-TJB-A120\x00\x00',
@@ -1174,7 +938,7 @@ FW_VERSIONS = {
       b'39990-TJB-A130\x00\x00',
     ],
   },
-  CAR.RIDGELINE: {
+  CAR.HONDA_RIDGELINE: {
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-T6Z-A020\x00\x00',
       b'39990-T6Z-A030\x00\x00',
@@ -1194,18 +958,6 @@ FW_VERSIONS = {
       b'38897-T6Z-A010\x00\x00',
       b'38897-T6Z-A110\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78108-T6Z-AF10\x00\x00',
-      b'78109-T6Z-A420\x00\x00',
-      b'78109-T6Z-A510\x00\x00',
-      b'78109-T6Z-A710\x00\x00',
-      b'78109-T6Z-A810\x00\x00',
-      b'78109-T6Z-A910\x00\x00',
-      b'78109-T6Z-AA10\x00\x00',
-      b'78109-T6Z-C620\x00\x00',
-      b'78109-T6Z-C910\x00\x00',
-      b'78109-TJZ-A510\x00\x00',
-    ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-T6Z-A020\x00\x00',
     ],
@@ -1217,7 +969,7 @@ FW_VERSIONS = {
       b'57114-TJZ-A520\x00\x00',
     ],
   },
-  CAR.INSIGHT: {
+  CAR.HONDA_INSIGHT: {
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-TXM-A040\x00\x00',
     ],
@@ -1242,15 +994,8 @@ FW_VERSIONS = {
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TXM-A020\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TXM-A010\x00\x00',
-      b'78109-TXM-A020\x00\x00',
-      b'78109-TXM-A030\x00\x00',
-      b'78109-TXM-A110\x00\x00',
-      b'78109-TXM-C010\x00\x00',
-    ],
   },
-  CAR.HRV: {
+  CAR.HONDA_HRV: {
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-T7A-A010\x00\x00',
       b'38897-T7A-A110\x00\x00',
@@ -1267,36 +1012,36 @@ FW_VERSIONS = {
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-T7A-A230\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-THW-A110\x00\x00',
-      b'78109-THX-A110\x00\x00',
-      b'78109-THX-A120\x00\x00',
-      b'78109-THX-A210\x00\x00',
-      b'78109-THX-A220\x00\x00',
-      b'78109-THX-C220\x00\x00',
-    ],
   },
-  CAR.HRV_3G: {
+  CAR.HONDA_HRV_3G: {
     (Ecu.eps, 0x18da30f1, None): [
+      b'39990-3M0-G110\x00\x00',
       b'39990-3W0-A030\x00\x00',
     ],
     (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-3M0-M110\x00\x00',
       b'38897-3W1-A010\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
+      b'77959-3M0-K840\x00\x00',
       b'77959-3V0-A820\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78108-3V1-A220\x00\x00',
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'8S102-3M6-P030\x00\x00',
+      b'8S102-3W0-A060\x00\x00',
+      b'8S102-3W0-AB10\x00\x00',
     ],
     (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-3M6-M010\x00\x00',
       b'57114-3W0-A040\x00\x00',
     ],
     (Ecu.transmission, 0x18da1ef1, None): [
       b'28101-6EH-A010\x00\x00',
+      b'28101-6JC-M310\x00\x00',
     ],
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-6CT-A710\x00\x00',
+      b'37805-6HZ-M630\x00\x00',
     ],
     (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
       b'46114-3W0-A020\x00\x00',
@@ -1314,11 +1059,6 @@ FW_VERSIONS = {
       b'77959-TX6-A230\x00\x00',
       b'77959-TX6-C210\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-T3R-A120\x00\x00',
-      b'78109-T3R-A410\x00\x00',
-      b'78109-TV9-A510\x00\x00',
-    ],
   },
   CAR.HONDA_E: {
     (Ecu.eps, 0x18da30f1, None): [
@@ -1333,9 +1073,6 @@ FW_VERSIONS = {
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TYF-G430\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78108-TYF-G610\x00\x00',
-    ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TYF-E030\x00\x00',
     ],
@@ -1346,7 +1083,7 @@ FW_VERSIONS = {
       b'57114-TYF-E030\x00\x00',
     ],
   },
-  CAR.CIVIC_2022: {
+  CAR.HONDA_CIVIC_2022: {
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-T24-T120\x00\x00',
       b'39990-T39-A130\x00\x00',
@@ -1367,15 +1104,6 @@ FW_VERSIONS = {
       b'77959-T47-A940\x00\x00',
       b'77959-T47-A950\x00\x00',
     ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78108-T21-A220\x00\x00',
-      b'78108-T21-A230\x00\x00',
-      b'78108-T21-A620\x00\x00',
-      b'78108-T21-A740\x00\x00',
-      b'78108-T21-MB10\x00\x00',
-      b'78108-T22-A020\x00\x00',
-      b'78108-T23-A110\x00\x00',
-    ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36161-T20-A060\x00\x00',
       b'36161-T20-A070\x00\x00',
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index d10d5576d9..1be496d951 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -143,7 +143,8 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
     acc_hud_values = {
       'CRUISE_SPEED': hud.v_cruise,
       'ENABLE_MINI_CAR': 1 if enabled else 0,
-      'HUD_DISTANCE': 0,  # max distance setting on display
+      # only moves the lead car without ACC_ON
+      'HUD_DISTANCE': (hud.lead_distance_bars + 1) % 4,  # wraps to 0 at 4 bars
       'IMPERIAL_UNIT': int(not is_metric),
       'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
       'SET_ME_X01_2': 1,
@@ -154,6 +155,8 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
       acc_hud_values['FCM_OFF'] = 1
       acc_hud_values['FCM_OFF_2'] = 1
     else:
+      # Shows the distance bars, TODO: stock camera shows updates temporarily while disabled
+      acc_hud_values['ACC_ON'] = int(enabled)
       acc_hud_values['PCM_SPEED'] = pcm_speed * CV.MS_TO_KPH
       acc_hud_values['PCM_GAS'] = hud.pcm_accel
       acc_hud_values['SET_ME_X01'] = 1
@@ -192,7 +195,7 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
     }
     commands.append(packer.make_can_msg('RADAR_HUD', CAN.pt, radar_hud_values))
 
-    if CP.carFingerprint == CAR.CIVIC_BOSCH:
+    if CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH:
       commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", CAN.pt, {}))
 
   return commands
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 9c39c4694f..2026c385c2 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -4,8 +4,8 @@ from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus
-from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \
-                                                 HONDA_BOSCH_RADARLESS
+from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \
+                                                 HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
 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
@@ -16,6 +16,7 @@ EventName = car.CarEvent.EventName
 TransmissionType = car.CarParams.TransmissionType
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
+SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
 
 
 class CarInterface(CarInterfaceBase):
@@ -23,8 +24,6 @@ class CarInterface(CarInterfaceBase):
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
     if CP.carFingerprint in HONDA_BOSCH:
       return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
-    elif CP.enableGasInterceptor:
-      return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX
     else:
       # NIDECs don't allow acceleration near cruise_speed,
       # so limit limits of pid to prevent windup
@@ -49,12 +48,11 @@ class CarInterface(CarInterfaceBase):
       ret.pcmCruise = not ret.openpilotLongitudinalControl
     else:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
-      ret.enableGasInterceptor = 0x201 in fingerprint[CAN.pt]
       ret.openpilotLongitudinalControl = True
 
-      ret.pcmCruise = not ret.enableGasInterceptor
+      ret.pcmCruise = True
 
-    if candidate == CAR.CRV_5G:
+    if candidate == CAR.HONDA_CRV_5G:
       ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar]
 
     # Detect Bosch cars with new HUD msgs
@@ -62,7 +60,7 @@ class CarInterface(CarInterfaceBase):
       ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
 
     # Accord ICE 1.5T CVT has different gearbox message
-    if candidate == CAR.ACCORD and 0x191 in fingerprint[CAN.pt]:
+    if candidate == CAR.HONDA_ACCORD and 0x191 in fingerprint[CAN.pt]:
       ret.transmissionType = TransmissionType.cvt
 
     # Certain Hondas have an extra steering sensor at the bottom of the steering rack,
@@ -91,7 +89,7 @@ class CarInterface(CarInterfaceBase):
       if fw.ecu == "eps" and b"," in fw.fwVersion:
         eps_modified = True
 
-    if candidate == CAR.CIVIC:
+    if candidate == CAR.HONDA_CIVIC:
       if eps_modified:
         # stock request input values:     0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
         # stock request output values:    0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
@@ -105,13 +103,12 @@ class CarInterface(CarInterfaceBase):
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
 
-    elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
+    elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
-    elif candidate == CAR.ACCORD:
+    elif candidate == CAR.HONDA_ACCORD:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.8467
 
       if eps_modified:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
@@ -120,16 +117,14 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.ACURA_ILX:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.72
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
-    elif candidate in (CAR.CRV, CAR.CRV_EU):
+    elif candidate in (CAR.HONDA_CRV, CAR.HONDA_CRV_EU):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.444
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
       ret.wheelSpeedFactor = 1.025
 
-    elif candidate == CAR.CRV_5G:
+    elif candidate == CAR.HONDA_CRV_5G:
       if eps_modified:
         # stock request input values:     0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
         # stock request output values:    0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
@@ -139,70 +134,58 @@ class CarInterface(CarInterfaceBase):
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
-      ret.tireStiffnessFactor = 0.677
       ret.wheelSpeedFactor = 1.025
 
-    elif candidate == CAR.CRV_HYBRID:
+    elif candidate == CAR.HONDA_CRV_HYBRID:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.677
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
       ret.wheelSpeedFactor = 1.025
 
-    elif candidate == CAR.FIT:
+    elif candidate == CAR.HONDA_FIT:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.75
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
 
-    elif candidate == CAR.FREED:
+    elif candidate == CAR.HONDA_FREED:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
-      ret.tireStiffnessFactor = 0.75
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
 
-    elif candidate in (CAR.HRV, CAR.HRV_3G):
+    elif candidate in (CAR.HONDA_HRV, CAR.HONDA_HRV_3G):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
-      ret.tireStiffnessFactor = 0.5
-      if candidate == CAR.HRV:
+      if candidate == CAR.HONDA_HRV:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
         ret.wheelSpeedFactor = 1.025
       else:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]  # TODO: can probably use some tuning
 
     elif candidate == CAR.ACURA_RDX:
-      ret.tireStiffnessFactor = 0.444
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
     elif candidate == CAR.ACURA_RDX_3G:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
-      ret.tireStiffnessFactor = 0.677
 
-    elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
-      ret.tireStiffnessFactor = 0.82
+    elif candidate in (CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
-      if candidate == CAR.ODYSSEY_CHN:
+      if candidate == CAR.HONDA_ODYSSEY_CHN:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]]  # TODO: determine if there is a dead zone at the top end
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
 
-    elif candidate == CAR.PILOT:
+    elif candidate == CAR.HONDA_PILOT:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.444
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
 
-    elif candidate == CAR.RIDGELINE:
+    elif candidate == CAR.HONDA_RIDGELINE:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.444
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
 
-    elif candidate == CAR.INSIGHT:
+    elif candidate == CAR.HONDA_INSIGHT:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.82
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
 
     elif candidate == CAR.HONDA_E:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.82
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
 
     else:
@@ -210,7 +193,7 @@ class CarInterface(CarInterfaceBase):
 
     # These cars use alternate user brake msg (0x1BE)
     # TODO: Only detect feature for Accord/Accord Hybrid, not all Bosch DBCs have BRAKE_MODULE
-    if 0x1BE in fingerprint[CAN.pt] and candidate == CAR.ACCORD:
+    if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G):
       ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
 
     if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
@@ -223,16 +206,13 @@ class CarInterface(CarInterfaceBase):
     if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
 
-    if ret.enableGasInterceptor and candidate not in HONDA_BOSCH:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_GAS_INTERCEPTOR
-
     if candidate in HONDA_BOSCH_RADARLESS:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS
 
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
     # conflict with PCM acc
-    ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
+    ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
     ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS
 
     ret.steerActuatorDelay = 0.1
@@ -251,7 +231,7 @@ class CarInterface(CarInterfaceBase):
 
     ret.buttonEvents = [
       *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, {1: ButtonType.altButton1}),
+      *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
     ]
 
     # events
@@ -277,8 +257,3 @@ class CarInterface(CarInterfaceBase):
     ret.events = events.to_msg()
 
     return ret
-
-  # pass in a car.CarControl
-  # to be called @ 100hz
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/honda/tests/test_honda.py b/selfdrive/car/honda/tests/test_honda.py
index 4e3f9182ea..60d91b84a8 100755
--- a/selfdrive/car/honda/tests/test_honda.py
+++ b/selfdrive/car/honda/tests/test_honda.py
@@ -4,7 +4,7 @@ import unittest
 
 from openpilot.selfdrive.car.honda.fingerprints import FW_VERSIONS
 
-HONDA_FW_VERSION_RE = br"\d{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$"
+HONDA_FW_VERSION_RE = br"[A-Z0-9]{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$"
 
 
 class TestHondaFingerprint(unittest.TestCase):
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index a6b7d26567..1b0da8d7de 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -5,7 +5,7 @@ from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from panda.python import uds
 from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
 Ecu = car.CarParams.Ecu
@@ -68,6 +68,11 @@ class CruiseButtons:
   MAIN = 1
 
 
+class CruiseSettings:
+  DISTANCE = 3
+  LKAS = 1
+
+
 # See dbc files for info on values
 VISUAL_HUD = {
   VisualAlert.none: 0,
@@ -82,7 +87,7 @@ VISUAL_HUD = {
 
 
 @dataclass
-class HondaCarInfo(CarInfo):
+class HondaCarDocs(CarDocs):
   package: str = "Honda Sensing"
 
   def init_make(self, CP: car.CarParams):
@@ -110,174 +115,155 @@ class HondaNidecPlatformConfig(PlatformConfig):
 
 class CAR(Platforms):
   # Bosch Cars
-  ACCORD = HondaBoschPlatformConfig(
-    "HONDA ACCORD 2018",
+  HONDA_ACCORD = HondaBoschPlatformConfig(
     [
-      HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
-      HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
-      HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
     ],
-    CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39),  # steerRatio: 11.82 is spec end-to-end
+    # steerRatio: 11.82 is spec end-to-end
+    CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467),
     dbc_dict('honda_accord_2018_can_generated', None),
   )
-  CIVIC_BOSCH = HondaBoschPlatformConfig(
-    "HONDA CIVIC (BOSCH) 2019",
+  HONDA_CIVIC_BOSCH = HondaBoschPlatformConfig(
     [
-      HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
+      HondaCarDocs("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
                    footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
-      HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
     ],
     CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4),  # steerRatio: 10.93 is end-to-end spec
     dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
   )
-  CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
-    "HONDA CIVIC SEDAN 1.6 DIESEL 2019",
-    None,  # don't show in docs
-    CIVIC_BOSCH.specs,
+  HONDA_CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
+    [],  # don't show in docs
+    HONDA_CIVIC_BOSCH.specs,
     dbc_dict('honda_accord_2018_can_generated', None),
   )
-  CIVIC_2022 = HondaBoschPlatformConfig(
-    "HONDA CIVIC 2022",
+  HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
     [
-      HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
-      HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarDocs("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarDocs("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
     ],
-    CIVIC_BOSCH.specs,
+    HONDA_CIVIC_BOSCH.specs,
     dbc_dict('honda_civic_ex_2022_can_generated', None),
     flags=HondaFlags.BOSCH_RADARLESS,
   )
-  CRV_5G = HondaBoschPlatformConfig(
-    "HONDA CR-V 2017",
-    HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
-    CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41),  # steerRatio: 12.3 is spec end-to-end
+  HONDA_CRV_5G = HondaBoschPlatformConfig(
+    [HondaCarDocs("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)],
+    # steerRatio: 12.3 is spec end-to-end
+    CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
     dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
     flags=HondaFlags.BOSCH_ALT_BRAKE,
   )
-  CRV_HYBRID = HondaBoschPlatformConfig(
-    "HONDA CR-V HYBRID 2019",
-    HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
-    CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41),  # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
+  HONDA_CRV_HYBRID = HondaBoschPlatformConfig(
+    [HondaCarDocs("Honda CR-V Hybrid 2017-21", min_steer_speed=12. * CV.MPH_TO_MS)],
+    # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
+    CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
     dbc_dict('honda_accord_2018_can_generated', None),
   )
-  HRV_3G = HondaBoschPlatformConfig(
-    "HONDA HR-V 2023",
-    HondaCarInfo("Honda HR-V 2023", "All"),
-    CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41),
+  HONDA_HRV_3G = HondaBoschPlatformConfig(
+    [HondaCarDocs("Honda HR-V 2023", "All")],
+    CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5),
     dbc_dict('honda_civic_ex_2022_can_generated', None),
-    flags=HondaFlags.BOSCH_RADARLESS | HondaFlags.BOSCH_ALT_BRAKE,
+    flags=HondaFlags.BOSCH_RADARLESS,
   )
   ACURA_RDX_3G = HondaBoschPlatformConfig(
-    "ACURA RDX 2020",
-    HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
-    CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41),  # as spec
+    [HondaCarDocs("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
+    CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),  # as spec
     dbc_dict('acura_rdx_2020_can_generated', None),
     flags=HondaFlags.BOSCH_ALT_BRAKE,
   )
-  INSIGHT = HondaBoschPlatformConfig(
-    "HONDA INSIGHT 2019",
-    HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
-    CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39),  # as spec
+  HONDA_INSIGHT = HondaBoschPlatformConfig(
+    [HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
+    CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82),  # as spec
     dbc_dict('honda_insight_ex_2019_can_generated', None),
   )
   HONDA_E = HondaBoschPlatformConfig(
-    "HONDA E 2020",
-    HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
-    CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71),
+    [HondaCarDocs("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
+    CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
     dbc_dict('acura_rdx_2020_can_generated', None),
   )
 
   # Nidec Cars
   ACURA_ILX = HondaNidecPlatformConfig(
-    "ACURA ILX 2016",
-    HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
-    CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37),  # 15.3 is spec end-to-end
+    [HondaCarDocs("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS)],
+    CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72),  # 15.3 is spec end-to-end
     dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
-  CRV = HondaNidecPlatformConfig(
-    "HONDA CR-V 2016",
-    HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
-    CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41),  # as spec
+  HONDA_CRV = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS)],
+    CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444),  # as spec
     dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
-  CRV_EU = HondaNidecPlatformConfig(
-    "HONDA CR-V EU 2016",
-    None,  # Euro version of CRV Touring, don't show in docs
-    CRV.specs,
+  HONDA_CRV_EU = HondaNidecPlatformConfig(
+    [],  # Euro version of CRV Touring, don't show in docs
+    HONDA_CRV.specs,
     dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
-  FIT = HondaNidecPlatformConfig(
-    "HONDA FIT 2018",
-    HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
-    CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39),
+  HONDA_FIT = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS)],
+    CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),
     dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
-  FREED = HondaNidecPlatformConfig(
-    "HONDA FREED 2020",
-    HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
-    CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39),  # mostly copied from FIT
+  HONDA_FREED = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS)],
+    CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),  # mostly copied from FIT
     dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
-  HRV = HondaNidecPlatformConfig(
-    "HONDA HRV 2019",
-    HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
-    HRV_3G.specs,
+  HONDA_HRV = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS)],
+    HONDA_HRV_3G.specs,
     dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
-  ODYSSEY = HondaNidecPlatformConfig(
-    "HONDA ODYSSEY 2018",
-    HondaCarInfo("Honda Odyssey 2018-20"),
-    CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41),
+  HONDA_ODYSSEY = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda Odyssey 2018-20")],
+    CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82),
     dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_PCM_ACCEL,
   )
-  ODYSSEY_CHN = HondaNidecPlatformConfig(
-    "HONDA ODYSSEY CHN 2019",
-    None,  # Chinese version of Odyssey, don't show in docs
-    ODYSSEY.specs,
+  HONDA_ODYSSEY_CHN = HondaNidecPlatformConfig(
+    [],  # Chinese version of Odyssey, don't show in docs
+    HONDA_ODYSSEY.specs,
     dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
   ACURA_RDX = HondaNidecPlatformConfig(
-    "ACURA RDX 2018",
-    HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
-    CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38),  # as spec
+    [HondaCarDocs("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS)],
+    CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444),  # as spec
     dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
-  PILOT = HondaNidecPlatformConfig(
-    "HONDA PILOT 2017",
+  HONDA_PILOT = HondaNidecPlatformConfig(
     [
-      HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
-      HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
     ],
-    CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0),  # as spec
+    CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0, tireStiffnessFactor=0.444),  # as spec
     dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
-  RIDGELINE = HondaNidecPlatformConfig(
-    "HONDA RIDGELINE 2017",
-    HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS),
-    CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59),  # as spec
+  HONDA_RIDGELINE = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS)],
+    CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444),  # as spec
     dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
-  CIVIC = HondaNidecPlatformConfig(
-    "HONDA CIVIC 2016",
-    HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
+  HONDA_CIVIC = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE")],
     CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38),  # 10.93 is end-to-end spec
     dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
   )
 
 
-HONDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+HONDA_ALT_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(0xF112)
-HONDA_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+HONDA_ALT_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
   p16(0xF112)
 
 FW_QUERY_CONFIG = FwQueryConfig(
@@ -290,17 +276,10 @@ FW_QUERY_CONFIG = FwQueryConfig(
     ),
 
     # Data collection requests:
-    # Attempt to get the radarless Civic 2022+ camera FW
+    # Log manufacturer-specific identifier for current ECUs
     Request(
-      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
-      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
-      bus=0,
-      logging=True
-    ),
-    # Log extra identifiers for current ECUs
-    Request(
-      [HONDA_VERSION_REQUEST],
-      [HONDA_VERSION_RESPONSE],
+      [HONDA_ALT_VERSION_REQUEST],
+      [HONDA_ALT_VERSION_RESPONSE],
       bus=1,
       logging=True,
     ),
@@ -321,27 +300,24 @@ FW_QUERY_CONFIG = FwQueryConfig(
   # We lose these ECUs without the comma power on these cars.
   # Note that we still attempt to match with them when they are present
   non_essential_ecus={
-    Ecu.programmedFuelInjection: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.transmission: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.srs: [CAR.ACCORD],
-    Ecu.eps: [CAR.ACCORD],
-    Ecu.vsa: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.combinationMeter: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.gateway: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.electricBrakeBooster: [CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.shiftByWire: [CAR.ACCORD],  # existence correlates with transmission type for ICE
-    Ecu.hud: [CAR.ACCORD],  # existence correlates with trim level
+    Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G],
+    Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID,
+              CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_INSIGHT],
   },
   extra_ecus=[
+    (Ecu.combinationMeter, 0x18da60f1, None),
     # The only other ECU on PT bus accessible by camera on radarless Civic
-    (Ecu.unknown, 0x18DAB3F1, None),
+    # This is likely a manufacturer-specific sub-address implementation: the camera responds to this and 0x18dab0f1
+    # Unclear what the part number refers to: 8S103 is 'Camera Set Mono', while 36160 is 'Camera Monocular - Honda'
+    # TODO: add query back, camera does not support querying both in parallel and 0x18dab0f1 often fails to respond
+    # (Ecu.unknown, 0x18DAB3F1, None),
   ],
 )
 
 STEER_THRESHOLD = {
   # default is 1200, overrides go here
   CAR.ACURA_RDX: 400,
-  CAR.CRV_EU: 400,
+  CAR.HONDA_CRV_EU: 400,
 }
 
 HONDA_NIDEC_ALT_PCM_ACCEL = CAR.with_flags(HondaFlags.NIDEC_ALT_PCM_ACCEL)
@@ -349,5 +325,5 @@ HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES)
 HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH)
 HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
 
-CAR_INFO = CAR.create_carinfo_map()
+
 DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index aaf772fc66..1f738c394f 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -6,7 +6,7 @@ from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
-from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR, CAN_CANFD_CAR
+from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -141,7 +141,7 @@ class CarController(CarControllerBase):
                                                                         set_speed_in_units, stopping, CC.cruiseControl.override))
           else:
             can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
-                                                             set_speed_in_units))
+                                                             set_speed_in_units, hud_control))
           self.accel_last = accel
       else:
         # button presses
@@ -160,7 +160,7 @@ class CarController(CarControllerBase):
         jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
         use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
         can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
-                                                        hud_control.leadVisible, set_speed_in_units, stopping,
+                                                        hud_control, set_speed_in_units, stopping,
                                                         CC.cruiseControl.override, use_fca))
 
       # 20 Hz LFA MFA message
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 2b80f21396..8c6e1ffd41 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -119,6 +119,7 @@ class CarState(CarStateBase):
     ret.brakePressed = cp.vl["TCS13"]["DriverOverride"] == 2  # 2 includes regen braking by user on HEV/EV
     ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2  # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
     ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
+    ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
     ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 
     if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
@@ -211,7 +212,7 @@ class CarState(CarStateBase):
 
     # TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
     left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
-    if self.CP.carFingerprint == CAR.KONA_EV_2ND_GEN:
+    if self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2ND_GEN:
       left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
                                                                       cp.vl["BLINKERS"][right_blinker_sig])
@@ -259,6 +260,7 @@ class CarState(CarStateBase):
     messages = [
       # address, frequency
       ("MDPS12", 100 if CP.flags & HyundaiFlags.CAN_CANFD else 50),
+      ("TCS11", 100),
       ("TCS13", 50),
       ("TCS15", 10),
       ("CLU11", 50),
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index 6c61dd7229..b8812fdc0c 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -5,22 +5,7 @@ from openpilot.selfdrive.car.hyundai.values import CAR
 Ecu = car.CarParams.Ecu
 
 FINGERPRINTS = {
-  CAR.HYUNDAI_GENESIS: [{
-    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
-  },
-  {
-    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
-  },
-  {
-    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1268: 8, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1437: 8, 1456: 4
-  },
-  {
-    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4
-  },
-  {
-    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4
-  }],
-  CAR.SANTA_FE: [{
+  CAR.HYUNDAI_SANTA_FE: [{
     67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
   },
   {
@@ -29,40 +14,22 @@ FINGERPRINTS = {
   {
     67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8
   }],
-  CAR.SONATA: [{
+  CAR.HYUNDAI_SONATA: [{
     67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
   }],
-  CAR.SONATA_LF: [{
-    66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
-  }],
-  CAR.KIA_SORENTO: [{
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1
-  }],
   CAR.KIA_STINGER: [{
     67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
   }],
-  CAR.GENESIS_G80: [{
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1024: 2, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8
-  },
-  {
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 546: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1437: 8, 1456: 4, 1470: 8
-  },
-  {
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1162: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1193: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4, 1470: 8
-  }],
   CAR.GENESIS_G90: [{
     67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
   }],
-  CAR.IONIQ_EV_2020: [{
+  CAR.HYUNDAI_IONIQ_EV_2020: [{
     127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
   }],
-  CAR.IONIQ: [{
-    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 8, 576: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1473: 8, 1476: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
-  }],
-  CAR.KONA_EV: [{
+  CAR.HYUNDAI_KONA_EV: [{
     127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
   }],
-  CAR.KONA_EV_2022: [{
+  CAR.HYUNDAI_KONA_EV_2022: [{
     127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8
   }],
   CAR.KIA_NIRO_EV: [{
@@ -74,13 +41,10 @@ FINGERPRINTS = {
   {
     68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
   }],
-  CAR.PALISADE: [{
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 547: 8, 548: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8
-  }],
 }
 
 FW_VERSIONS = {
-  CAR.AZERA_6TH_GEN: {
+  CAR.HYUNDAI_AZERA_6TH_GEN: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00IG__ SCC F-CU-      1.00 1.00 99110-G8100         ',
     ],
@@ -90,33 +54,22 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00IG  MFC  AT MES LHD 1.00 1.04 99211-G8100 200511',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00bcsh8p54  U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
-  CAR.AZERA_HEV_6TH_GEN: {
+  CAR.HYUNDAI_AZERA_HEV_6TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.00 99211-G8000 180903',
+      b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.01 99211-G8000 181109',
       b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.02 99211-G8100 191029',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00IG  MDPS C 1.00 1.00 56310M9600\x00 4IHSC100',
       b'\xf1\x00IG  MDPS C 1.00 1.01 56310M9350\x00 4IH8C101',
+      b'\xf1\x00IG  MDPS C 1.00 1.02 56310M9350\x00 4IH8C102',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00IGhe SCC FHCUP      1.00 1.00 99110-M9100         ',
       b'\xf1\x00IGhe SCC FHCUP      1.00 1.01 99110-M9000         ',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x006T7N0_C2\x00\x006T7Q2051\x00\x00TIG2H24KA2\x12@\x11\xb7',
-      b'\xf1\x006T7N0_C2\x00\x006T7VA051\x00\x00TIGSH24KA1\xc7\x85\xe2`',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H570051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816H590051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x00IGhe SCC FHCUP      1.00 1.02 99110-M9000         ',
     ],
   },
   CAR.HYUNDAI_GENESIS: {
@@ -126,42 +79,36 @@ FW_VERSIONS = {
       b'\xf1\x00DH LKAS 1.5 -140425',
     ],
   },
-  CAR.IONIQ: {
+  CAR.HYUNDAI_IONIQ: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         ',
+      b'\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2100         ',
     ],
     (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00AE  MDPS C 1.00 1.05 56310/G2501 4AEHC105',
       b'\xf1\x00AE  MDPS C 1.00 1.07 56310/G2301 4AEHC107',
+      b'\xf1\x00AE  MDPS C 1.00 1.07 56310/G2501 4AEHC107',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00AEH MFC  AT EUR LHD 1.00 1.00 95740-G2400 180222',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6F2051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x816U3H1051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H1051\x00\x00HAE0G16US2\x00\x00\x00\x00',
+      b'\xf1\x00AEH MFC  AT USA LHD 1.00 1.00 95740-G2400 180222',
     ],
   },
-  CAR.IONIQ_PHEV_2019: {
+  CAR.HYUNDAI_IONIQ_PHEV_2019: {
     (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         ',
       b'\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2100         ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00AE  MDPS C 1.00 1.07 56310/G2501 4AEHC107',
+      b'\xf1\x00AE  MDPS C 1.00 1.07 56310/G2551 4AEHC107',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00AEP MFC  AT AUS RHD 1.00 1.00 95740-G2400 180222',
       b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.00 95740-G2400 180222',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\x00\x00\x00\x00',
-      b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\xdbD\r\x81',
-    ],
   },
-  CAR.IONIQ_PHEV: {
+  CAR.HYUNDAI_IONIQ_PHEV: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2200         ',
       b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2600         ',
@@ -181,21 +128,8 @@ FW_VERSIONS = {
       b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.00 95740-G2700 201027',
       b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.01 95740-G2600 190819',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00',
-      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00',
-      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt',
-      b'\xf1\x816U3J8051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00',
-      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x82zT\xd2',
-      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00',
-    ],
   },
-  CAR.IONIQ_EV_2020: {
+  CAR.HYUNDAI_IONIQ_EV_2020: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00AEev SCC F-CUP      1.00 1.00 99110-G7200         ',
       b'\xf1\x00AEev SCC F-CUP      1.00 1.00 99110-G7500         ',
@@ -213,7 +147,7 @@ FW_VERSIONS = {
       b'\xf1\x00AEE MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
     ],
   },
-  CAR.IONIQ_EV_LTD: {
+  CAR.HYUNDAI_IONIQ_EV_LTD: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00AEev SCC F-CUP      1.00 1.00 96400-G7000         ',
       b'\xf1\x00AEev SCC F-CUP      1.00 1.00 96400-G7100         ',
@@ -232,7 +166,7 @@ FW_VERSIONS = {
       b'\xf1\x00AEE MFC  AT USA LHD 1.00 1.00 95740-G2400 180222',
     ],
   },
-  CAR.IONIQ_HEV_2022: {
+  CAR.HYUNDAI_IONIQ_HEV_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2600         ',
       b'\xf1\x00AEhe SCC FHCUP      1.00 1.00 99110-G2600         ',
@@ -243,15 +177,8 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00AEH MFC  AT USA LHD 1.00 1.00 95740-G2700 201027',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x96\xda\xd4\xee',
-      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x00\x00\x00\x00',
-    ],
   },
-  CAR.SONATA: {
+  CAR.HYUNDAI_SONATA: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DN8_ SCC F-CU-      1.00 1.00 99110-L0000         ',
       b'\xf1\x00DN8_ SCC F-CUP      1.00 1.00 99110-L0000         ',
@@ -266,55 +193,26 @@ FW_VERSIONS = {
       b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
       b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
       b'\xf1\x00DN ESC \x06 107 \x07\x03 58910-L1300',
+      b'\xf1\x00DN ESC \x06 107"\x08\x07 58910-L0100',
       b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
       b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
       b'\xf1\x00DN ESC \x07 107"\x08\x07 58910-L0100',
       b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300',
-      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
-      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
-      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
-      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'HM6M1_0a0_F00',
-      b'HM6M1_0a0_G20',
-      b'HM6M2_0a0_BD0',
-      b'\xf1\x81HM6M1_0a0_F00',
-      b'\xf1\x81HM6M1_0a0_G20',
-      b'\xf1\x82DNBVN5GMCCXXXDCA',
-      b'\xf1\x82DNBVN5GMCCXXXG2F',
-      b'\xf1\x82DNBWN5TMDCXXXG2E',
-      b'\xf1\x82DNCVN5GMCCXXXF0A',
-      b'\xf1\x82DNCVN5GMCCXXXG2B',
-      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
-      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DNDWN5TMDCXXXJ1A',
-      b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00',
-      b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M10',
-      b'\xf1\x8739110-2S042\xf1\x81HM6M1_0a0_M00',
-      b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B',
-      b'\xf1\x87391162M003',
-      b'\xf1\x87391162M010',
-      b'\xf1\x87391162M013',
-      b'\xf1\x87391162M023',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102',
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102',
+      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103',
+      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103',
       b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
       b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101',
       b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105',
-      b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
-      b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101',
-      b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103',
-      b'\xf1\x8756310-L1030\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103',
-      b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',
-      b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
-      b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101',
-      b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.02 99211-L1000 190422',
@@ -327,74 +225,8 @@ FW_VERSIONS = {
       b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.06 99211-L1000 210325',
       b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00HT6TA260BLHT6TA800A1TDN8C20KS4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x00HT6TA260BLHT6TA810A1TDN8M25GS0\x00\x00\x00\x00\x00\x00\xaa\x8c\xd9p',
-      b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92',
-      b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB2\x00\x00\x00\x00\x00\x00\x08\xc9O:',
-      b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[',
-      b'\xf1\x00HT6WA280BLHT6WAE10A1SDN8G25NB5\x00\x00\x00\x00\x00\x00\xe0t\xa9\xba',
-      b'\xf1\x00T02601BL  T02730A1  VDN8T25XXX730NS5\xf7_\x92\xf5',
-      b'\xf1\x00T02601BL  T02832A1  VDN8T25XXX832NS8G\x0e\xfeE',
-      b'\xf1\x00T02601BL  T02900A1  VDN8T25XXX900NSA\xb9\x13\xf9p',
-      b'\xf1\x00T02601BL  T02900A1  VDN8T25XXX900NSCF\xe4!Y',
-      b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16KB05\x95h%',
-      b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1',
-      b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
-      b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VDN8T25XXX730NS5\xf7_\x92\xf5',
-      b'\xf1\x87SAKFBA2926554GJ2VefVww\x87xwwwww\x88\x87xww\x87wTo\xfb\xffvUo\xff\x8d\x16\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SAKFBA3030524GJ2UVugww\x97yx\x88\x87\x88vw\x87gww\x87wto\xf9\xfffUo\xff\xa2\x0c\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SAKFBA3356084GJ2\x86fvgUUuWgw\x86www\x87wffvf\xb6\xcf\xfc\xffeUO\xff\x12\x19\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SAKFBA3474944GJ2ffvgwwwwg\x88\x86x\x88\x88\x98\x88ffvfeo\xfa\xff\x86fo\xff\t\xae\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SAKFBA3475714GJ2Vfvgvg\x96yx\x88\x97\x88ww\x87ww\x88\x87xs_\xfb\xffvUO\xff\x0f\xff\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALDBA3510954GJ3ww\x87xUUuWx\x88\x87\x88\x87w\x88wvfwfc_\xf9\xff\x98wO\xffl\xe0\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA3573534GJ3\x89\x98\x89\x88EUuWgwvwwwwww\x88\x87xTo\xfa\xff\x86f\x7f\xffo\x0e\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA3601464GJ3\x88\x88\x88\x88ffvggwvwvw\x87gww\x87wvo\xfb\xff\x98\x88\x7f\xffjJ\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA3753044GJ3UUeVff\x86hwwwwvwwgvfgfvo\xf9\xfffU_\xffC\xae\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA3862294GJ3vfvgvefVxw\x87\x87w\x88\x87xwwwwc_\xf9\xff\x87w\x9f\xff\xd5\xdc\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA3873834GJ3fefVwuwWx\x88\x97\x88w\x88\x97xww\x87wU_\xfb\xff\x86f\x8f\xffN\x04\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA4525334GJ3\x89\x99\x99\x99fevWh\x88\x86\x88fwvgw\x88\x87xfo\xfa\xffuDo\xff\xd1>\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA4626804GJ3wwww\x88\x87\x88xx\x88\x87\x88wwgw\x88\x88\x98\x88\x95_\xf9\xffuDo\xff|\xe7\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA4803224GJ3wwwwwvwg\x88\x88\x98\x88wwww\x87\x88\x88xu\x9f\xfc\xff\x87f\x8f\xff\xea\xea\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA6212564GJ3\x87wwwUTuGg\x88\x86xx\x88\x87\x88\x87\x88\x98xu?\xf9\xff\x97f\x7f\xff\xb8\n\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA6347404GJ3wwwwff\x86hx\x88\x97\x88\x88\x88\x88\x88vfgf\x88?\xfc\xff\x86Uo\xff\xec/\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA6901634GJ3UUuWVeVUww\x87wwwwwvUge\x86/\xfb\xff\xbb\x99\x7f\xff]2\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA7077724GJ3\x98\x88\x88\x88ww\x97ygwvwww\x87ww\x88\x87x\x87_\xfd\xff\xba\x99o\xff\x99\x01\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALFBA3525114GJ2wvwgvfvggw\x86wffvffw\x86g\x85_\xf9\xff\xa8wo\xffv\xcd\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA3624024GJ2\x88\x88\x88\x88wv\x87hx\x88\x97\x88x\x88\x97\x88ww\x87w\x86o\xfa\xffvU\x7f\xff\xd1\xec\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA3960824GJ2wwwwff\x86hffvfffffvfwfg_\xf9\xff\xa9\x88\x8f\xffb\x99\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA4011074GJ2fgvwwv\x87hw\x88\x87xww\x87wwfgvu_\xfa\xffefo\xff\x87\xc0\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA4121304GJ2x\x87xwff\x86hwwwwww\x87wwwww\x84_\xfc\xff\x98\x88\x9f\xffi\xa6\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA4195874GJ2EVugvf\x86hgwvwww\x87wgw\x86wc_\xfb\xff\x98\x88\x8f\xff\xe23\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA4625294GJ2eVefeUeVx\x88\x97\x88wwwwwwww\xa7o\xfb\xffvw\x9f\xff\xee.\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA4728774GJ2vfvg\x87vwgww\x87ww\x88\x97xww\x87w\x86_\xfb\xffeD?\xffk0\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA5129064GJ2vfvgwv\x87hx\x88\x87\x88ww\x87www\x87wd_\xfa\xffvfo\xff\x1d\x00\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA5454914GJ2\x98\x88\x88\x88\x87vwgx\x88\x87\x88xww\x87ffvf\xa7\x7f\xf9\xff\xa8w\x7f\xff\x1b\x90\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA5987784GJ2UVugDDtGx\x88\x87\x88w\x88\x87xwwwwd/\xfb\xff\x97fO\xff\xb0h\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA5987864GJ2fgvwUUuWgwvw\x87wxwwwww\x84/\xfc\xff\x97w\x7f\xff\xdf\x1d\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA6337644GJ2vgvwwv\x87hgffvwwwwwwww\x85O\xfa\xff\xa7w\x7f\xff\xc5\xfc\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA6802004GJ2UUuWUUuWgw\x86www\x87www\x87w\x96?\xf9\xff\xa9\x88\x7f\xff\x9fK\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA6892284GJ233S5\x87w\x87xx\x88\x87\x88vwwgww\x87w\x84?\xfb\xff\x98\x88\x8f\xff*\x9e\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA7005534GJ2eUuWfg\x86xxww\x87x\x88\x87\x88\x88w\x88\x87\x87O\xfc\xffuUO\xff\xa3k\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1',
-      b'\xf1\x87SALFBA7152454GJ2gvwgFf\x86hx\x88\x87\x88vfWfffffd?\xfa\xff\xba\x88o\xff,\xcf\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1',
-      b'\xf1\x87SALFBA7460044GJ2gx\x87\x88Vf\x86hx\x88\x87\x88wwwwgw\x86wd?\xfa\xff\x86U_\xff\xaf\x1f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
-      b'\xf1\x87SALFBA7485034GJ2ww\x87xww\x87xfwvgwwwwvfgf\xa5/\xfc\xff\xa9w_\xff40\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
-      b'\xf1\x87SAMDBA7743924GJ3wwwwww\x87xgwvw\x88\x88\x88\x88wwww\x85_\xfa\xff\x86f\x7f\xff0\x9d\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SAMDBA7817334GJ3Vgvwvfvgww\x87wwwwwwfgv\x97O\xfd\xff\x88\x88o\xff\x8e\xeb\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SAMDBA8054504GJ3gw\x87xffvgffffwwwweUVUf?\xfc\xffvU_\xff\xddl\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SAMFB41553621GC7ww\x87xUU\x85Xvwwg\x88\x88\x88\x88wwgw\x86\xaf\xfb\xffuDo\xff\xaa\x8f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
-      b'\xf1\x87SAMFB42555421GC7\x88\x88\x88\x88wvwgx\x88\x87\x88wwgw\x87wxw3\x8f\xfc\xff\x98f\x8f\xffga\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
-      b'\xf1\x87SAMFBA7978674GJ2gw\x87xgw\x97ywwwwvUGeUUeU\x87O\xfb\xff\x98w\x8f\xfffF\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
-      b'\xf1\x87SAMFBA8105254GJ2wx\x87\x88Vf\x86hx\x88\x87\x88wwwwwwww\x86O\xfa\xff\x99\x88\x7f\xffZG\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
-      b'\xf1\x87SAMFBA9283024GJ2wwwwEUuWwwgwwwwwwwww\x87/\xfb\xff\x98w\x8f\xff<\xd3\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
-      b'\xf1\x87SAMFBA9708354GJ2wwwwVf\x86h\x88wx\x87xww\x87\x88\x88\x88\x88w/\xfa\xff\x97w\x8f\xff\x86\xa0\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
-      b'\xf1\x87SANDB45316691GC6\x99\x99\x99\x99\x88\x88\xa8\x8avfwfwwww\x87wxwT\x9f\xfd\xff\x88wo\xff\x1c\xfa\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB3\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SANFB45889451GC7wx\x87\x88gw\x87x\x88\x88x\x88\x87wxw\x87wxw\x87\x8f\xfc\xffeU\x8f\xff+Q\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
-    ],
   },
-  CAR.SONATA_LF: {
+  CAR.HYUNDAI_SONATA_LF: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00LF__ SCC F-CUP      1.00 1.00 96401-C2200         ',
     ],
@@ -402,44 +234,22 @@ FW_VERSIONS = {
       b'\xf1\x00LF ESC \t 11 \x17\x01\x13 58920-C2610',
       b'\xf1\x00LF ESC \x0c 11 \x17\x01\x13 58920-C2610',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81606D5051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81606D5K51\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00LFF LKAS AT USA LHD 1.00 1.01 95740-C1000 E51',
       b'\xf1\x00LFF LKAS AT USA LHD 1.01 1.02 95740-C1000 E52',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5',
-      b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00',
-      b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
-      b'\xf1\x87LAJSG49645724HF0\x87x\x87\x88\x87www\x88\x99\xa8\x89\x88\x99\xa8\x89\x88\x99\xa8\x89S_\xfb\xff\x87f\x7f\xff^2\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
-      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\x00\x00\x00\x00',
-      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5',
-      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24SL2n\x8d\xbe\xd8',
-    ],
   },
-  CAR.TUCSON: {
+  CAR.HYUNDAI_TUCSON: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00TL__ FCA F-CUP      1.00 1.01 99110-D3500         ',
       b'\xf1\x00TL__ FCA F-CUP      1.00 1.02 99110-D3510         ',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x8971TLC2NAIDDIR002\xf1\x8271TLC2NAIDDIR002',
-    ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00TL  MFC  AT KOR LHD 1.00 1.02 95895-D3800 180719',
       b'\xf1\x00TL  MFC  AT USA LHD 1.00 1.06 95895-D3800 190107',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x87KMLDCU585233TJ20wx\x87\x88x\x88\x98\x89vfwfwwww\x87f\x9f\xff\x98\xff\x7f\xf9\xf7s\xf1\x816T6G4051\x00\x00\xf1\x006T6J0_C2\x00\x006T6G4051\x00\x00TTL4G24NH2\x00\x00\x00\x00',
-      b'\xf1\x87LBJXAN202299KF22\x87x\x87\x88ww\x87xx\x88\x97\x88\x87\x88\x98x\x88\x99\x98\x89\x87o\xf6\xff\x87w\x7f\xff\x12\x9a\xf1\x81U083\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U083\x00\x00\x00\x00\x00\x00TTL2V20KL1\x8fRn\x8a',
-    ],
   },
-  CAR.SANTA_FE: {
+  CAR.HYUNDAI_SANTA_FE: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1210         ',
       b'\xf1\x00TM__ SCC F-CUP      1.00 1.01 99110-S2000         ',
@@ -458,11 +268,6 @@ FW_VERSIONS = {
       b'\xf1\x00TM ESC \r 104\x19\x07\x08 58910-S2650',
       b'\xf1\x00TM ESC \r 105\x19\x05# 58910-S1500',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81606EA051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409',
       b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8A12',
@@ -473,66 +278,24 @@ FW_VERSIONS = {
       b'\xf1\x00TM  MFC  AT EUR LHD 1.00 1.01 99211-S1010 181207',
       b'\xf1\x00TM  MFC  AT USA LHD 1.00 1.00 99211-S2000 180409',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00',
-      b'\xf1\x00bcsh8p54  U833\x00\x00\x00\x00\x00\x00TTM4V22US3_<]\xf1',
-      b'\xf1\x87LBJSGA7082574HG0\x87www\x98\x88\x88\x88\x99\xaa\xb9\x9afw\x86gx\x99\xa7\x89co\xf8\xffvU_\xffR\xaf\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\xa6\xe0\x91',
-      b'\xf1\x87LBKSGA0458404HG0vfvg\x87www\x89\x99\xa8\x99y\xaa\xa7\x9ax\x88\xa7\x88t_\xf9\xff\x86w\x8f\xff\x15x\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\x00\x00\x00',
-      b'\xf1\x87LDJUEA6010814HG1\x87w\x87x\x86gvw\x88\x88\x98\x88gw\x86wx\x88\x97\x88\x85o\xf8\xff\x86f_\xff\xd37\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g',
-      b'\xf1\x87LDJUEA6458264HG1ww\x87x\x97x\x87\x88\x88\x99\x98\x89g\x88\x86xw\x88\x97x\x86o\xf7\xffvw\x8f\xff3\x9a\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g',
-      b'\xf1\x87LDKUEA2045844HG1wwww\x98\x88x\x87\x88\x88\xa8\x88x\x99\x97\x89x\x88\xa7\x88U\x7f\xf8\xffvfO\xffC\x1e\xf1\x816W3E0051\x00\x00\xf1\x006W351_C2\x00\x006W3E0051\x00\x00TTM4T20NS3\x00\x00\x00\x00',
-      b'\xf1\x87LDKUEA9993304HG1\x87www\x97x\x87\x88\x99\x99\xa9\x99x\x99\xa7\x89w\x88\x97x\x86_\xf7\xffwwO\xffl#\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS1R\x7f\x90\n',
-      b'\xf1\x87LDLUEA6061564HG1\xa9\x99\x89\x98\x87wwwx\x88\x97\x88x\x99\xa7\x89x\x99\xa7\x89sO\xf9\xffvU_\xff<\xde\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed',
-      b'\xf1\x87LDLUEA6159884HG1\x88\x87hv\x99\x99y\x97\x89\xaa\xb8\x9ax\x99\x87\x89y\x99\xb7\x99\xa7?\xf7\xff\x97wo\xff\xf3\x05\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00',
-      b'\xf1\x87LDLUEA6852664HG1\x97wWu\x97www\x89\xaa\xc8\x9ax\x99\x97\x89x\x99\xa7\x89SO\xf7\xff\xa8\x88\x7f\xff\x03z\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed',
-      b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00',
-      b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed',
-      b'\xf1\x87SBJWAA5842214GG0\x88\x87\x88xww\x87x\x89\x99\xa8\x99\x88\x99\x98\x89w\x88\x87xw_\xfa\xfffU_\xff\xd1\x8d\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3',
-      b'\xf1\x87SBJWAA5890864GG0\xa9\x99\x89\x98\x98\x87\x98y\x89\x99\xa8\x99w\x88\x87xww\x87wvo\xfb\xffuD_\xff\x9f\xb5\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3',
-      b'\xf1\x87SBJWAA6562474GG0ffvgeTeFx\x88\x97\x88ww\x87www\x87w\x84o\xfa\xff\x87fO\xff\xc2 \xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x00\x00\x00\x00',
-      b'\xf1\x87SBJWAA6562474GG0ffvgeTeFx\x88\x97\x88ww\x87www\x87w\x84o\xfa\xff\x87fO\xff\xc2 \xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3',
-      b'\xf1\x87SBJWAA7780564GG0wvwgUUeVwwwwx\x88\x87\x88wwwwd_\xfc\xff\x86f\x7f\xff\xd7*\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS2F\x84<\xc0',
-      b'\xf1\x87SBJWAA8278284GG0ffvgUU\x85Xx\x88\x87\x88x\x88w\x88ww\x87w\x96o\xfd\xff\xa7U_\xff\xf2\xa0\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS2F\x84<\xc0',
-      b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6\x00\x00\x00\x00',
-      b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6x0\x17\xfe',
-      b'\xf1\x87SBLWAA4899564GG0VfvgUU\x85Xx\x88\x87\x88vfgf\x87wxwvO\xfb\xff\x97f\xb1\xffSB\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7\x00\x00\x00\x00',
-      b'\xf1\x87SBLWAA6622844GG0wwwwff\x86hwwwwx\x88\x87\x88\x88\x88\x88\x88\x98?\xfd\xff\xa9\x88\x7f\xffn\xe5\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7u\x1e{\x1c',
-      b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2\x00\x00\x00\x00',
-      b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2K\xdaV0',
-      b'\xf1\x87SDKXAA2443414GG1vfvgwv\x87h\x88\x88\x88\x88ww\x87wwwww\x99_\xfc\xffvD?\xffl\xd2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4G24NS6\x00\x00\x00\x00',
-    ],
   },
-  CAR.SANTA_FE_2022: {
+  CAR.HYUNDAI_SANTA_FE_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1500         ',
+      b'\xf1\x00TM__ SCC F-CUP      1.00 1.01 99110-S1500         ',
       b'\xf1\x00TM__ SCC FHCUP      1.00 1.00 99110-S1500         ',
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00TM ESC \x01 102!\x04\x03 58910-S2DA0',
+      b'\xf1\x00TM ESC \x01 104"\x10\x07 58910-S2DA0',
       b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0',
       b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0',
       b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0',
+      b'\xf1\x00TM ESC \x03 102!\x04\x03 58910-S2DA0',
       b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
       b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
+      b'\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0',
       b'\xf1\x00TM ESC   103!\x030 58910-S1MA0',
-      b'\xf1\x8758910-S1DA0\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0',
-      b'\xf1\x8758910-S2DA0\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0',
-      b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0',
-      b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81HM6M1_0a0_G20',
-      b'\xf1\x81HM6M1_0a0_H00',
-      b'\xf1\x81HM6M2_0a0_G00',
-      b'\xf1\x82TACVN5GMI3XXXH0A',
-      b'\xf1\x82TACVN5GSI3XXXH0A',
-      b'\xf1\x82TMBZN5TMD3XXXG2E',
-      b'\xf1\x82TMCFD5MMCXXXXG0A',
-      b'\xf1\x87           \xf1\x81           ',
-      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
-      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50',
-      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A',
-      b'\xf1\x8739101-2STN8\xf1\x81HM6M1_0a0_M00',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.01 56310-S1AB0 4TSDC101',
@@ -547,54 +310,33 @@ FW_VERSIONS = {
       b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.01 99211-S2500 210205',
       b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.03 99211-S2500 220414',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15',
-      b'\xf1\x00HT6WA280BLHT6WAD00A1STM2G25NH2\x00\x00\x00\x00\x00\x00\xf8\xc0\xc3\xaa',
-      b'\xf1\x00HT6WA280BLHT6WAD00A1STM4G25NH1\x00\x00\x00\x00\x00\x00\x9cl\x04\xbc',
-      b'\xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6\x06\x88\xf7',
-      b'\xf1\x00T02601BL  T02800A1  VTMPT25XXX800NS4\xed\xaf\xed\xf5',
-      b'\xf1\x00T02601BL  T02900A1  VTMPT25XXW900NS1c\x918\xc5',
-      b'\xf1\x00T02601BL  T02900A1  VTMPT25XXX900NS8\xb7\xaa\xfe\xfc',
-      b'\xf1\x00T02601BL  T02900A1  VTMPT25XXX900NSA\xf3\xf4Uj',
-      b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6',
-      b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6\x06\x88\xf7',
-      b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1  \xf1\x00T02601BL  T02900A1  VTMPT25XXX900NS8\xb7\xaa\xfe\xfc',
-      b'\xf1\x87KMMYBU034207SB72x\x89\x88\x98h\x88\x98\x89\x87fhvvfWf33_\xff\x87\xff\x8f\xfa\x81\xe5\xf1\x89HT6TAF00A1\xf1\x82STM0M25GS1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SDMXCA8653204GN1EVugEUuWwwwwww\x87wwwwwv/\xfb\xff\xa8\x88\x9f\xff\xa5\x9c\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00',
-    ],
   },
-  CAR.SANTA_FE_HEV_2022: {
+  CAR.HYUNDAI_SANTA_FE_HEV_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
+      b'\xf1\x00TMhe SCC FHCUP      1.00 1.01 99110-CL500         ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-GA000 4TSHA100',
       b'\xf1\x00TM  MDPS R 1.00 1.05 57700-CL000 4TSHP105',
+      b'\xf1\x00TM  MDPS R 1.00 1.06 57700-CL000 4TSHP106',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.03 99211-S2500 220414',
       b'\xf1\x00TMH MFC  AT EUR LHD 1.00 1.06 99211-S1500 220727',
+      b'\xf1\x00TMH MFC  AT KOR LHD 1.00 1.06 99211-S1500 220727',
       b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.03 99211-S1500 210224',
+      b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.05 99211-S1500 220126',
       b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.06 99211-S1500 220727',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2H16SA3\xa3\x1b\xe14',
-      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2H16UA3I\x94\xac\x8f',
-      b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x87391312MTC1',
-      b'\xf1\x87391312MTE0',
-      b'\xf1\x87391312MTL0',
-    ],
   },
-  CAR.SANTA_FE_PHEV_2022: {
+  CAR.HYUNDAI_SANTA_FE_PHEV_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00TMhe SCC F-CUP      1.00 1.00 99110-CL500         ',
+      b'\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
       b'\xf1\x00TMhe SCC FHCUP      1.00 1.01 99110-CL500         ',
-      b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
@@ -603,19 +345,11 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.03 99211-S1500 210224',
+      b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.05 99211-S1500 220126',
       b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.06 99211-S1500 220727',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea',
-      b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe',
-      b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x87391312MTF0',
-      b'\xf1\x87391312MTF1',
-    ],
   },
-  CAR.CUSTIN_1ST_GEN: {
+  CAR.HYUNDAI_CUSTIN_1ST_GEN: {
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200',
     ],
@@ -628,12 +362,6 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00KU2 MFC  AT CHN LHD 1.00 1.02 99211-O3000 220923',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x87391212MEC0',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00bcsh8p54  U928\x00\x00\x00\x00\x00\x00SKU0T15KB2\x92U\xf9M',
-    ],
   },
   CAR.KIA_STINGER: {
     (Ecu.fwdRadar, 0x7d0, None): [
@@ -642,14 +370,6 @@ FW_VERSIONS = {
       b'\xf1\x00CK__ SCC F_CUP      1.00 1.02 96400-J5100         ',
       b'\xf1\x00CK__ SCC F_CUP      1.00 1.03 96400-J5100         ',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xe0\x19\xff\xe7\xe7g\x01\xa2\x00\x0f\x00\x9e\x00\x06\x00\xff\xff\xff\xff\xff\xff\x00\x00\xff\xff\xff\xff\xff\xff\x00\x00\x0f\x0e\x0f\x0f\x0e\r\x00\x00\x7f\x02.\xff\x00\x00~p\x00\x00\x00\x00u\xff\xf9\xff\x00\x00\x00\x00V\t\xd5\x01\xc0\x00\x00\x00\x007\xfb\xfc\x0b\x8d\x00',
-      b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81640E0051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00',
-      b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00',
-    ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5200 4C2CL104',
       b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5220 4C2VL104',
@@ -663,20 +383,6 @@ FW_VERSIONS = {
       b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.03 95740-J5000 170822',
       b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.04 95740-J5000 180504',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5',
-      b'\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
-      b'\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SCK0T33NB2\xb3\xee\xba\xdc',
-      b'\xf1\x87VCJLE17622572DK0vd6D\x99\x98y\x97vwVffUfvfC%CuT&Dx\x87o\xff{\x1c\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
-      b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5',
-      b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
-      b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x89E21\x00\x00\x00\x00\x00\x00\x00\xf1\x82SCK0T33NB0',
-      b'\xf1\x87VDHLG17034412DK2vD6DfVvVTD$D\x99w\x88\x98EDEDeT6DgfO\xff\xc3=\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
-      b'\xf1\x87VDHLG17118862DK2\x8awWwgu\x96wVfUVwv\x97xWvfvUTGTx\x87o\xff\xc9\xed\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
-      b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S',
-      b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2',
-      b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94',
-    ],
   },
   CAR.KIA_STINGER_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
@@ -685,15 +391,11 @@ FW_VERSIONS = {
       b'\xf1\x00CK__ SCC FHCUP      1.00 1.00 99110-J5600         ',
       b'\xf1\x00CK__ SCC FHCUP      1.00 1.01 99110-J5100         ',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81640N2051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81HM6M1_0a0_H00',
-    ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5300 4C2CL503',
       b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5320 4C2VL503',
       b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5380 4C2VR503',
+      b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5520 4C4VL503',
       b'\xf1\x00CK  MDPS R 1.00 5.04 57700-J5520 4C4VL504',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
@@ -702,29 +404,28 @@ FW_VERSIONS = {
       b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.00 99211-J5500 210622',
       b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.03 99211-J5000 201209',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2',
-      b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00SCK0T33NH07\xdf\xf0\xc1',
-      b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00TCK0T33NH0%g~\xd3',
-      b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6',
-    ],
   },
-  CAR.PALISADE: {
+  CAR.HYUNDAI_PALISADE: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00LX2 SCC FHCUP      1.00 1.04 99110-S8100         ',
       b'\xf1\x00LX2_ SCC F-CUP      1.00 1.04 99110-S8100         ',
       b'\xf1\x00LX2_ SCC F-CUP      1.00 1.05 99110-S8100         ',
       b'\xf1\x00LX2_ SCC FHCU-      1.00 1.05 99110-S8100         ',
       b'\xf1\x00LX2_ SCC FHCUP      1.00 1.00 99110-S8110         ',
+      b'\xf1\x00LX2_ SCC FHCUP      1.00 1.03 99110-S8100         ',
       b'\xf1\x00LX2_ SCC FHCUP      1.00 1.04 99110-S8100         ',
       b'\xf1\x00LX2_ SCC FHCUP      1.00 1.05 99110-S8100         ',
       b'\xf1\x00ON__ FCA FHCUP      1.00 1.01 99110-S9110         ',
       b'\xf1\x00ON__ FCA FHCUP      1.00 1.02 99110-S9100         ',
+      b'\xf1\x00ON__ FCA FHCUP      1.00 1.03 99110-S9100         ',
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360',
       b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360',
+      b'\xf1\x00LX ESC \x01 104 \x10\x15 58910-S8350',
+      b'\xf1\x00LX ESC \x01 104 \x10\x16 58910-S8360',
       b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330',
+      b'\xf1\x00LX ESC \x0b 101\x19\x03  58910-S8360',
       b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330',
       b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330',
       b'\xf1\x00LX ESC \x0b 103\x19\t\t 58910-S8350',
@@ -735,20 +436,19 @@ FW_VERSIONS = {
       b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320',
       b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81640K0051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81640S1051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103',
       b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8000 4LXDC103',
       b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103',
+      b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-XX000 4LXDC103',
       b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104',
+      b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8420 4LXDC104',
+      b'\xf1\x00LX2 MDPS R 1.00 1.02 56370-S8300 9318',
       b'\xf1\x00ON  MDPS C 1.00 1.00 56340-S9000 8B13',
       b'\xf1\x00ON  MDPS C 1.00 1.01 56340-S9000 9201',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00LX2 MFC  AT KOR LHD 1.00 1.08 99211-S8100 200903',
       b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.00 99211-S8110 210226',
       b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.03 99211-S8100 190125',
       b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.05 99211-S8100 190909',
@@ -758,74 +458,12 @@ FW_VERSIONS = {
       b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.03 99211-S9100 200720',
       b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.04 99211-S9100 211227',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
-      b'\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
-      b'\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00TON2G38NB5j\x94.\xde',
-      b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1',
-      b"\xf1\x87LBLUFN622950KF36\xa8\x88\x88\x88\x87w\x87xh\x99\x96\x89\x88\x99\x98\x89\x88\x99\x98\x89\x87o\xf6\xff\x98\x88o\xffx'\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8",
-      b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
-      b'\xf1\x87LBLUFN655162KF36\x98\x88\x88\x88\x98\x88\x88\x88x\x99\xa7\x89x\x99\xa7\x89x\x99\x97\x89g\x7f\xf7\xffwU_\xff\xe9!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
-      b'\xf1\x87LBLUFN731381KF36\xb9\x99\x89\x98\x98\x88\x88\x88\x89\x99\xa8\x99\x88\x99\xa8\x89\x88\x88\x98\x88V\x7f\xf6\xff\x99w\x8f\xff\xad\xd8\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
-      b'\xf1\x87LDKVAA0028604HH1\xa8\x88x\x87vgvw\x88\x99\xa8\x89gw\x86ww\x88\x97x\x97o\xf9\xff\x97w\x7f\xffo\x02\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
-      b'\xf1\x87LDKVAA3068374HH1wwww\x87xw\x87y\x99\xa7\x99w\x88\x87xw\x88\x97x\x85\xaf\xfa\xffvU/\xffU\xdc\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
-      b'\xf1\x87LDKVBN382172KF26\x98\x88\x88\x88\xa8\x88\x88\x88x\x99\xa7\x89\x87\x88\x98x\x98\x99\xa9\x89\xa5_\xf6\xffDDO\xff\xcd\x16\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',
-      b'\xf1\x87LDKVBN424201KF26\xba\xaa\x9a\xa9\x99\x99\x89\x98\x89\x99\xa8\x99\x88\x99\x98\x89\x88\x99\xa8\x89v\x7f\xf7\xffwf_\xffq\xa6\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',
-      b'\xf1\x87LDKVBN540766KF37\x87wgv\x87w\x87xx\x99\x97\x89v\x88\x97h\x88\x88\x88\x88x\x7f\xf6\xffvUo\xff\xd3\x01\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',
-      b'\xf1\x87LDLVAA4225634HH1\x98\x88\x88\x88eUeVx\x88\x87\x88g\x88\x86xx\x88\x87\x88\x86o\xf9\xff\x87w\x7f\xff\xf2\xf7\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
-      b'\xf1\x87LDLVAA4478824HH1\x87wwwvfvg\x89\x99\xa8\x99w\x88\x87x\x89\x99\xa8\x99\xa6o\xfa\xfffU/\xffu\x92\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
-      b'\xf1\x87LDLVAA4777834HH1\x98\x88x\x87\x87wwwx\x88\x87\x88x\x99\x97\x89x\x88\x97\x88\x86o\xfa\xff\x86fO\xff\x1d9\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
-      b'\xf1\x87LDLVAA5194534HH1ffvguUUUx\x88\xa7\x88h\x99\x96\x89x\x88\x97\x88ro\xf9\xff\x98wo\xff\xaaM\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
-      b'\xf1\x87LDLVAA5949924HH1\xa9\x99y\x97\x87wwwx\x99\x97\x89x\x99\xa7\x89x\x99\xa7\x89\x87_\xfa\xffeD?\xff\xf1\xfd\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
-      b'\xf1\x87LDLVBN560098KF26\x86fff\x87vgfg\x88\x96xfw\x86gfw\x86g\x95\xf6\xffeU_\xff\x92c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',
-      b'\xf1\x87LDLVBN602045KF26\xb9\x99\x89\x98\x97vwgy\xaa\xb7\x9af\x88\x96hw\x99\xa7y\xa9\x7f\xf5\xff\x99w\x7f\xff,\xd3\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN628911KF26\xa9\x99\x89\x98\x98\x88\x88\x88y\x99\xa7\x99fw\x86gw\x88\x87x\x83\x7f\xf6\xff\x98wo\xff2\xda\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN645817KF37\x87www\x98\x87xwx\x99\x97\x89\x99\x99\x99\x99g\x88\x96x\xb6_\xf7\xff\x98fo\xff\xe2\x86\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN662115KF37\x98\x88\x88\x88\xa8\x88\x88\x88x\x99\x97\x89x\x99\xa7\x89\x88\x99\xa8\x89\x88\x7f\xf7\xfffD_\xff\xdc\x84\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN667933KF37\xb9\x99\x89\x98\xb9\x99\x99\x99x\x88\x87\x88w\x88\x87x\x88\x88\x98\x88\xcbo\xf7\xffe3/\xffQ!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN673087KF37\x97www\x86fvgx\x99\x97\x89\x99\xaa\xa9\x9ag\x88\x86x\xe9_\xf8\xff\x98w\x7f\xff"\xad\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN673841KF37\x98\x88x\x87\x86g\x86xy\x99\xa7\x99\x88\x99\xa8\x89w\x88\x97xdo\xf5\xff\x98\x88\x8f\xffT\xec\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN681363KF37\x98\x88\x88\x88\x97x\x87\x88y\xaa\xa7\x9a\x88\x88\x98\x88\x88\x88\x88\x88vo\xf6\xffvD\x7f\xff%v\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN713782KF37\x99\x99y\x97\x98\x88\x88\x88x\x88\x97\x88\x88\x99\x98\x89\x88\x99\xa8\x89\x87o\xf7\xffeU?\xff7,\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN713890KF26\xb9\x99\x89\x98\xa9\x99\x99\x99x\x99\x97\x89\x88\x99\xa8\x89\x88\x99\xb8\x89Do\xf7\xff\xa9\x88o\xffs\r\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN733215KF37\x99\x98y\x87\x97wwwi\x99\xa6\x99x\x99\xa7\x89V\x88\x95h\x86o\xf7\xffeDO\xff\x12\xe7\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN750044KF37\xca\xa9\x8a\x98\xa7wwwy\xaa\xb7\x9ag\x88\x96x\x88\x99\xa8\x89\xb9\x7f\xf6\xff\xa8w\x7f\xff\xbe\xde\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN752612KF37\xba\xaa\x8a\xa8\x87w\x87xy\xaa\xa7\x9a\x88\x99\x98\x89x\x88\x97\x88\x96o\xf6\xffvU_\xffh\x1b\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN755553KF37\x87xw\x87\x97w\x87xy\x99\xa7\x99\x99\x99\xa9\x99Vw\x95gwo\xf6\xffwUO\xff\xb5T\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN757883KF37\x98\x87xw\x98\x87\x88xy\xaa\xb7\x9ag\x88\x96x\x89\x99\xa8\x99e\x7f\xf6\xff\xa9\x88o\xff5\x15\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
-      b'\xf1\x87LDMVBN778156KF37\x87vWe\xa9\x99\x99\x99y\x99\xb7\x99\x99\x99\x99\x99x\x99\x97\x89\xa8\x7f\xf8\xffwf\x7f\xff\x82_\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
-      b'\xf1\x87LDMVBN780576KF37\x98\x87hv\x97x\x97\x89x\x99\xa7\x89\x88\x99\x98\x89w\x88\x97x\x98\x7f\xf7\xff\xba\x88\x8f\xff\x1e0\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
-      b'\xf1\x87LDMVBN783485KF37\x87www\x87vwgy\x99\xa7\x99\x99\x99\xa9\x99Vw\x95g\x89_\xf6\xff\xa9w_\xff\xc5\xd6\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
-      b'\xf1\x87LDMVBN811844KF37\x87vwgvfffx\x99\xa7\x89Vw\x95gg\x88\xa6xe\x8f\xf6\xff\x97wO\xff\t\x80\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
-      b'\xf1\x87LDMVBN830601KF37\xa7www\xa8\x87xwx\x99\xa7\x89Uw\x85Ww\x88\x97x\x88o\xf6\xff\x8a\xaa\x7f\xff\xe2:\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
-      b'\xf1\x87LDMVBN848789KF37\x87w\x87x\x87w\x87xy\x99\xb7\x99\x87\x88\x98x\x88\x99\xa8\x89\x87\x7f\xf6\xfffUo\xff\xe3!\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-      b'\xf1\x87LDMVBN851595KF37\x97wgvvfffx\x99\xb7\x89\x88\x99\x98\x89\x87\x88\x98x\x99\x7f\xf7\xff\x97w\x7f\xff@\xf3\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-      b'\xf1\x87LDMVBN871852KF37\xb9\x99\x99\x99\xa8\x88\x88\x88y\x99\xa7\x99x\x99\xa7\x89\x88\x88\x98\x88\x89o\xf7\xff\xaa\x88o\xff\x0e\xed\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-      b'\xf1\x87LDMVBN873175KF26\xa8\x88\x88\x88vfVex\x99\xb7\x89\x88\x99\x98\x89x\x88\x97\x88f\x7f\xf7\xff\xbb\xaa\x8f\xff,\x04\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-      b'\xf1\x87LDMVBN879401KF26veVU\xa8\x88\x88\x88g\x88\xa6xVw\x95gx\x88\xa7\x88v\x8f\xf9\xff\xdd\xbb\xbf\xff\xb3\x99\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-      b'\xf1\x87LDMVBN881314KF37\xa8\x88h\x86\x97www\x89\x99\xa8\x99w\x88\x97xx\x99\xa7\x89\xca\x7f\xf8\xff\xba\x99\x8f\xff\xd8v\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-      b'\xf1\x87LDMVBN888651KF37\xa9\x99\x89\x98vfff\x88\x99\x98\x89w\x99\xa7y\x88\x88\x98\x88D\x8f\xf9\xff\xcb\x99\x8f\xff\xa5\x1e\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-      b'\xf1\x87LDMVBN889419KF37\xa9\x99y\x97\x87w\x87xx\x88\x97\x88w\x88\x97x\x88\x99\x98\x89e\x9f\xf9\xffeUo\xff\x901\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-      b'\xf1\x87LDMVBN895969KF37vefV\x87vgfx\x99\xa7\x89\x99\x99\xb9\x99f\x88\x96he_\xf7\xffxwo\xff\x14\xf9\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-      b'\xf1\x87LDMVBN899222KF37\xa8\x88x\x87\x97www\x98\x99\x99\x89\x88\x99\x98\x89f\x88\x96hdo\xf7\xff\xbb\xaa\x9f\xff\xe2U\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-      b'\xf1\x87LDMVBN950669KF37\x97www\x96fffy\x99\xa7\x99\xa9\x99\xaa\x99g\x88\x96x\xb8\x8f\xf9\xffTD/\xff\xa7\xcb\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-    ],
   },
-  CAR.VELOSTER: {
+  CAR.HYUNDAI_VELOSTER: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00JS__ SCC H-CUP      1.00 1.02 95650-J3200         ',
       b'\xf1\x00JS__ SCC HNCUP      1.00 1.02 95650-J3100         ',
     ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816V8RAC00121.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x01TJS-JDK06F200H0A',
-      b'\x01TJS-JNU06F200H0A',
-      b'391282BJF5 ',
-    ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00JSL MDPS C 1.00 1.03 56340-J3000 8308',
     ],
@@ -833,119 +471,77 @@ FW_VERSIONS = {
       b'\xf1\x00JS  LKAS AT KOR LHD 1.00 1.03 95740-J3000 K33',
       b'\xf1\x00JS  LKAS AT USA LHD 1.00 1.02 95740-J3000 K32',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16KS2\x0e\xba\x1e\xa2',
-      b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\x00\x00\x00\x00',
-      b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\xba\x02\xb8\x80',
-    ],
   },
   CAR.GENESIS_G70: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00IK__ SCC F-CUP      1.00 1.01 96400-G9100         ',
       b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         ',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00IK  MDPS R 1.00 1.06 57700-G9420 4I4VL106',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda',
-      b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\x7f\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda',
-    ],
   },
   CAR.GENESIS_G70_2020: {
     (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IK  MDPS R 1.00 1.06 57700-G9220 4I2VL106',
       b'\xf1\x00IK  MDPS R 1.00 1.07 57700-G9220 4I2VL107',
       b'\xf1\x00IK  MDPS R 1.00 1.07 57700-G9420 4I4VL107',
       b'\xf1\x00IK  MDPS R 1.00 1.08 57700-G9200 4I2CL108',
       b'\xf1\x00IK  MDPS R 1.00 1.08 57700-G9420 4I4VL108',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL',
-      b'\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T20KB3Wuvz',
-      b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00',
-      b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81',
-      b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL',
+      b'\xf1\x00IK  MDPS R 1.00 5.09 57700-G9520 4I4VL509',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IK__ SCC F-CUP      1.00 1.01 96400-G9100         ',
       b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         ',
       b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         \xf1\xa01.02',
+      b'\xf1\x00IK__ SCC FHCUP      1.00 1.00 99110-G9300         ',
       b'\xf1\x00IK__ SCC FHCUP      1.00 1.02 96400-G9000         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00IK  MFC  AT KOR LHD 1.00 1.01 95740-G9000 170920',
       b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.04 99211-G9000 220401',
     ],
   },
   CAR.GENESIS_G80: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DH__ SCC F-CUP      1.00 1.01 96400-B1120         ',
+      b'\xf1\x00DH__ SCC F-CUP      1.00 1.02 96400-B1120         ',
       b'\xf1\x00DH__ SCC FHCUP      1.00 1.01 96400-B1110         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DH  LKAS AT KOR LHD 1.01 1.01 95895-B1500 161014',
       b'\xf1\x00DH  LKAS AT KOR LHD 1.01 1.02 95895-B1500 170810',
       b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.01 95895-B1500 161014',
       b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.02 95895-B1500 170810',
       b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.03 95895-B1500 180713',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00SDH0G33KH2\xae\xde\xd5!',
-      b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH2j\x9dA\x1c',
-      b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00SDH0T33NH3\x97\xe6\xbc\xb8',
-      b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00TDH0G38NH3:-\xa9n',
-      b'\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SDH0T33NH4\xd7O\x9e\xc9',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81640A4051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.04 95895-B1500 181213',
     ],
   },
   CAR.GENESIS_G90: {
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x87VDGMD15352242DD3w\x87gxwvgv\x87wvw\x88wXwffVfffUfw\x88o\xff\x06J\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49  E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
-      b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49  E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
-      b'\xf1\x87VDHMD16446682DD3WwwxxvGw\x88\x88\x87\x88\x88whxx\x87\x87\x87\x85fUfwu_\xffT\xf8\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49  E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
-    ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00HI__ SCC F-CUP      1.00 1.01 96400-D2100         ',
+      b'\xf1\x00HI__ SCC FHCUP      1.00 1.02 99110-D2100         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00HI  LKAS AT USA LHD 1.00 1.00 95895-D2020 160302',
       b'\xf1\x00HI  LKAS AT USA LHD 1.00 1.00 95895-D2030 170208',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x810000000000\x00',
+      b'\xf1\x00HI  MFC  AT USA LHD 1.00 1.03 99211-D2000 190831',
     ],
   },
-  CAR.KONA: {
+  CAR.HYUNDAI_KONA: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00OS__ SCC F-CUP      1.00 1.00 95655-J9200         ',
     ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'"\x01TOS-0NU06F301J02',
-    ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00OS  MDPS C 1.00 1.05 56310J9030\x00 4OSDC105',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x816U2VE051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VE051\x00\x00DOS4T16NS3\x00\x00\x00\x00',
-    ],
   },
   CAR.KIA_CEED: {
     (Ecu.fwdRadar, 0x7d0, None): [
@@ -957,13 +553,6 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CD  LKAS AT EUR LHD 1.00 1.01 99211-J7000 B40',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x01TCD-JECU4F202H0K',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x816U2V7051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V7051\x00\x00DCD0T14US1\x00\x00\x00\x00',
-      b'\xf1\x816U2V7051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V7051\x00\x00DCD0T14US1U\x867Z',
-    ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00CD ESC \x03 102\x18\x08\x05 58920-J7350',
     ],
@@ -984,22 +573,6 @@ FW_VERSIONS = {
       b'\xf1\x00BDPE_SCC FHCUPC     1.00 1.04 99110-M6500\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x00BD__ SCC H-CUP      1.00 1.02 99110-M6000         ',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x01TBDM1NU06F200H01',
-      b'391182B945\x00',
-      b'\xf1\x81616F2051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x8758900-M7AB0 \xf1\x816VQRAD00127.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x00\x00\x00\x00',
-      b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x90@\xc6\xae',
-      b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\x00\x00\x00\x00',
-      b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3",
-    ],
   },
   CAR.KIA_K5_2021: {
     (Ecu.fwdRadar, 0x7d0, None): [
@@ -1007,17 +580,13 @@ FW_VERSIONS = {
       b'\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2000         ',
       b'\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2100         ',
       b'\xf1\x00DL3_ SCC FHCUP      1.00 1.04 99110-L2100         ',
-      b'\xf1\x8799110L2000\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2000         ',
-      b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
-      b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2100         ',
     ],
     (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101',
       b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
       b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L2220 4DLDC102',
       b'\xf1\x00DL3 MDPS C 1.00 1.02 56310L3220\x00 4DLAC102',
-      b'\xf1\x8756310-L3110\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101',
-      b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
-      b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102',
+      b'\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DL3 MFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
@@ -1027,29 +596,12 @@ FW_VERSIONS = {
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00DL ESC \x01 104 \x07\x12 58910-L2200',
+      b'\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600',
       b'\xf1\x00DL ESC \x06 101 \x04\x02 58910-L3200',
       b'\xf1\x00DL ESC \x06 103"\x08\x06 58910-L3200',
       b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800',
-      b'\xf1\x8758910-L3200\xf1\x00DL ESC \x06 101 \x04\x02 58910-L3200',
-      b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600',
-      b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81HM6M2_0a0_DQ0',
-      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DLDWN5TMDCXXXJ1B',
-      b'\xf1\x87391212MKT0',
-      b'\xf1\x87391212MKT3',
-      b'\xf1\x87391212MKV0',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00HT6TA261BLHT6TAB00A1SDL0C20KS0\x00\x00\x00\x00\x00\x00\\\x9f\xa5\x15',
-      b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8',
-      b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL2T16NB2.\x13\xf6\xed',
-      b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
-      b'\xf1\x87954A02N300\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  WDL3T25XXX730NS2b\x1f\xb8%',
-      b'\xf1\x87SALFEA5652514GK2UUeV\x88\x87\x88xxwg\x87ww\x87wwfwvd/\xfb\xffvU_\xff\x93\xd3\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8',
-      b'\xf1\x87SALFEA6046104GK2wvwgeTeFg\x88\x96xwwwwffvfe?\xfd\xff\x86fo\xff\x97A\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8',
-      b'\xf1\x87SCMSAA8572454GK1\x87x\x87\x88Vf\x86hgwvwvwwgvwwgT?\xfb\xff\x97fo\xffH\xb8\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
+      b'\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800',
+      b'\xf1\x00DL ESC \t 102"\x08\x10 58910-L3800',
     ],
   },
   CAR.KIA_K5_HEV_2020: {
@@ -1064,17 +616,11 @@ FW_VERSIONS = {
       b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.02 99210-L2000 200309',
       b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x87391162JLA0',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00PSBG2323  E08\x00\x00\x00\x00\x00\x00\x00TDL2H20KA2\xe3\xc6cz',
-      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TDL2H20KA5T\xf2\xc9\xc2',
-    ],
   },
-  CAR.KONA_EV: {
+  CAR.HYUNDAI_KONA_EV: {
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00OS IEB \x01 212 \x11\x13 58520-K4000',
+      b'\xf1\x00OS IEB \x02 210 \x02\x14 58520-K4000',
       b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000',
       b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000',
       b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000',
@@ -1085,10 +631,12 @@ FW_VERSIONS = {
       b'\xf1\x00OSE LKAS AT EUR LHD 1.00 1.00 95740-K4100 W40',
       b'\xf1\x00OSE LKAS AT EUR RHD 1.00 1.00 95740-K4100 W40',
       b'\xf1\x00OSE LKAS AT KOR LHD 1.00 1.00 95740-K4100 W40',
+      b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4100 W40',
       b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4300 W50',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00OS  MDPS C 1.00 1.03 56310/K4550 4OEDC103',
+      b'\xf1\x00OS  MDPS C 1.00 1.04 56310-XX000 4OEDC104',
       b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4000\x00 4OEDC104',
       b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4050\x00 4OEDC104',
     ],
@@ -1099,14 +647,12 @@ FW_VERSIONS = {
       b'\xf1\x00OSev SCC FNCUP      1.00 1.01 99110-K4000         ',
     ],
   },
-  CAR.KONA_EV_2022: {
+  CAR.HYUNDAI_KONA_EV_2022: {
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010',
+      b'\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
       b'\xf1\x00OS IEB \x03 102"\x05\x16 58520-K4010',
       b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010',
-      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x02 101 \x11\x13 58520-K4010',
-      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
-      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00OSP LKA  AT AUS RHD 1.00 1.04 99211-J9200 904',
@@ -1128,7 +674,7 @@ FW_VERSIONS = {
       b'\xf1\x00YB__ FCA -----      1.00 1.01 99110-K4500      \x00\x00\x00',
     ],
   },
-  CAR.KONA_EV_2ND_GEN: {
+  CAR.HYUNDAI_KONA_EV_2ND_GEN: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00SXev RDR -----      1.00 1.00 99110-BF000         ',
     ],
@@ -1139,16 +685,15 @@ FW_VERSIONS = {
   CAR.KIA_NIRO_EV: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
+      b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4100         ',
+      b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4500         ',
+      b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4600         ',
       b'\xf1\x00DEev SCC F-CUP      1.00 1.02 96400-Q4000         ',
       b'\xf1\x00DEev SCC F-CUP      1.00 1.02 96400-Q4100         ',
       b'\xf1\x00DEev SCC F-CUP      1.00 1.03 96400-Q4100         ',
+      b'\xf1\x00DEev SCC FHCUP      1.00 1.00 99110-Q4600         ',
       b'\xf1\x00DEev SCC FHCUP      1.00 1.03 96400-Q4000         ',
-      b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
-      b'\xf1\x8799110Q4100\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4100         ',
-      b'\xf1\x8799110Q4500\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4500         ',
-      b'\xf1\x8799110Q4600\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4600         ',
-      b'\xf1\x8799110Q4600\xf1\x00DEev SCC FHCUP      1.00 1.00 99110-Q4600         ',
-      b'\xf1\x8799110Q4600\xf1\x00DEev SCC FNCUP      1.00 1.00 99110-Q4600         ',
+      b'\xf1\x00DEev SCC FNCUP      1.00 1.00 99110-Q4600         ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00DE  MDPS C 1.00 1.04 56310Q4100\x00 4DEEC104',
@@ -1175,23 +720,12 @@ FW_VERSIONS = {
     ],
   },
   CAR.KIA_NIRO_PHEV: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL2&[\xc3\x01',
-      b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x00\x00\x00\x00',
-      b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x13\xcd\x88\x92',
-      b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\x00\x00\x00\x00',
-      b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91",
-    ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00DE  MDPS C 1.00 1.01 56310G5520\x00 4DEPC101',
       b'\xf1\x00DE  MDPS C 1.00 1.09 56310G5301\x00 4DEHC109',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DEH MFC  AT USA LHD 1.00 1.00 95740-G5010 170117',
       b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.00 95740-G5010 170117',
       b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.01 95740-G5010 170424',
       b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.05 99211-G5000 190826',
@@ -1202,14 +736,6 @@ FW_VERSIONS = {
     ],
   },
   CAR.KIA_NIRO_PHEV_2022: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL3\x00\x00\x00\x00',
-      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL3\x00\x00\x00\x00',
-    ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00DE  MDPS C 1.00 1.01 56310G5520\x00 4DEPC101',
     ],
@@ -1222,37 +748,26 @@ FW_VERSIONS = {
     ],
   },
   CAR.KIA_NIRO_HEV_2021: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\x00\x00\x00\x00',
-      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\xb9\xd3\xfaW',
-    ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00DE  MDPS C 1.00 1.01 56310G5520\x00 4DEPC101',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DEH MFC  AT KOR LHD 1.00 1.04 99211-G5000 190516',
       b'\xf1\x00DEH MFC  AT USA LHD 1.00 1.00 99211-G5500 210428',
       b'\xf1\x00DEH MFC  AT USA LHD 1.00 1.07 99211-G5000 201221',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DEhe SCC FHCUP      1.00 1.00 99110-G5600         ',
+      b'\xf1\x00DEhe SCC FHCUP      1.00 1.01 99110-G5000         ',
     ],
   },
   CAR.KIA_SELTOS: {
     (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x8799110Q5100\xf1\x00SP2_ SCC FHCUP      1.01 1.05 99110-Q5100         ',
+      b'\xf1\x00SP2_ SCC FHCUP      1.01 1.05 99110-Q5100         ',
     ],
     (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x8758910-Q5450\xf1\x00SP ESC \x07 101\x19\t\x05 58910-Q5450',
-      b'\xf1\x8758910-Q5450\xf1\x00SP ESC \t 101\x19\t\x05 58910-Q5450',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x01TSP2KNL06F100J0K',
-      b'\x01TSP2KNL06F200J0K',
-      b'\xf1\x81616D2051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81616D5051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x00SP ESC \x07 101\x19\t\x05 58910-Q5450',
+      b'\xf1\x00SP ESC \t 101\x19\t\x05 58910-Q5450',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00SP2 MDPS C 1.00 1.04 56300Q5200          ',
@@ -1262,11 +777,6 @@ FW_VERSIONS = {
       b'\xf1\x00SP2 MFC  AT USA LHD 1.00 1.04 99210-Q5000 191114',
       b'\xf1\x00SP2 MFC  AT USA LHD 1.00 1.05 99210-Q5000 201012',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x87954A22D200\xf1\x81T01950A1  \xf1\x00T0190XBL  T01950A1  DSP2T16X4X950NS6\xd30\xa5\xb9',
-      b'\xf1\x87954A22D200\xf1\x81T01950A1  \xf1\x00T0190XBL  T01950A1  DSP2T16X4X950NS8\r\xfe\x9c\x8b',
-      b'\xf1\x87CZLUB49370612JF7h\xa8y\x87\x99\xa7hv\x99\x97fv\x88\x87x\x89x\x96O\xff\x88\xff\xff\xff.@\xf1\x816V2C2051\x00\x00\xf1\x006V2B0_C2\x00\x006V2C2051\x00\x00CSP4N20NS3\x00\x00\x00\x00',
-    ],
   },
   CAR.KIA_OPTIMA_G4: {
     (Ecu.fwdRadar, 0x7d0, None): [
@@ -1278,9 +788,6 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6J0051\x00\x00\xf1\x006T6J0_C2\x00\x006T6J0051\x00\x00TJF0T20NSB\x00\x00\x00\x00',
-    ],
   },
   CAR.KIA_OPTIMA_G4_FL: {
     (Ecu.fwdRadar, 0x7d0, None): [
@@ -1294,17 +801,6 @@ FW_VERSIONS = {
       b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32',
       b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5100 h32',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW',
-      b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00',
-      b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.',
-      b'\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01',
-      b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW',
-      b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00',
-      b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.',
-      b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01',
-      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4',
-    ],
   },
   CAR.KIA_OPTIMA_H: {
     (Ecu.fwdRadar, 0x7d0, None): [
@@ -1321,28 +817,12 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00JFH MFC  AT KOR LHD 1.00 1.01 95895-A8200 180323',
     ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
-  CAR.ELANTRA: {
+  CAR.HYUNDAI_ELANTRA: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00AD  LKAS AT USA LHD 1.01 1.01 95895-F2000 251',
       b'\xf1\x00ADP LKAS AT USA LHD 1.00 1.03 99211-F2000 X31',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\x00\x00\x00\x00',
-      b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\xc5\x92\x9e\x8a',
-      b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20SS2.~\x90\x87',
-      b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD\x00\x00\x00\x00',
-      b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD(\xfcA\x9d',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8161657051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816165D051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816165E051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x8161698051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00AD ESC \x11 11 \x18\x05\x06 58910-F2840',
       b'\xf1\x00AD ESC \x11 12 \x15\t\t 58920-F2810',
@@ -1352,18 +832,12 @@ FW_VERSIONS = {
       b'\xf1\x00AD__ SCC H-CUP      1.00 1.01 96400-F2100         ',
     ],
   },
-  CAR.ELANTRA_GT_I30: {
+  CAR.HYUNDAI_ELANTRA_GT_I30: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00PD  LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51',
       b'\xf1\x00PD  LKAS AT USA LHD 1.00 1.02 95740-G3000 A51',
       b'\xf1\x00PD  LKAS AT USA LHD 1.01 1.01 95740-G3100 A54',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x006U2U0_C2\x00\x006U2T0051\x00\x00DPD0D16KS0u\xce\x1fk',
-      b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DPD0T16NS4\x00\x00\x00\x00',
-      b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DPD0T16NS4\xda\x7f\xd6\xa7',
-      b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e',
-    ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00PD  MDPS C 1.00 1.00 56310G3300\x00 4PDDC100',
       b'\xf1\x00PD  MDPS C 1.00 1.03 56310/G3300 4PDDC103',
@@ -1380,17 +854,16 @@ FW_VERSIONS = {
       b'\xf1\x00PD__ SCC FNCUP      1.01 1.00 96400-G3000         ',
     ],
   },
-  CAR.ELANTRA_2021: {
+  CAR.HYUNDAI_ELANTRA_2021: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CN7_ SCC F-CUP      1.00 1.01 99110-AA000         ',
       b'\xf1\x00CN7_ SCC FHCUP      1.00 1.01 99110-AA000         ',
       b'\xf1\x00CN7_ SCC FNCUP      1.00 1.01 99110-AA000         ',
-      b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP      1.00 1.01 99110-AA000         ',
-      b'\xf1\x8799110AA000\xf1\x00CN7_ SCC FHCUP      1.00 1.01 99110-AA000         ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106',
       b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106',
+      b'\xf1\x00CN7 MDPS C 1.00 1.07 56310AA050\x00 4CNDC107',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.00 99210-AB000 200819',
@@ -1398,31 +871,15 @@ FW_VERSIONS = {
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AB000 220426',
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.06 99210-AA000 220111',
+      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.08 99210-AA000 220728',
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
-      b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800',
-      b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800',
-      b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800\xf1\xa01.01',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\xe8\xba\xce\xfa',
-      b'\xf1\x87CXLQF40189012JL2f\x88\x86\x88\x88vUex\xb8\x88\x88\x88\x87\x88\x89fh?\xffz\xff\xff\xff\x08z\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87CXMQFM1916035JB2\x88vvgg\x87Wuwgev\xa9\x98\x88\x98h\x99\x9f\xffh\xff\xff\xff\xa5\xee\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87CXMQFM2135005JB2E\xb9\x89\x98W\xa9y\x97h\xa9\x98\x99wxvwh\x87\x7f\xffx\xff\xff\xff,,\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87CXMQFM2728305JB2E\x97\x87xw\x87vwgw\x84x\x88\x88w\x89EI\xbf\xff{\xff\xff\xff\xe6\x0e\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87CXMQFM3806705JB2\x89\x87wwx\x88g\x86\x99\x87\x86xwwv\x88yv\x7f\xffz\xff\xff\xffV\x15\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81HM6M2_0a0_FF0',
-      b'\xf1\x82CNCVD0AMFCXCSFFB',
-      b'\xf1\x82CNCWD0AMFCXCSFFA',
-      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_G80',
-      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_HC0',
+      b'\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800',
+      b'\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800',
     ],
   },
-  CAR.ELANTRA_HEV_2021: {
+  CAR.HYUNDAI_ELANTRA_HEV_2021: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
       b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.05 99210-AA000 210930',
@@ -1432,28 +889,16 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
-      b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
     ],
     (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102',
+      b'\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103',
+      b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY050\x00 4CNHC103',
       b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103',
       b'\xf1\x00CN7 MDPS C 1.00 1.04 56310BY050\x00 4CNHC104',
-      b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102',
-      b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00',
-      b'\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\xb9?A\xaa',
-      b'\xf1\x006U3L0_C2\x00\x006U3K9051\x00\x00HCN0G16NS1\x00\x00\x00\x00',
-      b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00',
-      b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\xb9?A\xaa',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816H6G8051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.KONA_HEV: {
+  CAR.HYUNDAI_KONA_HEV: {
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00OS IEB \x01 104 \x11  58520-CM000',
     ],
@@ -1466,64 +911,43 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HOS0G16DS1\x16\xc7\xb0\xd9',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
-  CAR.SONATA_HYBRID: {
+  CAR.HYUNDAI_SONATA_HYBRID: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
+      b'\xf1\x00DNhe SCC FHCUP      1.00 1.00 99110-L5000         ',
       b'\xf1\x00DNhe SCC FHCUP      1.00 1.02 99110-L5000         ',
-      b'\xf1\x8799110L5000\xf1\x00DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
-      b'\xf1\x8799110L5000\xf1\x00DNhe SCC FHCUP      1.00 1.02 99110-L5000         ',
     ],
     (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L5000 4DNHC101',
+      b'\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102',
+      b'\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102',
+      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103',
       b'\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104',
-      b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102',
-      b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103',
-      b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102',
-      b'\xf1\x8756310L5450\x00\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DN8HMFC  AT KOR LHD 1.00 1.03 99211-L1000 190705',
       b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.04 99211-L1000 191016',
       b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.05 99211-L1000 201109',
       b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.06 99211-L1000 210325',
       b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00PSBG2323  E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e',
-      b'\xf1\x00PSBG2333  E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW',
-      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab',
-      b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E09\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2323  E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e',
-      b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW',
-      b'\xf1\x87PCU\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x87391062J002',
-      b'\xf1\x87391162J012',
-      b'\xf1\x87391162J013',
-      b'\xf1\x87391162J014',
-    ],
   },
   CAR.KIA_SORENTO: {
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00UMP LKAS AT KOR LHD 1.00 1.00 95740-C5550 S30',
+      b'\xf1\x00UMP LKAS AT USA LHD 1.00 1.00 95740-C6550 d00',
       b'\xf1\x00UMP LKAS AT USA LHD 1.01 1.01 95740-C6550 d01',
     ],
     (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00UM ESC \x02 12 \x18\x05\x05 58910-C6300',
       b'\xf1\x00UM ESC \x0c 12 \x18\x05\x06 58910-C6330',
+      b'\xf1\x00UM ESC \x13 12 \x17\x07\x05 58910-C5320',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00UM__ SCC F-CUP      1.00 1.00 96400-C5500         ',
       b'\xf1\x00UM__ SCC F-CUP      1.00 1.00 96400-C6500         ',
     ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x87LDKUAA0348164HE3\x87www\x87www\x88\x88\xa8\x88w\x88\x97xw\x88\x97x\x86o\xf8\xff\x87f\x7f\xff\x15\xe0\xf1\x81U811\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U811\x00\x00\x00\x00\x00\x00TUM4G33NL3V|DG',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
   CAR.KIA_EV6: {
     (Ecu.fwdRadar, 0x7d0, None): [
@@ -1541,12 +965,15 @@ FW_VERSIONS = {
       b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.06 99210-CV000 220328',
     ],
   },
-  CAR.IONIQ_5: {
+  CAR.HYUNDAI_IONIQ_5: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NE1 MFC  AT CAN LHD 1.00 1.05 99211-GI010 220614',
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI010 230110',
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.02 99211-GI010 211206',
       b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.00 99211-GI020 230719',
@@ -1559,17 +986,19 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
     ],
   },
-  CAR.IONIQ_6: {
+  CAR.HYUNDAI_IONIQ_6: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CE  MFC  AT CAN LHD 1.00 1.04 99211-KL000 221213',
       b'\xf1\x00CE  MFC  AT EUR LHD 1.00 1.03 99211-KL000 221011',
       b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.04 99211-KL000 221213',
     ],
   },
-  CAR.TUCSON_4TH_GEN: {
+  CAR.HYUNDAI_TUCSON_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A',
       b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K',
       b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
@@ -1587,10 +1016,11 @@ FW_VERSIONS = {
       b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
     ],
   },
-  CAR.SANTA_CRUZ_1ST_GEN: {
+  CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW020 14Z',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NX4__               1.00 1.00 99110-K5000         ',
@@ -1604,9 +1034,11 @@ FW_VERSIONS = {
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662',
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663',
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
+      b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1070 690',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NQ5__               1.00 1.02 99110-P1000         ',
+      b'\xf1\x00NQ5__               1.00 1.03 99110-CH000         ',
       b'\xf1\x00NQ5__               1.00 1.03 99110-P1000         ',
       b'\xf1\x00NQ5__               1.01 1.03 99110-CH000         ',
       b'\xf1\x00NQ5__               1.01 1.03 99110-P1000         ',
@@ -1679,6 +1111,7 @@ FW_VERSIONS = {
   },
   CAR.KIA_CARNIVAL_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00KA4 MFC  AT EUR LHD 1.00 1.06 99210-R0000 220221',
       b'\xf1\x00KA4 MFC  AT KOR LHD 1.00 1.06 99210-R0000 220221',
       b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.00 99210-R0100 230105',
       b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.05 99210-R0000 201221',
@@ -1686,6 +1119,7 @@ FW_VERSIONS = {
       b'\xf1\x00KA4CMFC  AT CHN LHD 1.00 1.01 99211-I4000 210525',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00KA4_ SCC F-CUP      1.00 1.03 99110-R0000         ',
       b'\xf1\x00KA4_ SCC FHCUP      1.00 1.00 99110-R0100         ',
       b'\xf1\x00KA4_ SCC FHCUP      1.00 1.03 99110-R0000         ',
       b'\xf1\x00KA4c SCC FHCUP      1.00 1.01 99110-I4000         ',
@@ -1699,7 +1133,7 @@ FW_VERSIONS = {
       b'\xf1\x00GL3_ RDR -----      1.00 1.02 99110-L8000         ',
     ],
   },
-  CAR.STARIA_4TH_GEN: {
+  CAR.HYUNDAI_STARIA_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00US4 MFC  AT KOR LHD 1.00 1.06 99211-CG000 230524',
     ],
@@ -1707,7 +1141,7 @@ FW_VERSIONS = {
       b'\xf1\x00US4_ RDR -----      1.00 1.00 99110-CG000         ',
     ],
   },
-  CAR.PALISADE_2023: {
+  CAR.HYUNDAI_PALISADE_2023: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.04 99211-S8150 220622',
       b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.01 99211-S9150 220708',
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index 688dd41bf0..628a33a261 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -33,12 +33,12 @@ def create_lkas11(packer, frame, CP, apply_steer, steer_req,
   values["CF_Lkas_ToiFlt"] = torque_fault  # seems to allow actuation on CR_Lkas_StrToqReq
   values["CF_Lkas_MsgCount"] = frame % 0x10
 
-  if CP.carFingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
-                           CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
-                           CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
-                           CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
-                           CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
-                           CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN):
+  if CP.carFingerprint in (CAR.HYUNDAI_SONATA, CAR.HYUNDAI_PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.HYUNDAI_SANTA_FE,
+                           CAR.HYUNDAI_IONIQ_EV_2020, CAR.HYUNDAI_IONIQ_PHEV, CAR.KIA_SELTOS, CAR.HYUNDAI_ELANTRA_2021, CAR.GENESIS_G70_2020,
+                           CAR.HYUNDAI_ELANTRA_HEV_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
+                           CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_IONIQ_HEV_2022, CAR.HYUNDAI_SANTA_FE_HEV_2022,
+                           CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
+                           CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 
@@ -126,12 +126,12 @@ def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
-def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca):
+def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca):
   commands = []
 
   scc11_values = {
     "MainMode_ACC": 1,
-    "TauGapSet": 4,
+    "TauGapSet": hud_control.leadDistanceBars,
     "VSetDis": set_speed if enabled else 0,
     "AliveCounterACC": idx % 0x10,
     "ObjValid": 1, # close lead makes controls tighter
@@ -167,7 +167,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s
     "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
     "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
     "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
-    "ObjGap": 2 if lead_visible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
+    "ObjGap": 2 if hud_control.leadVisible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
   }
   commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
 
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index 43e3850ec1..6de9dfc755 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -161,7 +161,7 @@ def create_lfahda_cluster(packer, CAN, enabled, can_canfd):
   return packer.make_can_msg(msg, CAN.ECAN, values)
 
 
-def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed):
+def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
   jerk = 5
   jn = jerk / 50
   if not enabled or gas_override:
@@ -186,7 +186,7 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
     "SET_ME_2": 0x4,
     "SET_ME_3": 0x3,
     "SET_ME_TMP_64": 0x64,
-    "DISTANCE_SETTING": 4,
+    "DISTANCE_SETTING": hud_control.leadDistanceBars,
   }
 
   return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 4b18125198..c29abf6043 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -148,7 +148,7 @@ class CarInterface(CarInterfaceBase):
     elif ret.flags & HyundaiFlags.EV:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
 
-    if candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
+    if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022):
       ret.flags |= HyundaiFlags.ALT_LIMITS.value
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS
 
@@ -191,6 +191,3 @@ class CarInterface(CarInterfaceBase):
     ret.events = events.to_msg()
 
     return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py
index c7100d03f0..0753b372e1 100755
--- a/selfdrive/car/hyundai/tests/test_hyundai.py
+++ b/selfdrive/car/hyundai/tests/test_hyundai.py
@@ -18,24 +18,26 @@ ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 NO_DATES_PLATFORMS = {
   # CAN FD
   CAR.KIA_SPORTAGE_5TH_GEN,
-  CAR.SANTA_CRUZ_1ST_GEN,
-  CAR.TUCSON_4TH_GEN,
+  CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN,
+  CAR.HYUNDAI_TUCSON_4TH_GEN,
   # CAN
-  CAR.ELANTRA,
-  CAR.ELANTRA_GT_I30,
+  CAR.HYUNDAI_ELANTRA,
+  CAR.HYUNDAI_ELANTRA_GT_I30,
   CAR.KIA_CEED,
   CAR.KIA_FORTE,
   CAR.KIA_OPTIMA_G4,
   CAR.KIA_OPTIMA_G4_FL,
   CAR.KIA_SORENTO,
-  CAR.KONA,
-  CAR.KONA_EV,
-  CAR.KONA_EV_2022,
-  CAR.KONA_HEV,
-  CAR.SONATA_LF,
-  CAR.VELOSTER,
+  CAR.HYUNDAI_KONA,
+  CAR.HYUNDAI_KONA_EV,
+  CAR.HYUNDAI_KONA_EV_2022,
+  CAR.HYUNDAI_KONA_HEV,
+  CAR.HYUNDAI_SONATA_LF,
+  CAR.HYUNDAI_VELOSTER,
 }
 
+CANFD_EXPECTED_ECUS = {Ecu.fwdCamera, Ecu.fwdRadar}
+
 
 class TestHyundaiFingerprint(unittest.TestCase):
   def test_can_features(self):
@@ -51,23 +53,21 @@ class TestHyundaiFingerprint(unittest.TestCase):
     self.assertEqual(HYBRID_CAR & EV_CAR, set(), "Shared cars between hybrid and EV")
     self.assertEqual(CANFD_CAR & HYBRID_CAR, set(), "Hard coding CAN FD cars as hybrid is no longer supported")
 
-  def test_auxiliary_request_ecu_whitelist(self):
-    # Asserts only auxiliary Ecus can exist in database for CAN-FD cars
-    whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.auxiliary}
-
+  def test_canfd_ecu_whitelist(self):
+    # Asserts only expected Ecus can exist in database for CAN-FD cars
     for car_model in CANFD_CAR:
       ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}
-      ecus_not_in_whitelist = ecus - whitelisted_ecus
+      ecus_not_in_whitelist = ecus - CANFD_EXPECTED_ECUS
       ecu_strings = ", ".join([f"Ecu.{ECU_NAME[ecu]}" for ecu in ecus_not_in_whitelist])
       self.assertEqual(len(ecus_not_in_whitelist), 0,
-                       f"{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}")
+                       f"{car_model}: Car model has unexpected ECUs: {ecu_strings}")
 
   def test_blacklisted_parts(self):
     # Asserts no ECUs known to be shared across platforms exist in the database.
     # Tucson having Santa Cruz camera and EPS for example
     for car_model, ecus in FW_VERSIONS.items():
       with self.subTest(car_model=car_model.value):
-        if car_model == CAR.SANTA_CRUZ_1ST_GEN:
+        if car_model == CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN:
           raise unittest.SkipTest("Skip checking Santa Cruz for its parts")
 
         for code, _ in get_platform_codes(ecus[(Ecu.fwdCamera, 0x7c4, None)]):
@@ -85,10 +85,8 @@ class TestHyundaiFingerprint(unittest.TestCase):
     for car_model, ecus in FW_VERSIONS.items():
       with self.subTest(car_model=car_model.value):
         for ecu, fws in ecus.items():
-          # TODO: enable for Ecu.fwdRadar, Ecu.abs, Ecu.eps, Ecu.transmission
-          if ecu[0] in (Ecu.fwdCamera,):
-            self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws),
-                            f"FW from unexpected request in database: {(ecu, fws)}")
+          self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws),
+                          f"FW from unexpected request in database: {(ecu, fws)}")
 
   @settings(max_examples=100)
   @given(data=st.data())
@@ -98,12 +96,29 @@ class TestHyundaiFingerprint(unittest.TestCase):
     fws = data.draw(fw_strategy)
     get_platform_codes(fws)
 
+  def test_expected_platform_codes(self):
+    # Ensures we don't accidentally add multiple platform codes for a car unless it is intentional
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model.value):
+        for ecu, fws in ecus.items():
+          if ecu[0] not in PLATFORM_CODE_ECUS:
+            continue
+
+          # Third and fourth character are usually EV/hybrid identifiers
+          codes = {code.split(b"-")[0][:2] for code, _ in get_platform_codes(fws)}
+          if car_model == CAR.HYUNDAI_PALISADE:
+            self.assertEqual(codes, {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}")
+          elif car_model == CAR.HYUNDAI_KONA_EV and ecu[0] == Ecu.fwdCamera:
+            self.assertEqual(codes, {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}")
+          else:
+            self.assertEqual(len(codes), 1, f"Car has multiple platform codes: {car_model} {codes}")
+
   # Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy
   # fingerprint in the absence of full FW matches:
   def test_platform_code_ecus_available(self):
     # TODO: add queries for these non-CAN FD cars to get EPS
     no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H,
-                                    CAR.KIA_OPTIMA_H_G4_FL, CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.ELANTRA}
+                                    CAR.KIA_OPTIMA_H_G4_FL, CAR.HYUNDAI_SONATA_LF, CAR.HYUNDAI_TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA}
 
     # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
     for car_model, ecus in FW_VERSIONS.items():
@@ -194,7 +209,7 @@ class TestHyundaiFingerprint(unittest.TestCase):
                          "subAddress": 0 if sub_addr is None else sub_addr})
 
       CP = car.CarParams.new_message(carFw=car_fw)
-      matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), FW_VERSIONS)
+      matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
       if len(matches) == 1:
         self.assertEqual(list(matches)[0], platform)
       else:
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 7d62e003a5..f3073812eb 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -6,7 +6,7 @@ from cereal import car
 from panda.python import uds
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
@@ -35,8 +35,8 @@ class CarControllerParams:
 
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
-    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.IONIQ,
-                               CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
+    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.HYUNDAI_ELANTRA, CAR.HYUNDAI_ELANTRA_GT_I30, CAR.HYUNDAI_IONIQ,
+                               CAR.HYUNDAI_IONIQ_EV_LTD, CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.HYUNDAI_SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
                                CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO):
       self.STEER_MAX = 255
 
@@ -107,7 +107,7 @@ class Footnote(Enum):
 
 
 @dataclass
-class HyundaiCarInfo(CarInfo):
+class HyundaiCarDocs(CarDocs):
   package: str = "Smart Cruise Control (SCC)"
 
   def init_make(self, CP: car.CarParams):
@@ -140,426 +140,368 @@ class HyundaiCanFDPlatformConfig(PlatformConfig):
 
 class CAR(Platforms):
   # Hyundai
-  AZERA_6TH_GEN = HyundaiPlatformConfig(
-    "HYUNDAI AZERA 6TH GEN",
-    HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  HYUNDAI_AZERA_6TH_GEN = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
     CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5),
   )
-  AZERA_HEV_6TH_GEN = HyundaiPlatformConfig(
-    "HYUNDAI AZERA HYBRID 6TH GEN",
+  HYUNDAI_AZERA_HEV_6TH_GEN = HyundaiPlatformConfig(
     [
-      HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
-      HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+      HyundaiCarDocs("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
+      HyundaiCarDocs("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
     ],
     CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5),
     flags=HyundaiFlags.HYBRID,
   )
-  ELANTRA = HyundaiPlatformConfig(
-    "HYUNDAI ELANTRA 2017",
+  HYUNDAI_ELANTRA = HyundaiPlatformConfig(
     [
       # TODO: 2017-18 could be Hyundai G
-      HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
-      HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
+      HyundaiCarDocs("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
+      HyundaiCarDocs("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
     ],
     # steerRatio: 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535, stiffnessFactor settled on 1.0081302973865127
     CarSpecs(mass=1275, wheelbase=2.7, steerRatio=15.4, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
   )
-  ELANTRA_GT_I30 = HyundaiPlatformConfig(
-    "HYUNDAI I30 N LINE 2019 & GT 2018 DCT",
+  HYUNDAI_ELANTRA_GT_I30 = HyundaiPlatformConfig(
     [
-      HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
-      HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
+      HyundaiCarDocs("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
+      HyundaiCarDocs("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
     ],
-    ELANTRA.specs,
+    HYUNDAI_ELANTRA.specs,
     flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
   )
-  ELANTRA_2021 = HyundaiPlatformConfig(
-    "HYUNDAI ELANTRA 2021",
-    HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  HYUNDAI_ELANTRA_2021 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k]))],
     CarSpecs(mass=2800 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.CHECKSUM_CRC8,
   )
-  ELANTRA_HEV_2021 = HyundaiPlatformConfig(
-    "HYUNDAI ELANTRA HYBRID 2021",
-    HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
-                   car_parts=CarParts.common([CarHarness.hyundai_k])),
+  HYUNDAI_ELANTRA_HEV_2021 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
+                    car_parts=CarParts.common([CarHarness.hyundai_k]))],
     CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
   HYUNDAI_GENESIS = HyundaiPlatformConfig(
-    "HYUNDAI GENESIS 2015-2016",
     [
       # TODO: check 2015 packages
-      HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
-      HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
+      HyundaiCarDocs("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
+      HyundaiCarDocs("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
     ],
     CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5, minSteerSpeed=60 * CV.KPH_TO_MS),
     flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY,
   )
-  IONIQ = HyundaiPlatformConfig(
-    "HYUNDAI IONIQ HYBRID 2017-2019",
-    HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])),
+  HYUNDAI_IONIQ = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c]))],
     CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
   )
-  IONIQ_HEV_2022 = HyundaiPlatformConfig(
-    "HYUNDAI IONIQ HYBRID 2020-2022",
-    HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])),  # TODO: confirm 2020-21 harness,
+  HYUNDAI_IONIQ_HEV_2022 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h]))],  # TODO: confirm 2020-21 harness,
     CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
   )
-  IONIQ_EV_LTD = HyundaiPlatformConfig(
-    "HYUNDAI IONIQ ELECTRIC LIMITED 2019",
-    HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
+  HYUNDAI_IONIQ_EV_LTD = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))],
     CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH,
   )
-  IONIQ_EV_2020 = HyundaiPlatformConfig(
-    "HYUNDAI IONIQ ELECTRIC 2020",
-    HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+  HYUNDAI_IONIQ_EV_2020 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
     CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.EV,
   )
-  IONIQ_PHEV_2019 = HyundaiPlatformConfig(
-    "HYUNDAI IONIQ PLUG-IN HYBRID 2019",
-    HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
+  HYUNDAI_IONIQ_PHEV_2019 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))],
     CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
   )
-  IONIQ_PHEV = HyundaiPlatformConfig(
-    "HYUNDAI IONIQ PHEV 2020",
-    HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+  HYUNDAI_IONIQ_PHEV = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
     CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.HYBRID,
   )
-  KONA = HyundaiPlatformConfig(
-    "HYUNDAI KONA 2020",
-    HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
+  HYUNDAI_KONA = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b]))],
     CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.CLUSTER_GEARS,
   )
-  KONA_EV = HyundaiPlatformConfig(
-    "HYUNDAI KONA ELECTRIC 2019",
-    HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
+  HYUNDAI_KONA_EV = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
     CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.EV,
   )
-  KONA_EV_2022 = HyundaiPlatformConfig(
-    "HYUNDAI KONA ELECTRIC 2022",
-    HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
+  HYUNDAI_KONA_EV_2022 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o]))],
     CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV,
   )
-  KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    "HYUNDAI KONA ELECTRIC 2ND GEN",
-    HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
-                   car_parts=CarParts.common([CarHarness.hyundai_r])),
+  HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
+                    car_parts=CarParts.common([CarHarness.hyundai_r]))],
     CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
   )
-  KONA_HEV = HyundaiPlatformConfig(
-    "HYUNDAI KONA HYBRID 2020",
-    HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages,
+  HYUNDAI_KONA_HEV = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))],  # TODO: check packages,
     CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.HYBRID,
   )
-  SANTA_FE = HyundaiPlatformConfig(
-    "HYUNDAI SANTA FE 2019",
-    HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
-                   car_parts=CarParts.common([CarHarness.hyundai_d])),
+  HYUNDAI_SANTA_FE = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
+                    car_parts=CarParts.common([CarHarness.hyundai_d]))],
     CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82),
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
   )
-  SANTA_FE_2022 = HyundaiPlatformConfig(
-    "HYUNDAI SANTA FE 2022",
-    HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
-                   car_parts=CarParts.common([CarHarness.hyundai_l])),
-    SANTA_FE.specs,
+  HYUNDAI_SANTA_FE_2022 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
+                    car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    HYUNDAI_SANTA_FE.specs,
     flags=HyundaiFlags.CHECKSUM_CRC8,
   )
-  SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
-    "HYUNDAI SANTA FE HYBRID 2022",
-    HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-    SANTA_FE.specs,
+  HYUNDAI_SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    HYUNDAI_SANTA_FE.specs,
     flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
-  SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
-    "HYUNDAI SANTA FE PlUG-IN HYBRID 2022",
-    HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-    SANTA_FE.specs,
+  HYUNDAI_SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    HYUNDAI_SANTA_FE.specs,
     flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
-  SONATA = HyundaiPlatformConfig(
-    "HYUNDAI SONATA 2020",
-    HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
-                   car_parts=CarParts.common([CarHarness.hyundai_a])),
+  HYUNDAI_SONATA = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
+                   car_parts=CarParts.common([CarHarness.hyundai_a]))],
     CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65),  # 15% higher at the center seems reasonable
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
   )
-  SONATA_LF = HyundaiPlatformConfig(
-    "HYUNDAI SONATA 2019",
-    HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
+  HYUNDAI_SONATA_LF = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))],
     CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15),  # 15% higher at the center seems reasonable
 
     flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
   )
-  STARIA_4TH_GEN = HyundaiCanFDPlatformConfig(
-    "HYUNDAI STARIA 4TH GEN",
-    HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  HYUNDAI_STARIA_4TH_GEN = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
     CarSpecs(mass=2205, wheelbase=3.273, steerRatio=11.94),  # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf
   )
-  TUCSON = HyundaiPlatformConfig(
-    "HYUNDAI TUCSON 2019",
+  HYUNDAI_TUCSON = HyundaiPlatformConfig(
     [
-      HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
-      HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarDocs("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarDocs("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
     ],
     CarSpecs(mass=3520 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=16.1, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.TCU_GEARS,
   )
-  PALISADE = HyundaiPlatformConfig(
-    "HYUNDAI PALISADE 2020",
+  HYUNDAI_PALISADE = HyundaiPlatformConfig(
     [
-      HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
-      HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+      HyundaiCarDocs("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
+      HyundaiCarDocs("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
     ],
     CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63),
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
   )
-  PALISADE_2023 = HyundaiPlatformConfig(
-    "HYUNDAI PALISADE 2023",
+  HYUNDAI_PALISADE_2023 = HyundaiPlatformConfig(
     [
-      HyundaiCarInfo("Hyundai Palisade (with HDA II) 2023-24", "All", car_parts=CarParts.common([CarHarness.hyundai_r])),
-      HyundaiCarInfo("Kia Telluride (with HDA II) 2023-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
+      HyundaiCarDocs("Hyundai Palisade (with HDA II) 2023-24", "All", car_parts=CarParts.common([CarHarness.hyundai_r])),
+      HyundaiCarDocs("Kia Telluride (with HDA II) 2023-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
     ],
-    PALISADE.specs,
+    HYUNDAI_PALISADE.specs,
     flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.CAN_CANFD | HyundaiFlags.RADAR_SCC,
   )
-  VELOSTER = HyundaiPlatformConfig(
-    "HYUNDAI VELOSTER 2019",
-    HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])),
+  HYUNDAI_VELOSTER = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e]))],
     CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor=0.5),
     flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS,
   )
-  SONATA_HYBRID = HyundaiPlatformConfig(
-    "HYUNDAI SONATA HYBRID 2021",
-    HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-    SONATA.specs,
+  HYUNDAI_SONATA_HYBRID = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    HYUNDAI_SONATA.specs,
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
-  IONIQ_5 = HyundaiCanFDPlatformConfig(
-    "HYUNDAI IONIQ 5 2022",
+  HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
     [
-      HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
-      HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
-      HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
     ],
     CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.EV,
   )
-  IONIQ_6 = HyundaiCanFDPlatformConfig(
-    "HYUNDAI IONIQ 6 2023",
-    HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
-    IONIQ_5.specs,
+  HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
+    HYUNDAI_IONIQ_5.specs,
     flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
   )
-  TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
-    "HYUNDAI TUCSON 4TH GEN",
+  HYUNDAI_TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
     [
-      HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
-      HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
-      HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
+      HyundaiCarDocs("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
+      HyundaiCarDocs("Hyundai Tucson 2023-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
+      HyundaiCarDocs("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
     ],
-    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=16, tireStiffnessFactor=0.385),
+    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
   )
-  SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
-    "HYUNDAI SANTA CRUZ 1ST GEN",
-    HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
+  HYUNDAI_SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))],
     # weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
     CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
   )
-  CUSTIN_1ST_GEN = HyundaiPlatformConfig(
-    "HYUNDAI CUSTIN 1ST GEN",
-    HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  HYUNDAI_CUSTIN_1ST_GEN = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
     CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17),  # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
     flags=HyundaiFlags.CHECKSUM_CRC8,
   )
 
   # Kia
   KIA_FORTE = HyundaiPlatformConfig(
-    "KIA FORTE E 2018 & GT 2021",
     [
-      HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
-      HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
+      HyundaiCarDocs("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
+      HyundaiCarDocs("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
     ],
     CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
   )
   KIA_K5_2021 = HyundaiPlatformConfig(
-    "KIA K5 2021",
-    HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    [HyundaiCarDocs("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a]))],
     CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5),  # 2021 Kia K5 Steering Ratio (all trims)
     flags=HyundaiFlags.CHECKSUM_CRC8,
   )
   KIA_K5_HEV_2020 = HyundaiPlatformConfig(
-    "KIA K5 HYBRID 2020",
-    HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    [HyundaiCarDocs("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a]))],
     KIA_K5_2021.specs,
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
   KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig(
-    "KIA K8 HYBRID 1ST GEN",
-    HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
+    [HyundaiCarDocs("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q]))],
     # mass: https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid, steerRatio: guesstimate from K5 platform
     CarSpecs(mass=1630, wheelbase=2.895, steerRatio=13.27)
   )
   KIA_NIRO_EV = HyundaiPlatformConfig(
-    "KIA NIRO EV 2020",
     [
-      HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
-      HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
-      HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
-      HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
+      HyundaiCarDocs("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
+      HyundaiCarDocs("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
+      HyundaiCarDocs("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
+      HyundaiCarDocs("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
     ],
     CarSpecs(mass=3543 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=13.6, tireStiffnessFactor=0.385),  # average of all the cars
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV,
   )
   KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    "KIA NIRO EV 2ND GEN",
-    HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    [HyundaiCarDocs("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
     KIA_NIRO_EV.specs,
     flags=HyundaiFlags.EV,
   )
   KIA_NIRO_PHEV = HyundaiPlatformConfig(
-    "KIA NIRO HYBRID 2019",
     [
-      HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
-      HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
+      HyundaiCarDocs("Kia Niro Hybrid 2018", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
+      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
+      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_d])),
     ],
     KIA_NIRO_EV.specs,
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.MIN_STEER_32_MPH,
   )
   KIA_NIRO_PHEV_2022 = HyundaiPlatformConfig(
-    "KIA NIRO PLUG-IN HYBRID 2022",
     [
-      HyundaiCarInfo("Kia Niro Plug-in Hybrid 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
-      HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
+      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
     ],
     KIA_NIRO_EV.specs,
     flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR,
   )
   KIA_NIRO_HEV_2021 = HyundaiPlatformConfig(
-    "KIA NIRO HYBRID 2021",
     [
-      HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
-      HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
+      HyundaiCarDocs("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
+      HyundaiCarDocs("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
     ],
     KIA_NIRO_EV.specs,
     flags=HyundaiFlags.HYBRID,
   )
   KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    "KIA NIRO HYBRID 2ND GEN",
-    HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    [HyundaiCarDocs("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a]))],
     KIA_NIRO_EV.specs,
   )
   KIA_OPTIMA_G4 = HyundaiPlatformConfig(
-    "KIA OPTIMA 4TH GEN",
-    HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
-                   car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
+    [HyundaiCarDocs("Kia Optima 2017", "Advanced Smart Cruise Control",
+                    car_parts=CarParts.common([CarHarness.hyundai_b]))],  # TODO: may support 2016, 2018
     CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
     flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
   )
   KIA_OPTIMA_G4_FL = HyundaiPlatformConfig(
-    "KIA OPTIMA 4TH GEN FACELIFT",
-    HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
+    [HyundaiCarDocs("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g]))],
     CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
     flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
   )
   # TODO: may support adjacent years. may have a non-zero minimum steering speed
   KIA_OPTIMA_H = HyundaiPlatformConfig(
-    "KIA OPTIMA HYBRID 2017 & SPORTS 2019",
-    HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])),
+    [HyundaiCarDocs("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c]))],
     CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
     flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
   )
   KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig(
-    "KIA OPTIMA HYBRID 4TH GEN FACELIFT",
-    HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])),
+    [HyundaiCarDocs("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h]))],
     CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
     flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
   )
   KIA_SELTOS = HyundaiPlatformConfig(
-    "KIA SELTOS 2021",
-    HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    [HyundaiCarDocs("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a]))],
     CarSpecs(mass=1337, wheelbase=2.63, steerRatio=14.56),
     flags=HyundaiFlags.CHECKSUM_CRC8,
   )
   KIA_SPORTAGE_5TH_GEN = HyundaiCanFDPlatformConfig(
-    "KIA SPORTAGE 5TH GEN",
     [
-      HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
-      HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
+      HyundaiCarDocs("Kia Sportage 2023-24", car_parts=CarParts.common([CarHarness.hyundai_n])),
+      HyundaiCarDocs("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
     ],
     # weight from SX and above trims, average of FWD and AWD version, steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
     CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6),
   )
   KIA_SORENTO = HyundaiPlatformConfig(
-    "KIA SORENTO GT LINE 2018",
     [
-      HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
+      HyundaiCarDocs("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
                      car_parts=CarParts.common([CarHarness.hyundai_e])),
-      HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
+      HyundaiCarDocs("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
     ],
     CarSpecs(mass=1985, wheelbase=2.78, steerRatio=14.4 * 1.1),  # 10% higher at the center seems reasonable
     flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
   )
   KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig(
-    "KIA SORENTO 4TH GEN",
-    HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    [HyundaiCarDocs("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k]))],
     CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
     flags=HyundaiFlags.RADAR_SCC,
   )
   KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
-    "KIA SORENTO HYBRID 4TH GEN",
     [
-      HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-      HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarDocs("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarDocs("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
     ],
     CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
     flags=HyundaiFlags.RADAR_SCC,
   )
   KIA_STINGER = HyundaiPlatformConfig(
-    "KIA STINGER GT2 2018",
-    HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
-                   car_parts=CarParts.common([CarHarness.hyundai_c])),
+    [HyundaiCarDocs("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
+                    car_parts=CarParts.common([CarHarness.hyundai_c]))],
     CarSpecs(mass=1825, wheelbase=2.78, steerRatio=14.4 * 1.15)  # 15% higher at the center seems reasonable
   )
   KIA_STINGER_2022 = HyundaiPlatformConfig(
-    "KIA STINGER 2022",
-    HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    [HyundaiCarDocs("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
     KIA_STINGER.specs,
   )
   KIA_CEED = HyundaiPlatformConfig(
-    "KIA CEED INTRO ED 2019",
-    HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])),
+    [HyundaiCarDocs("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e]))],
     CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
     flags=HyundaiFlags.LEGACY,
   )
   KIA_EV6 = HyundaiCanFDPlatformConfig(
-    "KIA EV6 2022",
     [
-      HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
-      HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
-      HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
+      HyundaiCarDocs("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
+      HyundaiCarDocs("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarDocs("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
     ],
     CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.EV,
   )
   KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig(
-    "KIA CARNIVAL 4TH GEN",
     [
-      HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
-      HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
+      HyundaiCarDocs("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarDocs("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
     ],
     CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23),
     flags=HyundaiFlags.RADAR_SCC,
@@ -567,49 +509,47 @@ class CAR(Platforms):
 
   # Genesis
   GENESIS_GV60_EV_1ST_GEN = HyundaiCanFDPlatformConfig(
-    "GENESIS GV60 ELECTRIC 1ST GEN",
     [
-      HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-      HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+      HyundaiCarDocs("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarDocs("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
     ],
     CarSpecs(mass=2205, wheelbase=2.9, steerRatio=12.6),  # steerRatio: https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
     flags=HyundaiFlags.EV,
   )
   GENESIS_G70 = HyundaiPlatformConfig(
-    "GENESIS G70 2018",
-    HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+    [HyundaiCarDocs("Genesis G70 2018", "All", car_parts=CarParts.common([CarHarness.hyundai_f]))],
     CarSpecs(mass=1640, wheelbase=2.84, steerRatio=13.56),
     flags=HyundaiFlags.LEGACY,
   )
   GENESIS_G70_2020 = HyundaiPlatformConfig(
-    "GENESIS G70 2020",
-    HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+    [
+      # TODO: 2021 MY harness is unknown
+      HyundaiCarDocs("Genesis G70 2019-21", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+      # TODO: From 3.3T Sport Advanced 2022 & Prestige 2023 Trim, 2.0T is unknown
+      HyundaiCarDocs("Genesis G70 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+    ],
     CarSpecs(mass=3673 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=12.9),
     flags=HyundaiFlags.MANDO_RADAR,
   )
   GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
-    "GENESIS GV70 1ST GEN",
     [
-      HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-      HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
+      HyundaiCarDocs("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarDocs("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
     ],
     CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6),
     flags=HyundaiFlags.RADAR_SCC,
   )
   GENESIS_G80 = HyundaiPlatformConfig(
-    "GENESIS G80 2017",
-    HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+    [HyundaiCarDocs("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
     CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5),
     flags=HyundaiFlags.LEGACY,
   )
   GENESIS_G90 = HyundaiPlatformConfig(
-    "GENESIS G90 2017",
-    HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
+    [HyundaiCarDocs("Genesis G90 2017-20", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))],
     CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069),
   )
   GENESIS_GV80 = HyundaiCanFDPlatformConfig(
-    "GENESIS GV80 2023",
-    HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
+    [HyundaiCarDocs("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m]))],
     CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14),
     flags=HyundaiFlags.RADAR_SCC,
   )
@@ -642,7 +582,7 @@ def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes | Non
   return codes
 
 
-def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> set[str]:
+def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str]:
   # Non-electric CAN FD platforms often do not have platform code specifiers needed
   # to distinguish between hybrid and ICE. All EVs so far are either exclusively
   # electric or specify electric in the platform code.
@@ -698,11 +638,6 @@ HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER])
 HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(0xf110)  # Alt long description
 
-HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
-  p16(0xf100)
-
 HYUNDAI_ECU_MANUFACTURING_DATE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.ECU_MANUFACTURING_DATE)
 
@@ -715,7 +650,9 @@ DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)')
 PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])')
 
 # We've seen both ICE and hybrid for these platforms, and they have hybrid descriptors (e.g. MQ4 vs MQ4H)
-CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
+CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_K8_HEV_1ST_GEN,
+                         # TODO: the hybrid variant is not out yet
+                         CAR.KIA_CARNIVAL_4TH_GEN}
 
 # List of ECUs expected to have platform codes, camera and radar should exist on all cars
 # TODO: use abs, it has the platform code and part number on many platforms
@@ -724,36 +661,25 @@ PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
 # TODO: there are date codes in the ABS firmware versions in hex
 DATE_FW_ECUS = [Ecu.fwdCamera]
 
-ALL_HYUNDAI_ECUS = [Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.engine, Ecu.parkingAdas, Ecu.transmission, Ecu.adas, Ecu.hvac, Ecu.cornerRadar]
-
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
-    # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD
+    # TODO: add back whitelists
     # CAN queries (OBD-II port)
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera],
-    ),
-    Request(
-      [HYUNDAI_VERSION_REQUEST_MULTI],
-      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar],
     ),
 
-    # CAN-FD queries (from camera)
-    # TODO: combine shared whitelists with CAN requests
+    # CAN & CAN-FD queries (from camera)
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac],
       bus=0,
       auxiliary=True,
     ),
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar, Ecu.hvac],
       bus=1,
       auxiliary=True,
       obd_multiplexing=False,
@@ -764,44 +690,15 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [HYUNDAI_ECU_MANUFACTURING_DATE],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera],
       bus=0,
       auxiliary=True,
       logging=True,
     ),
 
-    # CAN & CAN FD logging queries (from camera)
-    Request(
-      [HYUNDAI_VERSION_REQUEST_LONG],
-      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=ALL_HYUNDAI_ECUS,
-      bus=0,
-      auxiliary=True,
-      logging=True,
-    ),
-    Request(
-      [HYUNDAI_VERSION_REQUEST_MULTI],
-      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=ALL_HYUNDAI_ECUS,
-      bus=0,
-      auxiliary=True,
-      logging=True,
-    ),
-    Request(
-      [HYUNDAI_VERSION_REQUEST_LONG],
-      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=ALL_HYUNDAI_ECUS,
-      bus=1,
-      auxiliary=True,
-      obd_multiplexing=False,
-      logging=True,
-    ),
-
-    # CAN-FD alt request logging queries
+    # CAN-FD alt request logging queries for hvac and parkingAdas
     Request(
       [HYUNDAI_VERSION_REQUEST_ALT],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
       bus=0,
       auxiliary=True,
       logging=True,
@@ -809,18 +706,25 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [HYUNDAI_VERSION_REQUEST_ALT],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
       bus=1,
       auxiliary=True,
       logging=True,
       obd_multiplexing=False,
     ),
   ],
+  # We lose these ECUs without the comma power on these cars.
+  # Note that we still attempt to match with them when they are present
+  non_essential_ecus={
+    Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_ELANTRA_2021,
+              CAR.HYUNDAI_SANTA_FE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.KIA_SORENTO,
+              CAR.KIA_CEED, CAR.KIA_SELTOS],
+  },
   extra_ecus=[
-    (Ecu.adas, 0x730, None),         # ADAS Driving ECU on HDA2 platforms
-    (Ecu.parkingAdas, 0x7b1, None),  # ADAS Parking ECU (may exist on all platforms)
-    (Ecu.hvac, 0x7b3, None),         # HVAC Control Assembly
+    (Ecu.adas, 0x730, None),              # ADAS Driving ECU on HDA2 platforms
+    (Ecu.parkingAdas, 0x7b1, None),       # ADAS Parking ECU (may exist on all platforms)
+    (Ecu.hvac, 0x7b3, None),              # HVAC Control Assembly
     (Ecu.cornerRadar, 0x7b7, None),
+    (Ecu.combinationMeter, 0x7c6, None),  # CAN FD Instrument cluster
   ],
   # Custom fuzzy fingerprinting function using platform codes, part numbers + FW dates:
   match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
@@ -856,7 +760,6 @@ LEGACY_SAFETY_MODE_CAR = CAR.with_flags(HyundaiFlags.LEGACY)
 
 UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL)
 
-CAR_INFO = CAR.create_carinfo_map()
 DBC = CAR.create_dbc_map()
 
 if __name__ == "__main__":
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 9a78eea856..b6a626edec 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -14,7 +14,7 @@ from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.common.numpy_fast import clip
 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.values import Platform
+from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -81,45 +81,44 @@ class CarInterfaceBase(ABC):
     self.silent_steer_warning = True
     self.v_ego_cluster_seen = False
 
-    self.CS = None
-    self.can_parsers = []
-    if CarState is not None:
-      self.CS = CarState(CP)
+    self.CS = CarState(CP)
+    self.cp = self.CS.get_can_parser(CP)
+    self.cp_cam = self.CS.get_cam_can_parser(CP)
+    self.cp_adas = self.CS.get_adas_can_parser(CP)
+    self.cp_body = self.CS.get_body_can_parser(CP)
+    self.cp_loopback = self.CS.get_loopback_can_parser(CP)
+    self.can_parsers = [self.cp, self.cp_cam, self.cp_adas, self.cp_body, self.cp_loopback]
 
-      self.cp = self.CS.get_can_parser(CP)
-      self.cp_cam = self.CS.get_cam_can_parser(CP)
-      self.cp_adas = self.CS.get_adas_can_parser(CP)
-      self.cp_body = self.CS.get_body_can_parser(CP)
-      self.cp_loopback = self.CS.get_loopback_can_parser(CP)
-      self.can_parsers = [self.cp, self.cp_cam, self.cp_adas, self.cp_body, self.cp_loopback]
+    dbc_name = "" if self.cp is None else self.cp.dbc_name
+    self.CC: CarControllerBase = CarController(dbc_name, CP, self.VM)
 
-    self.CC = None
-    if CarController is not None:
-      self.CC = CarController(self.cp.dbc_name, CP, self.VM)
+  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[tuple[int, int, bytes, int]]]:
+    return self.CC.update(c, self.CS, now_nanos)
 
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
     return ACCEL_MIN, ACCEL_MAX
 
   @classmethod
-  def get_non_essential_params(cls, candidate: Platform):
+  def get_non_essential_params(cls, candidate: str):
     """
     Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints.
     """
     return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False)
 
   @classmethod
-  def get_params(cls, candidate: Platform, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
+  def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
     ret = CarInterfaceBase.get_std_params(candidate)
 
-    ret.mass = candidate.config.specs.mass
-    ret.wheelbase = candidate.config.specs.wheelbase
-    ret.steerRatio = candidate.config.specs.steerRatio
-    ret.centerToFront = ret.wheelbase * candidate.config.specs.centerToFrontRatio
-    ret.minEnableSpeed = candidate.config.specs.minEnableSpeed
-    ret.minSteerSpeed = candidate.config.specs.minSteerSpeed
-    ret.tireStiffnessFactor = candidate.config.specs.tireStiffnessFactor
-    ret.flags |= int(candidate.config.flags)
+    platform = PLATFORMS[candidate]
+    ret.mass = platform.config.specs.mass
+    ret.wheelbase = platform.config.specs.wheelbase
+    ret.steerRatio = platform.config.specs.steerRatio
+    ret.centerToFront = ret.wheelbase * platform.config.specs.centerToFrontRatio
+    ret.minEnableSpeed = platform.config.specs.minEnableSpeed
+    ret.minSteerSpeed = platform.config.specs.minSteerSpeed
+    ret.tireStiffnessFactor = platform.config.specs.tireStiffnessFactor
+    ret.flags |= int(platform.config.flags)
 
     ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
 
@@ -249,9 +248,6 @@ class CarInterfaceBase(ABC):
 
     return reader
 
-  @abstractmethod
-  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[bytes]]:
-    pass
 
   def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True,
                            enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
@@ -334,7 +330,6 @@ class RadarInterfaceBase(ABC):
     self.delay = 0
     self.radar_ts = CP.radarTimeStep
     self.frame = 0
-    self.no_radar_sleep = 'NO_RADAR_SLEEP' in os.environ
 
   def update(self, can_strings):
     self.frame += 1
@@ -438,6 +433,10 @@ class CarStateBase(ABC):
     }
     return d.get(gear.upper(), GearShifter.unknown)
 
+  @staticmethod
+  def get_can_parser(CP):
+    return None
+
   @staticmethod
   def get_cam_can_parser(CP):
     return None
@@ -459,8 +458,11 @@ SendCan = tuple[int, int, bytes, int]
 
 
 class CarControllerBase(ABC):
+  def __init__(self, dbc_name: str, CP, VM):
+    pass
+
   @abstractmethod
-  def update(self, CC, CS, now_nanos) -> tuple[car.CarControl.Actuators, list[SendCan]]:
+  def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
     pass
 
 
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index 37a67ecd93..83b238fb68 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -18,9 +18,16 @@ class CarState(CarStateBase):
     self.lkas_allowed_speed = False
     self.lkas_disabled = False
 
+    self.prev_distance_button = 0
+    self.distance_button = 0
+
   def update(self, cp, cp_cam):
 
     ret = car.CarState.new_message()
+
+    self.prev_distance_button = self.distance_button
+    self.distance_button = cp.vl["CRZ_BTNS"]["DISTANCE_LESS"]
+
     ret.wheelSpeeds = self.get_wheel_speeds(
       cp.vl["WHEEL_SPEEDS"]["FL"],
       cp.vl["WHEEL_SPEEDS"]["FR"],
diff --git a/selfdrive/car/mazda/fingerprints.py b/selfdrive/car/mazda/fingerprints.py
index 292f407935..f460fe9950 100644
--- a/selfdrive/car/mazda/fingerprints.py
+++ b/selfdrive/car/mazda/fingerprints.py
@@ -4,12 +4,14 @@ from openpilot.selfdrive.car.mazda.values import CAR
 Ecu = car.CarParams.Ecu
 
 FW_VERSIONS = {
-  CAR.CX5_2022: {
+  CAR.MAZDA_CX5_2022: {
     (Ecu.eps, 0x730, None): [
       b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PW67-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2D-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -31,15 +33,17 @@ FW_VERSIONS = {
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'PG69-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PW66-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYB2-21PS1-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYJ3-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.CX5: {
+  CAR.MAZDA_CX5: {
     (Ecu.eps, 0x730, None): [
       b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'KCB8-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -108,7 +112,7 @@ FW_VERSIONS = {
       b'SH9T-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.CX9: {
+  CAR.MAZDA_CX9: {
     (Ecu.eps, 0x730, None): [
       b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -158,7 +162,7 @@ FW_VERSIONS = {
       b'PYFM-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.MAZDA3: {
+  CAR.MAZDA_3: {
     (Ecu.eps, 0x730, None): [
       b'BHN1-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -193,7 +197,7 @@ FW_VERSIONS = {
       b'PYKE-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.MAZDA6: {
+  CAR.MAZDA_6: {
     (Ecu.eps, 0x730, None): [
       b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -225,7 +229,7 @@ FW_VERSIONS = {
       b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.CX9_2021: {
+  CAR.MAZDA_CX9_2021: {
     (Ecu.eps, 0x730, None): [
       b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -250,6 +254,7 @@ FW_VERSIONS = {
       b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-U\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index a138318b1a..6992d49ffe 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -2,7 +2,7 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -16,15 +16,14 @@ class CarInterface(CarInterfaceBase):
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
     ret.radarUnavailable = True
 
-    ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021)
+    ret.dashcamOnly = candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021)
 
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.8
-    ret.tireStiffnessFactor = 0.70   # not optimized yet
 
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate not in (CAR.CX5_2022, ):
+    if candidate not in (CAR.MAZDA_CX5_2022, ):
       ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
 
     ret.centerToFront = ret.wheelbase * 0.41
@@ -35,6 +34,9 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
+     # TODO: add button types for inc and dec
+    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     # events
     events = self.create_common_events(ret)
 
@@ -46,6 +48,3 @@ class CarInterface(CarInterfaceBase):
     ret.events = events.to_msg()
 
     return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index f45e80c119..a8c808d582 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -4,7 +4,7 @@ from enum import IntFlag
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
+from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
@@ -27,11 +27,16 @@ class CarControllerParams:
 
 
 @dataclass
-class MazdaCarInfo(CarInfo):
+class MazdaCarDocs(CarDocs):
   package: str = "All"
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda]))
 
 
+@dataclass(frozen=True, kw_only=True)
+class MazdaCarSpecs(CarSpecs):
+  tireStiffnessFactor: float = 0.7  # not optimized yet
+
+
 class MazdaFlags(IntFlag):
   # Static flags
   # Gen 1 hardware: same CAN messages and same camera
@@ -45,35 +50,29 @@ class MazdaPlatformConfig(PlatformConfig):
 
 
 class CAR(Platforms):
-  CX5 = MazdaPlatformConfig(
-    "MAZDA CX-5",
-    MazdaCarInfo("Mazda CX-5 2017-21"),
-    CarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5)
+  MAZDA_CX5 = MazdaPlatformConfig(
+    [MazdaCarDocs("Mazda CX-5 2017-21")],
+    MazdaCarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5)
   )
-  CX9 = MazdaPlatformConfig(
-    "MAZDA CX-9",
-    MazdaCarInfo("Mazda CX-9 2016-20"),
-    CarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6)
+  MAZDA_CX9 = MazdaPlatformConfig(
+    [MazdaCarDocs("Mazda CX-9 2016-20")],
+    MazdaCarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6)
   )
-  MAZDA3 = MazdaPlatformConfig(
-    "MAZDA 3",
-    MazdaCarInfo("Mazda 3 2017-18"),
-    CarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0)
+  MAZDA_3 = MazdaPlatformConfig(
+    [MazdaCarDocs("Mazda 3 2017-18")],
+    MazdaCarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0)
   )
-  MAZDA6 = MazdaPlatformConfig(
-    "MAZDA 6",
-    MazdaCarInfo("Mazda 6 2017-20"),
-    CarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5)
+  MAZDA_6 = MazdaPlatformConfig(
+    [MazdaCarDocs("Mazda 6 2017-20")],
+    MazdaCarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5)
   )
-  CX9_2021 = MazdaPlatformConfig(
-    "MAZDA CX-9 2021",
-    MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"),
-    CX9.specs
+  MAZDA_CX9_2021 = MazdaPlatformConfig(
+    [MazdaCarDocs("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4")],
+    MAZDA_CX9.specs
   )
-  CX5_2022 = MazdaPlatformConfig(
-    "MAZDA CX-5 2022",
-    MazdaCarInfo("Mazda CX-5 2022-24"),
-    CX5.specs,
+  MAZDA_CX5_2022 = MazdaPlatformConfig(
+    [MazdaCarDocs("Mazda CX-5 2022-24")],
+    MAZDA_CX5.specs,
   )
 
 
@@ -102,6 +101,4 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ],
 )
 
-
-CAR_INFO = CAR.create_carinfo_map()
 DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/mock/carcontroller.py b/selfdrive/car/mock/carcontroller.py
new file mode 100644
index 0000000000..2b2da954ff
--- /dev/null
+++ b/selfdrive/car/mock/carcontroller.py
@@ -0,0 +1,5 @@
+from openpilot.selfdrive.car.interfaces import CarControllerBase
+
+class CarController(CarControllerBase):
+  def update(self, CC, CS, now_nanos):
+    return CC.actuators.copy(), []
diff --git a/selfdrive/car/mock/carstate.py b/selfdrive/car/mock/carstate.py
new file mode 100644
index 0000000000..ece908b51c
--- /dev/null
+++ b/selfdrive/car/mock/carstate.py
@@ -0,0 +1,4 @@
+from openpilot.selfdrive.car.interfaces import CarStateBase
+
+class CarState(CarStateBase):
+  pass
diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
index 2e4ac43033..6100717a74 100755
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@@ -29,7 +29,3 @@ class CarInterface(CarInterfaceBase):
     ret.vEgoRaw = self.sm[gps_sock].speed
 
     return ret
-
-  def apply(self, c, now_nanos):
-    actuators = car.CarControl.Actuators.new_message()
-    return actuators, []
diff --git a/selfdrive/car/mock/values.py b/selfdrive/car/mock/values.py
index 74e8bb5fc9..f98aac2ee3 100644
--- a/selfdrive/car/mock/values.py
+++ b/selfdrive/car/mock/values.py
@@ -1,14 +1,9 @@
 from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms
 
 
-
 class CAR(Platforms):
   MOCK = PlatformConfig(
-    'mock',
-    None,
+    [],
     CarSpecs(mass=1700, wheelbase=2.7, steerRatio=13),
     {}
   )
-
-
-CAR_INFO = CAR.create_carinfo_map()
diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
index 6aa4bb9438..83775462b7 100644
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -51,21 +51,21 @@ class CarController(CarControllerBase):
 
     self.apply_angle_last = apply_angle
 
-    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and pcm_cancel_cmd:
+    if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA) and pcm_cancel_cmd:
       can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg))
 
     # TODO: Find better way to cancel!
     # For some reason spamming the cancel button is unreliable on the Leaf
     # We now cancel by making propilot think the seatbelt is unlatched,
     # this generates a beep and a warning message every time you disengage
-    if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and self.frame % 2 == 0:
+    if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC) and self.frame % 2 == 0:
       can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd))
 
     can_sends.append(nissancan.create_steering_control(
       self.packer, apply_angle, self.frame, CC.latActive, self.lkas_max_torque))
 
     # Below are the HUD messages. We copy the stock message and modify
-    if self.CP.carFingerprint != CAR.ALTIMA:
+    if self.CP.carFingerprint != CAR.NISSAN_ALTIMA:
       if self.frame % 2 == 0:
         can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                                        hud_control.leftLaneDepart, hud_control.rightLaneDepart))
diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
index b2ba9ce290..57146b49c4 100644
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@@ -20,19 +20,25 @@ class CarState(CarStateBase):
     self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
     self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
 
+    self.prev_distance_button = 0
+    self.distance_button = 0
+
   def update(self, cp, cp_adas, cp_cam):
     ret = car.CarState.new_message()
 
-    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
+    self.prev_distance_button = self.distance_button
+    self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"]
+
+    if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA):
       ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
-    elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
+    elif self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
       ret.gas = cp.vl["CRUISE_THROTTLE"]["GAS_PEDAL"]
 
     ret.gasPressed = bool(ret.gas > 3)
 
-    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
+    if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA):
       ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"])
-    elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
+    elif self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
       ret.brakePressed = bool(cp.vl["CRUISE_THROTTLE"]["USER_BRAKE_PRESSED"])
 
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -46,38 +52,38 @@ class CarState(CarStateBase):
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     ret.standstill = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"] == 0.0 and cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"] == 0.0
 
-    if self.CP.carFingerprint == CAR.ALTIMA:
+    if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
       ret.cruiseState.enabled = bool(cp.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
     else:
       ret.cruiseState.enabled = bool(cp_adas.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
 
-    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL):
+    if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL):
       ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
       ret.cruiseState.available = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ON"])
-    elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
-      if self.CP.carFingerprint == CAR.LEAF:
+    elif self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
+      if self.CP.carFingerprint == CAR.NISSAN_LEAF:
         ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_LATCHED"] == 0
-      elif self.CP.carFingerprint == CAR.LEAF_IC:
+      elif self.CP.carFingerprint == CAR.NISSAN_LEAF_IC:
         ret.seatbeltUnlatched = cp.vl["CANCEL_MSG"]["CANCEL_SEATBELT"] == 1
       ret.cruiseState.available = bool(cp.vl["CRUISE_THROTTLE"]["CRUISE_AVAILABLE"])
-    elif self.CP.carFingerprint == CAR.ALTIMA:
+    elif self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
       ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
       ret.cruiseState.available = bool(cp_adas.vl["PRO_PILOT"]["CRUISE_ON"])
 
-    if self.CP.carFingerprint == CAR.ALTIMA:
+    if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
       speed = cp.vl["PROPILOT_HUD"]["SET_SPEED"]
     else:
       speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"]
 
     if speed != 255:
-      if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
+      if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
         conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS
       else:
         conversion = CV.MPH_TO_MS if cp.vl["HUD"]["SPEED_MPH"] else CV.KPH_TO_MS
       ret.cruiseState.speed = speed * conversion
       ret.cruiseState.speedCluster = (speed - 1) * conversion  # Speed on HUD is always 1 lower than actually sent on can bus
 
-    if self.CP.carFingerprint == CAR.ALTIMA:
+    if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
       ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
     else:
       ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
@@ -101,17 +107,17 @@ class CarState(CarStateBase):
     can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
 
-    if self.CP.carFingerprint == CAR.ALTIMA:
+    if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
       self.lkas_enabled = bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
     else:
       self.lkas_enabled = bool(cp_adas.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
 
     self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"])
 
-    if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
+    if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
       self.cancel_msg = copy.copy(cp.vl["CANCEL_MSG"])
 
-    if self.CP.carFingerprint != CAR.ALTIMA:
+    if self.CP.carFingerprint != CAR.NISSAN_ALTIMA:
       self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
       self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
 
@@ -130,14 +136,14 @@ class CarState(CarStateBase):
       ("LIGHTS", 10),
     ]
 
-    if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
+    if CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA):
       messages += [
         ("GAS_PEDAL", 100),
         ("CRUISE_THROTTLE", 50),
         ("HUD", 25),
       ]
 
-    elif CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
+    elif CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
       messages += [
         ("BRAKE_PEDAL", 100),
         ("CRUISE_THROTTLE", 50),
@@ -146,7 +152,7 @@ class CarState(CarStateBase):
         ("SEATBELT", 10),
       ]
 
-    if CP.carFingerprint == CAR.ALTIMA:
+    if CP.carFingerprint == CAR.NISSAN_ALTIMA:
       messages += [
         ("CRUISE_STATE", 10),
         ("LKAS_SETTINGS", 10),
@@ -162,7 +168,7 @@ class CarState(CarStateBase):
   def get_adas_can_parser(CP):
     # this function generates lists for signal, messages and initial values
 
-    if CP.carFingerprint == CAR.ALTIMA:
+    if CP.carFingerprint == CAR.NISSAN_ALTIMA:
       messages = [
         ("LKAS", 100),
         ("PRO_PILOT", 100),
@@ -182,9 +188,9 @@ class CarState(CarStateBase):
   def get_cam_can_parser(CP):
     messages = []
 
-    if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL):
+    if CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL):
       messages.append(("PRO_PILOT", 100))
-    elif CP.carFingerprint == CAR.ALTIMA:
+    elif CP.carFingerprint == CAR.NISSAN_ALTIMA:
       messages.append(("STEER_TORQUE_SENSOR", 100))
       return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
diff --git a/selfdrive/car/nissan/fingerprints.py b/selfdrive/car/nissan/fingerprints.py
index 19267ded46..743feeace9 100644
--- a/selfdrive/car/nissan/fingerprints.py
+++ b/selfdrive/car/nissan/fingerprints.py
@@ -5,31 +5,31 @@ from openpilot.selfdrive.car.nissan.values import CAR
 Ecu = car.CarParams.Ecu
 
 FINGERPRINTS = {
-  CAR.XTRAIL: [{
+  CAR.NISSAN_XTRAIL: [{
     2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837: 8, 2015: 8, 2016: 8, 2024: 8
   },
   {
     2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 527: 1, 548: 8, 637: 4, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 8, 1497: 3, 1534: 6, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8
   }],
-  CAR.LEAF: [{
+  CAR.NISSAN_LEAF: [{
     2: 5, 42: 6, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 944: 1, 976: 6, 1008: 7, 1011: 7, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8, 1856: 8, 1859: 8, 1861: 8, 1864: 8, 1874: 8, 1888: 8, 1891: 8, 1893: 8, 1906: 8, 1947: 8, 1949: 8, 1979: 8, 1981: 8, 2016: 8, 2017: 8, 2021: 8, 643: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8
   },
   {
     2: 5, 42: 8, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 976: 6, 1008: 7, 1009: 8, 1010: 8, 1011: 7, 1012: 8, 1013: 8, 1019: 8, 1020: 8, 1021: 8, 1022: 8, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1402: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8
   }],
-  CAR.LEAF_IC: [{
+  CAR.NISSAN_LEAF_IC: [{
     2: 5, 42: 6, 264: 3, 282: 8, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 756: 5, 758: 3, 761: 2, 783: 3, 830: 2, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 1001: 6, 1057: 3, 1227: 8, 1228: 8, 1229: 8, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1514: 6, 1549: 8, 1573: 6, 1792: 8, 1821: 8, 1822: 8, 1837: 8, 1838: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8
   }],
-  CAR.ROGUE: [{
+  CAR.NISSAN_ROGUE: [{
     2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 634: 7, 643: 5, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1042: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1534: 7, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1839: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
   }],
-  CAR.ALTIMA: [{
+  CAR.NISSAN_ALTIMA: [{
     2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 438: 8, 451: 8, 517: 8, 520: 2, 522: 8, 523: 6, 539: 8, 541: 7, 542: 8, 543: 8, 544: 8, 545: 8, 546: 8, 547: 8, 548: 8, 570: 8, 576: 8, 577: 8, 582: 8, 583: 8, 584: 8, 586: 8, 587: 8, 588: 8, 589: 8, 590: 8, 591: 8, 592: 8, 600: 8, 601: 8, 610: 8, 611: 8, 612: 8, 614: 8, 615: 8, 616: 8, 617: 8, 622: 8, 623: 8, 634: 7, 638: 8, 645: 8, 648: 5, 654: 6, 658: 8, 659: 8, 660: 8, 661: 8, 665: 8, 666: 8, 674: 2, 675: 8, 676: 8, 682: 8, 683: 8, 684: 8, 685: 8, 686: 8, 687: 8, 689: 8, 690: 8, 703: 8, 708: 7, 709: 7, 711: 7, 712: 7, 713: 7, 714: 8, 715: 8, 716: 8, 717: 7, 718: 7, 719: 7, 720: 7, 723: 8, 726: 7, 727: 7, 728: 7, 735: 8, 746: 8, 748: 6, 749: 6, 750: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 779: 7, 781: 7, 782: 7, 783: 3, 851: 8, 855: 5, 1001: 6, 1041: 8, 1042: 8, 1055: 3, 1100: 7, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1144: 7, 1145: 7, 1227: 8, 1228: 8, 1229: 8, 1232: 8, 1247: 4, 1258: 8, 1259: 8, 1266: 8, 1273: 7, 1306: 1, 1314: 8, 1323: 8, 1324: 8, 1342: 1, 1376: 8, 1401: 8, 1454: 8, 1497: 3, 1514: 6, 1526: 8, 1527: 5, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
   }],
 }
 
 FW_VERSIONS = {
-  CAR.ALTIMA: {
+  CAR.NISSAN_ALTIMA: {
     (Ecu.fwdCamera, 0x707, None): [
       b'284N86CA1D',
     ],
@@ -43,7 +43,7 @@ FW_VERSIONS = {
       b'284U29HE0A',
     ],
   },
-  CAR.LEAF: {
+  CAR.NISSAN_LEAF: {
     (Ecu.abs, 0x740, None): [
       b'476605SA1C',
       b'476605SA7D',
@@ -72,7 +72,7 @@ FW_VERSIONS = {
       b'284U26WK0C',
     ],
   },
-  CAR.LEAF_IC: {
+  CAR.NISSAN_LEAF_IC: {
     (Ecu.fwdCamera, 0x707, None): [
       b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
       b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
@@ -94,7 +94,7 @@ FW_VERSIONS = {
       b'284U25SK2D',
     ],
   },
-  CAR.XTRAIL: {
+  CAR.NISSAN_XTRAIL: {
     (Ecu.fwdCamera, 0x707, None): [
       b'284N86FR2A',
     ],
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index a94b97de20..2e9a990610 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -1,9 +1,11 @@
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
+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
 
+ButtonType = car.CarState.ButtonEvent.Type
+
 
 class CarInterface(CarInterfaceBase):
 
@@ -20,7 +22,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerControlType = car.CarParams.SteerControlType.angle
     ret.radarUnavailable = True
 
-    if candidate == CAR.ALTIMA:
+    if candidate == CAR.NISSAN_ALTIMA:
       # Altima has EPS on C-CAN unlike the others that have it on V-CAN
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
 
@@ -30,10 +32,7 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
 
-    buttonEvents = []
-    be = car.CarState.ButtonEvent.new_message()
-    be.type = car.CarState.ButtonEvent.Type.accelCruise
-    buttonEvents.append(be)
+    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
 
@@ -43,6 +42,3 @@ class CarInterface(CarInterfaceBase):
     ret.events = events.to_msg()
 
     return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py
index 49dcd6fe93..b9a1b4f843 100644
--- a/selfdrive/car/nissan/nissancan.py
+++ b/selfdrive/car/nissan/nissancan.py
@@ -39,7 +39,7 @@ def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg):
     "unsure2",
     "unsure3",
   ]}
-  can_bus = 1 if car_fingerprint == CAR.ALTIMA else 2
+  can_bus = 1 if car_fingerprint == CAR.NISSAN_ALTIMA else 2
 
   values["CANCEL_BUTTON"] = 1
   values["NO_BUTTON_PRESSED"] = 0
diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py
index cb7289389b..eecffb21bc 100644
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@@ -3,7 +3,7 @@ from dataclasses import dataclass, field
 from cereal import car
 from panda.python import uds
 from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarInfo, CarHarness, CarParts
+from openpilot.selfdrive.car.docs_definitions import CarDocs, CarHarness, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
@@ -20,7 +20,7 @@ class CarControllerParams:
 
 
 @dataclass
-class NissanCarInfo(CarInfo):
+class NissanCarDocs(CarDocs):
   package: str = "ProPILOT Assist"
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a]))
 
@@ -32,38 +32,33 @@ class NissanCarSpecs(CarSpecs):
 
 
 @dataclass
-class NissanPlaformConfig(PlatformConfig):
+class NissanPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('nissan_x_trail_2017_generated', None))
 
 
 class CAR(Platforms):
-  XTRAIL = NissanPlaformConfig(
-    "NISSAN X-TRAIL 2017",
-    NissanCarInfo("Nissan X-Trail 2017"),
+  NISSAN_XTRAIL = NissanPlatformConfig(
+    [NissanCarDocs("Nissan X-Trail 2017")],
     NissanCarSpecs(mass=1610, wheelbase=2.705)
   )
-  LEAF = NissanPlaformConfig(
-    "NISSAN LEAF 2018",
-    NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
+  NISSAN_LEAF = NissanPlatformConfig(
+    [NissanCarDocs("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY")],
     NissanCarSpecs(mass=1610, wheelbase=2.705),
     dbc_dict('nissan_leaf_2018_generated', None),
   )
   # Leaf with ADAS ECU found behind instrument cluster instead of glovebox
   # Currently the only known difference between them is the inverted seatbelt signal.
-  LEAF_IC = LEAF.override(platform_str="NISSAN LEAF 2018 Instrument Cluster", car_info=None)
-  ROGUE = NissanPlaformConfig(
-    "NISSAN ROGUE 2019",
-    NissanCarInfo("Nissan Rogue 2018-20"),
+  NISSAN_LEAF_IC = NISSAN_LEAF.override(car_docs=[])
+  NISSAN_ROGUE = NissanPlatformConfig(
+    [NissanCarDocs("Nissan Rogue 2018-20")],
     NissanCarSpecs(mass=1610, wheelbase=2.705)
   )
-  ALTIMA = NissanPlaformConfig(
-    "NISSAN ALTIMA 2020",
-    NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
+  NISSAN_ALTIMA = NissanPlatformConfig(
+    [NissanCarDocs("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b]))],
     NissanCarSpecs(mass=1492, wheelbase=2.824)
   )
 
 
-CAR_INFO = CAR.create_carinfo_map()
 DBC = CAR.create_dbc_map()
 
 # Default diagnostic session
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index ebf0ca9062..821ff2c151 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -29,6 +29,16 @@ class CarState(CarStateBase):
       cp_brakes = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
       ret.brakePressed = cp_brakes.vl["Brake_Status"]["Brake"] == 1
 
+    cp_es_distance = cp_body if self.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID) else cp_cam
+    if not (self.CP.flags & SubaruFlags.HYBRID):
+      eyesight_fault = bool(cp_es_distance.vl["ES_Distance"]["Cruise_Fault"])
+
+      # if openpilot is controlling long, an eyesight fault is a non-critical fault. otherwise it's an ACC fault
+      if self.CP.openpilotLongitudinalControl:
+        ret.carFaultedNonCritical = eyesight_fault
+      else:
+        ret.accFaulted = eyesight_fault
+
     cp_wheels = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
     ret.wheelSpeeds = self.get_wheel_speeds(
       cp_wheels.vl["Wheel_Speeds"]["FL"],
@@ -84,7 +94,6 @@ class CarState(CarStateBase):
                         cp.vl["BodyInfo"]["DOOR_OPEN_FL"]])
     ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1
 
-    cp_es_distance = cp_body if self.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID) else cp_cam
     if self.CP.flags & SubaruFlags.PREGLOBAL:
       self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"]
       self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py
index 90fa6093d9..41727d7623 100644
--- a/selfdrive/car/subaru/fingerprints.py
+++ b/selfdrive/car/subaru/fingerprints.py
@@ -4,7 +4,7 @@ from openpilot.selfdrive.car.subaru.values import CAR
 Ecu = car.CarParams.Ecu
 
 FW_VERSIONS = {
-  CAR.ASCENT: {
+  CAR.SUBARU_ASCENT: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa5 \x19\x02\x00',
       b'\xa5 !\x02\x00',
@@ -26,13 +26,14 @@ FW_VERSIONS = {
       b'\xd1,\xa0q\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\x00>\xf0\x00\x00',
       b'\x00\xfe\xf7\x00\x00',
       b'\x01\xfe\xf7\x00\x00',
       b'\x01\xfe\xf9\x00\x00',
       b'\x01\xfe\xfa\x00\x00',
     ],
   },
-  CAR.ASCENT_2023: {
+  CAR.SUBARU_ASCENT_2023: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa5 #\x03\x00',
     ],
@@ -49,7 +50,7 @@ FW_VERSIONS = {
       b'\x04\xfe\xf3\x00\x00',
     ],
   },
-  CAR.LEGACY: {
+  CAR.SUBARU_LEGACY: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa1  \x02\x01',
       b'\xa1  \x02\x02',
@@ -77,7 +78,7 @@ FW_VERSIONS = {
       b'\xa7\xfe\xc4@\x00',
     ],
   },
-  CAR.IMPREZA: {
+  CAR.SUBARU_IMPREZA: {
     (Ecu.abs, 0x7b0, None): [
       b'z\x84\x19\x90\x00',
       b'z\x94\x08\x90\x00',
@@ -148,6 +149,7 @@ FW_VERSIONS = {
       b'\xe3\xf5C\x00\x00',
       b'\xe3\xf5F\x00\x00',
       b'\xe3\xf5G\x00\x00',
+      b'\xe4\xe5\x021\x00',
       b'\xe4\xe5\x061\x00',
       b'\xe4\xf5\x02\x00\x00',
       b'\xe4\xf5\x07\x00\x00',
@@ -156,7 +158,7 @@ FW_VERSIONS = {
       b'\xe5\xf5B\x00\x00',
     ],
   },
-  CAR.IMPREZA_2020: {
+  CAR.SUBARU_IMPREZA_2020: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa2 \x193\x00',
       b'\xa2 \x194\x00',
@@ -195,6 +197,7 @@ FW_VERSIONS = {
       b'\xe6"fp\x07',
       b'\xf3"f@\x07',
       b'\xf3"fp\x07',
+      b'\xf3"fr\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xe6\xf5\x04\x00\x00',
@@ -209,7 +212,7 @@ FW_VERSIONS = {
       b'\xe9\xf6F0\x00',
     ],
   },
-  CAR.CROSSTREK_HYBRID: {
+  CAR.SUBARU_CROSSTREK_HYBRID: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa2 \x19e\x01',
       b'\xa2 !e\x01',
@@ -227,12 +230,13 @@ FW_VERSIONS = {
       b'\xf4!`0\x07',
     ],
   },
-  CAR.FORESTER: {
+  CAR.SUBARU_FORESTER: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa3 \x18\x14\x00',
       b'\xa3 \x18&\x00',
       b'\xa3 \x19\x14\x00',
       b'\xa3 \x19&\x00',
+      b'\xa3 \x19h\x00',
       b'\xa3  \x14\x00',
       b'\xa3  \x14\x01',
     ],
@@ -245,6 +249,7 @@ FW_VERSIONS = {
       b'\x00\x00e!\x1f@ \x11',
       b'\x00\x00e^\x00\x00\x00\x00',
       b'\x00\x00e^\x1f@ !',
+      b'\x00\x00e`\x00\x00\x00\x00',
       b'\x00\x00e`\x1f@  ',
       b'\x00\x00e\x97\x00\x00\x00\x00',
       b'\x00\x00e\x97\x1f@ 0',
@@ -265,9 +270,10 @@ FW_VERSIONS = {
       b'\x1a\xf6F`\x00',
       b'\x1a\xf6b0\x00',
       b'\x1a\xf6b`\x00',
+      b'\x1a\xf6f`\x00',
     ],
   },
-  CAR.FORESTER_HYBRID: {
+  CAR.SUBARU_FORESTER_HYBRID: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa3 \x19T\x00',
     ],
@@ -284,7 +290,7 @@ FW_VERSIONS = {
       b'\x1b\xa7@a\x00',
     ],
   },
-  CAR.FORESTER_PREGLOBAL: {
+  CAR.SUBARU_FORESTER_PREGLOBAL: {
     (Ecu.abs, 0x7b0, None): [
       b'm\x97\x14@',
       b'}\x97\x14@',
@@ -315,7 +321,7 @@ FW_VERSIONS = {
       b'\xdc\xf2`\x81\x00',
     ],
   },
-  CAR.LEGACY_PREGLOBAL: {
+  CAR.SUBARU_LEGACY_PREGLOBAL: {
     (Ecu.abs, 0x7b0, None): [
       b'[\x97D\x00',
       b'[\xba\xc4\x03',
@@ -348,7 +354,7 @@ FW_VERSIONS = {
       b'\xbf\xfb\xc0\x80\x00',
     ],
   },
-  CAR.OUTBACK_PREGLOBAL: {
+  CAR.SUBARU_OUTBACK_PREGLOBAL: {
     (Ecu.abs, 0x7b0, None): [
       b'[\xba\xac\x03',
       b'[\xf7\xac\x00',
@@ -401,7 +407,7 @@ FW_VERSIONS = {
       b'\xbf\xfb\xe0b\x00',
     ],
   },
-  CAR.OUTBACK_PREGLOBAL_2018: {
+  CAR.SUBARU_OUTBACK_PREGLOBAL_2018: {
     (Ecu.abs, 0x7b0, None): [
       b'\x8b\x97\xac\x00',
       b'\x8b\x97\xbc\x00',
@@ -444,7 +450,7 @@ FW_VERSIONS = {
       b'\xbc\xfb\xe0\x80\x00',
     ],
   },
-  CAR.OUTBACK: {
+  CAR.SUBARU_OUTBACK: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa1  \x06\x00',
       b'\xa1  \x06\x01',
@@ -493,7 +499,7 @@ FW_VERSIONS = {
       b'\xa7\xfe\xf4@\x00',
     ],
   },
-  CAR.FORESTER_2022: {
+  CAR.SUBARU_FORESTER_2022: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa3 !v\x00',
       b'\xa3 !x\x00',
@@ -526,7 +532,7 @@ FW_VERSIONS = {
       b'\x1e\xf6D0\x00',
     ],
   },
-  CAR.OUTBACK_2023: {
+  CAR.SUBARU_OUTBACK_2023: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa1 #\x14\x00',
       b'\xa1 #\x17\x00',
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 30e186bd09..1aa4bd95ea 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -40,45 +40,45 @@ class CarInterface(CarInterfaceBase):
     else:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate in (CAR.ASCENT, CAR.ASCENT_2023):
+    if candidate in (CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023):
       ret.steerActuatorDelay = 0.3  # end-to-end angle controller
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00003
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
 
-    elif candidate == CAR.IMPREZA:
+    elif candidate == CAR.SUBARU_IMPREZA:
       ret.steerActuatorDelay = 0.4  # end-to-end angle controller
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
 
-    elif candidate == CAR.IMPREZA_2020:
+    elif candidate == CAR.SUBARU_IMPREZA_2020:
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
 
-    elif candidate == CAR.CROSSTREK_HYBRID:
+    elif candidate == CAR.SUBARU_CROSSTREK_HYBRID:
       ret.steerActuatorDelay = 0.1
 
-    elif candidate in (CAR.FORESTER, CAR.FORESTER_2022, CAR.FORESTER_HYBRID):
+    elif candidate in (CAR.SUBARU_FORESTER, CAR.SUBARU_FORESTER_2022, CAR.SUBARU_FORESTER_HYBRID):
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.000038
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
 
-    elif candidate in (CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023):
+    elif candidate in (CAR.SUBARU_OUTBACK, CAR.SUBARU_LEGACY, CAR.SUBARU_OUTBACK_2023):
       ret.steerActuatorDelay = 0.1
 
-    elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
+    elif candidate in (CAR.SUBARU_FORESTER_PREGLOBAL, CAR.SUBARU_OUTBACK_PREGLOBAL_2018):
       ret.safetyConfigs[0].safetyParam = Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE  # Outback 2018-2019 and Forester have reversed driver torque signal
 
-    elif candidate == CAR.LEGACY_PREGLOBAL:
+    elif candidate == CAR.SUBARU_LEGACY_PREGLOBAL:
       ret.steerActuatorDelay = 0.15
 
-    elif candidate == CAR.OUTBACK_PREGLOBAL:
+    elif candidate == CAR.SUBARU_OUTBACK_PREGLOBAL:
       pass
     else:
       raise ValueError(f"unknown car: {candidate}")
@@ -114,6 +114,3 @@ class CarInterface(CarInterfaceBase):
   def init(CP, logcan, sendcan):
     if CP.flags & SubaruFlags.DISABLE_EYESIGHT:
       disable_ecu(logcan, sendcan, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 5668678225..0542635370 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -4,7 +4,7 @@ from enum import Enum, IntFlag
 from cereal import car
 from panda.python import uds
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Tool, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
 Ecu = car.CarParams.Ecu
@@ -23,7 +23,7 @@ class CarControllerParams:
       self.STEER_MAX = 1000
       self.STEER_DELTA_UP = 40
       self.STEER_DELTA_DOWN = 40
-    elif CP.carFingerprint == CAR.IMPREZA_2020:
+    elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020:
       self.STEER_MAX = 1439
     else:
       self.STEER_MAX = 2047
@@ -88,7 +88,7 @@ class Footnote(Enum):
 
 
 @dataclass
-class SubaruCarInfo(CarInfo):
+class SubaruCarDocs(CarDocs):
   package: str = "EyeSight Driver Assistance"
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.subaru_a]))
   footnotes: list[Enum] = field(default_factory=lambda: [Footnote.GLOBAL])
@@ -120,105 +120,90 @@ class SubaruGen2PlatformConfig(SubaruPlatformConfig):
 
 class CAR(Platforms):
   # Global platform
-  ASCENT = SubaruPlatformConfig(
-    "SUBARU ASCENT LIMITED 2019",
-    SubaruCarInfo("Subaru Ascent 2019-21", "All"),
+  SUBARU_ASCENT = SubaruPlatformConfig(
+    [SubaruCarDocs("Subaru Ascent 2019-21", "All")],
     CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5),
   )
-  OUTBACK = SubaruGen2PlatformConfig(
-    "SUBARU OUTBACK 6TH GEN",
-    SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
+  SUBARU_OUTBACK = SubaruGen2PlatformConfig(
+    [SubaruCarDocs("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))],
     CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
   )
-  LEGACY = SubaruGen2PlatformConfig(
-    "SUBARU LEGACY 7TH GEN",
-    SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
-    OUTBACK.specs,
+  SUBARU_LEGACY = SubaruGen2PlatformConfig(
+    [SubaruCarDocs("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))],
+    SUBARU_OUTBACK.specs,
   )
-  IMPREZA = SubaruPlatformConfig(
-    "SUBARU IMPREZA LIMITED 2019",
+  SUBARU_IMPREZA = SubaruPlatformConfig(
     [
-      SubaruCarInfo("Subaru Impreza 2017-19"),
-      SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
-      SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
+      SubaruCarDocs("Subaru Impreza 2017-19"),
+      SubaruCarDocs("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
+      SubaruCarDocs("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
     ],
     CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15),
   )
-  IMPREZA_2020 = SubaruPlatformConfig(
-    "SUBARU IMPREZA SPORT 2020",
+  SUBARU_IMPREZA_2020 = SubaruPlatformConfig(
     [
-      SubaruCarInfo("Subaru Impreza 2020-22"),
-      SubaruCarInfo("Subaru Crosstrek 2020-23"),
-      SubaruCarInfo("Subaru XV 2020-21"),
+      SubaruCarDocs("Subaru Impreza 2020-22"),
+      SubaruCarDocs("Subaru Crosstrek 2020-23"),
+      SubaruCarDocs("Subaru XV 2020-21"),
     ],
     CarSpecs(mass=1480, wheelbase=2.67, steerRatio=17),
     flags=SubaruFlags.STEER_RATE_LIMITED,
   )
   # TODO: is there an XV and Impreza too?
-  CROSSTREK_HYBRID = SubaruPlatformConfig(
-    "SUBARU CROSSTREK HYBRID 2020",
-    SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])),
+  SUBARU_CROSSTREK_HYBRID = SubaruPlatformConfig(
+    [SubaruCarDocs("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b]))],
     CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
     flags=SubaruFlags.HYBRID,
   )
-  FORESTER = SubaruPlatformConfig(
-    "SUBARU FORESTER 2019",
-    SubaruCarInfo("Subaru Forester 2019-21", "All"),
+  SUBARU_FORESTER = SubaruPlatformConfig(
+    [SubaruCarDocs("Subaru Forester 2019-21", "All")],
     CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
     flags=SubaruFlags.STEER_RATE_LIMITED,
   )
-  FORESTER_HYBRID = SubaruPlatformConfig(
-    "SUBARU FORESTER HYBRID 2020",
-    SubaruCarInfo("Subaru Forester Hybrid 2020"),
-    FORESTER.specs,
+  SUBARU_FORESTER_HYBRID = SubaruPlatformConfig(
+    [SubaruCarDocs("Subaru Forester Hybrid 2020")],
+    SUBARU_FORESTER.specs,
     flags=SubaruFlags.HYBRID,
   )
   # Pre-global
-  FORESTER_PREGLOBAL = SubaruPlatformConfig(
-    "SUBARU FORESTER 2017 - 2018",
-    SubaruCarInfo("Subaru Forester 2017-18"),
+  SUBARU_FORESTER_PREGLOBAL = SubaruPlatformConfig(
+    [SubaruCarDocs("Subaru Forester 2017-18")],
     CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20),
     dbc_dict('subaru_forester_2017_generated', None),
     flags=SubaruFlags.PREGLOBAL,
   )
-  LEGACY_PREGLOBAL = SubaruPlatformConfig(
-    "SUBARU LEGACY 2015 - 2018",
-    SubaruCarInfo("Subaru Legacy 2015-18"),
+  SUBARU_LEGACY_PREGLOBAL = SubaruPlatformConfig(
+    [SubaruCarDocs("Subaru Legacy 2015-18")],
     CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5),
     dbc_dict('subaru_outback_2015_generated', None),
     flags=SubaruFlags.PREGLOBAL,
   )
-  OUTBACK_PREGLOBAL = SubaruPlatformConfig(
-    "SUBARU OUTBACK 2015 - 2017",
-    SubaruCarInfo("Subaru Outback 2015-17"),
-    FORESTER_PREGLOBAL.specs,
+  SUBARU_OUTBACK_PREGLOBAL = SubaruPlatformConfig(
+    [SubaruCarDocs("Subaru Outback 2015-17")],
+    SUBARU_FORESTER_PREGLOBAL.specs,
     dbc_dict('subaru_outback_2015_generated', None),
     flags=SubaruFlags.PREGLOBAL,
   )
-  OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig(
-    "SUBARU OUTBACK 2018 - 2019",
-    SubaruCarInfo("Subaru Outback 2018-19"),
-    FORESTER_PREGLOBAL.specs,
+  SUBARU_OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig(
+    [SubaruCarDocs("Subaru Outback 2018-19")],
+    SUBARU_FORESTER_PREGLOBAL.specs,
     dbc_dict('subaru_outback_2019_generated', None),
     flags=SubaruFlags.PREGLOBAL,
   )
   # Angle LKAS
-  FORESTER_2022 = SubaruPlatformConfig(
-    "SUBARU FORESTER 2022",
-    SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
-    FORESTER.specs,
+  SUBARU_FORESTER_2022 = SubaruPlatformConfig(
+    [SubaruCarDocs("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c]))],
+    SUBARU_FORESTER.specs,
     flags=SubaruFlags.LKAS_ANGLE,
   )
-  OUTBACK_2023 = SubaruGen2PlatformConfig(
-    "SUBARU OUTBACK 7TH GEN",
-    SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
-    OUTBACK.specs,
+  SUBARU_OUTBACK_2023 = SubaruGen2PlatformConfig(
+    [SubaruCarDocs("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))],
+    SUBARU_OUTBACK.specs,
     flags=SubaruFlags.LKAS_ANGLE,
   )
-  ASCENT_2023 = SubaruGen2PlatformConfig(
-    "SUBARU ASCENT 2023",
-    SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
-    ASCENT.specs,
+  SUBARU_ASCENT_2023 = SubaruGen2PlatformConfig(
+    [SubaruCarDocs("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))],
+    SUBARU_ASCENT.specs,
     flags=SubaruFlags.LKAS_ANGLE,
   )
 
@@ -228,27 +213,51 @@ SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
 SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
 
+# The EyeSight ECU takes 10s to respond to SUBARU_VERSION_REQUEST properly,
+# log this alternate manufacturer-specific query
+SUBARU_ALT_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(0xf100)
+SUBARU_ALT_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(0xf100)
+
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
+      logging=True,
     ),
+    # Non-OBD requests
     # Some Eyesight modules fail on TESTER_PRESENT_REQUEST
     # TODO: check if this resolves the fingerprinting issue for the 2023 Ascent and other new Subaru cars
     Request(
       [SUBARU_VERSION_REQUEST],
       [SUBARU_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.fwdCamera],
+      bus=0,
+    ),
+    Request(
+      [SUBARU_ALT_VERSION_REQUEST],
+      [SUBARU_ALT_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.fwdCamera],
+      bus=0,
+      logging=True,
+    ),
+    Request(
+      [StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
+      [StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.fwdCamera],
+      bus=0,
+      logging=True,
     ),
-    # Non-OBD requests
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
       bus=0,
     ),
+    # GEN2 powertrain bus query
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
@@ -263,9 +272,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
   }
 )
 
-CAR_INFO = CAR.create_carinfo_map()
 DBC = CAR.create_dbc_map()
 
-
 if __name__ == "__main__":
   CAR.print_debug(SubaruFlags)
diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py
index 2cb4f09d79..645ea46014 100644
--- a/selfdrive/car/tesla/carstate.py
+++ b/selfdrive/car/tesla/carstate.py
@@ -2,7 +2,7 @@ import copy
 from collections import deque
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
+from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
@@ -37,13 +37,15 @@ class CarState(CarStateBase):
     ret.brakePressed = bool(cp.vl["BrakeMessage"]["driverBrakeStatus"] != 1)
 
     # Steering wheel
-    self.hands_on_level = cp.vl["EPAS_sysStatus"]["EPAS_handsOnLevel"]
-    self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(cp.vl["EPAS_sysStatus"]["EPAS_eacErrorCode"]), None)
-    steer_status = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(cp.vl["EPAS_sysStatus"]["EPAS_eacStatus"]), None)
+    epas_status = cp_cam.vl["EPAS3P_sysStatus"] if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN else cp.vl["EPAS_sysStatus"]
 
-    ret.steeringAngleDeg = -cp.vl["EPAS_sysStatus"]["EPAS_internalSAS"]
+    self.hands_on_level = epas_status["EPAS_handsOnLevel"]
+    self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(epas_status["EPAS_eacErrorCode"]), None)
+    steer_status = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(epas_status["EPAS_eacStatus"]), None)
+
+    ret.steeringAngleDeg = -epas_status["EPAS_internalSAS"]
     ret.steeringRateDeg = -cp.vl["STW_ANGLHP_STAT"]["StW_AnglHP_Spd"] # This is from a different angle sensor, and at different rate
-    ret.steeringTorque = -cp.vl["EPAS_sysStatus"]["EPAS_torsionBarTorque"]
+    ret.steeringTorque = -epas_status["EPAS_torsionBarTorque"]
     ret.steeringPressed = (self.hands_on_level > 0)
     ret.steerFaultPermanent = steer_status == "EAC_FAULT"
     ret.steerFaultTemporary = (self.steer_warning not in ("EAC_ERROR_IDLE", "EAC_ERROR_HANDS_ON"))
@@ -85,7 +87,10 @@ class CarState(CarStateBase):
     ret.rightBlinker = (cp.vl["GTW_carState"]["BC_indicatorRStatus"] == 1)
 
     # Seatbelt
-    ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1)
+    if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
+      ret.seatbeltUnlatched = (cp.vl["DriverSeat"]["buckleStatus"] != 1)
+    else:
+      ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1)
 
     # TODO: blindspot
 
@@ -111,9 +116,14 @@ class CarState(CarStateBase):
       ("DI_state", 10),
       ("STW_ACTN_RQ", 10),
       ("GTW_carState", 10),
-      ("SDM1", 10),
       ("BrakeMessage", 50),
     ]
+
+    if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
+      messages.append(("DriverSeat", 20))
+    else:
+      messages.append(("SDM1", 10))
+
     return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.chassis)
 
   @staticmethod
@@ -122,4 +132,8 @@ class CarState(CarStateBase):
       # sig_address, frequency
       ("DAS_control", 40),
     ]
+
+    if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
+      messages.append(("EPAS3P_sysStatus", 100))
+
     return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.autopilot_chassis)
diff --git a/selfdrive/car/tesla/fingerprints.py b/selfdrive/car/tesla/fingerprints.py
index 772ca59efa..68c50a62ed 100644
--- a/selfdrive/car/tesla/fingerprints.py
+++ b/selfdrive/car/tesla/fingerprints.py
@@ -1,17 +1,10 @@
-# ruff: noqa: E501
 from cereal import car
 from openpilot.selfdrive.car.tesla.values import CAR
 
 Ecu = car.CarParams.Ecu
 
-FINGERPRINTS = {
-  CAR.AP1_MODELS: [{
-    1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 267: 5, 277: 6, 280: 6, 283: 5, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 584: 4, 585: 8, 590: 8, 606: 8, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 660: 5, 693: 8, 696: 8, 697: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 809: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 841: 8, 845: 8, 846: 5, 852: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 873: 8, 877: 8, 878: 8, 879: 8, 880: 8, 884: 8, 888: 8, 889: 8, 893: 8, 896: 8, 901: 6, 904: 3, 905: 8, 908: 2, 909: 8, 920: 8, 921: 8, 925: 4, 936: 8, 937: 8, 941: 8, 949: 8, 952: 8, 953: 6, 957: 8, 968: 8, 973: 8, 984: 8, 987: 8, 989: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1016: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1064: 8, 1070: 8, 1080: 8, 1160: 4, 1281: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1368: 8, 1412: 8, 1436: 8, 1465: 8, 1476: 8, 1497: 8, 1524: 8, 1527: 8, 1601: 8, 1605: 8, 1611: 8, 1614: 8, 1617: 8, 1621: 8, 1627: 8, 1630: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4
-  }],
-}
-
 FW_VERSIONS = {
-  CAR.AP2_MODELS: {
+  CAR.TESLA_AP2_MODELS: {
     (Ecu.adas, 0x649, None): [
       b'\x01\x00\x8b\x07\x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x11',
     ],
@@ -25,4 +18,15 @@ FW_VERSIONS = {
       b'\x10#\x01',
     ],
   },
+  CAR.TESLA_MODELS_RAVEN: {
+    (Ecu.electricBrakeBooster, 0x64d, None): [
+      b'1037123-00-A',
+    ],
+    (Ecu.fwdRadar, 0x671, None): [
+      b'\x01\x00\x99\x02\x01\x00\x10\x00\x00AP8.3.03\x00\x10',
+    ],
+    (Ecu.eps, 0x730, None): [
+      b'SX_0.0.0 (99),SR013.7',
+    ],
+  },
 }
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index 537433a350..e039859263 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car.tesla.values import CANBUS
+from openpilot.selfdrive.car.tesla.values import CANBUS, CAR
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
@@ -28,19 +28,20 @@ class CarInterface(CarInterfaceBase):
 
     # Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
     # If so, we assume that it is connected to the longitudinal harness.
+    flags = (Panda.FLAG_TESLA_RAVEN if candidate == CAR.TESLA_MODELS_RAVEN else 0)
     if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
       ret.openpilotLongitudinalControl = True
+      flags |= Panda.FLAG_TESLA_LONG_CONTROL
       ret.safetyConfigs = [
-        get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL),
-        get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL | Panda.FLAG_TESLA_POWERTRAIN),
+        get_safety_config(car.CarParams.SafetyModel.tesla, flags),
+        get_safety_config(car.CarParams.SafetyModel.tesla, flags | Panda.FLAG_TESLA_POWERTRAIN),
       ]
     else:
       ret.openpilotLongitudinalControl = False
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, 0)]
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, flags)]
 
     ret.steerLimitTimer = 1.0
     ret.steerActuatorDelay = 0.25
-
     return ret
 
   def _update(self, c):
@@ -49,6 +50,3 @@ class CarInterface(CarInterfaceBase):
     ret.events = self.create_common_events(ret).to_msg()
 
     return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py
index b3e7c7fcb1..ae5077824b 100755
--- a/selfdrive/car/tesla/radar_interface.py
+++ b/selfdrive/car/tesla/radar_interface.py
@@ -1,38 +1,33 @@
 #!/usr/bin/env python3
 from cereal import car
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car.tesla.values import DBC, CANBUS
+from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
-RADAR_MSGS_A = list(range(0x310, 0x36E, 3))
-RADAR_MSGS_B = list(range(0x311, 0x36F, 3))
-NUM_POINTS = len(RADAR_MSGS_A)
-
-def get_radar_can_parser(CP):
-  # Status messages
-  messages = [
-    ('TeslaRadarSguInfo', 10),
-  ]
-
-  # Radar tracks. There are also raw point clouds available,
-  # we don't use those.
-  for i in range(NUM_POINTS):
-    msg_id_a = RADAR_MSGS_A[i]
-    msg_id_b = RADAR_MSGS_B[i]
-    messages.extend([
-      (msg_id_a, 8),
-      (msg_id_b, 8),
-    ])
-
-  return CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar)
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
-    self.rcp = get_radar_can_parser(CP)
+    self.CP = CP
+
+    if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
+      messages = [('RadarStatus', 16)]
+      self.num_points = 40
+      self.trigger_msg = 1119
+    else:
+      messages = [('TeslaRadarSguInfo', 10)]
+      self.num_points = 32
+      self.trigger_msg = 878
+
+    for i in range(self.num_points):
+      messages.extend([
+        (f'RadarPoint{i}_A', 16),
+        (f'RadarPoint{i}_B', 16),
+      ])
+
+    self.rcp = CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar)
     self.updated_messages = set()
     self.track_id = 0
-    self.trigger_msg = RADAR_MSGS_B[-1]
 
   def update(self, can_strings):
     if self.rcp is None:
@@ -48,17 +43,24 @@ class RadarInterface(RadarInterfaceBase):
 
     # Errors
     errors = []
-    sgu_info = self.rcp.vl['TeslaRadarSguInfo']
     if not self.rcp.can_valid:
       errors.append('canError')
-    if sgu_info['RADC_HWFail'] or sgu_info['RADC_SGUFail'] or sgu_info['RADC_SensorDirty']:
-      errors.append('fault')
+
+    if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
+      radar_status = self.rcp.vl['RadarStatus']
+      if radar_status['sensorBlocked'] or radar_status['shortTermUnavailable'] or radar_status['vehDynamicsError']:
+        errors.append('fault')
+    else:
+      radar_status = self.rcp.vl['TeslaRadarSguInfo']
+      if radar_status['RADC_HWFail'] or radar_status['RADC_SGUFail'] or radar_status['RADC_SensorDirty']:
+        errors.append('fault')
+
     ret.errors = errors
 
     # Radar tracks
-    for i in range(NUM_POINTS):
-      msg_a = self.rcp.vl[RADAR_MSGS_A[i]]
-      msg_b = self.rcp.vl[RADAR_MSGS_B[i]]
+    for i in range(self.num_points):
+      msg_a = self.rcp.vl[f'RadarPoint{i}_A']
+      msg_b = self.rcp.vl[f'RadarPoint{i}_B']
 
       # Make sure msg A and B are together
       if msg_a['Index'] != msg_b['Index2']:
diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py
index 3104506e5b..0f9cd00f63 100644
--- a/selfdrive/car/tesla/values.py
+++ b/selfdrive/car/tesla/values.py
@@ -1,33 +1,30 @@
 from collections import namedtuple
-from dataclasses import dataclass, field
 
 from cereal import car
-from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarInfo
+from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarDocs
 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'])
 
-
-@dataclass
-class TeslaPlatformConfig(PlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'))
-
-
 class CAR(Platforms):
-  AP1_MODELS = TeslaPlatformConfig(
-    'TESLA AP1 MODEL S',
-    CarInfo("Tesla AP1 Model S", "All"),
-    CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0)
+  TESLA_AP1_MODELS = PlatformConfig(
+    [CarDocs("Tesla AP1 Model S", "All")],
+    CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0),
+    dbc_dict('tesla_powertrain', 'tesla_radar_bosch_generated', chassis_dbc='tesla_can')
   )
-  AP2_MODELS = TeslaPlatformConfig(
-    'TESLA AP2 MODEL S',
-    CarInfo("Tesla AP2 Model S", "All"),
-    AP1_MODELS.specs
+  TESLA_AP2_MODELS = PlatformConfig(
+    [CarDocs("Tesla AP2 Model S", "All")],
+    TESLA_AP1_MODELS.specs,
+    TESLA_AP1_MODELS.dbc_dict
+  )
+  TESLA_MODELS_RAVEN = PlatformConfig(
+    [CarDocs("Tesla Model S Raven", "All")],
+    TESLA_AP1_MODELS.specs,
+    dbc_dict('tesla_powertrain', 'tesla_radar_continental_generated', chassis_dbc='tesla_can')
   )
-
 
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
@@ -38,6 +35,13 @@ FW_QUERY_CONFIG = FwQueryConfig(
       rx_offset=0x08,
       bus=0,
     ),
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.SUPPLIER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.SUPPLIER_SOFTWARE_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.eps],
+      rx_offset=0x08,
+      bus=0,
+    ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
@@ -48,7 +52,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ]
 )
 
-
 class CANBUS:
   # Lateral harness
   chassis = 0
@@ -92,5 +95,4 @@ class CarControllerParams:
     pass
 
 
-CAR_INFO = CAR.create_carinfo_map()
 DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 1cf5a88498..aab7ae590c 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -10,105 +10,108 @@ from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
 from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
 from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.car.values import Platform
 from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
 from openpilot.selfdrive.car.tesla.values import CAR as TESLA
 from openpilot.selfdrive.car.body.values import CAR as COMMA
 
 # TODO: add routes for these cars
 non_tested_cars = [
-  FORD.F_150_MK14,
+  FORD.FORD_F_150_MK14,
   GM.CADILLAC_ATS,
   GM.HOLDEN_ASTRA,
-  GM.MALIBU,
+  GM.CHEVROLET_MALIBU,
   HYUNDAI.GENESIS_G90,
-  HONDA.ODYSSEY_CHN,
-  VOLKSWAGEN.CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
-  SUBARU.FORESTER_HYBRID,
+  HONDA.HONDA_ODYSSEY_CHN,
+  VOLKSWAGEN.VOLKSWAGEN_CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
+  SUBARU.SUBARU_FORESTER_HYBRID,
 ]
 
 
 class CarTestRoute(NamedTuple):
   route: str
-  car_model: str | None
+  car_model: Platform | None
   segment: int | None = None
 
 
 routes = [
-  CarTestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.BODY),
+  CarTestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.COMMA_BODY),
 
   CarTestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_GRAND_CHEROKEE),
   CarTestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_GRAND_CHEROKEE_2019),
-  CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.PACIFICA_2017_HYBRID),
-  CarTestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.PACIFICA_2018),
-  CarTestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.PACIFICA_2018_HYBRID),
-  CarTestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.PACIFICA_2019_HYBRID),
-  CarTestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020),
-  CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500),
-  CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6),
+  CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID),
+  CarTestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.CHRYSLER_PACIFICA_2018),
+  CarTestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID),
+  CarTestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID),
+  CarTestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.CHRYSLER_PACIFICA_2020),
+  CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500_5TH_GEN),
+  CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD_5TH_GEN, segment=6),
   CarTestRoute("3379c85aeedc8285|2023-12-07--17-49-39", CHRYSLER.DODGE_DURANGO),
 
-  CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1),
-  CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.ESCAPE_MK4),
-  CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6),
-  CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FOCUS_MK4),
-  CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.MAVERICK_MK1),
-  CarTestRoute("112e4d6e0cad05e1|2023-11-14--08-21-43", FORD.F_150_LIGHTNING_MK1),
-  CarTestRoute("83a4e056c7072678|2023-11-13--16-51-33", FORD.MUSTANG_MACH_E_MK1),
+  CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.FORD_BRONCO_SPORT_MK1),
+  CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.FORD_ESCAPE_MK4),
+  CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.FORD_EXPLORER_MK6),
+  CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FORD_FOCUS_MK4),
+  CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.FORD_MAVERICK_MK1),
+  CarTestRoute("112e4d6e0cad05e1|2023-11-14--08-21-43", FORD.FORD_F_150_LIGHTNING_MK1),
+  CarTestRoute("83a4e056c7072678|2023-11-13--16-51-33", FORD.FORD_MUSTANG_MACH_E_MK1),
+  CarTestRoute("37998aa0fade36ab/00000000--48f927c4f5", FORD.FORD_RANGER_MK2),
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 
-  CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA),
+  CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.GMC_ACADIA),
   CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL),
   CarTestRoute("75a6bcb9b8b40373|2023-03-11--22-47-33", GM.BUICK_LACROSSE),
-  CarTestRoute("e746f59bc96fd789|2024-01-31--22-25-58", GM.EQUINOX),
-  CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.ESCALADE),
-  CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
-  CarTestRoute("168f8b3be57f66ae|2023-09-12--21-44-42", GM.ESCALADE_ESV_2019),
-  CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT),
-  CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV, segment=1),
-  CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.BOLT_EUV, segment=14),  # Bolt EV
-  CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.SILVERADO),
-  CarTestRoute("5085c761395d1fe6|2023-04-07--18-20-06", GM.TRAILBLAZER),
+  CarTestRoute("e746f59bc96fd789|2024-01-31--22-25-58", GM.CHEVROLET_EQUINOX),
+  CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.CADILLAC_ESCALADE),
+  CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.CADILLAC_ESCALADE_ESV),
+  CarTestRoute("168f8b3be57f66ae|2023-09-12--21-44-42", GM.CADILLAC_ESCALADE_ESV_2019),
+  CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.CHEVROLET_VOLT),
+  CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.CHEVROLET_BOLT_EUV, segment=1),
+  CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.CHEVROLET_BOLT_EUV, segment=14),  # Bolt EV
+  CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.CHEVROLET_SILVERADO),
+  CarTestRoute("5085c761395d1fe6|2023-04-07--18-20-06", GM.CHEVROLET_TRAILBLAZER),
 
   CarTestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
-  CarTestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.CIVIC),
-  CarTestRoute("a859a044a447c2b0|2020-03-03--18-42-45", HONDA.CRV_EU),
-  CarTestRoute("68aac44ad69f838e|2021-05-18--20-40-52", HONDA.CRV),
-  CarTestRoute("14fed2e5fa0aa1a5|2021-05-25--14-59-42", HONDA.CRV_HYBRID),
-  CarTestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.FIT),
-  CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED),
-  CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV),
-  CarTestRoute("320098ff6c5e4730|2023-04-13--17-47-46", HONDA.HRV_3G),
+  CarTestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.HONDA_CIVIC),
+  CarTestRoute("a859a044a447c2b0|2020-03-03--18-42-45", HONDA.HONDA_CRV_EU),
+  CarTestRoute("68aac44ad69f838e|2021-05-18--20-40-52", HONDA.HONDA_CRV),
+  CarTestRoute("14fed2e5fa0aa1a5|2021-05-25--14-59-42", HONDA.HONDA_CRV_HYBRID),
+  CarTestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.HONDA_FIT),
+  CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.HONDA_FREED),
+  CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HONDA_HRV),
+  CarTestRoute("320098ff6c5e4730|2023-04-13--17-47-46", HONDA.HONDA_HRV_3G),
+  CarTestRoute("147613502316e718/00000001--dd141a3140", HONDA.HONDA_HRV_3G),  # Brazilian model
   CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX),
-  CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD),  # 1.5T
-  CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD),  # 2.0T
-  CarTestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.ACCORD),  # 2021 with new style HUD msgs
-  CarTestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.ACCORD),  # hybrid
-  CarTestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.ACCORD),  # hybrid, 2021 with new style HUD msgs
-  CarTestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.CRV_5G),
-  CarTestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.ODYSSEY),
-  CarTestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.CIVIC_BOSCH_DIESEL),
-  CarTestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.INSIGHT),
-  CarTestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.PILOT),
-  CarTestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.PILOT),  # Passport
-  CarTestRoute("0a78dfbacc8504ef|2020-03-04--13-29-55", HONDA.CIVIC_BOSCH),
+  CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.HONDA_ACCORD),  # 1.5T
+  CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.HONDA_ACCORD),  # 2.0T
+  CarTestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.HONDA_ACCORD),  # 2021 with new style HUD msgs
+  CarTestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.HONDA_ACCORD),  # hybrid
+  CarTestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.HONDA_ACCORD),  # hybrid, 2021 with new style HUD msgs
+  CarTestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.HONDA_CRV_5G),
+  CarTestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.HONDA_ODYSSEY),
+  CarTestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.HONDA_CIVIC_BOSCH_DIESEL),
+  CarTestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.HONDA_INSIGHT),
+  CarTestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.HONDA_PILOT),
+  CarTestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.HONDA_PILOT),  # Passport
+  CarTestRoute("0a78dfbacc8504ef|2020-03-04--13-29-55", HONDA.HONDA_CIVIC_BOSCH),
   CarTestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX),
-  CarTestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.RIDGELINE),
+  CarTestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.HONDA_RIDGELINE),
   CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
-  CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022),
+  CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.HONDA_CIVIC_2022),
 
-  CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.AZERA_6TH_GEN),
-  CarTestRoute("66189dd8ec7b50e6|2023-09-20--07-02-12", HYUNDAI.AZERA_HEV_6TH_GEN),
+  CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.HYUNDAI_AZERA_6TH_GEN),
+  CarTestRoute("66189dd8ec7b50e6|2023-09-20--07-02-12", HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN),
   CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
   CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12),
   CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
   CarTestRoute("ca4de5b12321bd98|2022-10-18--21-15-59", HYUNDAI.GENESIS_GV70_1ST_GEN),
   CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
-  CarTestRoute("0bbe367c98fa1538|2023-09-16--00-16-49", HYUNDAI.CUSTIN_1ST_GEN),
-  CarTestRoute("f0709d2bc6ca451f|2022-10-15--08-13-54", HYUNDAI.SANTA_CRUZ_1ST_GEN),
-  CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.SANTA_FE),
-  CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022),
-  CarTestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022),
-  CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022, segment=1),
+  CarTestRoute("0bbe367c98fa1538|2023-09-16--00-16-49", HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN),
+  CarTestRoute("f0709d2bc6ca451f|2022-10-15--08-13-54", HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN),
+  CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.HYUNDAI_SANTA_FE),
+  CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.HYUNDAI_SANTA_FE_2022),
+  CarTestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022),
+  CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022, segment=1),
   CarTestRoute("de59124955b921d8|2023-06-24--00-12-50", HYUNDAI.KIA_CARNIVAL_4TH_GEN),
   CarTestRoute("409c9409979a8abc|2023-07-11--09-06-44", HYUNDAI.KIA_CARNIVAL_4TH_GEN),  # Chinese model
   CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
@@ -117,37 +120,37 @@ routes = [
   CarTestRoute("f9716670b2481438|2023-08-23--14-49-50", HYUNDAI.KIA_OPTIMA_H),
   CarTestRoute("6a42c1197b2a8179|2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL),
   CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
-  CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
-  CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
-  CarTestRoute("c344fd2492c7a9d2|2023-12-11--09-03-23", HYUNDAI.STARIA_4TH_GEN),
-  CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON),
-  CarTestRoute("db68bbe12250812c|2022-12-05--00-54-12", HYUNDAI.TUCSON_4TH_GEN),  # 2023
-  CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_4TH_GEN),  # hybrid
+  CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.HYUNDAI_SONATA),
+  CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.HYUNDAI_SONATA_LF),
+  CarTestRoute("c344fd2492c7a9d2|2023-12-11--09-03-23", HYUNDAI.HYUNDAI_STARIA_4TH_GEN),
+  CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.HYUNDAI_TUCSON),
+  CarTestRoute("db68bbe12250812c|2022-12-05--00-54-12", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN),  # 2023
+  CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN),  # hybrid
   CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
   CarTestRoute("1d0d000db3370fd0|2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5),
   CarTestRoute("fc19648042eb6896|2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14),
   CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN),  # plug-in hybrid
-  CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
-  CarTestRoute("696748e0ac8082fb|2023-08-31--14-25-28", HYUNDAI.PALISADE_2023),  # HDA2
-  CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5),  # HDA2
-  CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.IONIQ_6, segment=6),  # HDA2
-  CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),
-  CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV),
-  CarTestRoute("e1107f9d04dfb1e2|2023-09-05--22-32-12", HYUNDAI.IONIQ_PHEV),  # openpilot longitudinal enabled
-  CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020),
-  CarTestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD),
-  CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ),
-  CarTestRoute("012c95f06918eca4|2023-01-15--11-19-36", HYUNDAI.IONIQ),  # openpilot longitudinal enabled
-  CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022),
-  CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA),
-  CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV),
-  CarTestRoute("f90d3cd06caeb6fa|2023-09-06--17-15-47", HYUNDAI.KONA_EV),  # openpilot longitudinal enabled
-  CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11),
-  CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.KONA_EV_2ND_GEN, segment=13),
-  CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
+  CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.HYUNDAI_PALISADE),
+  CarTestRoute("696748e0ac8082fb|2023-08-31--14-25-28", HYUNDAI.HYUNDAI_PALISADE_2023),  # HDA2
+  CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.HYUNDAI_IONIQ_5),  # HDA2
+  CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.HYUNDAI_IONIQ_6, segment=6),  # HDA2
+  CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.HYUNDAI_IONIQ_PHEV_2019),
+  CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.HYUNDAI_IONIQ_PHEV),
+  CarTestRoute("e1107f9d04dfb1e2|2023-09-05--22-32-12", HYUNDAI.HYUNDAI_IONIQ_PHEV),  # openpilot longitudinal enabled
+  CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.HYUNDAI_IONIQ_EV_2020),
+  CarTestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.HYUNDAI_IONIQ_EV_LTD),
+  CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.HYUNDAI_IONIQ),
+  CarTestRoute("012c95f06918eca4|2023-01-15--11-19-36", HYUNDAI.HYUNDAI_IONIQ),  # openpilot longitudinal enabled
+  CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.HYUNDAI_IONIQ_HEV_2022),
+  CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA),
+  CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.HYUNDAI_KONA_EV),
+  CarTestRoute("f90d3cd06caeb6fa|2023-09-06--17-15-47", HYUNDAI.HYUNDAI_KONA_EV),  # openpilot longitudinal enabled
+  CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.HYUNDAI_KONA_EV_2022, segment=11),
+  CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN, segment=13),
+  CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.HYUNDAI_KONA_HEV),
   CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
   CarTestRoute("5b50b883a4259afb|2022-11-09--15-00-42", HYUNDAI.KIA_STINGER_2022),
-  CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
+  CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.HYUNDAI_VELOSTER),
   CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6),  # HDA2
   CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6),  # HDA1
   CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
@@ -164,37 +167,37 @@ routes = [
   CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN),
   CarTestRoute("09559f1fcaed4704|2023-11-16--02-24-57", HYUNDAI.KIA_SPORTAGE_5TH_GEN),  # openpilot longitudinal
   CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_5TH_GEN),  # hybrid
-  CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
-  CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA_GT_I30),
-  CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),
-  CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021),
-  CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID),
+  CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.HYUNDAI_ELANTRA),
+  CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.HYUNDAI_ELANTRA_GT_I30),
+  CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.HYUNDAI_ELANTRA_2021),
+  CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.HYUNDAI_ELANTRA_HEV_2021),
+  CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.HYUNDAI_SONATA_HYBRID),
   CarTestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
   CarTestRoute("6b0d44d22df18134|2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),
 
-  CarTestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2),
-  CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARD_TSS2),  # hybrid
-  CarTestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.AVALON),
-  CarTestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.AVALON_2019),
-  CarTestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALON_2019),  # hybrid
-  CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2),
-  CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALON_TSS2),  # hybrid
-  CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY),
-  CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.CAMRY),  # openpilot longitudinal, with radar CAN filter
-  CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRY),  # hybrid
-  CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2),
-  CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRY_TSS2),  # hybrid
-  CarTestRoute("4e45c89c38e8ec4d|2021-05-02--02-49-28", TOYOTA.COROLLA),
-  CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2),
-  CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLA_TSS2),  # hybrid
-  CarTestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.PRIUS),
-  CarTestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.RAV4),
-  CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H),
-  CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2),
-  CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022),
-  CarTestRoute("ad5a3fa719bc2f83|2023-10-17--19-48-42", TOYOTA.RAV4_TSS2_2023),
-  CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4_TSS2),  # hybrid
-  CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4_TSS2_2022),  # hybrid
+  CarTestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.TOYOTA_ALPHARD_TSS2),
+  CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.TOYOTA_ALPHARD_TSS2),  # hybrid
+  CarTestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.TOYOTA_AVALON),
+  CarTestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.TOYOTA_AVALON_2019),
+  CarTestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.TOYOTA_AVALON_2019),  # hybrid
+  CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.TOYOTA_AVALON_TSS2),
+  CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.TOYOTA_AVALON_TSS2),  # hybrid
+  CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.TOYOTA_CAMRY),
+  CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.TOYOTA_CAMRY),  # openpilot longitudinal, with radar CAN filter
+  CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.TOYOTA_CAMRY),  # hybrid
+  CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.TOYOTA_CAMRY_TSS2),
+  CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.TOYOTA_CAMRY_TSS2),  # hybrid
+  CarTestRoute("4e45c89c38e8ec4d|2021-05-02--02-49-28", TOYOTA.TOYOTA_COROLLA),
+  CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.TOYOTA_COROLLA_TSS2),
+  CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.TOYOTA_COROLLA_TSS2),  # hybrid
+  CarTestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.TOYOTA_PRIUS),
+  CarTestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.TOYOTA_RAV4),
+  CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.TOYOTA_RAV4H),
+  CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.TOYOTA_RAV4_TSS2),
+  CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.TOYOTA_RAV4_TSS2_2022),
+  CarTestRoute("ad5a3fa719bc2f83|2023-10-17--19-48-42", TOYOTA.TOYOTA_RAV4_TSS2_2023),
+  CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.TOYOTA_RAV4_TSS2),  # hybrid
+  CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.TOYOTA_RAV4_TSS2_2022),  # hybrid
   CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
   CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES),  # hybrid
   CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
@@ -211,89 +214,88 @@ routes = [
   CarTestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2),
   CarTestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NX_TSS2),  # hybrid
   CarTestRoute("4765fbbf59e3cd88|2024-02-06--17-45-32", TOYOTA.LEXUS_LC_TSS2),
-  CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
-  CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDER_TSS2),  # hybrid
-  CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),
-  CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDER),  # hybrid
-  CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA),
+  CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.TOYOTA_HIGHLANDER_TSS2),
+  CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.TOYOTA_HIGHLANDER_TSS2),  # hybrid
+  CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.TOYOTA_HIGHLANDER),
+  CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.TOYOTA_HIGHLANDER),  # hybrid
+  CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.TOYOTA_SIENNA),
   CarTestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS),
   CarTestRoute("649bf2997ada6e3a|2023-08-08--18-04-22", TOYOTA.LEXUS_IS_TSS2),
-  CarTestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.PRIUS_TSS2),
-  CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI),
-  CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR),
-  CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHR),  # hybrid
-  CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2),
-  CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2),  # openpilot longitudinal, with smartDSU
-  CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHR_TSS2),  # hybrid
-  CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHR_TSS2),  # hybrid, openpilot longitudinal, radar disabled
-  CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
+  CarTestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.TOYOTA_PRIUS_TSS2),
+  CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.TOYOTA_MIRAI),
+  CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.TOYOTA_CHR),
+  CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.TOYOTA_CHR),  # hybrid
+  CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.TOYOTA_CHR_TSS2),
+  CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.TOYOTA_CHR_TSS2),  # openpilot longitudinal, with smartDSU
+  CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.TOYOTA_CHR_TSS2),  # hybrid
+  CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.TOYOTA_CHR_TSS2),  # hybrid, openpilot longitudinal, radar disabled
+  CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.TOYOTA_PRIUS_V),
 
-  CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
-  CarTestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.ATLAS_MK1),
-  CarTestRoute("ffcd23abbbd02219|2024-02-28--14-59-38", VOLKSWAGEN.CADDY_MK3),
-  CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7),  # Stock ACC
-  CarTestRoute("3cfdec54aa035f3f|2022-10-13--14-58-58", VOLKSWAGEN.GOLF_MK7),  # openpilot longitudinal
-  CarTestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.JETTA_MK7),
-  CarTestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.PASSAT_MK8),
-  CarTestRoute("3cfdec54aa035f3f|2022-07-19--23-45-10", VOLKSWAGEN.PASSAT_NMS),
-  CarTestRoute("0cd0b7f7e31a3853|2021-11-03--19-30-22", VOLKSWAGEN.POLO_MK6),
-  CarTestRoute("064d1816e448f8eb|2022-09-29--15-32-34", VOLKSWAGEN.SHARAN_MK2),
-  CarTestRoute("7d82b2f3a9115f1f|2021-10-21--15-39-42", VOLKSWAGEN.TAOS_MK1),
-  CarTestRoute("2744c89a8dda9a51|2021-07-24--21-28-06", VOLKSWAGEN.TCROSS_MK1),
-  CarTestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.TIGUAN_MK2),
-  CarTestRoute("a589dcc642fdb10a|2021-06-14--20-54-26", VOLKSWAGEN.TOURAN_MK2),
-  CarTestRoute("a459f4556782eba1|2021-09-19--09-48-00", VOLKSWAGEN.TRANSPORTER_T61),
-  CarTestRoute("0cd0b7f7e31a3853|2021-11-18--00-38-32", VOLKSWAGEN.TROC_MK1),
+  CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.VOLKSWAGEN_ARTEON_MK1),
+  CarTestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.VOLKSWAGEN_ATLAS_MK1),
+  CarTestRoute("ffcd23abbbd02219|2024-02-28--14-59-38", VOLKSWAGEN.VOLKSWAGEN_CADDY_MK3),
+  CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.VOLKSWAGEN_GOLF_MK7),  # Stock ACC
+  CarTestRoute("3cfdec54aa035f3f|2022-10-13--14-58-58", VOLKSWAGEN.VOLKSWAGEN_GOLF_MK7),  # openpilot longitudinal
+  CarTestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.VOLKSWAGEN_JETTA_MK7),
+  CarTestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.VOLKSWAGEN_PASSAT_MK8),
+  CarTestRoute("3cfdec54aa035f3f|2022-07-19--23-45-10", VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS),
+  CarTestRoute("0cd0b7f7e31a3853|2021-11-03--19-30-22", VOLKSWAGEN.VOLKSWAGEN_POLO_MK6),
+  CarTestRoute("064d1816e448f8eb|2022-09-29--15-32-34", VOLKSWAGEN.VOLKSWAGEN_SHARAN_MK2),
+  CarTestRoute("7d82b2f3a9115f1f|2021-10-21--15-39-42", VOLKSWAGEN.VOLKSWAGEN_TAOS_MK1),
+  CarTestRoute("2744c89a8dda9a51|2021-07-24--21-28-06", VOLKSWAGEN.VOLKSWAGEN_TCROSS_MK1),
+  CarTestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.VOLKSWAGEN_TIGUAN_MK2),
+  CarTestRoute("a589dcc642fdb10a|2021-06-14--20-54-26", VOLKSWAGEN.VOLKSWAGEN_TOURAN_MK2),
+  CarTestRoute("a459f4556782eba1|2021-09-19--09-48-00", VOLKSWAGEN.VOLKSWAGEN_TRANSPORTER_T61),
+  CarTestRoute("0cd0b7f7e31a3853|2021-11-18--00-38-32", VOLKSWAGEN.VOLKSWAGEN_TROC_MK1),
   CarTestRoute("07667b885add75fd|2021-01-23--19-48-42", VOLKSWAGEN.AUDI_A3_MK3),
   CarTestRoute("6c6b466346192818|2021-06-06--14-17-47", VOLKSWAGEN.AUDI_Q2_MK1),
   CarTestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2),
   CarTestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1),
-  CarTestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_LEON_MK3),
+  CarTestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_ATECA_MK1),  # Leon
   CarTestRoute("0bbe367c98fa1538|2023-03-04--17-46-11", VOLKSWAGEN.SKODA_FABIA_MK4),
   CarTestRoute("12d6ae3057c04b0d|2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1),
   CarTestRoute("12d6ae3057c04b0d|2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1),
   CarTestRoute("90434ff5d7c8d603|2021-03-15--12-07-31", VOLKSWAGEN.SKODA_KODIAQ_MK1),
   CarTestRoute("66e5edc3a16459c5|2021-05-25--19-00-29", VOLKSWAGEN.SKODA_OCTAVIA_MK3),
-  CarTestRoute("026b6d18fba6417f|2021-03-26--09-17-04", VOLKSWAGEN.SKODA_SCALA_MK1),
+  CarTestRoute("026b6d18fba6417f|2021-03-26--09-17-04", VOLKSWAGEN.SKODA_KAMIQ_MK1),  # Scala
   CarTestRoute("b2e9858e29db492b|2021-03-26--16-58-42", VOLKSWAGEN.SKODA_SUPERB_MK3),
 
-  CarTestRoute("3c8f0c502e119c1c|2020-06-30--12-58-02", SUBARU.ASCENT),
-  CarTestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER),
-  CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
-  CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
-  CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.IMPREZA),  # openpilot longitudinal
+  CarTestRoute("3c8f0c502e119c1c|2020-06-30--12-58-02", SUBARU.SUBARU_ASCENT),
+  CarTestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.SUBARU_FORESTER),
+  CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.SUBARU_IMPREZA),
+  CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.SUBARU_IMPREZA_2020),
+  CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.SUBARU_IMPREZA),  # openpilot longitudinal
   # CarTestRoute("c3d1ccb52f5f9d65|2023-07-22--01-23-20", SUBARU.OUTBACK, segment=9), # gen2 longitudinal, eyesight disabled
-  CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10),
-  CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3),
-  CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.CROSSTREK_HYBRID, segment=2),
-  CarTestRoute("7fd1e4f3a33c1673|2022-12-04--15-09-53", SUBARU.FORESTER_2022, segment=4),
-  CarTestRoute("f3b34c0d2632aa83|2023-07-23--20-43-25", SUBARU.OUTBACK_2023, segment=7),
-  CarTestRoute("99437cef6d5ff2ee|2023-03-13--21-21-38", SUBARU.ASCENT_2023, segment=7),
+  CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.SUBARU_OUTBACK, segment=10),
+  CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.SUBARU_LEGACY, segment=3),
+  CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.SUBARU_CROSSTREK_HYBRID, segment=2),
+  CarTestRoute("7fd1e4f3a33c1673|2022-12-04--15-09-53", SUBARU.SUBARU_FORESTER_2022, segment=4),
+  CarTestRoute("f3b34c0d2632aa83|2023-07-23--20-43-25", SUBARU.SUBARU_OUTBACK_2023, segment=7),
+  CarTestRoute("99437cef6d5ff2ee|2023-03-13--21-21-38", SUBARU.SUBARU_ASCENT_2023, segment=7),
   # Pre-global, dashcam
-  CarTestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL),
-  CarTestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL),
-  CarTestRoute("5ab784f361e19b78|2020-06-08--16-30-41", SUBARU.OUTBACK_PREGLOBAL),
-  CarTestRoute("e19eb5d5353b1ac1|2020-08-09--14-37-56", SUBARU.OUTBACK_PREGLOBAL_2018),
+  CarTestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.SUBARU_FORESTER_PREGLOBAL),
+  CarTestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.SUBARU_LEGACY_PREGLOBAL),
+  CarTestRoute("5ab784f361e19b78|2020-06-08--16-30-41", SUBARU.SUBARU_OUTBACK_PREGLOBAL),
+  CarTestRoute("e19eb5d5353b1ac1|2020-08-09--14-37-56", SUBARU.SUBARU_OUTBACK_PREGLOBAL_2018),
 
-  CarTestRoute("fbbfa6af821552b9|2020-03-03--08-09-43", NISSAN.XTRAIL),
-  CarTestRoute("5b7c365c50084530|2020-03-25--22-10-13", NISSAN.LEAF),
-  CarTestRoute("22c3dcce2dd627eb|2020-12-30--16-38-48", NISSAN.LEAF_IC),
-  CarTestRoute("059ab9162e23198e|2020-05-30--09-41-01", NISSAN.ROGUE),
-  CarTestRoute("b72d3ec617c0a90f|2020-12-11--15-38-17", NISSAN.ALTIMA),
+  CarTestRoute("fbbfa6af821552b9|2020-03-03--08-09-43", NISSAN.NISSAN_XTRAIL),
+  CarTestRoute("5b7c365c50084530|2020-03-25--22-10-13", NISSAN.NISSAN_LEAF),
+  CarTestRoute("22c3dcce2dd627eb|2020-12-30--16-38-48", NISSAN.NISSAN_LEAF_IC),
+  CarTestRoute("059ab9162e23198e|2020-05-30--09-41-01", NISSAN.NISSAN_ROGUE),
+  CarTestRoute("b72d3ec617c0a90f|2020-12-11--15-38-17", NISSAN.NISSAN_ALTIMA),
 
-  CarTestRoute("32a319f057902bb3|2020-04-27--15-18-58", MAZDA.CX5),
-  CarTestRoute("10b5a4b380434151|2020-08-26--17-11-45", MAZDA.CX9),
-  CarTestRoute("74f1038827005090|2020-08-26--20-05-50", MAZDA.MAZDA3),
-  CarTestRoute("fb53c640f499b73d|2021-06-01--04-17-56", MAZDA.MAZDA6),
-  CarTestRoute("f6d5b1a9d7a1c92e|2021-07-08--06-56-59", MAZDA.CX9_2021),
-  CarTestRoute("a4af1602d8e668ac|2022-02-03--12-17-07", MAZDA.CX5_2022),
+  CarTestRoute("32a319f057902bb3|2020-04-27--15-18-58", MAZDA.MAZDA_CX5),
+  CarTestRoute("10b5a4b380434151|2020-08-26--17-11-45", MAZDA.MAZDA_CX9),
+  CarTestRoute("74f1038827005090|2020-08-26--20-05-50", MAZDA.MAZDA_3),
+  CarTestRoute("fb53c640f499b73d|2021-06-01--04-17-56", MAZDA.MAZDA_6),
+  CarTestRoute("f6d5b1a9d7a1c92e|2021-07-08--06-56-59", MAZDA.MAZDA_CX9_2021),
+  CarTestRoute("a4af1602d8e668ac|2022-02-03--12-17-07", MAZDA.MAZDA_CX5_2022),
 
-  CarTestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.AP1_MODELS),
-  CarTestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.AP2_MODELS),
+  CarTestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.TESLA_AP1_MODELS),
+  CarTestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.TESLA_AP2_MODELS),
+  CarTestRoute("66c1699b7697267d/2024-03-03--13-09-53", TESLA.TESLA_MODELS_RAVEN),
 
   # Segments that test specific issues
-  # Controls mismatch due to interceptor threshold
-  CarTestRoute("cfb32f0fb91b173b|2022-04-06--14-54-45", HONDA.CIVIC, segment=21),
   # Controls mismatch due to standstill threshold
-  CarTestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.CRV_HYBRID, segment=22),
+  CarTestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.HONDA_CRV_HYBRID, segment=22),
 ]
diff --git a/selfdrive/car/tests/test_can_fingerprint.py b/selfdrive/car/tests/test_can_fingerprint.py
index 63621b459d..8df7007339 100755
--- a/selfdrive/car/tests/test_can_fingerprint.py
+++ b/selfdrive/car/tests/test_can_fingerprint.py
@@ -28,7 +28,7 @@ class TestCanFingerprint(unittest.TestCase):
 
   def test_timing(self):
     # just pick any CAN fingerprinting car
-    car_model = 'CHEVROLET BOLT EUV 2022'
+    car_model = "CHEVROLET_BOLT_EUV"
     fingerprint = FINGERPRINTS[car_model][0]
 
     cases = []
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 02a8d60e3c..72c1e27ab9 100755
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -74,10 +74,6 @@ class TestCarInterfaces(unittest.TestCase):
     self.assertEqual(len(car_params.longitudinalTuning.kiV), len(car_params.longitudinalTuning.kiBP))
     self.assertEqual(len(car_params.longitudinalTuning.deadzoneV), len(car_params.longitudinalTuning.deadzoneBP))
 
-    # If we're using the interceptor for gasPressed, we should be commanding gas with it
-    if car_params.enableGasInterceptor:
-      self.assertTrue(car_params.openpilotLongitudinalControl)
-
     # Lateral sanity checks
     if car_params.steerControlType != car.CarParams.SteerControlType.angle:
       tune = car_params.lateralTuning
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index 0cafb508f7..143b402d5f 100755
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -5,18 +5,19 @@ import re
 import unittest
 
 from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr
-from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info
+from openpilot.selfdrive.car.car_helpers import interfaces
+from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_docs
 from openpilot.selfdrive.car.docs_definitions import Cable, Column, PartType, Star
 from openpilot.selfdrive.car.honda.values import CAR as HONDA
-from openpilot.selfdrive.debug.dump_car_info import dump_car_info
-from openpilot.selfdrive.debug.print_docs_diff import print_car_info_diff
+from openpilot.selfdrive.car.values import PLATFORMS
+from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
+from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
 
 
 class TestCarDocs(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
-    cls.all_cars = get_all_car_info()
+    cls.all_cars = get_all_car_docs()
 
   def test_generator(self):
     generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
@@ -28,24 +29,24 @@ class TestCarDocs(unittest.TestCase):
 
   def test_docs_diff(self):
     dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
-    dump_car_info(dump_path)
-    print_car_info_diff(dump_path)
+    dump_car_docs(dump_path)
+    print_car_docs_diff(dump_path)
     os.remove(dump_path)
 
   def test_duplicate_years(self):
     make_model_years = defaultdict(list)
     for car in self.all_cars:
-      with self.subTest(car_info_name=car.name):
+      with self.subTest(car_docs_name=car.name):
         make_model = (car.make, car.model)
         for year in car.year_list:
           self.assertNotIn(year, make_model_years[make_model], f"{car.name}: Duplicate model year")
           make_model_years[make_model].append(year)
 
-  def test_missing_car_info(self):
-    all_car_info_platforms = get_interface_attr("CAR_INFO", combine_brands=True).keys()
+  def test_missing_car_docs(self):
+    all_car_docs_platforms = [name for name, config in PLATFORMS.items()]
     for platform in sorted(interfaces.keys()):
       with self.subTest(platform=platform):
-        self.assertTrue(platform in all_car_info_platforms, f"Platform: {platform} doesn't exist in CarInfo")
+        self.assertTrue(platform in all_car_docs_platforms, f"Platform: {platform} doesn't have a CarDocs entry")
 
   def test_naming_conventions(self):
     # Asserts market-standard car naming conventions by brand
@@ -68,7 +69,7 @@ class TestCarDocs(unittest.TestCase):
     for car in self.all_cars:
       with self.subTest(car=car):
         # honda sanity check, it's the definition of a no torque star
-        if car.car_fingerprint in (HONDA.ACCORD, HONDA.CIVIC, HONDA.CRV, HONDA.ODYSSEY, HONDA.PILOT):
+        if car.car_fingerprint in (HONDA.HONDA_ACCORD, HONDA.HONDA_CIVIC, HONDA.HONDA_CRV, HONDA.HONDA_ODYSSEY, HONDA.HONDA_PILOT):
           self.assertEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has full torque star")
         elif car.car_name in ("toyota", "hyundai"):
           self.assertNotEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has no torque star")
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index a8bae29391..ed5edbef31 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -9,7 +9,7 @@ from unittest import mock
 from cereal import car
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
-from openpilot.selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \
+from openpilot.selfdrive.car.fw_versions import ESSENTIAL_ECUS, FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \
                                                 match_fw_to_car, get_brand_ecu_matches, get_fw_versions, get_present_ecus
 from openpilot.selfdrive.car.vin import get_vin
 
@@ -49,7 +49,7 @@ class TestFwFingerprint(unittest.TestCase):
         fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
                    "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
       CP.carFw = fw
-      _, matches = match_fw_to_car(CP.carFw, allow_fuzzy=False)
+      _, matches = match_fw_to_car(CP.carFw, CP.carVin, allow_fuzzy=False)
       if not test_non_essential:
         self.assertFingerprints(matches, car_model)
       else:
@@ -72,8 +72,8 @@ class TestFwFingerprint(unittest.TestCase):
         fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
                    "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
       CP.carFw = fw
-      _, matches = match_fw_to_car(CP.carFw, allow_exact=False, log=False)
-      brand_matches = config.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), VERSIONS[brand])
+      _, matches = match_fw_to_car(CP.carFw, CP.carVin, allow_exact=False, log=False)
+      brand_matches = config.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, VERSIONS[brand])
 
       # If both have matches, they must agree
       if len(matches) == 1 and len(brand_matches) == 1:
@@ -94,7 +94,7 @@ class TestFwFingerprint(unittest.TestCase):
         fw.append({"ecu": ecu_name, "fwVersion": random.choice(ecus[ecu]), 'brand': brand,
                    "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
       CP = car.CarParams.new_message(carFw=fw)
-      _, matches = match_fw_to_car(CP.carFw, allow_exact=False, log=False)
+      _, matches = match_fw_to_car(CP.carFw, CP.carVin, allow_exact=False, log=False)
 
       # Assert no match if there are not enough unique ECUs
       unique_ecus = {(f['address'], f['subAddress']) for f in fw}
@@ -146,6 +146,14 @@ class TestFwFingerprint(unittest.TestCase):
             for ecu in ecus.keys():
               self.assertNotEqual(ecu[0], Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})")
 
+  def test_non_essential_ecus(self):
+    for brand, config in FW_QUERY_CONFIGS.items():
+      with self.subTest(brand):
+        # These ECUs are already not in ESSENTIAL_ECUS which the fingerprint functions give a pass if missing
+        unnecessary_non_essential_ecus = set(config.non_essential_ecus) - set(ESSENTIAL_ECUS)
+        self.assertEqual(unnecessary_non_essential_ecus, set(), "Declaring non-essential ECUs non-essential is not required: " +
+                                                                f"{', '.join([f'Ecu.{ECU_NAME[ecu]}' for ecu in unnecessary_non_essential_ecus])}")
+
   def test_missing_versions_and_configs(self):
     brand_versions = set(VERSIONS.keys())
     brand_configs = set(FW_QUERY_CONFIGS.keys())
@@ -236,8 +244,8 @@ class TestFwFingerprintTiming(unittest.TestCase):
 
   def test_startup_timing(self):
     # Tests worse-case VIN query time and typical present ECU query time
-    vin_ref_times = {'worst': 1.2, 'best': 0.6}  # best assumes we go through all queries to get a match
-    present_ecu_ref_time = 0.75
+    vin_ref_times = {'worst': 1.4, 'best': 0.7}  # best assumes we go through all queries to get a match
+    present_ecu_ref_time = 0.45
 
     def fake_get_ecu_addrs(*_, timeout):
       self.total_time += timeout
@@ -263,25 +271,26 @@ class TestFwFingerprintTiming(unittest.TestCase):
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   def test_fw_query_timing(self):
-    total_ref_time = {1: 8.3, 2: 9.2}
+    total_ref_time = {1: 7.2, 2: 7.8}
     brand_ref_times = {
       1: {
         'gm': 1.0,
         'body': 0.1,
         'chrysler': 0.3,
         'ford': 1.5,
-        'honda': 0.55,
-        'hyundai': 1.05,
+        'honda': 0.45,
+        'hyundai': 0.65,
         'mazda': 0.1,
         'nissan': 0.8,
-        'subaru': 0.45,
-        'tesla': 0.2,
-        'toyota': 1.6,
+        'subaru': 0.65,
+        'tesla': 0.3,
+        'toyota': 0.7,
         'volkswagen': 0.65,
       },
       2: {
         'ford': 1.6,
-        'hyundai': 1.85,
+        'hyundai': 1.15,
+        'tesla': 0.3,
       }
     }
 
diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
index 083cdd5a5e..e5cfd972bd 100755
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ b/selfdrive/car/tests/test_lateral_limits.py
@@ -9,7 +9,6 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.interfaces import get_torque_params
-from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
 
 CAR_MODELS = all_known_cars()
 
@@ -22,12 +21,6 @@ MAX_LAT_JERK_UP_TOLERANCE = 0.5  # m/s^3
 # jerk is measured over half a second
 JERK_MEAS_T = 0.5
 
-# TODO: put these cars within limits
-ABOVE_LIMITS_CARS = [
-  SUBARU.LEGACY,
-  SUBARU.OUTBACK,
-]
-
 car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict)
 
 
@@ -50,9 +43,6 @@ class TestLateralLimits(unittest.TestCase):
     if CP.notCar:
       raise unittest.SkipTest
 
-    if CP.carFingerprint in ABOVE_LIMITS_CARS:
-      raise unittest.SkipTest
-
     CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams
     cls.control_params = CarControllerParams(CP)
     cls.torque_params = get_torque_params(cls.car_model)
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index b7d20e5a83..69220ae2b9 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -15,10 +15,11 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.selfdrive.car.fingerprints import all_known_cars
+from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
+from openpilot.selfdrive.car.values import Platform
 from openpilot.selfdrive.controls.controlsd import Controls
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -64,7 +65,7 @@ def get_test_cases() -> list[tuple[str, CarTestRoute | None]]:
 @pytest.mark.slow
 @pytest.mark.shared_download_cache
 class TestCarModelBase(unittest.TestCase):
-  car_model: str | None = None
+  platform: Platform | None = None
   test_route: CarTestRoute | None = None
   test_route_on_bucket: bool = True  # whether the route is on the preserved CI bucket
 
@@ -93,8 +94,9 @@ class TestCarModelBase(unittest.TestCase):
         car_fw = msg.carParams.carFw
         if msg.carParams.openpilotLongitudinalControl:
           experimental_long = True
-        if cls.car_model is None and not cls.ci:
-          cls.car_model = msg.carParams.carFingerprint
+        if cls.platform is None and not cls.ci:
+          live_fingerprint = msg.carParams.carFingerprint
+          cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint)
 
       # Log which can frame the panda safety mode left ELM327, for CAN validity checks
       elif msg.which() == 'pandaStates':
@@ -155,15 +157,11 @@ class TestCarModelBase(unittest.TestCase):
     if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'):
       raise unittest.SkipTest
 
-    if 'FILTER' in os.environ:
-      if not cls.car_model.startswith(tuple(os.environ.get('FILTER').split(','))):
-        raise unittest.SkipTest
-
     if cls.test_route is None:
-      if cls.car_model in non_tested_cars:
-        print(f"Skipping tests for {cls.car_model}: missing route")
+      if cls.platform in non_tested_cars:
+        print(f"Skipping tests for {cls.platform}: missing route")
         raise unittest.SkipTest
-      raise Exception(f"missing test route for {cls.car_model}")
+      raise Exception(f"missing test route for {cls.platform}")
 
     car_fw, can_msgs, experimental_long = cls.get_testing_data()
 
@@ -172,10 +170,10 @@ class TestCarModelBase(unittest.TestCase):
 
     cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
 
-    cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
-    cls.CP = cls.CarInterface.get_params(cls.car_model, cls.fingerprint, car_fw, experimental_long, docs=False)
+    cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.platform]
+    cls.CP = cls.CarInterface.get_params(cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
     assert cls.CP
-    assert cls.CP.carFingerprint == cls.car_model
+    assert cls.CP.carFingerprint == cls.platform
 
     os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
 
@@ -370,7 +368,7 @@ class TestCarModelBase(unittest.TestCase):
         # TODO: remove this exception once this mismatch is resolved
         brake_pressed = CS.brakePressed
         if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-          if self.CP.carFingerprint in (HONDA.PILOT, HONDA.RIDGELINE) and CS.brake > 0.05:
+          if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
             brake_pressed = False
 
         self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
@@ -433,7 +431,7 @@ class TestCarModelBase(unittest.TestCase):
       # TODO: remove this exception once this mismatch is resolved
       brake_pressed = CS.brakePressed
       if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-        if self.CP.carFingerprint in (HONDA.PILOT, HONDA.RIDGELINE) and CS.brake > 0.05:
+        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
           brake_pressed = False
       checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
       checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
@@ -478,7 +476,7 @@ class TestCarModelBase(unittest.TestCase):
                     "This is fine to fail for WIP car ports, just let us know and we can upload your routes to the CI bucket.")
 
 
-@parameterized_class(('car_model', 'test_route'), get_test_cases())
+@parameterized_class(('platform', 'test_route'), get_test_cases())
 @pytest.mark.xdist_group_class_property('test_route')
 class TestCarModel(TestCarModelBase):
   pass
diff --git a/selfdrive/car/tests/test_platform_configs.py b/selfdrive/car/tests/test_platform_configs.py
index 6a3bafa390..523c331b9e 100755
--- a/selfdrive/car/tests/test_platform_configs.py
+++ b/selfdrive/car/tests/test_platform_configs.py
@@ -8,12 +8,16 @@ from openpilot.selfdrive.car.values import PLATFORMS
 class TestPlatformConfigs(unittest.TestCase):
   def test_configs(self):
 
-    for platform in PLATFORMS.values():
+    for name, platform in PLATFORMS.items():
       with self.subTest(platform=str(platform)):
         self.assertTrue(platform.config._frozen)
-        self.assertIn("pt", platform.config.dbc_dict)
+
+        if platform != "MOCK":
+          self.assertIn("pt", platform.config.dbc_dict)
         self.assertTrue(len(platform.config.platform_str) > 0)
 
+        self.assertEqual(name, platform.config.platform_str)
+
         self.assertIsNotNone(platform.config.specs)
 
 
diff --git a/selfdrive/car/torque_data/neural_ff_weights.json b/selfdrive/car/torque_data/neural_ff_weights.json
index c526f07fa2..251b66efb0 100644
--- a/selfdrive/car/torque_data/neural_ff_weights.json
+++ b/selfdrive/car/torque_data/neural_ff_weights.json
@@ -1 +1 @@
-{"CHEVROLET BOLT EUV 2022": {"w_1": [[0.3452189564704895, -0.15614677965641022, -0.04062516987323761, -0.5960758328437805, 0.3211185932159424, 0.31732726097106934, -0.04430829733610153, -0.37327295541763306, -0.14118380844593048, 0.12712529301643372, 0.2641555070877075, -0.3451094627380371, -0.005127656273543835, 0.6185108423233032, 0.03725295141339302, 0.3763789236545563], [-0.0708412230014801, 0.3667356073856354, 0.031383827328681946, 0.1740853488445282, -0.04695861041545868, 0.018055908381938934, 0.009072160348296165, -0.23640218377113342, -0.10362917929887772, 0.022628149017691612, -0.224413201212883, 0.20718418061733246, -0.016947750002145767, -0.3872031271457672, -0.15500062704086304, -0.06375953555107117], [-0.0838046595454216, -0.0242826659232378, -0.07765661180019379, 0.028858814388513565, -0.09516210108995438, 0.008368706330657005, 0.1689300835132599, 0.015036891214549541, -0.15121428668498993, 0.1388195902109146, 0.11486363410949707, 0.0651545450091362, 0.13559958338737488, 0.04300367832183838, -0.13856294751167297, -0.058136988431215286], [-0.006249868310987949, 0.08809533715248108, -0.040690965950489044, 0.02359287068247795, -0.00766348373144865, 0.24816390872001648, -0.17360293865203857, -0.03676899895071983, -0.17564819753170013, 0.18998438119888306, -0.050583917647600174, -0.006488069426268339, 0.10649101436138153, -0.024557121098041534, -0.103276826441288, 0.18448011577129364]], "b_1": [0.2935388386249542, 0.10967712104320526, -0.014007942751049995, 0.211833655834198, 0.33605605363845825, 0.37722209095954895, -0.16615016758441925, 0.3134673535823822, 0.06695777177810669, 0.3425212800502777, 0.3769673705101013, 0.23186539113521576, 0.5770409107208252, -0.05929069593548775, 0.01839117519557476, 0.03828774020075798], "w_2": [[-0.06261160969734192, 0.010185074992477894, -0.06083013117313385, -0.04531499370932579, -0.08979734033346176, 0.3432150185108185, -0.019801849499344826, 0.3010321259498596], [0.19698476791381836, -0.009238275699317455, 0.08842222392559052, -0.09516377002000809, -0.05022778362035751, 0.13626104593276978, -0.052890390157699585, 0.15569131076335907], [0.0724768117070198, -0.09018408507108688, 0.06850195676088333, -0.025572121143341064, 0.0680626779794693, -0.07648195326328278, 0.07993496209383011, -0.059752143919467926], [1.267876386642456, -0.05755887180566788, -0.08429178595542908, 0.021366603672504425, -0.0006479775765910745, -1.4292563199996948, -0.08077696710824966, -1.414825439453125], [0.04535430669784546, 0.06555880606174469, -0.027145234867930412, -0.07661093026399612, -0.05702832341194153, 0.23650476336479187, 0.0024587824009358883, 0.20126521587371826], [0.006042032968252897, 0.042880818247795105, 0.002187949838116765, -0.017126334831118584, -0.08352015167474747, 0.19801731407642365, -0.029196614399552345, 0.23713473975658417], [-0.01644900068640709, -0.04358499124646187, 0.014584392309188843, 0.07155826687812805, -0.09354910999536514, -0.033351872116327286, 0.07138452678918839, -0.04755295440554619], [-1.1012420654296875, -0.03534531593322754, 0.02167935110628605, -0.01116552110761404, -0.08436500281095505, 1.1038788557052612, 0.027903547510504723, 1.0676132440567017], [0.03843916580080986, -0.0952216386795044, 0.039226632565259933, 0.002778085647150874, -0.020275786519050598, -0.07848760485649109, 0.04803166165947914, 0.015538203530013561], [0.018385495990514755, -0.025189843028783798, 0.0036680365446954966, -0.02105865254998207, 0.04808586835861206, 0.1575016975402832, 0.02703506126999855, 0.23039312660694122], [-0.0033881019335240126, -0.10210853815078735, -0.04877309128642082, 0.006989633198827505, 0.046798162162303925, 0.38676899671554565, -0.032304272055625916, 0.2345031052827835], [0.22092825174331665, -0.09642873704433441, 0.04499409720301628, 0.05108088254928589, -0.10191166400909424, 0.12818090617656708, -0.021021494641900063, 0.09440375864505768], [0.1212429478764534, -0.028194155544042587, -0.0981956496834755, 0.08226924389600754, 0.055346839129924774, 0.27067816257476807, -0.09064067900180817, 0.12580905854701996], [-1.6740131378173828, -0.02066155895590782, -0.05924689769744873, 0.06347910314798355, -0.07821853458881378, 1.2807466983795166, 0.04589352011680603, 1.310766577720642], [-0.09893272817134857, -0.04093599319458008, -0.02502273954451084, 0.09490344673395157, -0.0211324505507946, -0.09021010994911194, 0.07936318963766098, -0.03593116253614426], [-0.08490308374166489, -0.015558987855911255, -0.048692114651203156, -0.007421435788273811, -0.040531404316425323, 0.25889304280281067, 0.06012800335884094, 0.27946868538856506]], "b_2": [0.07973937690258026, -0.010446485131978989, -0.003066520905122161, -0.031895797699689865, 0.006032303906977177, 0.24106740951538086, -0.008969511836767197, 0.2872662842273712], "w_3": [[-1.364486813545227, -0.11682678014039993, 0.01764785870909691, 0.03926877677440643], [-0.05695437639951706, 0.05472218990325928, 0.1266128271818161, 0.09950875490903854], [0.11415273696184158, -0.10069356113672256, 0.0864749327301979, -0.043946366757154465], [-0.10138195008039474, -0.040128443390131, -0.08937158435583115, -0.0048376512713730335], [-0.0028251828625798225, -0.04743027314543724, 0.06340016424655914, 0.07277824729681015], [0.49482327699661255, -0.06410001963376999, -0.0999293103814125, -0.14250673353672028], [0.042802367359399796, 0.0015462725423276424, -0.05991362780332565, 0.1022040992975235], [0.3523194193840027, 0.07343732565641403, 0.04157765582203865, -0.12358107417821884]], "b_3": [0.2653026282787323, -0.058485131710767746, -0.0744510293006897, 0.012550175189971924], "w_4": [[0.5988775491714478, 0.09668736904859543], [-0.04360569268465042, 0.06491032242774963], [-0.11868984252214432, -0.09601487964391708], [-0.06554870307445526, -0.14189276099205017]], "b_4": [-0.08148707449436188, -2.8251802921295166], "input_norm_mat": [[-3.0, 3.0], [-3.0, 3.0], [0.0, 40.0], [-3.0, 3.0]], "output_norm_mat": [-1.0, 1.0], "temperature": 100.0}}
\ No newline at end of file
+{"CHEVROLET_BOLT_EUV": {"w_1": [[0.3452189564704895, -0.15614677965641022, -0.04062516987323761, -0.5960758328437805, 0.3211185932159424, 0.31732726097106934, -0.04430829733610153, -0.37327295541763306, -0.14118380844593048, 0.12712529301643372, 0.2641555070877075, -0.3451094627380371, -0.005127656273543835, 0.6185108423233032, 0.03725295141339302, 0.3763789236545563], [-0.0708412230014801, 0.3667356073856354, 0.031383827328681946, 0.1740853488445282, -0.04695861041545868, 0.018055908381938934, 0.009072160348296165, -0.23640218377113342, -0.10362917929887772, 0.022628149017691612, -0.224413201212883, 0.20718418061733246, -0.016947750002145767, -0.3872031271457672, -0.15500062704086304, -0.06375953555107117], [-0.0838046595454216, -0.0242826659232378, -0.07765661180019379, 0.028858814388513565, -0.09516210108995438, 0.008368706330657005, 0.1689300835132599, 0.015036891214549541, -0.15121428668498993, 0.1388195902109146, 0.11486363410949707, 0.0651545450091362, 0.13559958338737488, 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0.08842222392559052, -0.09516377002000809, -0.05022778362035751, 0.13626104593276978, -0.052890390157699585, 0.15569131076335907], [0.0724768117070198, -0.09018408507108688, 0.06850195676088333, -0.025572121143341064, 0.0680626779794693, -0.07648195326328278, 0.07993496209383011, -0.059752143919467926], [1.267876386642456, -0.05755887180566788, -0.08429178595542908, 0.021366603672504425, -0.0006479775765910745, -1.4292563199996948, -0.08077696710824966, -1.414825439453125], [0.04535430669784546, 0.06555880606174469, -0.027145234867930412, -0.07661093026399612, -0.05702832341194153, 0.23650476336479187, 0.0024587824009358883, 0.20126521587371826], [0.006042032968252897, 0.042880818247795105, 0.002187949838116765, -0.017126334831118584, -0.08352015167474747, 0.19801731407642365, -0.029196614399552345, 0.23713473975658417], [-0.01644900068640709, -0.04358499124646187, 0.014584392309188843, 0.07155826687812805, -0.09354910999536514, -0.033351872116327286, 0.07138452678918839, -0.04755295440554619], [-1.1012420654296875, -0.03534531593322754, 0.02167935110628605, -0.01116552110761404, -0.08436500281095505, 1.1038788557052612, 0.027903547510504723, 1.0676132440567017], [0.03843916580080986, -0.0952216386795044, 0.039226632565259933, 0.002778085647150874, -0.020275786519050598, -0.07848760485649109, 0.04803166165947914, 0.015538203530013561], [0.018385495990514755, -0.025189843028783798, 0.0036680365446954966, -0.02105865254998207, 0.04808586835861206, 0.1575016975402832, 0.02703506126999855, 0.23039312660694122], [-0.0033881019335240126, -0.10210853815078735, -0.04877309128642082, 0.006989633198827505, 0.046798162162303925, 0.38676899671554565, -0.032304272055625916, 0.2345031052827835], [0.22092825174331665, -0.09642873704433441, 0.04499409720301628, 0.05108088254928589, -0.10191166400909424, 0.12818090617656708, -0.021021494641900063, 0.09440375864505768], [0.1212429478764534, -0.028194155544042587, -0.0981956496834755, 0.08226924389600754, 0.055346839129924774, 0.27067816257476807, -0.09064067900180817, 0.12580905854701996], [-1.6740131378173828, -0.02066155895590782, -0.05924689769744873, 0.06347910314798355, -0.07821853458881378, 1.2807466983795166, 0.04589352011680603, 1.310766577720642], [-0.09893272817134857, -0.04093599319458008, -0.02502273954451084, 0.09490344673395157, -0.0211324505507946, -0.09021010994911194, 0.07936318963766098, -0.03593116253614426], [-0.08490308374166489, -0.015558987855911255, -0.048692114651203156, -0.007421435788273811, -0.040531404316425323, 0.25889304280281067, 0.06012800335884094, 0.27946868538856506]], "b_2": [0.07973937690258026, -0.010446485131978989, -0.003066520905122161, -0.031895797699689865, 0.006032303906977177, 0.24106740951538086, -0.008969511836767197, 0.2872662842273712], "w_3": [[-1.364486813545227, -0.11682678014039993, 0.01764785870909691, 0.03926877677440643], [-0.05695437639951706, 0.05472218990325928, 0.1266128271818161, 0.09950875490903854], [0.11415273696184158, -0.10069356113672256, 0.0864749327301979, -0.043946366757154465], [-0.10138195008039474, -0.040128443390131, -0.08937158435583115, -0.0048376512713730335], [-0.0028251828625798225, -0.04743027314543724, 0.06340016424655914, 0.07277824729681015], [0.49482327699661255, -0.06410001963376999, -0.0999293103814125, -0.14250673353672028], [0.042802367359399796, 0.0015462725423276424, -0.05991362780332565, 0.1022040992975235], [0.3523194193840027, 0.07343732565641403, 0.04157765582203865, -0.12358107417821884]], "b_3": [0.2653026282787323, -0.058485131710767746, -0.0744510293006897, 0.012550175189971924], "w_4": [[0.5988775491714478, 0.09668736904859543], [-0.04360569268465042, 0.06491032242774963], [-0.11868984252214432, -0.09601487964391708], [-0.06554870307445526, -0.14189276099205017]], "b_4": [-0.08148707449436188, -2.8251802921295166], "input_norm_mat": [[-3.0, 3.0], [-3.0, 3.0], [0.0, 40.0], [-3.0, 3.0]], "output_norm_mat": [-1.0, 1.0], "temperature": 100.0}}
\ No newline at end of file
diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml
index 64465ea85e..efad62be16 100644
--- a/selfdrive/car/torque_data/override.toml
+++ b/selfdrive/car/torque_data/override.toml
@@ -1,76 +1,78 @@
 legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 ### angle control
 # Nissan appears to have torque
-"NISSAN X-TRAIL 2017" = [nan, 1.5, nan]
-"NISSAN ALTIMA 2020" = [nan, 1.5, nan]
-"NISSAN LEAF 2018 Instrument Cluster" = [nan, 1.5, nan]
-"NISSAN LEAF 2018" = [nan, 1.5, nan]
-"NISSAN ROGUE 2019" = [nan, 1.5, nan]
+"NISSAN_XTRAIL" = [nan, 1.5, nan]
+"NISSAN_ALTIMA" = [nan, 1.5, nan]
+"NISSAN_LEAF_IC" = [nan, 1.5, nan]
+"NISSAN_LEAF" = [nan, 1.5, nan]
+"NISSAN_ROGUE" = [nan, 1.5, nan]
 
 # New subarus angle based controllers
-"SUBARU FORESTER 2022" = [nan, 3.0, nan]
-"SUBARU OUTBACK 7TH GEN" = [nan, 3.0, nan]
-"SUBARU ASCENT 2023" = [nan, 3.0, nan]
+"SUBARU_FORESTER_2022" = [nan, 3.0, nan]
+"SUBARU_OUTBACK_2023" = [nan, 3.0, nan]
+"SUBARU_ASCENT_2023" = [nan, 3.0, nan]
 
 # Toyota LTA also has torque
-"TOYOTA RAV4 2023" = [nan, 3.0, nan]
+"TOYOTA_RAV4_TSS2_2023" = [nan, 3.0, nan]
 
 # Tesla has high torque
-"TESLA AP1 MODEL S" = [nan, 2.5, nan]
-"TESLA AP2 MODEL S" = [nan, 2.5, nan]
+"TESLA_AP1_MODELS" = [nan, 2.5, nan]
+"TESLA_AP2_MODELS" = [nan, 2.5, nan]
+"TESLA_MODELS_RAVEN" = [nan, 2.5, nan]
 
 # Guess
-"FORD BRONCO SPORT 1ST GEN" = [nan, 1.5, nan]
-"FORD ESCAPE 4TH GEN" = [nan, 1.5, nan]
-"FORD EXPLORER 6TH GEN" = [nan, 1.5, nan]
-"FORD F-150 14TH GEN" = [nan, 1.5, nan]
-"FORD FOCUS 4TH GEN" = [nan, 1.5, nan]
-"FORD MAVERICK 1ST GEN" = [nan, 1.5, nan]
-"FORD F-150 LIGHTNING 1ST GEN" = [nan, 1.5, nan]
-"FORD MUSTANG MACH-E 1ST GEN" = [nan, 1.5, nan]
+"FORD_BRONCO_SPORT_MK1" = [nan, 1.5, nan]
+"FORD_ESCAPE_MK4" = [nan, 1.5, nan]
+"FORD_EXPLORER_MK6" = [nan, 1.5, nan]
+"FORD_F_150_MK14" = [nan, 1.5, nan]
+"FORD_FOCUS_MK4" = [nan, 1.5, nan]
+"FORD_MAVERICK_MK1" = [nan, 1.5, nan]
+"FORD_F_150_LIGHTNING_MK1" = [nan, 1.5, nan]
+"FORD_MUSTANG_MACH_E_MK1" = [nan, 1.5, nan]
+"FORD_RANGER_MK2" = [nan, 1.5, nan]
 ###
 
 # No steering wheel
-"COMMA BODY" = [nan, 1000, nan]
+"COMMA_BODY" = [nan, 1000, nan]
 
 # Totally new cars
-"RAM 1500 5TH GEN" = [2.0, 2.0, 0.05]
-"RAM HD 5TH GEN" = [1.4, 1.4, 0.05]
-"SUBARU OUTBACK 6TH GEN" = [2.0, 2.0, 0.2]
-"CADILLAC ESCALADE 2017" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
-"CADILLAC ESCALADE ESV 2019" = [1.15, 1.3, 0.2]
-"CHEVROLET BOLT EUV 2022" = [2.0, 2.0, 0.05]
-"CHEVROLET SILVERADO 1500 2020" = [1.9, 1.9, 0.112]
-"CHEVROLET TRAILBLAZER 2021" = [1.33, 1.9, 0.16]
-"CHEVROLET EQUINOX 2019" = [2.5, 2.5, 0.05]
-"VOLKSWAGEN CADDY 3RD GEN" = [1.2, 1.2, 0.1]
-"VOLKSWAGEN PASSAT NMS" = [2.5, 2.5, 0.1]
-"VOLKSWAGEN SHARAN 2ND GEN" = [2.5, 2.5, 0.1]
-"HYUNDAI SANTA CRUZ 1ST GEN" = [2.7, 2.7, 0.1]
-"KIA SPORTAGE 5TH GEN" = [2.6, 2.6, 0.1]
-"GENESIS GV70 1ST GEN" = [2.42, 2.42, 0.1]
-"GENESIS GV60 ELECTRIC 1ST GEN" = [2.5, 2.5, 0.1]
-"KIA SORENTO 4TH GEN" = [2.5, 2.5, 0.1]
-"KIA SORENTO HYBRID 4TH GEN" = [2.5, 2.5, 0.1]
-"KIA NIRO HYBRID 2ND GEN" = [2.42, 2.5, 0.12]
-"KIA NIRO EV 2ND GEN" = [2.05, 2.5, 0.14]
-"GENESIS GV80 2023" = [2.5, 2.5, 0.1]
-"KIA CARNIVAL 4TH GEN" = [1.75, 1.75, 0.15]
-"GMC ACADIA DENALI 2018" = [1.6, 1.6, 0.2]
-"LEXUS IS 2023" = [2.0, 2.0, 0.1]
-"HYUNDAI KONA ELECTRIC 2ND GEN" = [2.5, 2.5, 0.1]
-"HYUNDAI IONIQ 6 2023" = [2.5, 2.5, 0.1]
-"HYUNDAI AZERA 6TH GEN" = [1.8, 1.8, 0.1]
-"HYUNDAI AZERA HYBRID 6TH GEN" = [1.8, 1.8, 0.1]
-"KIA K8 HYBRID 1ST GEN" = [2.5, 2.5, 0.1]
-"HYUNDAI CUSTIN 1ST GEN" = [2.5, 2.5, 0.1]
-"LEXUS GS F 2016" = [2.5, 2.5, 0.08]
-"HYUNDAI STARIA 4TH GEN" = [1.8, 2.0, 0.15]
+"RAM_1500_5TH_GEN" = [2.0, 2.0, 0.05]
+"RAM_HD_5TH_GEN" = [1.4, 1.4, 0.05]
+"SUBARU_OUTBACK" = [2.0, 1.5, 0.2]
+"CADILLAC_ESCALADE" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
+"CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2]
+"CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.05]
+"CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
+"CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
+"CHEVROLET_EQUINOX" = [2.5, 2.5, 0.05]
+"VOLKSWAGEN_CADDY_MK3" = [1.2, 1.2, 0.1]
+"VOLKSWAGEN_PASSAT_NMS" = [2.5, 2.5, 0.1]
+"VOLKSWAGEN_SHARAN_MK2" = [2.5, 2.5, 0.1]
+"HYUNDAI_SANTA_CRUZ_1ST_GEN" = [2.7, 2.7, 0.1]
+"KIA_SPORTAGE_5TH_GEN" = [2.6, 2.6, 0.1]
+"GENESIS_GV70_1ST_GEN" = [2.42, 2.42, 0.1]
+"GENESIS_GV60_EV_1ST_GEN" = [2.5, 2.5, 0.1]
+"KIA_SORENTO_4TH_GEN" = [2.5, 2.5, 0.1]
+"KIA_SORENTO_HEV_4TH_GEN" = [2.5, 2.5, 0.1]
+"KIA_NIRO_HEV_2ND_GEN" = [2.42, 2.5, 0.12]
+"KIA_NIRO_EV_2ND_GEN" = [2.05, 2.5, 0.14]
+"GENESIS_GV80" = [2.5, 2.5, 0.1]
+"KIA_CARNIVAL_4TH_GEN" = [1.75, 1.75, 0.15]
+"GMC_ACADIA" = [1.6, 1.6, 0.2]
+"LEXUS_IS_TSS2" = [2.0, 2.0, 0.1]
+"HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1]
+"HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.1]
+"HYUNDAI_AZERA_6TH_GEN" = [1.8, 1.8, 0.1]
+"HYUNDAI_AZERA_HEV_6TH_GEN" = [1.8, 1.8, 0.1]
+"KIA_K8_HEV_1ST_GEN" = [2.5, 2.5, 0.1]
+"HYUNDAI_CUSTIN_1ST_GEN" = [2.5, 2.5, 0.1]
+"LEXUS_GS_F" = [2.5, 2.5, 0.08]
+"HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
 "HYUNDAI PALISADE 2023" = [3.0, 2.32, 0.05]
 
 # Dashcam or fallback configured as ideal car
-"mock" = [10.0, 10, 0.0]
+"MOCK" = [10.0, 10, 0.0]
 
 # Manually checked
-"HONDA CIVIC 2022" = [2.5, 1.2, 0.15]
-"HONDA HR-V 2023" = [2.5, 1.2, 0.2]
+"HONDA_CIVIC_2022" = [2.5, 1.2, 0.15]
+"HONDA_HRV_3G" = [2.5, 1.2, 0.2]
diff --git a/selfdrive/car/torque_data/params.toml b/selfdrive/car/torque_data/params.toml
index 142332b220..f91bc3abab 100644
--- a/selfdrive/car/torque_data/params.toml
+++ b/selfdrive/car/torque_data/params.toml
@@ -1,85 +1,82 @@
 legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
-"ACURA ILX 2016" = [1.524988973896102, 0.519011053086259, 0.34236219253028]
-"ACURA RDX 2018" = [0.9987728568686902, 0.5323765166196301, 0.303218805715844]
-"ACURA RDX 2020" = [1.4314459806646749, 0.33874701282109954, 0.18048847083897598]
-"AUDI A3 3RD GEN" = [1.5122414863077502, 1.7443517531719404, 0.15194151892450905]
-"AUDI Q3 2ND GEN" = [1.4439223359448605, 1.2254955789112076, 0.1413798895978097]
-"CHEVROLET VOLT PREMIER 2017" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
-"CHRYSLER PACIFICA 2018" = [2.07140, 1.3366521181047952, 0.13776367250652022]
-"CHRYSLER PACIFICA 2020" = [1.86206, 1.509076559398423, 0.14328246159386085]
-"CHRYSLER PACIFICA HYBRID 2017" = [1.79422, 1.06831764583744, 0.116237]
-"CHRYSLER PACIFICA HYBRID 2018" = [2.08887, 1.2943025830995154, 0.114818]
-"CHRYSLER PACIFICA HYBRID 2019" = [1.90120, 1.1958788168371808, 0.131520]
-"GENESIS G70 2018" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
-"HONDA ACCORD 2018" = [1.6893333799149202, 0.3246749081720698, 0.2120497022936265]
-"HONDA CIVIC (BOSCH) 2019" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
-"HONDA CIVIC 2016" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
-"HONDA CR-V 2016" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]
-"HONDA CR-V 2017" = [2.01323205142022, 0.2700612209345081, 0.2238412881331528]
-"HONDA CR-V HYBRID 2019" = [2.072034634644233, 0.7152085160516978, 0.20237105008376083]
-"HONDA FIT 2018" = [1.5719981427109775, 0.5712761407108976, 0.110773383324281]
-"HONDA HRV 2019" = [2.0661212805710205, 0.7521343418694775, 0.17760375789242094]
-"HONDA INSIGHT 2019" = [1.5201671214069354, 0.5660229120683284, 0.25808042580281876]
-"HONDA ODYSSEY 2018" = [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
-"HONDA PILOT 2017" = [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
-"HONDA RIDGELINE 2017" = [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
-"HYUNDAI ELANTRA 2021" = [3.169, 2.1259108157250735, 0.0819]
-"HYUNDAI GENESIS 2015-2016" = [2.7807965280270794, 2.325, 0.0984484465421171]
-"HYUNDAI IONIQ 5 2022" = [3.172929, 2.713050, 0.096019]
-"HYUNDAI IONIQ ELECTRIC LIMITED 2019" = [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
-"HYUNDAI IONIQ PHEV 2020" = [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
-"HYUNDAI IONIQ PLUG-IN HYBRID 2019" = [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
-"HYUNDAI KONA ELECTRIC 2019" = [3.078814714619148, 2.307336938253934, 0.12359762054065548]
-"HYUNDAI PALISADE 2020" = [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
-"HYUNDAI SANTA FE 2019" = [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
-"HYUNDAI SANTA FE HYBRID 2022" = [3.501877602644835, 2.729064118456137, 0.10384068104538963]
-"HYUNDAI SANTA FE PlUG-IN HYBRID 2022" = [1.6953050513611045, 1.5837614296206861, 0.12672855941458458]
-"HYUNDAI SONATA 2019" = [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
-"HYUNDAI SONATA 2020" = [2.9638737459977467, 2.1259108157250735, 0.07813665616927593]
-"HYUNDAI SONATA HYBRID 2021" = [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
-"HYUNDAI TUCSON 4TH GEN" = [2.960174, 2.860284, 0.108745]
-"JEEP GRAND CHEROKEE 2019" = [2.30972, 1.289689569171081, 0.117048]
-"JEEP GRAND CHEROKEE V6 2018" = [2.27116, 1.4057367824262523, 0.11725947414922003]
-"KIA EV6 2022" = [3.2, 2.093457, 0.05]
-"KIA K5 2021" = [2.405339728085138, 1.460032270828705, 0.11650989850813716]
-"KIA NIRO EV 2020" = [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
-"KIA SORENTO GT LINE 2018" = [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
-"KIA STINGER GT2 2018" = [2.7499043387418967, 1.849652021986449, 0.12048334239559202]
-"LEXUS ES 2019" = [2.0357564999999997, 1.999082295195227, 0.101533]
-"LEXUS NX 2018" = [2.3525924753753613, 1.9731412277641067, 0.15168101064205927]
-"LEXUS NX 2020" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
-"LEXUS RX 2016" = [1.6430539050086406, 1.181960058934143, 0.19768806040843034]
-"LEXUS RX 2020" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557]
-"MAZDA CX-9 2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
-"SKODA SUPERB 3RD GEN" = [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
-"SUBARU FORESTER 2019" = [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
-"SUBARU IMPREZA LIMITED 2019" = [1.0670704910352047, 0.8234374840709592, 0.20986563268614938]
-"SUBARU IMPREZA SPORT 2020" = [2.6068223389108303, 2.134872342760203, 0.15261513193561627]
-"TOYOTA AVALON 2016" = [2.5185770183845646, 1.7153346784214922, 0.10603968787111022]
-"TOYOTA AVALON 2019" = [1.7036141952825095, 1.239619084240008, 0.08459830394899492]
-"TOYOTA AVALON 2022" = [2.3154403649717357, 2.7777922854327124, 0.11453999639164605]
-"TOYOTA C-HR 2018" = [1.5591084333664578, 1.271271459066948, 0.20259087058453193]
-"TOYOTA C-HR 2021" = [1.7678810166088303, 1.3742176337919942, 0.2319674583741509]
-"TOYOTA CAMRY 2018" = [2.0568162685952505, 1.7576185169559122, 0.108878753]
-"TOYOTA CAMRY 2021" = [2.3548324999999997, 2.368900128946771, 0.118436]
-"TOYOTA COROLLA 2017" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
-"TOYOTA COROLLA TSS2 2019" = [1.991132339206426, 1.868866242720403, 0.19570063298031432]
-"TOYOTA HIGHLANDER 2017" = [1.8108348718624456, 1.6348421600679828, 0.15972686105120398]
-"TOYOTA HIGHLANDER 2020" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725]
-"TOYOTA MIRAI 2021" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
-"TOYOTA PRIUS 2017" = [1.60, 1.5023147650693636, 0.151515]
-"TOYOTA PRIUS TSS2 2021" = [1.972600, 1.9104337425537743, 0.170968]
-"TOYOTA RAV4 2017" = [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
-"TOYOTA RAV4 2019" = [2.279239424615458, 2.087101966779332, 0.13682208413446817]
-"TOYOTA RAV4 2019 8965" = [2.3080951748210854, 2.1189367835820603, 0.12942102328134028]
-"TOYOTA RAV4 2019 x02" = [2.762293266024922, 2.243615865975329, 0.11113568178327986]
-"TOYOTA RAV4 HYBRID 2017" = [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
-"TOYOTA RAV4 2022" = [2.241883248393209, 1.9304407208090029, 0.112174]
-"TOYOTA RAV4 2022 x02" = [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
-"TOYOTA SIENNA 2018" = [1.689726, 1.3208264576110418, 0.140456]
-"VOLKSWAGEN ARTEON 1ST GEN" = [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
-"VOLKSWAGEN ATLAS 1ST GEN" = [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
-"VOLKSWAGEN GOLF 7TH GEN" = [1.3750394140491293, 1.5814743077200641, 0.2018321939386586]
-"VOLKSWAGEN JETTA 7TH GEN" = [1.2271623034089392, 1.216955117387, 0.19437384688370712]
-"VOLKSWAGEN PASSAT 8TH GEN" = [1.3432120736752917, 1.7087275587362314, 0.19444383787326647]
-"VOLKSWAGEN TIGUAN 2ND GEN" = [0.9711965500094828, 1.0001565939459098, 0.1465626137072916]
+"ACURA_ILX" = [1.524988973896102, 0.519011053086259, 0.34236219253028]
+"ACURA_RDX" = [0.9987728568686902, 0.5323765166196301, 0.303218805715844]
+"ACURA_RDX_3G" = [1.4314459806646749, 0.33874701282109954, 0.18048847083897598]
+"AUDI_A3_MK3" = [1.5122414863077502, 1.7443517531719404, 0.15194151892450905]
+"AUDI_Q3_MK2" = [1.4439223359448605, 1.2254955789112076, 0.1413798895978097]
+"CHEVROLET_VOLT" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
+"CHRYSLER_PACIFICA_2018" = [2.07140, 1.3366521181047952, 0.13776367250652022]
+"CHRYSLER_PACIFICA_2020" = [1.86206, 1.509076559398423, 0.14328246159386085]
+"CHRYSLER_PACIFICA_2017_HYBRID" = [1.79422, 1.06831764583744, 0.116237]
+"CHRYSLER_PACIFICA_2018_HYBRID" = [2.08887, 1.2943025830995154, 0.114818]
+"CHRYSLER_PACIFICA_2019_HYBRID" = [1.90120, 1.1958788168371808, 0.131520]
+"GENESIS_G70" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
+"HONDA_ACCORD" = [1.6893333799149202, 0.3246749081720698, 0.2120497022936265]
+"HONDA_CIVIC_BOSCH" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
+"HONDA_CIVIC" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
+"HONDA_CRV" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]
+"HONDA_CRV_5G" = [2.01323205142022, 0.2700612209345081, 0.2238412881331528]
+"HONDA_CRV_HYBRID" = [2.072034634644233, 0.7152085160516978, 0.20237105008376083]
+"HONDA_FIT" = [1.5719981427109775, 0.5712761407108976, 0.110773383324281]
+"HONDA_HRV" = [2.0661212805710205, 0.7521343418694775, 0.17760375789242094]
+"HONDA_INSIGHT" = [1.5201671214069354, 0.5660229120683284, 0.25808042580281876]
+"HONDA_ODYSSEY" = [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
+"HONDA_PILOT" = [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
+"HONDA_RIDGELINE" = [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
+"HYUNDAI_ELANTRA_2021" = [3.169, 2.1259108157250735, 0.0819]
+"HYUNDAI_GENESIS" = [2.7807965280270794, 2.325, 0.0984484465421171]
+"HYUNDAI_IONIQ_5" = [3.172929, 2.713050, 0.096019]
+"HYUNDAI_IONIQ_EV_LTD" = [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
+"HYUNDAI_IONIQ_PHEV" = [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
+"HYUNDAI_IONIQ_PHEV_2019" = [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
+"HYUNDAI_KONA_EV" = [3.078814714619148, 2.307336938253934, 0.12359762054065548]
+"HYUNDAI_PALISADE" = [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
+"HYUNDAI_SANTA_FE" = [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
+"HYUNDAI_SANTA_FE_HEV_2022" = [3.501877602644835, 2.729064118456137, 0.10384068104538963]
+"HYUNDAI_SANTA_FE_PHEV_2022" = [1.6953050513611045, 1.5837614296206861, 0.12672855941458458]
+"HYUNDAI_SONATA_LF" = [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
+"HYUNDAI_SONATA" = [2.9638737459977467, 2.1259108157250735, 0.07813665616927593]
+"HYUNDAI_SONATA_HYBRID" = [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
+"HYUNDAI_TUCSON_4TH_GEN" = [2.960174, 2.860284, 0.108745]
+"JEEP_GRAND_CHEROKEE_2019" = [2.30972, 1.289689569171081, 0.117048]
+"JEEP_GRAND_CHEROKEE" = [2.27116, 1.4057367824262523, 0.11725947414922003]
+"KIA_EV6" = [3.2, 2.093457, 0.05]
+"KIA_K5_2021" = [2.405339728085138, 1.460032270828705, 0.11650989850813716]
+"KIA_NIRO_EV" = [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
+"KIA_SORENTO" = [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
+"KIA_STINGER" = [2.7499043387418967, 1.849652021986449, 0.12048334239559202]
+"LEXUS_ES_TSS2" = [2.0357564999999997, 1.999082295195227, 0.101533]
+"LEXUS_NX" = [2.3525924753753613, 1.9731412277641067, 0.15168101064205927]
+"LEXUS_NX_TSS2" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
+"LEXUS_RX" = [1.6430539050086406, 1.181960058934143, 0.19768806040843034]
+"LEXUS_RX_TSS2" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557]
+"MAZDA_CX9_2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
+"SKODA_SUPERB_MK3" = [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
+"SUBARU_FORESTER" = [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
+"SUBARU_IMPREZA" = [1.0670704910352047, 0.8234374840709592, 0.20986563268614938]
+"SUBARU_IMPREZA_2020" = [2.6068223389108303, 2.134872342760203, 0.15261513193561627]
+"TOYOTA_AVALON" = [2.5185770183845646, 1.7153346784214922, 0.10603968787111022]
+"TOYOTA_AVALON_2019" = [1.7036141952825095, 1.239619084240008, 0.08459830394899492]
+"TOYOTA_AVALON_TSS2" = [2.3154403649717357, 2.7777922854327124, 0.11453999639164605]
+"TOYOTA_CHR" = [1.5591084333664578, 1.271271459066948, 0.20259087058453193]
+"TOYOTA_CHR_TSS2" = [1.7678810166088303, 1.3742176337919942, 0.2319674583741509]
+"TOYOTA_CAMRY" = [2.0568162685952505, 1.7576185169559122, 0.108878753]
+"TOYOTA_CAMRY_TSS2" = [2.3548324999999997, 2.368900128946771, 0.118436]
+"TOYOTA_COROLLA" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
+"TOYOTA_COROLLA_TSS2" = [1.991132339206426, 1.868866242720403, 0.19570063298031432]
+"TOYOTA_HIGHLANDER" = [1.8108348718624456, 1.6348421600679828, 0.15972686105120398]
+"TOYOTA_HIGHLANDER_TSS2" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725]
+"TOYOTA_MIRAI" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
+"TOYOTA_PRIUS" = [1.60, 1.5023147650693636, 0.151515]
+"TOYOTA_PRIUS_TSS2" = [1.972600, 1.9104337425537743, 0.170968]
+"TOYOTA_RAV4" = [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
+"TOYOTA_RAV4_TSS2" = [2.279239424615458, 2.087101966779332, 0.13682208413446817]
+"TOYOTA_RAV4H" = [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
+"TOYOTA_RAV4_TSS2_2022" = [2.241883248393209, 1.9304407208090029, 0.112174]
+"TOYOTA_SIENNA" = [1.689726, 1.3208264576110418, 0.140456]
+"VOLKSWAGEN_ARTEON_MK1" = [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
+"VOLKSWAGEN_ATLAS_MK1" = [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
+"VOLKSWAGEN_GOLF_MK7" = [1.3750394140491293, 1.5814743077200641, 0.2018321939386586]
+"VOLKSWAGEN_JETTA_MK7" = [1.2271623034089392, 1.216955117387, 0.19437384688370712]
+"VOLKSWAGEN_PASSAT_MK8" = [1.3432120736752917, 1.7087275587362314, 0.19444383787326647]
+"VOLKSWAGEN_TIGUAN_MK2" = [0.9711965500094828, 1.0001565939459098, 0.1465626137072916]
diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml
index 6822ef437b..8724a08010 100644
--- a/selfdrive/car/torque_data/substitute.toml
+++ b/selfdrive/car/torque_data/substitute.toml
@@ -1,85 +1,83 @@
 legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
-"MAZDA 3" = "MAZDA CX-9 2021"
-"MAZDA 6" = "MAZDA CX-9 2021"
-"MAZDA CX-5" = "MAZDA CX-9 2021"
-"MAZDA CX-5 2022" = "MAZDA CX-9 2021"
-"MAZDA CX-9" = "MAZDA CX-9 2021"
+"MAZDA_3" = "MAZDA_CX9_2021"
+"MAZDA_6" = "MAZDA_CX9_2021"
+"MAZDA_CX5" = "MAZDA_CX9_2021"
+"MAZDA_CX5_2022" = "MAZDA_CX9_2021"
+"MAZDA_CX9" = "MAZDA_CX9_2021"
 
-"DODGE DURANGO 2021" = "CHRYSLER PACIFICA 2020"
+"DODGE_DURANGO" = "CHRYSLER_PACIFICA_2020"
 
-"TOYOTA ALPHARD 2020" = "TOYOTA SIENNA 2018"
-"TOYOTA PRIUS v 2017" = "TOYOTA PRIUS 2017"
-"LEXUS IS 2018" = "LEXUS NX 2018"
-"LEXUS CT HYBRID 2018" = "LEXUS NX 2018"
-"LEXUS ES 2018" = "TOYOTA CAMRY 2018"
-"LEXUS RC 2020" = "LEXUS NX 2020"
-"LEXUS LC 2024" = "LEXUS NX 2020"
+"TOYOTA_ALPHARD_TSS2" = "TOYOTA_SIENNA"
+"TOYOTA_PRIUS_V" = "TOYOTA_PRIUS"
+"LEXUS_IS" = "LEXUS_NX"
+"LEXUS_CTH" = "LEXUS_NX"
+"LEXUS_ES" = "TOYOTA_CAMRY"
+"LEXUS_RC" = "LEXUS_NX_TSS2"
+"LEXUS_LC_TSS2" = "LEXUS_NX_TSS2"
 
-"KIA OPTIMA 4TH GEN" = "HYUNDAI SONATA 2020"
-"KIA OPTIMA 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020"
-"KIA OPTIMA HYBRID 2017 & SPORTS 2019" = "HYUNDAI SONATA 2020"
-"KIA OPTIMA HYBRID 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020"
-"KIA FORTE E 2018 & GT 2021" = "HYUNDAI SONATA 2020"
-"KIA CEED INTRO ED 2019" = "HYUNDAI SONATA 2020"
-"KIA SELTOS 2021" = "HYUNDAI SONATA 2020"
-"KIA NIRO HYBRID 2019" = "KIA NIRO EV 2020"
-"KIA NIRO PLUG-IN HYBRID 2022" = "KIA NIRO EV 2020"
-"KIA NIRO HYBRID 2021" = "KIA NIRO EV 2020"
-"HYUNDAI VELOSTER 2019" = "HYUNDAI SONATA 2019"
-"HYUNDAI KONA 2020" = "HYUNDAI KONA ELECTRIC 2019"
-"HYUNDAI KONA HYBRID 2020" = "HYUNDAI KONA ELECTRIC 2019"
-"HYUNDAI KONA ELECTRIC 2022" = "HYUNDAI KONA ELECTRIC 2019"
-"HYUNDAI IONIQ HYBRID 2017-2019" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019"
-"HYUNDAI IONIQ HYBRID 2020-2022" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019"
-"HYUNDAI IONIQ ELECTRIC 2020" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019"
-"HYUNDAI ELANTRA 2017" = "HYUNDAI SONATA 2019"
-"HYUNDAI I30 N LINE 2019 & GT 2018 DCT" = "HYUNDAI SONATA 2019"
-"HYUNDAI ELANTRA HYBRID 2021" = "HYUNDAI SONATA 2020"
-"HYUNDAI TUCSON 2019" = "HYUNDAI SANTA FE 2019"
-"HYUNDAI SANTA FE 2022" = "HYUNDAI SANTA FE HYBRID 2022"
-"KIA K5 HYBRID 2020" = "KIA K5 2021"
-"KIA STINGER 2022" = "KIA STINGER GT2 2018"
-"GENESIS G90 2017" = "GENESIS G70 2018"
-"GENESIS G80 2017" = "GENESIS G70 2018"
-"GENESIS G70 2020" = "HYUNDAI SONATA 2020"
+"KIA_OPTIMA_G4" = "HYUNDAI_SONATA"
+"KIA_OPTIMA_G4_FL" = "HYUNDAI_SONATA"
+"KIA_OPTIMA_H" = "HYUNDAI_SONATA"
+"KIA_OPTIMA_H_G4_FL" = "HYUNDAI_SONATA"
+"KIA_FORTE" = "HYUNDAI_SONATA"
+"KIA_CEED" = "HYUNDAI_SONATA"
+"KIA_SELTOS" = "HYUNDAI_SONATA"
+"KIA_NIRO_PHEV" = "KIA_NIRO_EV"
+"KIA_NIRO_PHEV_2022" = "KIA_NIRO_EV"
+"KIA_NIRO_HEV_2021" = "KIA_NIRO_EV"
+"HYUNDAI_VELOSTER" = "HYUNDAI_SONATA_LF"
+"HYUNDAI_KONA" = "HYUNDAI_KONA_EV"
+"HYUNDAI_KONA_HEV" = "HYUNDAI_KONA_EV"
+"HYUNDAI_KONA_EV_2022" = "HYUNDAI_KONA_EV"
+"HYUNDAI_IONIQ" = "HYUNDAI_IONIQ_PHEV_2019"
+"HYUNDAI_IONIQ_HEV_2022" = "HYUNDAI_IONIQ_PHEV_2019"
+"HYUNDAI_IONIQ_EV_2020" = "HYUNDAI_IONIQ_PHEV_2019"
+"HYUNDAI_ELANTRA" = "HYUNDAI_SONATA_LF"
+"HYUNDAI_ELANTRA_GT_I30" = "HYUNDAI_SONATA_LF"
+"HYUNDAI_ELANTRA_HEV_2021" = "HYUNDAI_SONATA"
+"HYUNDAI_TUCSON" = "HYUNDAI_SANTA_FE"
+"HYUNDAI_SANTA_FE_2022" = "HYUNDAI_SANTA_FE_HEV_2022"
+"KIA_K5_HEV_2020" = "KIA_K5_2021"
+"KIA_STINGER_2022" = "KIA_STINGER"
+"GENESIS_G90" = "GENESIS_G70"
+"GENESIS_G80" = "GENESIS_G70"
+"GENESIS_G70_2020" = "HYUNDAI_SONATA"
 
-"HONDA FREED 2020" = "HONDA ODYSSEY 2018"
-"HONDA CR-V EU 2016" = "HONDA CR-V 2016"
-"HONDA CIVIC SEDAN 1.6 DIESEL 2019" = "HONDA CIVIC (BOSCH) 2019"
-"HONDA E 2020" = "HONDA CIVIC (BOSCH) 2019"
-"HONDA ODYSSEY CHN 2019" = "HONDA ODYSSEY 2018"
+"HONDA_FREED" = "HONDA_ODYSSEY"
+"HONDA_CRV_EU" = "HONDA_CRV"
+"HONDA_CIVIC_BOSCH_DIESEL" = "HONDA_CIVIC_BOSCH"
+"HONDA_E" = "HONDA_CIVIC_BOSCH"
+"HONDA_ODYSSEY_CHN" = "HONDA_ODYSSEY"
 
-"BUICK LACROSSE 2017" = "CHEVROLET VOLT PREMIER 2017"
-"BUICK REGAL ESSENCE 2018" = "CHEVROLET VOLT PREMIER 2017"
-"CADILLAC ESCALADE ESV 2016" = "CHEVROLET VOLT PREMIER 2017"
-"CADILLAC ATS Premium Performance 2018" = "CHEVROLET VOLT PREMIER 2017"
-"CHEVROLET MALIBU PREMIER 2017" = "CHEVROLET VOLT PREMIER 2017"
-"HOLDEN ASTRA RS-V BK 2017" = "CHEVROLET VOLT PREMIER 2017"
+"BUICK_LACROSSE" = "CHEVROLET_VOLT"
+"BUICK_REGAL" = "CHEVROLET_VOLT"
+"CADILLAC_ESCALADE_ESV" = "CHEVROLET_VOLT"
+"CADILLAC_ATS" = "CHEVROLET_VOLT"
+"CHEVROLET_MALIBU" = "CHEVROLET_VOLT"
+"HOLDEN_ASTRA" = "CHEVROLET_VOLT"
 
-"SKODA FABIA 4TH GEN" = "VOLKSWAGEN GOLF 7TH GEN"
-"SKODA OCTAVIA 3RD GEN" = "SKODA SUPERB 3RD GEN"
-"SKODA SCALA 1ST GEN" = "SKODA SUPERB 3RD GEN"
-"SKODA KODIAQ 1ST GEN" = "SKODA SUPERB 3RD GEN"
-"SKODA KAROQ 1ST GEN" = "SKODA SUPERB 3RD GEN"
-"SKODA KAMIQ 1ST GEN" = "SKODA SUPERB 3RD GEN"
-"VOLKSWAGEN CRAFTER 2ND GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
-"VOLKSWAGEN T-ROC 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
-"VOLKSWAGEN T-CROSS 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
-"VOLKSWAGEN TOURAN 2ND GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
-"VOLKSWAGEN TRANSPORTER T6.1" = "VOLKSWAGEN TIGUAN 2ND GEN"
-"AUDI Q2 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
-"VOLKSWAGEN TAOS 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
-"VOLKSWAGEN POLO 6TH GEN" = "VOLKSWAGEN GOLF 7TH GEN"
-"SEAT LEON 3RD GEN" = "VOLKSWAGEN GOLF 7TH GEN"
-"SEAT ATECA 1ST GEN" = "VOLKSWAGEN GOLF 7TH GEN"
+"SKODA_FABIA_MK4" = "VOLKSWAGEN_GOLF_MK7"
+"SKODA_OCTAVIA_MK3" = "SKODA_SUPERB_MK3"
+"SKODA_KODIAQ_MK1" = "SKODA_SUPERB_MK3"
+"SKODA_KAROQ_MK1" = "SKODA_SUPERB_MK3"
+"SKODA_KAMIQ_MK1" = "SKODA_SUPERB_MK3"
+"VOLKSWAGEN_CRAFTER_MK2" = "VOLKSWAGEN_TIGUAN_MK2"
+"VOLKSWAGEN_TROC_MK1" = "VOLKSWAGEN_TIGUAN_MK2"
+"VOLKSWAGEN_TCROSS_MK1" = "VOLKSWAGEN_TIGUAN_MK2"
+"VOLKSWAGEN_TOURAN_MK2" = "VOLKSWAGEN_TIGUAN_MK2"
+"VOLKSWAGEN_TRANSPORTER_T61" = "VOLKSWAGEN_TIGUAN_MK2"
+"AUDI_Q2_MK1" = "VOLKSWAGEN_TIGUAN_MK2"
+"VOLKSWAGEN_TAOS_MK1" = "VOLKSWAGEN_TIGUAN_MK2"
+"VOLKSWAGEN_POLO_MK6" = "VOLKSWAGEN_GOLF_MK7"
+"SEAT_ATECA_MK1" = "VOLKSWAGEN_GOLF_MK7"
 
-"SUBARU CROSSTREK HYBRID 2020" = "SUBARU IMPREZA SPORT 2020"
-"SUBARU FORESTER HYBRID 2020" = "SUBARU IMPREZA SPORT 2020"
-"SUBARU LEGACY 7TH GEN" = "SUBARU OUTBACK 6TH GEN"
+"SUBARU_CROSSTREK_HYBRID" = "SUBARU_IMPREZA_2020"
+"SUBARU_FORESTER_HYBRID" = "SUBARU_IMPREZA_2020"
+"SUBARU_LEGACY" = "SUBARU_OUTBACK"
 
 # Old subarus don't have much data guessing it's like low torque impreza"
-"SUBARU OUTBACK 2018 - 2019" = "SUBARU IMPREZA LIMITED 2019"
-"SUBARU OUTBACK 2015 - 2017" = "SUBARU IMPREZA LIMITED 2019"
-"SUBARU FORESTER 2017 - 2018" = "SUBARU IMPREZA LIMITED 2019"
-"SUBARU LEGACY 2015 - 2018" = "SUBARU IMPREZA LIMITED 2019"
-"SUBARU ASCENT LIMITED 2019" = "SUBARU FORESTER 2019"
+"SUBARU_OUTBACK_PREGLOBAL_2018" = "SUBARU_IMPREZA"
+"SUBARU_OUTBACK_PREGLOBAL" = "SUBARU_IMPREZA"
+"SUBARU_FORESTER_PREGLOBAL" = "SUBARU_IMPREZA"
+"SUBARU_LEGACY_PREGLOBAL" = "SUBARU_IMPREZA"
+"SUBARU_ASCENT" = "SUBARU_FORESTER"
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index d960114f1b..f2d8a4a7bc 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -1,11 +1,10 @@
 from cereal import car
-from openpilot.common.numpy_fast import clip, interp
-from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \
-                          create_gas_interceptor_command, make_can_msg
+from openpilot.common.numpy_fast import clip
+from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_can_msg
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.toyota import toyotacan
 from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
-                                        MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, \
+                                        CarControllerParams, ToyotaFlags, \
                                         UNSUPPORTED_DSU_CAR
 from opendbc.can.packer import CANPacker
 
@@ -37,6 +36,7 @@ class CarController(CarControllerBase):
     self.last_standstill = False
     self.standstill_req = False
     self.steer_rate_counter = 0
+    self.distance_button = 0
 
     self.packer = CANPacker(dbc_name)
     self.gas = 0
@@ -100,21 +100,6 @@ class CarController(CarControllerBase):
                                                           lta_active, self.frame // 2, torque_wind_down))
 
     # *** gas and brake ***
-    if self.CP.enableGasInterceptor and CC.longActive:
-      MAX_INTERCEPTOR_GAS = 0.5
-      # RAV4 has very sensitive gas pedal
-      if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER):
-        PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0])
-      elif self.CP.carFingerprint in (CAR.COROLLA,):
-        PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0])
-      else:
-        PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.4, 0.5, 0.0])
-      # offset for creep and windbrake
-      pedal_offset = interp(CS.out.vEgo, [0.0, 2.3, MIN_ACC_SPEED + PEDAL_TRANSITION], [-.4, 0.0, 0.2])
-      pedal_command = PEDAL_SCALE * (actuators.accel + pedal_offset)
-      interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS)
-    else:
-      interceptor_gas_cmd = 0.
     pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
 
     # TODO: probably can delete this. CS.pcm_acc_status uses a different signal
@@ -123,7 +108,7 @@ class CarController(CarControllerBase):
       pcm_cancel_cmd = 1
 
     # on entering standstill, send standstill request
-    if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor):
+    if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR):
       self.standstill_req = True
     if CS.pcm_acc_status != 8:
       # pcm entered standstill or it's disabled
@@ -139,23 +124,26 @@ class CarController(CarControllerBase):
     if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
       lead = hud_control.leadVisible or CS.out.vEgo < 12.  # at low speed we always assume the lead is present so ACC can be engaged
 
+      # Press distance button until we are at the correct bar length. Only change while enabled to avoid skipping startup popup
+      if self.frame % 6 == 0 and self.CP.openpilotLongitudinalControl:
+        desired_distance = 4 - hud_control.leadDistanceBars
+        if CS.out.cruiseState.enabled and CS.pcm_follow_distance != desired_distance:
+          self.distance_button = not self.distance_button
+        else:
+          self.distance_button = 0
+
       # Lexus IS uses a different cancellation message
       if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
         can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
       elif self.CP.openpilotLongitudinalControl:
-        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert))
+        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert,
+                                                        self.distance_button))
         self.accel = pcm_accel_cmd
       else:
-        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False))
-
-    if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
-      # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
-      # This prevents unexpected pedal range rescaling
-      can_sends.append(create_gas_interceptor_command(self.packer, interceptor_gas_cmd, self.frame // 2))
-      self.gas = interceptor_gas_cmd
+        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.distance_button))
 
     # *** hud ui ***
-    if self.CP.carFingerprint != CAR.PRIUS_V:
+    if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
       # ui mesg is at 1Hz but we send asap if:
       # - there is something to display
       # - there is something to stop displaying
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index e4ea0d30f9..8315f24ae4 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -40,6 +40,11 @@ class CarState(CarStateBase):
     self.accurate_steer_angle_seen = False
     self.angle_offset = FirstOrderFilter(None, 60.0, DT_CTRL, initialized=False)
 
+    self.prev_distance_button = 0
+    self.distance_button = 0
+
+    self.pcm_follow_distance = 0
+
     self.low_speed_lockout = False
     self.acc_type = 1
     self.lkas_hud = {}
@@ -54,12 +59,8 @@ class CarState(CarStateBase):
 
     ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
     ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
-    if self.CP.enableGasInterceptor:
-      ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
-      ret.gasPressed = ret.gas > 805
-    else:
-      # TODO: find a common gas pedal percentage signal
-      ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
+
+    ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
 
     ret.wheelSpeeds = self.get_wheel_speeds(
       cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
@@ -95,7 +96,7 @@ class CarState(CarStateBase):
     ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1
     ret.rightBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2
 
-    if self.CP.carFingerprint != CAR.MIRAI:
+    if self.CP.carFingerprint != CAR.TOYOTA_MIRAI:
       ret.engineRpm = cp.vl["ENGINE_RPM"]["RPM"]
 
     ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
@@ -148,7 +149,7 @@ class CarState(CarStateBase):
       # ignore standstill state in certain vehicles, since pcm allows to restart with just an acceleration request
       ret.cruiseState.standstill = self.pcm_acc_status == 7
     ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"])
-    ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6)
+    ret.cruiseState.nonAdaptive = self.pcm_acc_status in (1, 2, 3, 4, 5, 6)
 
     ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"])
     ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
@@ -160,9 +161,20 @@ class CarState(CarStateBase):
       ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
       ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)
 
-    if self.CP.carFingerprint != CAR.PRIUS_V:
+    if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
       self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
 
+    if self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
+      self.pcm_follow_distance = cp.vl["PCM_CRUISE_2"]["PCM_FOLLOW_DISTANCE"]
+
+    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):
+      # distance button is wired to the ACC module (camera or radar)
+      self.prev_distance_button = self.distance_button
+      if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
+        self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
+      else:
+        self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
+
     return ret
 
   @staticmethod
@@ -183,7 +195,7 @@ class CarState(CarStateBase):
       ("STEER_TORQUE_SENSOR", 50),
     ]
 
-    if CP.carFingerprint != CAR.MIRAI:
+    if CP.carFingerprint != CAR.TOYOTA_MIRAI:
       messages.append(("ENGINE_RPM", 42))
 
     if CP.carFingerprint in UNSUPPORTED_DSU_CAR:
@@ -192,10 +204,6 @@ class CarState(CarStateBase):
     else:
       messages.append(("PCM_CRUISE_2", 33))
 
-    # add gas interceptor reading if we are using it
-    if CP.enableGasInterceptor:
-      messages.append(("GAS_SENSOR", 50))
-
     if CP.enableBsm:
       messages.append(("BSM", 1))
 
@@ -213,13 +221,18 @@ class CarState(CarStateBase):
         ("PRE_COLLISION", 33),
       ]
 
+    if CP.flags & ToyotaFlags.SMART_DSU and not CP.flags & ToyotaFlags.RADAR_CAN_FILTER:
+      messages += [
+        ("SDSU", 100),
+      ]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod
   def get_cam_can_parser(CP):
     messages = []
 
-    if CP.carFingerprint != CAR.PRIUS_V:
+    if CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
       messages += [
         ("LKAS_HUD", 1),
       ]
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index b59e1abea4..7719649a46 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -4,7 +4,7 @@ from openpilot.selfdrive.car.toyota.values import CAR
 Ecu = car.CarParams.Ecu
 
 FW_VERSIONS = {
-  CAR.AVALON: {
+  CAR.TOYOTA_AVALON: {
     (Ecu.abs, 0x7b0, None): [
       b'F152607060\x00\x00\x00\x00\x00\x00',
     ],
@@ -30,7 +30,7 @@ FW_VERSIONS = {
       b'8646F0703000\x00\x00\x00\x00',
     ],
   },
-  CAR.AVALON_2019: {
+  CAR.TOYOTA_AVALON_2019: {
     (Ecu.abs, 0x7b0, None): [
       b'F152607110\x00\x00\x00\x00\x00\x00',
       b'F152607140\x00\x00\x00\x00\x00\x00',
@@ -71,7 +71,7 @@ FW_VERSIONS = {
       b'8646F0702100\x00\x00\x00\x00',
     ],
   },
-  CAR.AVALON_TSS2: {
+  CAR.TOYOTA_AVALON_TSS2: {
     (Ecu.abs, 0x7b0, None): [
       b'\x01F152607240\x00\x00\x00\x00\x00\x00',
       b'\x01F152607250\x00\x00\x00\x00\x00\x00',
@@ -95,7 +95,7 @@ FW_VERSIONS = {
       b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
     ],
   },
-  CAR.CAMRY: {
+  CAR.TOYOTA_CAMRY: {
     (Ecu.engine, 0x700, None): [
       b'\x018966306L3100\x00\x00\x00\x00',
       b'\x018966306L4200\x00\x00\x00\x00',
@@ -222,7 +222,7 @@ FW_VERSIONS = {
       b'8646F0607100    ',
     ],
   },
-  CAR.CAMRY_TSS2: {
+  CAR.TOYOTA_CAMRY_TSS2: {
     (Ecu.eps, 0x7a1, None): [
       b'8965B33630\x00\x00\x00\x00\x00\x00',
       b'8965B33640\x00\x00\x00\x00\x00\x00',
@@ -268,7 +268,7 @@ FW_VERSIONS = {
       b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
-  CAR.CHR: {
+  CAR.TOYOTA_CHR: {
     (Ecu.engine, 0x700, None): [
       b'\x01896631017100\x00\x00\x00\x00',
       b'\x01896631017200\x00\x00\x00\x00',
@@ -353,7 +353,7 @@ FW_VERSIONS = {
       b'8646FF407100    ',
     ],
   },
-  CAR.CHR_TSS2: {
+  CAR.TOYOTA_CHR_TSS2: {
     (Ecu.abs, 0x7b0, None): [
       b'F152610041\x00\x00\x00\x00\x00\x00',
       b'F152610260\x00\x00\x00\x00\x00\x00',
@@ -377,6 +377,7 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821FF410200\x00\x00\x00\x00',
       b'\x018821FF410300\x00\x00\x00\x00',
+      b'\x018821FF410400\x00\x00\x00\x00',
       b'\x018821FF410500\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
@@ -385,7 +386,7 @@ FW_VERSIONS = {
       b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00',
     ],
   },
-  CAR.COROLLA: {
+  CAR.TOYOTA_COROLLA: {
     (Ecu.engine, 0x7e0, None): [
       b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0230ZC2100\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -419,7 +420,7 @@ FW_VERSIONS = {
       b'8646F0201200\x00\x00\x00\x00',
     ],
   },
-  CAR.COROLLA_TSS2: {
+  CAR.TOYOTA_COROLLA_TSS2: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630A22000\x00\x00\x00\x00',
       b'\x01896630ZG2000\x00\x00\x00\x00',
@@ -594,7 +595,7 @@ FW_VERSIONS = {
       b'\x028646F7605100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
-  CAR.HIGHLANDER: {
+  CAR.TOYOTA_HIGHLANDER: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630E09000\x00\x00\x00\x00',
       b'\x01896630E43000\x00\x00\x00\x00',
@@ -639,6 +640,7 @@ FW_VERSIONS = {
     (Ecu.dsu, 0x791, None): [
       b'881510E01100\x00\x00\x00\x00',
       b'881510E01200\x00\x00\x00\x00',
+      b'881510E02200\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F4702100\x00\x00\x00\x00',
@@ -649,7 +651,7 @@ FW_VERSIONS = {
       b'8646F0E01300\x00\x00\x00\x00',
     ],
   },
-  CAR.HIGHLANDER_TSS2: {
+  CAR.TOYOTA_HIGHLANDER_TSS2: {
     (Ecu.eps, 0x7a1, None): [
       b'8965B48241\x00\x00\x00\x00\x00\x00',
       b'8965B48310\x00\x00\x00\x00\x00\x00',
@@ -686,6 +688,7 @@ FW_VERSIONS = {
       b'\x01896630EB1000\x00\x00\x00\x00',
       b'\x01896630EB1100\x00\x00\x00\x00',
       b'\x01896630EB1200\x00\x00\x00\x00',
+      b'\x01896630EB1300\x00\x00\x00\x00',
       b'\x01896630EB2000\x00\x00\x00\x00',
       b'\x01896630EB2100\x00\x00\x00\x00',
       b'\x01896630EB2200\x00\x00\x00\x00',
@@ -725,6 +728,7 @@ FW_VERSIONS = {
       b'\x018966353M7000\x00\x00\x00\x00',
       b'\x018966353M7100\x00\x00\x00\x00',
       b'\x018966353Q2000\x00\x00\x00\x00',
+      b'\x018966353Q2100\x00\x00\x00\x00',
       b'\x018966353Q2300\x00\x00\x00\x00',
       b'\x018966353Q4000\x00\x00\x00\x00',
       b'\x018966353R1100\x00\x00\x00\x00',
@@ -772,23 +776,29 @@ FW_VERSIONS = {
       b'\x018966353S1000\x00\x00\x00\x00',
       b'\x018966353S2000\x00\x00\x00\x00',
     ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x02353U0000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15265337200\x00\x00\x00\x00',
       b'\x01F15265342000\x00\x00\x00\x00',
+      b'\x01F15265343000\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B53450\x00\x00\x00\x00\x00\x00',
+      b'8965B53800\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F6201200\x00\x00\x00\x00',
       b'\x018821F6201300\x00\x00\x00\x00',
+      b'\x018821F6201400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F5303300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
       b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
-  CAR.PRIUS: {
+  CAR.TOYOTA_PRIUS: {
     (Ecu.engine, 0x700, None): [
       b'\x02896634761000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634761100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@@ -886,7 +896,7 @@ FW_VERSIONS = {
       b'8646F4705200\x00\x00\x00\x00',
     ],
   },
-  CAR.PRIUS_V: {
+  CAR.TOYOTA_PRIUS_V: {
     (Ecu.abs, 0x7b0, None): [
       b'F152647280\x00\x00\x00\x00\x00\x00',
     ],
@@ -903,7 +913,7 @@ FW_VERSIONS = {
       b'8646F4703300\x00\x00\x00\x00',
     ],
   },
-  CAR.RAV4: {
+  CAR.TOYOTA_RAV4: {
     (Ecu.engine, 0x7e0, None): [
       b'\x02342Q1000\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02342Q1100\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -944,7 +954,7 @@ FW_VERSIONS = {
       b'8646F4204000\x00\x00\x00\x00',
     ],
   },
-  CAR.RAV4H: {
+  CAR.TOYOTA_RAV4H: {
     (Ecu.engine, 0x7e0, None): [
       b'\x02342N9000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02342N9100\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -981,7 +991,7 @@ FW_VERSIONS = {
       b'8646F4204000\x00\x00\x00\x00',
     ],
   },
-  CAR.RAV4_TSS2: {
+  CAR.TOYOTA_RAV4_TSS2: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630R58000\x00\x00\x00\x00',
       b'\x01896630R58100\x00\x00\x00\x00',
@@ -1091,7 +1101,7 @@ FW_VERSIONS = {
       b'\x028646F4203800\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
     ],
   },
-  CAR.RAV4_TSS2_2022: {
+  CAR.TOYOTA_RAV4_TSS2_2022: {
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15260R350\x00\x00\x00\x00\x00\x00',
       b'\x01F15260R361\x00\x00\x00\x00\x00\x00',
@@ -1127,7 +1137,7 @@ FW_VERSIONS = {
       b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
     ],
   },
-  CAR.RAV4_TSS2_2023: {
+  CAR.TOYOTA_RAV4_TSS2_2023: {
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
       b'\x01F15260R51000\x00\x00\x00\x00',
@@ -1135,18 +1145,22 @@ FW_VERSIONS = {
       b'\x01F15264283300\x00\x00\x00\x00',
       b'\x01F152642F1000\x00\x00\x00\x00',
       b'\x01F152642F8000\x00\x00\x00\x00',
+      b'\x01F152642F8100\x00\x00\x00\x00',
+      b'\x01F152642F9000\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
       b'8965B42371\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
+      b'\x01896634A61000\x00\x00\x00\x00',
       b'\x01896634A88100\x00\x00\x00\x00',
       b'\x01896634A89100\x00\x00\x00\x00',
       b'\x01896634AE1001\x00\x00\x00\x00',
       b'\x01896634AF0000\x00\x00\x00\x00',
       b'\x01896634AJ2000\x00\x00\x00\x00',
       b'\x01896634AL5000\x00\x00\x00\x00',
+      b'\x01896634AL6000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F0R03100\x00\x00\x00\x00',
@@ -1157,7 +1171,7 @@ FW_VERSIONS = {
       b'\x028646F0R11000\x00\x00\x00\x008646G0R04000\x00\x00\x00\x00',
     ],
   },
-  CAR.SIENNA: {
+  CAR.TOYOTA_SIENNA: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630832100\x00\x00\x00\x00',
       b'\x01896630832200\x00\x00\x00\x00',
@@ -1225,6 +1239,7 @@ FW_VERSIONS = {
       b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
       b'\x028966333W1000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
       b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00',
+      b'\x02896633T10000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F152606281\x00\x00\x00\x00\x00\x00',
@@ -1278,6 +1293,7 @@ FW_VERSIONS = {
       b'881513309400\x00\x00\x00\x00',
       b'881513309500\x00\x00\x00\x00',
       b'881513310400\x00\x00\x00\x00',
+      b'881513310500\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B33502\x00\x00\x00\x00\x00\x00',
@@ -1322,6 +1338,7 @@ FW_VERSIONS = {
       b'\x01896637854000\x00\x00\x00\x00',
       b'\x01896637873000\x00\x00\x00\x00',
       b'\x01896637878000\x00\x00\x00\x00',
+      b'\x01896637878100\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\x0237841000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1407,6 +1424,7 @@ FW_VERSIONS = {
       b'\x018821F6201400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F1104200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F1105200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
@@ -1537,6 +1555,7 @@ FW_VERSIONS = {
       b'\x018966348W5100\x00\x00\x00\x00',
       b'\x018966348W9000\x00\x00\x00\x00',
       b'\x018966348X0000\x00\x00\x00\x00',
+      b'\x01896634D11000\x00\x00\x00\x00',
       b'\x01896634D12000\x00\x00\x00\x00',
       b'\x01896634D12100\x00\x00\x00\x00',
       b'\x01896634D43000\x00\x00\x00\x00',
@@ -1580,7 +1599,7 @@ FW_VERSIONS = {
       b'\x028646F4810400\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
-  CAR.PRIUS_TSS2: {
+  CAR.TOYOTA_PRIUS_TSS2: {
     (Ecu.engine, 0x700, None): [
       b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966347C4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@@ -1611,7 +1630,7 @@ FW_VERSIONS = {
       b'\x028646F4712000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
     ],
   },
-  CAR.MIRAI: {
+  CAR.TOYOTA_MIRAI: {
     (Ecu.abs, 0x7d1, None): [
       b'\x01898A36203000\x00\x00\x00\x00',
     ],
@@ -1629,7 +1648,7 @@ FW_VERSIONS = {
       b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
     ],
   },
-  CAR.ALPHARD_TSS2: {
+  CAR.TOYOTA_ALPHARD_TSS2: {
     (Ecu.engine, 0x7e0, None): [
       b'\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 7fd5c9435d..3ea05f9fef 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -3,10 +3,11 @@ from panda import Panda
 from panda.python import uds
 from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, 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 get_safety_config
+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
 
+ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 SteerControlType = car.CarParams.SteerControlType
 
@@ -43,7 +44,20 @@ class CarInterface(CarInterfaceBase):
 
     stop_and_go = candidate in TSS2_CAR
 
-    if candidate == CAR.PRIUS:
+    # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
+    # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
+    if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
+      ret.flags |= ToyotaFlags.SMART_DSU.value
+
+    if 0x2AA in fingerprint[0] and candidate in NO_DSU_CAR:
+      ret.flags |= ToyotaFlags.RADAR_CAN_FILTER.value
+
+    # In TSS2 cars, the camera does long control
+    found_ecus = [fw.ecu for fw in car_fw]
+    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \
+                                        and not (ret.flags & ToyotaFlags.SMART_DSU)
+
+    if candidate == CAR.TOYOTA_PRIUS:
       stop_and_go = True
       # Only give steer angle deadzone to for bad angle sensor prius
       for fw in car_fw:
@@ -51,32 +65,16 @@ class CarInterface(CarInterfaceBase):
           ret.steerActuatorDelay = 0.25
           CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2)
 
-    elif candidate == CAR.PRIUS_V:
-      stop_and_go = True
-
-    elif candidate in (CAR.RAV4, CAR.RAV4H):
-      stop_and_go = True if (candidate in CAR.RAV4H) else False
-
     elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
       stop_and_go = True
       ret.wheelSpeedFactor = 1.035
 
-    elif candidate in (CAR.CHR, CAR.CHR_TSS2):
-      stop_and_go = True
-
-    elif candidate in (CAR.CAMRY, CAR.CAMRY_TSS2):
-      stop_and_go = True
-
-    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2):
-      # TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU
-      stop_and_go = True
-
-    elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2):
+    elif candidate in (CAR.TOYOTA_AVALON, CAR.TOYOTA_AVALON_2019, CAR.TOYOTA_AVALON_TSS2):
       # starting from 2019, all Avalon variants have stop and go
       # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
-      stop_and_go = candidate != CAR.AVALON
+      stop_and_go = candidate != CAR.TOYOTA_AVALON
 
-    elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023):
+    elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023):
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kiBP = [0.0]
       ret.lateralTuning.pid.kpBP = [0.0]
@@ -93,17 +91,14 @@ class CarInterface(CarInterfaceBase):
           ret.lateralTuning.pid.kf = 0.00004
           break
 
-    elif candidate == CAR.SIENNA:
+    elif candidate in (CAR.TOYOTA_CHR, CAR.TOYOTA_CAMRY, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX):
+      # TODO: Some of these platforms are not advertised to have full range ACC, are they similar to SNG_WITHOUT_DSU cars?
       stop_and_go = True
 
-    elif candidate == CAR.LEXUS_CTH:
-      stop_and_go = True
-
-    elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2):
-      stop_and_go = True
-
-    elif candidate == CAR.MIRAI:
-      stop_and_go = True
+    # TODO: these models can do stop and go, but unclear if it requires sDSU or unplugging DSU.
+    #  For now, don't list stop and go functionality in the docs
+    if ret.flags & ToyotaFlags.SNG_WITHOUT_DSU:
+      stop_and_go = stop_and_go or bool(ret.flags & ToyotaFlags.SMART_DSU.value) or (ret.enableDsu and not docs)
 
     ret.centerToFront = ret.wheelbase * 0.44
 
@@ -111,20 +106,10 @@ class CarInterface(CarInterfaceBase):
     # Detect flipped signals and enable for C-HR and others
     ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
 
-    # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
-    # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
-    if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
-      ret.flags |= ToyotaFlags.SMART_DSU.value
-
     # No radar dbc for cars without DSU which are not TSS 2.0
     # TODO: make an adas dbc file for dsu-less models
     ret.radarUnavailable = DBC[candidate]['radar'] is None or candidate in (NO_DSU_CAR - TSS2_CAR)
 
-    # In TSS2 cars, the camera does long control
-    found_ecus = [fw.ecu for fw in car_fw]
-    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \
-                                        and not (ret.flags & ToyotaFlags.SMART_DSU)
-
     # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
     # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
     use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
@@ -148,22 +133,18 @@ class CarInterface(CarInterfaceBase):
     #  - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
     ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
-    ret.enableGasInterceptor = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl
 
     if not ret.openpilotLongitudinalControl:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
 
-    if ret.enableGasInterceptor:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_GAS_INTERCEPTOR
-
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter.
-    ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
+    ret.minEnableSpeed = -1. if stop_and_go else MIN_ACC_SPEED
 
     tune = ret.longitudinalTuning
     tune.deadzoneBP = [0., 9.]
     tune.deadzoneV = [.0, .15]
-    if candidate in TSS2_CAR or ret.enableGasInterceptor:
+    if candidate in TSS2_CAR:
       tune.kpBP = [0., 5., 20.]
       tune.kpV = [1.3, 1.0, 0.7]
       tune.kiBP = [0., 5., 12., 20., 27.]
@@ -191,6 +172,9 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
+    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):
+      ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     # events
     events = self.create_common_events(ret)
 
@@ -200,7 +184,7 @@ class CarInterface(CarInterfaceBase):
       events.add(EventName.vehicleSensorsInvalid)
 
     if self.CP.openpilotLongitudinalControl:
-      if ret.cruiseState.standstill and not ret.brakePressed and not self.CP.enableGasInterceptor:
+      if ret.cruiseState.standstill and not ret.brakePressed:
         events.add(EventName.resumeRequired)
       if self.CS.low_speed_lockout:
         events.add(EventName.lowSpeedLockout)
@@ -216,8 +200,3 @@ class CarInterface(CarInterfaceBase):
     ret.events = events.to_msg()
 
     return ret
-
-  # pass in a car.CarControl
-  # to be called @ 100hz
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py
index d9d4fe087f..e2a9b46eb4 100755
--- a/selfdrive/car/toyota/tests/test_toyota.py
+++ b/selfdrive/car/toyota/tests/test_toyota.py
@@ -13,6 +13,10 @@ Ecu = car.CarParams.Ecu
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 
+def check_fw_version(fw_version: bytes) -> bool:
+  return b'?' not in fw_version
+
+
 class TestToyotaInterfaces(unittest.TestCase):
   def test_car_sets(self):
     self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0)
@@ -20,7 +24,7 @@ class TestToyotaInterfaces(unittest.TestCase):
 
   def test_lta_platforms(self):
     # At this time, only RAV4 2023 is expected to use LTA/angle control
-    self.assertEqual(ANGLE_CONTROL_CAR, {CAR.RAV4_TSS2_2023})
+    self.assertEqual(ANGLE_CONTROL_CAR, {CAR.TOYOTA_RAV4_TSS2_2023})
 
   def test_tss2_dbc(self):
     # We make some assumptions about TSS2 platforms,
@@ -39,13 +43,13 @@ class TestToyotaInterfaces(unittest.TestCase):
         self.assertEqual(len(missing_ecus), 0)
 
         # Some exceptions for other common ECUs
-        if car_model not in (CAR.ALPHARD_TSS2,):
+        if car_model not in (CAR.TOYOTA_ALPHARD_TSS2,):
           self.assertIn(Ecu.abs, present_ecus)
 
-        if car_model not in (CAR.MIRAI,):
+        if car_model not in (CAR.TOYOTA_MIRAI,):
           self.assertIn(Ecu.engine, present_ecus)
 
-        if car_model not in (CAR.PRIUS_V, CAR.LEXUS_CTH):
+        if car_model not in (CAR.TOYOTA_PRIUS_V, CAR.LEXUS_CTH):
           self.assertIn(Ecu.eps, present_ecus)
 
 
@@ -59,6 +63,14 @@ class TestToyotaFingerprint(unittest.TestCase):
                          car_model in FW_QUERY_CONFIG.non_essential_ecus[Ecu.engine],
                          f"Car model unexpectedly {'not ' if len(engine_ecus) > 1 else ''}in non-essential list")
 
+  def test_valid_fw_versions(self):
+    # Asserts all FW versions are valid
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model.value):
+        for fws in ecus.values():
+          for fw in fws:
+            self.assertTrue(check_fw_version(fw), fw)
+
   # Tests for part numbers, platform codes, and sub-versions which Toyota will use to fuzzy
   # fingerprint in the absence of full FW matches:
   @settings(max_examples=100)
@@ -73,9 +85,9 @@ class TestToyotaFingerprint(unittest.TestCase):
     for car_model, ecus in FW_VERSIONS.items():
       with self.subTest(car_model=car_model.value):
         for platform_code_ecu in PLATFORM_CODE_ECUS:
-          if platform_code_ecu == Ecu.eps and car_model in (CAR.PRIUS_V, CAR.LEXUS_CTH,):
+          if platform_code_ecu == Ecu.eps and car_model in (CAR.TOYOTA_PRIUS_V, CAR.LEXUS_CTH,):
             continue
-          if platform_code_ecu == Ecu.abs and car_model in (CAR.ALPHARD_TSS2,):
+          if platform_code_ecu == Ecu.abs and car_model in (CAR.TOYOTA_ALPHARD_TSS2,):
             continue
           self.assertIn(platform_code_ecu, [e[0] for e in ecus])
 
@@ -148,7 +160,7 @@ class TestToyotaFingerprint(unittest.TestCase):
                          "subAddress": 0 if sub_addr is None else sub_addr})
 
       CP = car.CarParams.new_message(carFw=car_fw)
-      matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), FW_VERSIONS)
+      matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
       if len(matches) == 1:
         self.assertEqual(list(matches)[0], platform)
       else:
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index e14e3e53a0..1cc99b41b5 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -33,12 +33,12 @@ def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req,
   return packer.make_can_msg("STEERING_LTA", 0, values)
 
 
-def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert):
+def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, distance):
   # TODO: find the exact canceling bit that does not create a chime
   values = {
     "ACCEL_CMD": accel,
     "ACC_TYPE": acc_type,
-    "DISTANCE": 0,
+    "DISTANCE": distance,
     "MINI_CAR": lead,
     "PERMIT_BRAKING": 1,
     "RELEASE_STANDSTILL": not standstill_req,
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 9989b9225a..dbab2e9255 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -7,7 +7,7 @@ from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms
 from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarDocs, Column, CarParts, CarHarness
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
@@ -46,6 +46,7 @@ class ToyotaFlags(IntFlag):
   HYBRID = 1
   SMART_DSU = 2
   DISABLE_RADAR = 4
+  RADAR_CAN_FILTER = 1024
 
   # Static flags
   TSS2 = 8
@@ -55,6 +56,8 @@ class ToyotaFlags(IntFlag):
   # these cars use the Lane Tracing Assist (LTA) message for lateral control
   ANGLE_CONTROL = 128
   NO_STOP_TIMER = 256
+  # these cars are speculated to allow stop and go when the DSU is unplugged or disabled with sDSU
+  SNG_WITHOUT_DSU = 512
 
 
 class Footnote(Enum):
@@ -64,7 +67,7 @@ class Footnote(Enum):
 
 
 @dataclass
-class ToyotaCarInfo(CarInfo):
+class ToyotaCarDocs(CarDocs):
   package: str = "All"
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.toyota_a]))
 
@@ -82,194 +85,173 @@ class ToyotaTSS2PlatformConfig(PlatformConfig):
 
 class CAR(Platforms):
   # Toyota
-  ALPHARD_TSS2 = ToyotaTSS2PlatformConfig(
-    "TOYOTA ALPHARD 2020",
+  TOYOTA_ALPHARD_TSS2 = ToyotaTSS2PlatformConfig(
     [
-      ToyotaCarInfo("Toyota Alphard 2019-20"),
-      ToyotaCarInfo("Toyota Alphard Hybrid 2021"),
+      ToyotaCarDocs("Toyota Alphard 2019-20"),
+      ToyotaCarDocs("Toyota Alphard Hybrid 2021"),
     ],
     CarSpecs(mass=4305. * CV.LB_TO_KG, wheelbase=3.0, steerRatio=14.2, tireStiffnessFactor=0.444),
   )
-  AVALON = PlatformConfig(
-    "TOYOTA AVALON 2016",
+  TOYOTA_AVALON = PlatformConfig(
     [
-      ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P"),
-      ToyotaCarInfo("Toyota Avalon 2017-18"),
+      ToyotaCarDocs("Toyota Avalon 2016", "Toyota Safety Sense P"),
+      ToyotaCarDocs("Toyota Avalon 2017-18"),
     ],
     CarSpecs(mass=3505. * CV.LB_TO_KG, wheelbase=2.82, steerRatio=14.8, tireStiffnessFactor=0.7983),
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   )
-  AVALON_2019 = PlatformConfig(
-    "TOYOTA AVALON 2019",
+  TOYOTA_AVALON_2019 = PlatformConfig(
     [
-      ToyotaCarInfo("Toyota Avalon 2019-21"),
-      ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"),
+      ToyotaCarDocs("Toyota Avalon 2019-21"),
+      ToyotaCarDocs("Toyota Avalon Hybrid 2019-21"),
     ],
-    AVALON.specs,
+    TOYOTA_AVALON.specs,
     dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   )
-  AVALON_TSS2 = ToyotaTSS2PlatformConfig(
-    "TOYOTA AVALON 2022",  # TSS 2.5
+  TOYOTA_AVALON_TSS2 = ToyotaTSS2PlatformConfig( # TSS 2.5
     [
-      ToyotaCarInfo("Toyota Avalon 2022"),
-      ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
+      ToyotaCarDocs("Toyota Avalon 2022"),
+      ToyotaCarDocs("Toyota Avalon Hybrid 2022"),
     ],
-    AVALON.specs,
+    TOYOTA_AVALON.specs,
   )
-  CAMRY = PlatformConfig(
-    "TOYOTA CAMRY 2018",
+  TOYOTA_CAMRY = PlatformConfig(
     [
-      ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
-      ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
+      ToyotaCarDocs("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
+      ToyotaCarDocs("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
     ],
     CarSpecs(mass=3400. * CV.LB_TO_KG, wheelbase=2.82448, steerRatio=13.7, tireStiffnessFactor=0.7933),
     dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
     flags=ToyotaFlags.NO_DSU,
   )
-  CAMRY_TSS2 = ToyotaTSS2PlatformConfig(
-    "TOYOTA CAMRY 2021",  # TSS 2.5
+  TOYOTA_CAMRY_TSS2 = ToyotaTSS2PlatformConfig( # TSS 2.5
     [
-      ToyotaCarInfo("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]),
-      ToyotaCarInfo("Toyota Camry Hybrid 2021-24"),
+      ToyotaCarDocs("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]),
+      ToyotaCarDocs("Toyota Camry Hybrid 2021-24"),
     ],
-    CAMRY.specs,
+    TOYOTA_CAMRY.specs,
   )
-  CHR = PlatformConfig(
-    "TOYOTA C-HR 2018",
+  TOYOTA_CHR = PlatformConfig(
     [
-      ToyotaCarInfo("Toyota C-HR 2017-20"),
-      ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"),
+      ToyotaCarDocs("Toyota C-HR 2017-20"),
+      ToyotaCarDocs("Toyota C-HR Hybrid 2017-20"),
     ],
     CarSpecs(mass=3300. * CV.LB_TO_KG, wheelbase=2.63906, steerRatio=13.6, tireStiffnessFactor=0.7933),
     dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
     flags=ToyotaFlags.NO_DSU,
   )
-  CHR_TSS2 = ToyotaTSS2PlatformConfig(
-    "TOYOTA C-HR 2021",
+  TOYOTA_CHR_TSS2 = ToyotaTSS2PlatformConfig(
     [
-      ToyotaCarInfo("Toyota C-HR 2021"),
-      ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"),
+      ToyotaCarDocs("Toyota C-HR 2021"),
+      ToyotaCarDocs("Toyota C-HR Hybrid 2021-22"),
     ],
-    CHR.specs,
+    TOYOTA_CHR.specs,
     flags=ToyotaFlags.RADAR_ACC,
   )
-  COROLLA = PlatformConfig(
-    "TOYOTA COROLLA 2017",
-    ToyotaCarInfo("Toyota Corolla 2017-19"),
+  TOYOTA_COROLLA = PlatformConfig(
+    [ToyotaCarDocs("Toyota Corolla 2017-19")],
     CarSpecs(mass=2860. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=18.27, tireStiffnessFactor=0.444),
     dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   )
   # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid
-  COROLLA_TSS2 = ToyotaTSS2PlatformConfig(
-    "TOYOTA COROLLA TSS2 2019",
+  TOYOTA_COROLLA_TSS2 = ToyotaTSS2PlatformConfig(
     [
-      ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
-      ToyotaCarInfo("Toyota Corolla Cross (Non-US only) 2020-23", min_enable_speed=7.5),
-      ToyotaCarInfo("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
+      ToyotaCarDocs("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
+      ToyotaCarDocs("Toyota Corolla Cross (Non-US only) 2020-23", min_enable_speed=7.5),
+      ToyotaCarDocs("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
       # Hybrid platforms
-      ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"),
-      ToyotaCarInfo("Toyota Corolla Hybrid (Non-US only) 2020-23", min_enable_speed=7.5),
-      ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
-      ToyotaCarInfo("Lexus UX Hybrid 2019-23"),
+      ToyotaCarDocs("Toyota Corolla Hybrid 2020-22"),
+      ToyotaCarDocs("Toyota Corolla Hybrid (Non-US only) 2020-23", min_enable_speed=7.5),
+      ToyotaCarDocs("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
+      ToyotaCarDocs("Lexus UX Hybrid 2019-23"),
     ],
     CarSpecs(mass=3060. * CV.LB_TO_KG, wheelbase=2.67, steerRatio=13.9, tireStiffnessFactor=0.444),
   )
-  HIGHLANDER = PlatformConfig(
-    "TOYOTA HIGHLANDER 2017",
+  TOYOTA_HIGHLANDER = PlatformConfig(
     [
-      ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
-      ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
+      ToyotaCarDocs("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
+      ToyotaCarDocs("Toyota Highlander Hybrid 2017-19"),
     ],
     CarSpecs(mass=4516. * CV.LB_TO_KG, wheelbase=2.8194, steerRatio=16.0, tireStiffnessFactor=0.8),
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
-    flags=ToyotaFlags.NO_STOP_TIMER,
+    flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
   )
-  HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig(
-    "TOYOTA HIGHLANDER 2020",
+  TOYOTA_HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig(
     [
-      ToyotaCarInfo("Toyota Highlander 2020-23"),
-      ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
+      ToyotaCarDocs("Toyota Highlander 2020-23"),
+      ToyotaCarDocs("Toyota Highlander Hybrid 2020-23"),
     ],
-    HIGHLANDER.specs,
+    TOYOTA_HIGHLANDER.specs,
   )
-  PRIUS = PlatformConfig(
-    "TOYOTA PRIUS 2017",
+  TOYOTA_PRIUS = PlatformConfig(
     [
-      ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
-      ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
-      ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
+      ToyotaCarDocs("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
+      ToyotaCarDocs("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
+      ToyotaCarDocs("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
     ],
     CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.74, tireStiffnessFactor=0.6371),
     dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   )
-  PRIUS_V = PlatformConfig(
-    "TOYOTA PRIUS v 2017",
-    ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED),
+  TOYOTA_PRIUS_V = PlatformConfig(
+    [ToyotaCarDocs("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED)],
     CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533),
     dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
-    flags=ToyotaFlags.NO_STOP_TIMER,
+    flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
   )
-  PRIUS_TSS2 = ToyotaTSS2PlatformConfig(
-    "TOYOTA PRIUS TSS2 2021",
+  TOYOTA_PRIUS_TSS2 = ToyotaTSS2PlatformConfig(
     [
-      ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
-      ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
+      ToyotaCarDocs("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
+      ToyotaCarDocs("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
     ],
     CarSpecs(mass=3115. * CV.LB_TO_KG, wheelbase=2.70002, steerRatio=13.4, tireStiffnessFactor=0.6371),
   )
-  RAV4 = PlatformConfig(
-    "TOYOTA RAV4 2017",
+  TOYOTA_RAV4 = PlatformConfig(
     [
-      ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P"),
-      ToyotaCarInfo("Toyota RAV4 2017-18")
+      ToyotaCarDocs("Toyota RAV4 2016", "Toyota Safety Sense P"),
+      ToyotaCarDocs("Toyota RAV4 2017-18")
     ],
     CarSpecs(mass=3650. * CV.LB_TO_KG, wheelbase=2.65, steerRatio=16.88, tireStiffnessFactor=0.5533),
     dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   )
-  RAV4H = PlatformConfig(
-    "TOYOTA RAV4 HYBRID 2017",
+  TOYOTA_RAV4H = PlatformConfig(
     [
-      ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"),
-      ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26")
+      ToyotaCarDocs("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"),
+      ToyotaCarDocs("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26")
     ],
-    RAV4.specs,
+    TOYOTA_RAV4.specs,
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
-    flags=ToyotaFlags.NO_STOP_TIMER,
+    # Note that the ICE RAV4 does not respect positive acceleration commands under 19 mph
+    flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
   )
-  RAV4_TSS2 = ToyotaTSS2PlatformConfig(
-    "TOYOTA RAV4 2019",
+  TOYOTA_RAV4_TSS2 = ToyotaTSS2PlatformConfig(
     [
-      ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
-      ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
+      ToyotaCarDocs("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
+      ToyotaCarDocs("Toyota RAV4 Hybrid 2019-21"),
     ],
     CarSpecs(mass=3585. * CV.LB_TO_KG, wheelbase=2.68986, steerRatio=14.3, tireStiffnessFactor=0.7933),
   )
-  RAV4_TSS2_2022 = ToyotaTSS2PlatformConfig(
-    "TOYOTA RAV4 2022",
+  TOYOTA_RAV4_TSS2_2022 = ToyotaTSS2PlatformConfig(
     [
-      ToyotaCarInfo("Toyota RAV4 2022"),
-      ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
+      ToyotaCarDocs("Toyota RAV4 2022"),
+      ToyotaCarDocs("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
     ],
-    RAV4_TSS2.specs,
+    TOYOTA_RAV4_TSS2.specs,
     flags=ToyotaFlags.RADAR_ACC,
   )
-  RAV4_TSS2_2023 = ToyotaTSS2PlatformConfig(
-    "TOYOTA RAV4 2023",
+  TOYOTA_RAV4_TSS2_2023 = ToyotaTSS2PlatformConfig(
     [
-      ToyotaCarInfo("Toyota RAV4 2023-24"),
-      ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"),
+      ToyotaCarDocs("Toyota RAV4 2023-24"),
+      ToyotaCarDocs("Toyota RAV4 Hybrid 2023-24"),
     ],
-    RAV4_TSS2.specs,
+    TOYOTA_RAV4_TSS2.specs,
     flags=ToyotaFlags.RADAR_ACC | ToyotaFlags.ANGLE_CONTROL,
   )
-  MIRAI = ToyotaTSS2PlatformConfig(
-    "TOYOTA MIRAI 2021",  # TSS 2.5
-    ToyotaCarInfo("Toyota Mirai 2021"),
+  TOYOTA_MIRAI = ToyotaTSS2PlatformConfig( # TSS 2.5
+    [ToyotaCarDocs("Toyota Mirai 2021")],
     CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8),
   )
-  SIENNA = PlatformConfig(
-    "TOYOTA SIENNA 2018",
-    ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED),
+  TOYOTA_SIENNA = PlatformConfig(
+    [ToyotaCarDocs("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED)],
     CarSpecs(mass=4590. * CV.LB_TO_KG, wheelbase=3.03, steerRatio=15.5, tireStiffnessFactor=0.444),
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
     flags=ToyotaFlags.NO_STOP_TIMER,
@@ -277,92 +259,80 @@ class CAR(Platforms):
 
   # Lexus
   LEXUS_CTH = PlatformConfig(
-    "LEXUS CT HYBRID 2018",
-    ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"),
+    [ToyotaCarDocs("Lexus CT Hybrid 2017-18", "Lexus Safety System+")],
     CarSpecs(mass=3108. * CV.LB_TO_KG, wheelbase=2.6, steerRatio=18.6, tireStiffnessFactor=0.517),
     dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   )
   LEXUS_ES = PlatformConfig(
-    "LEXUS ES 2018",
     [
-      ToyotaCarInfo("Lexus ES 2017-18"),
-      ToyotaCarInfo("Lexus ES Hybrid 2017-18"),
+      ToyotaCarDocs("Lexus ES 2017-18"),
+      ToyotaCarDocs("Lexus ES Hybrid 2017-18"),
     ],
     CarSpecs(mass=3677. * CV.LB_TO_KG, wheelbase=2.8702, steerRatio=16.0, tireStiffnessFactor=0.444),
     dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   )
   LEXUS_ES_TSS2 = ToyotaTSS2PlatformConfig(
-    "LEXUS ES 2019",
     [
-      ToyotaCarInfo("Lexus ES 2019-24"),
-      ToyotaCarInfo("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
+      ToyotaCarDocs("Lexus ES 2019-24"),
+      ToyotaCarDocs("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
     ],
     LEXUS_ES.specs,
   )
   LEXUS_IS = PlatformConfig(
-    "LEXUS IS 2018",
-    ToyotaCarInfo("Lexus IS 2017-19"),
+    [ToyotaCarDocs("Lexus IS 2017-19")],
     CarSpecs(mass=3736.8 * CV.LB_TO_KG, wheelbase=2.79908, steerRatio=13.3, tireStiffnessFactor=0.444),
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
     flags=ToyotaFlags.UNSUPPORTED_DSU,
   )
   LEXUS_IS_TSS2 = ToyotaTSS2PlatformConfig(
-    "LEXUS IS 2023",
-    ToyotaCarInfo("Lexus IS 2022-23"),
+    [ToyotaCarDocs("Lexus IS 2022-23")],
     LEXUS_IS.specs,
   )
   LEXUS_NX = PlatformConfig(
-    "LEXUS NX 2018",
     [
-      ToyotaCarInfo("Lexus NX 2018-19"),
-      ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
+      ToyotaCarDocs("Lexus NX 2018-19"),
+      ToyotaCarDocs("Lexus NX Hybrid 2018-19"),
     ],
     CarSpecs(mass=4070. * CV.LB_TO_KG, wheelbase=2.66, steerRatio=14.7, tireStiffnessFactor=0.444),
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   )
   LEXUS_NX_TSS2 = ToyotaTSS2PlatformConfig(
-    "LEXUS NX 2020",
     [
-      ToyotaCarInfo("Lexus NX 2020-21"),
-      ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
+      ToyotaCarDocs("Lexus NX 2020-21"),
+      ToyotaCarDocs("Lexus NX Hybrid 2020-21"),
     ],
     LEXUS_NX.specs,
   )
   LEXUS_LC_TSS2 = ToyotaTSS2PlatformConfig(
-    "LEXUS LC 2024",
-    ToyotaCarInfo("Lexus LC 2024"),
+    [ToyotaCarDocs("Lexus LC 2024")],
     CarSpecs(mass=4500. * CV.LB_TO_KG, wheelbase=2.87, steerRatio=13.0, tireStiffnessFactor=0.444),
   )
   LEXUS_RC = PlatformConfig(
-    "LEXUS RC 2020",
-    ToyotaCarInfo("Lexus RC 2018-20"),
+    [ToyotaCarDocs("Lexus RC 2018-20")],
     LEXUS_IS.specs,
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
     flags=ToyotaFlags.UNSUPPORTED_DSU,
   )
   LEXUS_RX = PlatformConfig(
-    "LEXUS RX 2016",
     [
-      ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
-      ToyotaCarInfo("Lexus RX 2017-19"),
+      ToyotaCarDocs("Lexus RX 2016", "Lexus Safety System+"),
+      ToyotaCarDocs("Lexus RX 2017-19"),
       # Hybrid platforms
-      ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"),
-      ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
+      ToyotaCarDocs("Lexus RX Hybrid 2016", "Lexus Safety System+"),
+      ToyotaCarDocs("Lexus RX Hybrid 2017-19"),
     ],
     CarSpecs(mass=4481. * CV.LB_TO_KG, wheelbase=2.79, steerRatio=16., tireStiffnessFactor=0.5533),
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   )
   LEXUS_RX_TSS2 = ToyotaTSS2PlatformConfig(
-    "LEXUS RX 2020",
     [
-      ToyotaCarInfo("Lexus RX 2020-22"),
-      ToyotaCarInfo("Lexus RX Hybrid 2020-22"),
+      ToyotaCarDocs("Lexus RX 2020-22"),
+      ToyotaCarDocs("Lexus RX Hybrid 2020-22"),
     ],
     LEXUS_RX.specs,
   )
   LEXUS_GS_F = PlatformConfig(
-    "LEXUS GS F 2016",
-    ToyotaCarInfo("Lexus GS F 2016"),
+    [ToyotaCarDocs("Lexus GS F 2016")],
     CarSpecs(mass=4034. * CV.LB_TO_KG, wheelbase=2.84988, steerRatio=13.3, tireStiffnessFactor=0.444),
     dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
     flags=ToyotaFlags.UNSUPPORTED_DSU,
@@ -371,32 +341,33 @@ class CAR(Platforms):
 
 # (addr, cars, bus, 1/freq*100, vl)
 STATIC_DSU_MSGS = [
-  (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
-  (0x128, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
-  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
-  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.PRIUS_V),
+  (0x128, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON), \
+                                                                                                                      1, 3, b'\xf4\x01\x90\x83\x00\x37'),
+  (0x128, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
+  (0x141, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
+           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
+  (0x160, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
+           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
+  (0x161, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_PRIUS_V),
                                                                                                1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
-  (0X161, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
-  (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
-  (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
-  (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
-  (0x365, (CAR.PRIUS, CAR.LEXUS_NX, CAR.HIGHLANDER), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
-  (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_RX,
-           CAR.PRIUS_V), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
-  (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.HIGHLANDER), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
-  (0x366, (CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V),
+  (0X161, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
+  (0x283, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
+           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
+  (0x2E6, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
+  (0x2E7, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
+  (0x33E, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
+  (0x344, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
+           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
+  (0x365, (CAR.TOYOTA_PRIUS, CAR.LEXUS_NX, CAR.TOYOTA_HIGHLANDER), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
+  (0x365, (CAR.TOYOTA_RAV4, CAR.TOYOTA_RAV4H, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_RX,
+           CAR.TOYOTA_PRIUS_V), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
+  (0x366, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_HIGHLANDER), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
+  (0x366, (CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V),
           0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
-  (0x470, (CAR.PRIUS, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'),
-  (0x470, (CAR.HIGHLANDER, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
-  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
+  (0x470, (CAR.TOYOTA_PRIUS, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'),
+  (0x470, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_RAV4H, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
+  (0x4CB, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
+           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
 ]
 
 
@@ -444,7 +415,7 @@ def get_platform_codes(fw_versions: list[bytes]) -> dict[bytes, set[bytes]]:
   return dict(codes)
 
 
-def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> set[str]:
+def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str]:
   candidates = set()
 
   for candidate, fws in offline_fw_versions.items():
@@ -523,62 +494,56 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST_KWP],
       [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE_KWP],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps, Ecu.epb, Ecu.telematics,
-                      Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway, Ecu.hvac],
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps, Ecu.srs, Ecu.transmission, Ecu.hvac],
       bus=0,
     ),
     Request(
       [StdQueries.SHORT_TESTER_PRESENT_REQUEST, StdQueries.OBD_VERSION_REQUEST],
       [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, StdQueries.OBD_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine, Ecu.epb, Ecu.telematics, Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission,
-                      Ecu.gateway, Ecu.hvac],
+      whitelist_ecus=[Ecu.engine, Ecu.hybrid, Ecu.srs, Ecu.transmission, Ecu.hvac],
       bus=0,
     ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.EXTENDED_DIAGNOSTIC_REQUEST, StdQueries.UDS_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.EXTENDED_DIAGNOSTIC_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps, Ecu.epb, Ecu.telematics,
-                      Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway, Ecu.hvac],
+      whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps,
+                      Ecu.hybrid, Ecu.srs, Ecu.transmission, Ecu.hvac],
       bus=0,
     ),
   ],
   non_essential_ecus={
     # FIXME: On some models, abs can sometimes be missing
-    Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS, CAR.ALPHARD_TSS2],
+    Ecu.abs: [CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_IS, CAR.TOYOTA_ALPHARD_TSS2],
     # On some models, the engine can show on two different addresses
-    Ecu.engine: [CAR.HIGHLANDER, CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS,
-                 CAR.LEXUS_RC, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2],
+    Ecu.engine: [CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_CAMRY, CAR.TOYOTA_COROLLA_TSS2, CAR.TOYOTA_CHR, CAR.TOYOTA_CHR_TSS2, CAR.LEXUS_IS,
+                 CAR.LEXUS_IS_TSS2, CAR.LEXUS_RC, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2],
   },
   extra_ecus=[
     # All known ECUs on a late-model Toyota vehicle not queried here:
     # Responds to UDS:
+    # - Combination Meter (0x7c0)
     # - HV Battery (0x713, 0x747)
     # - Motor Generator (0x716, 0x724)
     # - 2nd ABS "Brake/EPB" (0x730)
+    # - Electronic Parking Brake ((0x750, 0x2c))
+    # - Telematics ((0x750, 0xc7))
     # Responds to KWP (0x1a8801):
     # - Steering Angle Sensor (0x7b3)
     # - EPS/EMPS (0x7a0, 0x7a1)
+    # - 2nd SRS Airbag (0x784)
+    # - Central Gateway ((0x750, 0x5f))
+    # - Telematics ((0x750, 0xc7))
     # Responds to KWP (0x1a8881):
     # - Body Control Module ((0x750, 0x40))
+    # - Telematics ((0x750, 0xc7))
 
     # Hybrid control computer can be on 0x7e2 (KWP) or 0x7d2 (UDS) depending on platform
     (Ecu.hybrid, 0x7e2, None),  # Hybrid Control Assembly & Computer
-    # TODO: if these duplicate ECUs always exist together, remove one
     (Ecu.srs, 0x780, None),     # SRS Airbag
-    (Ecu.srs, 0x784, None),     # SRS Airbag 2
-    # Likely only exists on cars where EPB isn't standard (e.g. Camry, Avalon (/Hybrid))
-    # On some cars, EPB is controlled by the ABS module
-    (Ecu.epb, 0x750, 0x2c),     # Electronic Parking Brake
-    # This isn't accessible on all cars
-    (Ecu.gateway, 0x750, 0x5f),
-    # On some cars, this only responds to b'\x1a\x88\x81', which is reflected by the b'\x1a\x88\x00' query
-    (Ecu.telematics, 0x750, 0xc7),
     # Transmission is combined with engine on some platforms, such as TSS-P RAV4
     (Ecu.transmission, 0x701, None),
     # A few platforms have a tester present response on this address, add to log
     (Ecu.transmission, 0x7e1, None),
-    # On some cars, this only responds to b'\x1a\x88\x80'
-    (Ecu.combinationMeter, 0x7c0, None),
     (Ecu.hvac, 0x7c4, None),
   ],
   match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
@@ -588,7 +553,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
 STEER_THRESHOLD = 100
 
 # These cars have non-standard EPS torque scale factors. All others are 73
-EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100})
+EPS_SCALE = defaultdict(lambda: 73,
+                        {CAR.TOYOTA_PRIUS: 66, CAR.TOYOTA_COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.TOYOTA_PRIUS_V: 100})
 
 # Toyota/Lexus Safety Sense 2.0 and 2.5
 TSS2_CAR = CAR.with_flags(ToyotaFlags.TSS2)
@@ -606,5 +572,4 @@ ANGLE_CONTROL_CAR = CAR.with_flags(ToyotaFlags.ANGLE_CONTROL)
 # no resume button press required
 NO_STOP_TIMER_CAR = CAR.with_flags(ToyotaFlags.NO_STOP_TIMER)
 
-CAR_INFO = CAR.create_carinfo_map()
 DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/values.py b/selfdrive/car/values.py
index 3e27870915..bf5d378ab4 100644
--- a/selfdrive/car/values.py
+++ b/selfdrive/car/values.py
@@ -1,4 +1,4 @@
-from typing import cast
+from typing import get_args
 from openpilot.selfdrive.car.body.values import CAR as BODY
 from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER
 from openpilot.selfdrive.car.ford.values import CAR as FORD
@@ -6,13 +6,14 @@ from openpilot.selfdrive.car.gm.values import CAR as GM
 from openpilot.selfdrive.car.honda.values import CAR as HONDA
 from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
 from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
+from openpilot.selfdrive.car.mock.values import CAR as MOCK
 from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
 from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
 from openpilot.selfdrive.car.tesla.values import CAR as TESLA
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
 
-Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | NISSAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN
-BRANDS = [BODY, CHRYSLER, FORD, GM, HONDA, HYUNDAI, MAZDA, NISSAN, SUBARU, TESLA, TOYOTA, VOLKSWAGEN]
+Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN
+BRANDS = get_args(Platform)
 
-PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in cast(list[Platform], brand)}
+PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in brand}
diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py
index e668c35f7d..e8c9c58042 100755
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@@ -23,6 +23,7 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=2, debug=False):
         (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
         (StdQueries.GM_VIN_REQUEST, StdQueries.GM_VIN_RESPONSE, (0,), [0x24b], None, 0x400),  # Bolt fwdCamera
         (StdQueries.KWP_VIN_REQUEST, StdQueries.KWP_VIN_RESPONSE, (0,), [0x797], None, 0x3),  # Nissan Leaf VCM
+        (StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, (0,), [0x74f], None, 0x6a),  # Volkswagen fwdCamera
       ):
         if bus not in valid_buses:
           continue
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 1b1858703d..5fc47c51c6 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -18,6 +18,7 @@ class CarController(CarControllerBase):
     self.CCP = CarControllerParams(CP)
     self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
     self.packer_pt = CANPacker(dbc_name)
+    self.ext_bus = CANBUS.pt if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera else CANBUS.cam
 
     self.apply_steer_last = 0
     self.gra_acc_counter_last = None
@@ -26,7 +27,7 @@ class CarController(CarControllerBase):
     self.hca_frame_timer_running = 0
     self.hca_frame_same_torque = 0
 
-  def update(self, CC, CS, ext_bus, now_nanos):
+  def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
     can_sends = []
@@ -91,7 +92,7 @@ class CarController(CarControllerBase):
       hud_alert = 0
       if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
         hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"]
-      can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.enabled,
+      can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.latActive,
                                                        CS.out.steeringPressed, hud_alert, hud_control))
 
     if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
@@ -102,13 +103,13 @@ class CarController(CarControllerBase):
       # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
       set_speed = hud_control.setSpeed * CV.MS_TO_KPH
       can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed,
-                                                       lead_distance))
+                                                       lead_distance, hud_control.leadDistanceBars))
 
     # **** Stock ACC Button Controls **************************************** #
 
     gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
     if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
-      can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values,
+      can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values,
                                                            cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
 
     new_actuators = actuators.copy()
@@ -117,4 +118,4 @@ class CarController(CarControllerBase):
 
     self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
     self.frame += 1
-    return new_actuators, can_sends, self.eps_timer_soft_disable_alert
+    return new_actuators, can_sends
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 48e9ed37d6..b169970fed 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -10,6 +10,8 @@ from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocati
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
+    self.frame = 0
+    self.eps_init_complete = False
     self.CCP = CarControllerParams(CP)
     self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
     self.esp_hold_confirmation = False
@@ -47,18 +49,14 @@ class CarState(CarStateBase):
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     ret.standstill = ret.vEgoRaw == 0
 
-    # Update steering angle, rate, yaw rate, and driver input torque. VW send
-    # the sign/direction in a separate signal so they must be recombined.
+    # Update EPS position and state info. For signed values, VW sends the sign in a separate signal.
     ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])]
     ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
     ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
     ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
     ret.yawRate = pt_cp.vl["ESP_02"]["ESP_Gierrate"] * (1, -1)[int(pt_cp.vl["ESP_02"]["ESP_VZ_Gierrate"])] * CV.DEG_TO_RAD
-
-    # Verify EPS readiness to accept steering commands
     hca_status = self.CCP.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
-    ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT")
-    ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED")
+    ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status)
 
     # VW Emergency Assist status tracking and mitigation
     self.eps_stock_values = pt_cp.vl["LH_EPS_03"]
@@ -116,21 +114,24 @@ class CarState(CarStateBase):
 
     # Update ACC radar status.
     self.acc_type = ext_cp.vl["ACC_06"]["ACC_Typ"]
-    if pt_cp.vl["TSK_06"]["TSK_Status"] == 2:
-      # ACC okay and enabled, but not currently engaged
-      ret.cruiseState.available = True
-      ret.cruiseState.enabled = False
-    elif pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5):
-      # ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or brake only (5)
-      ret.cruiseState.available = True
-      ret.cruiseState.enabled = True
+
+    # ACC okay but disabled (1), ACC ready (2), a radar visibility or other fault/disruption (6 or 7)
+    # currently regulating speed (3), driver accel override (4), brake only (5)
+    ret.cruiseState.available = pt_cp.vl["TSK_06"]["TSK_Status"] in (2, 3, 4, 5)
+    ret.cruiseState.enabled = pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5)
+
+    if self.CP.pcmCruise:
+      # Cruise Control mode; check for distance UI setting from the radar.
+      # ECM does not manage this, so do not need to check for openpilot longitudinal
+      ret.cruiseState.nonAdaptive = ext_cp.vl["ACC_02"]["ACC_Gesetzte_Zeitluecke"] == 0
     else:
-      # ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7)
-      ret.cruiseState.available = False
-      ret.cruiseState.enabled = False
+      # Speed limiter mode; ECM faults if we command ACC while not pcmCruise
+      ret.cruiseState.nonAdaptive = bool(pt_cp.vl["TSK_06"]["TSK_Limiter_ausgewaehlt"])
+
+    ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
+
     self.esp_hold_confirmation = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])
     ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation
-    ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
 
     # Update ACC setpoint. When the setpoint is zero or there's an error, the
     # radar sends a set-speed of ~90.69 m/s / 203mph.
@@ -151,6 +152,7 @@ class CarState(CarStateBase):
     # Digital instrument clusters expect the ACC HUD lead car distance to be scaled differently
     self.upscale_lead_car_signal = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"])
 
+    self.frame += 1
     return ret
 
   def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type):
@@ -168,18 +170,14 @@ class CarState(CarStateBase):
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     ret.standstill = ret.vEgoRaw == 0
 
-    # Update steering angle, rate, yaw rate, and driver input torque. VW send
-    # the sign/direction in a separate signal so they must be recombined.
+    # Update EPS position and state info. For signed values, VW sends the sign in a separate signal.
     ret.steeringAngleDeg = pt_cp.vl["Lenkhilfe_3"]["LH3_BLW"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_BLWSign"])]
     ret.steeringRateDeg = pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit"] * (1, -1)[int(pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit_S"])]
     ret.steeringTorque = pt_cp.vl["Lenkhilfe_3"]["LH3_LM"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_LMSign"])]
     ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
     ret.yawRate = pt_cp.vl["Bremse_5"]["Giergeschwindigkeit"] * (1, -1)[int(pt_cp.vl["Bremse_5"]["Vorzeichen_der_Giergeschwindigk"])] * CV.DEG_TO_RAD
-
-    # Verify EPS readiness to accept steering commands
     hca_status = self.CCP.hca_status_values.get(pt_cp.vl["Lenkhilfe_2"]["LH2_Sta_HCA"])
-    ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT")
-    ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED")
+    ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status)
 
     # Update gas, brakes, and gearshift.
     ret.gas = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] / 100.0
@@ -253,8 +251,17 @@ class CarState(CarStateBase):
     # Additional safety checks performed in CarInterface.
     ret.espDisabled = bool(pt_cp.vl["Bremse_1"]["ESP_Passiv_getastet"])
 
+    self.frame += 1
     return ret
 
+  def update_hca_state(self, hca_status):
+    # Treat INITIALIZING and FAULT as temporary for worst likely EPS recovery time, for cars without factory Lane Assist
+    # DISABLED means the EPS hasn't been configured to support Lane Assist
+    self.eps_init_complete = self.eps_init_complete or (hca_status in ("DISABLED", "READY", "ACTIVE") or self.frame > 600)
+    perm_fault = hca_status == "DISABLED" or (self.eps_init_complete and hca_status in ("INITIALIZING", "FAULT"))
+    temp_fault = hca_status == "REJECTED" or not self.eps_init_complete
+    return temp_fault, perm_fault
+
   @staticmethod
   def get_can_parser(CP):
     if CP.flags & VolkswagenFlags.PQ:
diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py
index d2c85d0fc5..def5ce6e03 100644
--- a/selfdrive/car/volkswagen/fingerprints.py
+++ b/selfdrive/car/volkswagen/fingerprints.py
@@ -7,7 +7,7 @@ Ecu = car.CarParams.Ecu
 
 
 FW_VERSIONS = {
-  CAR.ARTEON_MK1: {
+  CAR.VOLKSWAGEN_ARTEON_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x873G0906259AH\xf1\x890001',
       b'\xf1\x873G0906259F \xf1\x890004',
@@ -49,7 +49,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },
-  CAR.ATLAS_MK1: {
+  CAR.VOLKSWAGEN_ATLAS_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8703H906026AA\xf1\x899970',
       b'\xf1\x8703H906026AG\xf1\x899973',
@@ -60,6 +60,7 @@ FW_VERSIONS = {
       b'\xf1\x8703H906026F \xf1\x896696',
       b'\xf1\x8703H906026F \xf1\x899970',
       b'\xf1\x8703H906026J \xf1\x896026',
+      b'\xf1\x8703H906026J \xf1\x899970',
       b'\xf1\x8703H906026J \xf1\x899971',
       b'\xf1\x8703H906026S \xf1\x896693',
       b'\xf1\x8703H906026S \xf1\x899970',
@@ -80,6 +81,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0959655BN\xf1\x890713\xf1\x82\x0e2214152212001105141122052900',
       b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e1114151112001105111122052900',
       b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e2214152212001105141122052900',
+      b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1114151112001105111122052J00',
       b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1114151112001105161122052J00',
       b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1115151112001105171122052J00',
     ],
@@ -87,6 +89,7 @@ FW_VERSIONS = {
       b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B60924A1',
       b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6G920A1',
       b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6M921A1',
+      b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6N920A1',
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6080105',
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105',
     ],
@@ -97,9 +100,10 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572H \xf1\x890620',
       b'\xf1\x875Q0907572J \xf1\x890654',
       b'\xf1\x875Q0907572P \xf1\x890682',
+      b'\xf1\x875Q0907572S \xf1\x890780',
     ],
   },
-  CAR.CADDY_MK3: {
+  CAR.VOLKSWAGEN_CADDY_MK3: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906027T \xf1\x892363',
     ],
@@ -110,7 +114,7 @@ FW_VERSIONS = {
       b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0155',
     ],
   },
-  CAR.CRAFTER_MK2: {
+  CAR.VOLKSWAGEN_CRAFTER_MK2: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704L906056BP\xf1\x894729',
       b'\xf1\x8704L906056EK\xf1\x896391',
@@ -132,7 +136,7 @@ FW_VERSIONS = {
       b'\xf1\x872Q0907572M \xf1\x890233',
     ],
   },
-  CAR.GOLF_MK7: {
+  CAR.VOLKSWAGEN_GOLF_MK7: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906016A \xf1\x897697',
       b'\xf1\x8704E906016AD\xf1\x895758',
@@ -159,6 +163,7 @@ FW_VERSIONS = {
       b'\xf1\x8704L906056HE\xf1\x893758',
       b'\xf1\x8704L906056HN\xf1\x896590',
       b'\xf1\x8704L906056HT\xf1\x896591',
+      b'\xf1\x8704L997022N \xf1\x899459',
       b'\xf1\x870EA906016A \xf1\x898343',
       b'\xf1\x870EA906016E \xf1\x894219',
       b'\xf1\x870EA906016F \xf1\x894238',
@@ -175,6 +180,7 @@ FW_VERSIONS = {
       b'\xf1\x875G0906259T \xf1\x890003',
       b'\xf1\x878V0906259H \xf1\x890002',
       b'\xf1\x878V0906259J \xf1\x890003',
+      b'\xf1\x878V0906259J \xf1\x890103',
       b'\xf1\x878V0906259K \xf1\x890001',
       b'\xf1\x878V0906259K \xf1\x890003',
       b'\xf1\x878V0906259P \xf1\x890001',
@@ -209,17 +215,20 @@ FW_VERSIONS = {
       b'\xf1\x870D9300012  \xf1\x895046',
       b'\xf1\x870D9300014M \xf1\x895004',
       b'\xf1\x870D9300014Q \xf1\x895006',
+      b'\xf1\x870D9300018  \xf1\x895201',
       b'\xf1\x870D9300020J \xf1\x894902',
       b'\xf1\x870D9300020Q \xf1\x895201',
       b'\xf1\x870D9300020S \xf1\x895201',
       b'\xf1\x870D9300040A \xf1\x893613',
       b'\xf1\x870D9300040S \xf1\x894311',
       b'\xf1\x870D9300041H \xf1\x895220',
+      b'\xf1\x870D9300041N \xf1\x894512',
       b'\xf1\x870D9300041P \xf1\x894507',
       b'\xf1\x870DD300045K \xf1\x891120',
       b'\xf1\x870DD300046F \xf1\x891601',
       b'\xf1\x870GC300012A \xf1\x891401',
       b'\xf1\x870GC300012A \xf1\x891403',
+      b'\xf1\x870GC300012M \xf1\x892301',
       b'\xf1\x870GC300014B \xf1\x892401',
       b'\xf1\x870GC300014B \xf1\x892403',
       b'\xf1\x870GC300014B \xf1\x892405',
@@ -238,6 +247,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x13141500111233003142114A2131219333313100',
       b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333423100',
       b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100',
+      b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x13141600111233003142115A2232229333463100',
       b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100',
@@ -246,6 +256,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112',
       b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
       b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113',
+      b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13271112111312--071104171825102591131211',
       b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271112111312--071104171825102591131211',
       b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271212111312--071104171838103891131211',
       b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13272512111312--07110417182C102C91131211',
@@ -296,6 +307,7 @@ FW_VERSIONS = {
       b'\xf1\x875QD909144B \xf1\x891072\xf1\x82\x0521A00507A1',
       b'\xf1\x875QM909144A \xf1\x891072\xf1\x82\x0521A20B03A1',
       b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A00442A1',
+      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A00642A1',
       b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A16A1',
       b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A17A1',
       b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A18A1',
@@ -320,7 +332,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572S \xf1\x890780',
     ],
   },
-  CAR.JETTA_MK7: {
+  CAR.VOLKSWAGEN_JETTA_MK7: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906024AK\xf1\x899937',
       b'\xf1\x8704E906024AS\xf1\x899912',
@@ -328,6 +340,7 @@ FW_VERSIONS = {
       b'\xf1\x8704E906024BC\xf1\x899971',
       b'\xf1\x8704E906024BG\xf1\x891057',
       b'\xf1\x8704E906024C \xf1\x899970',
+      b'\xf1\x8704E906024C \xf1\x899971',
       b'\xf1\x8704E906024L \xf1\x895595',
       b'\xf1\x8704E906024L \xf1\x899970',
       b'\xf1\x8704E906027MS\xf1\x896223',
@@ -371,7 +384,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },
-  CAR.PASSAT_MK8: {
+  CAR.VOLKSWAGEN_PASSAT_MK8: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8703N906026E \xf1\x892114',
       b'\xf1\x8704E906023AH\xf1\x893379',
@@ -380,12 +393,15 @@ FW_VERSIONS = {
       b'\xf1\x8704L906026ET\xf1\x891990',
       b'\xf1\x8704L906026FP\xf1\x892012',
       b'\xf1\x8704L906026GA\xf1\x892013',
+      b'\xf1\x8704L906026GK\xf1\x899971',
       b'\xf1\x8704L906026KD\xf1\x894798',
+      b'\xf1\x8705L906022A \xf1\x890827',
       b'\xf1\x873G0906259  \xf1\x890004',
       b'\xf1\x873G0906259B \xf1\x890002',
       b'\xf1\x873G0906264  \xf1\x890004',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300041E \xf1\x891006',
       b'\xf1\x870CW300042H \xf1\x891601',
       b'\xf1\x870CW300042H \xf1\x891607',
       b'\xf1\x870CW300043H \xf1\x891601',
@@ -400,6 +416,7 @@ FW_VERSIONS = {
       b'\xf1\x870DL300011H \xf1\x895201',
       b'\xf1\x870GC300042H \xf1\x891404',
       b'\xf1\x870GC300043  \xf1\x892301',
+      b'\xf1\x870GC300046P \xf1\x892805',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111',
@@ -415,6 +432,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001354701311542900',
       b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900',
       b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011111200631145171716121691132111',
+      b'\xf1\x875QF959655S \xf1\x890639\xf1\x82\x13131100131300111111000120----2211114A48',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1',
@@ -423,6 +441,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803',
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803',
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526B0060905',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820531B0062105',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521B00606A1',
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516B00501A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521B00603A1',
@@ -439,9 +458,10 @@ FW_VERSIONS = {
       b'\xf1\x873Q0907572C \xf1\x890196',
       b'\xf1\x875Q0907572P \xf1\x890682',
       b'\xf1\x875Q0907572R \xf1\x890771',
+      b'\xf1\x875Q0907572S \xf1\x890780',
     ],
   },
-  CAR.PASSAT_NMS: {
+  CAR.VOLKSWAGEN_PASSAT_NMS: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8706K906016C \xf1\x899609',
       b'\xf1\x8706K906016E \xf1\x899830',
@@ -463,7 +483,7 @@ FW_VERSIONS = {
       b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0152',
     ],
   },
-  CAR.POLO_MK6: {
+  CAR.VOLKSWAGEN_POLO_MK6: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704C906025H \xf1\x895177',
       b'\xf1\x8705C906032J \xf1\x891702',
@@ -487,7 +507,7 @@ FW_VERSIONS = {
       b'\xf1\x872Q0907572R \xf1\x890372',
     ],
   },
-  CAR.SHARAN_MK2: {
+  CAR.VOLKSWAGEN_SHARAN_MK2: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704L906016HE\xf1\x894635',
     ],
@@ -498,7 +518,7 @@ FW_VERSIONS = {
       b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0153',
     ],
   },
-  CAR.TAOS_MK1: {
+  CAR.VOLKSWAGEN_TAOS_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906025CK\xf1\x892228',
       b'\xf1\x8704E906027NJ\xf1\x891445',
@@ -528,7 +548,7 @@ FW_VERSIONS = {
       b'\xf1\x872Q0907572T \xf1\x890383',
     ],
   },
-  CAR.TCROSS_MK1: {
+  CAR.VOLKSWAGEN_TCROSS_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704C906025AK\xf1\x897053',
     ],
@@ -545,7 +565,7 @@ FW_VERSIONS = {
       b'\xf1\x872Q0907572T \xf1\x890383',
     ],
   },
-  CAR.TIGUAN_MK2: {
+  CAR.VOLKSWAGEN_TIGUAN_MK2: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8703N906026D \xf1\x893680',
       b'\xf1\x8704E906024AP\xf1\x891461',
@@ -575,6 +595,7 @@ FW_VERSIONS = {
       b'\xf1\x8709G927158GM\xf1\x893936',
       b'\xf1\x8709G927158GN\xf1\x893938',
       b'\xf1\x8709G927158HB\xf1\x894069',
+      b'\xf1\x8709G927158HC\xf1\x894070',
       b'\xf1\x870D9300043  \xf1\x895202',
       b'\xf1\x870DD300046K \xf1\x892302',
       b'\xf1\x870DL300011N \xf1\x892001',
@@ -631,29 +652,37 @@ FW_VERSIONS = {
       b'\xf1\x872Q0907572T \xf1\x890383',
     ],
   },
-  CAR.TOURAN_MK2: {
+  CAR.VOLKSWAGEN_TOURAN_MK2: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906025BE\xf1\x890720',
+      b'\xf1\x8704E906027HQ\xf1\x893746',
       b'\xf1\x8704L906026HM\xf1\x893017',
       b'\xf1\x8705E906018CQ\xf1\x890808',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300020A \xf1\x891936',
       b'\xf1\x870CW300041E \xf1\x891005',
+      b'\xf1\x870CW300041Q \xf1\x891606',
       b'\xf1\x870CW300051M \xf1\x891926',
     ],
     (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655AS\xf1\x890318\xf1\x82\x1336350021353335314132014730479333313100',
       b'\xf1\x875Q0959655AS\xf1\x890318\xf1\x82\x13363500213533353141324C4732479333313100',
       b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1336350021353336314740025250529333613100',
+      b'\xf1\x875QD959655AJ\xf1\x890421\xf1\x82\x1336350021313300314240023330339333663100',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820531B0062105',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A8090400',
+      b'\xf1\x875QD909144F \xf1\x891082\xf1\x82\x0521A00642A1',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x873Q0907572C \xf1\x890195',
+      b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },
-  CAR.TRANSPORTER_T61: {
+  CAR.VOLKSWAGEN_TRANSPORTER_T61: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704L906056AG\xf1\x899970',
       b'\xf1\x8704L906056AL\xf1\x899970',
@@ -685,7 +714,7 @@ FW_VERSIONS = {
       b'\xf1\x872Q0907572R \xf1\x890372',
     ],
   },
-  CAR.TROC_MK1: {
+  CAR.VOLKSWAGEN_TROC_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8705E906018AT\xf1\x899640',
       b'\xf1\x8705E906018CK\xf1\x890863',
@@ -702,13 +731,16 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1311110012333300314240681152119333463100',
       b'\xf1\x875Q0959655CF\xf1\x890421\xf1\x82\x1311110012333300314240021150119333613100',
       b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x13111100123333003142404M1152119333613100',
+      b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x13111100123333003142404M1154119333613100',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521060403A1',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521060405A1',
       b'\xf1\x875WA907144M \xf1\x891051\xf1\x82\x001T06081T7N',
+      b'\xf1\x875WA907144Q \xf1\x891063\xf1\x82\x001O06081OOM',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x872Q0907572M \xf1\x890233',
       b'\xf1\x872Q0907572T \xf1\x890383',
     ],
@@ -853,22 +885,6 @@ FW_VERSIONS = {
   CAR.SEAT_ATECA_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906027KA\xf1\x893749',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870D9300014S \xf1\x895202',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1212001211001305121211052900',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571N60511A1',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572M \xf1\x890233',
-    ],
-  },
-  CAR.SEAT_LEON_MK3: {
-    (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704L906021EL\xf1\x897542',
       b'\xf1\x8704L906026BP\xf1\x891198',
       b'\xf1\x8704L906026BP\xf1\x897608',
@@ -882,6 +898,7 @@ FW_VERSIONS = {
       b'\xf1\x870CW300041D \xf1\x891004',
       b'\xf1\x870CW300041G \xf1\x891003',
       b'\xf1\x870CW300050J \xf1\x891908',
+      b'\xf1\x870D9300014S \xf1\x895202',
       b'\xf1\x870D9300042M \xf1\x895016',
       b'\xf1\x870GC300043A \xf1\x892304',
     ],
@@ -889,11 +906,13 @@ FW_VERSIONS = {
       b'\xf1\x873Q0959655AC\xf1\x890189\xf1\x82\r11110011110011021511110200',
       b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11110011110011021511110200',
       b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r12110012120012021612110200',
+      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1212001211001305121211052900',
       b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1312001313001305171311052900',
       b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1312001313001305171311052900',
       b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\x0e1312001313001305171311052900',
     ],
     (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571N60511A1',
       b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521N01842A1',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521N01342A1',
       b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511N01805A0',
@@ -901,6 +920,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521N05808A1',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572M \xf1\x890233',
       b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101',
       b'\xf1\x875Q0907572H \xf1\x890620',
       b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101',
@@ -927,15 +947,22 @@ FW_VERSIONS = {
   },
   CAR.SKODA_KAMIQ_MK1: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704C906025AK\xf1\x897053',
       b'\xf1\x8705C906032M \xf1\x891333',
+      b'\xf1\x8705C906032M \xf1\x892365',
       b'\xf1\x8705E906013CK\xf1\x892540',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870CW300020  \xf1\x891906',
+      b'\xf1\x870CW300020  \xf1\x891907',
       b'\xf1\x870CW300020T \xf1\x892204',
+      b'\xf1\x870CW300050  \xf1\x891709',
     ],
     (Ecu.srs, 0x715, None): [
+      b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1211110411110411--04040404131111112H14',
+      b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\x12111104111104112104040404111111112H14',
       b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\x122221042111042121040404042E2711152H14',
+      b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1311150411110411210404040417151215391413',
       b'\xf1\x872Q0959655BJ\xf1\x890412\xf1\x82\x132223042111042121040404042B251215391423',
     ],
     (Ecu.eps, 0x712, None): [
@@ -944,11 +971,13 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572R \xf1\x890372',
       b'\xf1\x872Q0907572T \xf1\x890383',
     ],
   },
   CAR.SKODA_KAROQ_MK1: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8705E906013CL\xf1\x892541',
       b'\xf1\x8705E906013H \xf1\x892407',
       b'\xf1\x8705E906018P \xf1\x895472',
       b'\xf1\x8705E906018P \xf1\x896020',
@@ -968,6 +997,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563T6090500',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100500',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100600',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700',
     ],
     (Ecu.fwdRadar, 0x757, None): [
@@ -988,7 +1018,9 @@ FW_VERSIONS = {
       b'\xf1\x8704L906026HT\xf1\x893617',
       b'\xf1\x8705E906018DJ\xf1\x890915',
       b'\xf1\x8705E906018DJ\xf1\x891903',
+      b'\xf1\x8705L906022GM\xf1\x893411',
       b'\xf1\x875NA906259E \xf1\x890003',
+      b'\xf1\x875NA907115D \xf1\x890003',
       b'\xf1\x875NA907115E \xf1\x890003',
       b'\xf1\x875NA907115E \xf1\x890005',
       b'\xf1\x8783A907115E \xf1\x890001',
@@ -997,14 +1029,17 @@ FW_VERSIONS = {
       b'\xf1\x870D9300014S \xf1\x895201',
       b'\xf1\x870D9300043  \xf1\x895202',
       b'\xf1\x870DL300011N \xf1\x892014',
+      b'\xf1\x870DL300012G \xf1\x892006',
       b'\xf1\x870DL300012M \xf1\x892107',
       b'\xf1\x870DL300012N \xf1\x892110',
       b'\xf1\x870DL300013G \xf1\x892119',
       b'\xf1\x870GC300014N \xf1\x892801',
+      b'\xf1\x870GC300018S \xf1\x892803',
       b'\xf1\x870GC300019H \xf1\x892806',
       b'\xf1\x870GC300046Q \xf1\x892802',
     ],
     (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r11110011110011031111310311',
       b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211',
       b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001205212111052100',
       b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e1213001211001205212111052100',
@@ -1013,6 +1048,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111',
       b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00',
       b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121240749',
+      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121246149',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405',
@@ -1020,6 +1056,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600',
+      b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x0025T6BA25OM',
       b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x002LT61A2LOM',
     ],
     (Ecu.fwdRadar, 0x757, None): [
@@ -1038,8 +1075,10 @@ FW_VERSIONS = {
       b'\xf1\x8704E906027HD\xf1\x893742',
       b'\xf1\x8704E906027MH\xf1\x894786',
       b'\xf1\x8704L906021DT\xf1\x898127',
+      b'\xf1\x8704L906021ER\xf1\x898361',
       b'\xf1\x8704L906026BP\xf1\x897608',
       b'\xf1\x8704L906026BS\xf1\x891541',
+      b'\xf1\x8704L906026BT\xf1\x897612',
       b'\xf1\x875G0906259C \xf1\x890002',
     ],
     (Ecu.transmission, 0x7e1, None): [
@@ -1047,6 +1086,8 @@ FW_VERSIONS = {
       b'\xf1\x870CW300041N \xf1\x891605',
       b'\xf1\x870CW300043B \xf1\x891601',
       b'\xf1\x870CW300043P \xf1\x891605',
+      b'\xf1\x870D9300012H \xf1\x894518',
+      b'\xf1\x870D9300014T \xf1\x895221',
       b'\xf1\x870D9300041C \xf1\x894936',
       b'\xf1\x870D9300041H \xf1\x895220',
       b'\xf1\x870D9300041J \xf1\x894902',
@@ -1067,11 +1108,13 @@ FW_VERSIONS = {
       b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A01513A1',
       b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521T00403A1',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00403A1',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00603A1',
       b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521T00601A1',
       b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x875Q0907567P \xf1\x890100\xf1\x82\x0101',
       b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
       b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101',
       b'\xf1\x875Q0907572H \xf1\x890620',
@@ -1081,29 +1124,6 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },
-  CAR.SKODA_SCALA_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704C906025AK\xf1\x897053',
-      b'\xf1\x8705C906032M \xf1\x892365',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300020  \xf1\x891907',
-      b'\xf1\x870CW300050  \xf1\x891709',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1211110411110411--04040404131111112H14',
-      b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\x12111104111104112104040404111111112H14',
-      b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1311150411110411210404040417151215391413',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x872Q1909144AB\xf1\x896050',
-      b'\xf1\x872Q1909144M \xf1\x896041',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572R \xf1\x890372',
-    ],
-  },
   CAR.SKODA_SUPERB_MK3: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906027BS\xf1\x892887',
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 43a8bcdddc..83a8cde9a8 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -19,8 +19,6 @@ class CarInterface(CarInterfaceBase):
       self.ext_bus = CANBUS.cam
       self.cp_ext = self.cp_cam
 
-    self.eps_timer_soft_disable_alert = False
-
   @staticmethod
   def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "volkswagen"
@@ -126,13 +124,10 @@ class CarInterface(CarInterfaceBase):
       if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.speedTooLow)
 
-    if self.eps_timer_soft_disable_alert:
+    if self.CC.eps_timer_soft_disable_alert:
       events.add(EventName.steerTimeLimit)
 
     ret.events = events.to_msg()
 
     return ret
 
-  def apply(self, c, now_nanos):
-    new_actuators, can_sends, self.eps_timer_soft_disable_alert = self.CC.update(c, self.CS, self.ext_bus, now_nanos)
-    return new_actuators, can_sends
diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py
index 787c7de530..763908b6b2 100644
--- a/selfdrive/car/volkswagen/mqbcan.py
+++ b/selfdrive/car/volkswagen/mqbcan.py
@@ -28,7 +28,7 @@ def create_eps_update(packer, bus, eps_stock_values, ea_simulated_torque):
   return packer.make_can_msg("LH_EPS_03", bus, values)
 
 
-def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
+def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_pressed, hud_alert, hud_control):
   values = {}
   if len(ldw_stock_values):
     values = {s: ldw_stock_values[s] for s in [
@@ -40,8 +40,8 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres
     ]}
 
   values.update({
-    "LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0,
-    "LDW_Status_LED_gruen": 1 if enabled and not steering_pressed else 0,
+    "LDW_Status_LED_gelb": 1 if lat_active and steering_pressed else 0,
+    "LDW_Status_LED_gruen": 1 if lat_active and not steering_pressed else 0,
     "LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
     "LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
     "LDW_Texte": hud_alert,
@@ -125,11 +125,11 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_cont
   return commands
 
 
-def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance):
+def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, distance):
   values = {
     "ACC_Status_Anzeige": acc_hud_status,
     "ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36,
-    "ACC_Gesetzte_Zeitluecke": 3,
+    "ACC_Gesetzte_Zeitluecke": distance + 2,
     "ACC_Display_Prio": 3,
     "ACC_Abstandsindex": lead_distance,
   }
diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
index f42c3cf781..f8d161b970 100644
--- a/selfdrive/car/volkswagen/pqcan.py
+++ b/selfdrive/car/volkswagen/pqcan.py
@@ -9,7 +9,7 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled):
   return packer.make_can_msg("HCA_1", bus, values)
 
 
-def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
+def create_lka_hud_control(packer, bus, ldw_stock_values, lat_active, steering_pressed, hud_alert, hud_control):
   values = {}
   if len(ldw_stock_values):
     values = {s: ldw_stock_values[s] for s in [
@@ -21,8 +21,8 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres
     ]}
 
   values.update({
-    "LDW_Lampe_gelb": 1 if enabled and steering_pressed else 0,
-    "LDW_Lampe_gruen": 1 if enabled and not steering_pressed else 0,
+    "LDW_Lampe_gelb": 1 if lat_active and steering_pressed else 0,
+    "LDW_Lampe_gruen": 1 if lat_active and not steering_pressed else 0,
     "LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
     "LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
     "LDW_Textbits": hud_alert,
@@ -91,10 +91,10 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_cont
   return commands
 
 
-def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance):
+def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, distance):
   values = {
     "ACA_StaACC": acc_hud_status,
-    "ACA_Zeitluecke": 2,
+    "ACA_Zeitluecke": distance + 2,
     "ACA_V_Wunsch": set_speed,
     "ACA_gemZeitl": lead_distance,
     "ACA_PrioDisp": 3,
diff --git a/selfdrive/car/volkswagen/tests/test_volkswagen.py b/selfdrive/car/volkswagen/tests/test_volkswagen.py
new file mode 100755
index 0000000000..92569e194e
--- /dev/null
+++ b/selfdrive/car/volkswagen/tests/test_volkswagen.py
@@ -0,0 +1,65 @@
+#!/usr/bin/env python3
+import re
+import unittest
+
+from cereal import car
+from openpilot.selfdrive.car.volkswagen.values import CAR, FW_QUERY_CONFIG, WMI
+from openpilot.selfdrive.car.volkswagen.fingerprints import FW_VERSIONS
+
+Ecu = car.CarParams.Ecu
+
+CHASSIS_CODE_PATTERN = re.compile('[A-Z0-9]{2}')
+# TODO: determine the unknown groups
+SPARE_PART_FW_PATTERN = re.compile(b'\xf1\x87(?P<gateway>[0-9][0-9A-Z]{2})(?P<unknown>[0-9][0-9A-Z][0-9])(?P<unknown2>[0-9A-Z]{2}[0-9])([A-Z0-9]| )')
+
+
+class TestVolkswagenPlatformConfigs(unittest.TestCase):
+  def test_spare_part_fw_pattern(self):
+    # Relied on for determining if a FW is likely VW
+    for platform, ecus in FW_VERSIONS.items():
+      with self.subTest(platform=platform):
+        for fws in ecus.values():
+          for fw in fws:
+            self.assertNotEqual(SPARE_PART_FW_PATTERN.match(fw), None, f"Bad FW: {fw}")
+
+  def test_chassis_codes(self):
+    for platform in CAR:
+      with self.subTest(platform=platform):
+        self.assertTrue(len(platform.config.wmis) > 0, "WMIs not set")
+        self.assertTrue(len(platform.config.chassis_codes) > 0, "Chassis codes not set")
+        self.assertTrue(all(CHASSIS_CODE_PATTERN.match(cc) for cc in
+                            platform.config.chassis_codes), "Bad chassis codes")
+
+        # No two platforms should share chassis codes
+        for comp in CAR:
+          if platform == comp:
+            continue
+          self.assertEqual(set(), platform.config.chassis_codes & comp.config.chassis_codes,
+                           f"Shared chassis codes: {comp}")
+
+  def test_custom_fuzzy_fingerprinting(self):
+    for platform in CAR:
+      expected_radar_fw = FW_VERSIONS[platform][Ecu.fwdRadar, 0x757, None]
+
+      with self.subTest(platform=platform):
+        for wmi in WMI:
+          for chassis_code in platform.config.chassis_codes | {"00"}:
+            vin = ["0"] * 17
+            vin[0:3] = wmi
+            vin[6:8] = chassis_code
+            vin = "".join(vin)
+
+            # Check a few FW cases - expected, unexpected
+            for radar_fw in expected_radar_fw + [b'\xf1\x877H9907572AA\xf1\x890396']:
+              should_match = ((wmi in platform.config.wmis and chassis_code in platform.config.chassis_codes) and
+                              radar_fw in expected_radar_fw)
+
+              live_fws = {(0x757, None): [radar_fw]}
+              matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fws, vin, FW_VERSIONS)
+
+              expected_matches = {platform} if should_match else set()
+              self.assertEqual(expected_matches, matches, "Bad match")
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 6ff913b204..a0d38d1b57 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -1,14 +1,14 @@
 from collections import namedtuple
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
+from enum import Enum, IntFlag, StrEnum
 
 from cereal import car
 from panda.python import uds
 from opendbc.can.can_define import CANDefine
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import dbc_dict, CarSpecs, DbcDict, PlatformConfig, Platforms
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
-                                           Device
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
+                                                     Device
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
@@ -109,6 +109,27 @@ class CANBUS:
   cam = 2
 
 
+class WMI(StrEnum):
+  VOLKSWAGEN_USA_SUV = "1V2"
+  VOLKSWAGEN_USA_CAR = "1VW"
+  VOLKSWAGEN_MEXICO_SUV = "3VV"
+  VOLKSWAGEN_MEXICO_CAR = "3VW"
+  VOLKSWAGEN_ARGENTINA = "8AW"
+  VOLKSWAGEN_BRASIL = "9BW"
+  SAIC_VOLKSWAGEN = "LSV"
+  SKODA = "TMB"
+  SEAT = "VSS"
+  AUDI_EUROPE_MPV = "WA1"
+  AUDI_GERMANY_CAR = "WAU"
+  MAN = "WMA"
+  AUDI_SPORT = "WUA"
+  VOLKSWAGEN_COMMERCIAL = "WV1"
+  VOLKSWAGEN_COMMERCIAL_BUS_VAN = "WV2"
+  VOLKSWAGEN_EUROPE_SUV = "WVG"
+  VOLKSWAGEN_EUROPE_CAR = "WVW"
+  VOLKSWAGEN_GROUP_RUS = "XW8"
+
+
 class VolkswagenFlags(IntFlag):
   # Detected flags
   STOCK_HCA_PRESENT = 1
@@ -120,10 +141,14 @@ class VolkswagenFlags(IntFlag):
 @dataclass
 class VolkswagenMQBPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_mqb_2010', None))
+  # Volkswagen uses the VIN WMI and chassis code to match in the absence of the comma power
+  # on camera-integrated cars, as we lose too many ECUs to reliably identify the vehicle
+  chassis_codes: set[str] = field(default_factory=set)
+  wmis: set[WMI] = field(default_factory=set)
 
 
 @dataclass
-class VolkswagenPQPlatformConfig(PlatformConfig):
+class VolkswagenPQPlatformConfig(VolkswagenMQBPlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_golf_mk4', None))
 
   def init(self):
@@ -158,7 +183,7 @@ class Footnote(Enum):
 
 
 @dataclass
-class VWCarInfo(CarInfo):
+class VWCarDocs(CarDocs):
   package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.j533]))
 
@@ -167,214 +192,272 @@ class VWCarInfo(CarInfo):
     if "SKODA" in CP.carFingerprint:
       self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)
 
-    if CP.carFingerprint in (CAR.CRAFTER_MK2, CAR.TRANSPORTER_T61):
+    if CP.carFingerprint in (CAR.VOLKSWAGEN_CRAFTER_MK2, CAR.VOLKSWAGEN_TRANSPORTER_T61):
       self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533])
 
 
 # Check the 7th and 8th characters of the VIN before adding a new CAR. If the
 # chassis code is already listed below, don't add a new CAR, just add to the
 # FW_VERSIONS for that existing CAR.
-# Exception: SEAT Leon and SEAT Ateca share a chassis code
 
 class CAR(Platforms):
-  ARTEON_MK1 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN ARTEON 1ST GEN",  # Chassis AN
+  config: VolkswagenMQBPlatformConfig | VolkswagenPQPlatformConfig
+
+  VOLKSWAGEN_ARTEON_MK1 = VolkswagenMQBPlatformConfig(
     [
-      VWCarInfo("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"),
-      VWCarInfo("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
-      VWCarInfo("Volkswagen Arteon eHybrid 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
-      VWCarInfo("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"),
+      VWCarDocs("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"),
+      VWCarDocs("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
+      VWCarDocs("Volkswagen Arteon eHybrid 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
+      VWCarDocs("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"),
     ],
     VolkswagenCarSpecs(mass=1733, wheelbase=2.84),
+    chassis_codes={"AN"},
+    wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
   )
-  ATLAS_MK1 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN ATLAS 1ST GEN",  # Chassis CA
+  VOLKSWAGEN_ATLAS_MK1 = VolkswagenMQBPlatformConfig(
     [
-      VWCarInfo("Volkswagen Atlas 2018-23"),
-      VWCarInfo("Volkswagen Atlas Cross Sport 2020-22"),
-      VWCarInfo("Volkswagen Teramont 2018-22"),
-      VWCarInfo("Volkswagen Teramont Cross Sport 2021-22"),
-      VWCarInfo("Volkswagen Teramont X 2021-22"),
+      VWCarDocs("Volkswagen Atlas 2018-23"),
+      VWCarDocs("Volkswagen Atlas Cross Sport 2020-22"),
+      VWCarDocs("Volkswagen Teramont 2018-22"),
+      VWCarDocs("Volkswagen Teramont Cross Sport 2021-22"),
+      VWCarDocs("Volkswagen Teramont X 2021-22"),
     ],
     VolkswagenCarSpecs(mass=2011, wheelbase=2.98),
+    chassis_codes={"CA"},
+    wmis={WMI.VOLKSWAGEN_USA_SUV, WMI.VOLKSWAGEN_EUROPE_SUV},
   )
-  CADDY_MK3 = VolkswagenPQPlatformConfig(
-    "VOLKSWAGEN CADDY 3RD GEN",  # Chassis 2K
+  VOLKSWAGEN_CADDY_MK3 = VolkswagenPQPlatformConfig(
     [
-      VWCarInfo("Volkswagen Caddy 2019"),
-      VWCarInfo("Volkswagen Caddy Maxi 2019"),
+      VWCarDocs("Volkswagen Caddy 2019"),
+      VWCarDocs("Volkswagen Caddy Maxi 2019"),
     ],
     VolkswagenCarSpecs(mass=1613, wheelbase=2.6, minSteerSpeed=21 * CV.KPH_TO_MS),
+    chassis_codes={"2K"},
+    wmis={WMI.VOLKSWAGEN_COMMERCIAL_BUS_VAN},
   )
-  CRAFTER_MK2 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN CRAFTER 2ND GEN",  # Chassis SY/SZ
+  VOLKSWAGEN_CRAFTER_MK2 = VolkswagenMQBPlatformConfig(
     [
-      VWCarInfo("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"),
-      VWCarInfo("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"),
-      VWCarInfo("Volkswagen Grand California 2019-23", video_link="https://youtu.be/4100gLeabmo"),
-      VWCarInfo("MAN TGE 2017-23", video_link="https://youtu.be/4100gLeabmo"),
-      VWCarInfo("MAN eTGE 2020-23", video_link="https://youtu.be/4100gLeabmo"),
+      VWCarDocs("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"),
+      VWCarDocs("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"),
+      VWCarDocs("Volkswagen Grand California 2019-23", video_link="https://youtu.be/4100gLeabmo"),
+      VWCarDocs("MAN TGE 2017-23", video_link="https://youtu.be/4100gLeabmo"),
+      VWCarDocs("MAN eTGE 2020-23", video_link="https://youtu.be/4100gLeabmo"),
     ],
     VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS),
+    chassis_codes={"SY", "SZ"},
+    wmis={WMI.VOLKSWAGEN_COMMERCIAL, WMI.MAN},
   )
-  GOLF_MK7 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN GOLF 7TH GEN",  # Chassis 5G/AU/BA/BE
+  VOLKSWAGEN_GOLF_MK7 = VolkswagenMQBPlatformConfig(
     [
-      VWCarInfo("Volkswagen e-Golf 2014-20"),
-      VWCarInfo("Volkswagen Golf 2015-20", auto_resume=False),
-      VWCarInfo("Volkswagen Golf Alltrack 2015-19", auto_resume=False),
-      VWCarInfo("Volkswagen Golf GTD 2015-20"),
-      VWCarInfo("Volkswagen Golf GTE 2015-20"),
-      VWCarInfo("Volkswagen Golf GTI 2015-21", auto_resume=False),
-      VWCarInfo("Volkswagen Golf R 2015-19"),
-      VWCarInfo("Volkswagen Golf SportsVan 2015-20"),
+      VWCarDocs("Volkswagen e-Golf 2014-20"),
+      VWCarDocs("Volkswagen Golf 2015-20", auto_resume=False),
+      VWCarDocs("Volkswagen Golf Alltrack 2015-19", auto_resume=False),
+      VWCarDocs("Volkswagen Golf GTD 2015-20"),
+      VWCarDocs("Volkswagen Golf GTE 2015-20"),
+      VWCarDocs("Volkswagen Golf GTI 2015-21", auto_resume=False),
+      VWCarDocs("Volkswagen Golf R 2015-19"),
+      VWCarDocs("Volkswagen Golf SportsVan 2015-20"),
     ],
     VolkswagenCarSpecs(mass=1397, wheelbase=2.62),
+    chassis_codes={"5G", "AU", "BA", "BE"},
+    wmis={WMI.VOLKSWAGEN_MEXICO_CAR, WMI.VOLKSWAGEN_EUROPE_CAR},
   )
-  JETTA_MK7 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN JETTA 7TH GEN",  # Chassis BU
+  VOLKSWAGEN_JETTA_MK7 = VolkswagenMQBPlatformConfig(
     [
-      VWCarInfo("Volkswagen Jetta 2018-24"),
-      VWCarInfo("Volkswagen Jetta GLI 2021-24"),
+      VWCarDocs("Volkswagen Jetta 2018-24"),
+      VWCarDocs("Volkswagen Jetta GLI 2021-24"),
     ],
     VolkswagenCarSpecs(mass=1328, wheelbase=2.71),
+    chassis_codes={"BU"},
+    wmis={WMI.VOLKSWAGEN_MEXICO_CAR, WMI.VOLKSWAGEN_EUROPE_CAR},
   )
-  PASSAT_MK8 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN PASSAT 8TH GEN",  # Chassis 3G
+  VOLKSWAGEN_PASSAT_MK8 = VolkswagenMQBPlatformConfig(
     [
-      VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]),
-      VWCarInfo("Volkswagen Passat Alltrack 2015-22"),
-      VWCarInfo("Volkswagen Passat GTE 2015-22"),
+      VWCarDocs("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]),
+      VWCarDocs("Volkswagen Passat Alltrack 2015-22"),
+      VWCarDocs("Volkswagen Passat GTE 2015-22"),
     ],
     VolkswagenCarSpecs(mass=1551, wheelbase=2.79),
+    chassis_codes={"3C", "3G"},
+    wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
   )
-  PASSAT_NMS = VolkswagenPQPlatformConfig(
-    "VOLKSWAGEN PASSAT NMS",  # Chassis A3
-    VWCarInfo("Volkswagen Passat NMS 2017-22"),
-    VolkswagenCarSpecs(mass=1503, wheelbase=2.80, minSteerSpeed=50*CV.KPH_TO_MS, minEnableSpeed=20*CV.KPH_TO_MS),
+  VOLKSWAGEN_PASSAT_NMS = VolkswagenPQPlatformConfig(
+    [VWCarDocs("Volkswagen Passat NMS 2017-22")],
+    VolkswagenCarSpecs(mass=1503, wheelbase=2.80, minSteerSpeed=50 * CV.KPH_TO_MS, minEnableSpeed=20 * CV.KPH_TO_MS),
+    chassis_codes={"A3"},
+    wmis={WMI.VOLKSWAGEN_USA_CAR},
   )
-  POLO_MK6 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN POLO 6TH GEN",  # Chassis AW
+  VOLKSWAGEN_POLO_MK6 = VolkswagenMQBPlatformConfig(
     [
-      VWCarInfo("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]),
-      VWCarInfo("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]),
+      VWCarDocs("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]),
+      VWCarDocs("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]),
     ],
     VolkswagenCarSpecs(mass=1230, wheelbase=2.55),
+    chassis_codes={"AW"},
+    wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
   )
-  SHARAN_MK2 = VolkswagenPQPlatformConfig(
-    "VOLKSWAGEN SHARAN 2ND GEN",  # Chassis 7N
+  VOLKSWAGEN_SHARAN_MK2 = VolkswagenPQPlatformConfig(
     [
-      VWCarInfo("Volkswagen Sharan 2018-22"),
-      VWCarInfo("SEAT Alhambra 2018-20"),
+      VWCarDocs("Volkswagen Sharan 2018-22"),
+      VWCarDocs("SEAT Alhambra 2018-20"),
     ],
-    VolkswagenCarSpecs(mass=1639, wheelbase=2.92, minSteerSpeed=50*CV.KPH_TO_MS),
+    VolkswagenCarSpecs(mass=1639, wheelbase=2.92, minSteerSpeed=50 * CV.KPH_TO_MS),
+    chassis_codes={"7N"},
+    wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
   )
-  TAOS_MK1 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN TAOS 1ST GEN",  # Chassis B2
-    VWCarInfo("Volkswagen Taos 2022-23"),
+  VOLKSWAGEN_TAOS_MK1 = VolkswagenMQBPlatformConfig(
+    [VWCarDocs("Volkswagen Taos 2022-23")],
     VolkswagenCarSpecs(mass=1498, wheelbase=2.69),
+    chassis_codes={"B2"},
+    wmis={WMI.VOLKSWAGEN_MEXICO_SUV, WMI.VOLKSWAGEN_ARGENTINA},
   )
-  TCROSS_MK1 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN T-CROSS 1ST GEN",  # Chassis C1
-    VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]),
+  VOLKSWAGEN_TCROSS_MK1 = VolkswagenMQBPlatformConfig(
+    [VWCarDocs("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0])],
     VolkswagenCarSpecs(mass=1150, wheelbase=2.60),
+    chassis_codes={"C1"},
+    wmis={WMI.VOLKSWAGEN_EUROPE_SUV},
   )
-  TIGUAN_MK2 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN TIGUAN 2ND GEN",  # Chassis AD/BW
+  VOLKSWAGEN_TIGUAN_MK2 = VolkswagenMQBPlatformConfig(
     [
-      VWCarInfo("Volkswagen Tiguan 2018-24"),
-      VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"),
+      VWCarDocs("Volkswagen Tiguan 2018-24"),
+      VWCarDocs("Volkswagen Tiguan eHybrid 2021-23"),
     ],
     VolkswagenCarSpecs(mass=1715, wheelbase=2.74),
+    chassis_codes={"5N", "AD", "AX", "BW"},
+    wmis={WMI.VOLKSWAGEN_EUROPE_SUV, WMI.VOLKSWAGEN_MEXICO_SUV},
   )
-  TOURAN_MK2 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN TOURAN 2ND GEN",  # Chassis 1T
-    VWCarInfo("Volkswagen Touran 2016-23"),
+  VOLKSWAGEN_TOURAN_MK2 = VolkswagenMQBPlatformConfig(
+    [VWCarDocs("Volkswagen Touran 2016-23")],
     VolkswagenCarSpecs(mass=1516, wheelbase=2.79),
+    chassis_codes={"1T"},
+    wmis={WMI.VOLKSWAGEN_EUROPE_SUV},
   )
-  TRANSPORTER_T61 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN TRANSPORTER T6.1",  # Chassis 7H/7L
+  VOLKSWAGEN_TRANSPORTER_T61 = VolkswagenMQBPlatformConfig(
     [
-      VWCarInfo("Volkswagen Caravelle 2020"),
-      VWCarInfo("Volkswagen California 2021-23"),
+      VWCarDocs("Volkswagen Caravelle 2020"),
+      VWCarDocs("Volkswagen California 2021-23"),
     ],
     VolkswagenCarSpecs(mass=1926, wheelbase=3.00, minSteerSpeed=14.0),
+    chassis_codes={"7H", "7L"},
+    wmis={WMI.VOLKSWAGEN_COMMERCIAL_BUS_VAN},
   )
-  TROC_MK1 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN T-ROC 1ST GEN",  # Chassis A1
-    VWCarInfo("Volkswagen T-Roc 2018-22", footnotes=[Footnote.VW_MQB_A0]),
+  VOLKSWAGEN_TROC_MK1 = VolkswagenMQBPlatformConfig(
+    [VWCarDocs("Volkswagen T-Roc 2018-23")],
     VolkswagenCarSpecs(mass=1413, wheelbase=2.63),
+    chassis_codes={"A1"},
+    wmis={WMI.VOLKSWAGEN_EUROPE_SUV},
   )
   AUDI_A3_MK3 = VolkswagenMQBPlatformConfig(
-    "AUDI A3 3RD GEN",  # Chassis 8V/FF
     [
-      VWCarInfo("Audi A3 2014-19"),
-      VWCarInfo("Audi A3 Sportback e-tron 2017-18"),
-      VWCarInfo("Audi RS3 2018"),
-      VWCarInfo("Audi S3 2015-17"),
+      VWCarDocs("Audi A3 2014-19"),
+      VWCarDocs("Audi A3 Sportback e-tron 2017-18"),
+      VWCarDocs("Audi RS3 2018"),
+      VWCarDocs("Audi S3 2015-17"),
     ],
     VolkswagenCarSpecs(mass=1335, wheelbase=2.61),
+    chassis_codes={"8V", "FF"},
+    wmis={WMI.AUDI_GERMANY_CAR, WMI.AUDI_SPORT},
   )
   AUDI_Q2_MK1 = VolkswagenMQBPlatformConfig(
-    "AUDI Q2 1ST GEN",  # Chassis GA
-    VWCarInfo("Audi Q2 2018"),
+    [VWCarDocs("Audi Q2 2018")],
     VolkswagenCarSpecs(mass=1205, wheelbase=2.61),
+    chassis_codes={"GA"},
+    wmis={WMI.AUDI_GERMANY_CAR},
   )
   AUDI_Q3_MK2 = VolkswagenMQBPlatformConfig(
-    "AUDI Q3 2ND GEN",  # Chassis 8U/F3/FS
-    VWCarInfo("Audi Q3 2019-23"),
+    [VWCarDocs("Audi Q3 2019-23")],
     VolkswagenCarSpecs(mass=1623, wheelbase=2.68),
+    chassis_codes={"8U", "F3", "FS"},
+    wmis={WMI.AUDI_EUROPE_MPV, WMI.AUDI_GERMANY_CAR},
   )
   SEAT_ATECA_MK1 = VolkswagenMQBPlatformConfig(
-    "SEAT ATECA 1ST GEN",  # Chassis 5F
-    VWCarInfo("SEAT Ateca 2018"),
-    VolkswagenCarSpecs(mass=1900, wheelbase=2.64),
-  )
-  SEAT_LEON_MK3 = VolkswagenMQBPlatformConfig(
-    "SEAT LEON 3RD GEN",  # Chassis 5F
-    VWCarInfo("SEAT Leon 2014-20"),
-    VolkswagenCarSpecs(mass=1227, wheelbase=2.64),
+    [
+      VWCarDocs("SEAT Ateca 2018"),
+      VWCarDocs("SEAT Leon 2014-20"),
+    ],
+    VolkswagenCarSpecs(mass=1300, wheelbase=2.64),
+    chassis_codes={"5F"},
+    wmis={WMI.SEAT},
   )
   SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig(
-    "SKODA FABIA 4TH GEN",  # Chassis PJ
-    VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]),
+    [VWCarDocs("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0])],
     VolkswagenCarSpecs(mass=1266, wheelbase=2.56),
+    chassis_codes={"PJ"},
+    wmis={WMI.SKODA},
   )
   SKODA_KAMIQ_MK1 = VolkswagenMQBPlatformConfig(
-    "SKODA KAMIQ 1ST GEN",  # Chassis NW
-    VWCarInfo("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
-    VolkswagenCarSpecs(mass=1265, wheelbase=2.66),
+    [
+      VWCarDocs("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
+      VWCarDocs("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]),
+    ],
+    VolkswagenCarSpecs(mass=1230, wheelbase=2.66),
+    chassis_codes={"NW"},
+    wmis={WMI.SKODA},
   )
   SKODA_KAROQ_MK1 = VolkswagenMQBPlatformConfig(
-    "SKODA KAROQ 1ST GEN",  # Chassis NU
-    VWCarInfo("Škoda Karoq 2019-23"),
+    [VWCarDocs("Škoda Karoq 2019-23")],
     VolkswagenCarSpecs(mass=1278, wheelbase=2.66),
+    chassis_codes={"NU"},
+    wmis={WMI.SKODA},
   )
   SKODA_KODIAQ_MK1 = VolkswagenMQBPlatformConfig(
-    "SKODA KODIAQ 1ST GEN",  # Chassis NS
-    VWCarInfo("Škoda Kodiaq 2017-23"),
+    [VWCarDocs("Škoda Kodiaq 2017-23")],
     VolkswagenCarSpecs(mass=1569, wheelbase=2.79),
+    chassis_codes={"NS"},
+    wmis={WMI.SKODA, WMI.VOLKSWAGEN_GROUP_RUS},
   )
   SKODA_OCTAVIA_MK3 = VolkswagenMQBPlatformConfig(
-    "SKODA OCTAVIA 3RD GEN",  # Chassis NE
     [
-      VWCarInfo("Škoda Octavia 2015-19"),
-      VWCarInfo("Škoda Octavia RS 2016"),
+      VWCarDocs("Škoda Octavia 2015-19"),
+      VWCarDocs("Škoda Octavia RS 2016"),
+      VWCarDocs("Škoda Octavia Scout 2017-19"),
     ],
     VolkswagenCarSpecs(mass=1388, wheelbase=2.68),
-  )
-  SKODA_SCALA_MK1 = VolkswagenMQBPlatformConfig(
-    "SKODA SCALA 1ST GEN",  # Chassis NW
-    VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]),
-    VolkswagenCarSpecs(mass=1192, wheelbase=2.65),
+    chassis_codes={"NE"},
+    wmis={WMI.SKODA},
   )
   SKODA_SUPERB_MK3 = VolkswagenMQBPlatformConfig(
-    "SKODA SUPERB 3RD GEN",  # Chassis 3V/NP
-    VWCarInfo("Škoda Superb 2015-22"),
+    [VWCarDocs("Škoda Superb 2015-22")],
     VolkswagenCarSpecs(mass=1505, wheelbase=2.84),
+    chassis_codes={"3V", "NP"},
+    wmis={WMI.SKODA},
   )
 
 
+def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str]:
+  candidates = set()
+
+  # Check the WMI and chassis code to determine the platform
+  wmi = vin[:3]
+  chassis_code = vin[6:8]
+
+  for platform in CAR:
+    valid_ecus = set()
+    for ecu, expected_versions in offline_fw_versions[platform].items():
+      addr = ecu[1:]
+      if ecu[0] not in CHECK_FUZZY_ECUS:
+        continue
+
+      # Sanity check that a subset of Volkswagen FW is in the database
+      found_versions = live_fw_versions.get(addr, [])
+      if not any(found_version in expected_versions for found_version in found_versions):
+        break
+
+      valid_ecus.add(ecu[0])
+
+    if valid_ecus != CHECK_FUZZY_ECUS:
+      continue
+
+    if wmi in platform.config.wmis and chassis_code in platform.config.chassis_codes:
+      candidates.add(platform)
+
+  return {str(c) for c in candidates}
+
+
+# These ECUs are required to match to gain a VIN match
+# TODO: do we want to check camera when we add its FW?
+CHECK_FUZZY_ECUS = {Ecu.fwdRadar}
+
 # All supported cars should return FW from the engine, srs, eps, and fwdRadar. Cars
 # with a manual trans won't return transmission firmware, but all other cars will.
 #
@@ -393,28 +476,26 @@ VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER +
 VOLKSWAGEN_RX_OFFSET = 0x6a
 
 FW_QUERY_CONFIG = FwQueryConfig(
-  # TODO: add back whitelists after we gather enough data
   requests=[request for bus, obd_multiplexing in [(1, True), (1, False), (0, False)] for request in [
     Request(
       [VOLKSWAGEN_VERSION_REQUEST_MULTI],
       [VOLKSWAGEN_VERSION_RESPONSE],
-      # whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
+      whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar, Ecu.fwdCamera],
       rx_offset=VOLKSWAGEN_RX_OFFSET,
       bus=bus,
-      logging=(bus != 1 or not obd_multiplexing),
       obd_multiplexing=obd_multiplexing,
     ),
     Request(
       [VOLKSWAGEN_VERSION_REQUEST_MULTI],
       [VOLKSWAGEN_VERSION_RESPONSE],
-      # whitelist_ecus=[Ecu.engine, Ecu.transmission],
+      whitelist_ecus=[Ecu.engine, Ecu.transmission],
       bus=bus,
-      logging=(bus != 1 or not obd_multiplexing),
       obd_multiplexing=obd_multiplexing,
     ),
   ]],
+  non_essential_ecus={Ecu.eps: list(CAR)},
   extra_ecus=[(Ecu.fwdCamera, 0x74f, None)],
+  match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
 )
 
-CAR_INFO = CAR.create_carinfo_map()
 DBC = CAR.create_dbc_map()
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index bd3dd08179..72f1514d88 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -10,17 +10,16 @@ import cereal.messaging as messaging
 from cereal import car, log
 from cereal.visionipc import VisionIpcClient, VisionStreamType
 
-from panda import ALTERNATIVE_EXPERIENCE
 
 from openpilot.common.conversions import Conversions as CV
+from openpilot.common.git import get_short_branch
 from openpilot.common.numpy_fast import clip
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 from openpilot.common.swaglog import cloudlog
 
-from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
-from openpilot.selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
-from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.car_helpers import get_startup_event
+from openpilot.selfdrive.car.card import CarD
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature
 from openpilot.selfdrive.controls.lib.events import Events, ET
@@ -32,7 +31,6 @@ from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 
 from openpilot.system.hardware import HARDWARE
-from openpilot.system.version import get_short_branch
 
 SOFT_DISABLE_TIME = 3  # seconds
 LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
@@ -61,128 +59,18 @@ ACTIVE_STATES = (State.enabled, State.softDisabling, State.overriding)
 ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES)
 
 
-class CarD:
-  CI: CarInterfaceBase
-  CS: car.CarState
-
-  def __init__(self, CI=None):
-    self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates'])
-    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams'])
-
-    self.can_rcv_timeout_counter = 0      # conseuctive timeout count
-    self.can_rcv_cum_timeout_counter = 0  # cumulative timeout count
-
-    self.params = Params()
-
-    if CI is None:
-      # wait for one pandaState and one CAN packet
-      print("Waiting for CAN messages...")
-      get_one_can(self.can_sock)
-
-      num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
-      experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
-      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas)
-    else:
-      self.CI, self.CP = CI, CI.CP
-
-    # set alternative experiences from parameters
-    disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
-    self.CP.alternativeExperience = 0
-    if not disengage_on_accelerator:
-      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
-
-    car_recognized = self.CP.carName != 'mock'
-    openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
-
-    controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
-
-    self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly
-    if self.CP.passive:
-      safety_config = car.CarParams.SafetyConfig.new_message()
-      safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
-      self.CP.safetyConfigs = [safety_config]
-
-    # Write previous route's CarParams
-    prev_cp = self.params.get("CarParamsPersistent")
-    if prev_cp is not None:
-      self.params.put("CarParamsPrevRoute", prev_cp)
-
-    # Write CarParams for radard
-    cp_bytes = self.CP.to_bytes()
-    self.params.put("CarParams", cp_bytes)
-    self.params.put_nonblocking("CarParamsCache", cp_bytes)
-    self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
-
-  def initialize(self):
-    """Initialize CarInterface, once controls are ready"""
-    self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
-
-  def state_update(self, CC: car.CarControl):
-    """carState update loop, driven by can"""
-
-    # TODO: This should not depend on carControl
-
-    # Update carState from CAN
-    can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
-    self.CS = self.CI.update(CC, can_strs)
-
-    self.sm.update(0)
-
-    can_rcv_valid = len(can_strs) > 0
-
-    # Check for CAN timeout
-    if not can_rcv_valid:
-      self.can_rcv_timeout_counter += 1
-      self.can_rcv_cum_timeout_counter += 1
-    else:
-      self.can_rcv_timeout_counter = 0
-
-    self.can_rcv_timeout = self.can_rcv_timeout_counter >= 5
-
-    if can_rcv_valid and REPLAY:
-      self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
-
-    return self.CS
-
-  def state_publish(self, car_events):
-    """carState and carParams publish loop"""
-
-    # TODO: carState should be independent of the event loop
-
-    # carState
-    cs_send = messaging.new_message('carState')
-    cs_send.valid = self.CS.canValid
-    cs_send.carState = self.CS
-    cs_send.carState.events = car_events
-    self.pm.send('carState', cs_send)
-
-    # carParams - logged every 50 seconds (> 1 per segment)
-    if (self.sm.frame % int(50. / DT_CTRL) == 0):
-      cp_send = messaging.new_message('carParams')
-      cp_send.valid = True
-      cp_send.carParams = self.CP
-      self.pm.send('carParams', cp_send)
-
-  def controls_update(self, CC: car.CarControl):
-    """control update loop, driven by carControl"""
-
-    # send car controls over can
-    now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
-    actuators_output, can_sends = self.CI.apply(CC, now_nanos)
-    self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=self.CS.canValid))
-
-    return actuators_output
-
-
 class Controls:
   def __init__(self, CI=None):
     self.card = CarD(CI)
 
-    self.CP = self.card.CP
+    self.params = Params()
+
+    with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg:
+      # TODO: this shouldn't need to be a builder
+      self.CP = msg.as_builder()
+
     self.CI = self.card.CI
 
-    config_realtime_process(4, Priority.CTRL_HIGH)
 
     # Ensure the current branch is cached, otherwise the first iteration of controlsd lags
     self.branch = get_short_branch()
@@ -195,12 +83,11 @@ class Controls:
 
     self.log_sock = messaging.sub_sock('androidLog')
 
-    self.params = Params()
     ignore = self.sensor_packets + ['testJoystick']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
-                                   'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
+                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'testJoystick'] + self.camera_packets + self.sensor_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ],
@@ -212,15 +99,12 @@ class Controls:
     self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
-    openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
     # detect sound card presence and ensure successful init
     sounds_available = HARDWARE.get_sound_card_online()
 
     car_recognized = self.CP.carName != 'mock'
 
-    controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
-
     # cleanup old params
     if not self.CP.experimentalLongitudinalAvailable:
       self.params.remove("ExperimentalLongitudinalEnabled")
@@ -258,16 +142,17 @@ class Controls:
     self.current_alert_types = [ET.PERMANENT]
     self.logged_comm_issue = None
     self.not_running_prev = None
-    self.last_actuators = car.CarControl.Actuators.new_message()
     self.steer_limited = False
+    self.last_actuators = car.CarControl.Actuators.new_message()
     self.desired_curvature = 0.0
     self.experimental_mode = False
+    self.personality = self.read_personality_param()
     self.v_cruise_helper = VCruiseHelper(self.CP)
     self.recalibrating_seen = False
 
     self.can_log_mono_time = 0
 
-    self.startup_event = get_startup_event(car_recognized, controller_available, len(self.CP.carFw) > 0)
+    self.startup_event = get_startup_event(car_recognized, not self.CP.passive, len(self.CP.carFw) > 0)
 
     if not sounds_available:
       self.events.add(EventName.soundsUnavailable, static=True)
@@ -513,7 +398,7 @@ class Controls:
   def data_sample(self):
     """Receive data from sockets and update carState"""
 
-    CS = self.card.state_update(self.CC)
+    CS = self.card.state_update()
 
     self.sm.update(0)
 
@@ -766,11 +651,19 @@ class Controls:
         cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
         setattr(actuators, p, 0.0)
 
+    # decrement personality on distance button press
+    if self.CP.openpilotLongitudinalControl:
+      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
+        self.personality = (self.personality - 1) % 3
+        self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
+
     return CC, lac_log
 
   def publish_logs(self, CS, start_time, CC, lac_log):
     """Send actuators and hud commands to the car, send controlsstate and MPC logging"""
 
+    CO = self.sm['carOutput']
+
     # Orientation and angle rates can be useful for carcontroller
     # Only calibrated (car) frame is relevant for the carcontroller
     orientation_value = list(self.sm['liveLocationKalman'].calibratedOrientationNED.value)
@@ -794,6 +687,7 @@ class Controls:
     hudControl.speedVisible = self.enabled
     hudControl.lanesVisible = self.enabled
     hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
+    hudControl.leadDistanceBars = self.personality + 1
 
     hudControl.rightLaneVisible = True
     hudControl.leftLaneVisible = True
@@ -833,13 +727,13 @@ class Controls:
       hudControl.visualAlert = current_alert.visual_alert
 
     if not self.CP.passive and self.initialized:
-      self.last_actuators = self.card.controls_update(CC)
-      CC.actuatorsOutput = self.last_actuators
+      self.card.controls_update(CC)
+      self.last_actuators = CO.actuatorsOutput
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-        self.steer_limited = abs(CC.actuators.steeringAngleDeg - CC.actuatorsOutput.steeringAngleDeg) > \
+        self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
                              STEER_ANGLE_SATURATION_THRESHOLD
       else:
-        self.steer_limited = abs(CC.actuators.steer - CC.actuatorsOutput.steer) > 1e-2
+        self.steer_limited = abs(CC.actuators.steer - CO.actuatorsOutput.steer) > 1e-2
 
     force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
                   (self.state == State.softDisabling)
@@ -883,6 +777,7 @@ class Controls:
     controlsState.forceDecel = bool(force_decel)
     controlsState.canErrorCounter = self.card.can_rcv_cum_timeout_counter
     controlsState.experimentalMode = self.experimental_mode
+    controlsState.personality = self.personality
 
     lat_tuning = self.CP.lateralTuning.which()
     if self.joystick_mode:
@@ -896,15 +791,11 @@ class Controls:
 
     self.pm.send('controlsState', dat)
 
-    car_events = self.events.to_msg()
-
-    self.card.state_publish(car_events)
-
     # onroadEvents - logged every second or on change
     if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev):
       ce_send = messaging.new_message('onroadEvents', len(self.events))
       ce_send.valid = True
-      ce_send.onroadEvents = car_events
+      ce_send.onroadEvents = self.events.to_msg()
       self.pm.send('onroadEvents', ce_send)
     self.events_prev = self.events.names.copy()
 
@@ -939,10 +830,17 @@ class Controls:
 
     self.CS_prev = CS
 
+  def read_personality_param(self):
+    try:
+      return int(self.params.get('LongitudinalPersonality'))
+    except (ValueError, TypeError):
+      return log.LongitudinalPersonality.standard
+
   def params_thread(self, evt):
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
+      self.personality = self.read_personality_param()
       if self.CP.notCar:
         self.joystick_mode = self.params.get_bool("JoystickDebugMode")
       time.sleep(0.1)
@@ -961,6 +859,7 @@ class Controls:
 
 
 def main():
+  config_realtime_process(4, Priority.CTRL_HIGH)
   controls = Controls()
   controls.controlsd_thread()
 
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index c5228ef7f2..2de4d61d88 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -7,9 +7,9 @@ from collections.abc import Callable
 from cereal import log, car
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
+from openpilot.common.git import get_short_branch
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
-from openpilot.system.version import get_short_branch
 
 AlertSize = log.ControlsState.AlertSize
 AlertStatus = log.ControlsState.AlertStatus
@@ -433,7 +433,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.preDriverDistracted: {
-    ET.WARNING: Alert(
+    ET.PERMANENT: Alert(
       "Pay Attention",
       "",
       AlertStatus.normal, AlertSize.small,
@@ -441,7 +441,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.promptDriverDistracted: {
-    ET.WARNING: Alert(
+    ET.PERMANENT: Alert(
       "Pay Attention",
       "Driver Distracted",
       AlertStatus.userPrompt, AlertSize.mid,
@@ -449,7 +449,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.driverDistracted: {
-    ET.WARNING: Alert(
+    ET.PERMANENT: Alert(
       "DISENGAGE IMMEDIATELY",
       "Driver Distracted",
       AlertStatus.critical, AlertSize.full,
@@ -457,7 +457,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.preDriverUnresponsive: {
-    ET.WARNING: Alert(
+    ET.PERMANENT: Alert(
       "Touch Steering Wheel: No Face Detected",
       "",
       AlertStatus.normal, AlertSize.small,
@@ -465,7 +465,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.promptDriverUnresponsive: {
-    ET.WARNING: Alert(
+    ET.PERMANENT: Alert(
       "Touch Steering Wheel",
       "Driver Unresponsive",
       AlertStatus.userPrompt, AlertSize.mid,
@@ -473,7 +473,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.driverUnresponsive: {
-    ET.WARNING: Alert(
+    ET.PERMANENT: Alert(
       "DISENGAGE IMMEDIATELY",
       "Driver Unresponsive",
       AlertStatus.critical, AlertSize.full,
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index ee65c4a69e..2dd3390bb0 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -10,8 +10,6 @@ LongCtrlState = car.CarControl.Actuators.LongControlState
 
 def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
                              v_target_1sec, brake_pressed, cruise_standstill):
-  # Ignore cruise standstill if car has a gas interceptor
-  cruise_standstill = cruise_standstill and not CP.enableGasInterceptor
   accelerating = v_target_1sec > v_target
   planned_stop = (v_target < CP.vEgoStopping and
                   v_target_1sec < CP.vEgoStopping and
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 018768f248..6cc6e80d3d 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -2,8 +2,6 @@
 import math
 import numpy as np
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.params import Params
-from cereal import log
 
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
@@ -61,16 +59,6 @@ class LongitudinalPlanner:
     self.a_desired_trajectory = np.zeros(CONTROL_N)
     self.j_desired_trajectory = np.zeros(CONTROL_N)
     self.solverExecutionTime = 0.0
-    self.params = Params()
-    self.param_read_counter = 0
-    self.read_param()
-    self.personality = log.LongitudinalPersonality.standard
-
-  def read_param(self):
-    try:
-      self.personality = int(self.params.get('LongitudinalPersonality'))
-    except (ValueError, TypeError):
-      self.personality = log.LongitudinalPersonality.standard
 
   @staticmethod
   def parse_model(model_msg, model_error):
@@ -89,9 +77,6 @@ class LongitudinalPlanner:
     return x, v, a, j
 
   def update(self, sm):
-    if self.param_read_counter % 50 == 0:
-      self.read_param()
-    self.param_read_counter += 1
     self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
 
     v_ego = sm['carState'].vEgo
@@ -130,11 +115,11 @@ class LongitudinalPlanner:
     accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
     accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
 
-    self.mpc.set_weights(prev_accel_constraint, personality=self.personality)
+    self.mpc.set_weights(prev_accel_constraint, personality=sm['controlsState'].personality)
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=self.personality)
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsState'].personality)
 
     self.v_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
@@ -170,6 +155,5 @@ class LongitudinalPlanner:
     longitudinalPlan.fcw = self.fcw
 
     longitudinalPlan.solverExecutionTime = self.mpc.solve_time
-    longitudinalPlan.personality = self.personality
 
     pm.send('longitudinalPlan', plan_send)
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index 866270ca60..838023af72 100755
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -17,7 +17,7 @@ from openpilot.common.mock.generators import generate_liveLocationKalman
 
 class TestLatControl(unittest.TestCase):
 
-  @parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque),  (NISSAN.LEAF, LatControlAngle)])
+  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),  (NISSAN.NISSAN_LEAF, LatControlAngle)])
   def test_saturation(self, car_name, controller):
     CarInterface, CarController, CarState = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)
diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py
index d016e87527..c3997afdf3 100755
--- a/selfdrive/controls/lib/tests/test_vehicle_model.py
+++ b/selfdrive/controls/lib/tests/test_vehicle_model.py
@@ -12,7 +12,7 @@ from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_
 
 class TestVehicleModel(unittest.TestCase):
   def setUp(self):
-    CP = CarInterface.get_non_essential_params(CAR.CIVIC)
+    CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
     self.VM = VehicleModel(CP)
 
   def test_round_trip_yaw_rate(self):
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 4de4208e9d..16c9e0635c 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -133,7 +133,7 @@ def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks
     prob_y = laplacian_pdf(c.yRel, -lead.y[0], lead.yStd[0])
     prob_v = laplacian_pdf(c.vRel + v_ego, lead.v[0], lead.vStd[0])
 
-    # This is isn't exactly right, but good heuristic
+    # This isn't exactly right, but it's a good heuristic
     return prob_d * prob_y * prob_v
 
   track = max(tracks.values(), key=prob)
diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py
index 76a2222e85..c46d03ad1e 100755
--- a/selfdrive/controls/tests/test_cruise_speed.py
+++ b/selfdrive/controls/tests/test_cruise_speed.py
@@ -5,7 +5,6 @@ import unittest
 
 from parameterized import parameterized_class
 from cereal import log
-from openpilot.common.params import Params
 from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
@@ -15,7 +14,7 @@ ButtonEvent = car.CarState.ButtonEvent
 ButtonType = car.CarState.ButtonEvent.Type
 
 
-def run_cruise_simulation(cruise, e2e, t_end=20.):
+def run_cruise_simulation(cruise, e2e, personality, t_end=20.):
   man = Maneuver(
     '',
     duration=t_end,
@@ -26,6 +25,7 @@ def run_cruise_simulation(cruise, e2e, t_end=20.):
     prob_lead_values=[0.0],
     breakpoints=[0.],
     e2e=e2e,
+    personality=personality,
   )
   valid, output = man.evaluate()
   assert valid
@@ -38,12 +38,10 @@ def run_cruise_simulation(cruise, e2e, t_end=20.):
                       [5,35])) # speed
 class TestCruiseSpeed(unittest.TestCase):
   def test_cruise_speed(self):
-    params = Params()
-    params.put("LongitudinalPersonality", str(self.personality))
     print(f'Testing {self.speed} m/s')
     cruise_speed = float(self.speed)
 
-    simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e)
+    simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e, self.personality)
     self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {self.speed} m/s')
 
 
diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py
index 3b31632721..f58e6383c4 100755
--- a/selfdrive/controls/tests/test_following_distance.py
+++ b/selfdrive/controls/tests/test_following_distance.py
@@ -3,14 +3,13 @@ import unittest
 import itertools
 from parameterized import parameterized_class
 
-from openpilot.common.params import Params
 from cereal import log
 
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance, get_T_FOLLOW
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
 
-def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):
+def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personality=0):
   man = Maneuver(
     '',
     duration=t_end,
@@ -20,6 +19,7 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):
     speed_lead_values=[v_lead],
     breakpoints=[0.],
     e2e=e2e,
+    personality=personality,
   )
   valid, output = man.evaluate()
   assert valid
@@ -34,10 +34,8 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):
                       [0,10,35])) # speed
 class TestFollowingDistance(unittest.TestCase):
   def test_following_distance(self):
-    params = Params()
-    params.put("LongitudinalPersonality", str(self.personality))
     v_lead = float(self.speed)
-    simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e)
+    simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality)
     correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality))
     err_ratio = 0.2 if self.e2e else 0.1
     self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))
diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py
index 268d9c47a7..a06387a087 100755
--- a/selfdrive/controls/tests/test_leads.py
+++ b/selfdrive/controls/tests/test_leads.py
@@ -25,7 +25,7 @@ class TestLeads(unittest.TestCase):
       return msgs
 
     msgs = [m for _ in range(3) for m in single_iter_pkg()]
-    out = replay_process_with_name("radard", msgs, fingerprint=TOYOTA.COROLLA_TSS2)
+    out = replay_process_with_name("radard", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2)
     states = [m for m in out if m.which() == "radarState"]
     failures = [not state.valid and len(state.radarState.radarErrors) for state in states]
 
diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py
index 34d14fbb39..23cc96a2e4 100644
--- a/selfdrive/controls/tests/test_startup.py
+++ b/selfdrive/controls/tests/test_startup.py
@@ -39,12 +39,12 @@ CX5_FW_VERSIONS = [
   # TODO: test EventName.startup for release branches
 
   # officially supported car
-  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
-  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
+  (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS, "toyota"),
+  (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS, "toyota"),
 
   # dashcamOnly car
-  (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
-  (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
+  (EventName.startupNoControl, MAZDA.MAZDA_CX5, CX5_FW_VERSIONS, "mazda"),
+  (EventName.startupNoControl, MAZDA.MAZDA_CX5, CX5_FW_VERSIONS, "mazda"),
 
   # unrecognized car with no fw
   (EventName.startupNoFw, None, None, ""),
@@ -55,8 +55,8 @@ CX5_FW_VERSIONS = [
   (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
 
   # fuzzy match
-  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
-  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
+  (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
+  (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
 ])
 def test_startup_alert(expected_event, car_model, fw_versions, brand):
   controls_sock = messaging.sub_sock("controlsState")
diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py
index c4b688ce29..604a1df124 100755
--- a/selfdrive/debug/check_can_parser_performance.py
+++ b/selfdrive/debug/check_can_parser_performance.py
@@ -25,11 +25,12 @@ if __name__ == '__main__':
   CC = car.CarControl.new_message()
   ets = []
   for _ in tqdm(range(N_RUNS)):
+    msgs = [(m.as_builder().to_bytes(),) for m in tm.can_msgs]
     start_t = time.process_time_ns()
-    for msg in tm.can_msgs:
+    for msg in msgs:
       for cp in tm.CI.can_parsers:
         if cp is not None:
-          cp.update_strings((msg.as_builder().to_bytes(),))
+          cp.update_strings(msg)
     ets.append((time.process_time_ns() - start_t) * 1e-6)
 
   print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs')
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index 42561f70f0..d66f83ad5d 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -52,7 +52,7 @@ def cycle_alerts(duration=200, is_metric=False):
   cameras = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']
 
   CS = car.CarState.new_message()
-  CP = CarInterface.get_non_essential_params("HONDA CIVIC 2016")
+  CP = CarInterface.get_non_essential_params("HONDA_CIVIC")
   sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
                             'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
                             'managerState'] + cameras)
diff --git a/selfdrive/debug/debug_fw_fingerprinting_offline.py b/selfdrive/debug/debug_fw_fingerprinting_offline.py
index d521ab2e18..8ae9d6d347 100755
--- a/selfdrive/debug/debug_fw_fingerprinting_offline.py
+++ b/selfdrive/debug/debug_fw_fingerprinting_offline.py
@@ -13,7 +13,7 @@ def main(route: str, addrs: list[int]):
   - print as fixed width table, easier to read
   """
 
-  lr = LogReader(route, default_mode=ReadMode.RLOG)
+  lr = LogReader(route, default_mode=ReadMode.RLOG, sort_by_time=True)
 
   start_mono_time = None
   prev_mono_time = 0
@@ -32,7 +32,7 @@ def main(route: str, addrs: list[int]):
           if msg.logMonoTime != prev_mono_time:
             print()
             prev_mono_time = msg.logMonoTime
-          print(f"{msg.logMonoTime} rxaddr={can.address}, bus={can.src}, {round((msg.logMonoTime - start_mono_time) * 1e-6, 2)} ms, " +
+          print(f"{msg.which():>7}: rxaddr={can.address}, bus={can.src}, {round((msg.logMonoTime - start_mono_time) * 1e-6, 2)} ms, " +
                 f"0x{can.dat.hex()}, {can.dat}, {len(can.dat)=}")
 
 
diff --git a/selfdrive/debug/dump_car_info.py b/selfdrive/debug/dump_car_docs.py
similarity index 64%
rename from selfdrive/debug/dump_car_info.py
rename to selfdrive/debug/dump_car_docs.py
index 6af328926b..f09c602cff 100755
--- a/selfdrive/debug/dump_car_info.py
+++ b/selfdrive/debug/dump_car_docs.py
@@ -2,12 +2,12 @@
 import argparse
 import pickle
 
-from openpilot.selfdrive.car.docs import get_all_car_info
+from openpilot.selfdrive.car.docs import get_all_car_docs
 
 
-def dump_car_info(path):
+def dump_car_docs(path):
   with open(path, 'wb') as f:
-    pickle.dump(get_all_car_info(), f)
+    pickle.dump(get_all_car_docs(), f)
   print(f'Dumping car info to {path}')
 
 
@@ -15,4 +15,4 @@ if __name__ == "__main__":
   parser = argparse.ArgumentParser()
   parser.add_argument("--path", required=True)
   args = parser.parse_args()
-  dump_car_info(args.path)
+  dump_car_docs(args.path)
diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py
index 7735391f4f..e5cae0d470 100755
--- a/selfdrive/debug/hyundai_enable_radar_points.py
+++ b/selfdrive/debug/hyundai_enable_radar_points.py
@@ -36,6 +36,9 @@ SUPPORTED_FW_VERSIONS = {
     default_config=b"\x00\x00\x00\x01\x00\x00",
     tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
   # 2021 SONATA HYBRID
+  b"DNhe SCC FHCUP      1.00 1.00 99110-L5000\x19\x04&\x13'    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
   b"DNhe SCC FHCUP      1.00 1.02 99110-L5000 \x01#\x15#    ": ConfigValues(
     default_config=b"\x00\x00\x00\x01\x00\x00",
     tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py
index 3d35532496..7ef89a6eca 100755
--- a/selfdrive/debug/print_docs_diff.py
+++ b/selfdrive/debug/print_docs_diff.py
@@ -4,7 +4,7 @@ from collections import defaultdict
 import difflib
 import pickle
 
-from openpilot.selfdrive.car.docs import get_all_car_info
+from openpilot.selfdrive.car.docs import get_all_car_docs
 from openpilot.selfdrive.car.docs_definitions import Column
 
 FOOTNOTE_TAG = "<sup>{}</sup>"
@@ -17,7 +17,7 @@ COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3)
 ARROW_SYMBOL = "➡️"
 
 
-def load_base_car_info(path):
+def load_base_car_docs(path):
   with open(path, "rb") as f:
     return pickle.load(f)
 
@@ -57,31 +57,31 @@ def format_row(builder):
   return "|" + "|".join(builder) + "|"
 
 
-def print_car_info_diff(path):
-  base_car_info = defaultdict(list)
-  new_car_info = defaultdict(list)
+def print_car_docs_diff(path):
+  base_car_docs = defaultdict(list)
+  new_car_docs = defaultdict(list)
 
-  for car in load_base_car_info(path):
-    base_car_info[car.car_fingerprint].append(car)
-  for car in get_all_car_info():
-    new_car_info[car.car_fingerprint].append(car)
+  for car in load_base_car_docs(path):
+    base_car_docs[car.car_fingerprint].append(car)
+  for car in get_all_car_docs():
+    new_car_docs[car.car_fingerprint].append(car)
 
   # Add new platforms to base cars so we can detect additions and removals in one pass
-  base_car_info.update({car: [] for car in new_car_info if car not in base_car_info})
+  base_car_docs.update({car: [] for car in new_car_docs if car not in base_car_docs})
 
   changes = defaultdict(list)
-  for base_car_model, base_cars in base_car_info.items():
+  for base_car_model, base_cars in base_car_docs.items():
     # Match car info changes, and get additions and removals
-    new_cars = new_car_info[base_car_model]
+    new_cars = new_car_docs[base_car_model]
     car_changes, car_additions, car_removals = match_cars(base_cars, new_cars)
 
     # Removals
-    for car_info in car_removals:
-      changes["removals"].append(format_row([car_info.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) for column in Column]))
+    for car_docs in car_removals:
+      changes["removals"].append(format_row([car_docs.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) for column in Column]))
 
     # Additions
-    for car_info in car_additions:
-      changes["additions"].append(format_row([car_info.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) for column in Column]))
+    for car_docs in car_additions:
+      changes["additions"].append(format_row([car_docs.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) for column in Column]))
 
     for new_car, base_car in car_changes:
       # Column changes
@@ -117,4 +117,4 @@ if __name__ == "__main__":
   parser = argparse.ArgumentParser()
   parser.add_argument("--path", required=True)
   args = parser.parse_args()
-  print_car_info_diff(args.path)
+  print_car_docs_diff(args.path)
diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py
index 441de9ef57..90db14bc9a 100755
--- a/selfdrive/debug/run_process_on_route.py
+++ b/selfdrive/debug/run_process_on_route.py
@@ -27,4 +27,5 @@ if __name__ == "__main__":
   outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)
 
   fn = f"{args.route.replace('/', '_')}_{args.process}.bz2"
+  print(f"Saved log to {fn}")
   save_log(fn, outputs)
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index cc6fc2ae17..e338110a7d 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -9,6 +9,7 @@ from tqdm import tqdm
 from openpilot.tools.lib.logreader import LogReader, ReadMode
 from openpilot.tools.lib.route import SegmentRange
 from openpilot.selfdrive.car.car_helpers import interface_names
+from openpilot.selfdrive.car.fingerprints import MIGRATION
 from openpilot.selfdrive.car.fw_versions import VERSIONS, match_fw_to_car
 
 
@@ -17,11 +18,6 @@ SUPPORTED_BRANDS = VERSIONS.keys()
 SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]]
 UNKNOWN_BRAND = "unknown"
 
-try:
-  from xx.pipeline.lib.fingerprint import MIGRATION
-except ImportError:
-  MIGRATION = {}
-
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description='Run FW fingerprint on Qlog of route or list of routes')
   parser.add_argument('route', help='Route or file with list of routes')
@@ -82,8 +78,8 @@ if __name__ == "__main__":
             print("not in supported cars")
             break
 
-          _, exact_matches = match_fw_to_car(car_fw, allow_exact=True, allow_fuzzy=False)
-          _, fuzzy_matches = match_fw_to_car(car_fw, allow_exact=False, allow_fuzzy=True)
+          _, exact_matches = match_fw_to_car(car_fw, CP.carVin, allow_exact=True, allow_fuzzy=False)
+          _, fuzzy_matches = match_fw_to_car(car_fw, CP.carVin, allow_exact=False, allow_fuzzy=True)
 
           if (len(exact_matches) == 1) and (list(exact_matches)[0] == live_fingerprint):
             good_exact += 1
diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py
index 75409e3f87..64bc2bc638 100755
--- a/selfdrive/debug/vw_mqb_config.py
+++ b/selfdrive/debug/vw_mqb_config.py
@@ -6,6 +6,7 @@ from enum import IntEnum
 from panda import Panda
 from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\
   DATA_IDENTIFIER_TYPE, ACCESS_TYPE
+from datetime import date
 
 # TODO: extend UDS library to allow custom/vendor-defined data identifiers without ignoring type checks
 class VOLKSWAGEN_DATA_IDENTIFIER_TYPE(IntEnum):
@@ -136,8 +137,10 @@ if __name__ == "__main__":
       # last two bytes, but not the VZ/importer or tester serial number
       # Can't seem to read it back, but we can read the calibration tester,
       # so fib a little and say that same tester did the programming
-      # TODO: encode the actual current date
-      prog_date = b'\x22\x02\x08'
+      current_date = date.today()
+      formatted_date = current_date.strftime('%y-%m-%d')
+      year, month, day = [int(part) for part in formatted_date.split('-')]
+      prog_date = bytes([year, month, day])
       uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.PROGRAMMING_DATE, prog_date)
       tester_num = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER)
       uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER, tester_num)
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 26999cd684..2ac392a778 100644
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -308,14 +308,12 @@ void Localizer::input_fake_gps_observations(double current_time) {
 }
 
 void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset) {
-  // ignore the message if the fix is invalid
-  bool gps_invalid_flag = (log.getFlags() % 2 == 0);
   bool gps_unreasonable = (Vector2d(log.getHorizontalAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY);
   bool gps_accuracy_insane = ((log.getVerticalAccuracy() <= 0) || (log.getSpeedAccuracy() <= 0) || (log.getBearingAccuracyDeg() <= 0));
   bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK));
   bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
 
-  if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) {
+  if (!log.getHasFix() || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) {
     //this->gps_valid = false;
     this->determine_gps_mode(current_time);
     return;
diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py
index 78de9216dc..cd032dbaf0 100755
--- a/selfdrive/locationd/test/test_locationd.py
+++ b/selfdrive/locationd/test/test_locationd.py
@@ -38,6 +38,7 @@ class TestLocationdProc(unittest.TestCase):
 
     if name == "gpsLocationExternal":
       msg.gpsLocationExternal.flags = 1
+      msg.gpsLocationExternal.hasFix = True
       msg.gpsLocationExternal.verticalAccuracy = 1.0
       msg.gpsLocationExternal.speedAccuracy = 1.0
       msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py
index f48c83ce46..3fdd47275f 100755
--- a/selfdrive/locationd/test/test_locationd_scenarios.py
+++ b/selfdrive/locationd/test/test_locationd_scenarios.py
@@ -6,6 +6,7 @@ from collections import defaultdict
 from enum import Enum
 
 from openpilot.tools.lib.logreader import LogReader
+from openpilot.selfdrive.test.process_replay.migration import migrate_all
 from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name
 
 TEST_ROUTE = "ff2bd20623fcaeaa|2023-09-05--10-14-54/4"
@@ -107,7 +108,7 @@ class TestLocationdScenarios(unittest.TestCase):
 
   @classmethod
   def setUpClass(cls):
-    cls.logs = list(LogReader(TEST_ROUTE))
+    cls.logs = migrate_all(LogReader(TEST_ROUTE))
 
   def test_base(self):
     """
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 69bab8d1fa..06f9044738 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -159,8 +159,10 @@ class TorqueEstimator(ParameterEstimator):
   def handle_log(self, t, which, msg):
     if which == "carControl":
       self.raw_points["carControl_t"].append(t + self.lag)
-      self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer)
       self.raw_points["active"].append(msg.latActive)
+    elif which == "carOutput":
+      self.raw_points["carOutput_t"].append(t + self.lag)
+      self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer)
     elif which == "carState":
       self.raw_points["carState_t"].append(t + self.lag)
       self.raw_points["vego"].append(msg.vEgo)
@@ -172,7 +174,7 @@ class TorqueEstimator(ParameterEstimator):
         active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['active']).astype(bool)
         steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool)
         vego = np.interp(t, self.raw_points['carState_t'], self.raw_points['vego'])
-        steer = np.interp(t, self.raw_points['carControl_t'], self.raw_points['steer_torque'])
+        steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque'])
         lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY)
         if all(active) and (not any(steer_override)) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD) and (abs(lateral_acc) <= LAT_ACC_THRESHOLD):
           self.filtered_points.add_point(float(steer), float(lateral_acc))
@@ -218,7 +220,7 @@ def main(demo=False):
   config_realtime_process([0, 1, 2, 3], 5)
 
   pm = messaging.PubMaster(['liveTorqueParameters'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'liveLocationKalman'], poll='liveLocationKalman')
+  sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveLocationKalman'], poll='liveLocationKalman')
 
   params = Params()
   with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:
diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py
index 067e1b5a1e..859d0920c3 100755
--- a/selfdrive/manager/build.py
+++ b/selfdrive/manager/build.py
@@ -9,7 +9,7 @@ from openpilot.common.spinner import Spinner
 from openpilot.common.text_window import TextWindow
 from openpilot.system.hardware import AGNOS
 from openpilot.common.swaglog import cloudlog, add_file_handler
-from openpilot.system.version import is_dirty
+from openpilot.system.version import get_build_metadata
 
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
@@ -86,4 +86,5 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
 if __name__ == "__main__":
   spinner = Spinner()
   spinner.update_progress(0, 100)
-  build(spinner, is_dirty(), minimal = AGNOS)
+  build_metadata = get_build_metadata()
+  build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS)
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index 24dceaaf08..512320a8db 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -16,20 +16,20 @@ from openpilot.selfdrive.manager.process import ensure_running
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
 from openpilot.common.swaglog import cloudlog, add_file_handler
-from openpilot.system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
-                           get_normalized_origin, terms_version, training_version, \
-                           is_tested_branch, is_release_branch, get_commit_date
+from openpilot.system.version import get_build_metadata, terms_version, training_version
 
 
 
 def manager_init() -> None:
   save_bootlog()
 
+  build_metadata = get_build_metadata()
+
   params = Params()
   params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
   params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
   params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
-  if is_release_branch():
+  if build_metadata.release_channel:
     params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
 
   default_params: list[tuple[str, str | bytes]] = [
@@ -61,15 +61,15 @@ def manager_init() -> None:
     print("WARNING: failed to make /dev/shm")
 
   # set version params
-  params.put("Version", get_version())
+  params.put("Version", build_metadata.openpilot.version)
   params.put("TermsVersion", terms_version)
   params.put("TrainingVersion", training_version)
-  params.put("GitCommit", get_commit())
-  params.put("GitCommitDate", get_commit_date())
-  params.put("GitBranch", get_short_branch())
-  params.put("GitRemote", get_origin())
-  params.put_bool("IsTestedBranch", is_tested_branch())
-  params.put_bool("IsReleaseBranch", is_release_branch())
+  params.put("GitCommit", build_metadata.openpilot.git_commit)
+  params.put("GitCommitDate", build_metadata.openpilot.git_commit_date)
+  params.put("GitBranch", build_metadata.channel)
+  params.put("GitRemote", build_metadata.openpilot.git_origin)
+  params.put_bool("IsTestedBranch", build_metadata.tested_channel)
+  params.put_bool("IsReleaseBranch", build_metadata.release_channel)
 
   # set dongle id
   reg_res = register(show_spinner=True)
@@ -79,21 +79,21 @@ def manager_init() -> None:
     serial = params.get("HardwareSerial")
     raise Exception(f"Registration failed for device {serial}")
   os.environ['DONGLE_ID'] = dongle_id  # Needed for swaglog
-  os.environ['GIT_ORIGIN'] = get_normalized_origin() # Needed for swaglog
-  os.environ['GIT_BRANCH'] = get_short_branch() # Needed for swaglog
-  os.environ['GIT_COMMIT'] = get_commit() # Needed for swaglog
+  os.environ['GIT_ORIGIN'] = build_metadata.openpilot.git_normalized_origin # Needed for swaglog
+  os.environ['GIT_BRANCH'] = build_metadata.channel # Needed for swaglog
+  os.environ['GIT_COMMIT'] = build_metadata.openpilot.git_commit # Needed for swaglog
 
-  if not is_dirty():
+  if not build_metadata.openpilot.is_dirty:
     os.environ['CLEAN'] = '1'
 
   # init logging
   sentry.init(sentry.SentryProject.SELFDRIVE)
   cloudlog.bind_global(dongle_id=dongle_id,
-                       version=get_version(),
-                       origin=get_normalized_origin(),
-                       branch=get_short_branch(),
-                       commit=get_commit(),
-                       dirty=is_dirty(),
+                       version=build_metadata.openpilot.version,
+                       origin=build_metadata.openpilot.git_normalized_origin,
+                       branch=build_metadata.channel,
+                       commit=build_metadata.openpilot.git_commit,
+                       dirty=build_metadata.openpilot.is_dirty,
                        device=HARDWARE.get_device_type())
 
   # preimport all processes
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index cb6dd8883f..4c34e7339e 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -56,8 +56,6 @@ procs = [
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
-  NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
-  PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad),
   NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
   PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
@@ -69,16 +67,17 @@ procs = [
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
   PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
+  #PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
   PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
   PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
   NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
-  PythonProcess("pigeond", "system.sensord.pigeond", ublox, enabled=TICI),
+  PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
   PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
   PythonProcess("thermald", "selfdrive.thermald.thermald", always_run),
   PythonProcess("tombstoned", "selfdrive.tombstoned", always_run, enabled=not PC),
-  PythonProcess("updated", "selfdrive.updated", only_offroad, enabled=not PC),
+  PythonProcess("updated", "selfdrive.updated.updated", only_offroad, enabled=not PC),
   PythonProcess("uploader", "system.loggerd.uploader", always_run),
   PythonProcess("statsd", "selfdrive.statsd", always_run),
 
diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index dda1ff5e33..ca81bffcc8 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -18,9 +18,6 @@ class ModelConstants:
   HISTORY_BUFFER_LEN = 99
   DESIRE_LEN = 8
   TRAFFIC_CONVENTION_LEN = 2
-  NAV_FEATURE_LEN = 256
-  NAV_INSTRUCTION_LEN = 150
-  DRIVING_STYLE_LEN = 12
   LAT_PLANNER_STATE_LEN = 4
   LATERAL_CONTROL_PARAMS_LEN = 2
   PREV_DESIRED_CURV_LEN = 1
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index c39ec2da3d..f6a57f1a40 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -43,8 +43,7 @@ def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std
 
 def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray], publish_state: PublishState,
                    vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
-                   timestamp_eof: int, timestamp_llk: int, model_execution_time: float,
-                   nav_enabled: bool, valid: bool) -> None:
+                   timestamp_eof: int, model_execution_time: float, valid: bool) -> None:
   frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
   msg.valid = valid
 
@@ -54,9 +53,7 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str,
   modelV2.frameAge = frame_age
   modelV2.frameDropPerc = frame_drop * 100
   modelV2.timestampEof = timestamp_eof
-  modelV2.locationMonoTime = timestamp_llk
   modelV2.modelExecutionTime = model_execution_time
-  modelV2.navEnabled = nav_enabled
 
   # plan
   position = modelV2.position
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index e086b8aaf8..35e2a29aa1 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -13,6 +13,7 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import config_realtime_process
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.selfdrive import sentry
 from openpilot.selfdrive.car.car_helpers import get_demo_car_params
@@ -58,8 +59,6 @@ class ModelState:
       'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
       'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),
       'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
-      'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32),
-      'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32),
       'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
     }
 
@@ -93,8 +92,6 @@ class ModelState:
 
     self.inputs['traffic_convention'][:] = inputs['traffic_convention']
     self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']
-    self.inputs['nav_features'][:] = inputs['nav_features']
-    self.inputs['nav_instructions'][:] = inputs['nav_instructions']
 
     # if getCLBuffer is not None, frame will be None
     self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
@@ -153,7 +150,7 @@ def main(demo=False):
 
   # messaging
   pm = PubMaster(["modelV2", "cameraOdometry"])
-  sm = SubMaster(["carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl"])
+  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
 
   publish_state = PublishState()
   params = Params()
@@ -167,8 +164,6 @@ def main(demo=False):
   model_transform_main = np.zeros((3, 3), dtype=np.float32)
   model_transform_extra = np.zeros((3, 3), dtype=np.float32)
   live_calib_seen = False
-  nav_features = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32)
-  nav_instructions = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32)
   buf_main, buf_extra = None, None
   meta_main = FrameMeta()
   meta_extra = FrameMeta()
@@ -195,7 +190,7 @@ def main(demo=False):
         break
 
     if buf_main is None:
-      cloudlog.error("vipc_client_main no frame")
+      cloudlog.debug("vipc_client_main no frame")
       continue
 
     if use_extra_client:
@@ -207,7 +202,7 @@ def main(demo=False):
           break
 
       if buf_extra is None:
-        cloudlog.error("vipc_client_extra no frame")
+        cloudlog.debug("vipc_client_extra no frame")
         continue
 
       if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
@@ -225,10 +220,11 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
-    if sm.updated["liveCalibration"]:
+    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
-      model_transform_main = get_warp_matrix(device_from_calib_euler, main_wide_camera, False).astype(np.float32)
-      model_transform_extra = get_warp_matrix(device_from_calib_euler, True, True).astype(np.float32)
+      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
+      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
+      model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
       live_calib_seen = True
 
     traffic_convention = np.zeros(2)
@@ -238,30 +234,6 @@ def main(demo=False):
     if desire >= 0 and desire < ModelConstants.DESIRE_LEN:
       vec_desire[desire] = 1
 
-    # Enable/disable nav features
-    timestamp_llk = sm["navModel"].locationMonoTime
-    nav_valid = sm.valid["navModel"] # and (nanos_since_boot() - timestamp_llk < 1e9)
-    nav_enabled = nav_valid and params.get_bool("ExperimentalMode")
-
-    if not nav_enabled:
-      nav_features[:] = 0
-      nav_instructions[:] = 0
-
-    if nav_enabled and sm.updated["navModel"]:
-      nav_features = np.array(sm["navModel"].features)
-
-    if nav_enabled and sm.updated["navInstruction"]:
-      nav_instructions[:] = 0
-      for maneuver in sm["navInstruction"].allManeuvers:
-        distance_idx = 25 + int(maneuver.distance / 20)
-        direction_idx = 0
-        if maneuver.modifier in ("left", "slight left", "sharp left"):
-          direction_idx = 1
-        if maneuver.modifier in ("right", "slight right", "sharp right"):
-          direction_idx = 2
-        if 0 <= distance_idx < 50:
-          nav_instructions[distance_idx*3 + direction_idx] = 1
-
     # tracked dropped frames
     vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1)
     frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10))
@@ -279,8 +251,7 @@ def main(demo=False):
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
       'lateral_control_params': lateral_control_params,
-      'nav_features': nav_features,
-      'nav_instructions': nav_instructions}
+      }
 
     mt1 = time.perf_counter()
     model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
@@ -291,7 +262,7 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       posenet_send = messaging.new_message('cameraOdometry')
       fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio,
-                      meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen)
+                      meta_main.timestamp_eof, model_execution_time, live_calib_seen)
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
diff --git a/selfdrive/modeld/models/README.md b/selfdrive/modeld/models/README.md
index ff5c91fe0c..9e11ca8255 100644
--- a/selfdrive/modeld/models/README.md
+++ b/selfdrive/modeld/models/README.md
@@ -21,10 +21,6 @@ To view the architecture of the ONNX networks, you can use [netron](https://netr
   * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
 * **feature buffer**
   * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 512
-* **nav features**
-  * 1 * 150
-* **nav instructions**
-  * 1 * 256
 
 
 ### Supercombo output format (Full size: XXX x float32)
diff --git a/selfdrive/modeld/models/navmodel.onnx b/selfdrive/modeld/models/navmodel.onnx
deleted file mode 100644
index 3b687b960a..0000000000
--- a/selfdrive/modeld/models/navmodel.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8254b569878b7472e3f63ed9f3527a87bde785c9037aee3ed66f972e072b5899
-size 14166696
diff --git a/selfdrive/modeld/models/navmodel_q.dlc b/selfdrive/modeld/models/navmodel_q.dlc
deleted file mode 100644
index d5e43abcfb..0000000000
--- a/selfdrive/modeld/models/navmodel_q.dlc
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89fda8380efa3e421fbcdb6bb204c36a4991f137ee01d47f3d0380895aa7c036
-size 3630942
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 68e39514d9..ed539ca37d 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cd4b0cc83d5ff275ee77ec430ea686603ad50fd6ad874f599ea6e95b123afc3e
-size 48193749
+oid sha256:a7a267b5026a0fab61095092d9af20c1dcd70311817c80749adcf6c0a0879061
+size 50660999
diff --git a/selfdrive/modeld/navmodeld.py b/selfdrive/modeld/navmodeld.py
deleted file mode 100755
index 4672734681..0000000000
--- a/selfdrive/modeld/navmodeld.py
+++ /dev/null
@@ -1,117 +0,0 @@
-#!/usr/bin/env python3
-import gc
-import math
-import time
-import ctypes
-import numpy as np
-from pathlib import Path
-
-from cereal import messaging
-from cereal.messaging import PubMaster, SubMaster
-from cereal.visionipc import VisionIpcClient, VisionStreamType
-from openpilot.common.swaglog import cloudlog
-from openpilot.common.params import Params
-from openpilot.common.realtime import set_realtime_priority
-from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
-
-NAV_INPUT_SIZE = 256*256
-NAV_FEATURE_LEN = 256
-NAV_DESIRE_LEN = 32
-NAV_OUTPUT_SIZE = 2*2*ModelConstants.IDX_N + NAV_DESIRE_LEN + NAV_FEATURE_LEN
-MODEL_PATHS = {
-  ModelRunner.SNPE: Path(__file__).parent / 'models/navmodel_q.dlc',
-  ModelRunner.ONNX: Path(__file__).parent / 'models/navmodel.onnx'}
-
-class NavModelOutputXY(ctypes.Structure):
-  _fields_ = [
-    ("x", ctypes.c_float),
-    ("y", ctypes.c_float)]
-
-class NavModelOutputPlan(ctypes.Structure):
-  _fields_ = [
-    ("mean", NavModelOutputXY*ModelConstants.IDX_N),
-    ("std", NavModelOutputXY*ModelConstants.IDX_N)]
-
-class NavModelResult(ctypes.Structure):
-  _fields_ = [
-    ("plan", NavModelOutputPlan),
-    ("desire_pred", ctypes.c_float*NAV_DESIRE_LEN),
-    ("features", ctypes.c_float*NAV_FEATURE_LEN)]
-
-class ModelState:
-  inputs: dict[str, np.ndarray]
-  output: np.ndarray
-  model: ModelRunner
-
-  def __init__(self):
-    assert ctypes.sizeof(NavModelResult) == NAV_OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
-    self.output = np.zeros(NAV_OUTPUT_SIZE, dtype=np.float32)
-    self.inputs = {'input_img': np.zeros(NAV_INPUT_SIZE, dtype=np.uint8)}
-    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None)
-    self.model.addInput("input_img", None)
-
-  def run(self, buf:np.ndarray) -> tuple[np.ndarray, float]:
-    self.inputs['input_img'][:] = buf
-
-    t1 = time.perf_counter()
-    self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
-    self.model.execute()
-    t2 = time.perf_counter()
-    return self.output, t2 - t1
-
-def get_navmodel_packet(model_output: np.ndarray, valid: bool, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float):
-  model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(NavModelResult)).contents
-  msg = messaging.new_message('navModel')
-  msg.valid = valid
-  msg.navModel.frameId = frame_id
-  msg.navModel.locationMonoTime = location_ts
-  msg.navModel.modelExecutionTime = execution_time
-  msg.navModel.dspExecutionTime = dsp_execution_time
-  msg.navModel.features = model_result.features[:]
-  msg.navModel.desirePrediction = model_result.desire_pred[:]
-  msg.navModel.position.x = [p.x for p in model_result.plan.mean]
-  msg.navModel.position.y = [p.y for p in model_result.plan.mean]
-  msg.navModel.position.xStd = [math.exp(p.x) for p in model_result.plan.std]
-  msg.navModel.position.yStd = [math.exp(p.y) for p in model_result.plan.std]
-  return msg
-
-
-def main():
-  gc.disable()
-  set_realtime_priority(1)
-
-  # there exists a race condition when two processes try to create a
-  # SNPE model runner at the same time, wait for dmonitoringmodeld to finish
-  cloudlog.warning("waiting for dmonitoringmodeld to initialize")
-  if not Params().get_bool("DmModelInitialized", True):
-    return
-
-  model = ModelState()
-  cloudlog.warning("models loaded, navmodeld starting")
-
-  vipc_client = VisionIpcClient("navd", VisionStreamType.VISION_STREAM_MAP, True)
-  while not vipc_client.connect(False):
-    time.sleep(0.1)
-  assert vipc_client.is_connected()
-  cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
-
-  sm = SubMaster(["navInstruction"])
-  pm = PubMaster(["navModel"])
-
-  while True:
-    buf = vipc_client.recv()
-    if buf is None:
-      continue
-
-    sm.update(0)
-    t1 = time.perf_counter()
-    model_output, dsp_execution_time = model.run(buf.data[:buf.uv_offset])
-    t2 = time.perf_counter()
-
-    valid = vipc_client.valid and sm.valid["navInstruction"]
-    pm.send("navModel", get_navmodel_packet(model_output, valid, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time))
-
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py
index 257a9bc878..67c6f71038 100755
--- a/selfdrive/modeld/tests/test_modeld.py
+++ b/selfdrive/modeld/tests/test_modeld.py
@@ -5,13 +5,14 @@ import random
 
 import cereal.messaging as messaging
 from cereal.visionipc import VisionIpcServer, VisionStreamType
-from openpilot.common.transformations.camera import tici_f_frame_size
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.car_helpers import write_car_param
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
 
-IMG = np.zeros(int(tici_f_frame_size[0]*tici_f_frame_size[1]*(3/2)), dtype=np.uint8)
+CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam
+IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8)
 IMG_BYTES = IMG.flatten().tobytes()
 
 
@@ -19,9 +20,9 @@ class TestModeld(unittest.TestCase):
 
   def setUp(self):
     self.vipc_server = VisionIpcServer("camerad")
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *tici_f_frame_size)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *tici_f_frame_size)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *tici_f_frame_size)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, CAM.width, CAM.height)
     self.vipc_server.start_listener()
     write_car_param()
 
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index 579e79093f..84a147bd47 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -17,7 +17,7 @@ def dmonitoringd_thread():
   pm = messaging.PubMaster(['driverMonitoringState'])
   sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll='driverStateV2')
 
-  driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"))
+  driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
 
   v_cruise_last = 0
   driver_engaged = False
@@ -52,7 +52,8 @@ def dmonitoringd_thread():
       events.add(car.CarEvent.EventName.tooDistracted)
 
     # Update events from driver state
-    driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled, sm['carState'].standstill)
+    driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled,
+      sm['carState'].standstill, sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park])
 
     # build driverMonitoringState packet
     dat = messaging.new_message('driverMonitoringState', valid=sm.all_checks())
@@ -76,6 +77,9 @@ def dmonitoringd_thread():
     }
     pm.send('driverMonitoringState', dat)
 
+    if sm['driverStateV2'].frameId % 40 == 1:
+      driver_status.always_on = params.get_bool("AlwaysOnDM")
+
     # save rhd virtual toggle every 5 mins
     if (sm['driverStateV2'].frameId % 6000 == 0 and
      driver_status.wheelpos_learner.filtered_stat.n > driver_status.settings._WHEELPOS_FILTER_MIN_COUNT and
diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py
index 2279002f35..749931af77 100644
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -5,7 +5,7 @@ from openpilot.common.numpy_fast import interp
 from openpilot.common.realtime import DT_DMON
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.stat_live import RunningStatFilter
-from openpilot.common.transformations.camera import tici_d_frame_size
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
 
 EventName = car.CarEvent.EventName
 
@@ -71,9 +71,11 @@ class DRIVER_MONITOR_SETTINGS():
     self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON)  # not allowed to engage after 30s of terminal alerts
 
 
+# TODO: get these live
 # model output refers to center of undistorted+leveled image
 EFL = 598.0 # focal length in K
-W, H = tici_d_frame_size # corrected image has same size as raw
+cam = DEVICE_CAMERAS[("tici", "ar0231")] # corrected image has same size as raw
+W, H = (cam.dcam.width, cam.dcam.height)  # corrected image has same size as raw
 
 class DistractedType:
   NOT_DISTRACTED = 0
@@ -119,7 +121,7 @@ class DriverBlink():
     self.right_blink = 0.
 
 class DriverStatus():
-  def __init__(self, rhd_saved=False, settings=None):
+  def __init__(self, rhd_saved=False, settings=None, always_on=False):
     if settings is None:
       settings = DRIVER_MONITOR_SETTINGS()
     # init policy settings
@@ -137,6 +139,7 @@ class DriverStatus():
     self.ee1_calibrated = False
     self.ee2_calibrated = False
 
+    self.always_on = always_on
     self.awareness = 1.
     self.awareness_active = 1.
     self.awareness_passive = 1.
@@ -299,8 +302,12 @@ class DriverStatus():
     elif self.face_detected and self.pose.low_std:
       self.hi_stds = 0
 
-  def update_events(self, events, driver_engaged, ctrl_active, standstill):
-    if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or not ctrl_active: # reset only when on disengagement if red reached
+  def update_events(self, events, driver_engaged, ctrl_active, standstill, wrong_gear):
+    always_on_valid = self.always_on and not wrong_gear
+    if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or \
+       (not always_on_valid and not ctrl_active) or \
+       (always_on_valid and not ctrl_active and self.awareness <= 0):
+      # always reset on disengage with normal mode; disengage resets only on red if always on
       self._reset_awareness()
       return
 
@@ -321,11 +328,13 @@ class DriverStatus():
         return
 
     standstill_exemption = standstill and self.awareness - self.step_change <= self.threshold_prompt
+    always_on_red_exemption = always_on_valid and not ctrl_active and self.awareness - self.step_change <= 0
     certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
     maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
     if certainly_distracted or maybe_distracted:
       # should always be counting if distracted unless at standstill and reaching orange
-      if not standstill_exemption:
+      # also will not be reaching 0 if DM is active when not engaged
+      if not standstill_exemption and not always_on_red_exemption:
         self.awareness = max(self.awareness - self.step_change, -0.1)
 
     alert = None
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index c02d44849f..39fef75479 100755
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -63,7 +63,7 @@ class TestMonitoring(unittest.TestCase):
       # cal_rpy and car_speed don't matter here
 
       # evaluate events at 10Hz for tests
-      DS.update_events(e, interaction[idx], engaged[idx], standstill[idx])
+      DS.update_events(e, interaction[idx], engaged[idx], standstill[idx], 0)
       events.append(e)
     assert len(events) == len(msgs), f"got {len(events)} for {len(msgs)} driverState input msgs"
     return events, DS
diff --git a/selfdrive/navd/README.md b/selfdrive/navd/README.md
index 3047b7f8eb..81de8ae39f 100644
--- a/selfdrive/navd/README.md
+++ b/selfdrive/navd/README.md
@@ -8,7 +8,7 @@ This directory contains two daemons, `navd` and `mapsd`, which support navigatio
 
 ### map renderer
 
-The map renderer listens for the `navRoute` and publishes a rendered map view over VisionIPC for the navigation model, which lives in `selfdrive/modeld/`. The rendered maps look like this:
+The map renderer listens for the `navRoute` and publishes a simplified rendered map view over VisionIPC. The rendered maps look like this:
 
 ![](https://i.imgur.com/oZLfmwq.png)
 
diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript
index 5a173c0351..5a049f18ba 100644
--- a/selfdrive/navd/SConscript
+++ b/selfdrive/navd/SConscript
@@ -17,4 +17,4 @@ if arch in ['larch64', 'aarch64', 'x86_64']:
   map_env["RPATH"].append(Dir('.').abspath)
   map_env["LIBPATH"].append(Dir('.').abspath)
   maplib = map_env.SharedLibrary("maprender", ["map_renderer.cc"], LIBS=libs)
-  map_env.Program("mapsd", ["main.cc", ], LIBS=[maplib[0].get_path(), ] + libs)
+  # map_env.Program("mapsd", ["main.cc", ], LIBS=[maplib[0].get_path(), ] + libs)
diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc
index d52ee162bd..1e57ad3e7c 100644
--- a/selfdrive/navd/map_renderer.cc
+++ b/selfdrive/navd/map_renderer.cc
@@ -41,6 +41,8 @@ MapRenderer::MapRenderer(const QMapLibre::Settings &settings, bool online) : m_s
   QSurfaceFormat fmt;
   fmt.setRenderableType(QSurfaceFormat::OpenGLES);
 
+  m_settings.setMapMode(QMapLibre::Settings::MapMode::Static);
+
   ctx = std::make_unique<QOpenGLContext>();
   ctx->setFormat(fmt);
   ctx->create();
@@ -87,6 +89,18 @@ MapRenderer::MapRenderer(const QMapLibre::Settings &settings, bool online) : m_s
     LOGE("Map loading failed with %d: '%s'\n", err_code, reason.toStdString().c_str());
   });
 
+  QObject::connect(m_map.data(), &QMapLibre::Map::staticRenderFinished, [=](const QString &error) {
+    rendering = false;
+
+    if (!error.isEmpty()) {
+      LOGE("Static map rendering failed with error: '%s'\n", error.toStdString().c_str());
+    } else if (vipc_server != nullptr) {
+      double end_render_t = millis_since_boot();
+      publish((end_render_t - start_render_t) / 1000.0, true);
+      last_llk_rendered = (*sm)["liveLocationKalman"].getLogMonoTime();
+    }
+  });
+
   if (online) {
     vipc_server.reset(new VisionIpcServer("navd"));
     vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH, HEIGHT);
@@ -114,22 +128,16 @@ void MapRenderer::msgUpdate() {
       float bearing = RAD2DEG(orientation.getValue()[2]);
       updatePosition(get_point_along_line(pos.getValue()[0], pos.getValue()[1], bearing, MAP_OFFSET), bearing);
 
-      // TODO: use the static rendering mode instead
-      // retry render a few times
-      for (int i = 0; i < 5 && !rendered(); i++) {
-        QApplication::processEvents(QEventLoop::AllEvents, 100);
+      if (!rendering) {
         update();
-        if (rendered()) {
-          LOGW("rendered after %d retries", i+1);
-          break;
-        }
       }
 
-      // fallback to sending a blank frame
       if (!rendered()) {
         publish(0, false);
       }
     }
+
+
   }
 
   if (sm->updated("navRoute")) {
@@ -157,7 +165,9 @@ void MapRenderer::updatePosition(QMapLibre::Coordinate position, float bearing)
   m_map->setCoordinate(position);
   m_map->setBearing(bearing);
   m_map->setZoom(zoom);
-  update();
+  if (!rendering) {
+    update();
+  }
 }
 
 bool MapRenderer::loaded() {
@@ -165,16 +175,10 @@ bool MapRenderer::loaded() {
 }
 
 void MapRenderer::update() {
-  double start_t = millis_since_boot();
+  rendering = true;
   gl_functions->glClear(GL_COLOR_BUFFER_BIT);
-  m_map->render();
-  gl_functions->glFlush();
-  double end_t = millis_since_boot();
-
-  if ((vipc_server != nullptr) && loaded()) {
-    publish((end_t - start_t) / 1000.0, true);
-    last_llk_rendered = (*sm)["liveLocationKalman"].getLogMonoTime();
-  }
+  start_render_t = millis_since_boot();
+  m_map->startStaticRender();
 }
 
 void MapRenderer::sendThumbnail(const uint64_t ts, const kj::Array<capnp::byte> &buf) {
diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h
index fd5922b668..7a3d2c316b 100644
--- a/selfdrive/navd/map_renderer.h
+++ b/selfdrive/navd/map_renderer.h
@@ -43,8 +43,10 @@ private:
 
   void initLayers();
 
+  double start_render_t;
   uint32_t frame_id = 0;
   uint64_t last_llk_rendered = 0;
+  bool rendering = false;
   bool rendered() {
     return last_llk_rendered == (*sm)["liveLocationKalman"].getLogMonoTime();
   }
diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py
index 8d525ac73e..e44b883436 100755
--- a/selfdrive/navd/map_renderer.py
+++ b/selfdrive/navd/map_renderer.py
@@ -31,7 +31,8 @@ void map_renderer_free_image(void *inst, uint8_t *buf);
   return ffi, ffi.dlopen(lib)
 
 
-def wait_ready(lib, renderer):
+def wait_ready(lib, renderer, timeout=None):
+  st = time.time()
   while not lib.map_renderer_loaded(renderer):
     lib.map_renderer_update(renderer)
 
@@ -40,6 +41,9 @@ def wait_ready(lib, renderer):
 
     time.sleep(0.01)
 
+    if timeout is not None and time.time() - st > timeout:
+      raise TimeoutError("Timeout waiting for map renderer to be ready")
+
 
 def get_image(lib, renderer):
   buf = lib.map_renderer_get_image(renderer)
diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
index 2be703cdb2..8cfc495f27 100755
--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@@ -48,15 +48,14 @@ class RouteEngine:
 
     self.reroute_counter = 0
 
+
+    self.api = None
+    self.mapbox_token = None
     if "MAPBOX_TOKEN" in os.environ:
       self.mapbox_token = os.environ["MAPBOX_TOKEN"]
       self.mapbox_host = "https://api.mapbox.com"
     else:
-      try:
-        self.mapbox_token = Api(self.params.get("DongleId", encoding='utf8')).get_token(expiry_hours=4 * 7 * 24)
-      except FileNotFoundError:
-        cloudlog.exception("Failed to generate mapbox token due to missing private key. Ensure device is registered.")
-        self.mapbox_token = ""
+      self.api = Api(self.params.get("DongleId", encoding='utf8'))
       self.mapbox_host = "https://maps.comma.ai"
 
   def update(self):
@@ -122,8 +121,12 @@ class RouteEngine:
     if lang is not None:
       lang = lang.replace('main_', '')
 
+    token = self.mapbox_token
+    if token is None:
+      token = self.api.get_token()
+
     params = {
-      'access_token': self.mapbox_token,
+      'access_token': token,
       'annotations': 'maxspeed',
       'geometries': 'geojson',
       'overview': 'full',
diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py
index b5f186dbb0..832e0d1eab 100755
--- a/selfdrive/navd/tests/test_map_renderer.py
+++ b/selfdrive/navd/tests/test_map_renderer.py
@@ -65,6 +65,7 @@ class MapBoxInternetDisabledServer(threading.Thread):
     MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = True
 
 
+@pytest.mark.skip(reason="not used")
 class TestMapRenderer(unittest.TestCase):
   server: MapBoxInternetDisabledServer
 
@@ -135,7 +136,7 @@ class TestMapRenderer(unittest.TestCase):
       invalid_and_not_previously_valid = (expect_valid and not self.sm.valid['mapRenderState'] and not prev_valid)
       valid_and_not_previously_invalid = (not expect_valid and self.sm.valid['mapRenderState'] and prev_valid)
 
-      if (invalid_and_not_previously_valid or valid_and_not_previously_invalid) and frames_since_test_start < 5:
+      if (invalid_and_not_previously_valid or valid_and_not_previously_invalid) and frames_since_test_start < 20:
         continue
 
       # check output
diff --git a/selfdrive/sentry.py b/selfdrive/sentry.py
index 5b63a9fe2d..204d9cab09 100644
--- a/selfdrive/sentry.py
+++ b/selfdrive/sentry.py
@@ -7,8 +7,7 @@ from openpilot.common.params import Params
 from openpilot.selfdrive.athena.registration import is_registered_device
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_branch, get_commit, get_origin, get_version, \
-                              is_comma_remote, is_dirty, is_tested_branch
+from openpilot.system.version import get_build_metadata, get_version
 
 
 class SentryProject(Enum):
@@ -43,12 +42,13 @@ def set_tag(key: str, value: str) -> None:
 
 
 def init(project: SentryProject) -> bool:
+  build_metadata = get_build_metadata()
   # forks like to mess with this, so double check
-  comma_remote = is_comma_remote() and "commaai" in get_origin()
+  comma_remote = build_metadata.openpilot.comma_remote and "commaai" in build_metadata.openpilot.git_origin
   if not comma_remote or not is_registered_device() or PC:
     return False
 
-  env = "release" if is_tested_branch() else "master"
+  env = "release" if build_metadata.tested_channel else "master"
   dongle_id = Params().get("DongleId", encoding='utf-8')
 
   integrations = []
@@ -63,11 +63,13 @@ def init(project: SentryProject) -> bool:
                   max_value_length=8192,
                   environment=env)
 
+  build_metadata = get_build_metadata()
+
   sentry_sdk.set_user({"id": dongle_id})
-  sentry_sdk.set_tag("dirty", is_dirty())
-  sentry_sdk.set_tag("origin", get_origin())
-  sentry_sdk.set_tag("branch", get_branch())
-  sentry_sdk.set_tag("commit", get_commit())
+  sentry_sdk.set_tag("dirty", build_metadata.openpilot.is_dirty)
+  sentry_sdk.set_tag("origin", build_metadata.openpilot.git_origin)
+  sentry_sdk.set_tag("branch", build_metadata.channel)
+  sentry_sdk.set_tag("commit", build_metadata.openpilot.git_commit)
   sentry_sdk.set_tag("device", HARDWARE.get_device_type())
 
   if project == SentryProject.SELFDRIVE:
diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py
index 299aa295d7..2f9149b096 100755
--- a/selfdrive/statsd.py
+++ b/selfdrive/statsd.py
@@ -13,7 +13,7 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import HARDWARE
 from openpilot.common.file_helpers import atomic_write_in_dir
-from openpilot.system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty
+from openpilot.system.version import get_build_metadata
 from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
 
 
@@ -86,13 +86,15 @@ def main() -> NoReturn:
   # initialize stats directory
   Path(STATS_DIR).mkdir(parents=True, exist_ok=True)
 
+  build_metadata = get_build_metadata()
+
   # initialize tags
   tags = {
     'started': False,
-    'version': get_short_version(),
-    'branch': get_short_branch(),
-    'dirty': is_dirty(),
-    'origin': get_normalized_origin(),
+    'version': build_metadata.openpilot.version,
+    'branch': build_metadata.channel,
+    'dirty': build_metadata.openpilot.is_dirty,
+    'origin': build_metadata.openpilot.git_normalized_origin,
     'deviceType': HARDWARE.get_device_type(),
   }
 
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index 210a283699..ce8918aec3 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -1,3 +1,4 @@
+import contextlib
 import http.server
 import os
 import threading
@@ -13,7 +14,7 @@ from openpilot.system.version import training_version, terms_version
 
 
 def set_params_enabled():
-  os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
+  os.environ['FINGERPRINT'] = "TOYOTA_COROLLA_TSS2"
   os.environ['LOGPRINT'] = "debug"
 
   params = Params()
@@ -43,27 +44,34 @@ def release_only(f):
     f(self, *args, **kwargs)
   return wrap
 
-def with_processes(processes, init_time=0, ignore_stopped=None):
+
+@contextlib.contextmanager
+def processes_context(processes, init_time=0, ignore_stopped=None):
   ignore_stopped = [] if ignore_stopped is None else ignore_stopped
 
+  # start and assert started
+  for n, p in enumerate(processes):
+    managed_processes[p].start()
+    if n < len(processes) - 1:
+      time.sleep(init_time)
+
+  assert all(managed_processes[name].proc.exitcode is None for name in processes)
+
+  try:
+    yield [managed_processes[name] for name in processes]
+    # assert processes are still started
+    assert all(managed_processes[name].proc.exitcode is None for name in processes if name not in ignore_stopped)
+  finally:
+    for p in processes:
+      managed_processes[p].stop()
+
+
+def with_processes(processes, init_time=0, ignore_stopped=None):
   def wrapper(func):
     @wraps(func)
     def wrap(*args, **kwargs):
-      # start and assert started
-      for n, p in enumerate(processes):
-        managed_processes[p].start()
-        if n < len(processes) - 1:
-          time.sleep(init_time)
-      assert all(managed_processes[name].proc.exitcode is None for name in processes)
-
-      # call the function
-      try:
-        func(*args, **kwargs)
-        # assert processes are still started
-        assert all(managed_processes[name].proc.exitcode is None for name in processes if name not in ignore_stopped)
-      finally:
-        for p in processes:
-          managed_processes[p].stop()
+      with processes_context(processes, init_time, ignore_stopped):
+        return func(*args, **kwargs)
 
     return wrap
   return wrapper
@@ -80,23 +88,49 @@ def read_segment_list(segment_list_path):
   return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)]
 
 
+@contextlib.contextmanager
+def http_server_context(handler, setup=None):
+  host = '127.0.0.1'
+  server = http.server.HTTPServer((host, 0), handler)
+  port = server.server_port
+  t = threading.Thread(target=server.serve_forever)
+  t.start()
+
+  if setup is not None:
+    setup(host, port)
+
+  try:
+    yield (host, port)
+  finally:
+    server.shutdown()
+    server.server_close()
+    t.join()
+
+
 def with_http_server(func, handler=http.server.BaseHTTPRequestHandler, setup=None):
   @wraps(func)
   def inner(*args, **kwargs):
-    host = '127.0.0.1'
-    server = http.server.HTTPServer((host, 0), handler)
-    port = server.server_port
-    t = threading.Thread(target=server.serve_forever)
-    t.start()
-
-    if setup is not None:
-      setup(host, port)
-
-    try:
-      return func(*args, f'http://{host}:{port}', **kwargs)
-    finally:
-      server.shutdown()
-      server.server_close()
-      t.join()
-
+    with http_server_context(handler, setup) as (host, port):
+      return func(*args, f"http://{host}:{port}", **kwargs)
   return inner
+
+
+def DirectoryHttpServer(directory) -> type[http.server.SimpleHTTPRequestHandler]:
+  # creates an http server that serves files from directory
+  class Handler(http.server.SimpleHTTPRequestHandler):
+    API_NO_RESPONSE = False
+    API_BAD_RESPONSE = False
+
+    def do_GET(self):
+      if self.API_NO_RESPONSE:
+        return
+
+      if self.API_BAD_RESPONSE:
+        self.send_response(500, "")
+        return
+      super().do_GET()
+
+    def __init__(self, *args, **kwargs):
+      super().__init__(*args, directory=str(directory), **kwargs)
+
+  return Handler
diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py
index 000225ab77..6c8495cc3b 100644
--- a/selfdrive/test/longitudinal_maneuvers/maneuver.py
+++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py
@@ -19,6 +19,7 @@ class Maneuver:
     self.ensure_start = kwargs.get("ensure_start", False)
     self.enabled = kwargs.get("enabled", True)
     self.e2e = kwargs.get("e2e", False)
+    self.personality = kwargs.get("personality", 0)
     self.force_decel = kwargs.get("force_decel", False)
 
     self.duration = duration
@@ -33,6 +34,7 @@ class Maneuver:
       only_lead2=self.only_lead2,
       only_radar=self.only_radar,
       e2e=self.e2e,
+      personality=self.personality,
       force_decel=self.force_decel,
     )
 
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index bb935fdc8e..ac54967f88 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -15,7 +15,7 @@ class Plant:
   messaging_initialized = False
 
   def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0,
-               enabled=True, only_lead2=False, only_radar=False, e2e=False, force_decel=False):
+               enabled=True, only_lead2=False, only_radar=False, e2e=False, personality=0, force_decel=False):
     self.rate = 1. / DT_MDL
 
     if not Plant.messaging_initialized:
@@ -39,6 +39,7 @@ class Plant:
     self.only_lead2 = only_lead2
     self.only_radar = only_radar
     self.e2e = e2e
+    self.personality = personality
     self.force_decel = force_decel
 
     self.rk = Ratekeeper(self.rate, print_delay_threshold=100.0)
@@ -49,7 +50,7 @@ class Plant:
     from openpilot.selfdrive.car.honda.values import CAR
     from openpilot.selfdrive.car.honda.interface import CarInterface
 
-    self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.CIVIC), init_v=self.speed)
+    self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.HONDA_CIVIC), init_v=self.speed)
 
   @property
   def current_time(self):
@@ -112,6 +113,7 @@ class Plant:
     control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off
     control.controlsState.vCruise = float(v_cruise * 3.6)
     control.controlsState.experimentalMode = self.e2e
+    control.controlsState.personality = self.personality
     control.controlsState.forceDecel = self.force_decel
     car_state.carState.vEgo = float(self.speed)
     car_state.carState.standstill = self.speed < 0.01
diff --git a/selfdrive/test/process_replay/.gitignore b/selfdrive/test/process_replay/.gitignore
index 63c37e64e1..a35cd58d41 100644
--- a/selfdrive/test/process_replay/.gitignore
+++ b/selfdrive/test/process_replay/.gitignore
@@ -1,2 +1 @@
 fakedata/
-debayer_diff.txt
diff --git a/selfdrive/test/process_replay/debayer_replay_ref_commit b/selfdrive/test/process_replay/debayer_replay_ref_commit
deleted file mode 100644
index 551fc680ba..0000000000
--- a/selfdrive/test/process_replay/debayer_replay_ref_commit
+++ /dev/null
@@ -1 +0,0 @@
-8f9ba7540b4549b4a57312129b8ff678d045f70f
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/imgproc_replay_ref_hash b/selfdrive/test/process_replay/imgproc_replay_ref_hash
new file mode 100644
index 0000000000..defcb3681c
--- /dev/null
+++ b/selfdrive/test/process_replay/imgproc_replay_ref_hash
@@ -0,0 +1 @@
+707434c540e685bbe2886b3ff7c82fd61939d362
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index ef74314172..152f281948 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -1,15 +1,19 @@
 from collections import defaultdict
 
 from cereal import messaging
+from openpilot.selfdrive.car.fingerprints import MIGRATION
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
 from openpilot.selfdrive.car.toyota.values import EPS_SCALE
 from openpilot.selfdrive.manager.process_config import managed_processes
 from panda import Panda
 
 
+# TODO: message migration should happen in-place
 def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False, camera_states=False):
   msgs = migrate_sensorEvents(lr, old_logtime)
   msgs = migrate_carParams(msgs, old_logtime)
+  msgs = migrate_gpsLocation(msgs)
+  msgs = migrate_deviceState(msgs)
   if manager_states:
     msgs = migrate_managerState(msgs)
   if panda_states:
@@ -35,13 +39,43 @@ def migrate_managerState(lr):
   return all_msgs
 
 
+def migrate_gpsLocation(lr):
+  all_msgs = []
+  for msg in lr:
+    if msg.which() in ('gpsLocation', 'gpsLocationExternal'):
+      new_msg = msg.as_builder()
+      g = getattr(new_msg, new_msg.which())
+      # hasFix is a newer field
+      if not g.hasFix and g.flags == 1:
+        g.hasFix = True
+      all_msgs.append(new_msg.as_reader())
+    else:
+      all_msgs.append(msg)
+  return all_msgs
+
+
+def migrate_deviceState(lr):
+  all_msgs = []
+  dt = None
+  for msg in lr:
+    if msg.which() == 'initData':
+      dt = msg.initData.deviceType
+    if msg.which() == 'deviceState':
+      n = msg.as_builder()
+      n.deviceState.deviceType = dt
+      all_msgs.append(n.as_reader())
+    else:
+      all_msgs.append(msg)
+  return all_msgs
+
+
 def migrate_pandaStates(lr):
   all_msgs = []
   # TODO: safety param migration should be handled automatically
   safety_param_migration = {
-    "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
-    "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE | Panda.FLAG_TOYOTA_GAS_INTERCEPTOR,
-    "KIA EV6 2022": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
+    "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
+    "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
+    "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
   }
 
   # Migrate safety param base on carState
@@ -152,6 +186,7 @@ def migrate_carParams(lr, old_logtime=False):
       CP = messaging.new_message('carParams')
       CP.valid = True
       CP.carParams = msg.carParams.as_builder()
+      CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
       for car_fw in CP.carParams.carFw:
         car_fw.brand = CP.carParams.carName
       if old_logtime:
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 97b7c7c46c..cba2edfd58 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -1,18 +1,14 @@
 #!/usr/bin/env python3
 import os
 import sys
-import time
 from collections import defaultdict
 from typing import Any
 
-import cereal.messaging as messaging
-from openpilot.common.params import Params
+from openpilot.common.git import get_commit
 from openpilot.system.hardware import PC
-from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.tools.lib.openpilotci import BASE_URL, get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
-from openpilot.system.version import get_commit
 from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.helpers import save_log
@@ -20,9 +16,7 @@ from openpilot.tools.lib.helpers import save_log
 TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
 SEGMENT = 6
 MAX_FRAMES = 100 if PC else 600
-NAV_FRAMES = 50
 
-NO_NAV = "NO_NAV" in os.environ
 NO_MODEL = "NO_MODEL" in os.environ
 SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))
 
@@ -50,71 +44,21 @@ def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
   return all_msgs
 
 
-def nav_model_replay(lr):
-  sm = messaging.SubMaster(['navModel', 'navThumbnail', 'mapRenderState'])
-  pm = messaging.PubMaster(['liveLocationKalman', 'navRoute'])
-
-  nav = [m for m in lr if m.which() == 'navRoute']
-  llk = [m for m in lr if m.which() == 'liveLocationKalman']
-  assert len(nav) > 0 and len(llk) >= NAV_FRAMES and nav[0].logMonoTime < llk[-NAV_FRAMES].logMonoTime
-
-  log_msgs = []
-  try:
-    assert "MAPBOX_TOKEN" in os.environ
-    os.environ['MAP_RENDER_TEST_MODE'] = '1'
-    Params().put_bool('DmModelInitialized', True)
-    managed_processes['mapsd'].start()
-    managed_processes['navmodeld'].start()
-
-    # setup position and route
-    for _ in range(10):
-      for s in (llk[-NAV_FRAMES], nav[0]):
-        pm.send(s.which(), s.as_builder().to_bytes())
-      sm.update(1000)
-      if sm.updated['navModel']:
-        break
-      time.sleep(1)
-
-    if not sm.updated['navModel']:
-      raise Exception("no navmodeld outputs, failed to initialize")
-
-    # drain
-    time.sleep(2)
-    sm.update(0)
-
-    # run replay
-    for n in range(len(llk) - NAV_FRAMES, len(llk)):
-      pm.send(llk[n].which(), llk[n].as_builder().to_bytes())
-      m = messaging.recv_one(sm.sock['navThumbnail'])
-      assert m is not None, f"no navThumbnail, frame={n}"
-      log_msgs.append(m)
-
-      m = messaging.recv_one(sm.sock['mapRenderState'])
-      assert m is not None, f"no mapRenderState, frame={n}"
-      log_msgs.append(m)
-
-      m = messaging.recv_one(sm.sock['navModel'])
-      assert m is not None, f"no navModel response, frame={n}"
-      log_msgs.append(m)
-  finally:
-    managed_processes['mapsd'].stop()
-    managed_processes['navmodeld'].stop()
-
-  return log_msgs
-
-
 def model_replay(lr, frs):
   # modeld is using frame pairs
   modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams"})
   dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx", "carParams"})
+
   if not SEND_EXTRA_INPUTS:
-    modeld_logs = [msg for msg in modeld_logs if msg.which() not in ["liveCalibration",]]
-    dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() not in ["liveCalibration",]]
-  # initial calibration
-  cal_msg = next(msg for msg in lr if msg.which() == "liveCalibration").as_builder()
-  cal_msg.logMonoTime = lr[0].logMonoTime
-  modeld_logs.insert(0, cal_msg.as_reader())
-  dmodeld_logs.insert(0, cal_msg.as_reader())
+    modeld_logs = [msg for msg in modeld_logs if msg.which() != 'liveCalibration']
+    dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() != 'liveCalibration']
+
+  # initial setup
+  for s in ('liveCalibration', 'deviceState'):
+    msg = next(msg for msg in lr if msg.which() == s).as_builder()
+    msg.logMonoTime = lr[0].logMonoTime
+    modeld_logs.insert(1, msg.as_reader())
+    dmodeld_logs.insert(1, msg.as_reader())
 
   modeld = get_process_config("modeld")
   dmonitoringmodeld = get_process_config("dmonitoringmodeld")
@@ -166,8 +110,6 @@ if __name__ == "__main__":
   # run replays
   if not NO_MODEL:
     log_msgs += model_replay(lr, frs)
-  if not NO_NAV:
-    log_msgs += nav_model_replay(lr)
 
   # get diff
   failed = False
@@ -179,28 +121,19 @@ if __name__ == "__main__":
       all_logs = list(LogReader(BASE_URL + log_fn))
       cmp_log = []
 
-      # logs are ordered based on type: modelV2, driverStateV2, nav messages (navThumbnail, mapRenderState, navModel)
+      # logs are ordered based on type: modelV2, driverStateV2
       if not NO_MODEL:
         model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "cameraOdometry"))
         cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*2]
         dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
         cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES]
-      if not NO_NAV:
-        nav_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ["navThumbnail", "mapRenderState", "navModel"])
-        nav_logs = all_logs[nav_start_index:nav_start_index + NAV_FRAMES*3]
-        cmp_log += nav_logs
 
       ignore = [
         'logMonoTime',
         'modelV2.frameDropPerc',
         'modelV2.modelExecutionTime',
         'driverStateV2.modelExecutionTime',
-        'driverStateV2.dspExecutionTime',
-        'navModel.dspExecutionTime',
-        'navModel.modelExecutionTime',
-        'navThumbnail.timestampEof',
-        'mapRenderState.locationMonoTime',
-        'mapRenderState.renderTime',
+        'driverStateV2.dspExecutionTime'
       ]
       if PC:
         ignore += [
@@ -218,7 +151,8 @@ if __name__ == "__main__":
       results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
       diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit)
 
-      print(diff_long)
+      if "CI" in os.environ:
+        print(diff_long)
       print('-------------\n'*5)
       print(diff_short)
       with open("model_diff.txt", "w") as f:
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 786c2f2731..3f1e91c369 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-e8b359a82316e6dfce3b6fb0fb9684431bfa0a1b
+512c45131ff7eb48bf101f9eae50a389efba6930
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 5119be0a8c..233f5d746a 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -546,7 +546,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="modeld",
-    pubs=["roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
+    pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
     subs=["modelV2", "cameraOdometry"],
     ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"],
     should_recv_callback=ModeldCameraSyncRcvCallback(),
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 1dfdca0d89..4e24f8eb29 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-99a50fe1b645bc1dcbf621e9cb72d151c6896429
+692a21e4a722d91086998b532ca6759a3f85c345
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index 8e882207b5..ec3023c5dc 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -10,7 +10,7 @@ from collections.abc import Iterable
 
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
                                                                    check_openpilot_enabled, get_custom_params_from_lr
-from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_FRAME_SIZES
+from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FRAME_SIZES
 from openpilot.selfdrive.test.update_ci_routes import upload_route
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
@@ -37,7 +37,7 @@ class DummyFrameReader(BaseFrameReader):
 
   @staticmethod
   def zero_dcamera():
-    return DummyFrameReader(*DRIVER_FRAME_SIZES["tici"], 1200, 0)
+    return DummyFrameReader(*DRIVER_CAMERA_FRAME_SIZES[("tici", "ar0231")], 1200, 0)
 
 
 def regen_segment(
diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py
deleted file mode 100755
index edf2cbd469..0000000000
--- a/selfdrive/test/process_replay/test_debayer.py
+++ /dev/null
@@ -1,196 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import bz2
-import numpy as np
-
-import pyopencl as cl  # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip install pyopencl`
-
-from openpilot.system.hardware import PC, TICI
-from openpilot.common.basedir import BASEDIR
-from openpilot.tools.lib.openpilotci import BASE_URL
-from openpilot.system.version import get_commit
-from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.filereader import FileReader
-
-TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33/0"
-
-FRAME_WIDTH = 1928
-FRAME_HEIGHT = 1208
-FRAME_STRIDE = 2896
-
-UV_WIDTH = FRAME_WIDTH // 2
-UV_HEIGHT = FRAME_HEIGHT // 2
-UV_SIZE = UV_WIDTH * UV_HEIGHT
-
-
-def get_frame_fn(ref_commit, test_route, tici=True):
-  return f"{test_route}_debayer{'_tici' if tici else ''}_{ref_commit}.bz2"
-
-
-def bzip_frames(frames):
-  data = b''
-  for y, u, v in frames:
-    data += y.tobytes()
-    data += u.tobytes()
-    data += v.tobytes()
-  return bz2.compress(data)
-
-
-def unbzip_frames(url):
-  with FileReader(url) as f:
-    dat = f.read()
-
-  data = bz2.decompress(dat)
-
-  res = []
-  for y_start in range(0, len(data), FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2):
-    u_start = y_start + FRAME_WIDTH * FRAME_HEIGHT
-    v_start = u_start + UV_SIZE
-
-    y = np.frombuffer(data[y_start: u_start], dtype=np.uint8).reshape((FRAME_HEIGHT, FRAME_WIDTH))
-    u = np.frombuffer(data[u_start: v_start], dtype=np.uint8).reshape((UV_HEIGHT, UV_WIDTH))
-    v = np.frombuffer(data[v_start: v_start + UV_SIZE], dtype=np.uint8).reshape((UV_HEIGHT, UV_WIDTH))
-
-    res.append((y, u, v))
-
-  return res
-
-
-def init_kernels(frame_offset=0):
-  ctx = cl.create_some_context(interactive=False)
-
-  with open(os.path.join(BASEDIR, 'system/camerad/cameras/real_debayer.cl')) as f:
-    build_args = ' -cl-fast-relaxed-math -cl-denorms-are-zero -cl-single-precision-constant' + \
-      f' -DFRAME_STRIDE={FRAME_STRIDE} -DRGB_WIDTH={FRAME_WIDTH} -DRGB_HEIGHT={FRAME_HEIGHT} -DFRAME_OFFSET={frame_offset} -DCAM_NUM=0'
-    if PC:
-      build_args += ' -DHALF_AS_FLOAT=1 -cl-std=CL2.0'
-    debayer_prg = cl.Program(ctx, f.read()).build(options=build_args)
-
-  return ctx, debayer_prg
-
-def debayer_frame(ctx, debayer_prg, data, rgb=False):
-  q = cl.CommandQueue(ctx)
-
-  yuv_buff = np.empty(FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2, dtype=np.uint8)
-
-  cam_g = cl.Buffer(ctx, cl.mem_flags.READ_ONLY | cl.mem_flags.COPY_HOST_PTR, hostbuf=data)
-  yuv_g = cl.Buffer(ctx, cl.mem_flags.WRITE_ONLY, FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2)
-
-  local_worksize = (20, 20) if TICI else (4, 4)
-  ev1 = debayer_prg.debayer10(q, (UV_WIDTH, UV_HEIGHT), local_worksize, cam_g, yuv_g)
-  cl.enqueue_copy(q, yuv_buff, yuv_g, wait_for=[ev1]).wait()
-  cl.enqueue_barrier(q)
-
-  y = yuv_buff[:FRAME_WIDTH*FRAME_HEIGHT].reshape((FRAME_HEIGHT, FRAME_WIDTH))
-  u = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT:FRAME_WIDTH*FRAME_HEIGHT+UV_SIZE].reshape((UV_HEIGHT, UV_WIDTH))
-  v = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT+UV_SIZE:].reshape((UV_HEIGHT, UV_WIDTH))
-
-  if rgb:
-    return yuv_to_rgb(y, u, v)
-  else:
-    return y, u, v
-
-
-def debayer_replay(lr):
-  ctx, debayer_prg = init_kernels()
-
-  frames = []
-  for m in lr:
-    if m.which() == 'roadCameraState':
-      cs = m.roadCameraState
-      if cs.image:
-        data = np.frombuffer(cs.image, dtype=np.uint8)
-        img = debayer_frame(ctx, debayer_prg, data)
-
-        frames.append(img)
-
-  return frames
-
-
-if __name__ == "__main__":
-  update = "--update" in sys.argv
-  replay_dir = os.path.dirname(os.path.abspath(__file__))
-  ref_commit_fn = os.path.join(replay_dir, "debayer_replay_ref_commit")
-
-  # load logs
-  lr = list(LogReader(TEST_ROUTE))
-
-  # run replay
-  frames = debayer_replay(lr)
-
-  # get diff
-  failed = False
-  diff = ''
-  yuv_i = ['y', 'u', 'v']
-  if not update:
-    with open(ref_commit_fn) as f:
-      ref_commit = f.read().strip()
-    frame_fn = get_frame_fn(ref_commit, TEST_ROUTE, tici=TICI)
-
-    try:
-      cmp_frames = unbzip_frames(BASE_URL + frame_fn)
-
-      if len(frames) != len(cmp_frames):
-        failed = True
-        diff += 'amount of frames not equal\n'
-
-      for i, (frame, cmp_frame) in enumerate(zip(frames, cmp_frames, strict=True)):
-        for j in range(3):
-          fr = frame[j]
-          cmp_f = cmp_frame[j]
-          if fr.shape != cmp_f.shape:
-            failed = True
-            diff += f'frame shapes not equal for ({i}, {yuv_i[j]})\n'
-            diff += f'{ref_commit}: {cmp_f.shape}\n'
-            diff += f'HEAD: {fr.shape}\n'
-          elif not np.array_equal(fr, cmp_f):
-            failed = True
-            if np.allclose(fr, cmp_f, atol=1):
-              diff += f'frames not equal for ({i}, {yuv_i[j]}), but are all close\n'
-            else:
-              diff += f'frames not equal for ({i}, {yuv_i[j]})\n'
-
-            frame_diff = np.abs(np.subtract(fr, cmp_f))
-            diff_len = len(np.nonzero(frame_diff)[0])
-            if diff_len > 10000:
-              diff += f'different at a large amount of pixels ({diff_len})\n'
-            else:
-              diff += 'different at (frame, yuv, pixel, ref, HEAD):\n'
-              for k in zip(*np.nonzero(frame_diff), strict=True):
-                diff += f'{i}, {yuv_i[j]}, {k}, {cmp_f[k]}, {fr[k]}\n'
-
-      if failed:
-        print(diff)
-        with open("debayer_diff.txt", "w") as f:
-          f.write(diff)
-    except Exception as e:
-      print(str(e))
-      failed = True
-
-  # upload new refs
-  if update or (failed and TICI):
-    from openpilot.tools.lib.openpilotci import upload_file
-
-    print("Uploading new refs")
-
-    frames_bzip = bzip_frames(frames)
-
-    new_commit = get_commit()
-    frame_fn = os.path.join(replay_dir, get_frame_fn(new_commit, TEST_ROUTE, tici=TICI))
-    with open(frame_fn, "wb") as f2:
-      f2.write(frames_bzip)
-
-    try:
-      upload_file(frame_fn, os.path.basename(frame_fn))
-    except Exception as e:
-      print("failed to upload", e)
-
-  if update:
-    with open(ref_commit_fn, 'w') as f:
-      f.write(str(new_commit))
-
-    print("\nNew ref commit: ", new_commit)
-
-  sys.exit(int(failed))
diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py
index adff06f88a..6c81119fbf 100755
--- a/selfdrive/test/process_replay/test_fuzzy.py
+++ b/selfdrive/test/process_replay/test_fuzzy.py
@@ -27,7 +27,7 @@ class TestFuzzProcesses(unittest.TestCase):
     msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True)
     lr = [log.Event.new_message(**m).as_reader() for m in msgs]
     cfg.timeout = 5
-    pr.replay_process(cfg, lr, fingerprint=TOYOTA.COROLLA_TSS2, disable_progress=True)
+    pr.replay_process(cfg, lr, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2, disable_progress=True)
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/test/process_replay/test_imgproc.py b/selfdrive/test/process_replay/test_imgproc.py
new file mode 100755
index 0000000000..a980548baa
--- /dev/null
+++ b/selfdrive/test/process_replay/test_imgproc.py
@@ -0,0 +1,99 @@
+#!/usr/bin/env python3
+import os
+import numpy as np
+import hashlib
+
+import pyopencl as cl  # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip install pyopencl`
+
+from openpilot.system.hardware import PC, TICI
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb
+from openpilot.tools.lib.logreader import LogReader
+
+# TODO: check all sensors
+TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33/0"
+
+cam = DEVICE_CAMERAS[("tici", "ar0231")]
+FRAME_WIDTH, FRAME_HEIGHT = (cam.dcam.width, cam.dcam.height)
+FRAME_STRIDE = FRAME_WIDTH * 12 // 8 + 4
+
+UV_WIDTH = FRAME_WIDTH // 2
+UV_HEIGHT = FRAME_HEIGHT // 2
+UV_SIZE = UV_WIDTH * UV_HEIGHT
+
+
+def init_kernels(frame_offset=0):
+  ctx = cl.create_some_context(interactive=False)
+
+  with open(os.path.join(BASEDIR, 'system/camerad/cameras/process_raw.cl')) as f:
+    build_args = f' -cl-fast-relaxed-math -cl-denorms-are-zero -cl-single-precision-constant -I{BASEDIR}/system/camerad/sensors ' + \
+      f' -DFRAME_WIDTH={FRAME_WIDTH} -DFRAME_HEIGHT={FRAME_WIDTH} -DFRAME_STRIDE={FRAME_STRIDE} -DFRAME_OFFSET={frame_offset} ' + \
+      f' -DRGB_WIDTH={FRAME_WIDTH} -DRGB_HEIGHT={FRAME_HEIGHT} -DYUV_STRIDE={FRAME_WIDTH} -DUV_OFFSET={FRAME_WIDTH*FRAME_HEIGHT}' + \
+      ' -DSENSOR_ID=1 -DVIGNETTING=0 '
+    if PC:
+      build_args += ' -DHALF_AS_FLOAT=1 -cl-std=CL2.0'
+    imgproc_prg = cl.Program(ctx, f.read()).build(options=build_args)
+
+  return ctx, imgproc_prg
+
+def proc_frame(ctx, imgproc_prg, data, rgb=False):
+  q = cl.CommandQueue(ctx)
+
+  yuv_buff = np.empty(FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2, dtype=np.uint8)
+
+  cam_g = cl.Buffer(ctx, cl.mem_flags.READ_ONLY | cl.mem_flags.COPY_HOST_PTR, hostbuf=data)
+  yuv_g = cl.Buffer(ctx, cl.mem_flags.WRITE_ONLY, FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2)
+
+  krn = imgproc_prg.process_raw
+  krn.set_scalar_arg_dtypes([None, None, np.int32])
+  local_worksize = (20, 20) if TICI else (4, 4)
+
+  ev1 = krn(q, (FRAME_WIDTH//2, FRAME_HEIGHT//2), local_worksize, cam_g, yuv_g, 1)
+  cl.enqueue_copy(q, yuv_buff, yuv_g, wait_for=[ev1]).wait()
+  cl.enqueue_barrier(q)
+
+  y = yuv_buff[:FRAME_WIDTH*FRAME_HEIGHT].reshape((FRAME_HEIGHT, FRAME_WIDTH))
+  u = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT::2].reshape((UV_HEIGHT, UV_WIDTH))
+  v = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT+1::2].reshape((UV_HEIGHT, UV_WIDTH))
+
+  if rgb:
+    return yuv_to_rgb(y, u, v)
+  else:
+    return y, u, v
+
+
+def imgproc_replay(lr):
+  ctx, imgproc_prg = init_kernels()
+
+  frames = []
+  for m in lr:
+    if m.which() == 'roadCameraState':
+      cs = m.roadCameraState
+      if cs.image:
+        data = np.frombuffer(cs.image, dtype=np.uint8)
+        img = proc_frame(ctx, imgproc_prg, data)
+
+        frames.append(img)
+
+  return frames
+
+
+if __name__ == "__main__":
+  # load logs
+  lr = list(LogReader(TEST_ROUTE))
+  # run replay
+  out_frames = imgproc_replay(lr)
+
+  all_pix = np.concatenate([np.concatenate([d.flatten() for d in f]) for f in out_frames])
+  pix_hash = hashlib.sha1(all_pix).hexdigest()
+
+  with open('imgproc_replay_ref_hash') as f:
+    ref_hash = f.read()
+
+  if pix_hash != ref_hash:
+    print("result changed! please check kernel")
+    print("ref: %s" % ref_hash)
+    print("new: %s" % pix_hash)
+  else:
+    print("test passed")
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 88e46abb06..5fa80f0e09 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -7,37 +7,37 @@ from collections import defaultdict
 from tqdm import tqdm
 from typing import Any
 
+from openpilot.common.git import get_commit
 from openpilot.selfdrive.car.car_helpers import interface_names
 from openpilot.tools.lib.openpilotci import get_url, upload_file
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process
-from openpilot.system.version import get_commit
 from openpilot.tools.lib.filereader import FileReader
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.helpers import save_log
 
 source_segments = [
-  ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.BODY
-  ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.SONATA
-  ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),    # HYUNDAI.KIA_EV6 (+ QCOM GPS)
-  ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS
-  ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4
-  ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.COROLLA_TSS2
-  ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.CIVIC (NIDEC)
-  ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.ACCORD (BOSCH)
-  ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"),    # CHRYSLER.PACIFICA_2018_HYBRID
-  ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"),         # CHRYSLER.RAM_1500
-  ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"),      # SUBARU.OUTBACK
-  ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.VOLT
-  ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.BOLT_EUV
-  ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"),     # NISSAN.XTRAIL
-  ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"),  # VOLKSWAGEN.GOLF
-  ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"),       # MAZDA.CX9_2021
-  ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),        # FORD.BRONCO_SPORT_MK1
+  ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.COMMA_BODY
+  ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.HYUNDAI_SONATA
+  ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),    # HYUNDAI.HYUNDAI_KIA_EV6 (+ QCOM GPS)
+  ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.TOYOTA_PRIUS
+  ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.TOYOTA_RAV4
+  ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.TOYOTA_COROLLA_TSS2
+  ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.HONDA_CIVIC (NIDEC)
+  ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.HONDA_ACCORD (BOSCH)
+  ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"),    # CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID
+  ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"),         # CHRYSLER.RAM_1500_5TH_GEN
+  ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"),      # SUBARU.SUBARU_OUTBACK
+  ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.CHEVROLET_VOLT
+  ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.CHEVROLET_BOLT_EUV
+  ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"),     # NISSAN.NISSAN_XTRAIL
+  ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"),  # VOLKSWAGEN.VOLKSWAGEN_GOLF
+  ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"),       # MAZDA.MAZDA_CX9_2021
+  ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),        # FORD.FORD_BRONCO_SPORT_MK1
 
   # Enable when port is tested and dashcamOnly is no longer set
-  #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"),      # TESLA.AP2_MODELS
-  #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"),  # VOLKSWAGEN.PASSAT_NMS
+  #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"),      # TESLA.TESLA_AP2_MODELS
+  #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"),  # VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS
 ]
 
 segments = [
diff --git a/selfdrive/test/process_replay/test_regen.py b/selfdrive/test/process_replay/test_regen.py
index 41d67ea376..d989635497 100755
--- a/selfdrive/test/process_replay/test_regen.py
+++ b/selfdrive/test/process_replay/test_regen.py
@@ -11,7 +11,7 @@ from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.framereader import FrameReader
 
 TESTED_SEGMENTS = [
-  ("PRIUS_C2", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA PRIUS 2017:     NEO, pandaStateDEPRECATED, no peripheralState, sensorEventsDEPRECATED
+  ("PRIUS_C2", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.TOYOTA_PRIUS:     NEO, pandaStateDEPRECATED, no peripheralState, sensorEventsDEPRECATED
   # Enable these once regen on CI becomes faster or use them for different tests running controlsd in isolation
   # ("MAZDA_C3", "bd6a637565e91581|2021-10-30--15-14-53--4"),  # MAZDA.CX9_2021:        TICI, incomplete managerState
   # ("FORD_C3", "54827bf84c38b14f|2023-01-26--21-59-07--4"),   # FORD.BRONCO_SPORT_MK1: TICI
diff --git a/selfdrive/test/process_replay/vision_meta.py b/selfdrive/test/process_replay/vision_meta.py
index b3c3dc0c9c..9bfe214c1e 100644
--- a/selfdrive/test/process_replay/vision_meta.py
+++ b/selfdrive/test/process_replay/vision_meta.py
@@ -1,17 +1,17 @@
 from collections import namedtuple
 from cereal.visionipc import VisionStreamType
 from openpilot.common.realtime import DT_MDL, DT_DMON
-from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size, eon_f_frame_size, eon_d_frame_size
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
 
 VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"])
-ROAD_CAMERA_FRAME_SIZES = {"tici": tici_f_frame_size, "tizi": tici_f_frame_size, "neo": eon_f_frame_size}
-WIDE_ROAD_CAMERA_FRAME_SIZES = {"tici": tici_e_frame_size, "tizi": tici_e_frame_size}
-DRIVER_FRAME_SIZES = {"tici": tici_d_frame_size, "tizi": tici_d_frame_size, "neo": eon_d_frame_size}
+ROAD_CAMERA_FRAME_SIZES = {k: (v.dcam.width, v.dcam.height) for k, v in DEVICE_CAMERAS.items()}
+WIDE_ROAD_CAMERA_FRAME_SIZES = {k: (v.ecam.width, v.ecam.height) for k, v in DEVICE_CAMERAS.items() if v.ecam is not None}
+DRIVER_CAMERA_FRAME_SIZES = {k: (v.dcam.width, v.dcam.height) for k, v in DEVICE_CAMERAS.items()}
 VIPC_STREAM_METADATA = [
   # metadata: (state_msg_type, encode_msg_type, stream_type, dt, frame_sizes)
   ("roadCameraState", "roadEncodeIdx", VisionStreamType.VISION_STREAM_ROAD, DT_MDL, ROAD_CAMERA_FRAME_SIZES),
   ("wideRoadCameraState", "wideRoadEncodeIdx", VisionStreamType.VISION_STREAM_WIDE_ROAD, DT_MDL, WIDE_ROAD_CAMERA_FRAME_SIZES),
-  ("driverCameraState", "driverEncodeIdx", VisionStreamType.VISION_STREAM_DRIVER, DT_DMON, DRIVER_FRAME_SIZES),
+  ("driverCameraState", "driverEncodeIdx", VisionStreamType.VISION_STREAM_DRIVER, DT_DMON, DRIVER_CAMERA_FRAME_SIZES),
 ]
 
 
diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py
index 6571825418..2cd547171a 100755
--- a/selfdrive/test/profiling/profiler.py
+++ b/selfdrive/test/profiling/profiler.py
@@ -16,8 +16,8 @@ from openpilot.selfdrive.car.volkswagen.values import CAR as VW
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 
 CARS = {
-  'toyota': ("0982d79ebb0de295|2021-01-03--20-03-36/6", TOYOTA.RAV4),
-  'honda': ("0982d79ebb0de295|2021-01-08--10-13-10/6", HONDA.CIVIC),
+  'toyota': ("0982d79ebb0de295|2021-01-03--20-03-36/6", TOYOTA.TOYOTA_RAV4),
+  'honda': ("0982d79ebb0de295|2021-01-08--10-13-10/6", HONDA.HONDA_CIVIC),
   "vw": ("ef895f46af5fd73f|2021-05-22--14-06-35/6", VW.AUDI_A3_MK3),
 }
 
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 8f8c93ecff..5de9d20297 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -29,12 +29,11 @@ from openpilot.tools.lib.logreader import LogReader
 
 # Baseline CPU usage by process
 PROCS = {
-  "selfdrive.controls.controlsd": 41.0,
+  "selfdrive.controls.controlsd": 46.0,
   "./loggerd": 14.0,
   "./encoderd": 17.0,
   "./camerad": 14.5,
   "./locationd": 11.0,
-  "./mapsd": (0.5, 10.0),
   "selfdrive.controls.plannerd": 11.0,
   "./ui": 18.0,
   "selfdrive.locationd.paramsd": 9.0,
@@ -42,7 +41,6 @@ PROCS = {
   "selfdrive.controls.radard": 7.0,
   "selfdrive.modeld.modeld": 13.0,
   "selfdrive.modeld.dmonitoringmodeld": 8.0,
-  "selfdrive.modeld.navmodeld": 1.0,
   "selfdrive.thermald.thermald": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
@@ -65,7 +63,7 @@ PROCS.update({
   "tici": {
     "./boardd": 4.0,
     "./ubloxd": 0.02,
-    "system.sensord.pigeond": 6.0,
+    "system.ubloxd.pigeond": 6.0,
   },
   "tizi": {
      "./boardd": 19.0,
@@ -87,8 +85,6 @@ TIMINGS = {
   "driverCameraState": [2.5, 0.35],
   "modelV2": [2.5, 0.35],
   "driverStateV2": [2.5, 0.40],
-  "navModel": [2.5, 0.35],
-  "mapRenderState": [2.5, 0.35],
   "liveLocationKalman": [2.5, 0.35],
   "wideRoadCameraState": [1.5, 0.35],
 }
@@ -304,7 +300,7 @@ class TestOnroad(unittest.TestCase):
   def test_camera_processing_time(self):
     result = "\n"
     result += "------------------------------------------------\n"
-    result += "-------------- Debayer Timing ------------------\n"
+    result += "-------------- ImgProc Timing ------------------\n"
     result += "------------------------------------------------\n"
 
     ts = [getattr(m, m.which()).processingTime for m in self.lr if 'CameraState' in m.which()]
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 93ebd3ab87..f5fc949637 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -207,16 +207,10 @@ def thermald_thread(end_event, hw_queue) -> None:
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
 
-    # Run at 2Hz
-    if sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_TRML) != 0:
-      continue
-
     pandaStates = sm['pandaStates']
     peripheralState = sm['peripheralState']
     peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown
 
-    msg = read_thermal(thermal_config)
-
     if sm.updated['pandaStates'] and len(pandaStates) > 0:
 
       # Set ignition based on any panda connected
@@ -236,6 +230,14 @@ def thermald_thread(end_event, hw_queue) -> None:
         onroad_conditions["ignition"] = False
         cloudlog.error("panda timed out onroad")
 
+    # Run at 2Hz, plus rising edge of ignition
+    ign_edge = started_ts is None and onroad_conditions["ignition"]
+    if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_TRML) != 0) and not ign_edge:
+      continue
+
+    msg = read_thermal(thermal_config)
+    msg.deviceState.deviceType = HARDWARE.get_device_type()
+
     try:
       last_hw_state = hw_queue.get_nowait()
     except queue.Empty:
diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py
index ba3582d130..2c99c7eafe 100755
--- a/selfdrive/tombstoned.py
+++ b/selfdrive/tombstoned.py
@@ -12,7 +12,7 @@ from typing import NoReturn
 import openpilot.selfdrive.sentry as sentry
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_commit
+from openpilot.system.version import get_build_metadata
 
 MAX_SIZE = 1_000_000 * 100  # allow up to 100M
 MAX_TOMBSTONE_FN_LEN = 62  # 85 - 23 ("<dongle id>/crash/")
@@ -124,7 +124,9 @@ def report_tombstone_apport(fn):
   clean_path = path.replace('/', '_')
   date = datetime.datetime.now().strftime("%Y-%m-%d--%H-%M-%S")
 
-  new_fn = f"{date}_{(get_commit() or 'nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN]
+  build_metadata = get_build_metadata()
+
+  new_fn = f"{date}_{(build_metadata.openpilot.git_commit or 'nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN]
 
   crashlog_dir = os.path.join(Paths.log_root(), "crash")
   os.makedirs(crashlog_dir, exist_ok=True)
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index ea5734fe6e..13b6998de2 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -36,10 +36,12 @@ widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)
 Export('widgets')
 qt_libs = [widgets, qt_util] + base_libs
 
-qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc",
+qt_src = ["main.cc", "qt/sidebar.cc", "qt/body.cc",
           "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
           "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
-          "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc"]
+          "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
+          "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc",
+          "qt/onroad/buttons.cc", "qt/onroad/alerts.cc"]
 
 # build translation files
 with open(File("translations/languages.json").abspath) as f:
diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h
index c6032852a1..f60b80b21a 100644
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@@ -10,7 +10,7 @@
 #include "common/params.h"
 #include "selfdrive/ui/qt/offroad/driverview.h"
 #include "selfdrive/ui/qt/body.h"
-#include "selfdrive/ui/qt/onroad.h"
+#include "selfdrive/ui/qt/onroad/onroad_home.h"
 #include "selfdrive/ui/qt/sidebar.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
 #include "selfdrive/ui/qt/widgets/offroad_alerts.h"
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index a5644bae4f..664364e04f 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -74,7 +74,7 @@ void MapWindow::initLayers() {
 
     QVariantMap transition;
     transition["duration"] = 400;  // ms
-    m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(uiState()->scene.navigate_on_openpilot));
+    m_map->setPaintProperty("navLayer", "line-color", QColor("#31a1ee"));
     m_map->setPaintProperty("navLayer", "line-color-transition", transition);
     m_map->setPaintProperty("navLayer", "line-width", 7.5);
     m_map->setLayoutProperty("navLayer", "line-cap", "round");
@@ -118,21 +118,6 @@ void MapWindow::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
   update();
 
-  if (sm.updated("modelV2")) {
-    // set path color on change, and show map on rising edge of navigate on openpilot
-    bool nav_enabled = sm["modelV2"].getModelV2().getNavEnabled() &&
-                       sm["controlsState"].getControlsState().getEnabled();
-    if (nav_enabled != uiState()->scene.navigate_on_openpilot) {
-      if (loaded_once) {
-        m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(nav_enabled));
-      }
-      if (nav_enabled) {
-        emit requestVisible(true);
-      }
-    }
-    uiState()->scene.navigate_on_openpilot = nav_enabled;
-  }
-
   if (sm.updated("liveLocationKalman")) {
     auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman();
     auto locationd_pos = locationd_location.getPositionGeodetic();
@@ -365,7 +350,6 @@ void MapWindow::pinchTriggered(QPinchGesture *gesture) {
 void MapWindow::offroadTransition(bool offroad) {
   if (offroad) {
     clearRoute();
-    uiState()->scene.navigate_on_openpilot = false;
     routing_problem = false;
   } else {
     auto dest = coordinate_from_param("NavDestination");
diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h
index 81ba50037a..8193d55729 100644
--- a/selfdrive/ui/qt/maps/map.h
+++ b/selfdrive/ui/qt/maps/map.h
@@ -69,11 +69,6 @@ private:
   MapInstructions* map_instructions;
   MapETA* map_eta;
 
-  // Blue with normal nav, green when nav is input into the model
-  QColor getNavPathColor(bool nav_enabled) {
-    return nav_enabled ? QColor("#31ee73") : QColor("#31a1ee");
-  }
-
   void clearRoute();
   void updateDestinationMarker();
   uint64_t route_rcv_frame = 0;
diff --git a/selfdrive/ui/qt/maps/map_eta.cc b/selfdrive/ui/qt/maps/map_eta.cc
index 161844c618..0eb77e36ce 100644
--- a/selfdrive/ui/qt/maps/map_eta.cc
+++ b/selfdrive/ui/qt/maps/map_eta.cc
@@ -38,10 +38,13 @@ void MapETA::updateETA(float s, float s_typical, float d) {
   auto remaining = s < 3600 ? std::pair{QString::number(int(s / 60)), tr("min")}
                             : std::pair{QString("%1:%2").arg((int)s / 3600).arg(((int)s % 3600) / 60, 2, 10, QLatin1Char('0')), tr("hr")};
   QString color = "#25DA6E";
-  if (s / s_typical > 1.5)
-    color = "#DA3025";
-  else if (s / s_typical > 1.2)
-    color = "#DAA725";
+  if (std::abs(s_typical) > 1e-5) {
+    if (s / s_typical > 1.5) {
+      color = "#DA3025";
+    } else if (s / s_typical > 1.2) {
+      color = "#DAA725";
+    }
+  }
 
   // Distance
   auto distance = map_format_distance(d, uiState()->scene.is_metric);
diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc
index 3907ff7b05..16923f7a43 100644
--- a/selfdrive/ui/qt/maps/map_helpers.cc
+++ b/selfdrive/ui/qt/maps/map_helpers.cc
@@ -137,17 +137,17 @@ std::optional<QMapLibre::Coordinate> coordinate_from_param(const std::string &pa
 
 // return {distance, unit}
 std::pair<QString, QString> map_format_distance(float d, bool is_metric) {
-  auto round_distance = [](float d) -> float {
-    return (d > 10) ? std::nearbyint(d) : std::nearbyint(d * 10) / 10.0;
+  auto round_distance = [](float d) -> QString {
+    return (d > 10) ? QString::number(std::nearbyint(d)) : QString::number(std::nearbyint(d * 10) / 10.0, 'f', 1);
   };
 
   d = std::max(d, 0.0f);
   if (is_metric) {
-    return (d > 500) ? std::pair{QString::number(round_distance(d / 1000)), QObject::tr("km")}
+    return (d > 500) ? std::pair{round_distance(d / 1000), QObject::tr("km")}
                      : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("m")};
   } else {
     float feet = d * METER_TO_FOOT;
-    return (feet > 500) ? std::pair{QString::number(round_distance(d * METER_TO_MILE)), QObject::tr("mi")}
+    return (feet > 500) ? std::pair{round_distance(d * METER_TO_MILE), QObject::tr("mi")}
                         : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft")};
   }
 }
diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc
index 5354a01fa0..d7cdddff44 100644
--- a/selfdrive/ui/qt/network/networking.cc
+++ b/selfdrive/ui/qt/network/networking.cc
@@ -82,11 +82,11 @@ void Networking::connectToNetwork(const Network n) {
   if (wifi->isKnownConnection(n.ssid)) {
     wifi->activateWifiConnection(n.ssid);
   } else if (n.security_type == SecurityType::OPEN) {
-    wifi->connect(n);
+    wifi->connect(n, false);
   } else if (n.security_type == SecurityType::WPA) {
     QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8);
     if (!pass.isEmpty()) {
-      wifi->connect(n, pass);
+      wifi->connect(n, false, pass);
     }
   }
 }
@@ -96,7 +96,7 @@ void Networking::wrongPassword(const QString &ssid) {
     const Network &n = wifi->seenNetworks.value(ssid);
     QString pass = InputDialog::getText(tr("Wrong password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8);
     if (!pass.isEmpty()) {
-      wifi->connect(n, pass);
+      wifi->connect(n, false, pass);
     }
   }
 }
@@ -192,9 +192,9 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
       hidden_network.ssid = ssid.toUtf8();
       if (!pass.isEmpty()) {
         hidden_network.security_type = SecurityType::WPA;
-        wifi->connect(hidden_network, pass);
+        wifi->connect(hidden_network, true, pass);
       } else {
-        wifi->connect(hidden_network);
+        wifi->connect(hidden_network, true);
       }
       emit requestWifiScreen();
     }
diff --git a/selfdrive/ui/qt/network/networkmanager.h b/selfdrive/ui/qt/network/networkmanager.h
index 2896b0fff7..8bdeaf3bbd 100644
--- a/selfdrive/ui/qt/network/networkmanager.h
+++ b/selfdrive/ui/qt/network/networkmanager.h
@@ -32,6 +32,7 @@ const QString NM_DBUS_INTERFACE_IP4_CONFIG          = "org.freedesktop.NetworkMa
 
 const QString NM_DBUS_SERVICE                        = "org.freedesktop.NetworkManager";
 
+const int NM_DEVICE_STATE_UNKNOWN = 0;
 const int NM_DEVICE_STATE_ACTIVATED = 100;
 const int NM_DEVICE_STATE_NEED_AUTH = 60;
 const int NM_DEVICE_TYPE_WIFI = 2;
diff --git a/selfdrive/ui/qt/network/wifi_manager.cc b/selfdrive/ui/qt/network/wifi_manager.cc
index ebb5cb8736..0c50d02f4f 100644
--- a/selfdrive/ui/qt/network/wifi_manager.cc
+++ b/selfdrive/ui/qt/network/wifi_manager.cc
@@ -98,10 +98,10 @@ void WifiManager::refreshFinished(QDBusPendingCallWatcher *watcher) {
   ipv4_address = getIp4Address();
   seenNetworks.clear();
 
-  const QDBusReply<QList<QDBusObjectPath>> wather_reply = *watcher;
-  for (const QDBusObjectPath &path : wather_reply.value()) {
-    QDBusReply<QVariantMap> replay = call(path.path(), NM_DBUS_INTERFACE_PROPERTIES, "GetAll", NM_DBUS_INTERFACE_ACCESS_POINT);
-    auto properties = replay.value();
+  const QDBusReply<QList<QDBusObjectPath>> watcher_reply = *watcher;
+  for (const QDBusObjectPath &path : watcher_reply.value()) {
+    QDBusReply<QVariantMap> reply = call(path.path(), NM_DBUS_INTERFACE_PROPERTIES, "GetAll", NM_DBUS_INTERFACE_ACCESS_POINT);
+    auto properties = reply.value();
 
     const QByteArray ssid = properties["Ssid"].toByteArray();
     if (ssid.isEmpty()) continue;
@@ -166,7 +166,7 @@ SecurityType WifiManager::getSecurityType(const QVariantMap &properties) {
   }
 }
 
-void WifiManager::connect(const Network &n, const QString &password, const QString &username) {
+void WifiManager::connect(const Network &n, const bool is_hidden, const QString &password, const QString &username) {
   setCurrentConnecting(n.ssid);
   forgetConnection(n.ssid);  // Clear all connections that may already exist to the network we are connecting
   Connection connection;
@@ -176,6 +176,7 @@ void WifiManager::connect(const Network &n, const QString &password, const QStri
   connection["connection"]["autoconnect-retries"] = 0;
 
   connection["802-11-wireless"]["ssid"] = n.ssid;
+  connection["802-11-wireless"]["hidden"] = is_hidden;
   connection["802-11-wireless"]["mode"] = "infrastructure";
 
   if (n.security_type == SecurityType::WPA) {
@@ -209,16 +210,8 @@ void WifiManager::deactivateConnection(const QDBusObjectPath &path) {
 }
 
 QVector<QDBusObjectPath> WifiManager::getActiveConnections() {
-  QVector<QDBusObjectPath> conns;
-  QDBusObjectPath path;
-  const QDBusArgument &arr = call<QDBusArgument>(NM_DBUS_PATH, NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE, "ActiveConnections");
-  arr.beginArray();
-  while (!arr.atEnd()) {
-    arr >> path;
-    conns.push_back(path);
-  }
-  arr.endArray();
-  return conns;
+  auto result = call<QDBusArgument>(NM_DBUS_PATH, NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE, "ActiveConnections");
+  return qdbus_cast<QVector<QDBusObjectPath>>(result);
 }
 
 bool WifiManager::isKnownConnection(const QString &ssid) {
@@ -427,7 +420,10 @@ void WifiManager::addTetheringConnection() {
   connection["ipv4"]["route-metric"] = 1100;
   connection["ipv6"]["method"] = "ignore";
 
-  call(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "AddConnection", QVariant::fromValue(connection));
+  auto path = call<QDBusObjectPath>(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "AddConnection", QVariant::fromValue(connection));
+  if (!path.path().isEmpty()) {
+    knownConnections[path] = tethering_ssid;
+  }
 }
 
 void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) {
diff --git a/selfdrive/ui/qt/network/wifi_manager.h b/selfdrive/ui/qt/network/wifi_manager.h
index 7debffa452..2f6a1829d7 100644
--- a/selfdrive/ui/qt/network/wifi_manager.h
+++ b/selfdrive/ui/qt/network/wifi_manager.h
@@ -52,7 +52,7 @@ public:
   std::optional<QDBusPendingCall> activateWifiConnection(const QString &ssid);
   NetworkType currentNetworkType();
   void updateGsmSettings(bool roaming, QString apn, bool metered);
-  void connect(const Network &ssid, const QString &password = {}, const QString &username = {});
+  void connect(const Network &ssid, const bool is_hidden = false, const QString &password = {}, const QString &username = {});
 
   // Tethering functions
   void setTetheringEnabled(bool enabled);
@@ -63,7 +63,7 @@ public:
 private:
   QString adapter;  // Path to network manager wifi-device
   QTimer timer;
-  unsigned int raw_adapter_state;  // Connection status https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NMDeviceState
+  unsigned int raw_adapter_state = NM_DEVICE_STATE_UNKNOWN;  // Connection status https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NMDeviceState
   QString connecting_to_network;
   QString tethering_ssid;
   const QString defaultTetheringPassword = "swagswagcomma";
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 85393cabc0..96fe6585cc 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -1,5 +1,3 @@
-#include "selfdrive/ui/qt/offroad/settings.h"
-
 #include <cassert>
 #include <cmath>
 #include <string>
@@ -8,20 +6,14 @@
 
 #include <QDebug>
 
-#include "selfdrive/ui/qt/network/networking.h"
-
-#include "common/params.h"
 #include "common/watchdog.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/widgets/controls.h"
-#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/qt/network/networking.h"
+#include "selfdrive/ui/qt/offroad/settings.h"
+#include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/widgets/prime.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
-#include "selfdrive/ui/qt/widgets/toggle.h"
-#include "selfdrive/ui/ui.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/qt_window.h"
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // param, title, desc, icon
@@ -59,6 +51,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       tr("Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."),
       "../assets/offroad/icon_warning.png",
     },
+    {
+      "AlwaysOnDM",
+      tr("Always-On Driver Monitoring"),
+      tr("Enable driver monitoring even when openpilot is not engaged."),
+      "../assets/offroad/icon_monitoring.png",
+    },
     {
       "RecordFront",
       tr("Record and Upload Driver Camera"),
@@ -91,9 +89,14 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   std::vector<QString> longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")};
   long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"),
                                           tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. "
-                                             "In relaxed mode openpilot will stay further away from lead cars."),
+                                             "In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with "
+                                             "your steering wheel distance button."),
                                           "../assets/offroad/icon_speed_limit.png",
                                           longi_button_texts);
+
+  // set up uiState update for personality setting
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState);
+
   for (auto &[param, title, desc, icon] : toggle_defs) {
     auto toggle = new ParamControl(param, title, desc, icon, this);
 
@@ -119,6 +122,18 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
 }
 
+void TogglesPanel::updateState(const UIState &s) {
+  const SubMaster &sm = *(s.sm);
+
+  if (sm.updated("controlsState")) {
+    auto personality = sm["controlsState"].getControlsState().getPersonality();
+    if (personality != s.scene.personality && s.scene.started && isVisible()) {
+      long_personality_setting->setCheckedButton(static_cast<int>(personality));
+    }
+    uiState()->scene.personality = personality;
+  }
+}
+
 void TogglesPanel::expandToggleDescription(const QString &param) {
   toggles[param.toStdString()]->showDescription();
 }
@@ -134,21 +149,14 @@ void TogglesPanel::updateToggles() {
                                           "<h4>%2</h4><br>"
                                           "%3<br>"
                                           "<h4>%4</h4><br>"
-                                          "%5<br>"
-                                          "<h4>%6</h4><br>"
-                                          "%7")
+                                          "%5<br>")
                                   .arg(tr("openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below:"))
                                   .arg(tr("End-to-End Longitudinal Control"))
                                   .arg(tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. "
                                           "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; "
                                           "mistakes should be expected."))
-                                  .arg(tr("Navigate on openpilot"))
-                                  .arg(tr("When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right "
-                                          "appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around "
-                                          "exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc."))
                                   .arg(tr("New Driving Visualization"))
-                                  .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. "
-                                          "When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green."));
+                                  .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner."));
 
   const bool is_release = params.getBool("IsReleaseBranch");
   auto cp_bytes = params.get("CarParamsPersistent");
@@ -198,6 +206,14 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   addItem(new LabelControl(tr("Dongle ID"), getDongleId().value_or(tr("N/A"))));
   addItem(new LabelControl(tr("Serial"), params.get("HardwareSerial").c_str()));
 
+  pair_device = new ButtonControl(tr("Pair Device"), tr("PAIR"),
+                                  tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."));
+  connect(pair_device, &ButtonControl::clicked, [=]() {
+    PairingPopup popup(this);
+    popup.exec();
+  });
+  addItem(pair_device);
+
   // offroad-only buttons
 
   auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"),
@@ -245,9 +261,14 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(translateBtn);
 
+  QObject::connect(uiState(), &UIState::primeTypeChanged, [this] (PrimeType type) {
+    pair_device->setVisible(type == PrimeType::UNPAIRED);
+  });
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<ButtonControl *>()) {
-      btn->setEnabled(offroad);
+      if (btn != pair_device) {
+        btn->setEnabled(offroad);
+      }
     }
   });
 
@@ -328,6 +349,11 @@ void DevicePanel::poweroff() {
   }
 }
 
+void DevicePanel::showEvent(QShowEvent *event) {
+  pair_device->setVisible(uiState()->primeType() == PrimeType::UNPAIRED);
+  ListWidget::showEvent(event);
+}
+
 void SettingsWindow::showEvent(QShowEvent *event) {
   setCurrentPanel(0);
 }
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
index a5dd25b14f..35a044bdd2 100644
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -10,7 +10,7 @@
 #include <QStackedWidget>
 #include <QWidget>
 
-
+#include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
 
@@ -42,6 +42,8 @@ class DevicePanel : public ListWidget {
   Q_OBJECT
 public:
   explicit DevicePanel(SettingsWindow *parent);
+  void showEvent(QShowEvent *event) override;
+
 signals:
   void reviewTrainingGuide();
   void showDriverView();
@@ -53,6 +55,7 @@ private slots:
 
 private:
   Params params;
+  ButtonControl *pair_device;
 };
 
 class TogglesPanel : public ListWidget {
@@ -64,6 +67,9 @@ public:
 public slots:
   void expandToggleDescription(const QString &param);
 
+private slots:
+  void updateState(const UIState &s);
+
 private:
   Params params;
   std::map<std::string, ParamControl*> toggles;
diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc
index 15c022db9a..d12db3f878 100644
--- a/selfdrive/ui/qt/offroad/software_settings.cc
+++ b/selfdrive/ui/qt/offroad/software_settings.cc
@@ -17,7 +17,7 @@
 
 
 void SoftwarePanel::checkForUpdates() {
-  std::system("pkill -SIGUSR1 -f selfdrive.updated");
+  std::system("pkill -SIGUSR1 -f selfdrive.updated.updated");
 }
 
 SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
@@ -36,7 +36,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
     if (downloadBtn->text() == tr("CHECK")) {
       checkForUpdates();
     } else {
-      std::system("pkill -SIGHUP -f selfdrive.updated");
+      std::system("pkill -SIGHUP -f selfdrive.updated.updated");
     }
   });
   addItem(downloadBtn);
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
deleted file mode 100644
index b3ba411453..0000000000
--- a/selfdrive/ui/qt/onroad.h
+++ /dev/null
@@ -1,142 +0,0 @@
-#pragma once
-
-#include <memory>
-
-#include <QPushButton>
-#include <QStackedLayout>
-#include <QWidget>
-
-#include "common/util.h"
-#include "selfdrive/ui/ui.h"
-#include "selfdrive/ui/qt/widgets/cameraview.h"
-
-
-const int btn_size = 192;
-const int img_size = (btn_size / 4) * 3;
-
-
-// ***** onroad widgets *****
-class OnroadAlerts : public QWidget {
-  Q_OBJECT
-
-public:
-  OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {}
-  void updateAlert(const Alert &a);
-
-protected:
-  void paintEvent(QPaintEvent*) override;
-
-private:
-  QColor bg;
-  Alert alert = {};
-};
-
-class ExperimentalButton : public QPushButton {
-  Q_OBJECT
-
-public:
-  explicit ExperimentalButton(QWidget *parent = 0);
-  void updateState(const UIState &s);
-
-private:
-  void paintEvent(QPaintEvent *event) override;
-  void changeMode();
-
-  Params params;
-  QPixmap engage_img;
-  QPixmap experimental_img;
-  bool experimental_mode;
-  bool engageable;
-};
-
-
-class MapSettingsButton : public QPushButton {
-  Q_OBJECT
-
-public:
-  explicit MapSettingsButton(QWidget *parent = 0);
-
-private:
-  void paintEvent(QPaintEvent *event) override;
-
-  QPixmap settings_img;
-};
-
-// container window for the NVG UI
-class AnnotatedCameraWidget : public CameraWidget {
-  Q_OBJECT
-
-public:
-  explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
-  void updateState(const UIState &s);
-
-  MapSettingsButton *map_settings_btn;
-
-private:
-  void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
-
-  QVBoxLayout *main_layout;
-  ExperimentalButton *experimental_btn;
-  QPixmap dm_img;
-  float speed;
-  QString speedUnit;
-  float setSpeed;
-  float speedLimit;
-  bool is_cruise_set = false;
-  bool is_metric = false;
-  bool dmActive = false;
-  bool hideBottomIcons = false;
-  bool rightHandDM = false;
-  float dm_fade_state = 1.0;
-  bool has_us_speed_limit = false;
-  bool has_eu_speed_limit = false;
-  bool v_ego_cluster_seen = false;
-  int status = STATUS_DISENGAGED;
-  std::unique_ptr<PubMaster> pm;
-
-  int skip_frame_count = 0;
-  bool wide_cam_requested = false;
-
-protected:
-  void paintGL() override;
-  void initializeGL() override;
-  void showEvent(QShowEvent *event) override;
-  void updateFrameMat() override;
-  void drawLaneLines(QPainter &painter, const UIState *s);
-  void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
-  void drawHud(QPainter &p);
-  void drawDriverState(QPainter &painter, const UIState *s);
-  inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
-  inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); }
-  inline QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); }
-
-  double prev_draw_t = 0;
-  FirstOrderFilter fps_filter;
-};
-
-// container for all onroad widgets
-class OnroadWindow : public QWidget {
-  Q_OBJECT
-
-public:
-  OnroadWindow(QWidget* parent = 0);
-  bool isMapVisible() const { return map && map->isVisible(); }
-  void showMapPanel(bool show) { if (map) map->setVisible(show); }
-
-signals:
-  void mapPanelRequested();
-
-private:
-  void paintEvent(QPaintEvent *event);
-  void mousePressEvent(QMouseEvent* e) override;
-  OnroadAlerts *alerts;
-  AnnotatedCameraWidget *nvg;
-  QColor bg = bg_colors[STATUS_DISENGAGED];
-  QWidget *map = nullptr;
-  QHBoxLayout* split;
-
-private slots:
-  void offroadTransition(bool offroad);
-  void primeChanged(bool prime);
-  void updateState(const UIState &s);
-};
diff --git a/selfdrive/ui/qt/onroad/alerts.cc b/selfdrive/ui/qt/onroad/alerts.cc
new file mode 100644
index 0000000000..0235c5ff42
--- /dev/null
+++ b/selfdrive/ui/qt/onroad/alerts.cc
@@ -0,0 +1,112 @@
+#include "selfdrive/ui/qt/onroad/alerts.h"
+
+#include <QPainter>
+#include <map>
+
+#include "selfdrive/ui/qt/util.h"
+
+void OnroadAlerts::updateState(const UIState &s) {
+  Alert a = getAlert(*(s.sm), s.scene.started_frame);
+  if (!alert.equal(a)) {
+    alert = a;
+    update();
+  }
+}
+
+void OnroadAlerts::clear() {
+  alert = {};
+  update();
+}
+
+OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started_frame) {
+  const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
+  const uint64_t controls_frame = sm.rcv_frame("controlsState");
+
+  Alert a = {};
+  if (controls_frame >= started_frame) {  // Don't get old alert.
+    a = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
+         cs.getAlertType().cStr(), cs.getAlertSize(), cs.getAlertStatus()};
+  }
+
+  if (!sm.updated("controlsState") && (sm.frame - started_frame) > 5 * UI_FREQ) {
+    const int CONTROLS_TIMEOUT = 5;
+    const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9;
+
+    // Handle controls timeout
+    if (controls_frame < started_frame) {
+      // car is started, but controlsState hasn't been seen at all
+      a = {tr("openpilot Unavailable"), tr("Waiting for controls to start"),
+           "controlsWaiting", cereal::ControlsState::AlertSize::MID,
+           cereal::ControlsState::AlertStatus::NORMAL};
+    } else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) {
+      // car is started, but controls is lagging or died
+      if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) {
+        a = {tr("TAKE CONTROL IMMEDIATELY"), tr("Controls Unresponsive"),
+             "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
+             cereal::ControlsState::AlertStatus::CRITICAL};
+      } else {
+        a = {tr("Controls Unresponsive"), tr("Reboot Device"),
+             "controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID,
+             cereal::ControlsState::AlertStatus::NORMAL};
+      }
+    }
+  }
+  return a;
+}
+
+void OnroadAlerts::paintEvent(QPaintEvent *event) {
+  if (alert.size == cereal::ControlsState::AlertSize::NONE) {
+    return;
+  }
+  static std::map<cereal::ControlsState::AlertSize, const int> alert_heights = {
+    {cereal::ControlsState::AlertSize::SMALL, 271},
+    {cereal::ControlsState::AlertSize::MID, 420},
+    {cereal::ControlsState::AlertSize::FULL, height()},
+  };
+  int h = alert_heights[alert.size];
+
+  int margin = 40;
+  int radius = 30;
+  if (alert.size == cereal::ControlsState::AlertSize::FULL) {
+    margin = 0;
+    radius = 0;
+  }
+  QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
+
+  QPainter p(this);
+
+  // draw background + gradient
+  p.setPen(Qt::NoPen);
+  p.setCompositionMode(QPainter::CompositionMode_SourceOver);
+  p.setBrush(QBrush(alert_colors[alert.status]));
+  p.drawRoundedRect(r, radius, radius);
+
+  QLinearGradient g(0, r.y(), 0, r.bottom());
+  g.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.05));
+  g.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0.35));
+
+  p.setCompositionMode(QPainter::CompositionMode_DestinationOver);
+  p.setBrush(QBrush(g));
+  p.drawRoundedRect(r, radius, radius);
+  p.setCompositionMode(QPainter::CompositionMode_SourceOver);
+
+  // text
+  const QPoint c = r.center();
+  p.setPen(QColor(0xff, 0xff, 0xff));
+  p.setRenderHint(QPainter::TextAntialiasing);
+  if (alert.size == cereal::ControlsState::AlertSize::SMALL) {
+    p.setFont(InterFont(74, QFont::DemiBold));
+    p.drawText(r, Qt::AlignCenter, alert.text1);
+  } else if (alert.size == cereal::ControlsState::AlertSize::MID) {
+    p.setFont(InterFont(88, QFont::Bold));
+    p.drawText(QRect(0, c.y() - 125, width(), 150), Qt::AlignHCenter | Qt::AlignTop, alert.text1);
+    p.setFont(InterFont(66));
+    p.drawText(QRect(0, c.y() + 21, width(), 90), Qt::AlignHCenter, alert.text2);
+  } else if (alert.size == cereal::ControlsState::AlertSize::FULL) {
+    bool l = alert.text1.length() > 15;
+    p.setFont(InterFont(l ? 132 : 177, QFont::Bold));
+    p.drawText(QRect(0, r.y() + (l ? 240 : 270), width(), 600), Qt::AlignHCenter | Qt::TextWordWrap, alert.text1);
+    p.setFont(InterFont(88));
+    p.drawText(QRect(0, r.height() - (l ? 361 : 420), width(), 300), Qt::AlignHCenter | Qt::TextWordWrap, alert.text2);
+  }
+}
diff --git a/selfdrive/ui/qt/onroad/alerts.h b/selfdrive/ui/qt/onroad/alerts.h
new file mode 100644
index 0000000000..1f76ba305b
--- /dev/null
+++ b/selfdrive/ui/qt/onroad/alerts.h
@@ -0,0 +1,39 @@
+#pragma once
+
+#include <QWidget>
+
+#include "selfdrive/ui/ui.h"
+
+class OnroadAlerts : public QWidget {
+  Q_OBJECT
+
+public:
+  OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {}
+  void updateState(const UIState &s);
+  void clear();
+
+protected:
+  struct Alert {
+    QString text1;
+    QString text2;
+    QString type;
+    cereal::ControlsState::AlertSize size;
+    cereal::ControlsState::AlertStatus status;
+
+    bool equal(const Alert &other) const {
+      return text1 == other.text1 && text2 == other.text2 && type == other.type;
+    }
+  };
+
+  const QMap<cereal::ControlsState::AlertStatus, QColor> alert_colors = {
+    {cereal::ControlsState::AlertStatus::NORMAL, QColor(0x15, 0x15, 0x15, 0xf1)},
+    {cereal::ControlsState::AlertStatus::USER_PROMPT, QColor(0xDA, 0x6F, 0x25, 0xf1)},
+    {cereal::ControlsState::AlertStatus::CRITICAL, QColor(0xC9, 0x22, 0x31, 0xf1)},
+  };
+
+  void paintEvent(QPaintEvent*) override;
+  OnroadAlerts::Alert getAlert(const SubMaster &sm, uint64_t started_frame);
+
+  QColor bg;
+  Alert alert = {};
+};
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
similarity index 67%
rename from selfdrive/ui/qt/onroad.cc
rename to selfdrive/ui/qt/onroad/annotated_camera.cc
index 01750eaf2f..f7fb6b480f 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -1,265 +1,13 @@
-#include "selfdrive/ui/qt/onroad.h"
 
+#include "selfdrive/ui/qt/onroad/annotated_camera.h"
+
+#include <QPainter>
 #include <algorithm>
 #include <cmath>
-#include <map>
-#include <memory>
-#include <sstream>
-
-#include <QDebug>
-#include <QMouseEvent>
 
 #include "common/swaglog.h"
-#include "common/timing.h"
+#include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/util.h"
-#ifdef ENABLE_MAPS
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-#include "selfdrive/ui/qt/maps/map_panel.h"
-#endif
-
-static void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity) {
-  p.setRenderHint(QPainter::Antialiasing);
-  p.setOpacity(1.0);  // bg dictates opacity of ellipse
-  p.setPen(Qt::NoPen);
-  p.setBrush(bg);
-  p.drawEllipse(center, btn_size / 2, btn_size / 2);
-  p.setOpacity(opacity);
-  p.drawPixmap(center - QPoint(img.width() / 2, img.height() / 2), img);
-  p.setOpacity(1.0);
-}
-
-OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout  = new QVBoxLayout(this);
-  main_layout->setMargin(UI_BORDER_SIZE);
-  QStackedLayout *stacked_layout = new QStackedLayout;
-  stacked_layout->setStackingMode(QStackedLayout::StackAll);
-  main_layout->addLayout(stacked_layout);
-
-  nvg = new AnnotatedCameraWidget(VISION_STREAM_ROAD, this);
-
-  QWidget * split_wrapper = new QWidget;
-  split = new QHBoxLayout(split_wrapper);
-  split->setContentsMargins(0, 0, 0, 0);
-  split->setSpacing(0);
-  split->addWidget(nvg);
-
-  if (getenv("DUAL_CAMERA_VIEW")) {
-    CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, true, this);
-    split->insertWidget(0, arCam);
-  }
-
-  if (getenv("MAP_RENDER_VIEW")) {
-    CameraWidget *map_render = new CameraWidget("navd", VISION_STREAM_MAP, false, this);
-    split->insertWidget(0, map_render);
-  }
-
-  stacked_layout->addWidget(split_wrapper);
-
-  alerts = new OnroadAlerts(this);
-  alerts->setAttribute(Qt::WA_TransparentForMouseEvents, true);
-  stacked_layout->addWidget(alerts);
-
-  // setup stacking order
-  alerts->raise();
-
-  setAttribute(Qt::WA_OpaquePaintEvent);
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
-  QObject::connect(uiState(), &UIState::primeChanged, this, &OnroadWindow::primeChanged);
-}
-
-void OnroadWindow::updateState(const UIState &s) {
-  if (!s.scene.started) {
-    return;
-  }
-
-  QColor bgColor = bg_colors[s.status];
-  Alert alert = Alert::get(*(s.sm), s.scene.started_frame);
-  alerts->updateAlert(alert);
-
-  if (s.scene.map_on_left) {
-    split->setDirection(QBoxLayout::LeftToRight);
-  } else {
-    split->setDirection(QBoxLayout::RightToLeft);
-  }
-
-  nvg->updateState(s);
-
-  if (bg != bgColor) {
-    // repaint border
-    bg = bgColor;
-    update();
-  }
-}
-
-void OnroadWindow::mousePressEvent(QMouseEvent* e) {
-#ifdef ENABLE_MAPS
-  if (map != nullptr) {
-    // 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;
-    map->setVisible(show_map && !map->isVisible());
-  }
-#endif
-  // propagation event to parent(HomeWindow)
-  QWidget::mousePressEvent(e);
-}
-
-void OnroadWindow::offroadTransition(bool offroad) {
-#ifdef ENABLE_MAPS
-  if (!offroad) {
-    if (map == nullptr && (uiState()->hasPrime() || !MAPBOX_TOKEN.isEmpty())) {
-      auto m = new MapPanel(get_mapbox_settings());
-      map = m;
-
-      QObject::connect(m, &MapPanel::mapPanelRequested, this, &OnroadWindow::mapPanelRequested);
-      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);
-      split->insertWidget(0, m);
-
-      // hidden by default, made visible when navRoute is published
-      m->setVisible(false);
-    }
-  }
-#endif
-
-  alerts->updateAlert({});
-}
-
-void OnroadWindow::primeChanged(bool prime) {
-#ifdef ENABLE_MAPS
-  if (map && (!prime && MAPBOX_TOKEN.isEmpty())) {
-    nvg->map_settings_btn->setEnabled(false);
-    nvg->map_settings_btn->setVisible(false);
-    map->deleteLater();
-    map = nullptr;
-  }
-#endif
-}
-
-void OnroadWindow::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
-  p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
-}
-
-// ***** onroad widgets *****
-
-// OnroadAlerts
-void OnroadAlerts::updateAlert(const Alert &a) {
-  if (!alert.equal(a)) {
-    alert = a;
-    update();
-  }
-}
-
-void OnroadAlerts::paintEvent(QPaintEvent *event) {
-  if (alert.size == cereal::ControlsState::AlertSize::NONE) {
-    return;
-  }
-  static std::map<cereal::ControlsState::AlertSize, const int> alert_heights = {
-    {cereal::ControlsState::AlertSize::SMALL, 271},
-    {cereal::ControlsState::AlertSize::MID, 420},
-    {cereal::ControlsState::AlertSize::FULL, height()},
-  };
-  int h = alert_heights[alert.size];
-
-  int margin = 40;
-  int radius = 30;
-  if (alert.size == cereal::ControlsState::AlertSize::FULL) {
-    margin = 0;
-    radius = 0;
-  }
-  QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
-
-  QPainter p(this);
-
-  // draw background + gradient
-  p.setPen(Qt::NoPen);
-  p.setCompositionMode(QPainter::CompositionMode_SourceOver);
-  p.setBrush(QBrush(alert_colors[alert.status]));
-  p.drawRoundedRect(r, radius, radius);
-
-  QLinearGradient g(0, r.y(), 0, r.bottom());
-  g.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.05));
-  g.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0.35));
-
-  p.setCompositionMode(QPainter::CompositionMode_DestinationOver);
-  p.setBrush(QBrush(g));
-  p.drawRoundedRect(r, radius, radius);
-  p.setCompositionMode(QPainter::CompositionMode_SourceOver);
-
-  // text
-  const QPoint c = r.center();
-  p.setPen(QColor(0xff, 0xff, 0xff));
-  p.setRenderHint(QPainter::TextAntialiasing);
-  if (alert.size == cereal::ControlsState::AlertSize::SMALL) {
-    p.setFont(InterFont(74, QFont::DemiBold));
-    p.drawText(r, Qt::AlignCenter, alert.text1);
-  } else if (alert.size == cereal::ControlsState::AlertSize::MID) {
-    p.setFont(InterFont(88, QFont::Bold));
-    p.drawText(QRect(0, c.y() - 125, width(), 150), Qt::AlignHCenter | Qt::AlignTop, alert.text1);
-    p.setFont(InterFont(66));
-    p.drawText(QRect(0, c.y() + 21, width(), 90), Qt::AlignHCenter, alert.text2);
-  } else if (alert.size == cereal::ControlsState::AlertSize::FULL) {
-    bool l = alert.text1.length() > 15;
-    p.setFont(InterFont(l ? 132 : 177, QFont::Bold));
-    p.drawText(QRect(0, r.y() + (l ? 240 : 270), width(), 600), Qt::AlignHCenter | Qt::TextWordWrap, alert.text1);
-    p.setFont(InterFont(88));
-    p.drawText(QRect(0, r.height() - (l ? 361 : 420), width(), 300), Qt::AlignHCenter | Qt::TextWordWrap, alert.text2);
-  }
-}
-
-// ExperimentalButton
-ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) {
-  setFixedSize(btn_size, btn_size);
-
-  engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
-  experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size});
-  QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode);
-}
-
-void ExperimentalButton::changeMode() {
-  const auto cp = (*uiState()->sm)["carParams"].getCarParams();
-  bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
-  if (can_change) {
-    params.putBool("ExperimentalMode", !experimental_mode);
-  }
-}
-
-void ExperimentalButton::updateState(const UIState &s) {
-  const auto cs = (*s.sm)["controlsState"].getControlsState();
-  bool eng = cs.getEngageable() || cs.getEnabled();
-  if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) {
-    engageable = eng;
-    experimental_mode = cs.getExperimentalMode();
-    update();
-  }
-}
-
-void ExperimentalButton::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
-  QPixmap img = experimental_mode ? experimental_img : engage_img;
-  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
-}
-
-
-// MapSettingsButton
-MapSettingsButton::MapSettingsButton(QWidget *parent) : QPushButton(parent) {
-  setFixedSize(btn_size, btn_size);
-  settings_img = loadPixmap("../assets/navigation/icon_directions_outlined.svg", {img_size, img_size});
-
-  // hidden by default, made visible if map is created (has prime or mapbox token)
-  setVisible(false);
-  setEnabled(false);
-}
-
-void MapSettingsButton::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
-  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), settings_img, QColor(0, 0, 0, 166), isDown() ? 0.6 : 1.0);
-}
-
 
 // Window that shows camera view and variety of info drawn on top
 AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
new file mode 100644
index 0000000000..0be4adfffa
--- /dev/null
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -0,0 +1,58 @@
+#pragma once
+
+#include <QVBoxLayout>
+#include <memory>
+
+#include "selfdrive/ui/qt/onroad/buttons.h"
+#include "selfdrive/ui/qt/widgets/cameraview.h"
+
+class AnnotatedCameraWidget : public CameraWidget {
+  Q_OBJECT
+
+public:
+  explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
+  void updateState(const UIState &s);
+
+  MapSettingsButton *map_settings_btn;
+
+private:
+  void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
+
+  QVBoxLayout *main_layout;
+  ExperimentalButton *experimental_btn;
+  QPixmap dm_img;
+  float speed;
+  QString speedUnit;
+  float setSpeed;
+  float speedLimit;
+  bool is_cruise_set = false;
+  bool is_metric = false;
+  bool dmActive = false;
+  bool hideBottomIcons = false;
+  bool rightHandDM = false;
+  float dm_fade_state = 1.0;
+  bool has_us_speed_limit = false;
+  bool has_eu_speed_limit = false;
+  bool v_ego_cluster_seen = false;
+  int status = STATUS_DISENGAGED;
+  std::unique_ptr<PubMaster> pm;
+
+  int skip_frame_count = 0;
+  bool wide_cam_requested = false;
+
+protected:
+  void paintGL() override;
+  void initializeGL() override;
+  void showEvent(QShowEvent *event) override;
+  void updateFrameMat() override;
+  void drawLaneLines(QPainter &painter, const UIState *s);
+  void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
+  void drawHud(QPainter &p);
+  void drawDriverState(QPainter &painter, const UIState *s);
+  inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
+  inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); }
+  inline QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); }
+
+  double prev_draw_t = 0;
+  FirstOrderFilter fps_filter;
+};
diff --git a/selfdrive/ui/qt/onroad/buttons.cc b/selfdrive/ui/qt/onroad/buttons.cc
new file mode 100644
index 0000000000..75ec316174
--- /dev/null
+++ b/selfdrive/ui/qt/onroad/buttons.cc
@@ -0,0 +1,64 @@
+#include "selfdrive/ui/qt/onroad/buttons.h"
+
+#include <QPainter>
+
+#include "selfdrive/ui/qt/util.h"
+
+void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity) {
+  p.setRenderHint(QPainter::Antialiasing);
+  p.setOpacity(1.0);  // bg dictates opacity of ellipse
+  p.setPen(Qt::NoPen);
+  p.setBrush(bg);
+  p.drawEllipse(center, btn_size / 2, btn_size / 2);
+  p.setOpacity(opacity);
+  p.drawPixmap(center - QPoint(img.width() / 2, img.height() / 2), img);
+  p.setOpacity(1.0);
+}
+
+// ExperimentalButton
+ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) {
+  setFixedSize(btn_size, btn_size);
+
+  engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
+  experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size});
+  QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode);
+}
+
+void ExperimentalButton::changeMode() {
+  const auto cp = (*uiState()->sm)["carParams"].getCarParams();
+  bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
+  if (can_change) {
+    params.putBool("ExperimentalMode", !experimental_mode);
+  }
+}
+
+void ExperimentalButton::updateState(const UIState &s) {
+  const auto cs = (*s.sm)["controlsState"].getControlsState();
+  bool eng = cs.getEngageable() || cs.getEnabled();
+  if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) {
+    engageable = eng;
+    experimental_mode = cs.getExperimentalMode();
+    update();
+  }
+}
+
+void ExperimentalButton::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  QPixmap img = experimental_mode ? experimental_img : engage_img;
+  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
+}
+
+// MapSettingsButton
+MapSettingsButton::MapSettingsButton(QWidget *parent) : QPushButton(parent) {
+  setFixedSize(btn_size, btn_size);
+  settings_img = loadPixmap("../assets/navigation/icon_directions_outlined.svg", {img_size, img_size});
+
+  // hidden by default, made visible if map is created (has prime or mapbox token)
+  setVisible(false);
+  setEnabled(false);
+}
+
+void MapSettingsButton::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), settings_img, QColor(0, 0, 0, 166), isDown() ? 0.6 : 1.0);
+}
diff --git a/selfdrive/ui/qt/onroad/buttons.h b/selfdrive/ui/qt/onroad/buttons.h
new file mode 100644
index 0000000000..b0757795fb
--- /dev/null
+++ b/selfdrive/ui/qt/onroad/buttons.h
@@ -0,0 +1,41 @@
+#pragma once
+
+#include <QPushButton>
+
+#include "selfdrive/ui/ui.h"
+
+const int btn_size = 192;
+const int img_size = (btn_size / 4) * 3;
+
+class ExperimentalButton : public QPushButton {
+  Q_OBJECT
+
+public:
+  explicit ExperimentalButton(QWidget *parent = 0);
+  void updateState(const UIState &s);
+
+private:
+  void paintEvent(QPaintEvent *event) override;
+  void changeMode();
+
+  Params params;
+  QPixmap engage_img;
+  QPixmap experimental_img;
+  bool experimental_mode;
+  bool engageable;
+};
+
+
+class MapSettingsButton : public QPushButton {
+  Q_OBJECT
+
+public:
+  explicit MapSettingsButton(QWidget *parent = 0);
+
+private:
+  void paintEvent(QPaintEvent *event) override;
+
+  QPixmap settings_img;
+};
+
+void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity);
diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc
new file mode 100644
index 0000000000..1c12a2c3a2
--- /dev/null
+++ b/selfdrive/ui/qt/onroad/onroad_home.cc
@@ -0,0 +1,128 @@
+#include "selfdrive/ui/qt/onroad/onroad_home.h"
+
+#include <QPainter>
+
+#ifdef ENABLE_MAPS
+#include "selfdrive/ui/qt/maps/map_helpers.h"
+#include "selfdrive/ui/qt/maps/map_panel.h"
+#endif
+
+#include "selfdrive/ui/qt/util.h"
+
+OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout  = new QVBoxLayout(this);
+  main_layout->setMargin(UI_BORDER_SIZE);
+  QStackedLayout *stacked_layout = new QStackedLayout;
+  stacked_layout->setStackingMode(QStackedLayout::StackAll);
+  main_layout->addLayout(stacked_layout);
+
+  nvg = new AnnotatedCameraWidget(VISION_STREAM_ROAD, this);
+
+  QWidget * split_wrapper = new QWidget;
+  split = new QHBoxLayout(split_wrapper);
+  split->setContentsMargins(0, 0, 0, 0);
+  split->setSpacing(0);
+  split->addWidget(nvg);
+
+  if (getenv("DUAL_CAMERA_VIEW")) {
+    CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, true, this);
+    split->insertWidget(0, arCam);
+  }
+
+  if (getenv("MAP_RENDER_VIEW")) {
+    CameraWidget *map_render = new CameraWidget("navd", VISION_STREAM_MAP, false, this);
+    split->insertWidget(0, map_render);
+  }
+
+  stacked_layout->addWidget(split_wrapper);
+
+  alerts = new OnroadAlerts(this);
+  alerts->setAttribute(Qt::WA_TransparentForMouseEvents, true);
+  stacked_layout->addWidget(alerts);
+
+  // setup stacking order
+  alerts->raise();
+
+  setAttribute(Qt::WA_OpaquePaintEvent);
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
+  QObject::connect(uiState(), &UIState::primeChanged, this, &OnroadWindow::primeChanged);
+}
+
+void OnroadWindow::updateState(const UIState &s) {
+  if (!s.scene.started) {
+    return;
+  }
+
+  if (s.scene.map_on_left) {
+    split->setDirection(QBoxLayout::LeftToRight);
+  } else {
+    split->setDirection(QBoxLayout::RightToLeft);
+  }
+
+  alerts->updateState(s);
+  nvg->updateState(s);
+
+  QColor bgColor = bg_colors[s.status];
+  if (bg != bgColor) {
+    // repaint border
+    bg = bgColor;
+    update();
+  }
+}
+
+void OnroadWindow::mousePressEvent(QMouseEvent* e) {
+#ifdef ENABLE_MAPS
+  if (map != nullptr) {
+    bool sidebarVisible = geometry().x() > 0;
+    bool show_map = !sidebarVisible;
+    map->setVisible(show_map && !map->isVisible());
+  }
+#endif
+  // propagation event to parent(HomeWindow)
+  QWidget::mousePressEvent(e);
+}
+
+void OnroadWindow::createMapWidget() {
+#ifdef ENABLE_MAPS
+  auto m = new MapPanel(get_mapbox_settings());
+  map = m;
+  QObject::connect(m, &MapPanel::mapPanelRequested, this, &OnroadWindow::mapPanelRequested);
+  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);
+  split->insertWidget(0, m);
+  // hidden by default, made visible when navRoute is published
+  m->setVisible(false);
+#endif
+}
+
+void OnroadWindow::offroadTransition(bool offroad) {
+#ifdef ENABLE_MAPS
+  if (!offroad) {
+    if (map == nullptr && (uiState()->hasPrime() || !MAPBOX_TOKEN.isEmpty())) {
+      createMapWidget();
+    }
+  }
+#endif
+  alerts->clear();
+}
+
+void OnroadWindow::primeChanged(bool prime) {
+#ifdef ENABLE_MAPS
+  if (map && (!prime && MAPBOX_TOKEN.isEmpty())) {
+    nvg->map_settings_btn->setEnabled(false);
+    nvg->map_settings_btn->setVisible(false);
+    map->deleteLater();
+    map = nullptr;
+  } else if (!map && (prime || !MAPBOX_TOKEN.isEmpty())) {
+    createMapWidget();
+  }
+#endif
+}
+
+void OnroadWindow::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
+}
diff --git a/selfdrive/ui/qt/onroad/onroad_home.h b/selfdrive/ui/qt/onroad/onroad_home.h
new file mode 100644
index 0000000000..4976f56a67
--- /dev/null
+++ b/selfdrive/ui/qt/onroad/onroad_home.h
@@ -0,0 +1,31 @@
+#pragma once
+
+#include "selfdrive/ui/qt/onroad/alerts.h"
+#include "selfdrive/ui/qt/onroad/annotated_camera.h"
+
+class OnroadWindow : public QWidget {
+  Q_OBJECT
+
+public:
+  OnroadWindow(QWidget* parent = 0);
+  bool isMapVisible() const { return map && map->isVisible(); }
+  void showMapPanel(bool show) { if (map) map->setVisible(show); }
+
+signals:
+  void mapPanelRequested();
+
+private:
+  void createMapWidget();
+  void paintEvent(QPaintEvent *event);
+  void mousePressEvent(QMouseEvent* e) override;
+  OnroadAlerts *alerts;
+  AnnotatedCameraWidget *nvg;
+  QColor bg = bg_colors[STATUS_DISENGAGED];
+  QWidget *map = nullptr;
+  QHBoxLayout* split;
+
+private slots:
+  void offroadTransition(bool offroad);
+  void primeChanged(bool prime);
+  void updateState(const UIState &s);
+};
diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc
index 08f4a0f9c0..aff9b015b3 100644
--- a/selfdrive/ui/qt/setup/setup.cc
+++ b/selfdrive/ui/qt/setup/setup.cc
@@ -51,7 +51,7 @@ void Setup::download(QString url) {
   list = curl_slist_append(list, ("X-openpilot-serial: " + Hardware::get_serial()).c_str());
 
   char tmpfile[] = "/tmp/installer_XXXXXX";
-  FILE *fp = fdopen(mkstemp(tmpfile), "w");
+  FILE *fp = fdopen(mkstemp(tmpfile), "wb");
 
   curl_easy_setopt(curl, CURLOPT_URL, url.toStdString().c_str());
   curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, NULL);
@@ -201,6 +201,7 @@ QWidget * Setup::network_setup() {
   QPushButton *cont = new QPushButton();
   cont->setObjectName("navBtn");
   cont->setProperty("primary", true);
+  cont->setEnabled(false);
   QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage);
   blayout->addWidget(cont);
 
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index e952940056..75b966c9aa 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -55,7 +55,7 @@ void Sidebar::mouseReleaseEvent(QMouseEvent *event) {
     flag_pressed = settings_pressed = false;
     update();
   }
-  if (home_btn.contains(event->pos())) {
+  if (onroad && home_btn.contains(event->pos())) {
     MessageBuilder msg;
     msg.initEvent().initUserFlag();
     pm->send("userFlag", msg);
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index bc3c494fa7..0bf5f2865e 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -61,7 +61,7 @@ QString timeAgo(const QDateTime &date) {
 
   QString s;
   if (diff < 60) {
-    s = "now";
+    s = QObject::tr("now");
   } else if (diff < 60 * 60) {
     int minutes = diff / 60;
     s = QObject::tr("%n minute(s) ago", "", minutes);
@@ -105,20 +105,21 @@ void initApp(int argc, char *argv[], bool disable_hidpi) {
   std::signal(SIGINT, sigTermHandler);
   std::signal(SIGTERM, sigTermHandler);
 
-  if (disable_hidpi) {
+  QString app_dir;
 #ifdef __APPLE__
-    // Get the devicePixelRatio, and scale accordingly to maintain 1:1 rendering
-    QApplication tmp(argc, argv);
-    qputenv("QT_SCALE_FACTOR", QString::number(1.0 / tmp.devicePixelRatio() ).toLocal8Bit());
-#endif
+  // Get the devicePixelRatio, and scale accordingly to maintain 1:1 rendering
+  QApplication tmp(argc, argv);
+  app_dir = QCoreApplication::applicationDirPath();
+  if (disable_hidpi) {
+    qputenv("QT_SCALE_FACTOR", QString::number(1.0 / tmp.devicePixelRatio()).toLocal8Bit());
   }
+#else
+  app_dir = QFileInfo(util::readlink("/proc/self/exe").c_str()).path();
+#endif
 
   qputenv("QT_DBL_CLICK_DIST", QByteArray::number(150));
-
   // ensure the current dir matches the exectuable's directory
-  QApplication tmp(argc, argv);
-  QString appDir = QCoreApplication::applicationDirPath();
-  QDir::setCurrent(appDir);
+  QDir::setCurrent(app_dir);
 
   setQtSurfaceFormat();
 }
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index 7b1f2f1d24..e4f1396268 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -41,6 +41,8 @@ const char frame_fragment_shader[] =
   "out vec4 colorOut;\n"
   "void main() {\n"
   "  colorOut = texture(uTexture, vTexCoord);\n"
+  // gamma to improve worst case visibility when dark
+  "  colorOut.rgb = pow(colorOut.rgb, vec3(1.0/1.28));\n"
   "}\n";
 #else
 #ifdef __APPLE__
@@ -96,7 +98,7 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio)
 } // namespace
 
 CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
-                          stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
+                          stream_name(stream_name), active_stream_type(type), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
   qRegisterMetaType<std::set<VisionStreamType>>("availableStreams");
   QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h
index e4630c6590..aa304e0df6 100644
--- a/selfdrive/ui/qt/widgets/controls.h
+++ b/selfdrive/ui/qt/widgets/controls.h
@@ -223,10 +223,8 @@ public:
       button_group->addButton(button, i);
     }
 
-    QObject::connect(button_group, QOverload<int, bool>::of(&QButtonGroup::buttonToggled), [=](int id, bool checked) {
-      if (checked) {
-        params.put(key, std::to_string(id));
-      }
+    QObject::connect(button_group, QOverload<int>::of(&QButtonGroup::buttonClicked), [=](int id) {
+      params.put(key, std::to_string(id));
     });
   }
 
@@ -236,6 +234,19 @@ public:
     }
   }
 
+  void setCheckedButton(int id) {
+    button_group->button(id)->setChecked(true);
+  }
+
+  void refresh() {
+    int value = atoi(params.get(key).c_str());
+    button_group->button(value)->setChecked(true);
+  }
+
+  void showEvent(QShowEvent *event) override {
+    refresh();
+  }
+
 private:
   std::string key;
   Params params;
diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc
index 324d6cf6ae..2621612f67 100644
--- a/selfdrive/ui/qt/widgets/prime.cc
+++ b/selfdrive/ui/qt/widgets/prime.cc
@@ -235,7 +235,7 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
 
   mainLayout->addWidget(content);
 
-  primeUser->setVisible(uiState()->primeType());
+  primeUser->setVisible(uiState()->hasPrime());
   mainLayout->setCurrentIndex(1);
 
   setStyleSheet(R"(
@@ -269,15 +269,16 @@ void SetupWidget::replyFinished(const QString &response, bool success) {
   }
 
   QJsonObject json = doc.object();
+  bool is_paired = json["is_paired"].toBool();
   PrimeType prime_type = static_cast<PrimeType>(json["prime_type"].toInt());
-  uiState()->setPrimeType(prime_type);
+  uiState()->setPrimeType(is_paired ? prime_type : PrimeType::UNPAIRED);
 
-  if (!json["is_paired"].toBool()) {
+  if (!is_paired) {
     mainLayout->setCurrentIndex(0);
   } else {
     popup->reject();
 
-    primeUser->setVisible(prime_type);
+    primeUser->setVisible(uiState()->hasPrime());
     mainLayout->setCurrentIndex(1);
   }
 }
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index 74fd05ed7b..6b579fcc5d 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -75,10 +75,6 @@ void MainWindow::closeSettings() {
 
   if (uiState()->scene.started) {
     homeWindow->showSidebar(false);
-    // Map is always shown when using navigate on openpilot
-    if (uiState()->scene.navigate_on_openpilot) {
-      homeWindow->showMapPanel(true);
-    }
   }
 }
 
diff --git a/selfdrive/ui/tests/body.py b/selfdrive/ui/tests/body.py
index c34e717eaf..7e24c2beb7 100755
--- a/selfdrive/ui/tests/body.py
+++ b/selfdrive/ui/tests/body.py
@@ -8,7 +8,7 @@ if __name__ == "__main__":
     batt = 1.
     while True:
       msg = messaging.new_message('carParams')
-      msg.carParams.carName = "COMMA BODY"
+      msg.carParams.carName = "BODY"
       msg.carParams.notCar = True
       pm.send('carParams', msg)
 
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 7a2ac9a110..c834107780 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -18,7 +18,7 @@ from cereal.messaging import SubMaster, PubMaster
 from openpilot.common.mock import mock_messages
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
-from openpilot.common.transformations.camera import tici_f_frame_size
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
 from openpilot.tools.webcam.camera import Camera
@@ -69,15 +69,16 @@ def setup_onroad(click, pm: PubMaster):
 
   pm.send("pandaStates", dat)
 
+  d = DEVICE_CAMERAS[("tici", "ar0231")]
   server = VisionIpcServer("camerad")
-  server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *tici_f_frame_size)
-  server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *tici_f_frame_size)
-  server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *tici_f_frame_size)
+  server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, d.fcam.width, d.fcam.height)
+  server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, d.dcam.width, d.dcam.height)
+  server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, d.fcam.width, d.fcam.height)
   server.start_listener()
 
   time.sleep(0.5) # give time for vipc server to start
 
-  IMG = Camera.bgr2nv12(np.random.randint(0, 255, (*tici_f_frame_size,3), dtype=np.uint8))
+  IMG = Camera.bgr2nv12(np.random.randint(0, 255, (d.fcam.width, d.fcam.height, 3), dtype=np.uint8))
   IMG_BYTES = IMG.flatten().tobytes()
 
   cams = ('roadCameraState', 'wideRoadCameraState')
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 7a431b8bf8..f00905b75b 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -293,6 +293,18 @@
         <source>Review</source>
         <translation>مراجعة</translation>
     </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>اقرن جهازك بجهاز (connect.comma.ai) واحصل على عرضك من comma prime.</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation>إقران الجهاز</translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation>إقران</translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -480,6 +492,29 @@
         <translation> تنبيه</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation>openpilot غير متوفر</translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation>في انتظار بدء عناصر التحكم</translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>تحكم على الفور</translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation>الضوابط غير مستجيبة</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>إعادة التشغيل</translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -615,6 +650,10 @@
         <source>ft</source>
         <translation>قدم</translation>
     </message>
+    <message>
+        <source>now</source>
+        <translation>الآن</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -654,7 +693,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation type="unfinished"></translation>
+        <translation>تم تفعيل إعادة ضبط النظام. اضغط على تأكيد لمسح جميع المحتويات والإعدادات. اضغط على إلغاء لاستئناف التمهيد.</translation>
     </message>
 </context>
 <context>
@@ -764,15 +803,15 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Choose Software to Install</source>
-        <translation type="unfinished"></translation>
+        <translation>اختر البرنامج للتثبيت</translation>
     </message>
     <message>
         <source>openpilot</source>
-        <translation type="unfinished">openpilot</translation>
+        <translation>openpilot</translation>
     </message>
     <message>
         <source>Custom Software</source>
-        <translation type="unfinished"></translation>
+        <translation>البرمجيات المخصصة</translation>
     </message>
 </context>
 <context>
@@ -1017,7 +1056,7 @@ This may take up to a minute.</source>
     <name>TogglesPanel</name>
     <message>
         <source>Enable openpilot</source>
-        <translation>تمكين</translation>
+        <translation>تمكين openpilot</translation>
     </message>
     <message>
         <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
@@ -1103,10 +1142,6 @@ This may take up to a minute.</source>
         <source>Driving Personality</source>
         <translation>شخصية القيادة</translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation>يوصى بالوضع القياسي. في الوضع الهجومي، سيتبع openpilot السيارات الرائدة بشكل أقرب، ويصبح أكثر هجومية في دواسات الوقود والمكابح. في وضعية الراحة يبقى openplot بعيداً لمسافة جيدة عن السيارة الرائدة.</translation>
-    </message>
     <message>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
         <translation>يتم وضع openpilot بشكل قياسي في &lt;b&gt;وضعية الراحة&lt;/b&gt;. يمكن الوضع التجريبي &lt;b&gt;ميزات المستوى ألفا&lt;/b&gt; التي لا تكون جاهزة في وضع الراحة:</translation>
@@ -1119,22 +1154,10 @@ This may take up to a minute.</source>
         <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
         <translation>دع نظام القيادة يتحكم بالوقود والمكابح. سيقوم openpilot بالقيادة كما لو أنه كائن بشري، بما في ذلك التوقف عند الإشارة الحمراء، وإشارات التوقف. وبما أن نمط القيادة يحدد سرعة القيادة، فإن السرعة المضبوطة تشكل الحد الأقصى فقط. هذه خاصية الجودة ألفا، فيجب توقع حدوث الأخطاء.</translation>
     </message>
-    <message>
-        <source>Navigate on openpilot</source>
-        <translation>التنقل على openpilot</translation>
-    </message>
-    <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
-        <translation>عندما يكون هناك وجهة للتنقل، فإن openpilot سيقوم بإدخال معلومات الخريطة في هذا النموذج. وهذا يقدم سياقاً مفيداً ويسمح لـopenpilot بالبقاء يساراً أو يميناً بالشكل المناسب عند المنعطفات/المخارج. يبقى سلوك تغيير المسار مفعلاً عند السائق،. هذه هي خاصية الجودة ألفا، ولذلك يجب توقع الأخطاء لا سيما عند المخارج والمنعطفات هذه الأخطاء قد تشمل العبور غير المقصود لخطوط المسارات، والتأخر في الخروج، والقيادة نحو الحواجز الفاصلة في المناطق المثلثة بين الطريق الرئيسي والمخارج، وغير ذلك من الأخطاء المشابهة.</translation>
-    </message>
     <message>
         <source>New Driving Visualization</source>
         <translation>تصور القيادة الديد</translation>
     </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
-        <translation>تصور القيادة سينتقل إلى الكاميرا واسعة الزاوية المواجهة للطريق في السرعات المنخفضة من أجل إظهار بعض المنعطفات بشكل أفضل. سيتم أيضاً إظهار شعار الوضع التجريبي في الزاوية العلوية اليمنى. عند تحديد وجهة التنقل، واستخدام نظام القيادة لها كوضع مدخل، سيتحول مسار القيادة على الخريطة إلى اللون الأخضر.</translation>
-    </message>
     <message>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>الوضع التجريبي غير متوفر حالياً في هذه السيارة نظراً لاستخدام رصيد التحكم التكيفي بالسرعة من أجل التحكم الطولي.</translation>
@@ -1151,6 +1174,22 @@ This may take up to a minute.</source>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation>تمكين التحكم الطولي من openpilot (ألفا) للسماح بالوضع التجريبي.</translation>
     </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation>يوصى بالمعيار. في الوضع العدواني، سيتبع الطيار المفتوح السيارات الرائدة بشكل أقرب ويكون أكثر عدوانية مع البنزين والفرامل. في الوضع المريح، سيبقى openpilot بعيدًا عن السيارات الرائدة. في السيارات المدعومة، يمكنك التنقل بين هذه الشخصيات باستخدام زر مسافة عجلة القيادة.</translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index ae2bdf33cb..71d95244cb 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -293,6 +293,18 @@
         <source>Review</source>
         <translation>Überprüfen</translation>
     </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>Koppele dein Gerät mit Comma Connect (connect.comma.ai) und sichere dir dein Comma Prime Angebot.</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -475,6 +487,29 @@
         <translation> HINWEIS</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -598,6 +633,10 @@
         <source>ft</source>
         <translation>fuß</translation>
     </message>
+    <message>
+        <source>now</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -1105,26 +1144,10 @@ This may take up to a minute.</source>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Navigate on openpilot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation type="unfinished"></translation>
@@ -1137,6 +1160,22 @@ This may take up to a minute.</source>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index ba496c1b89..5da51d8b47 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -293,6 +293,18 @@
         <source>Disengage to Power Off</source>
         <translation>Désengager pour éteindre</translation>
     </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>Associez votre appareil avec comma connect (connect.comma.ai) et profitez de l&apos;offre comma prime.</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -476,6 +488,29 @@
         <translation> ALERTE</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -599,6 +634,10 @@
         <source>ft</source>
         <translation>ft</translation>
     </message>
+    <message>
+        <source>now</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -1087,10 +1126,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Driving Personality</source>
         <translation>Personnalité de conduite</translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation>Le mode standard est recommandé. En mode agressif, openpilot suivra de plus près les voitures de tête et sera plus agressif avec l&apos;accélérateur et le frein. En mode détendu, openpilot restera plus éloigné des voitures de tête.</translation>
-    </message>
     <message>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
         <translation>Par défaut, openpilot conduit en &lt;b&gt;mode détente&lt;/b&gt;. Le mode expérimental permet d&apos;activer des &lt;b&gt;fonctionnalités alpha&lt;/b&gt; qui ne sont pas prêtes pour le mode détente. Les fonctionnalités expérimentales sont listées ci-dessous :</translation>
@@ -1119,22 +1154,26 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>End-to-End Longitudinal Control</source>
         <translation>Contrôle longitudinal de bout en bout</translation>
     </message>
-    <message>
-        <source>Navigate on openpilot</source>
-        <translation>Navigation avec openpilot</translation>
-    </message>
-    <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
-        <translation>Lorsque la navigation dispose d&apos;une destination, openpilot entrera les informations de la carte dans le modèle. Cela fournit un contexte utile pour le modèle et permet à openpilot de se diriger à gauche ou à droite de manière appropriée aux bifurcations/sorties. Le comportement relatif au changement de voie reste inchangé et doit toujours être activé par le conducteur. Il s&apos;agit d&apos;une fonctionnalité alpha ; il faut s&apos;attendre à des erreurs, en particulier aux abords des sorties et des bifurcations. Ces erreurs peuvent inclure des franchissements involontaires de passages piétons, des prises de sortie tardives, la conduite vers des zones de séparation de type zebras, etc.</translation>
-    </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
-        <translation>La visualisation de la conduite passera sur la caméra grand angle dirigée vers la route à faible vitesse afin de mieux montrer certains virages. Le logo du mode expérimental s&apos;affichera également dans le coin supérieur droit. Lorsqu&apos;une destination de navigation est définie et que le modèle de conduite l&apos;utilise comme entrée, la trajectoire de conduite sur la carte deviendra verte.</translation>
-    </message>
     <message>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation>Activer le contrôle longitudinal d&apos;openpilot (en alpha) pour autoriser le mode expérimental.</translation>
     </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
+        <translation>La visualisation de la conduite passera sur la caméra grand angle dirigée vers la route à faible vitesse afin de mieux montrer certains virages. Le logo du mode expérimental s&apos;affichera également dans le coin supérieur droit.</translation>
+    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 54ff0fa4ae..7a27f46ea3 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -293,6 +293,18 @@
         <source>Review</source>
         <translation>確認</translation>
     </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>デバイスを comma connect (connect.comma.ai)でペアリングし、comma primeの特典を申請してください。</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -474,6 +486,29 @@
         <translation> 警告</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -594,6 +629,10 @@
         <source>ft</source>
         <translation>ﾌｨｰﾄ</translation>
     </message>
+    <message>
+        <source>now</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -1097,26 +1136,10 @@ This may take up to a minute.</source>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Navigate on openpilot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation type="unfinished"></translation>
@@ -1129,6 +1152,22 @@ This may take up to a minute.</source>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 3f98db2f9c..518bb4b58f 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -293,6 +293,18 @@
         <source>Review</source>
         <translation>다시보기</translation>
     </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>장치를 comma connect (connect.comma.ai)에서 페어링하고 comma prime 무료 이용권을 사용하세요.</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation>장치 동기화</translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation>동기화</translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -475,11 +487,34 @@
         <translation> 알림</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation>오픈파일럿을 사용할수없습니다</translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation>프로세스가 준비중입니다</translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>핸들을 잡아주세요</translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation>프로세스가 응답하지않습니다</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>장치를 재부팅하세요</translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
         <source>Pair your device to your comma account</source>
-        <translation>장치를 comma 계정에 페어링합니다</translation>
+        <translation>장치를 comma 계정에 동기화합니다</translation>
     </message>
     <message>
         <source>Go to https://connect.comma.ai on your phone</source>
@@ -595,6 +630,10 @@
         <source>ft</source>
         <translation>ft</translation>
     </message>
+    <message>
+        <source>now</source>
+        <translation>now</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -634,7 +673,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation type="unfinished"></translation>
+        <translation>시스템 재설정이 시작되었습니다. 모든 콘텐츠와 설정을 지우려면 확인을 누르시고 부팅을 재개하려면 취소를 누르세요.</translation>
     </message>
 </context>
 <context>
@@ -744,15 +783,15 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Choose Software to Install</source>
-        <translation type="unfinished"></translation>
+        <translation>설치할 소프트웨어 선택</translation>
     </message>
     <message>
         <source>openpilot</source>
-        <translation type="unfinished">openpilot</translation>
+        <translation>openpilot</translation>
     </message>
     <message>
         <source>Custom Software</source>
-        <translation type="unfinished"></translation>
+        <translation>커스텀 소프트웨어</translation>
     </message>
 </context>
 <context>
@@ -1103,18 +1142,10 @@ This may take up to a minute.</source>
         <source>Driving Personality</source>
         <translation>주행 모드</translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation>표준 모드를 권장합니다. 공격적 모드에서 openpilot은 앞 차량을 더 가까이 따라가며 적극적으로 가감속합니다. 편안한 모드에서 openpilot은 앞 차량을 더 멀리서 따라갑니다.</translation>
-    </message>
     <message>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>openpilot 가감속 제어 알파 버전은 비 릴리즈 브랜치에서 실험 모드와 함께 테스트할 수 있습니다.</translation>
     </message>
-    <message>
-        <source>Navigate on openpilot</source>
-        <translation>openpilot 내비게이트</translation>
-    </message>
     <message>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation>실험 모드를 사용하려면 openpilot E2E 가감속 제어 (알파) 토글을 활성화하세요.</translation>
@@ -1124,12 +1155,20 @@ This may take up to a minute.</source>
         <translation>E2E 가감속 제어</translation>
     </message>
     <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
-        <translation>내비게이션에 목적지가 설정되어 있으면 openpilot이 지도 정보를 주행 모델에 입력합니다. 이는 모델에 유용한 정보를 제공하고 openpilot이 진출입로 및 램프에서 적절하게 왼쪽 또는 오른쪽을 유지할 수 있도록 해 줍니다. 차선 변경 기능은 여전히 운전자의 조작에 의해 활성화됩니다. 이 기능은 알파 버전입니다. 특히 진출입로 및 분기점 주변에서 실수가 발생할 수 있으며 이러한 실수에는 의도하지 않은 차선 이탈, 늦은 진출, 도로 가장자리의 분리대 또는 경계석을 향해 운전하는 행동 등이 포함됩니다.</translation>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation>표준 모드를 권장합니다. 공격적 모드의 openpilot은 선두 차량을 더 가까이 따라가고 가감속제어를 사용하여 더욱 공격적으로 움직입니다. 편안한 모드의 openpilot은 선두 차량으로부터 더 멀리 떨어져 있습니다. 지원되는 차량에서는 스티어링 휠 거리 버튼을 사용하여 이러한 특성을 순환할 수 있습니다.</translation>
     </message>
     <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
-        <translation>주행 시각화는 저속으로 주행 시 도로를 향한 광각 카메라로 자동 전환되어 일부 곡선 경로를 더 잘 보여줍니다. 실험 모드 로고는 우측 상단에 표시됩니다. 내비게이션 목적지가 설정되고 주행 모델에 입력되면 지도의 주행 경로가 녹색으로 바뀝니다.</translation>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index c4789ed42e..6210e35f2a 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -293,6 +293,18 @@
         <source>Review</source>
         <translation>Revisar</translation>
     </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>Pareie seu dispositivo com comma connect (connect.comma.ai) e reivindique sua oferta de comma prime.</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation>Parear Dispositivo</translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation>PAREAR</translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -476,6 +488,29 @@
         <translation> ALERTA</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation>openpilot Indisponível</translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation>Aguardando controles para iniciar</translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>ASSUMA IMEDIATAMENTE</translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation>Controles Não Respondem</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>Reinicie o Dispositivo</translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -599,6 +634,10 @@
         <source>ft</source>
         <translation>pés</translation>
     </message>
+    <message>
+        <source>now</source>
+        <translation>agora</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -1107,18 +1146,10 @@ Isso pode levar até um minuto.</translation>
         <source>Driving Personality</source>
         <translation>Temperamento de Direção</translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation>Neutro é o recomendado. No modo disputa o openpilot seguirá o carro da frente mais de perto e será mais agressivo com a aceleração e frenagem. No modo calmo o openpilot se manterá mais longe do carro da frente.</translation>
-    </message>
     <message>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>Uma versão embrionária do controle longitudinal openpilot pode ser testada em conjunto com o modo Experimental, em branches que não sejam de produção.</translation>
     </message>
-    <message>
-        <source>Navigate on openpilot</source>
-        <translation>Navegação no openpilot</translation>
-    </message>
     <message>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation>Habilite o controle longitudinal (embrionário) openpilot para permitir o modo Experimental.</translation>
@@ -1128,12 +1159,20 @@ Isso pode levar até um minuto.</translation>
         <translation>Controle Longitudinal de Ponta a Ponta</translation>
     </message>
     <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
-        <translation>Quando a navegação tem um destino, o openpilot insere as informações do mapa no modelo. Isso fornece contexto útil para o modelo e permite que o openpilot mantenha a esquerda ou a direita apropriadamente em bifurcações/saídas. O comportamento de mudança de faixa permanece inalterado e ainda é ativado somente pelo motorista. Este é um recurso de qualidade embrionária; erros devem ser esperados, principalmente em torno de saídas e bifurcações. Esses erros podem incluir travessias não intencionais na faixa de rodagem, saída tardia, condução em direção a barreiras divisórias nas áreas de marcas de canalização, etc.</translation>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation>Neutro é o recomendado. No modo disputa o openpilot seguirá o carro da frente mais de perto e será mais agressivo com a aceleração e frenagem. No modo calmo o openpilot se manterá mais longe do carro da frente. Em carros compatíveis, você pode alternar esses temperamentos com o botão de distância do volante.</translation>
     </message>
     <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
-        <translation>A visualização de condução fará a transição para a câmera grande angular voltada para a estrada em baixas velocidades para mostrar melhor algumas curvas. O logotipo do modo Experimental também será mostrado no canto superior direito. Quando um destino de navegação é definido e o modelo de condução o utiliza como entrada o caminho de condução no mapa fica verde.</translation>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
+        <translation>A visualização de condução fará a transição para a câmera grande angular voltada para a estrada em baixas velocidades para mostrar melhor algumas curvas. O logotipo do modo Experimental também será mostrado no canto superior direito.</translation>
+    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation>Monitoramento do Motorista Sempre Ativo</translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation>Habilite o monitoramento do motorista mesmo quando o openpilot não estiver acionado.</translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index c1f0039a3c..c8bf0d3ade 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -68,23 +68,23 @@
     </message>
     <message>
         <source>Hidden Network</source>
-        <translation type="unfinished"></translation>
+        <translation>เครือข่ายที่ซ่อนอยู่</translation>
     </message>
     <message>
         <source>CONNECT</source>
-        <translation type="unfinished">เชื่อมต่อ</translation>
+        <translation>เชื่อมต่อ</translation>
     </message>
     <message>
         <source>Enter SSID</source>
-        <translation type="unfinished">ป้อนค่า SSID</translation>
+        <translation>ป้อนค่า SSID</translation>
     </message>
     <message>
         <source>Enter password</source>
-        <translation type="unfinished">ใส่รหัสผ่าน</translation>
+        <translation>ใส่รหัสผ่าน</translation>
     </message>
     <message>
         <source>for &quot;%1&quot;</source>
-        <translation type="unfinished">สำหรับ &quot;%1&quot;</translation>
+        <translation>สำหรับ &quot;%1&quot;</translation>
     </message>
 </context>
 <context>
@@ -293,6 +293,18 @@
         <source>Review</source>
         <translation>ทบทวน</translation>
     </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>จับคู่อุปกรณ์ของคุณกับ comma connect (connect.comma.ai) และรับข้อเสนอ comma prime ของคุณ</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation>จับคู่อุปกรณ์</translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation>จับคู่</translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -475,6 +487,29 @@
         <translation> การแจ้งเตือน</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation>openpilot ไม่สามารถใช้งานได้</translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation>กำลังรอให้ controls เริ่มทำงาน</translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>เข้าควบคุมรถเดี๋ยวนี้</translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation>Controls ไม่ตอบสนอง</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>รีบูตอุปกรณ์</translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -595,6 +630,10 @@
         <source>ft</source>
         <translation>ฟุต</translation>
     </message>
+    <message>
+        <source>now</source>
+        <translation>ตอนนี้</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -634,7 +673,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation type="unfinished"></translation>
+        <translation>ระบบถูกรีเซ็ต กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตต่อ</translation>
     </message>
 </context>
 <context>
@@ -744,15 +783,15 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Choose Software to Install</source>
-        <translation type="unfinished"></translation>
+        <translation>เลือกซอฟต์แวร์ที่จะติดตั้ง</translation>
     </message>
     <message>
         <source>openpilot</source>
-        <translation type="unfinished">openpilot</translation>
+        <translation>openpilot</translation>
     </message>
     <message>
         <source>Custom Software</source>
-        <translation type="unfinished"></translation>
+        <translation>ซอฟต์แวร์ที่กำหนดเอง</translation>
     </message>
 </context>
 <context>
@@ -1103,10 +1142,6 @@ This may take up to a minute.</source>
         <source>Driving Personality</source>
         <translation>บุคลิกการขับขี่</translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation>แนะนำให้ใช้แบบมาตรฐาน ในโหมดดุดัน openpilot จะตามรถคันหน้าใกล้ขึ้นและเร่งและเบรคแบบดุดันมากขึ้น ในโหมดผ่อนคลาย openpilot จะอยู่ห่างจากรถคันหน้ามากขึ้น</translation>
-    </message>
     <message>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>ระบบควบคุมการเร่ง/เบรคโดย openpilot เวอร์ชัน alpha สามารถทดสอบได้พร้อมกับโหมดการทดลอง บน branch ที่กำลังพัฒนา</translation>
@@ -1115,22 +1150,26 @@ This may take up to a minute.</source>
         <source>End-to-End Longitudinal Control</source>
         <translation>ควบคุมเร่ง/เบรคแบบ End-to-End</translation>
     </message>
-    <message>
-        <source>Navigate on openpilot</source>
-        <translation>การนำทางบน openpilot</translation>
-    </message>
-    <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
-        <translation>เมื่อการนำทางมีจุดหมายปลายทาง openpilot จะป้อนข้อมูลแผนที่เข้าไปยังโมเดล ซึ่งจะเป็นบริบทที่มีประโยชน์สำหรับโมเดลและจะทำให้ openpilot สามารถรักษาเลนซ้ายหรือขวาได้อย่างเหมาะสมบริเวณทางแยกหรือทางออก พฤติกรรมการเปลี่ยนเลนยังคงเหมือนเดิมและยังคงต้องถูกเริ่มโดยคนขับ ความสามารถนี้ยังอยู่ในระดับ alpha ซึ่งอาจะเกิดความผิดพลาดได้โดยเฉพาะบริเวณทางแยกหรือทางออก ความผิดพลาดที่อาจเกิดขึ้นได้อาจรวมถึงการข้ามเส้นแบ่งเลนโดยไม่ตั้งใจ, การเข้าช่องทางออกช้ากว่าปกติ, การขับเข้าหาแบริเออร์ในเขตปลอดภัย, ฯลฯ</translation>
-    </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
-        <translation>การแสดงภาพการขับขี่จะเปลี่ยนไปใช้กล้องมุมกว้างที่หันหน้าไปทางถนนเมื่ออยู่ในความเร็วต่ำ เพื่อแสดงภาพการเลี้ยวที่ดีขึ้น โลโก้โหมดการทดลองจะแสดงที่มุมบนขวาด้วย เมื่อเป้าหมายการนำทางถูกเลือกและโมเดลการขับขี่กำลังใช้เป็นอินพุต เส้นทางการขับขี่บนแผนที่จะเปลี่ยนเป็นสีเขียว</translation>
-    </message>
     <message>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation>เปิดระบบควบคุมการเร่ง/เบรคโดย openpilot (alpha) เพื่อเปิดใช้งานโหมดทดลอง</translation>
     </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation>แนะนำให้ใช้แบบมาตรฐาน ในโหมดดุดัน openpilot จะตามรถคันหน้าใกล้ขึ้นและเร่งและเบรคแบบดุดันมากขึ้น ในโหมดผ่อนคลาย openpilot จะอยู่ห่างจากรถคันหน้ามากขึ้น ในรถรุ่นที่รองรับคุณสามารถเปลี่ยนบุคลิกไปแบบต่าง ๆ โดยใช้ปุ่มปรับระยะห่างบนพวงมาลัย</translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
+        <translation>การแสดงภาพการขับขี่จะเปลี่ยนไปใช้กล้องมุมกว้างที่หันหน้าไปทางถนนเมื่ออยู่ในความเร็วต่ำ เพื่อแสดงภาพการเลี้ยวที่ดีขึ้น โลโก้โหมดการทดลองจะแสดงที่มุมบนขวาด้วย</translation>
+    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index d19c9ff036..000fc1a2ec 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -293,6 +293,18 @@
         <source>Review</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>Cihazınızı comma connect (connect.comma.ai) ile eşleştirin ve comma prime aboneliğine göz atın.</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -474,6 +486,29 @@
         <translation> UYARI</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -594,6 +629,10 @@
         <source>ft</source>
         <translation>ft</translation>
     </message>
+    <message>
+        <source>now</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -1081,10 +1120,6 @@ This may take up to a minute.</source>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
         <translation type="unfinished"></translation>
@@ -1097,22 +1132,10 @@ This may take up to a minute.</source>
         <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Navigate on openpilot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>New Driving Visualization</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation type="unfinished"></translation>
@@ -1129,6 +1152,22 @@ This may take up to a minute.</source>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 59d6874035..3d9cf1c001 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -293,6 +293,18 @@
         <source>Review</source>
         <translation>预览</translation>
     </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>将您的设备与comma connect （connect.comma.ai）配对并领取您的comma prime优惠。</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -475,6 +487,29 @@
         <translation> 警报</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -595,6 +630,10 @@
         <source>ft</source>
         <translation>ft</translation>
     </message>
+    <message>
+        <source>now</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -1103,18 +1142,10 @@ This may take up to a minute.</source>
         <source>Driving Personality</source>
         <translation>驾驶风格</translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation>推荐使用标准模式。在积极模式中，openpilot 会更靠近前车并在加速和刹车方面更积极。在舒适模式中，openpilot 会与前车保持较远的距离。</translation>
-    </message>
     <message>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>在正式（release）版本以外的分支上，可以测试 openpilot 纵向控制的 Alpha 版本以及实验模式。</translation>
     </message>
-    <message>
-        <source>Navigate on openpilot</source>
-        <translation>Navigate on openpilot</translation>
-    </message>
     <message>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation>启用 openpilot 纵向控制（alpha）开关以允许实验模式。</translation>
@@ -1124,12 +1155,20 @@ This may take up to a minute.</source>
         <translation>端到端纵向控制</translation>
     </message>
     <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
-        <translation>当导航有目的地时，openpilot 将输入地图信息到模型中。这为模型提供了有用的背景信息，使 openpilot 能够在叉路/出口时适当地保持左侧或右侧行驶。车道变换行为保持不变，仍由驾驶员激活。这是一个 Alpha 版的功能；可能会出现错误，特别是在出口和分叉处。这些错误可能包括意外的车道越界、晚出口、朝着分隔栏驶向安全地带等。</translation>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
-        <translation>行驶画面将在低速时切换到道路朝向的广角摄像头，以更好地显示一些转弯。实验模式标志也将显示在右上角。当设置了导航目的地并且驾驶模型正在使用它作为输入时，地图上的驾驶路径将变为绿色。</translation>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation>驾驶员监控常开</translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation>即使在openpilot未激活时也启用驾驶员监控。</translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 0079b47f7f..d9030b82ff 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -293,6 +293,18 @@
         <source>Review</source>
         <translation>回顧</translation>
     </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>將您的設備與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -475,6 +487,29 @@
         <translation> 提醒</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>
@@ -595,6 +630,10 @@
         <source>ft</source>
         <translation>ft</translation>
     </message>
+    <message>
+        <source>now</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -1103,18 +1142,10 @@ This may take up to a minute.</source>
         <source>Driving Personality</source>
         <translation>駕駛風格</translation>
     </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation>推薦使用標準模式。在積極模式中，openpilot 會更靠近前車並在加速和剎車方面更積極。在舒適模式中，openpilot 會與前車保持較遠的距離。</translation>
-    </message>
     <message>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>在正式 (release) 版以外的分支上可以測試 openpilot 縱向控制的 Alpha 版本以及實驗模式。</translation>
     </message>
-    <message>
-        <source>Navigate on openpilot</source>
-        <translation>Navigate on openpilot</translation>
-    </message>
     <message>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation>啟用 openpilot 縱向控制（alpha）切換以允許實驗模式。</translation>
@@ -1124,12 +1155,20 @@ This may take up to a minute.</source>
         <translation>端到端縱向控制</translation>
     </message>
     <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
-        <translation>當導航有目的地時，openpilot 將把地圖資訊輸入模型中。這為模型提供了有用的背景資訊，使 openpilot 能夠在叉路/出口時適當地保持左側或右側行駛。車道變換行為保持不變，仍由駕駛員啟用。這是一個 Alpha 版的功能；可能會出現錯誤，特別是在出口和分叉處。這些錯誤可能包括意外的車道越界、晚出口、朝著分隔欄駛向分隔帶區域等。</translation>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
-        <translation>行駛畫面將在低速時切換至道路朝向的廣角鏡頭，以更好地顯示一些轉彎。實驗模式圖示也將顯示在右上角。當設定了導航目的地並且行駛模型正在將其作為輸入時，地圖上的行駛路徑將變為綠色。</translation>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation>駕駛監控常開</translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation>即使在openpilot未激活時也啟用駕駛監控。</translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 86cd70f028..f5028a280f 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include <map>
 #include <memory>
 #include <string>
 
@@ -22,7 +21,6 @@ const int UI_HEADER_HEIGHT = 420;
 
 const int UI_FREQ = 20; // Hz
 const int BACKLIGHT_OFFROAD = 50;
-typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
 
 const float MIN_DRAW_DISTANCE = 10.0;
 const float MAX_DRAW_DISTANCE = 100.0;
@@ -47,59 +45,6 @@ constexpr vec3 default_face_kpts_3d[] = {
   {18.02, -49.14, 8.00}, {6.36, -51.20, 8.00}, {-5.98, -51.20, 8.00},
 };
 
-struct Alert {
-  QString text1;
-  QString text2;
-  QString type;
-  cereal::ControlsState::AlertSize size;
-  cereal::ControlsState::AlertStatus status;
-  AudibleAlert sound;
-
-  bool equal(const Alert &a2) {
-    return text1 == a2.text1 && text2 == a2.text2 && type == a2.type && sound == a2.sound;
-  }
-
-  static Alert get(const SubMaster &sm, uint64_t started_frame) {
-    const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
-    const uint64_t controls_frame = sm.rcv_frame("controlsState");
-
-    Alert alert = {};
-    if (controls_frame >= started_frame) {  // Don't get old alert.
-      alert = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
-               cs.getAlertType().cStr(), cs.getAlertSize(),
-               cs.getAlertStatus(),
-               cs.getAlertSound()};
-    }
-
-    if (!sm.updated("controlsState") && (sm.frame - started_frame) > 5 * UI_FREQ) {
-      const int CONTROLS_TIMEOUT = 5;
-      const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9;
-
-      // Handle controls timeout
-      if (controls_frame < started_frame) {
-        // car is started, but controlsState hasn't been seen at all
-        alert = {"openpilot Unavailable", "Waiting for controls to start",
-                 "controlsWaiting", cereal::ControlsState::AlertSize::MID,
-                 cereal::ControlsState::AlertStatus::NORMAL,
-                 AudibleAlert::NONE};
-      } else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) {
-        // car is started, but controls is lagging or died
-        if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) {
-          alert = {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
-                   "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
-                   cereal::ControlsState::AlertStatus::CRITICAL,
-                   AudibleAlert::WARNING_IMMEDIATE};
-        } else {
-          alert = {"Controls Unresponsive", "Reboot Device",
-                   "controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID,
-                   cereal::ControlsState::AlertStatus::NORMAL,
-                   AudibleAlert::NONE};
-        }
-      }
-    }
-    return alert;
-  }
-};
 
 typedef enum UIStatus {
   STATUS_DISENGAGED,
@@ -108,7 +53,8 @@ typedef enum UIStatus {
 } UIStatus;
 
 enum PrimeType {
-  UNKNOWN = -1,
+  UNKNOWN = -2,
+  UNPAIRED = -1,
   NONE = 0,
   MAGENTA = 1,
   LITE = 2,
@@ -123,11 +69,6 @@ const QColor bg_colors [] = {
   [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
 };
 
-static std::map<cereal::ControlsState::AlertStatus, QColor> alert_colors = {
-  {cereal::ControlsState::AlertStatus::NORMAL, QColor(0x15, 0x15, 0x15, 0xf1)},
-  {cereal::ControlsState::AlertStatus::USER_PROMPT, QColor(0xDA, 0x6F, 0x25, 0xf1)},
-  {cereal::ControlsState::AlertStatus::CRITICAL, QColor(0xC9, 0x22, 0x31, 0xf1)},
-};
 
 typedef struct UIScene {
   bool calibration_valid = false;
@@ -154,7 +95,7 @@ typedef struct UIScene {
   float driver_pose_coss[3];
   vec3 face_kpts_draw[std::size(default_face_kpts_3d)];
 
-  bool navigate_on_openpilot = false;
+  cereal::LongitudinalPersonality personality;
 
   float light_sensor;
   bool started, ignition, is_metric, map_on_left, longitudinal_control;
@@ -174,7 +115,7 @@ public:
 
   void setPrimeType(PrimeType type);
   inline PrimeType primeType() const { return prime_type; }
-  inline bool hasPrime() const { return prime_type != PrimeType::UNKNOWN && prime_type != PrimeType::NONE; }
+  inline bool hasPrime() const { return prime_type > PrimeType::NONE; }
 
   int fb_w = 0, fb_h = 0;
 
diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py
index ea2ee51a45..660495b1de 100755
--- a/selfdrive/ui/ui.py
+++ b/selfdrive/ui/ui.py
@@ -52,7 +52,7 @@ if __name__ == "__main__":
     onroad = sm.all_checks(['deviceState']) and sm['deviceState'].started
     if onroad:
       cs = sm['controlsState']
-      color = ("grey" if str(cs.status) in ("overriding", "preEnabled") else "green") if cs.enabled else "blue"
+      color = ("grey" if str(cs.state) in ("overriding", "preEnabled") else "green") if cs.enabled else "blue"
       bg.setText("\U0001F44D" if cs.engageable else "\U0001F6D1")
       bg.setStyleSheet(f"font-size: 100px; background-color: {color};")
       bg.show()
diff --git a/selfdrive/updated/tests/test_base.py b/selfdrive/updated/tests/test_base.py
new file mode 100644
index 0000000000..b59f03fe77
--- /dev/null
+++ b/selfdrive/updated/tests/test_base.py
@@ -0,0 +1,262 @@
+import os
+import pathlib
+import shutil
+import signal
+import stat
+import subprocess
+import tempfile
+import time
+import unittest
+from unittest import mock
+
+import pytest
+
+from openpilot.common.params import Params
+from openpilot.selfdrive.manager.process import ManagerProcess
+from openpilot.selfdrive.test.helpers import processes_context
+
+
+def get_consistent_flag(path: str) -> bool:
+  consistent_file = pathlib.Path(os.path.join(path, ".overlay_consistent"))
+  return consistent_file.is_file()
+
+
+def run(args, **kwargs):
+  return subprocess.check_output(args, **kwargs)
+
+
+def update_release(directory, name, version, agnos_version, release_notes):
+  with open(directory / "RELEASES.md", "w") as f:
+    f.write(release_notes)
+
+  (directory / "common").mkdir(exist_ok=True)
+
+  with open(directory / "common" / "version.h", "w") as f:
+    f.write(f'#define COMMA_VERSION "{version}"')
+
+  launch_env = directory / "launch_env.sh"
+  with open(launch_env, "w") as f:
+    f.write(f'export AGNOS_VERSION="{agnos_version}"')
+
+  st = os.stat(launch_env)
+  os.chmod(launch_env, st.st_mode | stat.S_IEXEC)
+
+  test_symlink = directory / "test_symlink"
+  if not os.path.exists(str(test_symlink)):
+    os.symlink("common/version.h", test_symlink)
+
+
+def get_version(path: str) -> str:
+  with open(os.path.join(path, "common", "version.h")) as f:
+    return f.read().split('"')[1]
+
+
+@pytest.mark.slow # TODO: can we test overlayfs in GHA?
+class BaseUpdateTest(unittest.TestCase):
+  @classmethod
+  def setUpClass(cls):
+    if "Base" in cls.__name__:
+      raise unittest.SkipTest
+
+  def setUp(self):
+    self.tmpdir = tempfile.mkdtemp()
+
+    run(["sudo", "mount", "-t", "tmpfs", "tmpfs", self.tmpdir]) # overlayfs doesn't work inside of docker unless this is a tmpfs
+
+    self.mock_update_path = pathlib.Path(self.tmpdir)
+
+    self.params = Params()
+
+    self.basedir = self.mock_update_path / "openpilot"
+    self.basedir.mkdir()
+
+    self.staging_root = self.mock_update_path / "safe_staging"
+    self.staging_root.mkdir()
+
+    self.remote_dir = self.mock_update_path / "remote"
+    self.remote_dir.mkdir()
+
+    mock.patch("openpilot.common.basedir.BASEDIR", self.basedir).start()
+
+    os.environ["UPDATER_STAGING_ROOT"] = str(self.staging_root)
+    os.environ["UPDATER_LOCK_FILE"] = str(self.mock_update_path / "safe_staging_overlay.lock")
+
+    self.MOCK_RELEASES = {
+      "release3": ("0.1.2", "1.2", "0.1.2 release notes"),
+      "master": ("0.1.3", "1.2", "0.1.3 release notes"),
+    }
+
+  def set_target_branch(self, branch):
+    self.params.put("UpdaterTargetBranch", branch)
+
+  def setup_basedir_release(self, release):
+    self.params = Params()
+    self.set_target_branch(release)
+
+  def update_remote_release(self, release):
+    raise NotImplementedError("")
+
+  def setup_remote_release(self, release):
+    raise NotImplementedError("")
+
+  def additional_context(self):
+    raise NotImplementedError("")
+
+  def tearDown(self):
+    mock.patch.stopall()
+    try:
+      run(["sudo", "umount", "-l", str(self.staging_root / "merged")])
+      run(["sudo", "umount", "-l", self.tmpdir])
+      shutil.rmtree(self.tmpdir)
+    except Exception:
+      print("cleanup failed...")
+
+  def wait_for_condition(self, condition, timeout=12):
+    start = time.monotonic()
+    while True:
+      waited = time.monotonic() - start
+      if condition():
+        print(f"waited {waited}s for condition ")
+        return waited
+
+      if waited > timeout:
+        raise TimeoutError("timed out waiting for condition")
+
+      time.sleep(1)
+
+  def _test_finalized_update(self, branch, version, agnos_version, release_notes):
+    self.assertEqual(get_version(str(self.staging_root / "finalized")), version)
+    self.assertEqual(get_consistent_flag(str(self.staging_root / "finalized")), True)
+    self.assertTrue(os.access(str(self.staging_root / "finalized" / "launch_env.sh"), os.X_OK))
+
+    with open(self.staging_root / "finalized" / "test_symlink") as f:
+      self.assertIn(version, f.read())
+
+class ParamsBaseUpdateTest(BaseUpdateTest):
+  def _test_finalized_update(self, branch, version, agnos_version, release_notes):
+    self.assertTrue(self.params.get("UpdaterNewDescription", encoding="utf-8").startswith(f"{version} / {branch}"))
+    self.assertEqual(self.params.get("UpdaterNewReleaseNotes", encoding="utf-8"), f"<p>{release_notes}</p>\n")
+    super()._test_finalized_update(branch, version, agnos_version, release_notes)
+
+  def send_check_for_updates_signal(self, updated: ManagerProcess):
+    updated.signal(signal.SIGUSR1.value)
+
+  def send_download_signal(self, updated: ManagerProcess):
+    updated.signal(signal.SIGHUP.value)
+
+  def _test_params(self, branch, fetch_available, update_available):
+    self.assertEqual(self.params.get("UpdaterTargetBranch", encoding="utf-8"), branch)
+    self.assertEqual(self.params.get_bool("UpdaterFetchAvailable"), fetch_available)
+    self.assertEqual(self.params.get_bool("UpdateAvailable"), update_available)
+
+  def wait_for_idle(self):
+    self.wait_for_condition(lambda: self.params.get("UpdaterState", encoding="utf-8") == "idle")
+
+  def wait_for_failed(self):
+    self.wait_for_condition(lambda: self.params.get("UpdateFailedCount", encoding="utf-8") is not None and \
+                                              int(self.params.get("UpdateFailedCount", encoding="utf-8")) > 0)
+
+  def wait_for_fetch_available(self):
+    self.wait_for_condition(lambda: self.params.get_bool("UpdaterFetchAvailable"))
+
+  def wait_for_update_available(self):
+    self.wait_for_condition(lambda: self.params.get_bool("UpdateAvailable"))
+
+  def test_no_update(self):
+    # Start on release3, ensure we don't fetch any updates
+    self.setup_remote_release("release3")
+    self.setup_basedir_release("release3")
+
+    with self.additional_context(), processes_context(["updated"]) as [updated]:
+      self._test_params("release3", False, False)
+      self.wait_for_idle()
+      self._test_params("release3", False, False)
+
+      self.send_check_for_updates_signal(updated)
+
+      self.wait_for_idle()
+
+      self._test_params("release3", False, False)
+
+  def test_new_release(self):
+    # Start on release3, simulate a release3 commit, ensure we fetch that update properly
+    self.setup_remote_release("release3")
+    self.setup_basedir_release("release3")
+
+    with self.additional_context(), processes_context(["updated"]) as [updated]:
+      self._test_params("release3", False, False)
+      self.wait_for_idle()
+      self._test_params("release3", False, False)
+
+      self.MOCK_RELEASES["release3"] = ("0.1.3", "1.2", "0.1.3 release notes")
+      self.update_remote_release("release3")
+
+      self.send_check_for_updates_signal(updated)
+
+      self.wait_for_fetch_available()
+
+      self._test_params("release3", True, False)
+
+      self.send_download_signal(updated)
+
+      self.wait_for_update_available()
+
+      self._test_params("release3", False, True)
+      self._test_finalized_update("release3", *self.MOCK_RELEASES["release3"])
+
+  def test_switch_branches(self):
+    # Start on release3, request to switch to master manually, ensure we switched
+    self.setup_remote_release("release3")
+    self.setup_remote_release("master")
+    self.setup_basedir_release("release3")
+
+    with self.additional_context(), processes_context(["updated"]) as [updated]:
+      self._test_params("release3", False, False)
+      self.wait_for_idle()
+      self._test_params("release3", False, False)
+
+      self.set_target_branch("master")
+      self.send_check_for_updates_signal(updated)
+
+      self.wait_for_fetch_available()
+
+      self._test_params("master", True, False)
+
+      self.send_download_signal(updated)
+
+      self.wait_for_update_available()
+
+      self._test_params("master", False, True)
+      self._test_finalized_update("master", *self.MOCK_RELEASES["master"])
+
+  def test_agnos_update(self):
+    # Start on release3, push an update with an agnos change
+    self.setup_remote_release("release3")
+    self.setup_basedir_release("release3")
+
+    with self.additional_context(), \
+        mock.patch("openpilot.system.hardware.AGNOS", "True"), \
+        mock.patch("openpilot.system.hardware.tici.hardware.Tici.get_os_version", "1.2"), \
+        mock.patch("openpilot.system.hardware.tici.agnos.get_target_slot_number"), \
+        mock.patch("openpilot.system.hardware.tici.agnos.flash_agnos_update"), \
+          processes_context(["updated"]) as [updated]:
+
+      self._test_params("release3", False, False)
+      self.wait_for_idle()
+      self._test_params("release3", False, False)
+
+      self.MOCK_RELEASES["release3"] = ("0.1.3", "1.3", "0.1.3 release notes")
+      self.update_remote_release("release3")
+
+      self.send_check_for_updates_signal(updated)
+
+      self.wait_for_fetch_available()
+
+      self._test_params("release3", True, False)
+
+      self.send_download_signal(updated)
+
+      self.wait_for_update_available()
+
+      self._test_params("release3", False, True)
+      self._test_finalized_update("release3", *self.MOCK_RELEASES["release3"])
diff --git a/selfdrive/updated/tests/test_git.py b/selfdrive/updated/tests/test_git.py
new file mode 100644
index 0000000000..51ea77fb81
--- /dev/null
+++ b/selfdrive/updated/tests/test_git.py
@@ -0,0 +1,22 @@
+import contextlib
+from openpilot.selfdrive.updated.tests.test_base import ParamsBaseUpdateTest, run, update_release
+
+
+class TestUpdateDGitStrategy(ParamsBaseUpdateTest):
+  def update_remote_release(self, release):
+    update_release(self.remote_dir, release, *self.MOCK_RELEASES[release])
+    run(["git", "add", "."], cwd=self.remote_dir)
+    run(["git", "commit", "-m", f"openpilot release {release}"], cwd=self.remote_dir)
+
+  def setup_remote_release(self, release):
+    run(["git", "init"], cwd=self.remote_dir)
+    run(["git", "checkout", "-b", release], cwd=self.remote_dir)
+    self.update_remote_release(release)
+
+  def setup_basedir_release(self, release):
+    super().setup_basedir_release(release)
+    run(["git", "clone", "-b", release, self.remote_dir, self.basedir])
+
+  @contextlib.contextmanager
+  def additional_context(self):
+    yield
diff --git a/selfdrive/updated.py b/selfdrive/updated/updated.py
similarity index 99%
rename from selfdrive/updated.py
rename to selfdrive/updated/updated.py
index b6b395f254..c1af41bd92 100755
--- a/selfdrive/updated.py
+++ b/selfdrive/updated/updated.py
@@ -16,10 +16,10 @@ from markdown_it import MarkdownIt
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.time import system_time_valid
-from openpilot.system.hardware import AGNOS, HARDWARE
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
-from openpilot.system.version import is_tested_branch
+from openpilot.system.hardware import AGNOS, HARDWARE
+from openpilot.system.version import get_build_metadata
 
 LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock")
 STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging")
@@ -325,8 +325,9 @@ class Updater:
 
     now = datetime.datetime.utcnow()
     dt = now - last_update
+    build_metadata = get_build_metadata()
     if failed_count > 15 and exception is not None and self.has_internet:
-      if is_tested_branch():
+      if build_metadata.tested_channel:
         extra_text = "Ensure the software is correctly installed. Uninstall and re-install if this error persists."
       else:
         extra_text = exception
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 91c6d44f84..6dcb8b4d22 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -8,7 +8,6 @@
 
 #include "common/clutil.h"
 #include "common/swaglog.h"
-#include "common/util.h"
 #include "third_party/linux/include/msm_media_info.h"
 
 #include "system/camerad/cameras/camera_qcom2.h"
@@ -18,36 +17,38 @@
 
 ExitHandler do_exit;
 
-class Debayer {
+class ImgProc {
 public:
-  Debayer(cl_device_id device_id, cl_context context, const CameraBuf *b, const CameraState *s, int buf_width, int uv_offset) {
+  ImgProc(cl_device_id device_id, cl_context context, const CameraBuf *b, const CameraState *s, int buf_width, int uv_offset) {
     char args[4096];
     const SensorInfo *ci = s->ci.get();
     snprintf(args, sizeof(args),
-             "-cl-fast-relaxed-math -cl-denorms-are-zero "
+             "-cl-fast-relaxed-math -cl-denorms-are-zero -Isensors "
              "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d "
              "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d "
-             "-DIS_OX=%d -DCAM_NUM=%d%s",
-             ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset,
+             "-DSENSOR_ID=%hu -DHDR_OFFSET=%d -DVIGNETTING=%d ",
+             ci->frame_width, ci->frame_height, ci->hdr_offset > 0 ? ci->frame_stride * 2 : ci->frame_stride, ci->frame_offset,
              b->rgb_width, b->rgb_height, buf_width, uv_offset,
-             ci->image_sensor == cereal::FrameData::ImageSensor::OX03C10, s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : "");
-    const char *cl_file = "cameras/real_debayer.cl";
-    cl_program prg_debayer = cl_program_from_file(context, device_id, cl_file, args);
-    krnl_ = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err));
-    CL_CHECK(clReleaseProgram(prg_debayer));
+             ci->image_sensor, ci->hdr_offset, s->camera_num == 1);
+    const char *cl_file = "cameras/process_raw.cl";
+    cl_program prg_imgproc = cl_program_from_file(context, device_id, cl_file, args);
+    krnl_ = CL_CHECK_ERR(clCreateKernel(prg_imgproc, "process_raw", &err));
+    CL_CHECK(clReleaseProgram(prg_imgproc));
+
   }
 
-  void queue(cl_command_queue q, cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, cl_event *debayer_event) {
+  void queue(cl_command_queue q, cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, cl_event *imgproc_event, int expo_time) {
     CL_CHECK(clSetKernelArg(krnl_, 0, sizeof(cl_mem), &cam_buf_cl));
     CL_CHECK(clSetKernelArg(krnl_, 1, sizeof(cl_mem), &buf_cl));
+    CL_CHECK(clSetKernelArg(krnl_, 2, sizeof(cl_int), &expo_time));
 
     const size_t globalWorkSize[] = {size_t(width / 2), size_t(height / 2)};
-    const int debayer_local_worksize = 16;
-    const size_t localWorkSize[] = {debayer_local_worksize, debayer_local_worksize};
-    CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, debayer_event));
+    const int imgproc_local_worksize = 16;
+    const size_t localWorkSize[] = {imgproc_local_worksize, imgproc_local_worksize};
+    CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, imgproc_event));
   }
 
-  ~Debayer() {
+  ~ImgProc() {
     CL_CHECK(clReleaseKernel(krnl_));
   }
 
@@ -73,18 +74,22 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   LOGD("allocated %d CL buffers", frame_buf_count);
 
   rgb_width = ci->frame_width;
-  rgb_height = ci->frame_height;
+  rgb_height = ci->hdr_offset > 0 ? (ci->frame_height - ci->hdr_offset) / 2 : ci->frame_height;
 
   int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, rgb_width);
   int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, rgb_height);
   assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, rgb_width));
   assert(nv12_height/2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, rgb_height));
-  size_t nv12_size = 2346 * nv12_width;  // comes from v4l2_format.fmt.pix_mp.plane_fmt[0].sizeimage
   size_t nv12_uv_offset = nv12_width * nv12_height;
+
+  // the encoder HW tells us the size it wants after setting it up.
+  // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
+  size_t nv12_size = (rgb_width >= 2688 ? 2900 : 2346)*nv12_width;
+
   vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset);
   LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height);
 
-  debayer = new Debayer(device_id, context, this, s, nv12_width, nv12_uv_offset);
+  imgproc = new ImgProc(device_id, context, this, s, nv12_width, nv12_uv_offset);
 
   const cl_queue_properties props[] = {0};  //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
   q = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
@@ -94,7 +99,7 @@ CameraBuf::~CameraBuf() {
   for (int i = 0; i < frame_buf_count; i++) {
     camera_bufs[i].free();
   }
-  if (debayer) delete debayer;
+  if (imgproc) delete imgproc;
   if (q) CL_CHECK(clReleaseCommandQueue(q));
 }
 
@@ -112,7 +117,7 @@ bool CameraBuf::acquire() {
 
   double start_time = millis_since_boot();
   cl_event event;
-  debayer->queue(q, camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, &event);
+  imgproc->queue(q, camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, &event, cur_frame_data.integ_lines);
   clWaitForEvents(1, &event);
   CL_CHECK(clReleaseEvent(event));
   cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
@@ -252,14 +257,14 @@ static void publish_thumbnail(PubMaster *pm, const CameraBuf *b) {
   pm->send("thumbnail", msg);
 }
 
-float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip) {
+float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip) {
   int lum_med;
   uint32_t lum_binning[256] = {0};
   const uint8_t *pix_ptr = b->cur_yuv_buf->y;
 
   unsigned int lum_total = 0;
-  for (int y = y_start; y < y_end; y += y_skip) {
-    for (int x = x_start; x < x_end; x += x_skip) {
+  for (int y = ae_xywh.y; y < ae_xywh.y + ae_xywh.h; y += y_skip) {
+    for (int x = ae_xywh.x; x < ae_xywh.x + ae_xywh.w; x += x_skip) {
       uint8_t lum = pix_ptr[(y * b->rgb_width) + x];
       lum_binning[lum]++;
       lum_total += 1;
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index f98691ef00..587968fccb 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -7,6 +7,7 @@
 #include "cereal/messaging/messaging.h"
 #include "cereal/visionipc/visionipc_server.h"
 #include "common/queue.h"
+#include "common/util.h"
 
 const int YUV_BUFFER_COUNT = 20;
 
@@ -44,12 +45,12 @@ typedef struct FrameMetadata {
 
 struct MultiCameraState;
 class CameraState;
-class Debayer;
+class ImgProc;
 
 class CameraBuf {
 private:
   VisionIpcServer *vipc_server;
-  Debayer *debayer = nullptr;
+  ImgProc *imgproc = nullptr;
   VisionStreamType stream_type;
   int cur_buf_idx;
   SafeQueue<int> safe_queue;
@@ -75,7 +76,7 @@ typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
 
 void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c);
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
-float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
+float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip);
 std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx);
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 3191b821ac..081279d38d 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -396,6 +396,35 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) {
 
 // ******************* camera *******************
 
+void CameraState::set_exposure_rect() {
+  // set areas for each camera, shouldn't be changed
+  std::vector<std::pair<Rect, float>> ae_targets = {
+    // (Rect, F)
+    std::make_pair((Rect){96, 250, 1734, 524}, 567.0), // wide
+    std::make_pair((Rect){96, 160, 1734, 986}, 2648.0), // road
+    std::make_pair((Rect){96, 242, 1736, 906}, 567.0) // driver
+  };
+  int h_ref = 1208;
+  /*
+    exposure target intrinics is
+    [
+      [F, 0, 0.5*ae_xywh[2]]
+      [0, F, 0.5*H-ae_xywh[1]]
+      [0, 0, 1]
+    ]
+  */
+  auto ae_target = ae_targets[camera_num];
+  Rect xywh_ref = ae_target.first;
+  float fl_ref = ae_target.second;
+
+  ae_xywh = (Rect){
+    std::max(0, buf.rgb_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::max(0, buf.rgb_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.w), buf.rgb_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.h), buf.rgb_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
+  };
+}
+
 void CameraState::sensor_set_parameters() {
   target_grey_fraction = 0.3;
 
@@ -421,7 +450,7 @@ void CameraState::camera_map_bufs(MultiCameraState *s) {
   enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
 }
 
-void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type) {
+void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len) {
   if (!enabled) return;
 
   LOGD("camera init %d", camera_num);
@@ -430,6 +459,9 @@ void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_devic
 
   buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type);
   camera_map_bufs(s);
+
+  fl_pix = focal_len / ci->pixel_size_mm;
+  set_exposure_rect();
 }
 
 void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num_, bool enabled_) {
@@ -614,9 +646,9 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
 }
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  s->driver_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_DRIVER);
-  s->road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_ROAD);
-  s->wide_road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_WIDE_ROAD);
+  s->driver_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_DRIVER, DRIVER_FL_MM);
+  s->road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_ROAD, ROAD_FL_MM);
+  s->wide_road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_WIDE_ROAD, WIDE_FL_MM);
 
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }
@@ -902,7 +934,7 @@ void CameraState::set_camera_exposure(float grey_frac) {
 }
 
 static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  c->set_camera_exposure(set_exposure_target(&c->buf, 96, 1832, 2, 242, 1148, 4));
+  c->set_camera_exposure(set_exposure_target(&c->buf, c->ae_xywh, 2, 4));
 
   MessageBuilder msg;
   auto framed = msg.initEvent().initDriverCameraState();
@@ -927,9 +959,8 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
   c->ci->processRegisters(c, framed);
   s->pm->send(c == &s->road_cam ? "roadCameraState" : "wideRoadCameraState", msg);
 
-  const auto [x, y, w, h] = (c == &s->wide_road_cam) ? std::tuple(96, 250, 1734, 524) : std::tuple(96, 160, 1734, 986);
   const int skip = 2;
-  c->set_camera_exposure(set_exposure_target(b, x, x + w, skip, y, y + h, skip));
+  c->set_camera_exposure(set_exposure_target(b, c->ae_xywh, skip, skip));
 }
 
 void cameras_run(MultiCameraState *s) {
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index 47ca578b99..0b15c9c3f0 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -11,6 +11,10 @@
 
 #define FRAME_BUF_COUNT 4
 
+#define ROAD_FL_MM 8.0f
+#define WIDE_FL_MM 1.71f
+#define DRIVER_FL_MM 1.71f
+
 class CameraState {
 public:
   MultiCameraState *multi_cam_state;
@@ -30,6 +34,7 @@ public:
   int new_exp_g;
   int new_exp_t;
 
+  Rect ae_xywh;
   float measured_grey_fraction;
   float target_grey_fraction;
 
@@ -37,6 +42,7 @@ public:
   unique_fd csiphy_fd;
 
   int camera_num;
+  float fl_pix;
 
   void handle_camera_event(void *evdat);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
@@ -45,9 +51,10 @@ public:
   void sensors_start();
 
   void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled);
+  void set_exposure_rect();
   void sensor_set_parameters();
   void camera_map_bufs(MultiCameraState *s);
-  void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type);
+  void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len);
   void camera_close();
 
   int32_t session_handle;
diff --git a/system/camerad/cameras/process_raw.cl b/system/camerad/cameras/process_raw.cl
new file mode 100644
index 0000000000..6f6612fab0
--- /dev/null
+++ b/system/camerad/cameras/process_raw.cl
@@ -0,0 +1,238 @@
+#include "ar0231_cl.h"
+#include "ox03c10_cl.h"
+#include "os04c10_cl.h"
+
+#define UV_WIDTH RGB_WIDTH / 2
+#define UV_HEIGHT RGB_HEIGHT / 2
+
+#define RGB_TO_Y(r, g, b) ((((mul24(b, 13) + mul24(g, 65) + mul24(r, 33)) + 64) >> 7) + 16)
+#define RGB_TO_U(r, g, b) ((mul24(b, 56) - mul24(g, 37) - mul24(r, 19) + 0x8080) >> 8)
+#define RGB_TO_V(r, g, b) ((mul24(r, 56) - mul24(g, 47) - mul24(b, 9) + 0x8080) >> 8)
+#define AVERAGE(x, y, z, w) ((convert_ushort(x) + convert_ushort(y) + convert_ushort(z) + convert_ushort(w) + 1) >> 1)
+
+#if defined(BGGR)
+  #define ROW_READ_ORDER (int[]){3, 2, 1, 0}
+  #define RGB_WRITE_ORDER (int[]){2, 3, 0, 1}
+#else
+  #define ROW_READ_ORDER (int[]){0, 1, 2, 3}
+  #define RGB_WRITE_ORDER (int[]){0, 1, 2, 3}
+#endif
+
+float get_vignetting_s(float r) {
+  if (r < 62500) {
+    return (1.0f + 0.0000008f*r);
+  } else if (r < 490000) {
+    return (0.9625f + 0.0000014f*r);
+  } else if (r < 1102500) {
+    return (1.26434f + 0.0000000000016f*r*r);
+  } else {
+    return (0.53503625f + 0.0000000000022f*r*r);
+  }
+}
+
+int4 parse_12bit(uchar8 pvs) {
+  // lower bits scambled?
+  return (int4)(((int)pvs.s0<<4) + (pvs.s1>>4),
+                      ((int)pvs.s2<<4) + (pvs.s4&0xF),
+                      ((int)pvs.s3<<4) + (pvs.s4>>4),
+                      ((int)pvs.s5<<4) + (pvs.s7&0xF));
+}
+
+int4 parse_10bit(uchar8 pvs, uchar ext, bool aligned) {
+  if (aligned) {
+    return (int4)(((int)pvs.s0 << 2) + (pvs.s1 & 0b00000011),
+                        ((int)pvs.s2 << 2) + ((pvs.s6 & 0b11000000) / 64),
+                        ((int)pvs.s3 << 2) + ((pvs.s6 & 0b00110000) / 16),
+                        ((int)pvs.s4 << 2) + ((pvs.s6 & 0b00001100) / 4));
+  } else {
+    return (int4)(((int)pvs.s0 << 2) + ((pvs.s3 & 0b00110000) / 16),
+                        ((int)pvs.s1 << 2) + ((pvs.s3 & 0b00001100) / 4),
+                        ((int)pvs.s2 << 2) + ((pvs.s3 & 0b00000011)),
+                        ((int)pvs.s4 << 2) + ((ext & 0b11000000) / 64));
+  }
+}
+
+float get_k(float a, float b, float c, float d) {
+  return 2.0 - (fabs(a - b) + fabs(c - d));
+}
+
+__kernel void process_raw(const __global uchar * in, __global uchar * out, int expo_time)
+{
+  const int gid_x = get_global_id(0);
+  const int gid_y = get_global_id(1);
+
+  // estimate vignetting
+  #if VIGNETTING
+    int gx = (gid_x*2 - RGB_WIDTH/2);
+    int gy = (gid_y*2 - RGB_HEIGHT/2);
+    const float vignette_factor = get_vignetting_s((gx*gx + gy*gy) / VIGNETTE_RSZ);
+  #else
+    const float vignette_factor = 1.0;
+  #endif
+
+  const int row_before_offset = (gid_y == 0) ? 2 : 0;
+  const int row_after_offset = (gid_y == (RGB_HEIGHT/2 - 1)) ? 1 : 3;
+
+  float3 rgb_tmp;
+  uchar3 rgb_out[4]; // output is 2x2 window
+
+  // read offset
+  int start_idx;
+  #if BIT_DEPTH == 10
+    bool aligned10;
+    if (gid_x % 2 == 0) {
+      aligned10 = true;
+      start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (5 * gid_x / 2 - 2) + (FRAME_STRIDE * FRAME_OFFSET);
+    } else {
+      aligned10 = false;
+      start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (5 * (gid_x - 1) / 2 + 1) + (FRAME_STRIDE * FRAME_OFFSET);
+    }
+  #else
+    start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (3 * gid_x - 2) + (FRAME_STRIDE * FRAME_OFFSET);
+  #endif
+
+  // read in 4 rows, 8 uchars each
+  uchar8 dat[4];
+  // row_before
+  dat[0] = vload8(0, in + start_idx + FRAME_STRIDE*row_before_offset);
+  // row_0
+  if (gid_x == 0 && gid_y == 0) {
+    // this wasn't a problem due to extra rows
+    dat[1] = vload8(0, in + start_idx + FRAME_STRIDE*1 + 2);
+    dat[1] = (uchar8)(0, 0, dat[1].s0, dat[1].s1, dat[1].s2, dat[1].s3, dat[1].s4, dat[1].s5);
+  } else {
+    dat[1] = vload8(0, in + start_idx + FRAME_STRIDE*1);
+  }
+  // row_1
+  dat[2] = vload8(0, in + start_idx + FRAME_STRIDE*2);
+  // row_after
+  dat[3] = vload8(0, in + start_idx + FRAME_STRIDE*row_after_offset);
+  // need extra bit for 10-bit, 4 rows, 1 uchar each
+  #if BIT_DEPTH == 10
+    uchar extra_dat[4];
+    if (!aligned10) {
+      extra_dat[0] = in[start_idx + FRAME_STRIDE*row_before_offset + 8];
+      extra_dat[1] = in[start_idx + FRAME_STRIDE*1 + 8];
+      extra_dat[2] = in[start_idx + FRAME_STRIDE*2 + 8];
+      extra_dat[3] = in[start_idx + FRAME_STRIDE*row_after_offset + 8];
+    }
+  #endif
+
+  // read odd rows for staggered second exposure
+  #if HDR_OFFSET > 0
+    uchar8 short_dat[4];
+    short_dat[0] = vload8(0, in + start_idx + FRAME_STRIDE*(row_before_offset+HDR_OFFSET/2) + FRAME_STRIDE/2);
+    short_dat[1] = vload8(0, in + start_idx + FRAME_STRIDE*(1+HDR_OFFSET/2) + FRAME_STRIDE/2);
+    short_dat[2] = vload8(0, in + start_idx + FRAME_STRIDE*(2+HDR_OFFSET/2) + FRAME_STRIDE/2);
+    short_dat[3] = vload8(0, in + start_idx + FRAME_STRIDE*(row_after_offset+HDR_OFFSET/2) + FRAME_STRIDE/2);
+    #if BIT_DEPTH == 10
+      uchar short_extra_dat[4];
+      if (!aligned10) {
+        short_extra_dat[0] = in[start_idx + FRAME_STRIDE*(row_before_offset+HDR_OFFSET/2) + FRAME_STRIDE/2 + 8];
+        short_extra_dat[1] = in[start_idx + FRAME_STRIDE*(1+HDR_OFFSET/2) + FRAME_STRIDE/2 + 8];
+        short_extra_dat[2] = in[start_idx + FRAME_STRIDE*(2+HDR_OFFSET/2) + FRAME_STRIDE/2 + 8];
+        short_extra_dat[3] = in[start_idx + FRAME_STRIDE*(row_after_offset+HDR_OFFSET/2) + FRAME_STRIDE/2 + 8];
+      }
+    #endif
+  #endif
+
+  // parse into floats 0.0-1.0
+  float4 v_rows[4];
+  #if BIT_DEPTH == 10
+    // for now it's always HDR
+    int4 parsed = parse_10bit(dat[0], extra_dat[0], aligned10);
+    int4 short_parsed = parse_10bit(short_dat[0], short_extra_dat[0], aligned10);
+    v_rows[ROW_READ_ORDER[0]] = normalize_pv_hdr(parsed, short_parsed, vignette_factor, expo_time);
+    parsed = parse_10bit(dat[1], extra_dat[1], aligned10);
+    short_parsed = parse_10bit(short_dat[1], short_extra_dat[1], aligned10);
+    v_rows[ROW_READ_ORDER[1]] = normalize_pv_hdr(parsed, short_parsed, vignette_factor, expo_time);
+    parsed = parse_10bit(dat[2], extra_dat[2], aligned10);
+    short_parsed = parse_10bit(short_dat[2], short_extra_dat[2], aligned10);
+    v_rows[ROW_READ_ORDER[2]] = normalize_pv_hdr(parsed, short_parsed, vignette_factor, expo_time);
+    parsed = parse_10bit(dat[3], extra_dat[3], aligned10);
+    short_parsed = parse_10bit(short_dat[3], short_extra_dat[3], aligned10);
+    v_rows[ROW_READ_ORDER[3]] = normalize_pv_hdr(parsed, short_parsed, vignette_factor, expo_time);
+  #else
+    // no HDR here
+    int4 parsed = parse_12bit(dat[0]);
+    v_rows[ROW_READ_ORDER[0]] = normalize_pv(parsed, vignette_factor);
+    parsed = parse_12bit(dat[1]);
+    v_rows[ROW_READ_ORDER[1]] = normalize_pv(parsed, vignette_factor);
+    parsed = parse_12bit(dat[2]);
+    v_rows[ROW_READ_ORDER[2]] = normalize_pv(parsed, vignette_factor);
+    parsed = parse_12bit(dat[3]);
+    v_rows[ROW_READ_ORDER[3]] = normalize_pv(parsed, vignette_factor);
+  #endif
+
+  // mirror padding
+  if (gid_x == 0) {
+    v_rows[0].s0 = v_rows[0].s2;
+    v_rows[1].s0 = v_rows[1].s2;
+    v_rows[2].s0 = v_rows[2].s2;
+    v_rows[3].s0 = v_rows[3].s2;
+  } else if (gid_x == RGB_WIDTH/2 - 1) {
+    v_rows[0].s3 = v_rows[0].s1;
+    v_rows[1].s3 = v_rows[1].s1;
+    v_rows[2].s3 = v_rows[2].s1;
+    v_rows[3].s3 = v_rows[3].s1;
+  }
+
+  // debayering
+  // a simplified version of https://opensignalprocessingjournal.com/contents/volumes/V6/TOSIGPJ-6-1/TOSIGPJ-6-1.pdf
+  const float k01 = get_k(v_rows[0].s0, v_rows[1].s1, v_rows[0].s2, v_rows[1].s1);
+  const float k02 = get_k(v_rows[0].s2, v_rows[1].s1, v_rows[2].s2, v_rows[1].s1);
+  const float k03 = get_k(v_rows[2].s0, v_rows[1].s1, v_rows[2].s2, v_rows[1].s1);
+  const float k04 = get_k(v_rows[0].s0, v_rows[1].s1, v_rows[2].s0, v_rows[1].s1);
+  rgb_tmp.x = (k02*v_rows[1].s2+k04*v_rows[1].s0)/(k02+k04); // R_G1
+  rgb_tmp.y = v_rows[1].s1; // G1(R)
+  rgb_tmp.z = (k01*v_rows[0].s1+k03*v_rows[2].s1)/(k01+k03); // B_G1
+  rgb_out[RGB_WRITE_ORDER[0]] = convert_uchar3_sat(apply_gamma(color_correct(clamp(rgb_tmp, 0.0, 1.0)), expo_time) * 255.0);
+
+  const float k11 = get_k(v_rows[0].s1, v_rows[2].s1, v_rows[0].s3, v_rows[2].s3);
+  const float k12 = get_k(v_rows[0].s2, v_rows[1].s1, v_rows[1].s3, v_rows[2].s2);
+  const float k13 = get_k(v_rows[0].s1, v_rows[0].s3, v_rows[2].s1, v_rows[2].s3);
+  const float k14 = get_k(v_rows[0].s2, v_rows[1].s3, v_rows[2].s2, v_rows[1].s1);
+  rgb_tmp.x = v_rows[1].s2; // R
+  rgb_tmp.y = (k11*(v_rows[0].s2+v_rows[2].s2)*0.5+k13*(v_rows[1].s3+v_rows[1].s1)*0.5)/(k11+k13); // G_R
+  rgb_tmp.z = (k12*(v_rows[0].s3+v_rows[2].s1)*0.5+k14*(v_rows[0].s1+v_rows[2].s3)*0.5)/(k12+k14); // B_R
+  rgb_out[RGB_WRITE_ORDER[1]] = convert_uchar3_sat(apply_gamma(color_correct(clamp(rgb_tmp, 0.0, 1.0)), expo_time) * 255.0);
+
+  const float k21 = get_k(v_rows[1].s0, v_rows[3].s0, v_rows[1].s2, v_rows[3].s2);
+  const float k22 = get_k(v_rows[1].s1, v_rows[2].s0, v_rows[2].s2, v_rows[3].s1);
+  const float k23 = get_k(v_rows[1].s0, v_rows[1].s2, v_rows[3].s0, v_rows[3].s2);
+  const float k24 = get_k(v_rows[1].s1, v_rows[2].s2, v_rows[3].s1, v_rows[2].s0);
+  rgb_tmp.x = (k22*(v_rows[1].s2+v_rows[3].s0)*0.5+k24*(v_rows[1].s0+v_rows[3].s2)*0.5)/(k22+k24); // R_B
+  rgb_tmp.y = (k21*(v_rows[1].s1+v_rows[3].s1)*0.5+k23*(v_rows[2].s2+v_rows[2].s0)*0.5)/(k21+k23); // G_B
+  rgb_tmp.z = v_rows[2].s1; // B
+  rgb_out[RGB_WRITE_ORDER[2]] = convert_uchar3_sat(apply_gamma(color_correct(clamp(rgb_tmp, 0.0, 1.0)), expo_time) * 255.0);
+
+  const float k31 = get_k(v_rows[1].s1, v_rows[2].s2, v_rows[1].s3, v_rows[2].s2);
+  const float k32 = get_k(v_rows[1].s3, v_rows[2].s2, v_rows[3].s3, v_rows[2].s2);
+  const float k33 = get_k(v_rows[3].s1, v_rows[2].s2, v_rows[3].s3, v_rows[2].s2);
+  const float k34 = get_k(v_rows[1].s1, v_rows[2].s2, v_rows[3].s1, v_rows[2].s2);
+  rgb_tmp.x = (k31*v_rows[1].s2+k33*v_rows[3].s2)/(k31+k33); // R_G2
+  rgb_tmp.y = v_rows[2].s2; // G2(B)
+  rgb_tmp.z = (k32*v_rows[2].s3+k34*v_rows[2].s1)/(k32+k34); // B_G2
+  rgb_out[RGB_WRITE_ORDER[3]] = convert_uchar3_sat(apply_gamma(color_correct(clamp(rgb_tmp, 0.0, 1.0)), expo_time) * 255.0);
+
+  // rgb2yuv(nv12)
+  uchar2 yy = (uchar2)(
+    RGB_TO_Y(rgb_out[0].s0, rgb_out[0].s1, rgb_out[0].s2),
+    RGB_TO_Y(rgb_out[1].s0, rgb_out[1].s1, rgb_out[1].s2)
+  );
+  vstore2(yy, 0, out + mad24(gid_y * 2, YUV_STRIDE, gid_x * 2));
+  yy = (uchar2)(
+    RGB_TO_Y(rgb_out[2].s0, rgb_out[2].s1, rgb_out[2].s2),
+    RGB_TO_Y(rgb_out[3].s0, rgb_out[3].s1, rgb_out[3].s2)
+  );
+  vstore2(yy, 0, out + mad24(gid_y * 2 + 1, YUV_STRIDE, gid_x * 2));
+
+  const short ar = AVERAGE(rgb_out[0].s0, rgb_out[1].s0, rgb_out[2].s0, rgb_out[3].s0);
+  const short ag = AVERAGE(rgb_out[0].s1, rgb_out[1].s1, rgb_out[2].s1, rgb_out[3].s1);
+  const short ab = AVERAGE(rgb_out[0].s2, rgb_out[1].s2, rgb_out[2].s2, rgb_out[3].s2);
+  uchar2 uv = (uchar2)(
+    RGB_TO_U(ar, ag, ab),
+    RGB_TO_V(ar, ag, ab)
+  );
+  vstore2(uv, 0, out + UV_OFFSET + mad24(gid_y, YUV_STRIDE, gid_x * 2));
+}
diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
index 1ca4b3f1ad..9b688389c4 100644
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@@ -79,15 +79,16 @@ float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_r
 
 AR0231::AR0231() {
   image_sensor = cereal::FrameData::ImageSensor::AR0231;
+  pixel_size_mm = 0.003;
   data_word = true;
-  frame_width = FRAME_WIDTH;
-  frame_height = FRAME_HEIGHT;
-  frame_stride = FRAME_STRIDE;
+  frame_width = 1928;
+  frame_height = 1208;
+  frame_stride = (frame_width * 12 / 8) + 4;
   extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT;
 
   registers_offset = 0;
   frame_offset = AR0231_REGISTERS_HEIGHT;
-  stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT;
+  stats_offset = AR0231_REGISTERS_HEIGHT + frame_height;
 
   start_reg_array.assign(std::begin(start_reg_array_ar0231), std::end(start_reg_array_ar0231));
   init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231));
diff --git a/system/camerad/sensors/ar0231_cl.h b/system/camerad/sensors/ar0231_cl.h
new file mode 100644
index 0000000000..8e96bbce5b
--- /dev/null
+++ b/system/camerad/sensors/ar0231_cl.h
@@ -0,0 +1,33 @@
+#if SENSOR_ID == 1
+
+#define BIT_DEPTH 12
+#define PV_MAX 4096
+#define BLACK_LVL 168
+#define VIGNETTE_RSZ 1.0f
+
+float4 normalize_pv(int4 parsed, float vignette_factor) {
+  float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX - BLACK_LVL);
+  return clamp(pv*vignette_factor, 0.0, 1.0);
+}
+
+float3 color_correct(float3 rgb) {
+  float3 corrected = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673);
+  corrected += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455);
+  corrected += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782);
+  return corrected;
+}
+
+float3 apply_gamma(float3 rgb, int expo_time) {
+  // tone mapping params
+  const float gamma_k = 0.75;
+  const float gamma_b = 0.125;
+  const float mp = 0.01; // ideally midpoint should be adaptive
+  const float rk = 9 - 100*mp;
+
+  // poly approximation for s curve
+  return (rgb > mp) ?
+    ((rk * (rgb-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(rgb-mp))) + gamma_k*mp + gamma_b) :
+    ((rk * (rgb-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(rgb-mp))) + gamma_k*mp + gamma_b);
+}
+
+#endif
\ No newline at end of file
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 449e06be83..97a317407a 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -10,30 +10,23 @@ const float sensor_analog_gains_OS04C10[] = {
     10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5};
 
 const uint32_t os04c10_analog_gains_reg[] = {
-    0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180, 0x190, 0x1B0,
-    0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0, 0x2E0, 0x300,
-    0x320, 0x360, 0x3A0, 0x3E0, 0x400, 0x440, 0x480, 0x4C0, 0x500, 0x540, 0x580,
-    0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00,
-    0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80};
-
-const uint32_t VS_TIME_MIN_OS04C10 = 1;
-//const uint32_t VS_TIME_MAX_OS04C10 = 34;  // vs < 35
+    0x080, 0x088, 0x090, 0x098, 0x0A0, 0x0A8, 0x0B0, 0x0B8, 0x0C0, 0x0C8, 0x0D8,
+    0x0E8, 0x0F8, 0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180,
+    0x190, 0x1B0, 0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0,
+    0x2E0, 0x300, 0x320, 0x340, 0x380, 0x3C0, 0x400, 0x440, 0x480, 0x4C0, 0x500,
+    0x540, 0x580, 0x5C0, 0x600, 0x640, 0x680, 0x6C0, 0x700, 0x740, 0x780, 0x7C0};
 
 }  // namespace
 
 OS04C10::OS04C10() {
   image_sensor = cereal::FrameData::ImageSensor::OS04C10;
+  pixel_size_mm = 0.002;
   data_word = false;
 
-  frame_width = 1920;
-  frame_height = 1080;
-  frame_stride = (1920*10/8);
-
-  /*
-  frame_width = 0xa80;
-  frame_height = 0x5f0;
-  frame_stride = 0xd20;
-  */
+  hdr_offset = 64 * 2 + 8; // stagger
+  frame_width = 2688;
+  frame_height = 1520 * 2 + hdr_offset;
+  frame_stride = (frame_width * 10 / 8); // no alignment
 
   extra_height = 0;
   frame_offset = 0;
@@ -46,13 +39,13 @@ OS04C10::OS04C10() {
   frame_data_type = 0x2b;
   mclk_frequency = 24000000; // Hz
 
-  dc_gain_factor = 7.32;
+  dc_gain_factor = 1;
   dc_gain_min_weight = 1;  // always on is fine
   dc_gain_max_weight = 1;
   dc_gain_on_grey = 0.9;
   dc_gain_off_grey = 1.0;
-  exposure_time_min = 2;  // 1x
-  exposure_time_max = 2016;
+  exposure_time_min = 2;
+  exposure_time_max = 2400;
   analog_gain_min_idx = 0x0;
   analog_gain_rec_idx = 0x0;  // 1x
   analog_gain_max_idx = 0x36;
@@ -62,30 +55,19 @@ OS04C10::OS04C10() {
   for (int i = 0; i <= analog_gain_max_idx; i++) {
     sensor_analog_gains[i] = sensor_analog_gains_OS04C10[i];
   }
-  min_ev = (exposure_time_min + VS_TIME_MIN_OS04C10) * sensor_analog_gains[analog_gain_min_idx];
+  min_ev = (exposure_time_min) * sensor_analog_gains[analog_gain_min_idx];
   max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
   target_grey_factor = 0.01;
 }
 
 std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
-  // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD
-  uint32_t hcg_time = exposure_time;
-  //uint32_t lcg_time = hcg_time;
-  //uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OS04C10) / 3), exposure_time_max + VS_TIME_MAX_OS04C10);
-  //uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OS04C10), VS_TIME_MAX_OS04C10);
-
+  uint32_t long_time = exposure_time;
   uint32_t real_gain = os04c10_analog_gains_reg[new_exp_g];
 
-  hcg_time = 100;
-  real_gain = 0x320;
-
   return {
-    {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF},
-    //{0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF},
-    //{0x3541, spd_time>>8}, {0x3542, spd_time&0xFF},
-    //{0x35c2, vs_time&0xFF},
-
+    {0x3501, long_time>>8}, {0x3502, long_time&0xFF},
     {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF},
+    {0x350c, real_gain>>8}, {0x350d, real_gain&0xFF},
   };
 }
 
@@ -100,6 +82,6 @@ float OS04C10::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, floa
   score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
   score += ((1 - analog_gain_cost_delta) +
             analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) *
-           std::abs(exp_g_idx - gain_idx) * 5.0;
+           std::abs(exp_g_idx - gain_idx) * 3.0;
   return score;
 }
diff --git a/system/camerad/sensors/os04c10_cl.h b/system/camerad/sensors/os04c10_cl.h
new file mode 100644
index 0000000000..61775dcdc8
--- /dev/null
+++ b/system/camerad/sensors/os04c10_cl.h
@@ -0,0 +1,55 @@
+#if SENSOR_ID == 3
+
+#define BGGR
+
+#define BIT_DEPTH 10
+#define PV_MAX10 1023
+#define PV_MAX16 65536 // gamma curve is calibrated to 16bit
+#define BLACK_LVL 64
+#define VIGNETTE_RSZ 2.2545f
+
+float combine_dual_pvs(float lv, float sv, int expo_time) {
+  float svc = fmax(sv * expo_time, (float)(64 * (PV_MAX10 - BLACK_LVL)));
+  float svd = sv * fmin(expo_time, 8.0) / 8;
+
+  if (expo_time > 64) {
+    if (lv < PV_MAX10 - BLACK_LVL) {
+      return lv / (PV_MAX16 - BLACK_LVL);
+    } else {
+      return (svc / 64) / (PV_MAX16 - BLACK_LVL);
+    }
+  } else {
+    if (lv > 32) {
+      return (lv * 64 / fmax(expo_time, 8.0)) / (PV_MAX16 - BLACK_LVL);
+    } else {
+      return svd / (PV_MAX16 - BLACK_LVL);
+    }
+  }
+}
+
+float4 normalize_pv_hdr(int4 parsed, int4 short_parsed, float vignette_factor, int expo_time) {
+  float4 pl = convert_float4(parsed - BLACK_LVL);
+  float4 ps = convert_float4(short_parsed - BLACK_LVL);
+  float4 pv;
+  pv.s0 = combine_dual_pvs(pl.s0, ps.s0, expo_time);
+  pv.s1 = combine_dual_pvs(pl.s1, ps.s1, expo_time);
+  pv.s2 = combine_dual_pvs(pl.s2, ps.s2, expo_time);
+  pv.s3 = combine_dual_pvs(pl.s3, ps.s3, expo_time);
+  return clamp(pv*vignette_factor, 0.0, 1.0);
+}
+
+float3 color_correct(float3 rgb) {
+  float3 corrected = rgb.x * (float3)(1.55361989, -0.268894615, -0.000593219);
+  corrected += rgb.y * (float3)(-0.421217301, 1.51883144, -0.69760146);
+  corrected += rgb.z * (float3)(-0.132402589, -0.249936825, 1.69819468);
+  return corrected;
+}
+
+float3 apply_gamma(float3 rgb, int expo_time) {
+  float s = log2((float)expo_time);
+  if (s < 6) {s = fmin(12.0 - s, 9.0);}
+  // log function adaptive to number of bits
+  return clamp(log(1 + rgb*(PV_MAX16 - BLACK_LVL)) * (0.48*s*s - 12.92*s + 115.0) - (1.08*s*s - 29.2*s + 260.0), 0.0, 255.0) / 255.0;
+}
+
+#endif
diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h
index ad91a02950..91eb48b24f 100644
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/system/camerad/sensors/os04c10_registers.h
@@ -4,69 +4,59 @@ const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}};
 const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}};
 
 const struct i2c_random_wr_payload init_array_os04c10[] = {
-  // OS04C10_AA_00_02_17_wAO_1920x1080_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
+  // DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
   {0x0103, 0x01},
+
+  // PLL
   {0x0301, 0x84},
   {0x0303, 0x01},
-  {0x0305, 0x5b},
+  {0x0305, 0x61},
   {0x0306, 0x01},
   {0x0307, 0x17},
   {0x0323, 0x04},
   {0x0324, 0x01},
-  {0x0325, 0x62},
+  {0x0325, 0x7a},
+
   {0x3012, 0x06},
   {0x3013, 0x02},
   {0x3016, 0x72},
   {0x3021, 0x03},
   {0x3106, 0x21},
   {0x3107, 0xa1},
-  {0x3500, 0x00},
-  {0x3501, 0x00},
-  {0x3502, 0x40},
-  {0x3503, 0x88},
-  {0x3508, 0x07},
-  {0x3509, 0xc0},
-  {0x350a, 0x04},
-  {0x350b, 0x00},
-  {0x350c, 0x07},
-  {0x350d, 0xc0},
-  {0x350e, 0x04},
-  {0x350f, 0x00},
-  {0x3510, 0x00},
-  {0x3511, 0x00},
-  {0x3512, 0x20},
+
+  // ?
   {0x3624, 0x00},
   {0x3625, 0x4c},
-  {0x3660, 0x00},
+  {0x3660, 0x04},
   {0x3666, 0xa5},
   {0x3667, 0xa5},
-  {0x366a, 0x64},
+  {0x366a, 0x54},
   {0x3673, 0x0d},
   {0x3672, 0x0d},
   {0x3671, 0x0d},
   {0x3670, 0x0d},
-  {0x3685, 0x00},
+  {0x3685, 0x0a},
   {0x3694, 0x0d},
   {0x3693, 0x0d},
   {0x3692, 0x0d},
   {0x3691, 0x0d},
   {0x3696, 0x4c},
   {0x3697, 0x4c},
-  {0x3698, 0x40},
+  {0x3698, 0x00},
   {0x3699, 0x80},
-  {0x369a, 0x18},
+  {0x369a, 0x80},
   {0x369b, 0x1f},
-  {0x369c, 0x14},
+  {0x369c, 0x1f},
   {0x369d, 0x80},
   {0x369e, 0x40},
   {0x369f, 0x21},
   {0x36a0, 0x12},
-  {0x36a1, 0x5d},
+  {0x36a1, 0xdd},
   {0x36a2, 0x66},
   {0x370a, 0x00},
-  {0x370e, 0x0c},
+  {0x370e, 0x00},
   {0x3710, 0x00},
-  {0x3713, 0x00},
+  {0x3713, 0x04},
   {0x3725, 0x02},
   {0x372a, 0x03},
   {0x3738, 0xce},
@@ -75,10 +65,10 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x374c, 0x00},
   {0x374e, 0x00},
   {0x3756, 0x00},
-  {0x3757, 0x0e},
+  {0x3757, 0x00},
   {0x3767, 0x00},
   {0x3771, 0x00},
-  {0x377b, 0x20},
+  {0x377b, 0x28},
   {0x377c, 0x00},
   {0x377d, 0x0c},
   {0x3781, 0x03},
@@ -91,26 +81,29 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37ba, 0x03},
   {0x37bb, 0x00},
   {0x37bc, 0x04},
-  {0x37be, 0x08},
+  {0x37be, 0x26},
   {0x37c4, 0x11},
   {0x37c5, 0x80},
   {0x37c6, 0x14},
-  {0x37c7, 0x08},
+  {0x37c7, 0xa8},
   {0x37da, 0x11},
   {0x381f, 0x08},
-  {0x3829, 0x03},
+  // {0x3829, 0x03},
+  // {0x3832, 0x00},
   {0x3881, 0x00},
   {0x3888, 0x04},
   {0x388b, 0x00},
   {0x3c80, 0x10},
   {0x3c86, 0x00},
-  {0x3c8c, 0x20},
+  // {0x3c8c, 0x20},
   {0x3c9f, 0x01},
   {0x3d85, 0x1b},
   {0x3d8c, 0x71},
   {0x3d8d, 0xe2},
   {0x3f00, 0x0b},
   {0x3f06, 0x04},
+
+  // BLC
   {0x400a, 0x01},
   {0x400b, 0x50},
   {0x400e, 0x08},
@@ -128,18 +121,19 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x40b7, 0x00},
   {0x40b8, 0x00},
   {0x40b9, 0x00},
-  {0x40ba, 0x00},
+  {0x40ba, 0x01},
+
   {0x4301, 0x00},
   {0x4303, 0x00},
   {0x4502, 0x04},
   {0x4503, 0x00},
   {0x4504, 0x06},
   {0x4506, 0x00},
-  {0x4507, 0x64},
+  {0x4507, 0x57},
   {0x4803, 0x00},
   {0x480c, 0x32},
-  {0x480e, 0x00},
-  {0x4813, 0x00},
+  {0x480e, 0x04},
+  {0x4813, 0xe4},
   {0x4819, 0x70},
   {0x481f, 0x30},
   {0x4823, 0x3f},
@@ -156,27 +150,33 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x4d0b, 0x01},
   {0x4e00, 0x2a},
   {0x4e0d, 0x00},
-  {0x5001, 0x09},
+
+  // ISP
+  {0x5001, 0x00},
   {0x5004, 0x00},
   {0x5080, 0x04},
-  {0x5036, 0x00},
+  {0x5036, 0x80},
   {0x5180, 0x70},
   {0x5181, 0x10},
+
+  // DPC
   {0x520a, 0x03},
   {0x520b, 0x06},
   {0x520c, 0x0c},
+
   {0x580b, 0x0f},
   {0x580d, 0x00},
   {0x580f, 0x00},
   {0x5820, 0x00},
   {0x5821, 0x00},
+
   {0x301c, 0xf8},
   {0x301e, 0xb4},
-  {0x301f, 0xd0},
+  {0x301f, 0xf0},
   {0x3022, 0x01},
   {0x3109, 0xe7},
   {0x3600, 0x00},
-  {0x3610, 0x65},
+  {0x3610, 0x75},
   {0x3611, 0x85},
   {0x3613, 0x3a},
   {0x3615, 0x60},
@@ -186,10 +186,10 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3661, 0x04},
   {0x3664, 0x70},
   {0x3665, 0x00},
-  {0x3681, 0xa6},
-  {0x3682, 0x53},
-  {0x3683, 0x2a},
-  {0x3684, 0x15},
+  {0x3681, 0x80},
+  {0x3682, 0x40},
+  {0x3683, 0x21},
+  {0x3684, 0x12},
   {0x3700, 0x2a},
   {0x3701, 0x12},
   {0x3703, 0x28},
@@ -198,7 +198,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3709, 0x4a},
   {0x370b, 0xa2},
   {0x370c, 0x01},
-  {0x370f, 0x04},
+  {0x370f, 0x00},
   {0x3714, 0x24},
   {0x3716, 0x04},
   {0x3719, 0x11},
@@ -233,66 +233,103 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37c0, 0x11},
   {0x37c2, 0x04},
   {0x37cd, 0x19},
-  {0x37e0, 0x08},
-  {0x37e6, 0x04},
+  // {0x37e0, 0x08},
+  // {0x37e6, 0x04},
   {0x37e5, 0x02},
-  {0x37e1, 0x0c},
-  {0x3737, 0x04},
+  // {0x37e1, 0x0c},
+  // {0x3737, 0x04},
   {0x37d8, 0x02},
-  {0x37e2, 0x10},
+  // {0x37e2, 0x10},
   {0x3739, 0x10},
   {0x3662, 0x10},
-  {0x37e4, 0x20},
-  {0x37e3, 0x08},
+  // {0x37e4, 0x20},
+  // {0x37e3, 0x08},
   {0x37d9, 0x08},
   {0x4040, 0x00},
   {0x4041, 0x07},
   {0x4008, 0x02},
   {0x4009, 0x0d},
-  {0x3800, 0x01},
-  {0x3801, 0x80},
-  {0x3802, 0x00},
-  {0x3803, 0xdc},
-  {0x3804, 0x09},
-  {0x3805, 0x0f},
-  {0x3806, 0x05},
-  {0x3807, 0x23},
-  {0x3808, 0x07},
-  {0x3809, 0x80},
-  {0x380a, 0x04},
-  {0x380b, 0x38},
-  {0x380c, 0x04},
-  {0x380d, 0x2e},
-  {0x380e, 0x12},
-  {0x380f, 0x70},
+
+  // FSIN
+  {0x3002, 0x22},
+  {0x3663, 0x22},
+  {0x368a, 0x04},
+  {0x3822, 0x44},
+  {0x3823, 0x00},
+  {0x3829, 0x03},
+  {0x3832, 0xf8},
+  {0x382c, 0x00},
+  {0x3844, 0x06},
+  {0x3843, 0x00},
+  {0x382a, 0x00},
+  {0x382b, 0x0c},
+
+  // 2704x1536 -> 2688x1520 out
+  {0x3800, 0x00}, {0x3801, 0x00},
+  {0x3802, 0x00}, {0x3803, 0x00},
+  {0x3804, 0x0a}, {0x3805, 0x8f},
+  {0x3806, 0x05}, {0x3807, 0xff},
+  {0x3808, 0x0a}, {0x3809, 0x80},
+  {0x380a, 0x05}, {0x380b, 0xf0},
   {0x3811, 0x08},
   {0x3813, 0x08},
   {0x3814, 0x01},
   {0x3815, 0x01},
   {0x3816, 0x01},
   {0x3817, 0x01},
-  {0x3820, 0xB0},
-  {0x3821, 0x00},
-  {0x3880, 0x25},
+
+  {0x380c, 0x04}, {0x380d, 0x2e}, // HTS
+  {0x380e, 0x09}, {0x380f, 0xdb}, // VTS
+
+  {0x3820, 0xb0},
+  {0x3821, 0x04},
+  {0x3880, 0x00},
   {0x3882, 0x20},
   {0x3c91, 0x0b},
   {0x3c94, 0x45},
-  {0x3cad, 0x00},
-  {0x3cae, 0x00},
+  // {0x3cad, 0x00},
+  // {0x3cae, 0x00},
   {0x4000, 0xf3},
   {0x4001, 0x60},
   {0x4003, 0x40},
   {0x4300, 0xff},
   {0x4302, 0x0f},
-  {0x4305, 0x83},
+  {0x4305, 0x93},
   {0x4505, 0x84},
-  {0x4809, 0x1e},
+  {0x4809, 0x0e},
   {0x480a, 0x04},
-  {0x4837, 0x15},
+  {0x4837, 0x14},
   {0x4c00, 0x08},
   {0x4c01, 0x08},
   {0x4c04, 0x00},
   {0x4c05, 0x00},
   {0x5000, 0xf9},
-  {0x3c8c, 0x10},
+  // {0x0100, 0x01},
+  // {0x320d, 0x00},
+  // {0x3208, 0xa0},
+  // {0x3822, 0x14},
+
+  // initialize exposure
+  {0x3503, 0x88},
+
+  // long
+  {0x3500, 0x00}, {0x3501, 0x00}, {0x3502, 0x10},
+  {0x3508, 0x00}, {0x3509, 0x80},
+  {0x350a, 0x04}, {0x350b, 0x00},
+
+  // short
+  {0x3510, 0x00}, {0x3511, 0x00}, {0x3512, 0x40},
+  {0x350c, 0x00}, {0x350d, 0x80},
+  {0x350e, 0x04}, {0x350f, 0x00},
+
+  // wb
+  // b
+  {0x5100, 0x06}, {0x5101, 0x7e},
+  {0x5140, 0x06}, {0x5141, 0x7e},
+  // g
+  {0x5102, 0x04}, {0x5103, 0x00},
+  {0x5142, 0x04}, {0x5143, 0x00},
+  // r
+  {0x5104, 0x08}, {0x5105, 0xd6},
+  {0x5144, 0x08}, {0x5145, 0xd6},
 };
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index 1f0609820b..94efa0ea24 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -23,10 +23,11 @@ const uint32_t VS_TIME_MAX_OX03C10 = 34;  // vs < 35
 
 OX03C10::OX03C10() {
   image_sensor = cereal::FrameData::ImageSensor::OX03C10;
+  pixel_size_mm = 0.003;
   data_word = false;
-  frame_width = FRAME_WIDTH;
-  frame_height = FRAME_HEIGHT;
-  frame_stride = FRAME_STRIDE;  // (0xa80*12//8)
+  frame_width = 1928;
+  frame_height = 1208;
+  frame_stride = (frame_width * 12 / 8) + 4;
   extra_height = 16;            // top 2 + bot 14
   frame_offset = 2;
 
diff --git a/system/camerad/cameras/real_debayer.cl b/system/camerad/sensors/ox03c10_cl.h
similarity index 88%
rename from system/camerad/cameras/real_debayer.cl
rename to system/camerad/sensors/ox03c10_cl.h
index e15a873d6d..21441902fc 100644
--- a/system/camerad/cameras/real_debayer.cl
+++ b/system/camerad/sensors/ox03c10_cl.h
@@ -1,197 +1,43 @@
-#define UV_WIDTH RGB_WIDTH / 2
-#define UV_HEIGHT RGB_HEIGHT / 2
+#if SENSOR_ID == 2
 
-#define RGB_TO_Y(r, g, b) ((((mul24(b, 13) + mul24(g, 65) + mul24(r, 33)) + 64) >> 7) + 16)
-#define RGB_TO_U(r, g, b) ((mul24(b, 56) - mul24(g, 37) - mul24(r, 19) + 0x8080) >> 8)
-#define RGB_TO_V(r, g, b) ((mul24(r, 56) - mul24(g, 47) - mul24(b, 9) + 0x8080) >> 8)
-#define AVERAGE(x, y, z, w) ((convert_ushort(x) + convert_ushort(y) + convert_ushort(z) + convert_ushort(w) + 1) >> 1)
-
-float3 color_correct(float3 rgb) {
-  // color correction
-  #if IS_OX
-  float3 x = rgb.x * (float3)(1.5664815 , -0.29808738, -0.03973474);
-  x += rgb.y * (float3)(-0.48672447,  1.41914433, -0.40295248);
-  x += rgb.z * (float3)(-0.07975703, -0.12105695,  1.44268722);
-  #else
-  float3 x = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673);
-  x += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455);
-  x += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782);
-  #endif
-
-  #if IS_OX
-  return -0.507089*exp(-12.54124638*x)+0.9655*powr(x,0.5)-0.472597*x+0.507089;
-  #else
-  // tone mapping params
-  const float gamma_k = 0.75;
-  const float gamma_b = 0.125;
-  const float mp = 0.01; // ideally midpoint should be adaptive
-  const float rk = 9 - 100*mp;
-
-  // poly approximation for s curve
-  return (x > mp) ?
-    ((rk * (x-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(x-mp))) + gamma_k*mp + gamma_b) :
-    ((rk * (x-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(x-mp))) + gamma_k*mp + gamma_b);
-  #endif
-}
-
-float get_vignetting_s(float r) {
-  if (r < 62500) {
-    return (1.0f + 0.0000008f*r);
-  } else if (r < 490000) {
-    return (0.9625f + 0.0000014f*r);
-  } else if (r < 1102500) {
-    return (1.26434f + 0.0000000000016f*r*r);
-  } else {
-    return (0.53503625f + 0.0000000000022f*r*r);
-  }
-}
+#define BIT_DEPTH 12
+#define BLACK_LVL 64
+#define VIGNETTE_RSZ 1.0f
 
 constant float ox03c10_lut[] = {
-  0.0000e+00, 5.9488e-08, 1.1898e-07, 1.7846e-07, 2.3795e-07, 2.9744e-07, 3.5693e-07, 4.1642e-07, 4.7591e-07, 5.3539e-07, 5.9488e-07, 6.5437e-07, 7.1386e-07, 7.7335e-07, 8.3284e-07, 8.9232e-07, 9.5181e-07, 1.0113e-06, 1.0708e-06, 1.1303e-06, 1.1898e-06, 1.2493e-06, 1.3087e-06, 1.3682e-06, 1.4277e-06, 1.4872e-06, 1.5467e-06, 1.6062e-06, 1.6657e-06, 1.7252e-06, 1.7846e-06, 1.8441e-06, 1.9036e-06, 1.9631e-06, 2.0226e-06, 2.0821e-06, 2.1416e-06, 2.2011e-06, 2.2606e-06, 2.3200e-06, 2.3795e-06, 2.4390e-06, 2.4985e-06, 2.5580e-06, 2.6175e-06, 2.6770e-06, 2.7365e-06, 2.7959e-06, 2.8554e-06, 2.9149e-06, 2.9744e-06, 3.0339e-06, 3.0934e-06, 3.1529e-06, 3.2124e-06, 3.2719e-06, 3.3313e-06, 3.3908e-06, 3.4503e-06, 3.5098e-06, 3.5693e-06, 3.6288e-06, 3.6883e-06, 3.7478e-06, 3.8072e-06, 3.8667e-06, 3.9262e-06, 3.9857e-06, 4.0452e-06, 4.1047e-06, 4.1642e-06, 4.2237e-06, 4.2832e-06, 4.3426e-06, 4.4021e-06, 4.4616e-06, 4.5211e-06, 4.5806e-06, 4.6401e-06, 4.6996e-06, 4.7591e-06, 4.8185e-06, 4.8780e-06, 4.9375e-06, 4.9970e-06, 5.0565e-06, 5.1160e-06, 5.1755e-06, 5.2350e-06, 5.2945e-06, 5.3539e-06, 5.4134e-06, 5.4729e-06, 5.5324e-06, 5.5919e-06, 5.6514e-06, 5.7109e-06, 5.7704e-06, 5.8298e-06, 5.8893e-06, 5.9488e-06, 6.0083e-06, 6.0678e-06, 6.1273e-06, 6.1868e-06, 6.2463e-06, 6.3058e-06, 6.3652e-06, 6.4247e-06, 6.4842e-06, 6.5437e-06, 6.6032e-06, 6.6627e-06, 6.7222e-06, 6.7817e-06, 6.8411e-06, 6.9006e-06, 6.9601e-06, 7.0196e-06, 7.0791e-06, 7.1386e-06, 7.1981e-06, 7.2576e-06, 7.3171e-06, 7.3765e-06, 7.4360e-06, 7.4955e-06, 7.5550e-06, 7.6145e-06, 7.6740e-06, 7.7335e-06, 7.7930e-06, 7.8524e-06, 7.9119e-06, 7.9714e-06, 8.0309e-06, 8.0904e-06, 8.1499e-06, 8.2094e-06, 8.2689e-06, 8.3284e-06, 8.3878e-06, 8.4473e-06, 8.5068e-06, 8.5663e-06, 8.6258e-06, 8.6853e-06, 8.7448e-06, 8.8043e-06, 8.8637e-06, 8.9232e-06, 8.9827e-06, 9.0422e-06, 9.1017e-06, 9.1612e-06, 9.2207e-06, 9.2802e-06, 9.3397e-06, 9.3991e-06, 9.4586e-06, 9.5181e-06, 9.5776e-06, 9.6371e-06, 9.6966e-06, 9.7561e-06, 9.8156e-06, 9.8750e-06, 9.9345e-06, 9.9940e-06, 1.0054e-05, 1.0113e-05, 1.0172e-05, 1.0232e-05, 1.0291e-05, 1.0351e-05, 1.0410e-05, 1.0470e-05, 1.0529e-05, 1.0589e-05, 1.0648e-05, 1.0708e-05, 1.0767e-05, 1.0827e-05, 1.0886e-05, 1.0946e-05, 1.1005e-05, 1.1065e-05, 1.1124e-05, 1.1184e-05, 1.1243e-05, 1.1303e-05, 1.1362e-05, 1.1422e-05, 1.1481e-05, 1.1541e-05, 1.1600e-05, 1.1660e-05, 1.1719e-05, 1.1779e-05, 1.1838e-05, 1.1898e-05, 1.1957e-05, 1.2017e-05, 1.2076e-05, 1.2136e-05, 1.2195e-05, 1.2255e-05, 1.2314e-05, 1.2374e-05, 1.2433e-05, 1.2493e-05, 1.2552e-05, 1.2612e-05, 1.2671e-05, 1.2730e-05, 1.2790e-05, 1.2849e-05, 1.2909e-05, 1.2968e-05, 1.3028e-05, 1.3087e-05, 1.3147e-05, 1.3206e-05, 1.3266e-05, 1.3325e-05, 1.3385e-05, 1.3444e-05, 1.3504e-05, 1.3563e-05, 1.3623e-05, 1.3682e-05, 1.3742e-05, 1.3801e-05, 1.3861e-05, 1.3920e-05, 1.3980e-05, 1.4039e-05, 1.4099e-05, 1.4158e-05, 1.4218e-05, 1.4277e-05, 1.4337e-05, 1.4396e-05, 1.4456e-05, 1.4515e-05, 1.4575e-05, 1.4634e-05, 1.4694e-05, 1.4753e-05, 1.4813e-05, 1.4872e-05, 1.4932e-05, 1.4991e-05, 1.5051e-05, 1.5110e-05, 1.5169e-05, 
-  1.5229e-05, 1.5288e-05, 1.5348e-05, 1.5407e-05, 1.5467e-05, 1.5526e-05, 1.5586e-05, 1.5645e-05, 1.5705e-05, 1.5764e-05, 1.5824e-05, 1.5883e-05, 1.5943e-05, 1.6002e-05, 1.6062e-05, 1.6121e-05, 1.6181e-05, 1.6240e-05, 1.6300e-05, 1.6359e-05, 1.6419e-05, 1.6478e-05, 1.6538e-05, 1.6597e-05, 1.6657e-05, 1.6716e-05, 1.6776e-05, 1.6835e-05, 1.6895e-05, 1.6954e-05, 1.7014e-05, 1.7073e-05, 1.7133e-05, 1.7192e-05, 1.7252e-05, 1.7311e-05, 1.7371e-05, 1.7430e-05, 1.7490e-05, 1.7549e-05, 1.7609e-05, 1.7668e-05, 1.7727e-05, 1.7787e-05, 1.7846e-05, 1.7906e-05, 1.7965e-05, 1.8025e-05, 1.8084e-05, 1.8144e-05, 1.8203e-05, 1.8263e-05, 1.8322e-05, 1.8382e-05, 1.8441e-05, 1.8501e-05, 1.8560e-05, 1.8620e-05, 1.8679e-05, 1.8739e-05, 1.8798e-05, 1.8858e-05, 1.8917e-05, 1.8977e-05, 1.9036e-05, 1.9096e-05, 1.9155e-05, 1.9215e-05, 1.9274e-05, 1.9334e-05, 1.9393e-05, 1.9453e-05, 1.9512e-05, 1.9572e-05, 1.9631e-05, 1.9691e-05, 1.9750e-05, 1.9810e-05, 1.9869e-05, 1.9929e-05, 1.9988e-05, 2.0048e-05, 2.0107e-05, 2.0167e-05, 2.0226e-05, 2.0285e-05, 2.0345e-05, 2.0404e-05, 2.0464e-05, 2.0523e-05, 2.0583e-05, 2.0642e-05, 2.0702e-05, 2.0761e-05, 2.0821e-05, 2.0880e-05, 2.0940e-05, 2.0999e-05, 2.1059e-05, 2.1118e-05, 2.1178e-05, 2.1237e-05, 2.1297e-05, 2.1356e-05, 2.1416e-05, 2.1475e-05, 2.1535e-05, 2.1594e-05, 2.1654e-05, 2.1713e-05, 2.1773e-05, 2.1832e-05, 2.1892e-05, 2.1951e-05, 2.2011e-05, 2.2070e-05, 2.2130e-05, 2.2189e-05, 2.2249e-05, 2.2308e-05, 2.2368e-05, 2.2427e-05, 2.2487e-05, 2.2546e-05, 2.2606e-05, 2.2665e-05, 2.2725e-05, 2.2784e-05, 2.2843e-05, 2.2903e-05, 2.2962e-05, 2.3022e-05, 2.3081e-05, 2.3141e-05, 2.3200e-05, 2.3260e-05, 2.3319e-05, 2.3379e-05, 2.3438e-05, 2.3498e-05, 2.3557e-05, 2.3617e-05, 2.3676e-05, 2.3736e-05, 2.3795e-05, 2.3855e-05, 2.3914e-05, 2.3974e-05, 2.4033e-05, 2.4093e-05, 2.4152e-05, 2.4212e-05, 2.4271e-05, 2.4331e-05, 2.4390e-05, 2.4450e-05, 2.4509e-05, 2.4569e-05, 2.4628e-05, 2.4688e-05, 2.4747e-05, 2.4807e-05, 2.4866e-05, 2.4926e-05, 2.4985e-05, 2.5045e-05, 2.5104e-05, 2.5164e-05, 2.5223e-05, 2.5282e-05, 2.5342e-05, 2.5401e-05, 2.5461e-05, 2.5520e-05, 2.5580e-05, 2.5639e-05, 2.5699e-05, 2.5758e-05, 2.5818e-05, 2.5877e-05, 2.5937e-05, 2.5996e-05, 2.6056e-05, 2.6115e-05, 2.6175e-05, 2.6234e-05, 2.6294e-05, 2.6353e-05, 2.6413e-05, 2.6472e-05, 2.6532e-05, 2.6591e-05, 2.6651e-05, 2.6710e-05, 2.6770e-05, 2.6829e-05, 2.6889e-05, 2.6948e-05, 2.7008e-05, 2.7067e-05, 2.7127e-05, 2.7186e-05, 2.7246e-05, 2.7305e-05, 2.7365e-05, 2.7424e-05, 2.7484e-05, 2.7543e-05, 2.7603e-05, 2.7662e-05, 2.7722e-05, 2.7781e-05, 2.7840e-05, 2.7900e-05, 2.7959e-05, 2.8019e-05, 2.8078e-05, 2.8138e-05, 2.8197e-05, 2.8257e-05, 2.8316e-05, 2.8376e-05, 2.8435e-05, 2.8495e-05, 2.8554e-05, 2.8614e-05, 2.8673e-05, 2.8733e-05, 2.8792e-05, 2.8852e-05, 2.8911e-05, 2.8971e-05, 2.9030e-05, 2.9090e-05, 2.9149e-05, 2.9209e-05, 2.9268e-05, 2.9328e-05, 2.9387e-05, 2.9447e-05, 2.9506e-05, 2.9566e-05, 2.9625e-05, 2.9685e-05, 2.9744e-05, 2.9804e-05, 2.9863e-05, 2.9923e-05, 2.9982e-05, 3.0042e-05, 3.0101e-05, 3.0161e-05, 3.0220e-05, 3.0280e-05, 3.0339e-05, 3.0398e-05, 
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+  0.0000e+00, 5.9488e-08, 1.1898e-07, 1.7846e-07, 2.3795e-07, 2.9744e-07, 3.5693e-07, 4.1642e-07, 4.7591e-07, 5.3539e-07, 5.9488e-07, 6.5437e-07, 7.1386e-07, 7.7335e-07, 8.3284e-07, 8.9232e-07, 9.5181e-07, 1.0113e-06, 1.0708e-06, 1.1303e-06, 1.1898e-06, 1.2493e-06, 1.3087e-06, 1.3682e-06, 1.4277e-06, 1.4872e-06, 1.5467e-06, 1.6062e-06, 1.6657e-06, 1.7252e-06, 1.7846e-06, 1.8441e-06, 1.9036e-06, 1.9631e-06, 2.0226e-06, 2.0821e-06, 2.1416e-06, 2.2011e-06, 2.2606e-06, 2.3200e-06, 2.3795e-06, 2.4390e-06, 2.4985e-06, 2.5580e-06, 2.6175e-06, 2.6770e-06, 2.7365e-06, 2.7959e-06, 2.8554e-06, 2.9149e-06, 2.9744e-06, 3.0339e-06, 3.0934e-06, 3.1529e-06, 3.2124e-06, 3.2719e-06, 3.3313e-06, 3.3908e-06, 3.4503e-06, 3.5098e-06, 3.5693e-06, 3.6288e-06, 3.6883e-06, 3.7478e-06, 3.8072e-06, 3.8667e-06, 3.9262e-06, 3.9857e-06, 4.0452e-06, 4.1047e-06, 4.1642e-06, 4.2237e-06, 4.2832e-06, 4.3426e-06, 4.4021e-06, 4.4616e-06, 4.5211e-06, 4.5806e-06, 4.6401e-06, 4.6996e-06, 4.7591e-06, 4.8185e-06, 4.8780e-06, 4.9375e-06, 4.9970e-06, 5.0565e-06, 5.1160e-06, 5.1755e-06, 5.2350e-06, 5.2945e-06, 5.3539e-06, 5.4134e-06, 5.4729e-06, 5.5324e-06, 5.5919e-06, 5.6514e-06, 5.7109e-06, 5.7704e-06, 5.8298e-06, 5.8893e-06, 5.9488e-06, 6.0083e-06, 6.0678e-06, 6.1273e-06, 6.1868e-06, 6.2463e-06, 6.3058e-06, 6.3652e-06, 6.4247e-06, 6.4842e-06, 6.5437e-06, 6.6032e-06, 6.6627e-06, 6.7222e-06, 6.7817e-06, 6.8411e-06, 6.9006e-06, 6.9601e-06, 7.0196e-06, 7.0791e-06, 7.1386e-06, 7.1981e-06, 7.2576e-06, 7.3171e-06, 7.3765e-06, 7.4360e-06, 7.4955e-06, 7.5550e-06, 7.6145e-06, 7.6740e-06, 7.7335e-06, 7.7930e-06, 7.8524e-06, 7.9119e-06, 7.9714e-06, 8.0309e-06, 8.0904e-06, 8.1499e-06, 8.2094e-06, 8.2689e-06, 8.3284e-06, 8.3878e-06, 8.4473e-06, 8.5068e-06, 8.5663e-06, 8.6258e-06, 8.6853e-06, 8.7448e-06, 8.8043e-06, 8.8637e-06, 8.9232e-06, 8.9827e-06, 9.0422e-06, 9.1017e-06, 9.1612e-06, 9.2207e-06, 9.2802e-06, 9.3397e-06, 9.3991e-06, 9.4586e-06, 9.5181e-06, 9.5776e-06, 9.6371e-06, 9.6966e-06, 9.7561e-06, 9.8156e-06, 9.8750e-06, 9.9345e-06, 9.9940e-06, 1.0054e-05, 1.0113e-05, 1.0172e-05, 1.0232e-05, 1.0291e-05, 1.0351e-05, 1.0410e-05, 1.0470e-05, 1.0529e-05, 1.0589e-05, 1.0648e-05, 1.0708e-05, 1.0767e-05, 1.0827e-05, 1.0886e-05, 1.0946e-05, 1.1005e-05, 1.1065e-05, 1.1124e-05, 1.1184e-05, 1.1243e-05, 1.1303e-05, 1.1362e-05, 1.1422e-05, 1.1481e-05, 1.1541e-05, 1.1600e-05, 1.1660e-05, 1.1719e-05, 1.1779e-05, 1.1838e-05, 1.1898e-05, 1.1957e-05, 1.2017e-05, 1.2076e-05, 1.2136e-05, 1.2195e-05, 1.2255e-05, 1.2314e-05, 1.2374e-05, 1.2433e-05, 1.2493e-05, 1.2552e-05, 1.2612e-05, 1.2671e-05, 1.2730e-05, 1.2790e-05, 1.2849e-05, 1.2909e-05, 1.2968e-05, 1.3028e-05, 1.3087e-05, 1.3147e-05, 1.3206e-05, 1.3266e-05, 1.3325e-05, 1.3385e-05, 1.3444e-05, 1.3504e-05, 1.3563e-05, 1.3623e-05, 1.3682e-05, 1.3742e-05, 1.3801e-05, 1.3861e-05, 1.3920e-05, 1.3980e-05, 1.4039e-05, 1.4099e-05, 1.4158e-05, 1.4218e-05, 1.4277e-05, 1.4337e-05, 1.4396e-05, 1.4456e-05, 1.4515e-05, 1.4575e-05, 1.4634e-05, 1.4694e-05, 1.4753e-05, 1.4813e-05, 1.4872e-05, 1.4932e-05, 1.4991e-05, 1.5051e-05, 1.5110e-05, 1.5169e-05, // NOLINT
+  1.5229e-05, 1.5288e-05, 1.5348e-05, 1.5407e-05, 1.5467e-05, 1.5526e-05, 1.5586e-05, 1.5645e-05, 1.5705e-05, 1.5764e-05, 1.5824e-05, 1.5883e-05, 1.5943e-05, 1.6002e-05, 1.6062e-05, 1.6121e-05, 1.6181e-05, 1.6240e-05, 1.6300e-05, 1.6359e-05, 1.6419e-05, 1.6478e-05, 1.6538e-05, 1.6597e-05, 1.6657e-05, 1.6716e-05, 1.6776e-05, 1.6835e-05, 1.6895e-05, 1.6954e-05, 1.7014e-05, 1.7073e-05, 1.7133e-05, 1.7192e-05, 1.7252e-05, 1.7311e-05, 1.7371e-05, 1.7430e-05, 1.7490e-05, 1.7549e-05, 1.7609e-05, 1.7668e-05, 1.7727e-05, 1.7787e-05, 1.7846e-05, 1.7906e-05, 1.7965e-05, 1.8025e-05, 1.8084e-05, 1.8144e-05, 1.8203e-05, 1.8263e-05, 1.8322e-05, 1.8382e-05, 1.8441e-05, 1.8501e-05, 1.8560e-05, 1.8620e-05, 1.8679e-05, 1.8739e-05, 1.8798e-05, 1.8858e-05, 1.8917e-05, 1.8977e-05, 1.9036e-05, 1.9096e-05, 1.9155e-05, 1.9215e-05, 1.9274e-05, 1.9334e-05, 1.9393e-05, 1.9453e-05, 1.9512e-05, 1.9572e-05, 1.9631e-05, 1.9691e-05, 1.9750e-05, 1.9810e-05, 1.9869e-05, 1.9929e-05, 1.9988e-05, 2.0048e-05, 2.0107e-05, 2.0167e-05, 2.0226e-05, 2.0285e-05, 2.0345e-05, 2.0404e-05, 2.0464e-05, 2.0523e-05, 2.0583e-05, 2.0642e-05, 2.0702e-05, 2.0761e-05, 2.0821e-05, 2.0880e-05, 2.0940e-05, 2.0999e-05, 2.1059e-05, 2.1118e-05, 2.1178e-05, 2.1237e-05, 2.1297e-05, 2.1356e-05, 2.1416e-05, 2.1475e-05, 2.1535e-05, 2.1594e-05, 2.1654e-05, 2.1713e-05, 2.1773e-05, 2.1832e-05, 2.1892e-05, 2.1951e-05, 2.2011e-05, 2.2070e-05, 2.2130e-05, 2.2189e-05, 2.2249e-05, 2.2308e-05, 2.2368e-05, 2.2427e-05, 2.2487e-05, 2.2546e-05, 2.2606e-05, 2.2665e-05, 2.2725e-05, 2.2784e-05, 2.2843e-05, 2.2903e-05, 2.2962e-05, 2.3022e-05, 2.3081e-05, 2.3141e-05, 2.3200e-05, 2.3260e-05, 2.3319e-05, 2.3379e-05, 2.3438e-05, 2.3498e-05, 2.3557e-05, 2.3617e-05, 2.3676e-05, 2.3736e-05, 2.3795e-05, 2.3855e-05, 2.3914e-05, 2.3974e-05, 2.4033e-05, 2.4093e-05, 2.4152e-05, 2.4212e-05, 2.4271e-05, 2.4331e-05, 2.4390e-05, 2.4450e-05, 2.4509e-05, 2.4569e-05, 2.4628e-05, 2.4688e-05, 2.4747e-05, 2.4807e-05, 2.4866e-05, 2.4926e-05, 2.4985e-05, 2.5045e-05, 2.5104e-05, 2.5164e-05, 2.5223e-05, 2.5282e-05, 2.5342e-05, 2.5401e-05, 2.5461e-05, 2.5520e-05, 2.5580e-05, 2.5639e-05, 2.5699e-05, 2.5758e-05, 2.5818e-05, 2.5877e-05, 2.5937e-05, 2.5996e-05, 2.6056e-05, 2.6115e-05, 2.6175e-05, 2.6234e-05, 2.6294e-05, 2.6353e-05, 2.6413e-05, 2.6472e-05, 2.6532e-05, 2.6591e-05, 2.6651e-05, 2.6710e-05, 2.6770e-05, 2.6829e-05, 2.6889e-05, 2.6948e-05, 2.7008e-05, 2.7067e-05, 2.7127e-05, 2.7186e-05, 2.7246e-05, 2.7305e-05, 2.7365e-05, 2.7424e-05, 2.7484e-05, 2.7543e-05, 2.7603e-05, 2.7662e-05, 2.7722e-05, 2.7781e-05, 2.7840e-05, 2.7900e-05, 2.7959e-05, 2.8019e-05, 2.8078e-05, 2.8138e-05, 2.8197e-05, 2.8257e-05, 2.8316e-05, 2.8376e-05, 2.8435e-05, 2.8495e-05, 2.8554e-05, 2.8614e-05, 2.8673e-05, 2.8733e-05, 2.8792e-05, 2.8852e-05, 2.8911e-05, 2.8971e-05, 2.9030e-05, 2.9090e-05, 2.9149e-05, 2.9209e-05, 2.9268e-05, 2.9328e-05, 2.9387e-05, 2.9447e-05, 2.9506e-05, 2.9566e-05, 2.9625e-05, 2.9685e-05, 2.9744e-05, 2.9804e-05, 2.9863e-05, 2.9923e-05, 2.9982e-05, 3.0042e-05, 3.0101e-05, 3.0161e-05, 3.0220e-05, 3.0280e-05, 3.0339e-05, 3.0398e-05, // NOLINT
+  3.0458e-05, 3.0577e-05, 3.0697e-05, 3.0816e-05, 3.0936e-05, 3.1055e-05, 3.1175e-05, 3.1294e-05, 3.1414e-05, 3.1533e-05, 3.1652e-05, 3.1772e-05, 3.1891e-05, 3.2011e-05, 3.2130e-05, 3.2250e-05, 3.2369e-05, 3.2489e-05, 3.2608e-05, 3.2727e-05, 3.2847e-05, 3.2966e-05, 3.3086e-05, 3.3205e-05, 3.3325e-05, 3.3444e-05, 3.3563e-05, 3.3683e-05, 3.3802e-05, 3.3922e-05, 3.4041e-05, 3.4161e-05, 3.4280e-05, 3.4400e-05, 3.4519e-05, 3.4638e-05, 3.4758e-05, 3.4877e-05, 3.4997e-05, 3.5116e-05, 3.5236e-05, 3.5355e-05, 3.5475e-05, 3.5594e-05, 3.5713e-05, 3.5833e-05, 3.5952e-05, 3.6072e-05, 3.6191e-05, 3.6311e-05, 3.6430e-05, 3.6550e-05, 3.6669e-05, 3.6788e-05, 3.6908e-05, 3.7027e-05, 3.7147e-05, 3.7266e-05, 3.7386e-05, 3.7505e-05, 3.7625e-05, 3.7744e-05, 3.7863e-05, 3.7983e-05, 3.8102e-05, 3.8222e-05, 3.8341e-05, 3.8461e-05, 3.8580e-05, 3.8700e-05, 3.8819e-05, 3.8938e-05, 3.9058e-05, 3.9177e-05, 3.9297e-05, 3.9416e-05, 3.9536e-05, 3.9655e-05, 3.9775e-05, 3.9894e-05, 4.0013e-05, 4.0133e-05, 4.0252e-05, 4.0372e-05, 4.0491e-05, 4.0611e-05, 4.0730e-05, 4.0850e-05, 4.0969e-05, 4.1088e-05, 4.1208e-05, 4.1327e-05, 4.1447e-05, 4.1566e-05, 4.1686e-05, 4.1805e-05, 4.1925e-05, 4.2044e-05, 4.2163e-05, 4.2283e-05, 4.2402e-05, 4.2522e-05, 4.2641e-05, 4.2761e-05, 4.2880e-05, 4.2999e-05, 4.3119e-05, 4.3238e-05, 4.3358e-05, 4.3477e-05, 4.3597e-05, 4.3716e-05, 4.3836e-05, 4.3955e-05, 4.4074e-05, 4.4194e-05, 4.4313e-05, 4.4433e-05, 4.4552e-05, 4.4672e-05, 4.4791e-05, 4.4911e-05, 4.5030e-05, 4.5149e-05, 4.5269e-05, 4.5388e-05, 4.5508e-05, 4.5627e-05, 4.5747e-05, 4.5866e-05, 4.5986e-05, 4.6105e-05, 4.6224e-05, 4.6344e-05, 4.6463e-05, 4.6583e-05, 4.6702e-05, 4.6822e-05, 4.6941e-05, 4.7061e-05, 4.7180e-05, 4.7299e-05, 4.7419e-05, 4.7538e-05, 4.7658e-05, 4.7777e-05, 4.7897e-05, 4.8016e-05, 4.8136e-05, 4.8255e-05, 4.8374e-05, 4.8494e-05, 4.8613e-05, 4.8733e-05, 4.8852e-05, 4.8972e-05, 4.9091e-05, 4.9211e-05, 4.9330e-05, 4.9449e-05, 4.9569e-05, 4.9688e-05, 4.9808e-05, 4.9927e-05, 5.0047e-05, 5.0166e-05, 5.0286e-05, 5.0405e-05, 5.0524e-05, 5.0644e-05, 5.0763e-05, 5.0883e-05, 5.1002e-05, 5.1122e-05, 5.1241e-05, 5.1361e-05, 5.1480e-05, 5.1599e-05, 5.1719e-05, 5.1838e-05, 5.1958e-05, 5.2077e-05, 5.2197e-05, 5.2316e-05, 5.2435e-05, 5.2555e-05, 5.2674e-05, 5.2794e-05, 5.2913e-05, 5.3033e-05, 5.3152e-05, 5.3272e-05, 5.3391e-05, 5.3510e-05, 5.3630e-05, 5.3749e-05, 5.3869e-05, 5.3988e-05, 5.4108e-05, 5.4227e-05, 5.4347e-05, 5.4466e-05, 5.4585e-05, 5.4705e-05, 5.4824e-05, 5.4944e-05, 5.5063e-05, 5.5183e-05, 5.5302e-05, 5.5422e-05, 5.5541e-05, 5.5660e-05, 5.5780e-05, 5.5899e-05, 5.6019e-05, 5.6138e-05, 5.6258e-05, 5.6377e-05, 5.6497e-05, 5.6616e-05, 5.6735e-05, 5.6855e-05, 5.6974e-05, 5.7094e-05, 5.7213e-05, 5.7333e-05, 5.7452e-05, 5.7572e-05, 5.7691e-05, 5.7810e-05, 5.7930e-05, 5.8049e-05, 5.8169e-05, 5.8288e-05, 5.8408e-05, 5.8527e-05, 5.8647e-05, 5.8766e-05, 5.8885e-05, 5.9005e-05, 5.9124e-05, 5.9244e-05, 5.9363e-05, 5.9483e-05, 5.9602e-05, 5.9722e-05, 5.9841e-05, 5.9960e-05, 6.0080e-05, 6.0199e-05, 6.0319e-05, 6.0438e-05, 6.0558e-05, 6.0677e-05, 6.0797e-05, 6.0916e-05, // NOLINT
+  6.1154e-05, 6.1392e-05, 6.1631e-05, 6.1869e-05, 6.2107e-05, 6.2345e-05, 6.2583e-05, 6.2821e-05, 6.3060e-05, 6.3298e-05, 6.3536e-05, 6.3774e-05, 6.4012e-05, 6.4251e-05, 6.4489e-05, 6.4727e-05, 6.4965e-05, 6.5203e-05, 6.5441e-05, 6.5680e-05, 6.5918e-05, 6.6156e-05, 6.6394e-05, 6.6632e-05, 6.6871e-05, 6.7109e-05, 6.7347e-05, 6.7585e-05, 6.7823e-05, 6.8062e-05, 6.8300e-05, 6.8538e-05, 6.8776e-05, 6.9014e-05, 6.9252e-05, 6.9491e-05, 6.9729e-05, 6.9967e-05, 7.0205e-05, 7.0443e-05, 7.0682e-05, 7.0920e-05, 7.1158e-05, 7.1396e-05, 7.1634e-05, 7.1872e-05, 7.2111e-05, 7.2349e-05, 7.2587e-05, 7.2825e-05, 7.3063e-05, 7.3302e-05, 7.3540e-05, 7.3778e-05, 7.4016e-05, 7.4254e-05, 7.4493e-05, 7.4731e-05, 7.4969e-05, 7.5207e-05, 7.5445e-05, 7.5683e-05, 7.5922e-05, 7.6160e-05, 7.6398e-05, 7.6636e-05, 7.6874e-05, 7.7113e-05, 7.7351e-05, 7.7589e-05, 7.7827e-05, 7.8065e-05, 7.8304e-05, 7.8542e-05, 7.8780e-05, 7.9018e-05, 7.9256e-05, 7.9494e-05, 7.9733e-05, 7.9971e-05, 8.0209e-05, 8.0447e-05, 8.0685e-05, 8.0924e-05, 8.1162e-05, 8.1400e-05, 8.1638e-05, 8.1876e-05, 8.2114e-05, 8.2353e-05, 8.2591e-05, 8.2829e-05, 8.3067e-05, 8.3305e-05, 8.3544e-05, 8.3782e-05, 8.4020e-05, 8.4258e-05, 8.4496e-05, 8.4735e-05, 8.4973e-05, 8.5211e-05, 8.5449e-05, 8.5687e-05, 8.5925e-05, 8.6164e-05, 8.6402e-05, 8.6640e-05, 8.6878e-05, 8.7116e-05, 8.7355e-05, 8.7593e-05, 8.7831e-05, 8.8069e-05, 8.8307e-05, 8.8545e-05, 8.8784e-05, 8.9022e-05, 8.9260e-05, 8.9498e-05, 8.9736e-05, 8.9975e-05, 9.0213e-05, 9.0451e-05, 9.0689e-05, 9.0927e-05, 9.1166e-05, 9.1404e-05, 9.1642e-05, 9.1880e-05, 9.2118e-05, 9.2356e-05, 9.2595e-05, 9.2833e-05, 9.3071e-05, 9.3309e-05, 9.3547e-05, 9.3786e-05, 9.4024e-05, 9.4262e-05, 9.4500e-05, 9.4738e-05, 9.4977e-05, 9.5215e-05, 9.5453e-05, 9.5691e-05, 9.5929e-05, 9.6167e-05, 9.6406e-05, 9.6644e-05, 9.6882e-05, 9.7120e-05, 9.7358e-05, 9.7597e-05, 9.7835e-05, 9.8073e-05, 9.8311e-05, 9.8549e-05, 9.8787e-05, 9.9026e-05, 9.9264e-05, 9.9502e-05, 9.9740e-05, 9.9978e-05, 1.0022e-04, 1.0045e-04, 1.0069e-04, 1.0093e-04, 1.0117e-04, 1.0141e-04, 1.0165e-04, 1.0188e-04, 1.0212e-04, 1.0236e-04, 1.0260e-04, 1.0284e-04, 1.0307e-04, 1.0331e-04, 1.0355e-04, 1.0379e-04, 1.0403e-04, 1.0427e-04, 1.0450e-04, 1.0474e-04, 1.0498e-04, 1.0522e-04, 1.0546e-04, 1.0569e-04, 1.0593e-04, 1.0617e-04, 1.0641e-04, 1.0665e-04, 1.0689e-04, 1.0712e-04, 1.0736e-04, 1.0760e-04, 1.0784e-04, 1.0808e-04, 1.0831e-04, 1.0855e-04, 1.0879e-04, 1.0903e-04, 1.0927e-04, 1.0951e-04, 1.0974e-04, 1.0998e-04, 1.1022e-04, 1.1046e-04, 1.1070e-04, 1.1093e-04, 1.1117e-04, 1.1141e-04, 1.1165e-04, 1.1189e-04, 1.1213e-04, 1.1236e-04, 1.1260e-04, 1.1284e-04, 1.1308e-04, 1.1332e-04, 1.1355e-04, 1.1379e-04, 1.1403e-04, 1.1427e-04, 1.1451e-04, 1.1475e-04, 1.1498e-04, 1.1522e-04, 1.1546e-04, 1.1570e-04, 1.1594e-04, 1.1618e-04, 1.1641e-04, 1.1665e-04, 1.1689e-04, 1.1713e-04, 1.1737e-04, 1.1760e-04, 1.1784e-04, 1.1808e-04, 1.1832e-04, 1.1856e-04, 1.1880e-04, 1.1903e-04, 1.1927e-04, 1.1951e-04, 1.1975e-04, 1.1999e-04, 1.2022e-04, 1.2046e-04, 1.2070e-04, 1.2094e-04, 1.2118e-04, 1.2142e-04, 1.2165e-04, 1.2189e-04, // NOLINT
+  1.2213e-04, 1.2237e-04, 1.2261e-04, 1.2284e-04, 1.2308e-04, 1.2332e-04, 1.2356e-04, 1.2380e-04, 1.2404e-04, 1.2427e-04, 1.2451e-04, 1.2475e-04, 1.2499e-04, 1.2523e-04, 1.2546e-04, 1.2570e-04, 1.2594e-04, 1.2618e-04, 1.2642e-04, 1.2666e-04, 1.2689e-04, 1.2713e-04, 1.2737e-04, 1.2761e-04, 1.2785e-04, 1.2808e-04, 1.2832e-04, 1.2856e-04, 1.2880e-04, 1.2904e-04, 1.2928e-04, 1.2951e-04, 1.2975e-04, 1.2999e-04, 1.3023e-04, 1.3047e-04, 1.3070e-04, 1.3094e-04, 1.3118e-04, 1.3142e-04, 1.3166e-04, 1.3190e-04, 1.3213e-04, 1.3237e-04, 1.3261e-04, 1.3285e-04, 1.3309e-04, 1.3332e-04, 1.3356e-04, 1.3380e-04, 1.3404e-04, 1.3428e-04, 1.3452e-04, 1.3475e-04, 1.3499e-04, 1.3523e-04, 1.3547e-04, 1.3571e-04, 1.3594e-04, 1.3618e-04, 1.3642e-04, 1.3666e-04, 1.3690e-04, 1.3714e-04, 1.3737e-04, 1.3761e-04, 1.3785e-04, 1.3809e-04, 1.3833e-04, 1.3856e-04, 1.3880e-04, 1.3904e-04, 1.3928e-04, 1.3952e-04, 1.3976e-04, 1.3999e-04, 1.4023e-04, 1.4047e-04, 1.4071e-04, 1.4095e-04, 1.4118e-04, 1.4142e-04, 1.4166e-04, 1.4190e-04, 1.4214e-04, 1.4238e-04, 1.4261e-04, 1.4285e-04, 1.4309e-04, 1.4333e-04, 1.4357e-04, 1.4380e-04, 1.4404e-04, 1.4428e-04, 1.4452e-04, 1.4476e-04, 1.4500e-04, 1.4523e-04, 1.4547e-04, 1.4571e-04, 1.4595e-04, 1.4619e-04, 1.4642e-04, 1.4666e-04, 1.4690e-04, 1.4714e-04, 1.4738e-04, 1.4762e-04, 1.4785e-04, 1.4809e-04, 1.4833e-04, 1.4857e-04, 1.4881e-04, 1.4904e-04, 1.4928e-04, 1.4952e-04, 1.4976e-04, 1.5000e-04, 1.5024e-04, 1.5047e-04, 1.5071e-04, 1.5095e-04, 1.5119e-04, 1.5143e-04, 1.5166e-04, 1.5190e-04, 1.5214e-04, 1.5238e-04, 1.5262e-04, 1.5286e-04, 1.5309e-04, 1.5333e-04, 1.5357e-04, 1.5381e-04, 1.5405e-04, 1.5428e-04, 1.5452e-04, 1.5476e-04, 1.5500e-04, 1.5524e-04, 1.5548e-04, 1.5571e-04, 1.5595e-04, 1.5619e-04, 1.5643e-04, 1.5667e-04, 1.5690e-04, 1.5714e-04, 1.5738e-04, 1.5762e-04, 1.5786e-04, 1.5810e-04, 1.5833e-04, 1.5857e-04, 1.5881e-04, 1.5905e-04, 1.5929e-04, 1.5952e-04, 1.5976e-04, 1.6000e-04, 1.6024e-04, 1.6048e-04, 1.6072e-04, 1.6095e-04, 1.6119e-04, 1.6143e-04, 1.6167e-04, 1.6191e-04, 1.6214e-04, 1.6238e-04, 1.6262e-04, 1.6286e-04, 1.6310e-04, 1.6334e-04, 1.6357e-04, 1.6381e-04, 1.6405e-04, 1.6429e-04, 1.6453e-04, 1.6476e-04, 1.6500e-04, 1.6524e-04, 1.6548e-04, 1.6572e-04, 1.6596e-04, 1.6619e-04, 1.6643e-04, 1.6667e-04, 1.6691e-04, 1.6715e-04, 1.6738e-04, 1.6762e-04, 1.6786e-04, 1.6810e-04, 1.6834e-04, 1.6858e-04, 1.6881e-04, 1.6905e-04, 1.6929e-04, 1.6953e-04, 1.6977e-04, 1.7001e-04, 1.7024e-04, 1.7048e-04, 1.7072e-04, 1.7096e-04, 1.7120e-04, 1.7143e-04, 1.7167e-04, 1.7191e-04, 1.7215e-04, 1.7239e-04, 1.7263e-04, 1.7286e-04, 1.7310e-04, 1.7334e-04, 1.7358e-04, 1.7382e-04, 1.7405e-04, 1.7429e-04, 1.7453e-04, 1.7477e-04, 1.7501e-04, 1.7525e-04, 1.7548e-04, 1.7572e-04, 1.7596e-04, 1.7620e-04, 1.7644e-04, 1.7667e-04, 1.7691e-04, 1.7715e-04, 1.7739e-04, 1.7763e-04, 1.7787e-04, 1.7810e-04, 1.7834e-04, 1.7858e-04, 1.7882e-04, 1.7906e-04, 1.7929e-04, 1.7953e-04, 1.7977e-04, 1.8001e-04, 1.8025e-04, 1.8049e-04, 1.8072e-04, 1.8096e-04, 1.8120e-04, 1.8144e-04, 1.8168e-04, 1.8191e-04, 1.8215e-04, 1.8239e-04, 1.8263e-04, 1.8287e-04, // NOLINT
+  1.8311e-04, 1.8334e-04, 1.8358e-04, 1.8382e-04, 1.8406e-04, 1.8430e-04, 1.8453e-04, 1.8477e-04, 1.8501e-04, 1.8525e-04, 1.8549e-04, 1.8573e-04, 1.8596e-04, 1.8620e-04, 1.8644e-04, 1.8668e-04, 1.8692e-04, 1.8715e-04, 1.8739e-04, 1.8763e-04, 1.8787e-04, 1.8811e-04, 1.8835e-04, 1.8858e-04, 1.8882e-04, 1.8906e-04, 1.8930e-04, 1.8954e-04, 1.8977e-04, 1.9001e-04, 1.9025e-04, 1.9049e-04, 1.9073e-04, 1.9097e-04, 1.9120e-04, 1.9144e-04, 1.9168e-04, 1.9192e-04, 1.9216e-04, 1.9239e-04, 1.9263e-04, 1.9287e-04, 1.9311e-04, 1.9335e-04, 1.9359e-04, 1.9382e-04, 1.9406e-04, 1.9430e-04, 1.9454e-04, 1.9478e-04, 1.9501e-04, 1.9525e-04, 1.9549e-04, 1.9573e-04, 1.9597e-04, 1.9621e-04, 1.9644e-04, 1.9668e-04, 1.9692e-04, 1.9716e-04, 1.9740e-04, 1.9763e-04, 1.9787e-04, 1.9811e-04, 1.9835e-04, 1.9859e-04, 1.9883e-04, 1.9906e-04, 1.9930e-04, 1.9954e-04, 1.9978e-04, 2.0002e-04, 2.0025e-04, 2.0049e-04, 2.0073e-04, 2.0097e-04, 2.0121e-04, 2.0145e-04, 2.0168e-04, 2.0192e-04, 2.0216e-04, 2.0240e-04, 2.0264e-04, 2.0287e-04, 2.0311e-04, 2.0335e-04, 2.0359e-04, 2.0383e-04, 2.0407e-04, 2.0430e-04, 2.0454e-04, 2.0478e-04, 2.0502e-04, 2.0526e-04, 2.0549e-04, 2.0573e-04, 2.0597e-04, 2.0621e-04, 2.0645e-04, 2.0669e-04, 2.0692e-04, 2.0716e-04, 2.0740e-04, 2.0764e-04, 2.0788e-04, 2.0811e-04, 2.0835e-04, 2.0859e-04, 2.0883e-04, 2.0907e-04, 2.0931e-04, 2.0954e-04, 2.0978e-04, 2.1002e-04, 2.1026e-04, 2.1050e-04, 2.1073e-04, 2.1097e-04, 2.1121e-04, 2.1145e-04, 2.1169e-04, 2.1193e-04, 2.1216e-04, 2.1240e-04, 2.1264e-04, 2.1288e-04, 2.1312e-04, 2.1335e-04, 2.1359e-04, 2.1383e-04, 2.1407e-04, 2.1431e-04, 2.1455e-04, 2.1478e-04, 2.1502e-04, 2.1526e-04, 2.1550e-04, 2.1574e-04, 2.1597e-04, 2.1621e-04, 2.1645e-04, 2.1669e-04, 2.1693e-04, 2.1717e-04, 2.1740e-04, 2.1764e-04, 2.1788e-04, 2.1812e-04, 2.1836e-04, 2.1859e-04, 2.1883e-04, 2.1907e-04, 2.1931e-04, 2.1955e-04, 2.1979e-04, 2.2002e-04, 2.2026e-04, 2.2050e-04, 2.2074e-04, 2.2098e-04, 2.2121e-04, 2.2145e-04, 2.2169e-04, 2.2193e-04, 2.2217e-04, 2.2241e-04, 2.2264e-04, 2.2288e-04, 2.2312e-04, 2.2336e-04, 2.2360e-04, 2.2383e-04, 2.2407e-04, 2.2431e-04, 2.2455e-04, 2.2479e-04, 2.2503e-04, 2.2526e-04, 2.2550e-04, 2.2574e-04, 2.2598e-04, 2.2622e-04, 2.2646e-04, 2.2669e-04, 2.2693e-04, 2.2717e-04, 2.2741e-04, 2.2765e-04, 2.2788e-04, 2.2812e-04, 2.2836e-04, 2.2860e-04, 2.2884e-04, 2.2908e-04, 2.2931e-04, 2.2955e-04, 2.2979e-04, 2.3003e-04, 2.3027e-04, 2.3050e-04, 2.3074e-04, 2.3098e-04, 2.3122e-04, 2.3146e-04, 2.3170e-04, 2.3193e-04, 2.3217e-04, 2.3241e-04, 2.3265e-04, 2.3289e-04, 2.3312e-04, 2.3336e-04, 2.3360e-04, 2.3384e-04, 2.3408e-04, 2.3432e-04, 2.3455e-04, 2.3479e-04, 2.3503e-04, 2.3527e-04, 2.3551e-04, 2.3574e-04, 2.3598e-04, 2.3622e-04, 2.3646e-04, 2.3670e-04, 2.3694e-04, 2.3717e-04, 2.3741e-04, 2.3765e-04, 2.3789e-04, 2.3813e-04, 2.3836e-04, 2.3860e-04, 2.3884e-04, 2.3908e-04, 2.3932e-04, 2.3956e-04, 2.3979e-04, 2.4003e-04, 2.4027e-04, 2.4051e-04, 2.4075e-04, 2.4098e-04, 2.4122e-04, 2.4146e-04, 2.4170e-04, 2.4194e-04, 2.4218e-04, 2.4241e-04, 2.4265e-04, 2.4289e-04, 2.4313e-04, 2.4337e-04, 2.4360e-04, 2.4384e-04, // NOLINT
+  2.4480e-04, 2.4575e-04, 2.4670e-04, 2.4766e-04, 2.4861e-04, 2.4956e-04, 2.5052e-04, 2.5147e-04, 2.5242e-04, 2.5337e-04, 2.5433e-04, 2.5528e-04, 2.5623e-04, 2.5719e-04, 2.5814e-04, 2.5909e-04, 2.6005e-04, 2.6100e-04, 2.6195e-04, 2.6291e-04, 2.6386e-04, 2.6481e-04, 2.6577e-04, 2.6672e-04, 2.6767e-04, 2.6863e-04, 2.6958e-04, 2.7053e-04, 2.7149e-04, 2.7244e-04, 2.7339e-04, 2.7435e-04, 2.7530e-04, 2.7625e-04, 2.7720e-04, 2.7816e-04, 2.7911e-04, 2.8006e-04, 2.8102e-04, 2.8197e-04, 2.8292e-04, 2.8388e-04, 2.8483e-04, 2.8578e-04, 2.8674e-04, 2.8769e-04, 2.8864e-04, 2.8960e-04, 2.9055e-04, 2.9150e-04, 2.9246e-04, 2.9341e-04, 2.9436e-04, 2.9532e-04, 2.9627e-04, 2.9722e-04, 2.9818e-04, 2.9913e-04, 3.0008e-04, 3.0104e-04, 3.0199e-04, 3.0294e-04, 3.0389e-04, 3.0485e-04, 3.0580e-04, 3.0675e-04, 3.0771e-04, 3.0866e-04, 3.0961e-04, 3.1057e-04, 3.1152e-04, 3.1247e-04, 3.1343e-04, 3.1438e-04, 3.1533e-04, 3.1629e-04, 3.1724e-04, 3.1819e-04, 3.1915e-04, 3.2010e-04, 3.2105e-04, 3.2201e-04, 3.2296e-04, 3.2391e-04, 3.2487e-04, 3.2582e-04, 3.2677e-04, 3.2772e-04, 3.2868e-04, 3.2963e-04, 3.3058e-04, 3.3154e-04, 3.3249e-04, 3.3344e-04, 3.3440e-04, 3.3535e-04, 3.3630e-04, 3.3726e-04, 3.3821e-04, 3.3916e-04, 3.4012e-04, 3.4107e-04, 3.4202e-04, 3.4298e-04, 3.4393e-04, 3.4488e-04, 3.4584e-04, 3.4679e-04, 3.4774e-04, 3.4870e-04, 3.4965e-04, 3.5060e-04, 3.5156e-04, 3.5251e-04, 3.5346e-04, 3.5441e-04, 3.5537e-04, 3.5632e-04, 3.5727e-04, 3.5823e-04, 3.5918e-04, 3.6013e-04, 3.6109e-04, 3.6204e-04, 3.6299e-04, 3.6395e-04, 3.6490e-04, 3.6585e-04, 3.6681e-04, 3.6776e-04, 3.6871e-04, 3.6967e-04, 3.7062e-04, 3.7157e-04, 3.7253e-04, 3.7348e-04, 3.7443e-04, 3.7539e-04, 3.7634e-04, 3.7729e-04, 3.7825e-04, 3.7920e-04, 3.8015e-04, 3.8110e-04, 3.8206e-04, 3.8301e-04, 3.8396e-04, 3.8492e-04, 3.8587e-04, 3.8682e-04, 3.8778e-04, 3.8873e-04, 3.8968e-04, 3.9064e-04, 3.9159e-04, 3.9254e-04, 3.9350e-04, 3.9445e-04, 3.9540e-04, 3.9636e-04, 3.9731e-04, 3.9826e-04, 3.9922e-04, 4.0017e-04, 4.0112e-04, 4.0208e-04, 4.0303e-04, 4.0398e-04, 4.0493e-04, 4.0589e-04, 4.0684e-04, 4.0779e-04, 4.0875e-04, 4.0970e-04, 4.1065e-04, 4.1161e-04, 4.1256e-04, 4.1351e-04, 4.1447e-04, 4.1542e-04, 4.1637e-04, 4.1733e-04, 4.1828e-04, 4.1923e-04, 4.2019e-04, 4.2114e-04, 4.2209e-04, 4.2305e-04, 4.2400e-04, 4.2495e-04, 4.2591e-04, 4.2686e-04, 4.2781e-04, 4.2877e-04, 4.2972e-04, 4.3067e-04, 4.3162e-04, 4.3258e-04, 4.3353e-04, 4.3448e-04, 4.3544e-04, 4.3639e-04, 4.3734e-04, 4.3830e-04, 4.3925e-04, 4.4020e-04, 4.4116e-04, 4.4211e-04, 4.4306e-04, 4.4402e-04, 4.4497e-04, 4.4592e-04, 4.4688e-04, 4.4783e-04, 4.4878e-04, 4.4974e-04, 4.5069e-04, 4.5164e-04, 4.5260e-04, 4.5355e-04, 4.5450e-04, 4.5545e-04, 4.5641e-04, 4.5736e-04, 4.5831e-04, 4.5927e-04, 4.6022e-04, 4.6117e-04, 4.6213e-04, 4.6308e-04, 4.6403e-04, 4.6499e-04, 4.6594e-04, 4.6689e-04, 4.6785e-04, 4.6880e-04, 4.6975e-04, 4.7071e-04, 4.7166e-04, 4.7261e-04, 4.7357e-04, 4.7452e-04, 4.7547e-04, 4.7643e-04, 4.7738e-04, 4.7833e-04, 4.7929e-04, 4.8024e-04, 4.8119e-04, 4.8214e-04, 4.8310e-04, 4.8405e-04, 4.8500e-04, 4.8596e-04, 4.8691e-04, 4.8786e-04, // NOLINT
+  4.8977e-04, 4.9168e-04, 4.9358e-04, 4.9549e-04, 4.9740e-04, 4.9931e-04, 5.0121e-04, 5.0312e-04, 5.0503e-04, 5.0693e-04, 5.0884e-04, 5.1075e-04, 5.1265e-04, 5.1456e-04, 5.1647e-04, 5.1837e-04, 5.2028e-04, 5.2219e-04, 5.2409e-04, 5.2600e-04, 5.2791e-04, 5.2982e-04, 5.3172e-04, 5.3363e-04, 5.3554e-04, 5.3744e-04, 5.3935e-04, 5.4126e-04, 5.4316e-04, 5.4507e-04, 5.4698e-04, 5.4888e-04, 5.5079e-04, 5.5270e-04, 5.5460e-04, 5.5651e-04, 5.5842e-04, 5.6033e-04, 5.6223e-04, 5.6414e-04, 5.6605e-04, 5.6795e-04, 5.6986e-04, 5.7177e-04, 5.7367e-04, 5.7558e-04, 5.7749e-04, 5.7939e-04, 5.8130e-04, 5.8321e-04, 5.8512e-04, 5.8702e-04, 5.8893e-04, 5.9084e-04, 5.9274e-04, 5.9465e-04, 5.9656e-04, 5.9846e-04, 6.0037e-04, 6.0228e-04, 6.0418e-04, 6.0609e-04, 6.0800e-04, 6.0990e-04, 6.1181e-04, 6.1372e-04, 6.1563e-04, 6.1753e-04, 6.1944e-04, 6.2135e-04, 6.2325e-04, 6.2516e-04, 6.2707e-04, 6.2897e-04, 6.3088e-04, 6.3279e-04, 6.3469e-04, 6.3660e-04, 6.3851e-04, 6.4041e-04, 6.4232e-04, 6.4423e-04, 6.4614e-04, 6.4804e-04, 6.4995e-04, 6.5186e-04, 6.5376e-04, 6.5567e-04, 6.5758e-04, 6.5948e-04, 6.6139e-04, 6.6330e-04, 6.6520e-04, 6.6711e-04, 6.6902e-04, 6.7092e-04, 6.7283e-04, 6.7474e-04, 6.7665e-04, 6.7855e-04, 6.8046e-04, 6.8237e-04, 6.8427e-04, 6.8618e-04, 6.8809e-04, 6.8999e-04, 6.9190e-04, 6.9381e-04, 6.9571e-04, 6.9762e-04, 6.9953e-04, 7.0143e-04, 7.0334e-04, 7.0525e-04, 7.0716e-04, 7.0906e-04, 7.1097e-04, 7.1288e-04, 7.1478e-04, 7.1669e-04, 7.1860e-04, 7.2050e-04, 7.2241e-04, 7.2432e-04, 7.2622e-04, 7.2813e-04, 7.3004e-04, 7.3195e-04, 7.3385e-04, 7.3576e-04, 7.3767e-04, 7.3957e-04, 7.4148e-04, 7.4339e-04, 7.4529e-04, 7.4720e-04, 7.4911e-04, 7.5101e-04, 7.5292e-04, 7.5483e-04, 7.5673e-04, 7.5864e-04, 7.6055e-04, 7.6246e-04, 7.6436e-04, 7.6627e-04, 7.6818e-04, 7.7008e-04, 7.7199e-04, 7.7390e-04, 7.7580e-04, 7.7771e-04, 7.7962e-04, 7.8152e-04, 7.8343e-04, 7.8534e-04, 7.8724e-04, 7.8915e-04, 7.9106e-04, 7.9297e-04, 7.9487e-04, 7.9678e-04, 7.9869e-04, 8.0059e-04, 8.0250e-04, 8.0441e-04, 8.0631e-04, 8.0822e-04, 8.1013e-04, 8.1203e-04, 8.1394e-04, 8.1585e-04, 8.1775e-04, 8.1966e-04, 8.2157e-04, 8.2348e-04, 8.2538e-04, 8.2729e-04, 8.2920e-04, 8.3110e-04, 8.3301e-04, 8.3492e-04, 8.3682e-04, 8.3873e-04, 8.4064e-04, 8.4254e-04, 8.4445e-04, 8.4636e-04, 8.4826e-04, 8.5017e-04, 8.5208e-04, 8.5399e-04, 8.5589e-04, 8.5780e-04, 8.5971e-04, 8.6161e-04, 8.6352e-04, 8.6543e-04, 8.6733e-04, 8.6924e-04, 8.7115e-04, 8.7305e-04, 8.7496e-04, 8.7687e-04, 8.7878e-04, 8.8068e-04, 8.8259e-04, 8.8450e-04, 8.8640e-04, 8.8831e-04, 8.9022e-04, 8.9212e-04, 8.9403e-04, 8.9594e-04, 8.9784e-04, 8.9975e-04, 9.0166e-04, 9.0356e-04, 9.0547e-04, 9.0738e-04, 9.0929e-04, 9.1119e-04, 9.1310e-04, 9.1501e-04, 9.1691e-04, 9.1882e-04, 9.2073e-04, 9.2263e-04, 9.2454e-04, 9.2645e-04, 9.2835e-04, 9.3026e-04, 9.3217e-04, 9.3407e-04, 9.3598e-04, 9.3789e-04, 9.3980e-04, 9.4170e-04, 9.4361e-04, 9.4552e-04, 9.4742e-04, 9.4933e-04, 9.5124e-04, 9.5314e-04, 9.5505e-04, 9.5696e-04, 9.5886e-04, 9.6077e-04, 9.6268e-04, 9.6458e-04, 9.6649e-04, 9.6840e-04, 9.7031e-04, 9.7221e-04, 9.7412e-04, 9.7603e-04, // NOLINT
+  9.7984e-04, 9.8365e-04, 9.8747e-04, 9.9128e-04, 9.9510e-04, 9.9891e-04, 1.0027e-03, 1.0065e-03, 1.0104e-03, 1.0142e-03, 1.0180e-03, 1.0218e-03, 1.0256e-03, 1.0294e-03, 1.0332e-03, 1.0371e-03, 1.0409e-03, 1.0447e-03, 1.0485e-03, 1.0523e-03, 1.0561e-03, 1.0599e-03, 1.0638e-03, 1.0676e-03, 1.0714e-03, 1.0752e-03, 1.0790e-03, 1.0828e-03, 1.0866e-03, 1.0905e-03, 1.0943e-03, 1.0981e-03, 1.1019e-03, 1.1057e-03, 1.1095e-03, 1.1133e-03, 1.1172e-03, 1.1210e-03, 1.1248e-03, 1.1286e-03, 1.1324e-03, 1.1362e-03, 1.1400e-03, 1.1439e-03, 1.1477e-03, 1.1515e-03, 1.1553e-03, 1.1591e-03, 1.1629e-03, 1.1667e-03, 1.1706e-03, 1.1744e-03, 1.1782e-03, 1.1820e-03, 1.1858e-03, 1.1896e-03, 1.1934e-03, 1.1973e-03, 1.2011e-03, 1.2049e-03, 1.2087e-03, 1.2125e-03, 1.2163e-03, 1.2201e-03, 1.2240e-03, 1.2278e-03, 1.2316e-03, 1.2354e-03, 1.2392e-03, 1.2430e-03, 1.2468e-03, 1.2507e-03, 1.2545e-03, 1.2583e-03, 1.2621e-03, 1.2659e-03, 1.2697e-03, 1.2735e-03, 1.2774e-03, 1.2812e-03, 1.2850e-03, 1.2888e-03, 1.2926e-03, 1.2964e-03, 1.3002e-03, 1.3040e-03, 1.3079e-03, 1.3117e-03, 1.3155e-03, 1.3193e-03, 1.3231e-03, 1.3269e-03, 1.3307e-03, 1.3346e-03, 1.3384e-03, 1.3422e-03, 1.3460e-03, 1.3498e-03, 1.3536e-03, 1.3574e-03, 1.3613e-03, 1.3651e-03, 1.3689e-03, 1.3727e-03, 1.3765e-03, 1.3803e-03, 1.3841e-03, 1.3880e-03, 1.3918e-03, 1.3956e-03, 1.3994e-03, 1.4032e-03, 1.4070e-03, 1.4108e-03, 1.4147e-03, 1.4185e-03, 1.4223e-03, 1.4261e-03, 1.4299e-03, 1.4337e-03, 1.4375e-03, 1.4414e-03, 1.4452e-03, 1.4490e-03, 1.4528e-03, 1.4566e-03, 1.4604e-03, 1.4642e-03, 1.4681e-03, 1.4719e-03, 1.4757e-03, 1.4795e-03, 1.4833e-03, 1.4871e-03, 1.4909e-03, 1.4948e-03, 1.4986e-03, 1.5024e-03, 1.5062e-03, 1.5100e-03, 1.5138e-03, 1.5176e-03, 1.5215e-03, 1.5253e-03, 1.5291e-03, 1.5329e-03, 1.5367e-03, 1.5405e-03, 1.5443e-03, 1.5482e-03, 1.5520e-03, 1.5558e-03, 1.5596e-03, 1.5634e-03, 1.5672e-03, 1.5710e-03, 1.5749e-03, 1.5787e-03, 1.5825e-03, 1.5863e-03, 1.5901e-03, 1.5939e-03, 1.5977e-03, 1.6016e-03, 1.6054e-03, 1.6092e-03, 1.6130e-03, 1.6168e-03, 1.6206e-03, 1.6244e-03, 1.6283e-03, 1.6321e-03, 1.6359e-03, 1.6397e-03, 1.6435e-03, 1.6473e-03, 1.6511e-03, 1.6550e-03, 1.6588e-03, 1.6626e-03, 1.6664e-03, 1.6702e-03, 1.6740e-03, 1.6778e-03, 1.6817e-03, 1.6855e-03, 1.6893e-03, 1.6931e-03, 1.6969e-03, 1.7007e-03, 1.7045e-03, 1.7084e-03, 1.7122e-03, 1.7160e-03, 1.7198e-03, 1.7236e-03, 1.7274e-03, 1.7312e-03, 1.7351e-03, 1.7389e-03, 1.7427e-03, 1.7465e-03, 1.7503e-03, 1.7541e-03, 1.7579e-03, 1.7618e-03, 1.7656e-03, 1.7694e-03, 1.7732e-03, 1.7770e-03, 1.7808e-03, 1.7846e-03, 1.7885e-03, 1.7923e-03, 1.7961e-03, 1.7999e-03, 1.8037e-03, 1.8075e-03, 1.8113e-03, 1.8152e-03, 1.8190e-03, 1.8228e-03, 1.8266e-03, 1.8304e-03, 1.8342e-03, 1.8380e-03, 1.8419e-03, 1.8457e-03, 1.8495e-03, 1.8533e-03, 1.8571e-03, 1.8609e-03, 1.8647e-03, 1.8686e-03, 1.8724e-03, 1.8762e-03, 1.8800e-03, 1.8838e-03, 1.8876e-03, 1.8914e-03, 1.8953e-03, 1.8991e-03, 1.9029e-03, 1.9067e-03, 1.9105e-03, 1.9143e-03, 1.9181e-03, 1.9220e-03, 1.9258e-03, 1.9296e-03, 1.9334e-03, 1.9372e-03, 1.9410e-03, 1.9448e-03, 1.9487e-03, 1.9525e-03, // NOLINT
+  1.9601e-03, 1.9677e-03, 1.9754e-03, 1.9830e-03, 1.9906e-03, 1.9982e-03, 2.0059e-03, 2.0135e-03, 2.0211e-03, 2.0288e-03, 2.0364e-03, 2.0440e-03, 2.0516e-03, 2.0593e-03, 2.0669e-03, 2.0745e-03, 2.0822e-03, 2.0898e-03, 2.0974e-03, 2.1050e-03, 2.1127e-03, 2.1203e-03, 2.1279e-03, 2.1356e-03, 2.1432e-03, 2.1508e-03, 2.1585e-03, 2.1661e-03, 2.1737e-03, 2.1813e-03, 2.1890e-03, 2.1966e-03, 2.2042e-03, 2.2119e-03, 2.2195e-03, 2.2271e-03, 2.2347e-03, 2.2424e-03, 2.2500e-03, 2.2576e-03, 2.2653e-03, 2.2729e-03, 2.2805e-03, 2.2881e-03, 2.2958e-03, 2.3034e-03, 2.3110e-03, 2.3187e-03, 2.3263e-03, 2.3339e-03, 2.3415e-03, 2.3492e-03, 2.3568e-03, 2.3644e-03, 2.3721e-03, 2.3797e-03, 2.3873e-03, 2.3949e-03, 2.4026e-03, 2.4102e-03, 2.4178e-03, 2.4255e-03, 2.4331e-03, 2.4407e-03, 2.4483e-03, 2.4560e-03, 2.4636e-03, 2.4712e-03, 2.4789e-03, 2.4865e-03, 2.4941e-03, 2.5018e-03, 2.5094e-03, 2.5170e-03, 2.5246e-03, 2.5323e-03, 2.5399e-03, 2.5475e-03, 2.5552e-03, 2.5628e-03, 2.5704e-03, 2.5780e-03, 2.5857e-03, 2.5933e-03, 2.6009e-03, 2.6086e-03, 2.6162e-03, 2.6238e-03, 2.6314e-03, 2.6391e-03, 2.6467e-03, 2.6543e-03, 2.6620e-03, 2.6696e-03, 2.6772e-03, 2.6848e-03, 2.6925e-03, 2.7001e-03, 2.7077e-03, 2.7154e-03, 2.7230e-03, 2.7306e-03, 2.7382e-03, 2.7459e-03, 2.7535e-03, 2.7611e-03, 2.7688e-03, 2.7764e-03, 2.7840e-03, 2.7917e-03, 2.7993e-03, 2.8069e-03, 2.8145e-03, 2.8222e-03, 2.8298e-03, 2.8374e-03, 2.8451e-03, 2.8527e-03, 2.8603e-03, 2.8679e-03, 2.8756e-03, 2.8832e-03, 2.8908e-03, 2.8985e-03, 2.9061e-03, 2.9137e-03, 2.9213e-03, 2.9290e-03, 2.9366e-03, 2.9442e-03, 2.9519e-03, 2.9595e-03, 2.9671e-03, 2.9747e-03, 2.9824e-03, 2.9900e-03, 2.9976e-03, 3.0053e-03, 3.0129e-03, 3.0205e-03, 3.0281e-03, 3.0358e-03, 3.0434e-03, 3.0510e-03, 3.0587e-03, 3.0663e-03, 3.0739e-03, 3.0816e-03, 3.0892e-03, 3.0968e-03, 3.1044e-03, 3.1121e-03, 3.1197e-03, 3.1273e-03, 3.1350e-03, 3.1426e-03, 3.1502e-03, 3.1578e-03, 3.1655e-03, 3.1731e-03, 3.1807e-03, 3.1884e-03, 3.1960e-03, 3.2036e-03, 3.2112e-03, 3.2189e-03, 3.2265e-03, 3.2341e-03, 3.2418e-03, 3.2494e-03, 3.2570e-03, 3.2646e-03, 3.2723e-03, 3.2799e-03, 3.2875e-03, 3.2952e-03, 3.3028e-03, 3.3104e-03, 3.3180e-03, 3.3257e-03, 3.3333e-03, 3.3409e-03, 3.3486e-03, 3.3562e-03, 3.3638e-03, 3.3715e-03, 3.3791e-03, 3.3867e-03, 3.3943e-03, 3.4020e-03, 3.4096e-03, 3.4172e-03, 3.4249e-03, 3.4325e-03, 3.4401e-03, 3.4477e-03, 3.4554e-03, 3.4630e-03, 3.4706e-03, 3.4783e-03, 3.4859e-03, 3.4935e-03, 3.5011e-03, 3.5088e-03, 3.5164e-03, 3.5240e-03, 3.5317e-03, 3.5393e-03, 3.5469e-03, 3.5545e-03, 3.5622e-03, 3.5698e-03, 3.5774e-03, 3.5851e-03, 3.5927e-03, 3.6003e-03, 3.6079e-03, 3.6156e-03, 3.6232e-03, 3.6308e-03, 3.6385e-03, 3.6461e-03, 3.6537e-03, 3.6613e-03, 3.6690e-03, 3.6766e-03, 3.6842e-03, 3.6919e-03, 3.6995e-03, 3.7071e-03, 3.7148e-03, 3.7224e-03, 3.7300e-03, 3.7376e-03, 3.7453e-03, 3.7529e-03, 3.7605e-03, 3.7682e-03, 3.7758e-03, 3.7834e-03, 3.7910e-03, 3.7987e-03, 3.8063e-03, 3.8139e-03, 3.8216e-03, 3.8292e-03, 3.8368e-03, 3.8444e-03, 3.8521e-03, 3.8597e-03, 3.8673e-03, 3.8750e-03, 3.8826e-03, 3.8902e-03, 3.8978e-03, 3.9055e-03, // NOLINT
+  3.9207e-03, 3.9360e-03, 3.9513e-03, 3.9665e-03, 3.9818e-03, 3.9970e-03, 4.0123e-03, 4.0275e-03, 4.0428e-03, 4.0581e-03, 4.0733e-03, 4.0886e-03, 4.1038e-03, 4.1191e-03, 4.1343e-03, 4.1496e-03, 4.1649e-03, 4.1801e-03, 4.1954e-03, 4.2106e-03, 4.2259e-03, 4.2412e-03, 4.2564e-03, 4.2717e-03, 4.2869e-03, 4.3022e-03, 4.3174e-03, 4.3327e-03, 4.3480e-03, 4.3632e-03, 4.3785e-03, 4.3937e-03, 4.4090e-03, 4.4243e-03, 4.4395e-03, 4.4548e-03, 4.4700e-03, 4.4853e-03, 4.5005e-03, 4.5158e-03, 4.5311e-03, 4.5463e-03, 4.5616e-03, 4.5768e-03, 4.5921e-03, 4.6074e-03, 4.6226e-03, 4.6379e-03, 4.6531e-03, 4.6684e-03, 4.6836e-03, 4.6989e-03, 4.7142e-03, 4.7294e-03, 4.7447e-03, 4.7599e-03, 4.7752e-03, 4.7905e-03, 4.8057e-03, 4.8210e-03, 4.8362e-03, 4.8515e-03, 4.8667e-03, 4.8820e-03, 4.8973e-03, 4.9125e-03, 4.9278e-03, 4.9430e-03, 4.9583e-03, 4.9736e-03, 4.9888e-03, 5.0041e-03, 5.0193e-03, 5.0346e-03, 5.0498e-03, 5.0651e-03, 5.0804e-03, 5.0956e-03, 5.1109e-03, 5.1261e-03, 5.1414e-03, 5.1567e-03, 5.1719e-03, 5.1872e-03, 5.2024e-03, 5.2177e-03, 5.2329e-03, 5.2482e-03, 5.2635e-03, 5.2787e-03, 5.2940e-03, 5.3092e-03, 5.3245e-03, 5.3398e-03, 5.3550e-03, 5.3703e-03, 5.3855e-03, 5.4008e-03, 5.4160e-03, 5.4313e-03, 5.4466e-03, 5.4618e-03, 5.4771e-03, 5.4923e-03, 5.5076e-03, 5.5229e-03, 5.5381e-03, 5.5534e-03, 5.5686e-03, 5.5839e-03, 5.5991e-03, 5.6144e-03, 5.6297e-03, 5.6449e-03, 5.6602e-03, 5.6754e-03, 5.6907e-03, 5.7060e-03, 5.7212e-03, 5.7365e-03, 5.7517e-03, 5.7670e-03, 5.7822e-03, 5.7975e-03, 5.8128e-03, 5.8280e-03, 5.8433e-03, 5.8585e-03, 5.8738e-03, 5.8891e-03, 5.9043e-03, 5.9196e-03, 5.9348e-03, 5.9501e-03, 5.9653e-03, 5.9806e-03, 5.9959e-03, 6.0111e-03, 6.0264e-03, 6.0416e-03, 6.0569e-03, 6.0722e-03, 6.0874e-03, 6.1027e-03, 6.1179e-03, 6.1332e-03, 6.1484e-03, 6.1637e-03, 6.1790e-03, 6.1942e-03, 6.2095e-03, 6.2247e-03, 6.2400e-03, 6.2553e-03, 6.2705e-03, 6.2858e-03, 6.3010e-03, 6.3163e-03, 6.3315e-03, 6.3468e-03, 6.3621e-03, 6.3773e-03, 6.3926e-03, 6.4078e-03, 6.4231e-03, 6.4384e-03, 6.4536e-03, 6.4689e-03, 6.4841e-03, 6.4994e-03, 6.5146e-03, 6.5299e-03, 6.5452e-03, 6.5604e-03, 6.5757e-03, 6.5909e-03, 6.6062e-03, 6.6215e-03, 6.6367e-03, 6.6520e-03, 6.6672e-03, 6.6825e-03, 6.6977e-03, 6.7130e-03, 6.7283e-03, 6.7435e-03, 6.7588e-03, 6.7740e-03, 6.7893e-03, 6.8046e-03, 6.8198e-03, 6.8351e-03, 6.8503e-03, 6.8656e-03, 6.8808e-03, 6.8961e-03, 6.9114e-03, 6.9266e-03, 6.9419e-03, 6.9571e-03, 6.9724e-03, 6.9877e-03, 7.0029e-03, 7.0182e-03, 7.0334e-03, 7.0487e-03, 7.0639e-03, 7.0792e-03, 7.0945e-03, 7.1097e-03, 7.1250e-03, 7.1402e-03, 7.1555e-03, 7.1708e-03, 7.1860e-03, 7.2013e-03, 7.2165e-03, 7.2318e-03, 7.2470e-03, 7.2623e-03, 7.2776e-03, 7.2928e-03, 7.3081e-03, 7.3233e-03, 7.3386e-03, 7.3539e-03, 7.3691e-03, 7.3844e-03, 7.3996e-03, 7.4149e-03, 7.4301e-03, 7.4454e-03, 7.4607e-03, 7.4759e-03, 7.4912e-03, 7.5064e-03, 7.5217e-03, 7.5370e-03, 7.5522e-03, 7.5675e-03, 7.5827e-03, 7.5980e-03, 7.6132e-03, 7.6285e-03, 7.6438e-03, 7.6590e-03, 7.6743e-03, 7.6895e-03, 7.7048e-03, 7.7201e-03, 7.7353e-03, 7.7506e-03, 7.7658e-03, 7.7811e-03, 7.7963e-03, 7.8116e-03, // NOLINT
+  7.8421e-03, 7.8726e-03, 7.9032e-03, 7.9337e-03, 7.9642e-03, 7.9947e-03, 8.0252e-03, 8.0557e-03, 8.0863e-03, 8.1168e-03, 8.1473e-03, 8.1778e-03, 8.2083e-03, 8.2388e-03, 8.2694e-03, 8.2999e-03, 8.3304e-03, 8.3609e-03, 8.3914e-03, 8.4219e-03, 8.4525e-03, 8.4830e-03, 8.5135e-03, 8.5440e-03, 8.5745e-03, 8.6051e-03, 8.6356e-03, 8.6661e-03, 8.6966e-03, 8.7271e-03, 8.7576e-03, 8.7882e-03, 8.8187e-03, 8.8492e-03, 8.8797e-03, 8.9102e-03, 8.9407e-03, 8.9713e-03, 9.0018e-03, 9.0323e-03, 9.0628e-03, 9.0933e-03, 9.1238e-03, 9.1544e-03, 9.1849e-03, 9.2154e-03, 9.2459e-03, 9.2764e-03, 9.3069e-03, 9.3375e-03, 9.3680e-03, 9.3985e-03, 9.4290e-03, 9.4595e-03, 9.4900e-03, 9.5206e-03, 9.5511e-03, 9.5816e-03, 9.6121e-03, 9.6426e-03, 9.6731e-03, 9.7037e-03, 9.7342e-03, 9.7647e-03, 9.7952e-03, 9.8257e-03, 9.8563e-03, 9.8868e-03, 9.9173e-03, 9.9478e-03, 9.9783e-03, 1.0009e-02, 1.0039e-02, 1.0070e-02, 1.0100e-02, 1.0131e-02, 1.0161e-02, 1.0192e-02, 1.0222e-02, 1.0253e-02, 1.0283e-02, 1.0314e-02, 1.0345e-02, 1.0375e-02, 1.0406e-02, 1.0436e-02, 1.0467e-02, 1.0497e-02, 1.0528e-02, 1.0558e-02, 1.0589e-02, 1.0619e-02, 1.0650e-02, 1.0680e-02, 1.0711e-02, 1.0741e-02, 1.0772e-02, 1.0802e-02, 1.0833e-02, 1.0863e-02, 1.0894e-02, 1.0924e-02, 1.0955e-02, 1.0985e-02, 1.1016e-02, 1.1046e-02, 1.1077e-02, 1.1107e-02, 1.1138e-02, 1.1168e-02, 1.1199e-02, 1.1230e-02, 1.1260e-02, 1.1291e-02, 1.1321e-02, 1.1352e-02, 1.1382e-02, 1.1413e-02, 1.1443e-02, 1.1474e-02, 1.1504e-02, 1.1535e-02, 1.1565e-02, 1.1596e-02, 1.1626e-02, 1.1657e-02, 1.1687e-02, 1.1718e-02, 1.1748e-02, 1.1779e-02, 1.1809e-02, 1.1840e-02, 1.1870e-02, 1.1901e-02, 1.1931e-02, 1.1962e-02, 1.1992e-02, 1.2023e-02, 1.2053e-02, 1.2084e-02, 1.2115e-02, 1.2145e-02, 1.2176e-02, 1.2206e-02, 1.2237e-02, 1.2267e-02, 1.2298e-02, 1.2328e-02, 1.2359e-02, 1.2389e-02, 1.2420e-02, 1.2450e-02, 1.2481e-02, 1.2511e-02, 1.2542e-02, 1.2572e-02, 1.2603e-02, 1.2633e-02, 1.2664e-02, 1.2694e-02, 1.2725e-02, 1.2755e-02, 1.2786e-02, 1.2816e-02, 1.2847e-02, 1.2877e-02, 1.2908e-02, 1.2938e-02, 1.2969e-02, 1.3000e-02, 1.3030e-02, 1.3061e-02, 1.3091e-02, 1.3122e-02, 1.3152e-02, 1.3183e-02, 1.3213e-02, 1.3244e-02, 1.3274e-02, 1.3305e-02, 1.3335e-02, 1.3366e-02, 1.3396e-02, 1.3427e-02, 1.3457e-02, 1.3488e-02, 1.3518e-02, 1.3549e-02, 1.3579e-02, 1.3610e-02, 1.3640e-02, 1.3671e-02, 1.3701e-02, 1.3732e-02, 1.3762e-02, 1.3793e-02, 1.3823e-02, 1.3854e-02, 1.3885e-02, 1.3915e-02, 1.3946e-02, 1.3976e-02, 1.4007e-02, 1.4037e-02, 1.4068e-02, 1.4098e-02, 1.4129e-02, 1.4159e-02, 1.4190e-02, 1.4220e-02, 1.4251e-02, 1.4281e-02, 1.4312e-02, 1.4342e-02, 1.4373e-02, 1.4403e-02, 1.4434e-02, 1.4464e-02, 1.4495e-02, 1.4525e-02, 1.4556e-02, 1.4586e-02, 1.4617e-02, 1.4647e-02, 1.4678e-02, 1.4708e-02, 1.4739e-02, 1.4770e-02, 1.4800e-02, 1.4831e-02, 1.4861e-02, 1.4892e-02, 1.4922e-02, 1.4953e-02, 1.4983e-02, 1.5014e-02, 1.5044e-02, 1.5075e-02, 1.5105e-02, 1.5136e-02, 1.5166e-02, 1.5197e-02, 1.5227e-02, 1.5258e-02, 1.5288e-02, 1.5319e-02, 1.5349e-02, 1.5380e-02, 1.5410e-02, 1.5441e-02, 1.5471e-02, 1.5502e-02, 1.5532e-02, 1.5563e-02, 1.5593e-02, 1.5624e-02, // NOLINT
+  1.5746e-02, 1.5868e-02, 1.5990e-02, 1.6112e-02, 1.6234e-02, 1.6356e-02, 1.6478e-02, 1.6601e-02, 1.6723e-02, 1.6845e-02, 1.6967e-02, 1.7089e-02, 1.7211e-02, 1.7333e-02, 1.7455e-02, 1.7577e-02, 1.7699e-02, 1.7821e-02, 1.7943e-02, 1.8065e-02, 1.8187e-02, 1.8310e-02, 1.8432e-02, 1.8554e-02, 1.8676e-02, 1.8798e-02, 1.8920e-02, 1.9042e-02, 1.9164e-02, 1.9286e-02, 1.9408e-02, 1.9530e-02, 1.9652e-02, 1.9774e-02, 1.9896e-02, 2.0018e-02, 2.0141e-02, 2.0263e-02, 2.0385e-02, 2.0507e-02, 2.0629e-02, 2.0751e-02, 2.0873e-02, 2.0995e-02, 2.1117e-02, 2.1239e-02, 2.1361e-02, 2.1483e-02, 2.1605e-02, 2.1727e-02, 2.1850e-02, 2.1972e-02, 2.2094e-02, 2.2216e-02, 2.2338e-02, 2.2460e-02, 2.2582e-02, 2.2704e-02, 2.2826e-02, 2.2948e-02, 2.3070e-02, 2.3192e-02, 2.3314e-02, 2.3436e-02, 2.3558e-02, 2.3681e-02, 2.3803e-02, 2.3925e-02, 2.4047e-02, 2.4169e-02, 2.4291e-02, 2.4413e-02, 2.4535e-02, 2.4657e-02, 2.4779e-02, 2.4901e-02, 2.5023e-02, 2.5145e-02, 2.5267e-02, 2.5390e-02, 2.5512e-02, 2.5634e-02, 2.5756e-02, 2.5878e-02, 2.6000e-02, 2.6122e-02, 2.6244e-02, 2.6366e-02, 2.6488e-02, 2.6610e-02, 2.6732e-02, 2.6854e-02, 2.6976e-02, 2.7099e-02, 2.7221e-02, 2.7343e-02, 2.7465e-02, 2.7587e-02, 2.7709e-02, 2.7831e-02, 2.7953e-02, 2.8075e-02, 2.8197e-02, 2.8319e-02, 2.8441e-02, 2.8563e-02, 2.8685e-02, 2.8807e-02, 2.8930e-02, 2.9052e-02, 2.9174e-02, 2.9296e-02, 2.9418e-02, 2.9540e-02, 2.9662e-02, 2.9784e-02, 2.9906e-02, 3.0028e-02, 3.0150e-02, 3.0272e-02, 3.0394e-02, 3.0516e-02, 3.0639e-02, 3.0761e-02, 3.0883e-02, 3.1005e-02, 3.1127e-02, 3.1249e-02, 3.1493e-02, 3.1737e-02, 3.1981e-02, 3.2225e-02, 3.2470e-02, 3.2714e-02, 3.2958e-02, 3.3202e-02, 3.3446e-02, 3.3690e-02, 3.3934e-02, 3.4179e-02, 3.4423e-02, 3.4667e-02, 3.4911e-02, 3.5155e-02, 3.5399e-02, 3.5643e-02, 3.5888e-02, 3.6132e-02, 3.6376e-02, 3.6620e-02, 3.6864e-02, 3.7108e-02, 3.7352e-02, 3.7596e-02, 3.7841e-02, 3.8085e-02, 3.8329e-02, 3.8573e-02, 3.8817e-02, 3.9061e-02, 3.9305e-02, 3.9550e-02, 3.9794e-02, 4.0038e-02, 4.0282e-02, 4.0526e-02, 4.0770e-02, 4.1014e-02, 4.1259e-02, 4.1503e-02, 4.1747e-02, 4.1991e-02, 4.2235e-02, 4.2479e-02, 4.2723e-02, 4.2968e-02, 4.3212e-02, 4.3456e-02, 4.3700e-02, 4.3944e-02, 4.4188e-02, 4.4432e-02, 4.4677e-02, 4.4921e-02, 4.5165e-02, 4.5409e-02, 4.5653e-02, 4.5897e-02, 4.6141e-02, 4.6386e-02, 4.6630e-02, 4.6874e-02, 4.7118e-02, 4.7362e-02, 4.7606e-02, 4.7850e-02, 4.8095e-02, 4.8339e-02, 4.8583e-02, 4.8827e-02, 4.9071e-02, 4.9315e-02, 4.9559e-02, 4.9803e-02, 5.0048e-02, 5.0292e-02, 5.0536e-02, 5.0780e-02, 5.1024e-02, 5.1268e-02, 5.1512e-02, 5.1757e-02, 5.2001e-02, 5.2245e-02, 5.2489e-02, 5.2733e-02, 5.2977e-02, 5.3221e-02, 5.3466e-02, 5.3710e-02, 5.3954e-02, 5.4198e-02, 5.4442e-02, 5.4686e-02, 5.4930e-02, 5.5175e-02, 5.5419e-02, 5.5663e-02, 5.5907e-02, 5.6151e-02, 5.6395e-02, 5.6639e-02, 5.6884e-02, 5.7128e-02, 5.7372e-02, 5.7616e-02, 5.7860e-02, 5.8104e-02, 5.8348e-02, 5.8593e-02, 5.8837e-02, 5.9081e-02, 5.9325e-02, 5.9569e-02, 5.9813e-02, 6.0057e-02, 6.0301e-02, 6.0546e-02, 6.0790e-02, 6.1034e-02, 6.1278e-02, 6.1522e-02, 6.1766e-02, 6.2010e-02, 6.2255e-02, 6.2499e-02, // NOLINT
+  6.2743e-02, 6.2987e-02, 6.3231e-02, 6.3475e-02, 6.3719e-02, 6.3964e-02, 6.4208e-02, 6.4452e-02, 6.4696e-02, 6.4940e-02, 6.5184e-02, 6.5428e-02, 6.5673e-02, 6.5917e-02, 6.6161e-02, 6.6405e-02, 6.6649e-02, 6.6893e-02, 6.7137e-02, 6.7382e-02, 6.7626e-02, 6.7870e-02, 6.8114e-02, 6.8358e-02, 6.8602e-02, 6.8846e-02, 6.9091e-02, 6.9335e-02, 6.9579e-02, 6.9823e-02, 7.0067e-02, 7.0311e-02, 7.0555e-02, 7.0799e-02, 7.1044e-02, 7.1288e-02, 7.1532e-02, 7.1776e-02, 7.2020e-02, 7.2264e-02, 7.2508e-02, 7.2753e-02, 7.2997e-02, 7.3241e-02, 7.3485e-02, 7.3729e-02, 7.3973e-02, 7.4217e-02, 7.4462e-02, 7.4706e-02, 7.4950e-02, 7.5194e-02, 7.5438e-02, 7.5682e-02, 7.5926e-02, 7.6171e-02, 7.6415e-02, 7.6659e-02, 7.6903e-02, 7.7147e-02, 7.7391e-02, 7.7635e-02, 7.7880e-02, 7.8124e-02, 7.8368e-02, 7.8612e-02, 7.8856e-02, 7.9100e-02, 7.9344e-02, 7.9589e-02, 7.9833e-02, 8.0077e-02, 8.0321e-02, 8.0565e-02, 8.0809e-02, 8.1053e-02, 8.1298e-02, 8.1542e-02, 8.1786e-02, 8.2030e-02, 8.2274e-02, 8.2518e-02, 8.2762e-02, 8.3006e-02, 8.3251e-02, 8.3495e-02, 8.3739e-02, 8.3983e-02, 8.4227e-02, 8.4471e-02, 8.4715e-02, 8.4960e-02, 8.5204e-02, 8.5448e-02, 8.5692e-02, 8.5936e-02, 8.6180e-02, 8.6424e-02, 8.6669e-02, 8.6913e-02, 8.7157e-02, 8.7401e-02, 8.7645e-02, 8.7889e-02, 8.8133e-02, 8.8378e-02, 8.8622e-02, 8.8866e-02, 8.9110e-02, 8.9354e-02, 8.9598e-02, 8.9842e-02, 9.0087e-02, 9.0331e-02, 9.0575e-02, 9.0819e-02, 9.1063e-02, 9.1307e-02, 9.1551e-02, 9.1796e-02, 9.2040e-02, 9.2284e-02, 9.2528e-02, 9.2772e-02, 9.3016e-02, 9.3260e-02, 9.3504e-02, 9.3749e-02, 9.4237e-02, 9.4725e-02, 9.5213e-02, 9.5702e-02, 9.6190e-02, 9.6678e-02, 9.7167e-02, 9.7655e-02, 9.8143e-02, 9.8631e-02, 9.9120e-02, 9.9608e-02, 1.0010e-01, 1.0058e-01, 1.0107e-01, 1.0156e-01, 1.0205e-01, 1.0254e-01, 1.0303e-01, 1.0351e-01, 1.0400e-01, 1.0449e-01, 1.0498e-01, 1.0547e-01, 1.0596e-01, 1.0644e-01, 1.0693e-01, 1.0742e-01, 1.0791e-01, 1.0840e-01, 1.0889e-01, 1.0937e-01, 1.0986e-01, 1.1035e-01, 1.1084e-01, 1.1133e-01, 1.1182e-01, 1.1230e-01, 1.1279e-01, 1.1328e-01, 1.1377e-01, 1.1426e-01, 1.1474e-01, 1.1523e-01, 1.1572e-01, 1.1621e-01, 1.1670e-01, 1.1719e-01, 1.1767e-01, 1.1816e-01, 1.1865e-01, 1.1914e-01, 1.1963e-01, 1.2012e-01, 1.2060e-01, 1.2109e-01, 1.2158e-01, 1.2207e-01, 1.2256e-01, 1.2305e-01, 1.2353e-01, 1.2402e-01, 1.2451e-01, 1.2500e-01, 1.2549e-01, 1.2598e-01, 1.2646e-01, 1.2695e-01, 1.2744e-01, 1.2793e-01, 1.2842e-01, 1.2890e-01, 1.2939e-01, 1.2988e-01, 1.3037e-01, 1.3086e-01, 1.3135e-01, 1.3183e-01, 1.3232e-01, 1.3281e-01, 1.3330e-01, 1.3379e-01, 1.3428e-01, 1.3476e-01, 1.3525e-01, 1.3574e-01, 1.3623e-01, 1.3672e-01, 1.3721e-01, 1.3769e-01, 1.3818e-01, 1.3867e-01, 1.3916e-01, 1.3965e-01, 1.4014e-01, 1.4062e-01, 1.4111e-01, 1.4160e-01, 1.4209e-01, 1.4258e-01, 1.4306e-01, 1.4355e-01, 1.4404e-01, 1.4453e-01, 1.4502e-01, 1.4551e-01, 1.4599e-01, 1.4648e-01, 1.4697e-01, 1.4746e-01, 1.4795e-01, 1.4844e-01, 1.4892e-01, 1.4941e-01, 1.4990e-01, 1.5039e-01, 1.5088e-01, 1.5137e-01, 1.5185e-01, 1.5234e-01, 1.5283e-01, 1.5332e-01, 1.5381e-01, 1.5430e-01, 1.5478e-01, 1.5527e-01, 1.5576e-01, 1.5625e-01, // NOLINT
+  1.5674e-01, 1.5723e-01, 1.5771e-01, 1.5820e-01, 1.5869e-01, 1.5918e-01, 1.5967e-01, 1.6015e-01, 1.6064e-01, 1.6113e-01, 1.6162e-01, 1.6211e-01, 1.6260e-01, 1.6308e-01, 1.6357e-01, 1.6406e-01, 1.6455e-01, 1.6504e-01, 1.6553e-01, 1.6601e-01, 1.6650e-01, 1.6699e-01, 1.6748e-01, 1.6797e-01, 1.6846e-01, 1.6894e-01, 1.6943e-01, 1.6992e-01, 1.7041e-01, 1.7090e-01, 1.7139e-01, 1.7187e-01, 1.7236e-01, 1.7285e-01, 1.7334e-01, 1.7383e-01, 1.7431e-01, 1.7480e-01, 1.7529e-01, 1.7578e-01, 1.7627e-01, 1.7676e-01, 1.7724e-01, 1.7773e-01, 1.7822e-01, 1.7871e-01, 1.7920e-01, 1.7969e-01, 1.8017e-01, 1.8066e-01, 1.8115e-01, 1.8164e-01, 1.8213e-01, 1.8262e-01, 1.8310e-01, 1.8359e-01, 1.8408e-01, 1.8457e-01, 1.8506e-01, 1.8555e-01, 1.8603e-01, 1.8652e-01, 1.8701e-01, 1.8750e-01, 1.8848e-01, 1.8945e-01, 1.9043e-01, 1.9140e-01, 1.9238e-01, 1.9336e-01, 1.9433e-01, 1.9531e-01, 1.9629e-01, 1.9726e-01, 1.9824e-01, 1.9922e-01, 2.0019e-01, 2.0117e-01, 2.0215e-01, 2.0312e-01, 2.0410e-01, 2.0508e-01, 2.0605e-01, 2.0703e-01, 2.0801e-01, 2.0898e-01, 2.0996e-01, 2.1094e-01, 2.1191e-01, 2.1289e-01, 2.1387e-01, 2.1484e-01, 2.1582e-01, 2.1680e-01, 2.1777e-01, 2.1875e-01, 2.1972e-01, 2.2070e-01, 2.2168e-01, 2.2265e-01, 2.2363e-01, 2.2461e-01, 2.2558e-01, 2.2656e-01, 2.2754e-01, 2.2851e-01, 2.2949e-01, 2.3047e-01, 2.3144e-01, 2.3242e-01, 2.3340e-01, 2.3437e-01, 2.3535e-01, 2.3633e-01, 2.3730e-01, 2.3828e-01, 2.3926e-01, 2.4023e-01, 2.4121e-01, 2.4219e-01, 2.4316e-01, 2.4414e-01, 2.4512e-01, 2.4609e-01, 2.4707e-01, 2.4805e-01, 2.4902e-01, 2.5000e-01, 2.5097e-01, 2.5195e-01, 2.5293e-01, 2.5390e-01, 2.5488e-01, 2.5586e-01, 2.5683e-01, 2.5781e-01, 2.5879e-01, 2.5976e-01, 2.6074e-01, 2.6172e-01, 2.6269e-01, 2.6367e-01, 2.6465e-01, 2.6562e-01, 2.6660e-01, 2.6758e-01, 2.6855e-01, 2.6953e-01, 2.7051e-01, 2.7148e-01, 2.7246e-01, 2.7344e-01, 2.7441e-01, 2.7539e-01, 2.7637e-01, 2.7734e-01, 2.7832e-01, 2.7930e-01, 2.8027e-01, 2.8125e-01, 2.8222e-01, 2.8320e-01, 2.8418e-01, 2.8515e-01, 2.8613e-01, 2.8711e-01, 2.8808e-01, 2.8906e-01, 2.9004e-01, 2.9101e-01, 2.9199e-01, 2.9297e-01, 2.9394e-01, 2.9492e-01, 2.9590e-01, 2.9687e-01, 2.9785e-01, 2.9883e-01, 2.9980e-01, 3.0078e-01, 3.0176e-01, 3.0273e-01, 3.0371e-01, 3.0469e-01, 3.0566e-01, 3.0664e-01, 3.0762e-01, 3.0859e-01, 3.0957e-01, 3.1055e-01, 3.1152e-01, 3.1250e-01, 3.1347e-01, 3.1445e-01, 3.1543e-01, 3.1640e-01, 3.1738e-01, 3.1836e-01, 3.1933e-01, 3.2031e-01, 3.2129e-01, 3.2226e-01, 3.2324e-01, 3.2422e-01, 3.2519e-01, 3.2617e-01, 3.2715e-01, 3.2812e-01, 3.2910e-01, 3.3008e-01, 3.3105e-01, 3.3203e-01, 3.3301e-01, 3.3398e-01, 3.3496e-01, 3.3594e-01, 3.3691e-01, 3.3789e-01, 3.3887e-01, 3.3984e-01, 3.4082e-01, 3.4180e-01, 3.4277e-01, 3.4375e-01, 3.4472e-01, 3.4570e-01, 3.4668e-01, 3.4765e-01, 3.4863e-01, 3.4961e-01, 3.5058e-01, 3.5156e-01, 3.5254e-01, 3.5351e-01, 3.5449e-01, 3.5547e-01, 3.5644e-01, 3.5742e-01, 3.5840e-01, 3.5937e-01, 3.6035e-01, 3.6133e-01, 3.6230e-01, 3.6328e-01, 3.6426e-01, 3.6523e-01, 3.6621e-01, 3.6719e-01, 3.6816e-01, 3.6914e-01, 3.7012e-01, 3.7109e-01, 3.7207e-01, 3.7305e-01, 3.7402e-01, 3.7500e-01, // NOLINT
+  3.7695e-01, 3.7890e-01, 3.8086e-01, 3.8281e-01, 3.8476e-01, 3.8672e-01, 3.8867e-01, 3.9062e-01, 3.9258e-01, 3.9453e-01, 3.9648e-01, 3.9844e-01, 4.0039e-01, 4.0234e-01, 4.0430e-01, 4.0625e-01, 4.0820e-01, 4.1015e-01, 4.1211e-01, 4.1406e-01, 4.1601e-01, 4.1797e-01, 4.1992e-01, 4.2187e-01, 4.2383e-01, 4.2578e-01, 4.2773e-01, 4.2969e-01, 4.3164e-01, 4.3359e-01, 4.3555e-01, 4.3750e-01, 4.3945e-01, 4.4140e-01, 4.4336e-01, 4.4531e-01, 4.4726e-01, 4.4922e-01, 4.5117e-01, 4.5312e-01, 4.5508e-01, 4.5703e-01, 4.5898e-01, 4.6094e-01, 4.6289e-01, 4.6484e-01, 4.6680e-01, 4.6875e-01, 4.7070e-01, 4.7265e-01, 4.7461e-01, 4.7656e-01, 4.7851e-01, 4.8047e-01, 4.8242e-01, 4.8437e-01, 4.8633e-01, 4.8828e-01, 4.9023e-01, 4.9219e-01, 4.9414e-01, 4.9609e-01, 4.9805e-01, 5.0000e-01, 5.0195e-01, 5.0390e-01, 5.0586e-01, 5.0781e-01, 5.0976e-01, 5.1172e-01, 5.1367e-01, 5.1562e-01, 5.1758e-01, 5.1953e-01, 5.2148e-01, 5.2344e-01, 5.2539e-01, 5.2734e-01, 5.2930e-01, 5.3125e-01, 5.3320e-01, 5.3515e-01, 5.3711e-01, 5.3906e-01, 5.4101e-01, 5.4297e-01, 5.4492e-01, 5.4687e-01, 5.4883e-01, 5.5078e-01, 5.5273e-01, 5.5469e-01, 5.5664e-01, 5.5859e-01, 5.6055e-01, 5.6250e-01, 5.6445e-01, 5.6640e-01, 5.6836e-01, 5.7031e-01, 5.7226e-01, 5.7422e-01, 5.7617e-01, 5.7812e-01, 5.8008e-01, 5.8203e-01, 5.8398e-01, 5.8594e-01, 5.8789e-01, 5.8984e-01, 5.9180e-01, 5.9375e-01, 5.9570e-01, 5.9765e-01, 5.9961e-01, 6.0156e-01, 6.0351e-01, 6.0547e-01, 6.0742e-01, 6.0937e-01, 6.1133e-01, 6.1328e-01, 6.1523e-01, 6.1719e-01, 6.1914e-01, 6.2109e-01, 6.2305e-01, 6.2500e-01, 6.2695e-01, 6.2890e-01, 6.3086e-01, 6.3281e-01, 6.3476e-01, 6.3672e-01, 6.3867e-01, 6.4062e-01, 6.4258e-01, 6.4453e-01, 6.4648e-01, 6.4844e-01, 6.5039e-01, 6.5234e-01, 6.5430e-01, 6.5625e-01, 6.5820e-01, 6.6015e-01, 6.6211e-01, 6.6406e-01, 6.6601e-01, 6.6797e-01, 6.6992e-01, 6.7187e-01, 6.7383e-01, 6.7578e-01, 6.7773e-01, 6.7969e-01, 6.8164e-01, 6.8359e-01, 6.8554e-01, 6.8750e-01, 6.8945e-01, 6.9140e-01, 6.9336e-01, 6.9531e-01, 6.9726e-01, 6.9922e-01, 7.0117e-01, 7.0312e-01, 7.0508e-01, 7.0703e-01, 7.0898e-01, 7.1094e-01, 7.1289e-01, 7.1484e-01, 7.1679e-01, 7.1875e-01, 7.2070e-01, 7.2265e-01, 7.2461e-01, 7.2656e-01, 7.2851e-01, 7.3047e-01, 7.3242e-01, 7.3437e-01, 7.3633e-01, 7.3828e-01, 7.4023e-01, 7.4219e-01, 7.4414e-01, 7.4609e-01, 7.4804e-01, 7.5000e-01, 7.5390e-01, 7.5781e-01, 7.6172e-01, 7.6562e-01, 7.6953e-01, 7.7344e-01, 7.7734e-01, 7.8125e-01, 7.8515e-01, 7.8906e-01, 7.9297e-01, 7.9687e-01, 8.0078e-01, 8.0469e-01, 8.0859e-01, 8.1250e-01, 8.1640e-01, 8.2031e-01, 8.2422e-01, 8.2812e-01, 8.3203e-01, 8.3594e-01, 8.3984e-01, 8.4375e-01, 8.4765e-01, 8.5156e-01, 8.5547e-01, 8.5937e-01, 8.6328e-01, 8.6719e-01, 8.7109e-01, 8.7500e-01, 8.7890e-01, 8.8281e-01, 8.8672e-01, 8.9062e-01, 8.9453e-01, 8.9844e-01, 9.0234e-01, 9.0625e-01, 9.1015e-01, 9.1406e-01, 9.1797e-01, 9.2187e-01, 9.2578e-01, 9.2969e-01, 9.3359e-01, 9.3750e-01, 9.4140e-01, 9.4531e-01, 9.4922e-01, 9.5312e-01, 9.5703e-01, 9.6094e-01, 9.6484e-01, 9.6875e-01, 9.7265e-01, 9.7656e-01, 9.8047e-01, 9.8437e-01, 9.8828e-01, 9.9219e-01, 9.9609e-01, 1.0000e+00 // NOLINT
 };
 
-float4 val4_from_12(uchar8 pvs, float gain) {
-  uint4 parsed = (uint4)(((uint)pvs.s0<<4) + (pvs.s1>>4),  // is from the previous 10 bit
-                         ((uint)pvs.s2<<4) + (pvs.s4&0xF),
-                         ((uint)pvs.s3<<4) + (pvs.s4>>4),
-                         ((uint)pvs.s5<<4) + (pvs.s7&0xF));
-  #if IS_OX
+float4 normalize_pv(int4 parsed, float vignette_factor) {
   // PWL
-  //float4 pv = (convert_float4(parsed) - 64.0) / (4096.0 - 64.0);
   float4 pv = {ox03c10_lut[parsed.s0], ox03c10_lut[parsed.s1], ox03c10_lut[parsed.s2], ox03c10_lut[parsed.s3]};
-
-  // it's a 24 bit signal, center in the middle 8 bits
-  return clamp(pv*gain*256.0, 0.0, 1.0);
-  #else // AR
-  // normalize and scale
-  float4 pv = (convert_float4(parsed) - 168.0) / (4096.0 - 168.0);
-  return clamp(pv*gain, 0.0, 1.0);
-  #endif
-
+  return clamp(pv*vignette_factor*256.0, 0.0, 1.0);
 }
 
-float get_k(float a, float b, float c, float d) {
-  return 2.0 - (fabs(a - b) + fabs(c - d));
+float3 color_correct(float3 rgb) {
+  float3 corrected = rgb.x * (float3)(1.5664815, -0.29808738, -0.03973474);
+  corrected += rgb.y * (float3)(-0.48672447, 1.41914433, -0.40295248);
+  corrected += rgb.z * (float3)(-0.07975703, -0.12105695, 1.44268722);
+  return corrected;
 }
 
-__kernel void debayer10(const __global uchar * in, __global uchar * out)
-{
-  const int gid_x = get_global_id(0);
-  const int gid_y = get_global_id(1);
-
-  const int y_top_mod = (gid_y == 0) ? 2: 0;
-  const int y_bot_mod = (gid_y == (RGB_HEIGHT/2 - 1)) ? 1: 3;
-
-  float3 rgb;
-  uchar3 rgb_out[4];
-
-  int start = (2 * gid_y - 1) * FRAME_STRIDE + (3 * gid_x - 2) + (FRAME_STRIDE * FRAME_OFFSET);
-
-  // read in 8x4 chars
-  uchar8 dat[4];
-  dat[0] = vload8(0, in + start + FRAME_STRIDE*y_top_mod);
-  dat[1] = vload8(0, in + start + FRAME_STRIDE*1);
-  dat[2] = vload8(0, in + start + FRAME_STRIDE*2);
-  dat[3] = vload8(0, in + start + FRAME_STRIDE*y_bot_mod);
-
-  // correct vignetting
-  #if VIGNETTING
-    int gx = (gid_x*2 - RGB_WIDTH/2);
-    int gy = (gid_y*2 - RGB_HEIGHT/2);
-    const float gain = get_vignetting_s(gx*gx + gy*gy);
-  #else
-    const float gain = 1.0;
-  #endif
-
-  // process them to floats
-  float4 va = val4_from_12(dat[0], gain);
-  float4 vb = val4_from_12(dat[1], gain);
-  float4 vc = val4_from_12(dat[2], gain);
-  float4 vd = val4_from_12(dat[3], gain);
-
-  if (gid_x == 0) {
-    va.s0 = va.s2;
-    vb.s0 = vb.s2;
-    vc.s0 = vc.s2;
-    vd.s0 = vd.s2;
-  } else if (gid_x == RGB_WIDTH/2 - 1) {
-    va.s3 = va.s1;
-    vb.s3 = vb.s1;
-    vc.s3 = vc.s1;
-    vd.s3 = vd.s1;
-  }
-
-  // a simplified version of https://opensignalprocessingjournal.com/contents/volumes/V6/TOSIGPJ-6-1/TOSIGPJ-6-1.pdf
-  const float k01 = get_k(va.s0, vb.s1, va.s2, vb.s1);
-  const float k02 = get_k(va.s2, vb.s1, vc.s2, vb.s1);
-  const float k03 = get_k(vc.s0, vb.s1, vc.s2, vb.s1);
-  const float k04 = get_k(va.s0, vb.s1, vc.s0, vb.s1);
-  rgb.x = (k02*vb.s2+k04*vb.s0)/(k02+k04); // R_G1
-  rgb.y = vb.s1; // G1(R)
-  rgb.z = (k01*va.s1+k03*vc.s1)/(k01+k03); // B_G1
-  rgb_out[0] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
-
-  const float k11 = get_k(va.s1, vc.s1, va.s3, vc.s3);
-  const float k12 = get_k(va.s2, vb.s1, vb.s3, vc.s2);
-  const float k13 = get_k(va.s1, va.s3, vc.s1, vc.s3);
-  const float k14 = get_k(va.s2, vb.s3, vc.s2, vb.s1);
-  rgb.x = vb.s2; // R
-  rgb.y = (k11*(va.s2+vc.s2)*0.5+k13*(vb.s3+vb.s1)*0.5)/(k11+k13); // G_R
-  rgb.z = (k12*(va.s3+vc.s1)*0.5+k14*(va.s1+vc.s3)*0.5)/(k12+k14); // B_R
-  rgb_out[1] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
-
-  const float k21 = get_k(vb.s0, vd.s0, vb.s2, vd.s2);
-  const float k22 = get_k(vb.s1, vc.s0, vc.s2, vd.s1);
-  const float k23 = get_k(vb.s0, vb.s2, vd.s0, vd.s2);
-  const float k24 = get_k(vb.s1, vc.s2, vd.s1, vc.s0);
-  rgb.x = (k22*(vb.s2+vd.s0)*0.5+k24*(vb.s0+vd.s2)*0.5)/(k22+k24); // R_B
-  rgb.y = (k21*(vb.s1+vd.s1)*0.5+k23*(vc.s2+vc.s0)*0.5)/(k21+k23); // G_B
-  rgb.z = vc.s1; // B
-  rgb_out[2] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
-
-  const float k31 = get_k(vb.s1, vc.s2, vb.s3, vc.s2);
-  const float k32 = get_k(vb.s3, vc.s2, vd.s3, vc.s2);
-  const float k33 = get_k(vd.s1, vc.s2, vd.s3, vc.s2);
-  const float k34 = get_k(vb.s1, vc.s2, vd.s1, vc.s2);
-  rgb.x = (k31*vb.s2+k33*vd.s2)/(k31+k33); // R_G2
-  rgb.y = vc.s2; // G2(B)
-  rgb.z = (k32*vc.s3+k34*vc.s1)/(k32+k34); // B_G2
-  rgb_out[3] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
-
-  // write ys
-  uchar2 yy = (uchar2)(
-    RGB_TO_Y(rgb_out[0].s0, rgb_out[0].s1, rgb_out[0].s2),
-    RGB_TO_Y(rgb_out[1].s0, rgb_out[1].s1, rgb_out[1].s2)
-  );
-  vstore2(yy, 0, out + mad24(gid_y * 2, YUV_STRIDE, gid_x * 2));
-  yy = (uchar2)(
-    RGB_TO_Y(rgb_out[2].s0, rgb_out[2].s1, rgb_out[2].s2),
-    RGB_TO_Y(rgb_out[3].s0, rgb_out[3].s1, rgb_out[3].s2)
-  );
-  vstore2(yy, 0, out + mad24(gid_y * 2 + 1, YUV_STRIDE, gid_x * 2));
-
-  // write uvs
-  const short ar = AVERAGE(rgb_out[0].s0, rgb_out[1].s0, rgb_out[2].s0, rgb_out[3].s0);
-  const short ag = AVERAGE(rgb_out[0].s1, rgb_out[1].s1, rgb_out[2].s1, rgb_out[3].s1);
-  const short ab = AVERAGE(rgb_out[0].s2, rgb_out[1].s2, rgb_out[2].s2, rgb_out[3].s2);
-  uchar2 uv = (uchar2)(
-    RGB_TO_U(ar, ag, ab),
-    RGB_TO_V(ar, ag, ab)
-  );
-  vstore2(uv, 0, out + UV_OFFSET + mad24(gid_y, YUV_STRIDE, gid_x * 2));
+float3 apply_gamma(float3 rgb, int expo_time) {
+  return -0.507089*exp(-12.54124638*rgb) + 0.9655*powr(rgb, 0.5) - 0.472597*rgb + 0.507089;
 }
+
+#endif
\ No newline at end of file
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index 4e2194d914..add514b117 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -12,10 +12,6 @@
 #include "system/camerad/sensors/os04c10_registers.h"
 
 #define ANALOG_GAIN_MAX_CNT 55
-const size_t FRAME_WIDTH = 1928;
-const size_t FRAME_HEIGHT = 1208;
-const size_t FRAME_STRIDE = 2896;  // for 12 bit output. 1928 * 12 / 8 + 4 (alignment)
-
 
 class SensorInfo {
 public:
@@ -26,12 +22,14 @@ public:
   virtual void processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const {}
 
   cereal::FrameData::ImageSensor image_sensor = cereal::FrameData::ImageSensor::UNKNOWN;
+  float pixel_size_mm;
   uint32_t frame_width, frame_height;
   uint32_t frame_stride;
   uint32_t frame_offset = 0;
   uint32_t extra_height = 0;
   int registers_offset = -1;
   int stats_offset = -1;
+  int hdr_offset = -1;
 
   int exposure_time_min;
   int exposure_time_max;
diff --git a/system/camerad/test/test_ae_gray.cc b/system/camerad/test/test_ae_gray.cc
index 06d784927a..be9a0cc59f 100644
--- a/system/camerad/test/test_ae_gray.cc
+++ b/system/camerad/test/test_ae_gray.cc
@@ -36,6 +36,7 @@ TEST_CASE("camera.test_set_exposure_target") {
   cb.cur_yuv_buf = &vb;
   cb.rgb_width = W;
   cb.rgb_height = H;
+  Rect rect = {0, 0, W-1, H-1};
 
   printf("AE test patterns %dx%d\n", cb.rgb_width, cb.rgb_height);
 
@@ -60,7 +61,7 @@ TEST_CASE("camera.test_set_exposure_target") {
           memset(&fb_y[h_0*W+h_1*W], l[2], h_2*W);
           memset(&fb_y[h_0*W+h_1*W+h_2*W], l[3], h_3*W);
           memset(&fb_y[h_0*W+h_1*W+h_2*W+h_3*W], l[4], h_4*W);
-          float ev = set_exposure_target((const CameraBuf*) &cb, 0, W-1, 1, 0, H-1, 1);
+          float ev = set_exposure_target((const CameraBuf*) &cb, rect, 1, 1);
           // printf("%d/%d/%d/%d/%d ev is %f\n", h_0, h_1, h_2, h_3, h_4, ev);
           // printf("%f\n", ev);
 
diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py
index 502295be07..7e3536f775 100755
--- a/system/hardware/tici/agnos.py
+++ b/system/hardware/tici/agnos.py
@@ -10,11 +10,13 @@ from collections.abc import Generator
 
 import requests
 
-import openpilot.system.hardware.tici.casync as casync
+import openpilot.system.updated.casync.casync as casync
 
 SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
 CAIBX_URL = "https://commadist.azureedge.net/agnosupdate/"
 
+AGNOS_MANIFEST_FILE = "system/hardware/tici/agnos.json"
+
 
 class StreamingDecompressor:
   def __init__(self, url: str) -> None:
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index c1cb9da438..45d20d976b 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -468,8 +468,9 @@ class Tici(HardwareBase):
         # use sim slot
         'AT^SIMSWAP=1',
 
-        # configure ECM mode
-        'AT$QCPCFG=usbNet,1'
+        # ethernet config
+        'AT$QCPCFG=usbNet,0',
+        'AT$QCNETDEVCTL=3,1',
       ]
     else:
       cmds += [
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index 180ec155e4..ba7e0a6d9d 100755
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -36,7 +36,6 @@ PROCS = [
   Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
   Proc(['dmonitoringmodeld'], 0.4, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),
-  Proc(['mapsd', 'navmodeld'], 0.05, msgs=['mapRenderState', 'navModel']),
 ]
 
 
diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc
index 2bd2863126..853a17abbe 100644
--- a/system/loggerd/encoder/v4l_encoder.cc
+++ b/system/loggerd/encoder/v4l_encoder.cc
@@ -16,7 +16,12 @@
 #define V4L2_QCOM_BUF_FLAG_CODECCONFIG 0x00020000
 #define V4L2_QCOM_BUF_FLAG_EOS 0x02000000
 
-// echo 0x7fffffff > /sys/kernel/debug/msm_vidc/debug_level
+/*
+  kernel debugging:
+  echo 0xff > /sys/module/videobuf2_core/parameters/debug
+  echo 0x7fffffff > /sys/kernel/debug/msm_vidc/debug_level
+  echo 0xff > /sys/devices/platform/soc/aa00000.qcom,vidc/video4linux/video33/dev_debug
+*/
 const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0;
 
 static void checked_ioctl(int fd, unsigned long request, void *argp) {
diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc
index 7a829a2f1f..8234cd84ad 100644
--- a/system/loggerd/logger.cc
+++ b/system/loggerd/logger.cc
@@ -89,15 +89,6 @@ kj::Array<capnp::word> logger_build_init_data() {
   return capnp::messageToFlatArray(msg);
 }
 
-std::string logger_get_route_name() {
-  char route_name[64] = {'\0'};
-  time_t rawtime = time(NULL);
-  struct tm timeinfo;
-  localtime_r(&rawtime, &timeinfo);
-  strftime(route_name, sizeof(route_name), "%Y-%m-%d--%H-%M-%S", &timeinfo);
-  return route_name;
-}
-
 std::string logger_get_identifier(std::string key) {
   // a log identifier is a 32 bit counter, plus a 10 character unique ID.
   // e.g. 000001a3--c20ba54385
@@ -105,7 +96,7 @@ std::string logger_get_identifier(std::string key) {
   Params params;
   uint32_t cnt;
   try {
-    cnt = std::stol(params.get(key));
+    cnt = std::stoul(params.get(key));
   } catch (std::exception &e) {
     cnt = 0;
   }
@@ -122,16 +113,16 @@ std::string logger_get_identifier(std::string key) {
   return util::string_format("%08x--%s", cnt, ss.str().c_str());
 }
 
-static void log_sentinel(LoggerState *log, SentinelType type, int eixt_signal = 0) {
+static void log_sentinel(LoggerState *log, SentinelType type, int exit_signal = 0) {
   MessageBuilder msg;
   auto sen = msg.initEvent().initSentinel();
   sen.setType(type);
-  sen.setSignal(eixt_signal);
+  sen.setSignal(exit_signal);
   log->write(msg.toBytes(), true);
 }
 
 LoggerState::LoggerState(const std::string &log_root) {
-  route_name = logger_get_route_name();
+  route_name = logger_get_identifier("RouteCount");
   route_path = log_root + "/" + route_name;
   init_data = logger_build_init_data();
 }
diff --git a/system/loggerd/logger.h b/system/loggerd/logger.h
index dd3bee150c..7a8490d57a 100644
--- a/system/loggerd/logger.h
+++ b/system/loggerd/logger.h
@@ -52,5 +52,4 @@ protected:
 };
 
 kj::Array<capnp::word> logger_build_init_data();
-std::string logger_get_route_name();
 std::string logger_get_identifier(std::string key);
diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py
index 42eec2a0f4..877c872b6b 100644
--- a/system/loggerd/tests/loggerd_tests_common.py
+++ b/system/loggerd/tests/loggerd_tests_common.py
@@ -72,8 +72,8 @@ class UploaderTestCase(unittest.TestCase):
     uploader.force_wifi = True
     uploader.allow_sleep = False
     self.seg_num = random.randint(1, 300)
-    self.seg_format = "2019-04-18--12-52-54--{}"
-    self.seg_format2 = "2019-05-18--11-22-33--{}"
+    self.seg_format = "00000004--0ac3964c96--{}"
+    self.seg_format2 = "00000005--4c4e99b08b--{}"
     self.seg_dir = self.seg_format.format(self.seg_num)
 
     self.params = Params()
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index c80dc19fce..fdea60a282 100755
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -24,7 +24,7 @@ from openpilot.system.version import get_version
 from openpilot.tools.lib.helpers import RE
 from openpilot.tools.lib.logreader import LogReader
 from cereal.visionipc import VisionIpcServer, VisionStreamType
-from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
 
 SentinelType = log.Sentinel.SentinelType
 
@@ -142,10 +142,11 @@ class TestLoggerd:
     os.environ["LOGGERD_TEST"] = "1"
     Params().put("RecordFront", "1")
 
+    d = DEVICE_CAMERAS[("tici", "ar0231")]
     expected_files = {"rlog", "qlog", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
-    streams = [(VisionStreamType.VISION_STREAM_ROAD, (*tici_f_frame_size, 2048*2346, 2048, 2048*1216), "roadCameraState"),
-               (VisionStreamType.VISION_STREAM_DRIVER, (*tici_d_frame_size, 2048*2346, 2048, 2048*1216), "driverCameraState"),
-               (VisionStreamType.VISION_STREAM_WIDE_ROAD, (*tici_e_frame_size, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")]
+    streams = [(VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048*2346, 2048, 2048*1216), "roadCameraState"),
+               (VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048*2346, 2048, 2048*1216), "driverCameraState"),
+               (VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")]
 
     pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"])
     vipc_server = VisionIpcServer("camerad")
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index 33ee8c1850..832a227798 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -44,7 +44,9 @@ class FakeResponse:
 
 
 def get_directory_sort(d: str) -> list[str]:
-  return [s.rjust(10, '0') for s in d.rsplit('--', 1)]
+  # ensure old format is sorted sooner
+  o = ["0", ] if d.startswith("2024-") else ["1", ]
+  return o + [s.rjust(10, '0') for s in d.rsplit('--', 1)]
 
 def listdir_by_creation(d: str) -> list[str]:
   if not os.path.isdir(d):
diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py
index e8c407a627..21c7995a77 100755
--- a/system/qcomgpsd/qcomgpsd.py
+++ b/system/qcomgpsd/qcomgpsd.py
@@ -17,6 +17,7 @@ from cereal import log
 import cereal.messaging as messaging
 from openpilot.common.gpio import gpio_init, gpio_set
 from openpilot.common.retry import retry
+from openpilot.common.time import system_time_valid
 from openpilot.system.hardware.tici.pins import GPIO
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.qcomgpsd.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
@@ -171,8 +172,9 @@ def setup_quectel(diag: ModemDiag) -> bool:
     inject_assistance()
     os.remove(ASSIST_DATA_FILE)
   #at_cmd("AT+QGPSXTRADATA?")
-  time_str = datetime.datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S")
-  at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000")
+  if system_time_valid():
+    time_str = datetime.datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S")
+    at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000")
 
   at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"")
   at_cmd("AT+QGPS=1")
@@ -205,10 +207,10 @@ def teardown_quectel(diag):
   try_setup_logs(diag, [])
 
 
-def wait_for_modem():
+def wait_for_modem(cmd="AT+QGPS?"):
   cloudlog.warning("waiting for modem to come up")
   while True:
-    ret = subprocess.call("mmcli -m any --timeout 10 --command=\"AT+QGPS?\"", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
+    ret = subprocess.call(f"mmcli -m any --timeout 10 --command=\"{cmd}\"", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
     if ret == 0:
       return
     time.sleep(0.1)
@@ -352,8 +354,8 @@ def main() -> NoReturn:
       gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi if (report["q_FltHeadingUncRad"] != 0) else 180
       gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma]))
       # quectel gps verticalAccuracy is clipped to 500, set invalid if so
-      gps.flags = 1 if gps.verticalAccuracy != 500 else 0
-      if gps.flags:
+      gps.hasFix = gps.verticalAccuracy != 500
+      if gps.hasFix:
         want_assistance = False
         stop_download_event.set()
       pm.send('gpsLocation', msg)
diff --git a/system/timed.py b/system/timed.py
index 39acb2ba12..2b9a42c455 100755
--- a/system/timed.py
+++ b/system/timed.py
@@ -8,6 +8,7 @@ from typing import NoReturn
 from timezonefinder import TimezoneFinder
 
 import cereal.messaging as messaging
+from openpilot.common.time import system_time_valid
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import AGNOS
@@ -56,7 +57,6 @@ def main() -> NoReturn:
   """
 
   params = Params()
-  tf = TimezoneFinder()
 
   # Restore timezone from param
   tz = params.get("Timezone", encoding='utf8')
@@ -70,7 +70,8 @@ def main() -> NoReturn:
   while True:
     sm.update(1000)
 
-    msg = messaging.new_message('clocks', valid=True)
+    msg = messaging.new_message('clocks')
+    msg.valid = system_time_valid()
     msg.clocks.wallTimeNanos = time.time_ns()
     pm.send('clocks', msg)
 
diff --git a/system/sensord/pigeond.py b/system/ubloxd/pigeond.py
similarity index 100%
rename from system/sensord/pigeond.py
rename to system/ubloxd/pigeond.py
diff --git a/system/sensord/tests/test_pigeond.py b/system/ubloxd/tests/test_pigeond.py
similarity index 100%
rename from system/sensord/tests/test_pigeond.py
rename to system/ubloxd/tests/test_pigeond.py
diff --git a/system/ubloxd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc
index eb1a1e4b19..26b33a1e32 100644
--- a/system/ubloxd/ublox_msg.cc
+++ b/system/ubloxd/ublox_msg.cc
@@ -127,6 +127,7 @@ kj::Array<capnp::word> UbloxMsgParser::gen_nav_pvt(ubx_t::nav_pvt_t *msg) {
   auto gpsLoc = msg_builder.initEvent().initGpsLocationExternal();
   gpsLoc.setSource(cereal::GpsLocationData::SensorSource::UBLOX);
   gpsLoc.setFlags(msg->flags());
+  gpsLoc.setHasFix((msg->flags() % 2) == 1);
   gpsLoc.setLatitude(msg->lat() * 1e-07);
   gpsLoc.setLongitude(msg->lon() * 1e-07);
   gpsLoc.setAltitude(msg->height() * 1e-03);
diff --git a/system/ugpsd.py b/system/ugpsd.py
new file mode 100755
index 0000000000..34b20b01c8
--- /dev/null
+++ b/system/ugpsd.py
@@ -0,0 +1,165 @@
+#!/usr/bin/env python3
+import os
+import time
+import traceback
+import serial
+import datetime
+import numpy as np
+from collections import defaultdict
+
+from cereal import log
+import cereal.messaging as messaging
+from openpilot.common.retry import retry
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem
+
+
+def sfloat(n: str):
+  return float(n) if len(n) > 0 else 0
+
+def checksum(s: str):
+  ret = 0
+  for c in s[1:-3]:
+    ret ^= ord(c)
+  return format(ret, '02X')
+
+class Unicore:
+  def __init__(self):
+    self.s = serial.Serial('/dev/ttyHS0', 115200)
+    self.s.timeout = 1
+    self.s.writeTimeout = 1
+    self.s.newline = b'\r\n'
+
+    self.s.flush()
+    self.s.reset_input_buffer()
+    self.s.reset_output_buffer()
+    self.s.read(2048)
+
+  def send(self, cmd):
+    self.s.write(cmd.encode('utf8') + b'\r')
+    resp = self.s.read(2048)
+    print(len(resp), cmd, "\n", resp)
+    assert b"OK" in resp
+
+  def recv(self):
+    return self.s.readline()
+
+def build_msg(state):
+  """
+    NMEA sentences:
+      https://campar.in.tum.de/twiki/pub/Chair/NaviGpsDemon/nmea.html#RMC
+    NAV messages:
+      https://www.unicorecomm.com/assets/upload/file/UFirebird_Standard_Positioning_Products_Protocol_Specification_CH.pdf
+  """
+
+  msg = messaging.new_message('gpsLocation', valid=True)
+  gps = msg.gpsLocation
+
+  gnrmc = state['$GNRMC']
+  gps.hasFix = gnrmc[1] == 'A'
+  gps.source = log.GpsLocationData.SensorSource.unicore
+  gps.latitude = (sfloat(gnrmc[3][:2]) + (sfloat(gnrmc[3][2:]) / 60)) * (1 if gnrmc[4] == "N" else -1)
+  gps.longitude = (sfloat(gnrmc[5][:3]) + (sfloat(gnrmc[5][3:]) / 60)) * (1 if gnrmc[6] == "E" else -1)
+
+  try:
+    date = gnrmc[9][:6]
+    dt = datetime.datetime.strptime(f"{date} {gnrmc[1]}", '%d%m%y %H%M%S.%f')
+    gps.unixTimestampMillis = dt.timestamp()*1e3
+  except Exception:
+    pass
+
+  gps.bearingDeg = sfloat(gnrmc[8])
+
+  if len(state['$GNGGA']):
+    gngga = state['$GNGGA']
+    if gngga[10] == 'M':
+      gps.altitude = sfloat(gngga[9])
+
+  if len(state['$GNGSA']):
+    gngsa = state['$GNGSA']
+    gps.horizontalAccuracy = sfloat(gngsa[4])
+    gps.verticalAccuracy = sfloat(gngsa[5])
+
+  #if len(state['$NAVACC']):
+  #  # $NAVVEL,264415000,5,3,0.375,0.141,-0.735,-65.450*2A
+  #  navacc = state['$NAVACC']
+  #  gps.horizontalAccuracy = sfloat(navacc[3])
+  #  gps.speedAccuracy = sfloat(navacc[4])
+  #  gps.bearingAccuracyDeg = sfloat(navacc[5])
+
+  if len(state['$NAVVEL']):
+    # $NAVVEL,264415000,5,3,0.375,0.141,-0.735,-65.450*2A
+    navvel = state['$NAVVEL']
+    vECEF = [
+      sfloat(navvel[4]),
+      sfloat(navvel[5]),
+      sfloat(navvel[6]),
+    ]
+
+    lat = np.radians(gps.latitude)
+    lon = np.radians(gps.longitude)
+    R = np.array([
+      [-np.sin(lat) * np.cos(lon), -np.sin(lon), -np.cos(lat) * np.cos(lon)],
+      [-np.sin(lat) * np.sin(lon), np.cos(lon), -np.cos(lat) * np.sin(lon)],
+      [np.cos(lat), 0, -np.sin(lat)]
+    ])
+
+    vNED = [float(x) for x in R.dot(vECEF)]
+    gps.vNED = vNED
+    gps.speed = np.linalg.norm(vNED)
+
+  # TODO: set these from the module
+  gps.bearingAccuracyDeg = 5.
+  gps.speedAccuracy = 3.
+
+  return msg
+
+
+@retry(attempts=10, delay=0.1)
+def setup(u):
+  at_cmd('AT+CGPS=0')
+  at_cmd('AT+CGPS=1')
+  time.sleep(1.0)
+
+  # setup NAVXXX outputs
+  for i in range(4):
+    u.send(f"$CFGMSG,1,{i},1")
+  for i in (1, 3):
+    u.send(f"$CFGMSG,3,{i},1")
+
+  # 10Hz NAV outputs
+  u.send("$CFGNAV,100,100,1000")
+
+
+def main():
+  wait_for_modem("AT+CGPS?")
+
+  u = Unicore()
+  setup(u)
+
+  state = defaultdict(list)
+  pm = messaging.PubMaster(['gpsLocation'])
+  while True:
+    try:
+      msg = u.recv().decode('utf8').strip()
+      if "DEBUG" in os.environ:
+        print(repr(msg))
+
+      if len(msg) > 0:
+        if checksum(msg) != msg.split('*')[1]:
+          cloudlog.error(f"invalid checksum: {repr(msg)}")
+          continue
+
+        k = msg.split(',')[0]
+        state[k] = msg.split(',')
+        if '$GNRMC' not in msg:
+          continue
+
+        pm.send('gpsLocation', build_msg(state))
+    except Exception:
+      traceback.print_exc()
+      cloudlog.exception("gps.issue")
+
+
+if __name__ == "__main__":
+  main()
diff --git a/system/hardware/tici/casync.py b/system/updated/casync/casync.py
similarity index 81%
rename from system/hardware/tici/casync.py
rename to system/updated/casync/casync.py
index 986228c1cd..7a3303a9e9 100755
--- a/system/hardware/tici/casync.py
+++ b/system/updated/casync/casync.py
@@ -2,15 +2,19 @@
 import io
 import lzma
 import os
+import pathlib
 import struct
 import sys
 import time
 from abc import ABC, abstractmethod
 from collections import defaultdict, namedtuple
 from collections.abc import Callable
+from typing import IO
 
 import requests
 from Crypto.Hash import SHA512
+from openpilot.system.updated.casync import tar
+from openpilot.system.updated.casync.common import create_casync_tar_package
 
 CA_FORMAT_INDEX = 0x96824d9c7b129ff9
 CA_FORMAT_TABLE = 0xe75b9e112f17417d
@@ -37,20 +41,25 @@ class ChunkReader(ABC):
     ...
 
 
-class FileChunkReader(ChunkReader):
+class BinaryChunkReader(ChunkReader):
   """Reads chunks from a local file"""
-  def __init__(self, fn: str) -> None:
+  def __init__(self, file_like: IO[bytes]) -> None:
     super().__init__()
-    self.f = open(fn, 'rb')
-
-  def __del__(self):
-    self.f.close()
+    self.f = file_like
 
   def read(self, chunk: Chunk) -> bytes:
     self.f.seek(chunk.offset)
     return self.f.read(chunk.length)
 
 
+class FileChunkReader(BinaryChunkReader):
+  def __init__(self, path: str) -> None:
+    super().__init__(open(path, 'rb'))
+
+  def __del__(self):
+    self.f.close()
+
+
 class RemoteChunkReader(ChunkReader):
   """Reads lzma compressed chunks from a remote store"""
 
@@ -83,6 +92,20 @@ class RemoteChunkReader(ChunkReader):
     return decompressor.decompress(contents)
 
 
+class DirectoryTarChunkReader(BinaryChunkReader):
+  """creates a tar archive of a directory and reads chunks from it"""
+
+  def __init__(self, path: str, cache_file: str) -> None:
+    create_casync_tar_package(pathlib.Path(path), pathlib.Path(cache_file))
+
+    self.f = open(cache_file, "rb")
+    return super().__init__(self.f)
+
+  def __del__(self):
+    self.f.close()
+    os.unlink(self.f.name)
+
+
 def parse_caibx(caibx_path: str) -> list[Chunk]:
   """Parses the chunks from a caibx file. Can handle both local and remote files.
   Returns a list of chunks with hash, offset and length"""
@@ -181,6 +204,21 @@ def extract(target: list[Chunk],
   return stats
 
 
+def extract_directory(target: list[Chunk],
+            sources: list[tuple[str, ChunkReader, ChunkDict]],
+            out_path: str,
+            tmp_file: str,
+            progress: Callable[[int], None] = None):
+  """extract a directory stored as a casync tar archive"""
+
+  stats = extract(target, sources, tmp_file, progress)
+
+  with open(tmp_file, "rb") as f:
+    tar.extract_tar_archive(f, pathlib.Path(out_path))
+
+  return stats
+
+
 def print_stats(stats: dict[str, int]):
   total_bytes = sum(stats.values())
   print(f"Total size: {total_bytes / 1024 / 1024:.2f} MB")
diff --git a/system/updated/casync/common.py b/system/updated/casync/common.py
new file mode 100644
index 0000000000..6979f5cb06
--- /dev/null
+++ b/system/updated/casync/common.py
@@ -0,0 +1,61 @@
+import dataclasses
+import json
+import pathlib
+import subprocess
+
+from openpilot.system.version import BUILD_METADATA_FILENAME, BuildMetadata
+from openpilot.system.updated.casync import tar
+
+
+CASYNC_ARGS = ["--with=symlinks", "--with=permissions", "--compression=xz", "--chunk-size=16M"]
+CASYNC_FILES = [BUILD_METADATA_FILENAME]
+
+
+def run(cmd):
+  return subprocess.check_output(cmd)
+
+
+def get_exclude_set(path) -> set[str]:
+  exclude_set = set(CASYNC_FILES)
+
+  for file in path.rglob("*"):
+    if file.is_file() or file.is_symlink():
+
+      while file.resolve() != path.resolve():
+        exclude_set.add(str(file.relative_to(path)))
+
+        file = file.parent
+
+  return exclude_set
+
+
+def create_build_metadata_file(path: pathlib.Path, build_metadata: BuildMetadata):
+  with open(path / BUILD_METADATA_FILENAME, "w") as f:
+    build_metadata_dict = dataclasses.asdict(build_metadata)
+    build_metadata_dict["openpilot"].pop("is_dirty")  # this is determined at runtime
+    build_metadata_dict.pop("channel")                # channel is unrelated to the build itself
+    f.write(json.dumps(build_metadata_dict))
+
+
+def is_not_git(path: pathlib.Path) -> bool:
+  return ".git" not in path.parts
+
+
+def create_casync_tar_package(target_dir: pathlib.Path, output_path: pathlib.Path):
+  tar.create_tar_archive(output_path, target_dir, is_not_git)
+
+
+def create_casync_from_file(file: pathlib.Path, output_dir: pathlib.Path, caibx_name: str):
+  caibx_file = output_dir / f"{caibx_name}.caibx"
+  run(["casync", "make", *CASYNC_ARGS, caibx_file, str(file)])
+
+  return caibx_file
+
+
+def create_casync_release(target_dir: pathlib.Path, output_dir: pathlib.Path, caibx_name: str):
+  tar_file = output_dir / f"{caibx_name}.tar"
+  create_casync_tar_package(target_dir, tar_file)
+  caibx_file = create_casync_from_file(tar_file, output_dir, caibx_name)
+  tar_file.unlink()
+  digest = run(["casync", "digest", *CASYNC_ARGS, target_dir]).decode("utf-8").strip()
+  return digest, caibx_file
diff --git a/system/updated/casync/tar.py b/system/updated/casync/tar.py
new file mode 100644
index 0000000000..5c547e73a2
--- /dev/null
+++ b/system/updated/casync/tar.py
@@ -0,0 +1,38 @@
+import pathlib
+import tarfile
+from typing import IO, Callable
+
+
+def include_default(_) -> bool:
+  return True
+
+
+def create_tar_archive(filename: pathlib.Path, directory: pathlib.Path, include: Callable[[pathlib.Path], bool] = include_default):
+  """Creates a tar archive of a directory"""
+
+  with tarfile.open(filename, 'w') as tar:
+    for file in sorted(directory.rglob("*"), key=lambda f: f.stat().st_size if f.is_file() else 0, reverse=True):
+      if not include(file):
+        continue
+      relative_path = str(file.relative_to(directory))
+      if file.is_symlink():
+        info = tarfile.TarInfo(relative_path)
+        info.type = tarfile.SYMTYPE
+        info.linkpath = str(file.readlink())
+        tar.addfile(info)
+
+      elif file.is_file():
+        info = tarfile.TarInfo(relative_path)
+        info.size = file.stat().st_size
+        info.type = tarfile.REGTYPE
+        info.mode = file.stat().st_mode
+        with file.open('rb') as f:
+          tar.addfile(info, f)
+
+
+def extract_tar_archive(fh: IO[bytes], directory: pathlib.Path):
+  """Extracts a tar archive to a directory"""
+
+  tar = tarfile.open(fileobj=fh, mode='r')
+  tar.extractall(str(directory), filter=lambda info, path: info)
+  tar.close()
diff --git a/system/hardware/tici/tests/test_casync.py b/system/updated/casync/tests/test_casync.py
similarity index 56%
rename from system/hardware/tici/tests/test_casync.py
rename to system/updated/casync/tests/test_casync.py
index 94b32a9f76..34427d5625 100755
--- a/system/hardware/tici/tests/test_casync.py
+++ b/system/updated/casync/tests/test_casync.py
@@ -1,10 +1,12 @@
 #!/usr/bin/env python3
 import os
+import pathlib
 import unittest
 import tempfile
 import subprocess
 
-import openpilot.system.hardware.tici.casync as casync
+from openpilot.system.updated.casync import casync
+from openpilot.system.updated.casync import tar
 
 # dd if=/dev/zero of=/tmp/img.raw bs=1M count=2
 # sudo losetup -f /tmp/img.raw
@@ -149,5 +151,117 @@ class TestCasync(unittest.TestCase):
     self.assertLess(stats['remote'], len(self.contents))
 
 
+class TestCasyncDirectory(unittest.TestCase):
+  """Tests extracting a directory stored as a casync tar archive"""
+
+  NUM_FILES = 16
+
+  @classmethod
+  def setup_cache(cls, directory, files=None):
+    if files is None:
+      files = range(cls.NUM_FILES)
+
+    chunk_a = [i % 256 for i in range(1024)] * 512
+    chunk_b = [(256 - i) % 256 for i in range(1024)] * 512
+    zeroes = [0] * (1024 * 128)
+    cls.contents = chunk_a + chunk_b + zeroes + chunk_a
+    cls.contents = bytes(cls.contents)
+
+    for i in files:
+      with open(os.path.join(directory, f"file_{i}.txt"), "wb") as f:
+        f.write(cls.contents)
+
+      os.symlink(f"file_{i}.txt", os.path.join(directory, f"link_{i}.txt"))
+
+  @classmethod
+  def setUpClass(cls):
+    cls.tmpdir = tempfile.TemporaryDirectory()
+
+    # Create casync files
+    cls.manifest_fn = os.path.join(cls.tmpdir.name, 'orig.caibx')
+    cls.store_fn = os.path.join(cls.tmpdir.name, 'store')
+
+    cls.directory_to_extract = tempfile.TemporaryDirectory()
+    cls.setup_cache(cls.directory_to_extract.name)
+
+    cls.orig_fn = os.path.join(cls.tmpdir.name, 'orig.tar')
+    tar.create_tar_archive(cls.orig_fn, pathlib.Path(cls.directory_to_extract.name))
+
+    subprocess.check_output(["casync", "make", "--compression=xz", "--store", cls.store_fn, cls.manifest_fn, cls.orig_fn])
+
+  @classmethod
+  def tearDownClass(cls):
+    cls.tmpdir.cleanup()
+    cls.directory_to_extract.cleanup()
+
+  def setUp(self):
+    self.cache_dir = tempfile.TemporaryDirectory()
+    self.working_dir = tempfile.TemporaryDirectory()
+    self.out_dir = tempfile.TemporaryDirectory()
+
+  def tearDown(self):
+    self.cache_dir.cleanup()
+    self.working_dir.cleanup()
+    self.out_dir.cleanup()
+
+  def run_test(self):
+    target = casync.parse_caibx(self.manifest_fn)
+
+    cache_filename = os.path.join(self.working_dir.name, "cache.tar")
+    tmp_filename = os.path.join(self.working_dir.name, "tmp.tar")
+
+    sources = [('cache', casync.DirectoryTarChunkReader(self.cache_dir.name, cache_filename), casync.build_chunk_dict(target))]
+    sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
+
+    stats = casync.extract_directory(target, sources, pathlib.Path(self.out_dir.name), tmp_filename)
+
+    with open(os.path.join(self.out_dir.name, "file_0.txt"), "rb") as f:
+      self.assertEqual(f.read(), self.contents)
+
+    with open(os.path.join(self.out_dir.name, "link_0.txt"), "rb") as f:
+      self.assertEqual(f.read(), self.contents)
+      self.assertEqual(os.readlink(os.path.join(self.out_dir.name, "link_0.txt")), "file_0.txt")
+
+    return stats
+
+  def test_no_cache(self):
+    self.setup_cache(self.cache_dir.name, [])
+    stats = self.run_test()
+    self.assertGreater(stats['remote'], 0)
+    self.assertEqual(stats['cache'], 0)
+
+  def test_full_cache(self):
+    self.setup_cache(self.cache_dir.name, range(self.NUM_FILES))
+    stats = self.run_test()
+    self.assertEqual(stats['remote'], 0)
+    self.assertGreater(stats['cache'], 0)
+
+  def test_one_file_cache(self):
+    self.setup_cache(self.cache_dir.name, range(1))
+    stats = self.run_test()
+    self.assertGreater(stats['remote'], 0)
+    self.assertGreater(stats['cache'], 0)
+    self.assertLess(stats['cache'], stats['remote'])
+
+  def test_one_file_incorrect_cache(self):
+    self.setup_cache(self.cache_dir.name, range(self.NUM_FILES))
+    with open(os.path.join(self.cache_dir.name, "file_0.txt"), "wb") as f:
+      f.write(b"1234")
+
+    stats = self.run_test()
+    self.assertGreater(stats['remote'], 0)
+    self.assertGreater(stats['cache'], 0)
+    self.assertGreater(stats['cache'], stats['remote'])
+
+  def test_one_file_missing_cache(self):
+    self.setup_cache(self.cache_dir.name, range(self.NUM_FILES))
+    os.unlink(os.path.join(self.cache_dir.name, "file_12.txt"))
+
+    stats = self.run_test()
+    self.assertGreater(stats['remote'], 0)
+    self.assertGreater(stats['cache'], 0)
+    self.assertGreater(stats['cache'], stats['remote'])
+
+
 if __name__ == "__main__":
   unittest.main()
diff --git a/system/updated/common.py b/system/updated/common.py
new file mode 100644
index 0000000000..6bb745f6b0
--- /dev/null
+++ b/system/updated/common.py
@@ -0,0 +1,16 @@
+import os
+import pathlib
+
+
+def get_consistent_flag(path: str) -> bool:
+  consistent_file = pathlib.Path(os.path.join(path, ".overlay_consistent"))
+  return consistent_file.is_file()
+
+def set_consistent_flag(path: str, consistent: bool) -> None:
+  os.sync()
+  consistent_file = pathlib.Path(os.path.join(path, ".overlay_consistent"))
+  if consistent:
+    consistent_file.touch()
+  elif not consistent:
+    consistent_file.unlink(missing_ok=True)
+  os.sync()
diff --git a/system/version.py b/system/version.py
index 4319ef2140..f5b8cd49e8 100755
--- a/system/version.py
+++ b/system/version.py
@@ -1,105 +1,43 @@
 #!/usr/bin/env python3
+from dataclasses import dataclass
+import json
 import os
+import pathlib
 import subprocess
-from typing import TypeVar
-from collections.abc import Callable
-from functools import lru_cache
+
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.swaglog import cloudlog
+from openpilot.common.utils import cache
+from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date
 
 RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly']
 TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging']
 
+BUILD_METADATA_FILENAME = "build.json"
+
 training_version: bytes = b"0.2.0"
 terms_version: bytes = b"2"
 
-_RT = TypeVar("_RT")
-def cache(user_function: Callable[..., _RT], /) -> Callable[..., _RT]:
-  return lru_cache(maxsize=None)(user_function)
 
-
-def run_cmd(cmd: list[str]) -> str:
-  return subprocess.check_output(cmd, encoding='utf8').strip()
-
-
-def run_cmd_default(cmd: list[str], default: str = "") -> str:
-  try:
-    return run_cmd(cmd)
-  except subprocess.CalledProcessError:
-    return default
-
-
-@cache
-def get_commit(branch: str = "HEAD") -> str:
-  return run_cmd_default(["git", "rev-parse", branch])
-
-
-@cache
-def get_commit_date(commit: str = "HEAD") -> str:
-  return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit])
-
-
-@cache
-def get_short_branch() -> str:
-  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"])
-
-
-@cache
-def get_branch() -> str:
-  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"])
-
-
-@cache
-def get_origin() -> str:
-  try:
-    local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"])
-    tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"])
-    return run_cmd(["git", "config", "remote." + tracking_remote + ".url"])
-  except subprocess.CalledProcessError:  # Not on a branch, fallback
-    return run_cmd_default(["git", "config", "--get", "remote.origin.url"])
-
-
-@cache
-def get_normalized_origin() -> str:
-  return get_origin() \
-    .replace("git@", "", 1) \
-    .replace(".git", "", 1) \
-    .replace("https://", "", 1) \
-    .replace(":", "/", 1)
-
-
-@cache
-def get_version() -> str:
-  with open(os.path.join(BASEDIR, "common", "version.h")) as _versionf:
+def get_version(path: str = BASEDIR) -> str:
+  with open(os.path.join(path, "common", "version.h")) as _versionf:
     version = _versionf.read().split('"')[1]
   return version
 
-@cache
-def get_short_version() -> str:
-  return get_version().split('-')[0]
 
-@cache
-def is_prebuilt() -> bool:
-  return os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
+def get_release_notes(path: str = BASEDIR) -> str:
+  with open(os.path.join(path, "RELEASES.md"), "r") as f:
+    return f.read().split('\n\n', 1)[0]
 
 
 @cache
-def is_comma_remote() -> bool:
-  # note to fork maintainers, this is used for release metrics. please do not
-  # touch this to get rid of the orange startup alert. there's better ways to do that
-  return get_normalized_origin() == "github.com/commaai/openpilot"
+def is_prebuilt(path: str = BASEDIR) -> bool:
+  return os.path.exists(os.path.join(path, 'prebuilt'))
+
 
 @cache
-def is_tested_branch() -> bool:
-  return get_short_branch() in TESTED_BRANCHES
-
-@cache
-def is_release_branch() -> bool:
-  return get_short_branch() in RELEASE_BRANCHES
-
-@cache
-def is_dirty() -> bool:
+def is_dirty(cwd: str = BASEDIR) -> bool:
   origin = get_origin()
   branch = get_branch()
   if not origin or not branch:
@@ -108,14 +46,14 @@ def is_dirty() -> bool:
   dirty = False
   try:
     # Actually check dirty files
-    if not is_prebuilt():
+    if not is_prebuilt(cwd):
       # This is needed otherwise touched files might show up as modified
       try:
-        subprocess.check_call(["git", "update-index", "--refresh"])
+        subprocess.check_call(["git", "update-index", "--refresh"], cwd=cwd)
       except subprocess.CalledProcessError:
         pass
 
-      dirty = (subprocess.call(["git", "diff-index", "--quiet", branch, "--"]) != 0)
+      dirty = (subprocess.call(["git", "diff-index", "--quiet", branch, "--"], cwd=cwd)) != 0
   except subprocess.CalledProcessError:
     cloudlog.exception("git subprocess failed while checking dirty")
     dirty = True
@@ -123,6 +61,101 @@ def is_dirty() -> bool:
   return dirty
 
 
+@dataclass
+class OpenpilotMetadata:
+  version: str
+  release_notes: str
+  git_commit: str
+  git_origin: str
+  git_commit_date: str
+  build_style: str
+  is_dirty: bool  # whether there are local changes
+
+  @property
+  def short_version(self) -> str:
+    return self.version.split('-')[0]
+
+  @property
+  def comma_remote(self) -> bool:
+    # note to fork maintainers, this is used for release metrics. please do not
+    # touch this to get rid of the orange startup alert. there's better ways to do that
+    return self.git_normalized_origin == "github.com/commaai/openpilot"
+
+  @property
+  def git_normalized_origin(self) -> str:
+    return self.git_origin \
+      .replace("git@", "", 1) \
+      .replace(".git", "", 1) \
+      .replace("https://", "", 1) \
+      .replace(":", "/", 1)
+
+
+@dataclass
+class BuildMetadata:
+  channel: str
+  openpilot: OpenpilotMetadata
+
+  @property
+  def tested_channel(self) -> bool:
+    return self.channel in TESTED_BRANCHES
+
+  @property
+  def release_channel(self) -> bool:
+    return self.channel in RELEASE_BRANCHES
+
+  @property
+  def canonical(self) -> str:
+    return f"{self.openpilot.version}-{self.openpilot.git_commit}-{self.openpilot.build_style}"
+
+  @property
+  def ui_description(self) -> str:
+    return f"{self.openpilot.version} / {self.openpilot.git_commit[:6]} / {self.channel}"
+
+
+def build_metadata_from_dict(build_metadata: dict) -> BuildMetadata:
+  channel = build_metadata.get("channel", "unknown")
+  openpilot_metadata = build_metadata.get("openpilot", {})
+  version = openpilot_metadata.get("version", "unknown")
+  release_notes = openpilot_metadata.get("release_notes", "unknown")
+  git_commit = openpilot_metadata.get("git_commit", "unknown")
+  git_origin = openpilot_metadata.get("git_origin", "unknown")
+  git_commit_date = openpilot_metadata.get("git_commit_date", "unknown")
+  build_style = openpilot_metadata.get("build_style", "unknown")
+  return BuildMetadata(channel,
+            OpenpilotMetadata(
+              version=version,
+              release_notes=release_notes,
+              git_commit=git_commit,
+              git_origin=git_origin,
+              git_commit_date=git_commit_date,
+              build_style=build_style,
+              is_dirty=False))
+
+
+def get_build_metadata(path: str = BASEDIR) -> BuildMetadata:
+  build_metadata_path = pathlib.Path(path) / BUILD_METADATA_FILENAME
+
+  if build_metadata_path.exists():
+    build_metadata = json.loads(build_metadata_path.read_text())
+    return build_metadata_from_dict(build_metadata)
+
+  git_folder = pathlib.Path(path) / ".git"
+
+  if git_folder.exists():
+    return BuildMetadata(get_short_branch(path),
+                    OpenpilotMetadata(
+                      version=get_version(path),
+                      release_notes=get_release_notes(path),
+                      git_commit=get_commit(path),
+                      git_origin=get_origin(path),
+                      git_commit_date=get_commit_date(path),
+                      build_style="unknown",
+                      is_dirty=is_dirty(path)))
+
+  cloudlog.exception("unable to get build metadata")
+  raise Exception("invalid build metadata")
+
+
 if __name__ == "__main__":
   from openpilot.common.params import Params
 
@@ -130,12 +163,4 @@ if __name__ == "__main__":
   params.put("TermsVersion", terms_version)
   params.put("TrainingVersion", training_version)
 
-  print(f"Dirty: {is_dirty()}")
-  print(f"Version: {get_version()}")
-  print(f"Short version: {get_short_version()}")
-  print(f"Origin: {get_origin()}")
-  print(f"Normalized origin: {get_normalized_origin()}")
-  print(f"Branch: {get_branch()}")
-  print(f"Short branch: {get_short_branch()}")
-  print(f"Prebuilt: {is_prebuilt()}")
-  print(f"Commit date: {get_commit_date()}")
+  print(get_build_metadata())
diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py
index c31b63d02b..e5742dba07 100755
--- a/system/webrtc/tests/test_webrtcd.py
+++ b/system/webrtc/tests/test_webrtcd.py
@@ -11,8 +11,15 @@ from openpilot.system.webrtc.webrtcd import get_stream
 
 import aiortc
 from teleoprtc import WebRTCOfferBuilder
+from parameterized import parameterized_class
 
 
+@parameterized_class(("in_services", "out_services"), [
+  (["testJoystick"], ["carState"]),
+  ([], ["carState"]),
+  (["testJoystick"], []),
+  ([], []),
+])
 class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase):
   async def assertCompletesWithTimeout(self, awaitable, timeout=1):
     try:
@@ -24,7 +31,7 @@ class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase):
   async def test_webrtcd(self):
     mock_request = MagicMock()
     async def connect(offer):
-      body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': [], 'bridge_services_out': ['carState']}
+      body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': self.in_services, 'bridge_services_out': self.out_services}
       mock_request.json.side_effect = AsyncMock(return_value=body)
       response = await get_stream(mock_request)
       response_json = json.loads(response.text)
@@ -33,7 +40,8 @@ class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase):
     builder = WebRTCOfferBuilder(connect)
     builder.offer_to_receive_video_stream("road")
     builder.offer_to_receive_audio_stream()
-    builder.add_messaging()
+    if len(self.in_services) > 0 or len(self.out_services) > 0:
+      builder.add_messaging()
 
     stream = builder.stream()
 
@@ -42,7 +50,7 @@ class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase):
 
     self.assertTrue(stream.has_incoming_video_track("road"))
     self.assertTrue(stream.has_incoming_audio_track())
-    self.assertTrue(stream.has_messaging_channel())
+    self.assertEqual(stream.has_messaging_channel(), len(self.in_services) > 0 or len(self.out_services) > 0)
 
     video_track, audio_track = stream.get_incoming_video_track("road"), stream.get_incoming_audio_track()
     await self.assertCompletesWithTimeout(video_track.recv())
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 6c1370eae9..51c86aacc6 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -102,7 +102,21 @@ class CerealProxyRunner:
       await asyncio.sleep(0.01)
 
 
+class DynamicPubMaster(messaging.PubMaster):
+  def __init__(self, *args, **kwargs):
+    super().__init__(*args, **kwargs)
+    self.lock = asyncio.Lock()
+
+  async def add_services_if_needed(self, services):
+    async with self.lock:
+      for service in services:
+        if service not in self.sock:
+          self.sock[service] = messaging.pub_sock(service)
+
+
 class StreamSession:
+  shared_pub_master = DynamicPubMaster([])
+
   def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False):
     from aiortc.mediastreams import VideoStreamTrack, AudioStreamTrack
     from aiortc.contrib.media import MediaBlackhole
@@ -128,9 +142,15 @@ class StreamSession:
     self.stream = builder.stream()
     self.identifier = str(uuid.uuid4())
 
-    self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services))
-    self.incoming_bridge = CerealIncomingMessageProxy(messaging.PubMaster(incoming_services))
-    self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge)
+    self.incoming_bridge: CerealIncomingMessageProxy | None = None
+    self.incoming_bridge_services = incoming_services
+    self.outgoing_bridge: CerealOutgoingMessageProxy | None = None
+    self.outgoing_bridge_runner: CerealProxyRunner | None = None
+    if len(incoming_services) > 0:
+      self.incoming_bridge = CerealIncomingMessageProxy(self.shared_pub_master)
+    if len(outgoing_services) > 0:
+      self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services))
+      self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge)
 
     self.audio_output: AudioOutputSpeaker | MediaBlackhole | None = None
     self.run_task: asyncio.Task | None = None
@@ -152,6 +172,7 @@ class StreamSession:
     return await self.stream.start()
 
   async def message_handler(self, message: bytes):
+    assert self.incoming_bridge is not None
     try:
       self.incoming_bridge.send(message)
     except Exception as ex:
@@ -161,10 +182,13 @@ class StreamSession:
     try:
       await self.stream.wait_for_connection()
       if self.stream.has_messaging_channel():
-        self.stream.set_message_handler(self.message_handler)
-        channel = self.stream.get_messaging_channel()
-        self.outgoing_bridge_runner.proxy.add_channel(channel)
-        self.outgoing_bridge_runner.start()
+        if self.incoming_bridge is not None:
+          await self.shared_pub_master.add_services_if_needed(self.incoming_bridge_services)
+          self.stream.set_message_handler(self.message_handler)
+        if self.outgoing_bridge_runner is not None:
+          channel = self.stream.get_messaging_channel()
+          self.outgoing_bridge_runner.proxy.add_channel(channel)
+          self.outgoing_bridge_runner.start()
       if self.stream.has_incoming_audio_track():
         track = self.stream.get_incoming_audio_track(buffered=False)
         self.audio_output = self.audio_output_cls()
@@ -181,7 +205,8 @@ class StreamSession:
 
   async def post_run_cleanup(self):
     await self.stream.stop()
-    self.outgoing_bridge_runner.stop()
+    if self.outgoing_bridge is not None:
+      self.outgoing_bridge_runner.stop()
     if self.audio_output:
       self.audio_output.stop()
 
diff --git a/teleoprtc_repo b/teleoprtc_repo
index 3f9e8176d1..3116a5053b 160000
--- a/teleoprtc_repo
+++ b/teleoprtc_repo
@@ -1 +1 @@
-Subproject commit 3f9e8176d1be3d217528baee09fc418fa980a0c3
+Subproject commit 3116a5053bc22b912254f1f7000ab9e267916cd5
diff --git a/third_party/libyuv/.gitignore b/third_party/libyuv/.gitignore
new file mode 100644
index 0000000000..450712e47d
--- /dev/null
+++ b/third_party/libyuv/.gitignore
@@ -0,0 +1 @@
+libyuv/
diff --git a/third_party/libyuv/build.sh b/third_party/libyuv/build.sh
index e044312d05..b960f60ef5 100755
--- a/third_party/libyuv/build.sh
+++ b/third_party/libyuv/build.sh
@@ -1,12 +1,39 @@
 #!/usr/bin/env bash
 set -e
 
-git clone https://chromium.googlesource.com/libyuv/libyuv
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
+ARCHNAME=$(uname -m)
+if [ -f /TICI ]; then
+  ARCHNAME="larch64"
+fi
+
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  ARCHNAME="Darwin"
+fi
+
+cd $DIR
+if [ ! -d libyuv ]; then
+  git clone --single-branch https://chromium.googlesource.com/libyuv/libyuv
+fi
+
 cd libyuv
-git reset --hard 4a14cb2e81235ecd656e799aecaaf139db8ce4a2
+git checkout 4a14cb2e81235ecd656e799aecaaf139db8ce4a2
+
+# build
 cmake .
+make -j$(nproc)
+
+INSTALL_DIR="$DIR/$ARCHNAME"
+rm -rf $INSTALL_DIR
+mkdir -p $INSTALL_DIR
+
+rm -rf $DIR/include
+mkdir -p $INSTALL_DIR/lib
+cp $DIR/libyuv/libyuv.a $INSTALL_DIR/lib
+cp -r $DIR/libyuv/include $DIR
 
 ## To create universal binary on Darwin:
 ## ```
 ## lipo -create -output Darwin/libyuv.a path-to-x64/libyuv.a path-to-arm64/libyuv.a
-## ```
\ No newline at end of file
+## ```
diff --git a/third_party/maplibre-native-qt/build.sh b/third_party/maplibre-native-qt/build.sh
index c64f0fc649..a368026f0f 100755
--- a/third_party/maplibre-native-qt/build.sh
+++ b/third_party/maplibre-native-qt/build.sh
@@ -3,35 +3,33 @@ set -e
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 
-ARCHNAME="x86_64"
+ARCHNAME=$(uname -m)
 MAPLIBRE_FLAGS="-DMLN_QT_WITH_LOCATION=OFF"
-if [ -f /AGNOS ]; then
+if [ -f /TICI ]; then
   ARCHNAME="larch64"
   #MAPLIBRE_FLAGS="$MAPLIBRE_FLAGS -DCMAKE_SYSTEM_NAME=Android -DANDROID_ABI=arm64-v8a"
 fi
 
 cd $DIR
 if [ ! -d maplibre ]; then
-  git clone git@github.com:maplibre/maplibre-native-qt.git $DIR/maplibre
+  git clone --single-branch https://github.com/maplibre/maplibre-native-qt.git $DIR/maplibre
 fi
 
 cd maplibre
-git fetch --all
 git checkout 3726266e127c1f94ad64837c9dbe03d238255816
 git submodule update --depth=1 --recursive --init
 
 # build
 mkdir -p build
 cd build
-set -x
 cmake $MAPLIBRE_FLAGS $DIR/maplibre
-make -j$(nproc) || make -j2 || make -j1
+make -j$(nproc)
 
 INSTALL_DIR="$DIR/$ARCHNAME"
 rm -rf $INSTALL_DIR
 mkdir -p $INSTALL_DIR
 
-rm -rf $INSTALL_DIR/lib $DIR/include
+rm -rf $DIR/include
 mkdir -p $INSTALL_DIR/lib $INSTALL_DIR/include $DIR/include
 cp -r $DIR/maplibre/build/src/core/*.so* $INSTALL_DIR/lib
 cp -r $DIR/maplibre/build/src/core/include/* $INSTALL_DIR/include
diff --git a/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0 b/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0
index f2fcf107bc..d108656220 100755
--- a/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0
+++ b/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b718e4ea770105893dc41f64be36f806586a9471e2bb9d18d5ad97e906434548
-size 11000296
+oid sha256:3dcb1a8d30ac9a659960e75e5d414ce6c6a7f82f8d0c295cff0fd6765ba221e8
+size 10883728
diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc
index b1256098eb..149bb9f59a 100644
--- a/tools/cabana/dbc/dbc.cc
+++ b/tools/cabana/dbc/dbc.cc
@@ -142,7 +142,7 @@ void cabana::Signal::update() {
   precision = std::max(num_decimals(factor), num_decimals(offset));
 }
 
-QString cabana::Signal::formatValue(double value) const {
+QString cabana::Signal::formatValue(double value, bool with_unit) const {
   // Show enum string
   int64_t raw_value = round((value - offset) / factor);
   for (const auto &[val, desc] : val_desc) {
@@ -152,7 +152,7 @@ QString cabana::Signal::formatValue(double value) const {
   }
 
   QString val_str = QString::number(value, 'f', precision);
-  if (!unit.isEmpty()) {
+  if (with_unit && !unit.isEmpty()) {
     val_str += " " + unit;
   }
   return val_str;
diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
index 0262a546f6..71838a1df5 100644
--- a/tools/cabana/dbc/dbc.h
+++ b/tools/cabana/dbc/dbc.h
@@ -55,7 +55,7 @@ public:
   Signal(const Signal &other) = default;
   void update();
   bool getValue(const uint8_t *data, size_t data_size, double *val) const;
-  QString formatValue(double value) const;
+  QString formatValue(double value, bool with_unit = true) const;
   bool operator==(const cabana::Signal &other) const;
   inline bool operator!=(const cabana::Signal &other) const { return !(*this == other); }
 
diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
index fbbb54fd58..bf246fd342 100644
--- a/tools/cabana/dbc/dbcfile.cc
+++ b/tools/cabana/dbc/dbcfile.cc
@@ -80,8 +80,8 @@ void DBCFile::parse(const QString &content) {
   static QRegularExpression bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))");
   static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
   static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
-  static QRegularExpression msg_comment_regexp(R"(^CM_ BO_ *(\w+) *\"([^"]*)\"\s*;)");
-  static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"([^"]*)\"\s*;)");
+  static QRegularExpression msg_comment_regexp(R"(^CM_ BO_ *(\w+) *\"((?:[^"\\]|\\.)*)\"\s*;)");
+  static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"((?:[^"\\]|\\.)*)\"\s*;)");
   static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*))");
 
   int line_num = 0;
@@ -98,10 +98,13 @@ void DBCFile::parse(const QString &content) {
   QTextStream stream((QString *)&content);
   cabana::Msg *current_msg = nullptr;
   int multiplexor_cnt = 0;
+  bool seen_first = false;
   while (!stream.atEnd()) {
     ++line_num;
     QString raw_line = stream.readLine();
     line = raw_line.trimmed();
+
+    bool seen = true;
     if (line.startsWith("BO_ ")) {
       multiplexor_cnt = 0;
       auto match = bo_regexp.match(line);
@@ -170,7 +173,7 @@ void DBCFile::parse(const QString &content) {
       auto match = msg_comment_regexp.match(line);
       dbc_assert(match.hasMatch());
       if (auto m = (cabana::Msg *)msg(match.captured(1).toUInt())) {
-        m->comment = match.captured(2).trimmed();
+        m->comment = match.captured(2).trimmed().replace("\\\"", "\"");
       }
     } else if (line.startsWith("CM_ SG_ ")) {
       if (!line.endsWith("\";")) {
@@ -180,8 +183,16 @@ void DBCFile::parse(const QString &content) {
       auto match = sg_comment_regexp.match(line);
       dbc_assert(match.hasMatch());
       if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) {
-        s->comment = match.captured(3).trimmed();
+        s->comment = match.captured(3).trimmed().replace("\\\"", "\"");
       }
+    } else {
+      seen = false;
+    }
+
+    if (seen) {
+      seen_first = true;
+    } else if (!seen_first) {
+      header += raw_line + "\n";
     }
   }
 
@@ -191,12 +202,12 @@ void DBCFile::parse(const QString &content) {
 }
 
 QString DBCFile::generateDBC() {
-  QString dbc_string, signal_comment, message_comment, val_desc;
+  QString dbc_string, comment, val_desc;
   for (const auto &[address, m] : msgs) {
     const QString transmitter = m.transmitter.isEmpty() ? DEFAULT_NODE_NAME : m.transmitter;
     dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(transmitter);
     if (!m.comment.isEmpty()) {
-      message_comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(m.comment);
+      comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(QString(m.comment).replace("\"", "\\\""));
     }
     for (auto sig : m.getSignals()) {
       QString multiplexer_indicator;
@@ -219,7 +230,7 @@ QString DBCFile::generateDBC() {
                         .arg(sig->unit)
                         .arg(sig->receiver_name.isEmpty() ? DEFAULT_NODE_NAME : sig->receiver_name);
       if (!sig->comment.isEmpty()) {
-        signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment);
+        comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(QString(sig->comment).replace("\"", "\\\""));
       }
       if (!sig->val_desc.empty()) {
         QStringList text;
@@ -231,5 +242,5 @@ QString DBCFile::generateDBC() {
     }
     dbc_string += "\n";
   }
-  return dbc_string + message_comment + signal_comment + val_desc;
+  return header + dbc_string + comment + val_desc;
 }
diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h
index 551bac4946..29f19a80e4 100644
--- a/tools/cabana/dbc/dbcfile.h
+++ b/tools/cabana/dbc/dbcfile.h
@@ -34,6 +34,7 @@ public:
 
 private:
   void parse(const QString &content);
+  QString header;
   std::map<uint32_t, cabana::Msg> msgs;
   QString name_;
 };
diff --git a/tools/cabana/dbc/generate_dbc_json.py b/tools/cabana/dbc/generate_dbc_json.py
index da19e27b77..2d3fbe9fc4 100755
--- a/tools/cabana/dbc/generate_dbc_json.py
+++ b/tools/cabana/dbc/generate_dbc_json.py
@@ -2,13 +2,17 @@
 import argparse
 import json
 
-from openpilot.selfdrive.car.car_helpers import get_interface_attr
+from openpilot.selfdrive.car.fingerprints import MIGRATION
+from openpilot.selfdrive.car.values import PLATFORMS
 
 
 def generate_dbc_json() -> str:
-  all_cars_by_brand = get_interface_attr("CAR_INFO")
-  all_dbcs_by_brand = get_interface_attr("DBC")
-  dbc_map = {car: all_dbcs_by_brand[brand][car]['pt'] for brand, cars in all_cars_by_brand.items() for car in cars if car != 'mock'}
+  dbc_map = {platform.name: platform.config.dbc_dict['pt'] for platform in PLATFORMS.values() if platform != "MOCK"}
+
+  for m in MIGRATION:
+    if MIGRATION[m] in dbc_map:
+      dbc_map[m] = dbc_map[MIGRATION[m]]
+
   return json.dumps(dict(sorted(dbc_map.items())), indent=2)
 
 
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 90bd9a8f76..55ba0a4919 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -10,61 +10,49 @@
 #include "tools/cabana/utils/export.h"
 
 QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
-  const bool show_signals = display_signals_mode && sigs.size() > 0;
   const auto &m = messages[index.row()];
+  const int col = index.column();
   if (role == Qt::DisplayRole) {
-    if (index.column() == 0) {
-      return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 2);
-    }
-    int i = index.column() - 1;
-    return show_signals ? QString::number(m.sig_values[i], 'f', sigs[i]->precision) : QString();
-  } else if (role == ColorsRole) {
-    return QVariant::fromValue((void *)(&m.colors));
-  } else if (role == BytesRole) {
-    return QVariant::fromValue((void *)(&m.data));
+    if (col == 0) return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 3);
+    if (!isHexMode()) return sigs[col - 1]->formatValue(m.sig_values[col - 1], false);
   } else if (role == Qt::TextAlignmentRole) {
     return (uint32_t)(Qt::AlignRight | Qt::AlignVCenter);
   }
+
+  if (isHexMode() && col == 1) {
+    if (role == ColorsRole) return QVariant::fromValue((void *)(&m.colors));
+    if (role == BytesRole) return QVariant::fromValue((void *)(&m.data));
+  }
   return {};
 }
 
 void HistoryLogModel::setMessage(const MessageId &message_id) {
   msg_id = message_id;
+  reset();
 }
 
-void HistoryLogModel::refresh(bool fetch_message) {
+void HistoryLogModel::reset() {
   beginResetModel();
   sigs.clear();
   if (auto dbc_msg = dbc()->msg(msg_id)) {
     sigs = dbc_msg->getSignals();
   }
-  last_fetch_time = 0;
-  has_more_data = true;
   messages.clear();
   hex_colors = {};
-  if (fetch_message) {
-    updateState();
-  }
   endResetModel();
+  setFilter(0, "", nullptr);
 }
 
 QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, int role) const {
   if (orientation == Qt::Horizontal) {
-    const bool show_signals = display_signals_mode && !sigs.empty();
     if (role == Qt::DisplayRole || role == Qt::ToolTipRole) {
-      if (section == 0) {
-        return "Time";
-      }
-      if (show_signals) {
-        QString name = sigs[section - 1]->name;
-        if (!sigs[section - 1]->unit.isEmpty()) {
-          name += QString(" (%1)").arg(sigs[section - 1]->unit);
-        }
-        return name;
-      } else {
-        return "Data";
-      }
-    } else if (role == Qt::BackgroundRole && section > 0 && show_signals) {
+      if (section == 0) return "Time";
+      if (isHexMode()) return "Data";
+
+      QString name = sigs[section - 1]->name;
+      QString unit = sigs[section - 1]->unit;
+      return unit.isEmpty() ? name : QString("%1 (%2)").arg(name, unit);
+    } else if (role == Qt::BackgroundRole && section > 0 && !isHexMode()) {
       // Alpha-blend the signal color with the background to ensure contrast
       QColor sigColor = sigs[section - 1]->color;
       sigColor.setAlpha(128);
@@ -74,110 +62,80 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i
   return {};
 }
 
-void HistoryLogModel::setDynamicMode(int state) {
-  dynamic_mode = state != 0;
-  refresh();
-}
-
-void HistoryLogModel::setDisplayType(int type) {
-  display_signals_mode = type == 0;
-  refresh();
-}
-
-void HistoryLogModel::segmentsMerged() {
-  if (!dynamic_mode) {
-    has_more_data = true;
-  }
+void HistoryLogModel::setHexMode(bool hex) {
+  hex_mode = hex;
+  reset();
 }
 
 void HistoryLogModel::setFilter(int sig_idx, const QString &value, std::function<bool(double, double)> cmp) {
   filter_sig_idx = sig_idx;
   filter_value = value.toDouble();
   filter_cmp = value.isEmpty() ? nullptr : cmp;
+  updateState(true);
 }
 
-void HistoryLogModel::updateState() {
-  uint64_t current_time = (can->lastMessage(msg_id).ts + can->routeStartTime()) * 1e9 + 1;
-  auto new_msgs = dynamic_mode ? fetchData(current_time, last_fetch_time) : fetchData(0);
-  if (!new_msgs.empty()) {
-    beginInsertRows({}, 0, new_msgs.size() - 1);
-    messages.insert(messages.begin(), std::move_iterator(new_msgs.begin()), std::move_iterator(new_msgs.end()));
-    endInsertRows();
+void HistoryLogModel::updateState(bool clear) {
+  if (clear && !messages.empty()) {
+    beginRemoveRows({}, 0, messages.size() - 1);
+    messages.clear();
+    endRemoveRows();
   }
-  has_more_data = new_msgs.size() >= batch_size;
-  last_fetch_time = current_time;
+  uint64_t current_time = (can->lastMessage(msg_id).ts + can->routeStartTime()) * 1e9 + 1;
+  fetchData(messages.begin(), current_time, messages.empty() ? 0 : messages.front().mono_time);
+}
+
+bool HistoryLogModel::canFetchMore(const QModelIndex &parent) const {
+  const auto &events = can->events(msg_id);
+  return !events.empty() && !messages.empty() && messages.back().mono_time > events.front()->mono_time;
 }
 
 void HistoryLogModel::fetchMore(const QModelIndex &parent) {
-  if (!messages.empty()) {
-    auto new_msgs = fetchData(messages.back().mono_time);
-    if (!new_msgs.empty()) {
-      beginInsertRows({}, messages.size(), messages.size() + new_msgs.size() - 1);
-      messages.insert(messages.end(), std::move_iterator(new_msgs.begin()), std::move_iterator(new_msgs.end()));
-      endInsertRows();
-    }
-    has_more_data = new_msgs.size() >= batch_size;
-  }
+  if (!messages.empty())
+    fetchData(messages.end(), messages.back().mono_time, 0);
 }
 
-template <class InputIt>
-std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, InputIt last, uint64_t min_time) {
-  std::deque<HistoryLogModel::Message> msgs;
+void HistoryLogModel::fetchData(std::deque<Message>::iterator insert_pos, uint64_t from_time, uint64_t min_time) {
+  const auto &events = can->events(msg_id);
+  auto first = std::upper_bound(events.rbegin(), events.rend(), from_time, [](uint64_t ts, auto e) {
+    return ts > e->mono_time;
+  });
+
+  std::vector<HistoryLogModel::Message> msgs;
   std::vector<double> values(sigs.size());
-  for (; first != last && (*first)->mono_time > min_time; ++first) {
+  msgs.reserve(batch_size);
+  for (; first != events.rend() && (*first)->mono_time > min_time; ++first) {
     const CanEvent *e = *first;
     for (int i = 0; i < sigs.size(); ++i) {
       sigs[i]->getValue(e->dat, e->size, &values[i]);
     }
     if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) {
-      auto &m = msgs.emplace_back();
-      m.mono_time = e->mono_time;
-      m.data.assign(e->dat, e->dat + e->size);
-      m.sig_values = values;
+       msgs.emplace_back(Message{e->mono_time, values, {e->dat, e->dat + e->size}});
       if (msgs.size() >= batch_size && min_time == 0) {
-        return msgs;
+        break;
       }
     }
   }
-  return msgs;
-}
 
-std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_time, uint64_t min_time) {
-  const auto &events = can->events(msg_id);
-  const auto freq = can->lastMessage(msg_id).freq;
-  const bool update_colors = !display_signals_mode || sigs.empty();
-  const std::vector<uint8_t> no_mask;
-  const auto speed = can->getSpeed();
-  if (dynamic_mode) {
-    auto first = std::upper_bound(events.rbegin(), events.rend(), from_time, [](uint64_t ts, auto e) {
-      return ts > e->mono_time;
-    });
-    auto msgs = fetchData(first, events.rend(), min_time);
-    if (update_colors && (min_time > 0 || messages.empty())) {
-      for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) {
-        hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, no_mask, freq);
-        it->colors = hex_colors.colors;
+  if (!msgs.empty()) {
+    if (isHexMode() && (min_time > 0 || messages.empty())) {
+      const auto freq = can->lastMessage(msg_id).freq;
+      const std::vector<uint8_t> no_mask;
+      for (auto &m : msgs) {
+        hex_colors.compute(msg_id, m.data.data(), m.data.size(), m.mono_time / (double)1e9, can->getSpeed(), no_mask, freq);
+        m.colors = hex_colors.colors;
       }
     }
-    return msgs;
-  } else {
-    assert(min_time == 0);
-    auto first = std::upper_bound(events.cbegin(), events.cend(), from_time, CompareCanEvent());
-    auto msgs = fetchData(first, events.cend(), 0);
-    if (update_colors) {
-      for (auto it = msgs.begin(); it != msgs.end(); ++it) {
-        hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, no_mask, freq);
-        it->colors = hex_colors.colors;
-      }
-    }
-    return msgs;
+    int pos = std::distance(messages.begin(), insert_pos);
+    beginInsertRows({}, pos , pos + msgs.size() - 1);
+    messages.insert(insert_pos, std::move_iterator(msgs.begin()), std::move_iterator(msgs.end()));
+    endInsertRows();
   }
 }
 
 // HeaderView
 
 QSize HeaderView::sectionSizeFromContents(int logicalIndex) const {
-  static const QSize time_col_size = fontMetrics().boundingRect({0, 0, 200, 200}, defaultAlignment(), "000000.000").size() + QSize(10, 6);
+  static const QSize time_col_size = fontMetrics().size(Qt::TextSingleLine, "000000.000") + QSize(10, 6);
   if (logicalIndex == 0) {
     return time_col_size;
   } else {
@@ -220,8 +178,7 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) {
   filter_layout->addWidget(value_edit = new QLineEdit(this));
   h->addWidget(filters_widget);
   h->addStretch(0);
-  h->addWidget(dynamic_mode = new QCheckBox(tr("Dynamic")), 0, Qt::AlignRight);
-  ToolButton *export_btn = new ToolButton("filetype-csv", tr("Export to CSV file..."));
+  export_btn = new ToolButton("filetype-csv", tr("Export to CSV file..."));
   h->addWidget(export_btn, 0, Qt::AlignRight);
 
   display_type_cb->addItems({"Signal", "Hex"});
@@ -229,8 +186,6 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) {
   comp_box->addItems({">", "=", "!=", "<"});
   value_edit->setClearButtonEnabled(true);
   value_edit->setValidator(new DoubleValidator(this));
-  dynamic_mode->setChecked(true);
-  dynamic_mode->setEnabled(!can->liveStreaming());
 
   main_layout->addWidget(toolbar);
   QFrame *line = new QFrame(this);
@@ -238,52 +193,38 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) {
   main_layout->addWidget(line);
   main_layout->addWidget(logs = new QTableView(this));
   logs->setModel(model = new HistoryLogModel(this));
-  delegate = new MessageBytesDelegate(this);
+  logs->setItemDelegate(delegate = new MessageBytesDelegate(this));
   logs->setHorizontalHeader(new HeaderView(Qt::Horizontal, this));
   logs->horizontalHeader()->setDefaultAlignment(Qt::AlignRight | (Qt::Alignment)Qt::TextWordWrap);
   logs->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
   logs->verticalHeader()->setSectionResizeMode(QHeaderView::Fixed);
   logs->verticalHeader()->setDefaultSectionSize(delegate->sizeForBytes(8).height());
-  logs->verticalHeader()->setVisible(false);
   logs->setFrameShape(QFrame::NoFrame);
 
-  QObject::connect(display_type_cb, qOverload<int>(&QComboBox::activated), [this](int index) {
-    logs->setItemDelegateForColumn(1, index == 1 ? delegate : nullptr);
-    model->setDisplayType(index);
-  });
-  QObject::connect(dynamic_mode, &QCheckBox::stateChanged, model, &HistoryLogModel::setDynamicMode);
-  QObject::connect(signals_cb, SIGNAL(activated(int)), this, SLOT(setFilter()));
-  QObject::connect(comp_box, SIGNAL(activated(int)), this, SLOT(setFilter()));
-  QObject::connect(value_edit, &QLineEdit::textChanged, this, &LogsWidget::setFilter);
+  QObject::connect(display_type_cb, qOverload<int>(&QComboBox::activated), model, &HistoryLogModel::setHexMode);
+  QObject::connect(signals_cb, SIGNAL(activated(int)), this, SLOT(filterChanged()));
+  QObject::connect(comp_box, SIGNAL(activated(int)), this, SLOT(filterChanged()));
+  QObject::connect(value_edit, &QLineEdit::textEdited, this, &LogsWidget::filterChanged);
   QObject::connect(export_btn, &QToolButton::clicked, this, &LogsWidget::exportToCSV);
-  QObject::connect(can, &AbstractStream::seekedTo, model, &HistoryLogModel::refresh);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &LogsWidget::refresh);
-  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &LogsWidget::refresh);
-  QObject::connect(can, &AbstractStream::eventsMerged, model, &HistoryLogModel::segmentsMerged);
+  QObject::connect(can, &AbstractStream::seekedTo, model, &HistoryLogModel::reset);
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &HistoryLogModel::reset);
+  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, model, &HistoryLogModel::reset);
+  QObject::connect(model, &HistoryLogModel::modelReset, this, &LogsWidget::modelReset);
+  QObject::connect(model, &HistoryLogModel::rowsInserted, [this]() { export_btn->setEnabled(true); });
 }
 
-void LogsWidget::setMessage(const MessageId &message_id) {
-  model->setMessage(message_id);
-  refresh();
-}
-
-void LogsWidget::refresh() {
-  model->setFilter(0, "", nullptr);
-  model->refresh(isVisible());
-  bool has_signal = model->sigs.size();
-  if (has_signal) {
-    signals_cb->clear();
-    for (auto s : model->sigs) {
-      signals_cb->addItem(s->name);
-    }
+void LogsWidget::modelReset() {
+  signals_cb->clear();
+  for (auto s : model->sigs) {
+    signals_cb->addItem(s->name);
   }
-  logs->setItemDelegateForColumn(1, !has_signal || display_type_cb->currentIndex() == 1 ? delegate : nullptr);
+  export_btn->setEnabled(false);
   value_edit->clear();
   comp_box->setCurrentIndex(0);
-  filters_widget->setVisible(has_signal);
+  filters_widget->setVisible(!model->sigs.empty());
 }
 
-void LogsWidget::setFilter() {
+void LogsWidget::filterChanged() {
   if (value_edit->text().isEmpty() && !value_edit->isModified()) return;
 
   std::function<bool(double, double)> cmp = nullptr;
@@ -294,19 +235,6 @@ void LogsWidget::setFilter() {
     case 3: cmp = std::less<double>{}; break;
   }
   model->setFilter(signals_cb->currentIndex(), value_edit->text(), cmp);
-  model->refresh();
-}
-
-void LogsWidget::updateState() {
-  if (isVisible() && dynamic_mode->isChecked()) {
-    model->updateState();
-  }
-}
-
-void LogsWidget::showEvent(QShowEvent *event) {
-  if (dynamic_mode->isChecked() || model->canFetchMore({}) && model->rowCount() == 0) {
-    model->refresh();
-  }
 }
 
 void LogsWidget::exportToCSV() {
@@ -314,7 +242,7 @@ void LogsWidget::exportToCSV() {
   QString fn = QFileDialog::getSaveFileName(this, QString("Export %1 to CSV file").arg(msgName(model->msg_id)),
                                             dir, tr("csv (*.csv)"));
   if (!fn.isEmpty()) {
-    const bool export_signals = model->display_signals_mode && model->sigs.size() > 0;
-    export_signals ? utils::exportSignalsToCSV(fn, model->msg_id) : utils::exportToCSV(fn, model->msg_id);
+    model->isHexMode() ? utils::exportToCSV(fn, model->msg_id)
+                       : utils::exportSignalsToCSV(fn, model->msg_id);
   }
 }
diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h
index 21df6a622e..8c9ee922f8 100644
--- a/tools/cabana/historylog.h
+++ b/tools/cabana/historylog.h
@@ -3,7 +3,6 @@
 #include <deque>
 #include <vector>
 
-#include <QCheckBox>
 #include <QComboBox>
 #include <QHeaderView>
 #include <QLineEdit>
@@ -11,7 +10,6 @@
 
 #include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
-#include "tools/cabana/utils/util.h"
 
 class HeaderView : public QHeaderView {
 public:
@@ -26,24 +24,18 @@ class HistoryLogModel : public QAbstractTableModel {
 public:
   HistoryLogModel(QObject *parent) : QAbstractTableModel(parent) {}
   void setMessage(const MessageId &message_id);
-  void updateState();
+  void updateState(bool clear = false);
   void setFilter(int sig_idx, const QString &value, std::function<bool(double, double)> cmp);
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
   QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
   void fetchMore(const QModelIndex &parent) override;
-  inline bool canFetchMore(const QModelIndex &parent) const override { return has_more_data; }
+  bool canFetchMore(const QModelIndex &parent) const override;
   int rowCount(const QModelIndex &parent = QModelIndex()) const override { return messages.size(); }
-  int columnCount(const QModelIndex &parent = QModelIndex()) const override {
-    return display_signals_mode && !sigs.empty() ? sigs.size() + 1 : 2;
-  }
-  void refresh(bool fetch_message = true);
+  int columnCount(const QModelIndex &parent = QModelIndex()) const override { return !isHexMode() ? sigs.size() + 1 : 2; }
+  inline bool isHexMode() const { return sigs.empty() || hex_mode; }
+  void reset();
+  void setHexMode(bool hex_mode);
 
-public slots:
-  void setDisplayType(int type);
-  void setDynamicMode(int state);
-  void segmentsMerged();
-
-public:
   struct Message {
     uint64_t mono_time = 0;
     std::vector<double> sig_values;
@@ -51,22 +43,17 @@ public:
     std::vector<QColor> colors;
   };
 
-  template <class InputIt>
-  std::deque<HistoryLogModel::Message> fetchData(InputIt first, InputIt last, uint64_t min_time);
-  std::deque<Message> fetchData(uint64_t from_time, uint64_t min_time = 0);
+  void fetchData(std::deque<Message>::iterator insert_pos, uint64_t from_time, uint64_t min_time);
 
   MessageId msg_id;
   CanData hex_colors;
-  bool has_more_data = true;
   const int batch_size = 50;
   int filter_sig_idx = -1;
   double filter_value = 0;
-  uint64_t last_fetch_time = 0;
   std::function<bool(double, double)> filter_cmp = nullptr;
   std::deque<Message> messages;
   std::vector<cabana::Signal *> sigs;
-  bool dynamic_mode = true;
-  bool display_signals_mode = true;
+  bool hex_mode = true;
 };
 
 class LogsWidget : public QFrame {
@@ -74,22 +61,21 @@ class LogsWidget : public QFrame {
 
 public:
   LogsWidget(QWidget *parent);
-  void setMessage(const MessageId &message_id);
-  void updateState();
-  void showEvent(QShowEvent *event) override;
+  void setMessage(const MessageId &message_id) { model->setMessage(message_id); }
+  void updateState() { model->updateState(); }
+  void showEvent(QShowEvent *event) override { model->updateState(true); }
 
 private slots:
-  void setFilter();
+  void filterChanged();
   void exportToCSV();
+  void modelReset();
 
 private:
-  void refresh();
-
   QTableView *logs;
   HistoryLogModel *model;
-  QCheckBox *dynamic_mode;
   QComboBox *signals_cb, *comp_box, *display_type_cb;
   QLineEdit *value_edit;
   QWidget *filters_widget;
+  ToolButton *export_btn;
   MessageBytesDelegate *delegate;
 };
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index bcb65e2e3e..a4b7764346 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -179,6 +179,7 @@ void MainWindow::createDockWindows() {
 void MainWindow::createDockWidgets() {
   messages_widget = new MessagesWidget(this);
   messages_dock->setWidget(messages_widget);
+  QObject::connect(messages_widget, &MessagesWidget::titleChanged, messages_dock, &QDockWidget::setWindowTitle);
 
   // right panel
   charts_widget = new ChartsWidget(this);
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index 0cec551017..4c3efa0385 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -6,16 +6,29 @@
 #include <QCheckBox>
 #include <QHBoxLayout>
 #include <QPainter>
+#include <QPalette>
 #include <QPushButton>
 #include <QScrollBar>
 #include <QVBoxLayout>
 
 #include "tools/cabana/commands.h"
 
+static bool isMessageActive(const MessageId &id) {
+  if (auto dummy_stream = dynamic_cast<DummyStream *>(can)) {
+    return true;
+  }
+  if (id.source == INVALID_SOURCE) {
+    return false;
+  }
+  // Check if the message is active based on time difference and frequency
+  const auto &m = can->lastMessage(id);
+  float delta = can->currentSec() - m.ts;
+  return (m.freq == 0 && delta < 1.5) || (m.freq > 0 && ((delta - 1.0 / settings.fps) < (5.0 / m.freq)));
+}
+
 MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
-  main_layout->setSpacing(0);
   // toolbar
   main_layout->addWidget(createToolBar());
   // message table
@@ -39,23 +52,10 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
   header->setStretchLastSection(true);
   header->setContextMenuPolicy(Qt::CustomContextMenu);
 
-  // suppress
-  QHBoxLayout *suppress_layout = new QHBoxLayout();
-  suppress_layout->addWidget(suppress_add = new QPushButton("Suppress Highlighted"));
-  suppress_layout->addWidget(suppress_clear = new QPushButton());
-  suppress_clear->setToolTip(tr("Clear suppressed"));
-  suppress_layout->addStretch(1);
-  QCheckBox *suppress_defined_signals = new QCheckBox(tr("Suppress Signals"), this);
-  suppress_defined_signals->setToolTip(tr("Suppress defined signals"));
-  suppress_defined_signals->setChecked(settings.suppress_defined_signals);
-  suppress_layout->addWidget(suppress_defined_signals);
-  main_layout->addLayout(suppress_layout);
-
   // signals/slots
   QObject::connect(menu, &QMenu::aboutToShow, this, &MessagesWidget::menuAboutToShow);
   QObject::connect(header, &MessageViewHeader::customContextMenuRequested, this, &MessagesWidget::headerContextMenuEvent);
   QObject::connect(view->horizontalScrollBar(), &QScrollBar::valueChanged, header, &MessageViewHeader::updateHeaderPositions);
-  QObject::connect(suppress_defined_signals, &QCheckBox::stateChanged, can, &AbstractStream::suppressDefinedSignals);
   QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::dbcModified);
   QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, model, &MessageListModel::dbcModified);
@@ -75,9 +75,6 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
       }
     }
   });
-  QObject::connect(suppress_add, &QPushButton::clicked, this, &MessagesWidget::suppressHighlighted);
-  QObject::connect(suppress_clear, &QPushButton::clicked, this, &MessagesWidget::suppressHighlighted);
-  suppressHighlighted();
 
   setWhatsThis(tr(R"(
     <b>Message View</b><br/>
@@ -85,22 +82,36 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
     <span style="color:gray">Byte color</span><br />
     <span style="color:gray;">■ </span> constant changing<br />
     <span style="color:blue;">■ </span> increasing<br />
-    <span style="color:red;">■ </span> decreasing
+    <span style="color:red;">■ </span> decreasing<br />
+    <span style="color:gray">Shortcuts</span><br />
+    Horizontal Scrolling: <span style="background-color:lightGray;color:gray">&nbsp;shift+wheel&nbsp;</span>
   )"));
 }
 
-QToolBar *MessagesWidget::createToolBar() {
-  QToolBar *toolbar = new QToolBar(this);
-  toolbar->setIconSize({12, 12});
-  toolbar->addWidget(num_msg_label = new QLabel(this));
-  num_msg_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
+QWidget *MessagesWidget::createToolBar() {
+  QWidget *toolbar = new QWidget(this);
+  QHBoxLayout *layout = new QHBoxLayout(toolbar);
+  layout->setContentsMargins(0, 9, 0, 0);
+  layout->addWidget(suppress_add = new QPushButton("Suppress Highlighted"));
+  layout->addWidget(suppress_clear = new QPushButton());
+  suppress_clear->setToolTip(tr("Clear suppressed"));
+  layout->addStretch(1);
+  QCheckBox *suppress_defined_signals = new QCheckBox(tr("Suppress Signals"), this);
+  suppress_defined_signals->setToolTip(tr("Suppress defined signals"));
+  suppress_defined_signals->setChecked(settings.suppress_defined_signals);
+  layout->addWidget(suppress_defined_signals);
 
-  auto views_btn = toolbar->addAction(utils::icon("three-dots"), tr("View..."));
-  views_btn->setMenu(menu);
-  auto view_button = qobject_cast<QToolButton *>(toolbar->widgetForAction(views_btn));
+  auto view_button = new ToolButton("three-dots", tr("View..."));
+  view_button->setMenu(menu);
   view_button->setPopupMode(QToolButton::InstantPopup);
-  view_button->setToolButtonStyle(Qt::ToolButtonIconOnly);
   view_button->setStyleSheet("QToolButton::menu-indicator { image: none; }");
+  layout->addWidget(view_button);
+
+  QObject::connect(suppress_add, &QPushButton::clicked, this, &MessagesWidget::suppressHighlighted);
+  QObject::connect(suppress_clear, &QPushButton::clicked, this, &MessagesWidget::suppressHighlighted);
+  QObject::connect(suppress_defined_signals, &QCheckBox::stateChanged, can, &AbstractStream::suppressDefinedSignals);
+
+  suppressHighlighted();
   return toolbar;
 }
 
@@ -111,7 +122,7 @@ void MessagesWidget::updateTitle() {
         auto m = dbc()->msg(item.id);
         return m ? std::make_pair(pair.first + 1, pair.second + m->sigs.size()) : pair;
       });
-  num_msg_label->setText(tr("%1 Messages (%2 DBC Messages, %3 Signals)")
+  emit titleChanged(tr("%1 Messages (%2 DBC Messages, %3 Signals)")
                       .arg(model->items_.size()).arg(stats.first).arg(stats.second));
 }
 
@@ -154,6 +165,10 @@ void MessagesWidget::menuAboutToShow() {
   auto action = menu->addAction(tr("Multi-Line bytes"), this, &MessagesWidget::setMultiLineBytes);
   action->setCheckable(true);
   action->setChecked(settings.multiple_lines_hex);
+
+  action = menu->addAction(tr("Show inactive Messages"), model, &MessageListModel::showInactivemessages);
+  action->setCheckable(true);
+  action->setChecked(model->show_inactive_messages);
 }
 
 void MessagesWidget::setMultiLineBytes(bool multi) {
@@ -184,9 +199,9 @@ QVariant MessageListModel::headerData(int section, Qt::Orientation orientation,
 QVariant MessageListModel::data(const QModelIndex &index, int role) const {
   if (!index.isValid() || index.row() >= items_.size()) return {};
 
-  auto getFreq = [](const CanData &d) {
-    if (d.freq > 0 && (can->currentSec() - d.ts - 1.0 / settings.fps) < (5.0 / d.freq)) {
-      return d.freq >= 0.95 ? QString::number(std::nearbyint(d.freq)) : QString::number(d.freq, 'f', 2);
+  auto getFreq = [](float freq) {
+    if (freq > 0) {
+      return freq >= 0.95 ? QString::number(std::nearbyint(freq)) : QString::number(freq, 'f', 2);
     } else {
       return QStringLiteral("--");
     }
@@ -200,7 +215,7 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
       case Column::SOURCE: return item.id.source != INVALID_SOURCE ? QString::number(item.id.source) : "N/A";
       case Column::ADDRESS: return QString::number(item.id.address, 16);
       case Column::NODE: return item.node;
-      case Column::FREQ: return item.id.source != INVALID_SOURCE ? getFreq(data) : "N/A";
+      case Column::FREQ: return item.id.source != INVALID_SOURCE ? getFreq(data.freq) : "N/A";
       case Column::COUNT: return item.id.source != INVALID_SOURCE ? QString::number(data.count) : "N/A";
       case Column::DATA: return item.id.source != INVALID_SOURCE ? "" : "N/A";
     }
@@ -208,6 +223,8 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
     return QVariant::fromValue((void*)(&data.colors));
   } else if (role == BytesRole && index.column() == Column::DATA && item.id.source != INVALID_SOURCE) {
     return QVariant::fromValue((void*)(&data.dat));
+  } else if (role == Qt::ForegroundRole && !item.active) {
+    return settings.theme == DARK_THEME ? QApplication::palette().color(QPalette::Text).darker(150) : QColor(Qt::gray);
   } else if (role == Qt::ToolTipRole && index.column() == Column::NAME) {
     auto msg = dbc()->msg(item.id);
     auto tooltip = item.name;
@@ -222,6 +239,11 @@ void MessageListModel::setFilterStrings(const QMap<int, QString> &filters) {
   filterAndSort();
 }
 
+void MessageListModel::showInactivemessages(bool show) {
+  show_inactive_messages = show;
+  filterAndSort();
+}
+
 void MessageListModel::dbcModified() {
   dbc_messages_.clear();
   for (const auto &[_, m] : dbc()->getMessages(-1)) {
@@ -231,19 +253,22 @@ void MessageListModel::dbcModified() {
 }
 
 void MessageListModel::sortItems(std::vector<MessageListModel::Item> &items) {
-  auto do_sort = [order = sort_order](std::vector<MessageListModel::Item> &m, auto proj) {
-    std::stable_sort(m.begin(), m.end(), [order, proj = std::move(proj)](auto &l, auto &r) {
-      return order == Qt::AscendingOrder ? proj(l) < proj(r) : proj(l) > proj(r);
-    });
+  auto compare = [this](const auto &l, const auto &r) {
+    switch (sort_column) {
+      case Column::NAME: return std::tie(l.name, l.id) < std::tie(r.name, r.id);
+      case Column::SOURCE: return std::tie(l.id.source, l.id.address) < std::tie(r.id.source, r.id.address);
+      case Column::ADDRESS: return std::tie(l.id.address, l.id.source) < std::tie(r.id.address, r.id.source);
+      case Column::NODE: return std::tie(l.node, l.id) < std::tie(r.node, r.id);
+      case Column::FREQ: return std::tie(can->lastMessage(l.id).freq, l.id) < std::tie(can->lastMessage(r.id).freq, r.id);
+      case Column::COUNT: return std::tie(can->lastMessage(l.id).count, l.id) < std::tie(can->lastMessage(r.id).count, r.id);
+      default: return false; // Default case to suppress compiler warning
+    }
   };
-  switch (sort_column) {
-    case Column::NAME: do_sort(items, [](auto &item) { return std::tie(item.name, item.id); }); break;
-    case Column::SOURCE: do_sort(items, [](auto &item) { return std::tie(item.id.source, item.id); }); break;
-    case Column::ADDRESS: do_sort(items, [](auto &item) { return std::tie(item.id.address, item.id);}); break;
-    case Column::NODE: do_sort(items, [](auto &item) { return std::tie(item.node, item.id);}); break;
-    case Column::FREQ: do_sort(items, [](auto &item) { return std::make_pair(can->lastMessage(item.id).freq, item.id); }); break;
-    case Column::COUNT: do_sort(items, [](auto &item) { return std::make_pair(can->lastMessage(item.id).count, item.id); }); break;
-  }
+
+  if (sort_order == Qt::DescendingOrder)
+    std::stable_sort(items.rbegin(), items.rend(), compare);
+  else
+    std::stable_sort(items.begin(), items.end(), compare);
 }
 
 static bool parseRange(const QString &filter, uint32_t value, int base = 10) {
@@ -290,7 +315,6 @@ bool MessageListModel::match(const MessageListModel::Item &item) {
         match = item.node.contains(txt, Qt::CaseInsensitive);
         break;
       case Column::FREQ:
-        // TODO: Hide stale messages?
         match = parseRange(txt, data.freq);
         break;
       case Column::COUNT:
@@ -304,7 +328,7 @@ bool MessageListModel::match(const MessageListModel::Item &item) {
   return match;
 }
 
-void MessageListModel::filterAndSort() {
+bool MessageListModel::filterAndSort() {
   // merge CAN and DBC messages
   std::vector<MessageId> all_messages;
   all_messages.reserve(can->lastMessages().size() + dbc_messages_.size());
@@ -317,13 +341,18 @@ void MessageListModel::filterAndSort() {
 
   // filter and sort
   std::vector<Item> items;
+  items.reserve(all_messages.size());
   for (const auto &id : all_messages) {
-    auto msg = dbc()->msg(id);
-    Item item = {.id = id,
-                 .name = msg ? msg->name : UNTITLED,
-                 .node = msg ? msg->transmitter : QString()};
-    if (match(item))
-      items.emplace_back(item);
+    bool active = isMessageActive(id);
+    if (active || show_inactive_messages) {
+      auto msg = dbc()->msg(id);
+      Item item = {.id = id,
+                  .active = active,
+                  .name = msg ? msg->name : UNTITLED,
+                  .node = msg ? msg->transmitter : QString()};
+      if (match(item))
+        items.emplace_back(item);
+    }
   }
   sortItems(items);
 
@@ -331,16 +360,21 @@ void MessageListModel::filterAndSort() {
     beginResetModel();
     items_ = std::move(items);
     endResetModel();
+    return true;
   }
+  return false;
 }
 
 void MessageListModel::msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids) {
   if (has_new_ids || filters_.contains(Column::FREQ) || filters_.contains(Column::COUNT) || filters_.contains(Column::DATA)) {
-    filterAndSort();
+    if (filterAndSort()) return;
   }
   for (int i = 0; i < items_.size(); ++i) {
-    if (!new_msgs || new_msgs->count(items_[i].id)) {
-      for (int col = Column::FREQ; col < columnCount(); ++col)
+    auto &item = items_[i];
+    bool prev_active = item.active;
+    item.active = isMessageActive(item.id);
+    if (item.active != prev_active || !new_msgs || new_msgs->count(item.id)) {
+      for (int col = 0; col < columnCount(); ++col)
         emit dataChanged(index(i, col), index(i, col), {Qt::DisplayRole});
     }
   }
@@ -358,20 +392,18 @@ void MessageListModel::sort(int column, Qt::SortOrder order) {
 
 void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
   QTreeView::drawRow(painter, option, index);
-  const int gridHint = style()->styleHint(QStyle::SH_Table_GridLineColor, &option, this);
-  const QColor gridColor = QColor::fromRgba(static_cast<QRgb>(gridHint));
-  QPen old_pen = painter->pen();
-  painter->setPen(gridColor);
-  painter->drawLine(option.rect.left(), option.rect.bottom(), option.rect.right(), option.rect.bottom());
 
-  auto y = option.rect.y();
-  painter->translate(visualRect(model()->index(0, 0)).x() - indentation() - .5, -.5);
+  QPen oldPen = painter->pen();
+  const int gridHint = style()->styleHint(QStyle::SH_Table_GridLineColor, &option, this);
+  painter->setPen(QColor::fromRgba(static_cast<QRgb>(gridHint)));
+  // Draw bottom border for the row
+  painter->drawLine(option.rect.bottomLeft(), option.rect.bottomRight());
+  // Draw vertical borders for each column
   for (int i = 0; i < header()->count(); ++i) {
-    painter->translate(header()->sectionSize(header()->logicalIndex(i)), 0);
-    painter->drawLine(0, y, 0, y + option.rect.height());
+    int sectionX = header()->sectionViewportPosition(i);
+    painter->drawLine(sectionX, option.rect.top(), sectionX, option.rect.bottom());
   }
-  painter->setPen(old_pen);
-  painter->resetTransform();
+  painter->setPen(oldPen);
 }
 
 void MessageView::dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector<int> &roles) {
@@ -391,6 +423,14 @@ void MessageView::updateBytesSectionSize() {
   header()->resizeSection(MessageListModel::Column::DATA, delegate->sizeForBytes(max_bytes).width());
 }
 
+void MessageView::wheelEvent(QWheelEvent *event) {
+  if (event->modifiers() == Qt::ShiftModifier) {
+    QApplication::sendEvent(horizontalScrollBar(), event);
+  } else {
+    QTreeView::wheelEvent(event);
+  }
+}
+
 // MessageViewHeader
 
 MessageViewHeader::MessageViewHeader(QWidget *parent) : QHeaderView(Qt::Horizontal, parent) {
diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h
index 4f54941c64..c110db2b56 100644
--- a/tools/cabana/messageswidget.h
+++ b/tools/cabana/messageswidget.h
@@ -7,11 +7,10 @@
 
 #include <QAbstractTableModel>
 #include <QHeaderView>
-#include <QLabel>
 #include <QLineEdit>
 #include <QMenu>
-#include <QToolBar>
 #include <QTreeView>
+#include <QWheelEvent>
 
 #include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
@@ -37,19 +36,22 @@ public:
   int rowCount(const QModelIndex &parent = QModelIndex()) const override { return items_.size(); }
   void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override;
   void setFilterStrings(const QMap<int, QString> &filters);
+  void showInactivemessages(bool show);
   void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
-  void filterAndSort();
+  bool filterAndSort();
   void dbcModified();
 
   struct Item {
     MessageId id;
     QString name;
     QString node;
+    bool active;
     bool operator==(const Item &other) const {
       return id == other.id && name == other.name && node == other.node;
     }
   };
   std::vector<Item> items_;
+  bool show_inactive_messages = true;
 
 private:
   void sortItems(std::vector<MessageListModel::Item> &items);
@@ -65,10 +67,13 @@ class MessageView : public QTreeView {
   Q_OBJECT
 public:
   MessageView(QWidget *parent) : QTreeView(parent) {}
+  void updateBytesSectionSize();
+
+protected:
   void drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   void drawBranches(QPainter *painter, const QRect &rect, const QModelIndex &index) const override {}
   void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector<int> &roles = QVector<int>()) override;
-  void updateBytesSectionSize();
+  void wheelEvent(QWheelEvent *event) override;
 };
 
 class MessageViewHeader : public QHeaderView {
@@ -96,9 +101,10 @@ public:
 
 signals:
   void msgSelectionChanged(const MessageId &message_id);
+  void titleChanged(const QString &title);
 
 protected:
-  QToolBar *createToolBar();
+  QWidget *createToolBar();
   void headerContextMenuEvent(const QPoint &pos);
   void menuAboutToShow();
   void setMultiLineBytes(bool multi);
@@ -111,6 +117,5 @@ protected:
   MessageListModel *model;
   QPushButton *suppress_add;
   QPushButton *suppress_clear;
-  QLabel *num_msg_label;
   QMenu *menu;
 };
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 8a20086b5c..9c52908c36 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -127,22 +127,29 @@ const CanData &AbstractStream::lastMessage(const MessageId &id) {
 // it is thread safe to update data in updateLastMsgsTo.
 // updateLastMsgsTo is always called in UI thread.
 void AbstractStream::updateLastMsgsTo(double sec) {
-  new_msgs_.clear();
-  messages_.clear();
-
   current_sec_ = sec;
   uint64_t last_ts = (sec + routeStartTime()) * 1e9;
+  std::unordered_map<MessageId, CanData> msgs;
+
   for (const auto &[id, ev] : events_) {
     auto it = std::upper_bound(ev.begin(), ev.end(), last_ts, CompareCanEvent());
     if (it != ev.begin()) {
       auto prev = std::prev(it);
       double ts = (*prev)->mono_time / 1e9 - routeStartTime();
-      auto &m = messages_[id];
+      auto &m = msgs[id];
+      // Keep suppressed bits.
+      if (auto old_m = messages_.find(id); old_m != messages_.end()) {
+        std::transform(old_m->second.last_changes.cbegin(), old_m->second.last_changes.cend(),
+                       std::back_inserter(m.last_changes),
+                       [](const auto &change) { return CanData::ByteLastChange{.suppressed = change.suppressed}; });
+      }
       m.compute(id, (*prev)->dat, (*prev)->size, ts, getSpeed(), {});
       m.count = std::distance(ev.begin(), prev) + 1;
     }
   }
 
+  new_msgs_.clear();
+  messages_ = std::move(msgs);
   bool id_changed = messages_.size() != last_msgs.size() ||
                     std::any_of(messages_.cbegin(), messages_.cend(),
                                 [this](const auto &m) { return !last_msgs.count(m.first); });
@@ -183,8 +190,6 @@ void AbstractStream::mergeEvents(const std::vector<const CanEvent *> &events) {
   lastest_event_ts = all_events_.empty() ? 0 : all_events_.back()->mono_time;
 }
 
-// CanData
-
 namespace {
 
 enum Color { GREYISH_BLUE, CYAN, RED};
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 10ffcb184a..18c00cb8b6 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -13,6 +13,7 @@
 #include "cereal/messaging/messaging.h"
 #include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/utils/util.h"
+#include "tools/replay/util.h"
 
 struct CanData {
   void compute(const MessageId &msg_id, const uint8_t *dat, const int size, double current_sec,
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index aff0122b47..ddd1c1dfed 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -33,11 +33,12 @@ void ReplayStream::mergeSegments() {
 
       std::vector<const CanEvent *> new_events;
       new_events.reserve(seg->log->events.size());
-      for (auto it = seg->log->events.cbegin(); it != seg->log->events.cend(); ++it) {
-        if ((*it)->which == cereal::Event::Which::CAN) {
-          const uint64_t ts = (*it)->mono_time;
-          for (const auto &c : (*it)->event.getCan()) {
-            new_events.push_back(newEvent(ts, c));
+      for (const Event &e : seg->log->events) {
+        if (e.which == cereal::Event::Which::CAN) {
+          capnp::FlatArrayMessageReader reader(e.data);
+          auto event = reader.getRoot<cereal::Event>();
+          for (const auto &c : event.getCan()) {
+            new_events.push_back(newEvent(e.mono_time, c));
           }
         }
       }
@@ -66,7 +67,9 @@ bool ReplayStream::eventFilter(const Event *event) {
   static double prev_update_ts = 0;
   if (event->which == cereal::Event::Which::CAN) {
     double current_sec = event->mono_time / 1e9 - routeStartTime();
-    for (const auto &c : event->event.getCan()) {
+    capnp::FlatArrayMessageReader reader(event->data);
+    auto e = reader.getRoot<cereal::Event>();
+    for (const auto &c : e.getCan()) {
       MessageId id = {.source = c.getSrc(), .address = c.getAddress()};
       const auto dat = c.getDat();
       updateEvent(id, current_sec, (const uint8_t*)dat.begin(), dat.size());
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index b4e4be4db6..d92a2e426b 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -23,7 +23,7 @@ public:
   inline QString routeName() const override { return replay->route()->name(); }
   inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }
   double totalSeconds() const override { return replay->totalSeconds(); }
-  inline QDateTime beginDateTime() const { return replay->route()->datetime(); }
+  inline QDateTime beginDateTime() const { return replay->routeDateTime(); }
   inline double routeStartTime() const override { return replay->routeStartTime() / (double)1e9; }
   inline const Route *route() const { return replay->route(); }
   inline void setSpeed(float speed) override { replay->setSpeed(speed); }
diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc
index bf7550be0b..d9fcae6f21 100644
--- a/tools/cabana/tests/test_cabana.cc
+++ b/tools/cabana/tests/test_cabana.cc
@@ -28,6 +28,54 @@ TEST_CASE("DBCFile::generateDBC") {
   }
 }
 
+TEST_CASE("DBCFile::generateDBC - comment order") {
+  // Ensure that message comments are followed by signal comments and in the correct order
+  auto content = R"(BO_ 160 message_1: 8 EON
+ SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
+
+BO_ 162 message_2: 8 EON
+ SG_ signal_2 : 0|12@1+ (1,0) [0|4095] "unit" XXX
+
+CM_ BO_ 160 "message comment";
+CM_ SG_ 160 signal_1 "signal comment";
+CM_ BO_ 162 "message comment";
+CM_ SG_ 162 signal_2 "signal comment";
+)";
+  DBCFile dbc("", content);
+  REQUIRE(dbc.generateDBC() == content);
+}
+
+TEST_CASE("DBCFile::generateDBC -- preserve original header") {
+  QString content = R"(VERSION "1.0"
+
+NS_ :
+ CM_
+
+BS_:
+
+BU_: EON
+
+BO_ 160 message_1: 8 EON
+ SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
+
+CM_ BO_ 160 "message comment";
+CM_ SG_ 160 signal_1 "signal comment";
+)";
+  DBCFile dbc("", content);
+  REQUIRE(dbc.generateDBC() == content);
+}
+
+TEST_CASE("DBCFile::generateDBC - escaped quotes") {
+  QString content = R"(BO_ 160 message_1: 8 EON
+ SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
+
+CM_ BO_ 160 "message comment with \"escaped quotes\"";
+CM_ SG_ 160 signal_1 "signal comment with \"escaped quotes\"";
+)";
+  DBCFile dbc("", content);
+  REQUIRE(dbc.generateDBC() == content);
+}
+
 TEST_CASE("parse_dbc") {
   QString content = R"(
 BO_ 160 message_1: 8 EON
@@ -45,7 +93,11 @@ CM_ SG_ 160 signal_1 "signal comment";
 CM_ SG_ 160 signal_2 "multiple line comment 
 1
 2
-";)";
+";
+
+CM_ BO_ 162 "message comment with \"escaped quotes\"";
+CM_ SG_ 162 signal_1 "signal comment with \"escaped quotes\"";
+)";
 
   DBCFile file("", content);
   auto msg = file.msg(160);
@@ -84,6 +136,10 @@ CM_ SG_ 160 signal_2 "multiple line comment
   REQUIRE(msg->sigs[1]->start_bit == 12);
   REQUIRE(msg->sigs[1]->size == 1);
   REQUIRE(msg->sigs[1]->receiver_name == "XXX");
+
+  // escaped quotes
+  REQUIRE(msg->comment == "message comment with \"escaped quotes\"");
+  REQUIRE(msg->sigs[0]->comment == "signal comment with \"escaped quotes\"");
 }
 
 TEST_CASE("parse_opendbc") {
diff --git a/tools/cabana/utils/util.cc b/tools/cabana/utils/util.cc
index c89e39993b..f85ea6d105 100644
--- a/tools/cabana/utils/util.cc
+++ b/tools/cabana/utils/util.cc
@@ -88,18 +88,24 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &
 
   const auto &bytes = *static_cast<std::vector<uint8_t>*>(data.value<void*>());
   const auto &colors = *static_cast<std::vector<QColor>*>(index.data(ColorsRole).value<void*>());
+  auto text_color = index.data(Qt::ForegroundRole).value<QColor>();
+  bool inactive = text_color.isValid();
+  if (!inactive) {
+    text_color = option.palette.color(QPalette::Text);
+  }
+
   for (int i = 0; i < bytes.size(); ++i) {
     int row = !multiple_lines ? 0 : i / 8;
     int column = !multiple_lines ? i : i % 8;
     QRect r = QRect({pt.x() + column * byte_size.width(), pt.y() + row * byte_size.height()}, byte_size);
-    if (i < colors.size() && colors[i].alpha() > 0) {
+    if (!inactive && i < colors.size() && colors[i].alpha() > 0) {
       if (option.state & QStyle::State_Selected) {
         painter->setPen(option.palette.color(QPalette::Text));
         painter->fillRect(r, option.palette.color(QPalette::Window));
       }
       painter->fillRect(r, colors[i]);
-    } else if (option.state & QStyle::State_Selected) {
-      painter->setPen(option.palette.color(QPalette::HighlightedText));
+    } else {
+      painter->setPen(option.state & QStyle::State_Selected ? option.palette.color(QPalette::HighlightedText) : text_color);
     }
     utils::drawStaticText(painter, r, hex_text_table[bytes[i]]);
   }
@@ -257,26 +263,3 @@ QString signalToolTip(const cabana::Signal *sig) {
   )").arg(sig->name).arg(sig->start_bit).arg(sig->size).arg(sig->msb).arg(sig->lsb)
      .arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N");
 }
-
-// MonotonicBuffer
-
-void *MonotonicBuffer::allocate(size_t bytes, size_t alignment) {
-  assert(bytes > 0);
-  void *p = std::align(alignment, bytes, current_buf, available);
-  if (p == nullptr) {
-    available = next_buffer_size = std::max(next_buffer_size, bytes);
-    current_buf = buffers.emplace_back(std::aligned_alloc(alignment, next_buffer_size));
-    next_buffer_size *= growth_factor;
-    p = current_buf;
-  }
-
-  current_buf = (char *)current_buf + bytes;
-  available -= bytes;
-  return p;
-}
-
-MonotonicBuffer::~MonotonicBuffer() {
-  for (auto buf : buffers) {
-    free(buf);
-  }
-}
diff --git a/tools/cabana/utils/util.h b/tools/cabana/utils/util.h
index 158321f784..218b8eeb51 100644
--- a/tools/cabana/utils/util.h
+++ b/tools/cabana/utils/util.h
@@ -2,7 +2,6 @@
 
 #include <array>
 #include <cmath>
-#include <deque>
 #include <vector>
 #include <utility>
 
@@ -160,20 +159,5 @@ private:
   QSocketNotifier *sn;
 };
 
-class MonotonicBuffer {
-public:
-  MonotonicBuffer(size_t initial_size) : next_buffer_size(initial_size) {}
-  ~MonotonicBuffer();
-  void *allocate(size_t bytes, size_t alignment = 16ul);
-  void deallocate(void *p) {}
-
-private:
-  void *current_buf = nullptr;
-  size_t next_buffer_size = 0;
-  size_t available = 0;
-  std::deque<void *> buffers;
-  static constexpr float growth_factor = 1.5;
-};
-
 int num_decimals(double num);
 QString signalToolTip(const cabana::Signal *sig);
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index a6fd0b2b64..cd412f7271 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -151,6 +151,7 @@ QWidget *VideoWidget::createCameraWidget() {
   setMaximumTime(can->totalSeconds());
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); });
   QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection);
+  QObject::connect(can, &AbstractStream::eventsMerged, [this]() { slider->update(); });
   QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog);
   QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated);
@@ -257,25 +258,27 @@ void Slider::setTimeRange(double min, double max) {
 void Slider::parseQLog(int segnum, std::shared_ptr<LogReader> qlog) {
  const auto &segments = qobject_cast<ReplayStream *>(can)->route()->segments();
   if (segments.size() > 0 && segnum == segments.rbegin()->first && !qlog->events.empty()) {
-    emit updateMaximumTime(qlog->events.back()->mono_time / 1e9 - can->routeStartTime());
+    emit updateMaximumTime(qlog->events.back().mono_time / 1e9 - can->routeStartTime());
   }
 
   std::mutex mutex;
-  QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [&mutex, this](const Event *e) {
-    if (e->which == cereal::Event::Which::THUMBNAIL) {
-      auto thumb = e->event.getThumbnail();
+  QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [&mutex, this](const Event &e) {
+    if (e.which == cereal::Event::Which::THUMBNAIL) {
+      capnp::FlatArrayMessageReader reader(e.data);
+      auto thumb = reader.getRoot<cereal::Event>().getThumbnail();
       auto data = thumb.getThumbnail();
       if (QPixmap pm; pm.loadFromData(data.begin(), data.size(), "jpeg")) {
         QPixmap scaled = pm.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation);
         std::lock_guard lk(mutex);
         thumbnails[thumb.getTimestampEof()] = scaled;
       }
-    } else if (e->which == cereal::Event::Which::CONTROLS_STATE) {
-      auto cs = e->event.getControlsState();
+    } else if (e.which == cereal::Event::Which::CONTROLS_STATE) {
+      capnp::FlatArrayMessageReader reader(e.data);
+      auto cs = reader.getRoot<cereal::Event>().getControlsState();
       if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0 &&
           cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE) {
         std::lock_guard lk(mutex);
-        alerts.emplace(e->mono_time, AlertInfo{cs.getAlertStatus(), cs.getAlertText1().cStr(), cs.getAlertText2().cStr()});
+        alerts.emplace(e.mono_time, AlertInfo{cs.getAlertStatus(), cs.getAlertText1().cStr(), cs.getAlertText2().cStr()});
       }
     }
   });
@@ -403,7 +406,7 @@ void InfoLabel::paintEvent(QPaintEvent *event) {
       font.setPixelSize(11);
       p.setFont(font);
     }
-    QRect text_rect = rect().adjusted(2, 2, -2, -2);
+    QRect text_rect = rect().adjusted(1, 1, -1, -1);
     QRect r = p.fontMetrics().boundingRect(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
     p.fillRect(text_rect.left(), r.top(), text_rect.width(), r.height(), color);
     p.drawText(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
diff --git a/tools/car_porting/README.md b/tools/car_porting/README.md
index 8db17b0976..a32e9f96c9 100644
--- a/tools/car_porting/README.md
+++ b/tools/car_porting/README.md
@@ -21,8 +21,8 @@ Given a route and platform, automatically inserts FW fingerprints from the platf
 
 Example:
 ```bash
-> python tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'SUBARU OUTBACK 6TH GEN'
-Attempting to add fw version for:  SUBARU OUTBACK 6TH GEN
+> python tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'OUTBACK'
+Attempting to add fw version for:  OUTBACK
 ```
 
 ### [selfdrive/car/tests/test_car_interfaces.py](/selfdrive/car/tests/test_car_interfaces.py)
diff --git a/tools/car_porting/auto_fingerprint.py b/tools/car_porting/auto_fingerprint.py
index f122c2774e..0a6b602a15 100755
--- a/tools/car_porting/auto_fingerprint.py
+++ b/tools/car_porting/auto_fingerprint.py
@@ -41,12 +41,12 @@ if __name__ == "__main__":
   carPlatform = CP.carFingerprint
 
   if args.platform is None: # attempt to auto-determine platform with other fuzzy fingerprints
-    _, possible_platforms = match_fw_to_car(carFw, log=False)
+    _, possible_platforms = match_fw_to_car(carFw, carVin, log=False)
 
     if len(possible_platforms) != 1:
       print(f"Unable to auto-determine platform, possible platforms: {possible_platforms}")
 
-      if carPlatform != "mock":
+      if carPlatform != "MOCK":
         print("Using platform from route")
         platform = carPlatform
       else:
diff --git a/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb b/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb
index fbd88a769e..99efc45aca 100644
--- a/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb
+++ b/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb
@@ -2,15 +2,23 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": 148,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "kj/filesystem-disk-unix.c++:1703: warning: PWD environment variable doesn't match current directory; pwd = /home/batman\n"
+     ]
+    }
+   ],
    "source": [
     "from cereal import car\n",
-    "from openpilot.selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS\n",
+    "from openpilot.selfdrive.car.subaru.values import CAR, SubaruFlags\n",
     "from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS\n",
     "\n",
-    "TEST_PLATFORMS = set(c.value for c in CAR) - PREGLOBAL_CARS # preglobal cars seem to have a different format for fingerprints, ignore for now\n",
+    "TEST_PLATFORMS = CAR.without_flags(SubaruFlags.PREGLOBAL)\n",
     "\n",
     "Ecu = car.CarParams.Ecu\n",
     "\n",
@@ -19,33 +27,18 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 149,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "from openpilot.selfdrive.car.subaru.values import CAR_INFO\n",
-    "\n",
-    "def get_carinfo(model: CAR):\n",
-    "  c = CAR_INFO[model]\n",
-    "  if isinstance(c, list):\n",
-    "    c = c[0]\n",
-    "  return c"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 150,
+   "execution_count": null,
    "metadata": {},
    "outputs": [],
    "source": [
     "PLATFORM_CODES = {\n",
     "    Ecu.abs: {\n",
     "        0: {\n",
-    "            b'\\xa5': [CAR.ASCENT, CAR.ASCENT_2023],\n",
-    "            b'\\xa2': [CAR.IMPREZA, CAR.IMPREZA_2020, CAR.CROSSTREK_HYBRID],\n",
-    "            b'\\xa1': [CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023],\n",
-    "            b'\\xa3': [CAR.FORESTER, CAR.FORESTER_HYBRID, CAR.FORESTER_2022],\n",
-    "            b'z': [CAR.IMPREZA],\n",
+    "            b'\\xa5': [CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023],\n",
+    "            b'\\xa2': [CAR.SUBARU_IMPREZA, CAR.SUBARU_IMPREZA_2020, CAR.SUBARU_CROSSTREK_HYBRID],\n",
+    "            b'\\xa1': [CAR.SUBARU_OUTBACK, CAR.SUBARU_LEGACY, CAR.SUBARU_OUTBACK_2023],\n",
+    "            b'\\xa3': [CAR.SUBARU_FORESTER, CAR.SUBARU_FORESTER_HYBRID, CAR.SUBARU_FORESTER_2022],\n",
+    "            b'z': [CAR.SUBARU_IMPREZA],\n",
     "        }\n",
     "    }\n",
     "}\n",
@@ -66,7 +59,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 151,
+   "execution_count": 3,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -90,7 +83,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 152,
+   "execution_count": 4,
    "metadata": {},
    "outputs": [
     {
@@ -103,56 +96,60 @@
       "SUBARU IMPREZA LIMITED 2019 0c not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
       "SUBARU IMPREZA LIMITED 2019 2e not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
       "SUBARU IMPREZA LIMITED 2019 3f not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
-      "correct_year=True   platform=SUBARU ASCENT LIMITED 2019       year=2019  years=[2019, 2020, 2021]\n",
-      "correct_year=True   platform=SUBARU ASCENT LIMITED 2019       year=2021  years=[2019, 2020, 2021]\n",
-      "correct_year=False  platform=SUBARU IMPREZA SPORT 2020        year=2019  years=[2020, 2021, 2022]\n",
-      "correct_year=False  platform=SUBARU IMPREZA SPORT 2020        year=2019  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU IMPREZA SPORT 2020        year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU IMPREZA SPORT 2020        year=2021  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU IMPREZA SPORT 2020        year=2021  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU IMPREZA SPORT 2020        year=2021  years=[2020, 2021, 2022]\n",
-      "correct_year=False  platform=SUBARU FORESTER 2019             year=2018  years=[2019, 2020, 2021]\n",
-      "correct_year=False  platform=SUBARU FORESTER 2019             year=2018  years=[2019, 2020, 2021]\n",
-      "correct_year=True   platform=SUBARU FORESTER 2019             year=2019  years=[2019, 2020, 2021]\n",
-      "correct_year=True   platform=SUBARU FORESTER 2019             year=2019  years=[2019, 2020, 2021]\n",
-      "correct_year=True   platform=SUBARU FORESTER 2019             year=2020  years=[2019, 2020, 2021]\n",
-      "correct_year=True   platform=SUBARU FORESTER 2019             year=2020  years=[2019, 2020, 2021]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 7TH GEN           year=2023  years=[2023]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 7TH GEN           year=2023  years=[2023]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2022  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2022  years=[2020, 2021, 2022]\n",
+      "correct_year=False  platform=SUBARU CROSSTREK HYBRID 2020     year=2019  years=[2020]\n",
+      "correct_year=False  platform=SUBARU CROSSTREK HYBRID 2020     year=2021  years=[2020]\n",
+      "correct_year=False  platform=SUBARU FORESTER HYBRID 2020      year=2019  years=[2020]\n",
+      "correct_year=True   platform=SUBARU LEGACY 7TH GEN            year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU LEGACY 7TH GEN            year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU LEGACY 7TH GEN            year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU LEGACY 7TH GEN            year=2020  years=[2020, 2021, 2022]\n",
       "correct_year=True   platform=SUBARU IMPREZA LIMITED 2019      year=2019  years=[2017, 2018, 2019]\n",
       "correct_year=True   platform=SUBARU IMPREZA LIMITED 2019      year=2019  years=[2017, 2018, 2019]\n",
       "correct_year=True   platform=SUBARU IMPREZA LIMITED 2019      year=2018  years=[2017, 2018, 2019]\n",
       "correct_year=True   platform=SUBARU IMPREZA LIMITED 2019      year=2019  years=[2017, 2018, 2019]\n",
       "correct_year=True   platform=SUBARU IMPREZA LIMITED 2019      year=2019  years=[2017, 2018, 2019]\n",
       "correct_year=True   platform=SUBARU IMPREZA LIMITED 2019      year=2019  years=[2017, 2018, 2019]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 7TH GEN           year=2023  years=[2023]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 7TH GEN           year=2023  years=[2023]\n",
-      "correct_year=True   platform=SUBARU LEGACY 7TH GEN            year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU LEGACY 7TH GEN            year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU LEGACY 7TH GEN            year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU LEGACY 7TH GEN            year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=False  platform=SUBARU FORESTER 2022             year=2021  years=[2022, 2023]\n",
-      "correct_year=False  platform=SUBARU FORESTER 2022             year=2021  years=[2022, 2023]\n",
-      "correct_year=True   platform=SUBARU FORESTER 2022             year=2022  years=[2022, 2023]\n",
-      "correct_year=True   platform=SUBARU FORESTER 2022             year=2022  years=[2022, 2023]\n",
-      "correct_year=False  platform=SUBARU CROSSTREK HYBRID 2020     year=2019  years=[2020]\n",
-      "correct_year=False  platform=SUBARU CROSSTREK HYBRID 2020     year=2021  years=[2020]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2020  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2022  years=[2020, 2021, 2022]\n",
-      "correct_year=True   platform=SUBARU OUTBACK 6TH GEN           year=2022  years=[2020, 2021, 2022]\n",
+      "correct_year=False  platform=SUBARU FORESTER 2022             year=2021  years=[2022, 2023, 2024]\n",
+      "correct_year=False  platform=SUBARU FORESTER 2022             year=2021  years=[2022, 2023, 2024]\n",
+      "correct_year=True   platform=SUBARU FORESTER 2022             year=2022  years=[2022, 2023, 2024]\n",
+      "correct_year=True   platform=SUBARU FORESTER 2022             year=2022  years=[2022, 2023, 2024]\n",
+      "correct_year=False  platform=SUBARU IMPREZA SPORT 2020        year=2019  years=[2020, 2021, 2022]\n",
+      "correct_year=False  platform=SUBARU IMPREZA SPORT 2020        year=2019  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU IMPREZA SPORT 2020        year=2020  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU IMPREZA SPORT 2020        year=2021  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU IMPREZA SPORT 2020        year=2021  years=[2020, 2021, 2022]\n",
+      "correct_year=True   platform=SUBARU IMPREZA SPORT 2020        year=2021  years=[2020, 2021, 2022]\n",
       "correct_year=True   platform=SUBARU ASCENT 2023               year=2023  years=[2023]\n",
-      "correct_year=False  platform=SUBARU FORESTER HYBRID 2020      year=2019  years=[2020]\n"
+      "correct_year=True   platform=SUBARU ASCENT LIMITED 2019       year=2019  years=[2019, 2020, 2021]\n",
+      "correct_year=True   platform=SUBARU ASCENT LIMITED 2019       year=2021  years=[2019, 2020, 2021]\n",
+      "correct_year=False  platform=SUBARU FORESTER 2019             year=2018  years=[2019, 2020, 2021]\n",
+      "correct_year=False  platform=SUBARU FORESTER 2019             year=2018  years=[2019, 2020, 2021]\n",
+      "correct_year=True   platform=SUBARU FORESTER 2019             year=2019  years=[2019, 2020, 2021]\n",
+      "correct_year=True   platform=SUBARU FORESTER 2019             year=2019  years=[2019, 2020, 2021]\n",
+      "correct_year=True   platform=SUBARU FORESTER 2019             year=2020  years=[2019, 2020, 2021]\n",
+      "correct_year=True   platform=SUBARU FORESTER 2019             year=2020  years=[2019, 2020, 2021]\n"
      ]
     }
    ],
    "source": [
     "def test_year_code(platform, year):\n",
-    "  years = [int(y) for y in get_carinfo(platform).year_list]\n",
+    "  car_docs = CAR(platform).config.car_docs\n",
+    "  if isinstance(car_docs, list):\n",
+    "    car_docs = car_docs[0]\n",
+    "  years = [int(y) for y in car_docs.year_list]\n",
     "  correct_year = year in years\n",
     "  print(f\"{correct_year=!s: <6} {platform=: <32} {year=: <5} {years=}\")\n",
     "\n",
@@ -163,63 +160,64 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 153,
+   "execution_count": 5,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "in_possible_platforms=True   platform=SUBARU ASCENT LIMITED 2019       platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n",
-      "in_possible_platforms=True   platform=SUBARU ASCENT LIMITED 2019       platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
       "in_possible_platforms=True   platform=SUBARU OUTBACK 7TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
       "in_possible_platforms=True   platform=SUBARU OUTBACK 7TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU LEGACY 7TH GEN            platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU LEGACY 7TH GEN            platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU LEGACY 7TH GEN            platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU LEGACY 7TH GEN            platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER 2022             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER 2022             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER 2022             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER 2022             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
       "in_possible_platforms=True   platform=SUBARU CROSSTREK HYBRID 2020     platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
       "in_possible_platforms=True   platform=SUBARU CROSSTREK HYBRID 2020     platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
-      "in_possible_platforms=True   platform=SUBARU OUTBACK 6TH GEN           platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER HYBRID 2020      platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU LEGACY 7TH GEN            platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU LEGACY 7TH GEN            platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU LEGACY 7TH GEN            platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU LEGACY 7TH GEN            platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA LIMITED 2019      platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER 2022             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER 2022             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER 2022             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER 2022             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
+      "in_possible_platforms=True   platform=SUBARU IMPREZA SPORT 2020        platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
       "in_possible_platforms=True   platform=SUBARU ASCENT 2023               platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n",
-      "in_possible_platforms=True   platform=SUBARU FORESTER HYBRID 2020      platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n"
+      "in_possible_platforms=True   platform=SUBARU ASCENT LIMITED 2019       platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n",
+      "in_possible_platforms=True   platform=SUBARU ASCENT LIMITED 2019       platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
+      "in_possible_platforms=True   platform=SUBARU FORESTER 2019             platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n"
      ]
     }
    ],
diff --git a/tools/car_porting/examples/subaru_long_accel.ipynb b/tools/car_porting/examples/subaru_long_accel.ipynb
index 24470b44d2..9d18a114df 100644
--- a/tools/car_porting/examples/subaru_long_accel.ipynb
+++ b/tools/car_porting/examples/subaru_long_accel.ipynb
@@ -9,7 +9,7 @@
     "segments = [\n",
     "  \"d9df6f87e8feff94|2023-03-28--17-41-10/1:12\"\n",
     "]\n",
-    "platform = \"SUBARU OUTBACK 6TH GEN\"\n"
+    "platform = \"SUBARU_OUTBACK\"\n"
    ]
   },
   {
@@ -56,7 +56,7 @@
     "      es_status_history.append(copy.copy(cp.vl[\"ES_Status\"]))\n",
     "\n",
     "      acceleration_history.append(last_acc)\n",
-    "    \n",
+    "\n",
     "    if msg.which() == \"carState\":\n",
     "      last_acc = msg.carState.aEgo"
    ]
diff --git a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
index 46d8dc413e..3d5055cbc2 100644
--- a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
+++ b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
@@ -11,7 +11,7 @@
     "segments = [\n",
     "  \"c3d1ccb52f5f9d65|2023-07-22--01-23-20/6:10\",\n",
     "]\n",
-    "platform = \"SUBARU OUTBACK 6TH GEN\""
+    "platform = \"SUBARU_OUTBACK\""
    ]
   },
   {
@@ -52,7 +52,7 @@
     "  for msg in can_msgs:\n",
     "    cp.update_strings([msg.as_builder().to_bytes()])\n",
     "    steering_torque_history.append(copy.copy(cp.vl[\"Steering_Torque\"]))\n",
-    "  \n",
+    "\n",
     "  steer_warning_last = False\n",
     "  for i, steering_torque_msg in enumerate(steering_torque_history):\n",
     "    steer_warning = steering_torque_msg[\"Steer_Warning\"]\n",
diff --git a/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py
index 86980b054b..b4d263667c 100755
--- a/tools/car_porting/test_car_model.py
+++ b/tools/car_porting/test_car_model.py
@@ -31,6 +31,7 @@ if __name__ == "__main__":
 
   route_or_segment_name = SegmentName(args.route_or_segment_name.strip(), allow_route_name=True)
   segment_num = route_or_segment_name.segment_num if route_or_segment_name.segment_num != -1 else None
+
   test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, args.car, segment=segment_num)
   test_suite = create_test_models_suite([test_route], ci=args.ci)
 
diff --git a/tools/foxglove/fox.py b/tools/foxglove/fox.py
new file mode 100755
index 0000000000..a1e930d893
--- /dev/null
+++ b/tools/foxglove/fox.py
@@ -0,0 +1,304 @@
+#!/usr/bin/env python3
+import sys
+import json
+import base64
+import os
+import subprocess
+from multiprocessing import Pool
+from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.logreader import LogReader
+
+try:
+  from mcap.writer import Writer, CompressionType
+except ImportError:
+  print("mcap module not found. Attempting to install...")
+  subprocess.run([sys.executable, "-m", "pip", "install", "mcap"])
+  # Attempt to import again after installation
+  try:
+    from mcap.writer import Writer, CompressionType
+  except ImportError:
+    print("Failed to install mcap module. Exiting.")
+    sys.exit(1)
+
+
+FOXGLOVE_IMAGE_SCHEME_TITLE = "foxglove.CompressedImage"
+FOXGLOVE_GEOJSON_TITLE = "foxglove.GeoJSON"
+FOXGLOVE_IMAGE_ENCODING = "base64"
+OUT_MCAP_FILE_NAME = "json_log.mcap"
+RLOG_FOLDER = "rlogs"
+SCHEMAS_FOLDER = "schemas"
+SCHEMA_EXTENSION = ".json"
+
+schemas: dict[str, int] = {}
+channels: dict[str, int] = {}
+writer: Writer
+
+
+def convertBytesToString(data):
+  if isinstance(data, bytes):
+    return data.decode('latin-1')  # Assuming UTF-8 encoding, adjust if needed
+  elif isinstance(data, list):
+    return [convertBytesToString(item) for item in data]
+  elif isinstance(data, dict):
+    return {key: convertBytesToString(value) for key, value in data.items()}
+  else:
+    return data
+
+
+# Load jsonscheme for every Event
+def loadSchema(schemaName):
+  with open(os.path.join(SCHEMAS_FOLDER, schemaName + SCHEMA_EXTENSION), "r") as file:
+    return json.loads(file.read())
+
+
+# Foxglove creates one graph of an array, and not one for each item of an array
+# This can be avoided by transforming array to separate objects
+def transformListsToJsonDict(json_data):
+  def convert_array_to_dict(array):
+    new_dict = {}
+    for index, item in enumerate(array):
+      if isinstance(item, dict):
+        new_dict[index] = transformListsToJsonDict(item)
+      else:
+        new_dict[index] = item
+    return new_dict
+
+  new_data = {}
+  for key, value in json_data.items():
+    if isinstance(value, list):
+      new_data[key] = convert_array_to_dict(value)
+    elif isinstance(value, dict):
+      new_data[key] = transformListsToJsonDict(value)
+    else:
+      new_data[key] = value
+  return new_data
+
+
+# Transform openpilot thumbnail to foxglove compressedImage
+def transformToFoxgloveSchema(jsonMsg):
+  bytesImgData = jsonMsg.get("thumbnail").get("thumbnail").encode('latin1')
+  base64ImgData = base64.b64encode(bytesImgData)
+  base64_string = base64ImgData.decode('utf-8')
+  foxMsg = {
+    "timestamp": {"sec": "0", "nsec": jsonMsg.get("logMonoTime")},
+    "frame_id": str(jsonMsg.get("thumbnail").get("frameId")),
+    "data": base64_string,
+    "format": "jpeg",
+  }
+  return foxMsg
+
+
+# TODO: Check if there is a tool to build GEOJson
+def transformMapCoordinates(jsonMsg):
+  coordinates = []
+  for jsonCoords in jsonMsg.get("navRoute").get("coordinates"):
+    coordinates.append([jsonCoords.get("longitude"), jsonCoords.get("latitude")])
+
+  # Define the GeoJSON
+  geojson_data = {
+    "type": "FeatureCollection",
+    "features": [{"type": "Feature", "geometry": {"type": "LineString", "coordinates": coordinates}, "logMonoTime": jsonMsg.get("logMonoTime")}],
+  }
+
+  # Create the final JSON with the GeoJSON data encoded as a string
+  geoJson = {"geojson": json.dumps(geojson_data)}
+
+  return geoJson
+
+
+def jsonToScheme(jsonData):
+  zeroArray = False
+  schema = {"type": "object", "properties": {}, "required": []}
+  for key, value in jsonData.items():
+    if isinstance(value, dict):
+      tempScheme, zeroArray = jsonToScheme(value)
+      if tempScheme == 0:
+        return 0
+      schema["properties"][key] = tempScheme
+      schema["required"].append(key)
+    elif isinstance(value, list):
+      if all(isinstance(item, dict) for item in value) and len(value) > 0:  # Handle zero value arrays
+        # Handle array of objects
+        tempScheme, zeroArray = jsonToScheme(value[0])
+        schema["properties"][key] = {"type": "array", "items": tempScheme if value else {}}
+        schema["required"].append(key)
+      else:
+        if len(value) == 0:
+          zeroArray = True
+        # Handle array of primitive types
+        schema["properties"][key] = {"type": "array", "items": {"type": "string"}}
+        schema["required"].append(key)
+    else:
+      typeName = type(value).__name__
+      if typeName == "str":
+        typeName = "string"
+      elif typeName == "bool":
+        typeName = "boolean"
+      elif typeName == "float":
+        typeName = "number"
+      elif typeName == "int":
+        typeName = "integer"
+      schema["properties"][key] = {"type": typeName}
+      schema["required"].append(key)
+
+  return schema, zeroArray
+
+
+def saveScheme(scheme, schemaFileName):
+  schemaFileName = schemaFileName + SCHEMA_EXTENSION
+  # Create the new schemas folder
+  os.makedirs(SCHEMAS_FOLDER, exist_ok=True)
+  with open(os.path.join(SCHEMAS_FOLDER, schemaFileName), 'w') as json_file:
+    json.dump(convertBytesToString(scheme), json_file)
+
+
+def convertToFoxGloveFormat(jsonData, rlogTopic):
+  jsonData["title"] = rlogTopic
+  if rlogTopic == "thumbnail":
+    jsonData = transformToFoxgloveSchema(jsonData)
+    jsonData["title"] = FOXGLOVE_IMAGE_SCHEME_TITLE
+  elif rlogTopic == "navRoute":
+    jsonData = transformMapCoordinates(jsonData)
+    jsonData["title"] = FOXGLOVE_GEOJSON_TITLE
+  else:
+    jsonData = transformListsToJsonDict(jsonData)
+  return jsonData
+
+
+def generateSchemas():
+  listOfDirs = os.listdir(RLOG_FOLDER)
+  # Open every dir in rlogs
+  for directory in listOfDirs:
+    # List every file in every rlog dir
+    dirPath = os.path.join(RLOG_FOLDER, directory)
+    listOfFiles = os.listdir(dirPath)
+    lastIteration = len(listOfFiles)
+    for iteration, file in enumerate(listOfFiles):
+      # Load json data from every file until found one without empty arrays
+      filePath = os.path.join(dirPath, file)
+      with open(filePath, 'r') as jsonFile:
+        jsonData = json.load(jsonFile)
+        scheme, zerroArray = jsonToScheme(jsonData)
+        # If array of len 0 has been found, type of its data can not be parsed, skip to the next log
+        # in search for a non empty array. If there is not an non empty array in logs, put a dummy string type
+        if zerroArray and not iteration == lastIteration - 1:
+          continue
+        title = jsonData.get("title")
+        scheme["title"] = title
+        # Add contentEncoding type, hardcoded in foxglove format
+        if title == FOXGLOVE_IMAGE_SCHEME_TITLE:
+          scheme["properties"]["data"]["contentEncoding"] = FOXGLOVE_IMAGE_ENCODING
+        saveScheme(scheme, directory)
+        break
+
+
+def downloadLogs(logPaths):
+  segment_counter = 0
+  for logPath in logPaths:
+    segment_counter += 1
+    msg_counter = 1
+    print(segment_counter)
+    rlog = LogReader(logPath)
+    for msg in rlog:
+      jsonMsg = json.loads(json.dumps(convertBytesToString(msg.to_dict())))
+      jsonMsg = convertToFoxGloveFormat(jsonMsg, msg.which())
+      rlog_dir_path = os.path.join(RLOG_FOLDER, msg.which())
+      if not os.path.exists(rlog_dir_path):
+        os.makedirs(rlog_dir_path)
+      file_path = os.path.join(rlog_dir_path, str(segment_counter) + "," + str(msg_counter))
+      with open(file_path, 'w') as json_file:
+        json.dump(jsonMsg, json_file)
+      msg_counter += 1
+
+
+def getLogMonoTime(jsonMsg):
+  if jsonMsg.get("title") == FOXGLOVE_IMAGE_SCHEME_TITLE:
+    logMonoTime = jsonMsg.get("timestamp").get("nsec")
+  elif jsonMsg.get("title") == FOXGLOVE_GEOJSON_TITLE:
+    logMonoTime = json.loads(jsonMsg.get("geojson")).get("features")[0].get("logMonoTime")
+  else:
+    logMonoTime = jsonMsg.get("logMonoTime")
+  return logMonoTime
+
+
+def processMsgs(args):
+  msgFile, rlogTopicPath, rlogTopic = args
+  msgFilePath = os.path.join(rlogTopicPath, msgFile)
+  with open(msgFilePath, "r") as file:
+    jsonMsg = json.load(file)
+    logMonoTime = getLogMonoTime(jsonMsg)
+    return {'channel_id': channels[rlogTopic], 'log_time': logMonoTime, 'data': json.dumps(jsonMsg).encode("utf-8"), 'publish_time': logMonoTime}
+
+
+# Get logs from a path, and convert them into mcap
+def createMcap(logPaths):
+  print(f"Downloading logs [{len(logPaths)}]")
+  downloadLogs(logPaths)
+  print("Creating schemas")
+  generateSchemas()
+  print("Creating mcap file")
+
+  listOfRlogTopics = os.listdir(RLOG_FOLDER)
+  print(f"Registering schemas and channels [{len(listOfRlogTopics)}]")
+  for counter, rlogTopic in enumerate(listOfRlogTopics):
+    print(counter)
+    schema = loadSchema(rlogTopic)
+    schema_id = writer.register_schema(name=schema.get("title"), encoding="jsonschema", data=json.dumps(schema).encode())
+    schemas[rlogTopic] = schema_id
+    channel_id = writer.register_channel(schema_id=schemas[rlogTopic], topic=rlogTopic, message_encoding="json")
+    channels[rlogTopic] = channel_id
+    rlogTopicPath = os.path.join(RLOG_FOLDER, rlogTopic)
+    msgFiles = os.listdir(rlogTopicPath)
+    pool = Pool()
+    results = pool.map(processMsgs, [(msgFile, rlogTopicPath, rlogTopic) for msgFile in msgFiles])
+    pool.close()
+    pool.join()
+    for result in results:
+      writer.add_message(channel_id=result['channel_id'], log_time=result['log_time'], data=result['data'], publish_time=result['publish_time'])
+
+
+def is_program_installed(program_name):
+  try:
+    # Check if the program is installed using dpkg (for traditional Debian packages)
+    subprocess.run(["dpkg", "-l", program_name], check=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+    return True
+  except subprocess.CalledProcessError:
+    # Check if the program is installed using snap
+    try:
+      subprocess.run(["snap", "list", program_name], check=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+      return True
+    except subprocess.CalledProcessError:
+      return False
+
+
+if __name__ == '__main__':
+  # Example usage:
+  program_name = "foxglove-studio"  # Change this to the program you want to check
+  if is_program_installed(program_name):
+    print(f"{program_name} detected.")
+  else:
+    print(f"{program_name} could not be detected.")
+    installFoxglove = input("Would you like to install it? YES/NO? - ")
+    if installFoxglove.lower() == "yes":
+      try:
+        subprocess.run(['./install_foxglove.sh'], check=True)
+        print("Installation completed successfully.")
+      except subprocess.CalledProcessError as e:
+        print(f"Installation failed with return code {e.returncode}.")
+  # Get a route
+  if len(sys.argv) == 1:
+    route_name = "a2a0ccea32023010|2023-07-27--13-01-19"
+    print("No route was provided, using demo route")
+  else:
+    route_name = sys.argv[1]
+  # Get logs for a route
+  print("Getting route log paths")
+  route = Route(route_name)
+  logPaths = route.log_paths()
+  # Start mcap writer
+  with open(OUT_MCAP_FILE_NAME, "wb") as stream:
+    writer = Writer(stream, compression=CompressionType.NONE)
+    writer.start()
+    createMcap(logPaths)
+    writer.finish()
+    print(f"File {OUT_MCAP_FILE_NAME} has been successfully created. Please import it into foxglove studio to continue.")
diff --git a/tools/foxglove/install_foxglove.sh b/tools/foxglove/install_foxglove.sh
new file mode 100755
index 0000000000..0f401549a2
--- /dev/null
+++ b/tools/foxglove/install_foxglove.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+echo "Installing foxglvoe studio..."
+sudo snap install foxglove-studio
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 78a01f2b75..28e6bf8ccf 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -75,6 +75,7 @@ function install_ubuntu_common_requirements() {
     libqt5charts5-dev \
     libqt5serialbus5-dev  \
     libqt5x11extras5-dev \
+    libqt5opengl5-dev \
     libreadline-dev \
     libdw1 \
     valgrind
diff --git a/tools/lib/azure_container.py b/tools/lib/azure_container.py
index 52b2f37dbf..f5a3a8bfb1 100644
--- a/tools/lib/azure_container.py
+++ b/tools/lib/azure_container.py
@@ -57,18 +57,18 @@ class AzureContainer:
     ext = "hevc" if log_type.endswith('camera') else "bz2"
     return self.BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{log_type}.{ext}"
 
-  def upload_bytes(self, data: bytes | IO, blob_name: str) -> str:
+  def upload_bytes(self, data: bytes | IO, blob_name: str, overwrite=False) -> str:
     from azure.storage.blob import BlobClient
     blob = BlobClient(
       account_url=self.ACCOUNT_URL,
       container_name=self.CONTAINER,
       blob_name=blob_name,
       credential=get_azure_credential(),
-      overwrite=False,
+      overwrite=overwrite,
     )
-    blob.upload_blob(data)
+    blob.upload_blob(data, overwrite=overwrite)
     return self.BASE_URL + blob_name
 
-  def upload_file(self, path: str | os.PathLike, blob_name: str) -> str:
+  def upload_file(self, path: str | os.PathLike, blob_name: str, overwrite=False) -> str:
     with open(path, "rb") as f:
-      return self.upload_bytes(f, blob_name)
+      return self.upload_bytes(f, blob_name, overwrite)
diff --git a/tools/lib/comma_car_segments.py b/tools/lib/comma_car_segments.py
index 9027fec637..78825504e6 100644
--- a/tools/lib/comma_car_segments.py
+++ b/tools/lib/comma_car_segments.py
@@ -1,13 +1,22 @@
 import os
 import requests
 
+
 # Forks with additional car support can fork the commaCarSegments repo on huggingface or host the LFS files themselves
 COMMA_CAR_SEGMENTS_REPO = os.environ.get("COMMA_CAR_SEGMENTS_REPO", "https://huggingface.co/datasets/commaai/commaCarSegments")
 COMMA_CAR_SEGMENTS_BRANCH = os.environ.get("COMMA_CAR_SEGMENTS_BRANCH", "main")
 COMMA_CAR_SEGMENTS_LFS_INSTANCE = os.environ.get("COMMA_CAR_SEGMENTS_LFS_INSTANCE", COMMA_CAR_SEGMENTS_REPO)
 
 def get_comma_car_segments_database():
-  return requests.get(get_repo_raw_url("database.json")).json()
+  from openpilot.selfdrive.car.fingerprints import MIGRATION
+
+  database = requests.get(get_repo_raw_url("database.json")).json()
+
+  ret = {}
+  for platform in database:
+    ret[MIGRATION.get(platform, platform)] = database[platform]
+
+  return ret
 
 
 # Helpers related to interfacing with the commaCarSegments repository, which contains a collection of public segments for users to perform validation on.
diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py
index 653eb3d7e0..e9b4b85e70 100644
--- a/tools/lib/helpers.py
+++ b/tools/lib/helpers.py
@@ -1,7 +1,4 @@
 import bz2
-import datetime
-
-TIME_FMT = "%Y-%m-%d--%H-%M-%S"
 
 
 # regex patterns
@@ -23,13 +20,6 @@ class RE:
   OP_SEGMENT_DIR = fr'^(?P<segment_name>{SEGMENT_NAME})$'
 
 
-def timestamp_to_datetime(t: str) -> datetime.datetime:
-  """
-    Convert an openpilot route timestamp to a python datetime
-  """
-  return datetime.datetime.strptime(t, TIME_FMT)
-
-
 def save_log(dest, log_msgs, compress=True):
   dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
 
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 6247bbc9db..669c1520db 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -89,7 +89,7 @@ def default_valid_file(fn: LogPath) -> bool:
 
 def auto_strategy(rlog_paths: LogPaths, qlog_paths: LogPaths, interactive: bool, valid_file: ValidFileCallable) -> LogPaths:
   # auto select logs based on availability
-  if any(rlog is None or not valid_file(rlog) for rlog in rlog_paths):
+  if any(rlog is None or not valid_file(rlog) for rlog in rlog_paths) and all(qlog is not None and valid_file(qlog) for qlog in qlog_paths):
     if interactive:
       if input("Some rlogs were not found, would you like to fallback to qlogs for those segments? (y/n) ").lower() != "y":
         return rlog_paths
@@ -172,6 +172,15 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
 
   SOURCES: list[Source] = [internal_source, openpilotci_source, comma_api_source, comma_car_segments_source,]
   exceptions = []
+
+  # for automatic fallback modes, auto_source needs to first check if rlogs exist for any source
+  if mode in [ReadMode.AUTO, ReadMode.AUTO_INTERACTIVE]:
+    for source in SOURCES:
+      try:
+        return check_source(source, sr, ReadMode.RLOG)
+      except Exception:
+        pass
+
   # Automatically determine viable source
   for source in SOURCES:
     try:
@@ -248,7 +257,7 @@ are uploaded or auto fallback to qlogs with '/a' selector at the end of the rout
 
   def _get_lr(self, i):
     if i not in self.__lrs:
-      self.__lrs[i] = _LogFileReader(self.logreader_identifiers[i])
+      self.__lrs[i] = _LogFileReader(self.logreader_identifiers[i], sort_by_time=self.sort_by_time, only_union_types=self.only_union_types)
     return self.__lrs[i]
 
   def __iter__(self):
diff --git a/tools/lib/route.py b/tools/lib/route.py
index bd0ccc1fc3..d5fd41108b 100644
--- a/tools/lib/route.py
+++ b/tools/lib/route.py
@@ -4,7 +4,6 @@ from functools import cache
 from urllib.parse import urlparse
 from collections import defaultdict
 from itertools import chain
-from typing import cast
 
 from openpilot.tools.lib.auth_config import get_token
 from openpilot.tools.lib.api import CommaApi
@@ -240,7 +239,9 @@ class SegmentName:
 def get_max_seg_number_cached(sr: 'SegmentRange') -> int:
   try:
     api = CommaApi(get_token())
-    return cast(int, api.get("/v1/route/" + sr.route_name.replace("/", "|"))["segment_numbers"][-1])
+    max_seg_number = api.get("/v1/route/" + sr.route_name.replace("/", "|"))["maxqlog"]
+    assert isinstance(max_seg_number, int)
+    return max_seg_number
   except Exception as e:
     raise Exception("unable to get max_segment_number. ensure you have access to this route or the route is public.") from e
 
@@ -263,6 +264,10 @@ class SegmentRange:
   def timestamp(self) -> str:
     return self.m.group("timestamp")
 
+  @property
+  def log_id(self) -> str:
+    return self.m.group("log_id")
+
   @property
   def slice(self) -> str:
     return self.m.group("slice") or ""
@@ -291,7 +296,7 @@ class SegmentRange:
       return list(range(end + 1))[s]
 
   def __str__(self) -> str:
-    return f"{self.dongle_id}/{self.timestamp}" + (f"/{self.slice}" if self.slice else "") + (f"/{self.selector}" if self.selector else "")
+    return f"{self.dongle_id}/{self.log_id}" + (f"/{self.slice}" if self.slice else "") + (f"/{self.selector}" if self.selector else "")
 
   def __repr__(self) -> str:
     return self.__str__()
diff --git a/tools/lib/tests/test_comma_car_segments.py b/tools/lib/tests/test_comma_car_segments.py
index b293251583..91bab94343 100644
--- a/tools/lib/tests/test_comma_car_segments.py
+++ b/tools/lib/tests/test_comma_car_segments.py
@@ -1,7 +1,7 @@
 import pytest
 import unittest
-
 import requests
+from openpilot.selfdrive.car.fingerprints import MIGRATION
 from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database, get_url
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import SegmentRange
@@ -19,7 +19,7 @@ class TestCommaCarSegments(unittest.TestCase):
   def test_download_segment(self):
     database = get_comma_car_segments_database()
 
-    fp = "SUBARU FORESTER 2019"
+    fp = "SUBARU_FORESTER"
 
     segment = database[fp][0]
 
@@ -31,10 +31,8 @@ class TestCommaCarSegments(unittest.TestCase):
     self.assertEqual(resp.status_code, 200)
 
     lr = LogReader(url)
-
     CP = lr.first("carParams")
-
-    self.assertEqual(CP.carFingerprint, fp)
+    self.assertEqual(MIGRATION.get(CP.carFingerprint, CP.carFingerprint), fp)
 
 
 if __name__ == "__main__":
diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py
index 2141915b87..fc72202b26 100755
--- a/tools/lib/tests/test_logreader.py
+++ b/tools/lib/tests/test_logreader.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import capnp
 import contextlib
 import io
 import shutil
@@ -11,6 +12,7 @@ import requests
 from parameterized import parameterized
 from unittest import mock
 
+from cereal import log as capnp_log
 from openpilot.tools.lib.logreader import LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException
 from openpilot.tools.lib.route import SegmentRange
 from openpilot.tools.lib.url_file import URLFileException
@@ -216,6 +218,43 @@ class TestLogReader(unittest.TestCase):
       log_len = len(list(lr))
       self.assertEqual(qlog_len, log_len)
 
+  @pytest.mark.slow
+  def test_sort_by_time(self):
+    msgs = list(LogReader(f"{TEST_ROUTE}/0/q"))
+    self.assertNotEqual(msgs, sorted(msgs, key=lambda m: m.logMonoTime))
+
+    msgs = list(LogReader(f"{TEST_ROUTE}/0/q", sort_by_time=True))
+    self.assertEqual(msgs, sorted(msgs, key=lambda m: m.logMonoTime))
+
+  def test_only_union_types(self):
+    with tempfile.NamedTemporaryFile() as qlog:
+      # write valid Event messages
+      num_msgs = 100
+      with open(qlog.name, "wb") as f:
+        f.write(b"".join(capnp_log.Event.new_message().to_bytes() for _ in range(num_msgs)))
+
+      msgs = list(LogReader(qlog.name))
+      self.assertEqual(len(msgs), num_msgs)
+      [m.which() for m in msgs]
+
+      # append non-union Event message
+      event_msg = capnp_log.Event.new_message()
+      non_union_bytes = bytearray(event_msg.to_bytes())
+      non_union_bytes[event_msg.total_size.word_count * 8] = 0xff  # set discriminant value out of range using Event word offset
+      with open(qlog.name, "ab") as f:
+        f.write(non_union_bytes)
+
+      # ensure new message is added, but is not a union type
+      msgs = list(LogReader(qlog.name))
+      self.assertEqual(len(msgs), num_msgs + 1)
+      with self.assertRaises(capnp.KjException):
+        [m.which() for m in msgs]
+
+      # should not be added when only_union_types=True
+      msgs = list(LogReader(qlog.name, only_union_types=True))
+      self.assertEqual(len(msgs), num_msgs)
+      [m.which() for m in msgs]
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md
index ca9946145d..dcf2bbbac7 100644
--- a/tools/plotjuggler/README.md
+++ b/tools/plotjuggler/README.md
@@ -12,7 +12,7 @@ Once you've [set up the openpilot environment](../README.md), this command will
 
 ```
 $ ./juggle.py -h
-usage: juggle.py [-h] [--demo] [--qlog] [--ci] [--can] [--stream] [--layout [LAYOUT]] [--install] [--dbc DBC]
+usage: juggle.py [-h] [--demo] [--can] [--stream] [--layout [LAYOUT]] [--install] [--dbc DBC]
                  [route_or_segment_name] [segment_count]
 
 A helper to run PlotJuggler on openpilot routes
@@ -25,8 +25,6 @@ positional arguments:
 optional arguments:
   -h, --help            show this help message and exit
   --demo                Use the demo route instead of providing one (default: False)
-  --qlog                Use qlogs (default: False)
-  --ci                  Download data from openpilot CI bucket (default: False)
   --can                 Parse CAN data (default: False)
   --stream              Start PlotJuggler in streaming mode (default: False)
   --layout [LAYOUT]     Run PlotJuggler with a pre-defined layout (default: None)
@@ -38,11 +36,13 @@ optional arguments:
 
 Examples using route name:
 
-`./juggle.py "a2a0ccea32023010|2023-07-27--13-01-19"`
+`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19"`
 
-Examples using segment name:
+Examples using segment range:
 
-`./juggle.py "a2a0ccea32023010|2023-07-27--13-01-19--1"`
+`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1"`
+
+`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1/q" # use qlogs`
 
 ## Streaming
 
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 0caf5a18ff..1d1612a1cd 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -11,19 +11,20 @@ import argparse
 from functools import partial
 
 from openpilot.common.basedir import BASEDIR
+from openpilot.selfdrive.car.fingerprints import MIGRATION
 from openpilot.tools.lib.helpers import save_log
-
 from openpilot.tools.lib.logreader import LogReader, ReadMode
 
 juggle_dir = os.path.dirname(os.path.realpath(__file__))
 
 DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
-RELEASES_URL="https://github.com/commaai/PlotJuggler/releases/download/latest"
+RELEASES_URL = "https://github.com/commaai/PlotJuggler/releases/download/latest"
 INSTALL_DIR = os.path.join(juggle_dir, "bin")
 PLOTJUGGLER_BIN = os.path.join(juggle_dir, "bin/plotjuggler")
 MINIMUM_PLOTJUGGLER_VERSION = (3, 5, 2)
 MAX_STREAMING_BUFFER_SIZE = 1000
 
+
 def install():
   m = f"{platform.system()}-{platform.machine()}"
   supported = ("Linux-x86_64", "Linux-aarch64", "Darwin-arm64", "Darwin-x86_64")
@@ -38,7 +39,7 @@ def install():
   with requests.get(url, stream=True, timeout=10) as r, tempfile.NamedTemporaryFile() as tmp:
     r.raise_for_status()
     with open(tmp.name, 'wb') as tmpf:
-      for chunk in r.iter_content(chunk_size=1024*1024):
+      for chunk in r.iter_content(chunk_size=1024 * 1024):
         tmpf.write(chunk)
 
     with tarfile.open(tmp.name) as tar:
@@ -69,9 +70,11 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None):
   cmd = f'{PLOTJUGGLER_BIN} --buffer_size {MAX_STREAMING_BUFFER_SIZE} --plugin_folders {INSTALL_DIR}{extra_args}'
   subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir)
 
+
 def process(can, lr):
   return [d for d in lr if can or d.which() not in ['can', 'sendcan']]
 
+
 def juggle_route(route_or_segment_name, can, layout, dbc=None):
   sr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACTIVE)
 
@@ -82,7 +85,8 @@ def juggle_route(route_or_segment_name, can, layout, dbc=None):
     for cp in [m for m in all_data if m.which() == 'carParams']:
       try:
         DBC = __import__(f"openpilot.selfdrive.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC
-        dbc = DBC[cp.carParams.carFingerprint]['pt']
+        fingerprint = cp.carParams.carFingerprint
+        dbc = DBC[MIGRATION.get(fingerprint, fingerprint)]['pt']
       except Exception:
         pass
       break
diff --git a/tools/plotjuggler/layouts/controls_mismatch_debug.xml b/tools/plotjuggler/layouts/controls_mismatch_debug.xml
index 54586d6e7b..7f9def379c 100644
--- a/tools/plotjuggler/layouts/controls_mismatch_debug.xml
+++ b/tools/plotjuggler/layouts/controls_mismatch_debug.xml
@@ -24,6 +24,7 @@
        <range top="1.025000" bottom="-0.025000" left="0.018309" right="59.674401"/>
        <limitY/>
        <curve color="#1f77b4" name="/pandaStates/0/safetyRxInvalid"/>
+       <curve color="#e801ce" name="/pandaStates/0/safetyRxChecksInvalid"/>
       </plot>
      </DockArea>
      <DockArea name="...">
diff --git a/tools/plotjuggler/layouts/max-torque-debug.xml b/tools/plotjuggler/layouts/max-torque-debug.xml
index 20a49c2181..8cfd30599e 100644
--- a/tools/plotjuggler/layouts/max-torque-debug.xml
+++ b/tools/plotjuggler/layouts/max-torque-debug.xml
@@ -24,7 +24,7 @@
        <range left="0.000450" top="1.050000" right="2483.624998" bottom="-1.050000"/>
        <limitY/>
        <curve color="#0097ff" name="/carState/steeringPressed"/>
-       <curve color="#d62728" name="/carControl/actuatorsOutput/steer"/>
+       <curve color="#d62728" name="/carOutput/actuatorsOutput/steer"/>
       </plot>
      </DockArea>
      <DockArea name="...">
diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/tools/plotjuggler/layouts/torque-controller.xml
index 443255968a..d6e4684d63 100644
--- a/tools/plotjuggler/layouts/torque-controller.xml
+++ b/tools/plotjuggler/layouts/torque-controller.xml
@@ -24,8 +24,8 @@
       <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
        <range bottom="-1.134948" top="1.052072" left="825.563261" right="1415.827546"/>
        <limitY/>
-       <curve name="/carControl/actuatorsOutput/steer" color="#9467bd">
-        <transform name="Scale/Offset" alias="/carControl/actuatorsOutput/steer[Scale/Offset]">
+       <curve name="/carOutput/actuatorsOutput/steer" color="#9467bd">
+        <transform name="Scale/Offset" alias="/carOutput/actuatorsOutput/steer[Scale/Offset]">
          <options time_offset="0" value_scale="-1" value_offset="0"/>
         </transform>
        </curve>
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
index db8447003b..5d88f560be 100644
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -9,8 +9,6 @@ if arch == "Darwin":
 else:
   base_libs.append('OpenCL')
 
-qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
-
 replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"]
 replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc
index 49f3010c6c..9a023db6fa 100644
--- a/tools/replay/camera.cc
+++ b/tools/replay/camera.cc
@@ -1,7 +1,8 @@
 #include "tools/replay/camera.h"
 
+#include <capnp/dynamic.h>
+
 #include <cassert>
-#include <tuple>
 
 #include "third_party/linux/include/msm_media_info.h"
 #include "tools/replay/util.h"
@@ -57,9 +58,14 @@ void CameraServer::cameraThread(Camera &cam) {
   };
 
   while (true) {
-    const auto [fr, eidx] = cam.queue.pop();
+    const auto [fr, event] = cam.queue.pop();
     if (!fr) break;
 
+    capnp::FlatArrayMessageReader reader(event->data);
+    auto evt = reader.getRoot<cereal::Event>();
+    auto eidx = capnp::AnyStruct::Reader(evt).getPointerSection()[0].getAs<cereal::EncodeIndex>();
+    if (eidx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C) continue;
+
     const int id = eidx.getSegmentId();
     bool prefetched = (id == cam.cached_id && eidx.getSegmentNum() == cam.cached_seg);
     auto yuv = prefetched ? cam.cached_buf : read_frame(fr, id);
@@ -83,7 +89,7 @@ void CameraServer::cameraThread(Camera &cam) {
   }
 }
 
-void CameraServer::pushFrame(CameraType type, FrameReader *fr, const cereal::EncodeIndex::Reader &eidx) {
+void CameraServer::pushFrame(CameraType type, FrameReader *fr, const Event *event) {
   auto &cam = cameras_[type];
   if (cam.width != fr->width || cam.height != fr->height) {
     cam.width = fr->width;
@@ -93,7 +99,7 @@ void CameraServer::pushFrame(CameraType type, FrameReader *fr, const cereal::Enc
   }
 
   ++publishing_;
-  cam.queue.push({fr, eidx});
+  cam.queue.push({fr, event});
 }
 
 void CameraServer::waitForSent() {
diff --git a/tools/replay/camera.h b/tools/replay/camera.h
index 9f43c5a362..436423ac72 100644
--- a/tools/replay/camera.h
+++ b/tools/replay/camera.h
@@ -1,7 +1,5 @@
 #pragma once
 
-#include <unistd.h>
-
 #include <memory>
 #include <tuple>
 #include <utility>
@@ -17,7 +15,7 @@ class CameraServer {
 public:
   CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS] = nullptr);
   ~CameraServer();
-  void pushFrame(CameraType type, FrameReader* fr, const cereal::EncodeIndex::Reader& eidx);
+  void pushFrame(CameraType type, FrameReader* fr, const Event *event);
   void waitForSent();
 
 protected:
@@ -27,7 +25,7 @@ protected:
     int width;
     int height;
     std::thread thread;
-    SafeQueue<std::pair<FrameReader*, const cereal::EncodeIndex::Reader>> queue;
+    SafeQueue<std::pair<FrameReader*, const Event *>> queue;
     int cached_id = -1;
     int cached_seg = -1;
     VisionBuf * cached_buf;
diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index 54056c6cd5..eaff78c691 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -172,7 +172,7 @@ void ConsoleUI::updateStatus() {
   if (status != Status::Paused) {
     auto events = replay->events();
     uint64_t current_mono_time = replay->routeStartTime() + replay->currentSeconds() * 1e9;
-    bool playing = !events->empty() && events->back()->mono_time > current_mono_time;
+    bool playing = !events->empty() && events->back().mono_time > current_mono_time;
     status = playing ? Status::Playing : Status::Waiting;
   }
   auto [status_str, status_color] = status_text[status];
@@ -368,7 +368,6 @@ void ConsoleUI::handleKey(char c) {
   } else if (c == ' ') {
     pauseReplay(!replay->isPaused());
   } else if (c == 'q' || c == 'Q') {
-    replay->stop();
     qApp->exit();
   }
 }
diff --git a/tools/replay/filereader.cc b/tools/replay/filereader.cc
index 22af7f5f86..d74aaebaba 100644
--- a/tools/replay/filereader.cc
+++ b/tools/replay/filereader.cc
@@ -35,7 +35,10 @@ std::string FileReader::read(const std::string &file, std::atomic<bool> *abort)
 
 std::string FileReader::download(const std::string &url, std::atomic<bool> *abort) {
   for (int i = 0; i <= max_retries_ && !(abort && *abort); ++i) {
-    if (i > 0) rWarning("download failed, retrying %d", i);
+    if (i > 0) {
+      rWarning("download failed, retrying %d", i);
+      util::sleep_for(3000);
+    }
 
     std::string result = httpGet(url, chunk_size_, abort);
     if (!result.empty()) {
diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc
index 303f0c60ca..fb70a82c40 100644
--- a/tools/replay/framereader.cc
+++ b/tools/replay/framereader.cc
@@ -1,9 +1,8 @@
 #include "tools/replay/framereader.h"
-#include "tools/replay/util.h"
 
-#include <cassert>
-#include <algorithm>
+#include "common/util.h"
 #include "third_party/libyuv/include/libyuv.h"
+#include "tools/replay/util.h"
 
 #ifdef __APPLE__
 #define HW_DEVICE_TYPE AV_HWDEVICE_TYPE_VIDEOTOOLBOX
@@ -13,25 +12,9 @@
 #define HW_PIX_FMT AV_PIX_FMT_CUDA
 #endif
 
+
 namespace {
 
-struct buffer_data {
-  const uint8_t *data;
-  int64_t offset;
-  size_t size;
-};
-
-int readPacket(void *opaque, uint8_t *buf, int buf_size) {
-  struct buffer_data *bd = (struct buffer_data *)opaque;
-  assert(bd->offset <= bd->size);
-  buf_size = std::min((size_t)buf_size, (size_t)(bd->size - bd->offset));
-  if (!buf_size) return AVERROR_EOF;
-
-  memcpy(buf, bd->data + bd->offset, buf_size);
-  bd->offset += buf_size;
-  return buf_size;
-}
-
 enum AVPixelFormat get_hw_format(AVCodecContext *ctx, const enum AVPixelFormat *pix_fmts) {
   enum AVPixelFormat *hw_pix_fmt = reinterpret_cast<enum AVPixelFormat *>(ctx->opaque);
   for (const enum AVPixelFormat *p = pix_fmts; *p != -1; p++) {
@@ -50,101 +33,61 @@ FrameReader::FrameReader() {
 }
 
 FrameReader::~FrameReader() {
-  for (AVPacket *pkt : packets) {
-    av_packet_free(&pkt);
-  }
-
   if (decoder_ctx) avcodec_free_context(&decoder_ctx);
   if (input_ctx) avformat_close_input(&input_ctx);
   if (hw_device_ctx) av_buffer_unref(&hw_device_ctx);
-
-  if (avio_ctx_) {
-    av_freep(&avio_ctx_->buffer);
-    avio_context_free(&avio_ctx_);
-  }
 }
 
 bool FrameReader::load(const std::string &url, bool no_hw_decoder, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
-  FileReader f(local_cache, chunk_size, retries);
-  std::string data = f.read(url, abort);
-  if (data.empty()) {
-    rWarning("URL %s returned no data", url.c_str());
-    return false;
+  auto local_file_path = url.find("https://") == 0 ? cacheFilePath(url) : url;
+  if (!util::file_exists(local_file_path)) {
+    FileReader f(local_cache, chunk_size, retries);
+    if (f.read(url, abort).empty()) {
+      return false;
+    }
   }
-
-  return load((std::byte *)data.data(), data.size(), no_hw_decoder, abort);
+  return loadFromFile(local_file_path, no_hw_decoder, abort);
 }
 
-bool FrameReader::load(const std::byte *data, size_t size, bool no_hw_decoder, std::atomic<bool> *abort) {
-  input_ctx = avformat_alloc_context();
-  if (!input_ctx) {
-    rError("Error calling avformat_alloc_context");
+bool FrameReader::loadFromFile(const std::string &file, bool no_hw_decoder, std::atomic<bool> *abort) {
+  if (avformat_open_input(&input_ctx, file.c_str(), nullptr, nullptr) != 0 ||
+      avformat_find_stream_info(input_ctx, nullptr) < 0) {
+    rError("Failed to open input file or find video stream");
     return false;
   }
-
-  struct buffer_data bd = {
-    .data = (const uint8_t*)data,
-    .offset = 0,
-    .size = size,
-  };
-  const int avio_ctx_buffer_size = 64 * 1024;
-  unsigned char *avio_ctx_buffer = (unsigned char *)av_malloc(avio_ctx_buffer_size);
-  avio_ctx_ = avio_alloc_context(avio_ctx_buffer, avio_ctx_buffer_size, 0, &bd, readPacket, nullptr, nullptr);
-  input_ctx->pb = avio_ctx_;
-
   input_ctx->probesize = 10 * 1024 * 1024;  // 10MB
-  int ret = avformat_open_input(&input_ctx, nullptr, nullptr, nullptr);
-  if (ret != 0) {
-    char err_str[1024] = {0};
-    av_strerror(ret, err_str, std::size(err_str));
-    rError("Error loading video - %s", err_str);
-    return false;
-  }
-
-  ret = avformat_find_stream_info(input_ctx, nullptr);
-  if (ret < 0) {
-    rError("cannot find a video stream in the input file");
-    return false;
-  }
 
   AVStream *video = input_ctx->streams[0];
   const AVCodec *decoder = avcodec_find_decoder(video->codecpar->codec_id);
   if (!decoder) return false;
 
   decoder_ctx = avcodec_alloc_context3(decoder);
-  ret = avcodec_parameters_to_context(decoder_ctx, video->codecpar);
-  if (ret != 0) return false;
+  if (!decoder_ctx || avcodec_parameters_to_context(decoder_ctx, video->codecpar) != 0) {
+    rError("Failed to allocate or initialize codec context");
+    return false;
+  }
 
   width = (decoder_ctx->width + 3) & ~3;
   height = decoder_ctx->height;
 
-  if (has_hw_decoder && !no_hw_decoder) {
-    if (!initHardwareDecoder(HW_DEVICE_TYPE)) {
-      rWarning("No device with hardware decoder found. fallback to CPU decoding.");
-    }
+  if (has_hw_decoder && !no_hw_decoder && !initHardwareDecoder(HW_DEVICE_TYPE)) {
+    rWarning("No device with hardware decoder found. fallback to CPU decoding.");
   }
 
-  ret = avcodec_open2(decoder_ctx, decoder, nullptr);
-  if (ret < 0) {
-    rError("avcodec_open2 failed %d", ret);
+  if (avcodec_open2(decoder_ctx, decoder, nullptr) < 0) {
+    rError("Failed to open codec");
     return false;
   }
 
-  packets.reserve(60 * 20);  // 20fps, one minute
-  while (!(abort && *abort)) {
-    AVPacket *pkt = av_packet_alloc();
-    ret = av_read_frame(input_ctx, pkt);
-    if (ret < 0) {
-      av_packet_free(&pkt);
-      valid_ = (ret == AVERROR_EOF);
-      break;
-    }
-    packets.push_back(pkt);
-    // some stream seems to contain no keyframes
-    key_frames_count_ += pkt->flags & AV_PKT_FLAG_KEY;
+  AVPacket pkt;
+  packets_info.reserve(60 * 20);  // 20fps, one minute
+  while (!(abort && *abort) && av_read_frame(input_ctx, &pkt) == 0) {
+    packets_info.emplace_back(PacketInfo{.flags = pkt.flags, .pos = pkt.pos});
+    av_packet_unref(&pkt);
   }
-  valid_ = valid_ && !packets.empty();
-  return valid_;
+
+  avio_seek(input_ctx->pb, 0, SEEK_SET);
+  return !packets_info.empty();
 }
 
 bool FrameReader::initHardwareDecoder(AVHWDeviceType hw_device_type) {
@@ -176,8 +119,7 @@ bool FrameReader::initHardwareDecoder(AVHWDeviceType hw_device_type) {
 }
 
 bool FrameReader::get(int idx, VisionBuf *buf) {
-  assert(buf != nullptr);
-  if (!valid_ || idx < 0 || idx >= packets.size()) {
+  if (!buf || idx < 0 || idx >= packets_info.size()) {
     return false;
   }
   return decode(idx, buf);
@@ -185,24 +127,30 @@ bool FrameReader::get(int idx, VisionBuf *buf) {
 
 bool FrameReader::decode(int idx, VisionBuf *buf) {
   int from_idx = idx;
-  if (idx != prev_idx + 1 && key_frames_count_ > 1) {
+  if (idx != prev_idx + 1) {
     // seeking to the nearest key frame
     for (int i = idx; i >= 0; --i) {
-      if (packets[i]->flags & AV_PKT_FLAG_KEY) {
+      if (packets_info[i].flags & AV_PKT_FLAG_KEY) {
         from_idx = i;
         break;
       }
     }
+    avio_seek(input_ctx->pb, packets_info[from_idx].pos, SEEK_SET);
   }
   prev_idx = idx;
 
+  bool result = false;
+  AVPacket pkt;
   for (int i = from_idx; i <= idx; ++i) {
-    AVFrame *f = decodeFrame(packets[i]);
-    if (f && i == idx) {
-      return copyBuffers(f, buf);
+    if (av_read_frame(input_ctx, &pkt) == 0) {
+      AVFrame *f = decodeFrame(&pkt);
+      if (f && i == idx) {
+        result = copyBuffers(f, buf);
+      }
+      av_packet_unref(&pkt);
     }
   }
-  return false;
+  return result;
 }
 
 AVFrame *FrameReader::decodeFrame(AVPacket *pkt) {
@@ -232,7 +180,6 @@ AVFrame *FrameReader::decodeFrame(AVPacket *pkt) {
 }
 
 bool FrameReader::copyBuffers(AVFrame *f, VisionBuf *buf) {
-  assert(f != nullptr && buf != nullptr);
   if (hw_pix_fmt == HW_PIX_FMT) {
     for (int i = 0; i < height/2; i++) {
       memcpy(buf->y + (i*2 + 0)*buf->stride, f->data[0] + (i*2 + 0)*f->linesize[0], width);
diff --git a/tools/replay/framereader.h b/tools/replay/framereader.h
index bb72ac8f8d..a25b508cc7 100644
--- a/tools/replay/framereader.h
+++ b/tools/replay/framereader.h
@@ -22,11 +22,9 @@ public:
   ~FrameReader();
   bool load(const std::string &url, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr, bool local_cache = false,
             int chunk_size = -1, int retries = 0);
-  bool load(const std::byte *data, size_t size, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr);
+  bool loadFromFile(const std::string &file, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr);
   bool get(int idx, VisionBuf *buf);
-  int getYUVSize() const { return width * height * 3 / 2; }
-  size_t getFrameCount() const { return packets.size(); }
-  bool valid() const { return valid_; }
+  size_t getFrameCount() const { return packets_info.size(); }
 
   int width = 0, height = 0;
 
@@ -36,16 +34,17 @@ private:
   AVFrame * decodeFrame(AVPacket *pkt);
   bool copyBuffers(AVFrame *f, VisionBuf *buf);
 
-  std::vector<AVPacket*> packets;
   std::unique_ptr<AVFrame, AVFrameDeleter>av_frame_, hw_frame;
   AVFormatContext *input_ctx = nullptr;
   AVCodecContext *decoder_ctx = nullptr;
-  int key_frames_count_ = 0;
-  bool valid_ = false;
-  AVIOContext *avio_ctx_ = nullptr;
 
   AVPixelFormat hw_pix_fmt = AV_PIX_FMT_NONE;
   AVBufferRef *hw_device_ctx = nullptr;
   int prev_idx = -1;
+  struct PacketInfo {
+    int flags;
+    int64_t pos;
+  };
+  std::vector<PacketInfo> packets_info;
   inline static std::atomic<bool> has_hw_decoder = true;
 };
diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py
index 23f3563084..11b5182a6b 100644
--- a/tools/replay/lib/ui_helpers.py
+++ b/tools/replay/lib/ui_helpers.py
@@ -7,9 +7,7 @@ import pygame
 
 from matplotlib.backends.backend_agg import FigureCanvasAgg
 
-from openpilot.common.transformations.camera import (eon_f_frame_size, eon_f_focal_length,
-                                           tici_f_frame_size, tici_f_focal_length,
-                                           get_view_frame_from_calib_frame)
+from openpilot.common.transformations.camera import get_view_frame_from_calib_frame
 from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
 
 
@@ -20,9 +18,6 @@ YELLOW = (255, 255, 0)
 BLACK = (0, 0, 0)
 WHITE = (255, 255, 255)
 
-_FULL_FRAME_SIZE = {
-}
-
 class UIParams:
   lidar_x, lidar_y, lidar_zoom = 384, 960, 6
   lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
@@ -32,45 +27,13 @@ class UIParams:
   car_color = 110
 UP = UIParams
 
-_BB_TO_FULL_FRAME = {}
-_CALIB_BB_TO_FULL = {}
-_FULL_FRAME_TO_BB = {}
-_INTRINSICS = {}
-
-eon_f_qcam_frame_size = (480, 360)
-tici_f_qcam_frame_size = (528, 330)
-
-cams = [(eon_f_frame_size, eon_f_focal_length, eon_f_frame_size),
-        (tici_f_frame_size, tici_f_focal_length, tici_f_frame_size),
-        (eon_f_qcam_frame_size, eon_f_focal_length, eon_f_frame_size),
-        (tici_f_qcam_frame_size, tici_f_focal_length, tici_f_frame_size)]
-for size, focal, full_size in cams:
-  sz = size[0] * size[1]
-  _BB_SCALE = size[0] / 640.
-  _BB_TO_FULL_FRAME[sz] = np.asarray([
-      [_BB_SCALE, 0., 0.],
-      [0., _BB_SCALE, 0.],
-      [0., 0., 1.]])
-  calib_scale = full_size[0] / 640.
-  _CALIB_BB_TO_FULL[sz] = np.asarray([
-      [calib_scale, 0., 0.],
-      [0., calib_scale, 0.],
-      [0., 0., 1.]])
-  _FULL_FRAME_TO_BB[sz] = np.linalg.inv(_BB_TO_FULL_FRAME[sz])
-  _FULL_FRAME_SIZE[sz] = (size[0], size[1])
-  _INTRINSICS[sz] = np.array([
-    [focal, 0., full_size[0] / 2.],
-    [0., focal, full_size[1] / 2.],
-    [0., 0., 1.]])
-
-
 METER_WIDTH = 20
 
 class Calibration:
-  def __init__(self, num_px, rpy, intrinsic):
+  def __init__(self, num_px, rpy, intrinsic, calib_scale):
     self.intrinsic = intrinsic
     self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3]
-    self.zoom = _CALIB_BB_TO_FULL[num_px][0, 0]
+    self.zoom = calib_scale
 
   def car_space_to_ff(self, x, y, z):
     car_space_projective = np.column_stack((x, y, z)).T
diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc
index c92ff4753f..0f1638145f 100644
--- a/tools/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@@ -1,97 +1,60 @@
 #include "tools/replay/logreader.h"
 
 #include <algorithm>
+#include <utility>
 #include "tools/replay/filereader.h"
 #include "tools/replay/util.h"
 
-Event::Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame) : reader(amsg), frame(frame) {
-  words = kj::ArrayPtr<const capnp::word>(amsg.begin(), reader.getEnd());
-  event = reader.getRoot<cereal::Event>();
-  which = event.which();
-  mono_time = event.getLogMonoTime();
-
-  // 1) Send video data at t=timestampEof/timestampSof
-  // 2) Send encodeIndex packet at t=logMonoTime
-  if (frame) {
-    auto idx = capnp::AnyStruct::Reader(event).getPointerSection()[0].getAs<cereal::EncodeIndex>();
-    // C2 only has eof set, and some older routes have neither
-    uint64_t sof = idx.getTimestampSof();
-    uint64_t eof = idx.getTimestampEof();
-    if (sof > 0) {
-      mono_time = sof;
-    } else if (eof > 0) {
-      mono_time = eof;
-    }
-  }
-}
-
-// class LogReader
-
-LogReader::LogReader(size_t memory_pool_block_size) {
-#ifdef HAS_MEMORY_RESOURCE
-  const size_t buf_size = sizeof(Event) * memory_pool_block_size;
-  mbr_ = std::make_unique<std::pmr::monotonic_buffer_resource>(buf_size);
-#endif
-  events.reserve(memory_pool_block_size);
-}
-
-LogReader::~LogReader() {
-  for (Event *e : events) {
-    delete e;
-  }
-}
-
 bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
-  raw_ = FileReader(local_cache, chunk_size, retries).read(url, abort);
-  if (raw_.empty()) return false;
+  std::string data = FileReader(local_cache, chunk_size, retries).read(url, abort);
+  if (!data.empty() && url.find(".bz2") != std::string::npos)
+    data = decompressBZ2(data, abort);
 
-  if (url.find(".bz2") != std::string::npos) {
-    raw_ = decompressBZ2(raw_, abort);
-    if (raw_.empty()) return false;
-  }
-  return parse(abort);
+  bool success = !data.empty() && load(data.data(), data.size(), abort);
+  if (filters_.empty())
+    raw_ = std::move(data);
+  return success;
 }
 
-bool LogReader::load(const std::byte *data, size_t size, std::atomic<bool> *abort) {
-  raw_.assign((const char *)data, size);
-  return parse(abort);
-}
-
-bool LogReader::parse(std::atomic<bool> *abort) {
+bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
   try {
-    kj::ArrayPtr<const capnp::word> words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word));
+    events.reserve(65000);
+    kj::ArrayPtr<const capnp::word> words((const capnp::word *)data, size / sizeof(capnp::word));
     while (words.size() > 0 && !(abort && *abort)) {
-#ifdef HAS_MEMORY_RESOURCE
-      Event *evt = new (mbr_.get()) Event(words);
-#else
-      Event *evt = new Event(words);
-#endif
-      // Add encodeIdx packet again as a frame packet for the video stream
-      if (evt->which == cereal::Event::ROAD_ENCODE_IDX ||
-          evt->which == cereal::Event::DRIVER_ENCODE_IDX ||
-          evt->which == cereal::Event::WIDE_ROAD_ENCODE_IDX) {
+      capnp::FlatArrayMessageReader reader(words);
+      auto event = reader.getRoot<cereal::Event>();
+      auto which = event.which();
+      auto event_data = kj::arrayPtr(words.begin(), reader.getEnd());
+      words = kj::arrayPtr(reader.getEnd(), words.end());
 
-#ifdef HAS_MEMORY_RESOURCE
-        Event *frame_evt = new (mbr_.get()) Event(words, true);
-#else
-        Event *frame_evt = new Event(words, true);
-#endif
-
-        events.push_back(frame_evt);
+      if (!filters_.empty()) {
+        if (which >= filters_.size() || !filters_[which])
+          continue;
+        auto buf = buffer_.allocate(event_data.size() * sizeof(capnp::word));
+        memcpy(buf, event_data.begin(), event_data.size() * sizeof(capnp::word));
+        event_data = kj::arrayPtr((const capnp::word *)buf, event_data.size());
       }
 
-      words = kj::arrayPtr(evt->reader.getEnd(), words.end());
-      events.push_back(evt);
+      uint64_t mono_time = event.getLogMonoTime();
+      const Event &evt = events.emplace_back(which, mono_time, event_data);
+      // Add encodeIdx packet again as a frame packet for the video stream
+      if (evt.which == cereal::Event::ROAD_ENCODE_IDX ||
+          evt.which == cereal::Event::DRIVER_ENCODE_IDX ||
+          evt.which == cereal::Event::WIDE_ROAD_ENCODE_IDX) {
+        auto idx = capnp::AnyStruct::Reader(event).getPointerSection()[0].getAs<cereal::EncodeIndex>();
+        if (uint64_t sof = idx.getTimestampSof()) {
+          mono_time = sof;
+        }
+        events.emplace_back(which, mono_time, event_data, idx.getSegmentNum());
+      }
     }
   } catch (const kj::Exception &e) {
-    rWarning("failed to parse log : %s", e.getDescription().cStr());
-    if (!events.empty()) {
-      rWarning("read %zu events from corrupt log", events.size());
-    }
+    rWarning("Failed to parse log : %s.\nRetrieved %zu events from corrupt log", e.getDescription().cStr(), events.size());
   }
 
   if (!events.empty() && !(abort && *abort)) {
-    std::sort(events.begin(), events.end(), Event::lessThan());
+    events.shrink_to_fit();
+    std::sort(events.begin(), events.end());
     return true;
   }
   return false;
diff --git a/tools/replay/logreader.h b/tools/replay/logreader.h
index 73f822d16c..782c00b90a 100644
--- a/tools/replay/logreader.h
+++ b/tools/replay/logreader.h
@@ -1,67 +1,40 @@
 #pragma once
 
-#if __has_include(<memory_resource>)
-#define HAS_MEMORY_RESOURCE 1
-#include <memory_resource>
-#endif
-
-#include <memory>
 #include <string>
 #include <vector>
 
 #include "cereal/gen/cpp/log.capnp.h"
 #include "system/camerad/cameras/camera_common.h"
+#include "tools/replay/util.h"
 
 const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
 const int MAX_CAMERAS = std::size(ALL_CAMERAS);
-const int DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE = 65000;
 
 class Event {
 public:
-  Event(cereal::Event::Which which, uint64_t mono_time) : reader(kj::ArrayPtr<capnp::word>{}) {
-    // construct a dummy Event for binary search, e.g std::upper_bound
-    this->which = which;
-    this->mono_time = mono_time;
-  }
-  Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame = false);
-  inline kj::ArrayPtr<const capnp::byte> bytes() const { return words.asBytes(); }
+  Event(cereal::Event::Which which, uint64_t mono_time, const kj::ArrayPtr<const capnp::word> &data, int eidx_segnum = -1)
+    : which(which), mono_time(mono_time), data(data), eidx_segnum(eidx_segnum) {}
 
-  struct lessThan {
-    inline bool operator()(const Event *l, const Event *r) {
-      return l->mono_time < r->mono_time || (l->mono_time == r->mono_time && l->which < r->which);
-    }
-  };
-
-#if HAS_MEMORY_RESOURCE
-  void *operator new(size_t size, std::pmr::monotonic_buffer_resource *mbr) {
-    return mbr->allocate(size);
+  bool operator<(const Event &other) const {
+    return mono_time < other.mono_time || (mono_time == other.mono_time && which < other.which);
   }
-  void operator delete(void *ptr) {
-    // No-op. memory used by EventMemoryPool increases monotonically until the logReader is destroyed.
-  }
-#endif
 
   uint64_t mono_time;
   cereal::Event::Which which;
-  cereal::Event::Reader event;
-  capnp::FlatArrayMessageReader reader;
-  kj::ArrayPtr<const capnp::word> words;
-  bool frame;
+  kj::ArrayPtr<const capnp::word> data;
+  int32_t eidx_segnum;
 };
 
 class LogReader {
 public:
-  LogReader(size_t memory_pool_block_size = DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE);
-  ~LogReader();
+  LogReader(const std::vector<bool> &filters = {}) { filters_ = filters; }
   bool load(const std::string &url, std::atomic<bool> *abort = nullptr,
             bool local_cache = false, int chunk_size = -1, int retries = 0);
-  bool load(const std::byte *data, size_t size, std::atomic<bool> *abort = nullptr);
-  std::vector<Event*> events;
+  bool load(const char *data, size_t size, std::atomic<bool> *abort = nullptr);
+  std::vector<Event> events;
 
 private:
-  bool parse(std::atomic<bool> *abort);
   std::string raw_;
-#ifdef HAS_MEMORY_RESOURCE
-  std::unique_ptr<std::pmr::monotonic_buffer_resource> mbr_;
-#endif
+  std::vector<bool> filters_;
+  MonotonicBuffer buffer_{1024 * 1024};
 };
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index 9657375be7..43aef7b881 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -2,15 +2,20 @@
 
 #include <QDebug>
 #include <QtConcurrent>
-
 #include <capnp/dynamic.h>
+#include <csignal>
 #include "cereal/services.h"
 #include "common/params.h"
 #include "common/timing.h"
 #include "tools/replay/util.h"
 
+static void interrupt_sleep_handler(int signal) {}
+
 Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_,
                uint32_t flags, QString data_dir, QObject *parent) : sm(sm_), flags_(flags), QObject(parent) {
+  // Register signal handler for SIGUSR1
+  std::signal(SIGUSR1, interrupt_sleep_handler);
+
   if (!(flags_ & REPLAY_FLAG_ALL_SERVICES)) {
     block << "uiDebug" << "userFlag";
   }
@@ -22,6 +27,11 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s
       sockets_[which] = name.c_str();
     }
   }
+  if (!allow.isEmpty()) {
+    for (int i = 0; i < sockets_.size(); ++i) {
+      filters_.push_back(i == cereal::Event::Which::INIT_DATA || i == cereal::Event::Which::CAR_PARAMS || sockets_[i]);
+    }
+  }
 
   std::vector<const char *> s;
   std::copy_if(sockets_.begin(), sockets_.end(), std::back_inserter(s),
@@ -33,28 +43,21 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s
     pm = std::make_unique<PubMaster>(s);
   }
   route_ = std::make_unique<Route>(route, data_dir);
-  events_ = std::make_unique<std::vector<Event *>>();
-  new_events_ = std::make_unique<std::vector<Event *>>();
 }
 
 Replay::~Replay() {
-  stop();
-}
-
-void Replay::stop() {
   if (!stream_thread_ && segments_.empty()) return;
 
   rInfo("shutdown: in progress...");
   if (stream_thread_ != nullptr) {
-    exit_ = updating_events_ = true;
+    exit_ =true;
+    paused_ = true;
     stream_cv_.notify_one();
     stream_thread_->quit();
     stream_thread_->wait();
-    stream_thread_ = nullptr;
+    delete stream_thread_;
   }
-  camera_server_.reset(nullptr);
   timeline_future.waitForFinished();
-  segments_.clear();
   rInfo("shutdown: done");
 }
 
@@ -81,37 +84,41 @@ bool Replay::load() {
 }
 
 void Replay::start(int seconds) {
-  seekTo(route_->identifier().segment_id * 60 + seconds, false);
+  seekTo(route_->identifier().begin_segment * 60 + seconds, false);
 }
 
-void Replay::updateEvents(const std::function<bool()> &lambda) {
-  // set updating_events to true to force stream thread release the lock and wait for events_updated.
-  updating_events_ = true;
+void Replay::updateEvents(const std::function<bool()> &update_events_function) {
+  pauseStreamThread();
   {
     std::unique_lock lk(stream_lock_);
-    events_updated_ = lambda();
-    updating_events_ = false;
+    events_ready_ = update_events_function();
+    paused_ = user_paused_;
   }
   stream_cv_.notify_one();
 }
 
 void Replay::seekTo(double seconds, bool relative) {
-  seconds = relative ? seconds + currentSeconds() : seconds;
   updateEvents([&]() {
-    seconds = std::max(double(0.0), seconds);
-    int seg = (int)seconds / 60;
-    if (segments_.find(seg) == segments_.end()) {
-      rWarning("can't seek to %d s segment %d is invalid", seconds, seg);
+    seeking_to_seconds_ = relative ? seconds + currentSeconds() : seconds;
+    seeking_to_seconds_ = std::max(double(0.0), seeking_to_seconds_);
+    int target_segment = (int)seeking_to_seconds_ / 60;
+    if (segments_.count(target_segment) == 0) {
+      rWarning("can't seek to %d s segment %d is invalid", (int)seeking_to_seconds_, target_segment);
       return true;
     }
 
-    rInfo("seeking to %d s, segment %d", (int)seconds, seg);
-    current_segment_ = seg;
-    cur_mono_time_ = route_start_ts_ + seconds * 1e9;
-    emit seekedTo(seconds);
-    return isSegmentMerged(seg);
+    rInfo("seeking to %d s, segment %d", (int)seeking_to_seconds_, target_segment);
+    current_segment_ = target_segment;
+    cur_mono_time_ = route_start_ts_ + seeking_to_seconds_ * 1e9;
+    bool segment_merged = isSegmentMerged(target_segment);
+    if (segment_merged) {
+      emit seekedTo(seeking_to_seconds_);
+      // Reset seeking_to_seconds_ to indicate completion of seek
+      seeking_to_seconds_ = -1;
+    }
+    return segment_merged;
   });
-  queueSegment();
+  updateSegmentsCache();
 }
 
 void Replay::seekToFlag(FindFlag flag) {
@@ -140,32 +147,34 @@ void Replay::buildTimeline() {
     std::shared_ptr<LogReader> log(new LogReader());
     if (!log->load(it->second.qlog.toStdString(), &exit_, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue;
 
-    for (const Event *e : log->events) {
-      if (e->which == cereal::Event::Which::CONTROLS_STATE) {
-        auto cs = e->event.getControlsState();
+    for (const Event &e : log->events) {
+      if (e.which == cereal::Event::Which::CONTROLS_STATE) {
+        capnp::FlatArrayMessageReader reader(e.data);
+        auto event = reader.getRoot<cereal::Event>();
+        auto cs = event.getControlsState();
 
         if (engaged != cs.getEnabled()) {
           if (engaged) {
             std::lock_guard lk(timeline_lock);
-            timeline.push_back({toSeconds(engaged_begin), toSeconds(e->mono_time), TimelineType::Engaged});
+            timeline.push_back({toSeconds(engaged_begin), toSeconds(e.mono_time), TimelineType::Engaged});
           }
-          engaged_begin = e->mono_time;
+          engaged_begin = e.mono_time;
           engaged = cs.getEnabled();
         }
 
         if (alert_type != cs.getAlertType().cStr() || alert_status != cs.getAlertStatus()) {
           if (!alert_type.empty() && alert_size != cereal::ControlsState::AlertSize::NONE) {
             std::lock_guard lk(timeline_lock);
-            timeline.push_back({toSeconds(alert_begin), toSeconds(e->mono_time), timeline_types[(int)alert_status]});
+            timeline.push_back({toSeconds(alert_begin), toSeconds(e.mono_time), timeline_types[(int)alert_status]});
           }
-          alert_begin = e->mono_time;
+          alert_begin = e.mono_time;
           alert_type = cs.getAlertType().cStr();
           alert_size = cs.getAlertSize();
           alert_status = cs.getAlertStatus();
         }
-      } else if (e->which == cereal::Event::Which::USER_FLAG) {
+      } else if (e.which == cereal::Event::Which::USER_FLAG) {
         std::lock_guard lk(timeline_lock);
-        timeline.push_back({toSeconds(e->mono_time), toSeconds(e->mono_time), TimelineType::UserFlag});
+        timeline.push_back({toSeconds(e.mono_time), toSeconds(e.mono_time), TimelineType::UserFlag});
       }
     }
     std::sort(timeline.begin(), timeline.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); });
@@ -195,16 +204,22 @@ std::optional<uint64_t> Replay::find(FindFlag flag) {
 }
 
 void Replay::pause(bool pause) {
-  updateEvents([=]() {
-    rWarning("%s at %.2f s", pause ? "paused..." : "resuming", currentSeconds());
-    paused_ = pause;
-    return true;
-  });
+  if (user_paused_ != pause) {
+    pauseStreamThread();
+    {
+      std::unique_lock lk(stream_lock_);
+      rWarning("%s at %.2f s", pause ? "paused..." : "resuming", currentSeconds());
+      paused_ = user_paused_ = pause;
+    }
+    stream_cv_.notify_one();
+  }
 }
 
-void Replay::setCurrentSegment(int n) {
-  if (current_segment_.exchange(n) != n) {
-    QMetaObject::invokeMethod(this, &Replay::queueSegment, Qt::QueuedConnection);
+void Replay::pauseStreamThread() {
+  paused_ = true;
+  // Send SIGUSR1 to interrupt clock_nanosleep
+  if (stream_thread_ && stream_thread_id) {
+    pthread_kill(stream_thread_id, SIGUSR1);
   }
 }
 
@@ -214,26 +229,22 @@ void Replay::segmentLoadFinished(bool success) {
     rWarning("failed to load segment %d, removing it from current replay list", seg->seg_num);
     updateEvents([&]() {
       segments_.erase(seg->seg_num);
-      return true;
+      return !segments_.empty();
     });
   }
-  queueSegment();
+  updateSegmentsCache();
 }
 
-void Replay::queueSegment() {
+void Replay::updateSegmentsCache() {
   auto cur = segments_.lower_bound(current_segment_.load());
   if (cur == segments_.end()) return;
 
+  // Calculate the range of segments to load
   auto begin = std::prev(cur, std::min<int>(segment_cache_limit / 2, std::distance(segments_.begin(), cur)));
-  auto end = std::next(begin, std::min<int>(segment_cache_limit, segments_.size()));
-  // load one segment at a time
-  auto it = std::find_if(cur, end, [](auto &it) { return !it.second || !it.second->isLoaded(); });
-  if (it != end && !it->second) {
-    rDebug("loading segment %d...", it->first);
-    it->second = std::make_unique<Segment>(it->first, route_->at(it->first), flags_);
-    QObject::connect(it->second.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished);
-  }
+  auto end = std::next(begin, std::min<int>(segment_cache_limit, std::distance(begin, segments_.end())));
+  begin = std::prev(end, std::min<int>(segment_cache_limit, std::distance(segments_.begin(), end)));
 
+  loadSegmentInRange(begin, cur, end);
   mergeSegments(begin, end);
 
   // free segments out of current semgnt window.
@@ -248,58 +259,95 @@ void Replay::queueSegment() {
   }
 }
 
+void Replay::loadSegmentInRange(SegmentMap::iterator begin, SegmentMap::iterator cur, SegmentMap::iterator end) {
+  auto loadNext = [this](auto begin, auto end) {
+    auto it = std::find_if(begin, end, [](const auto &seg_it) { return !seg_it.second || !seg_it.second->isLoaded(); });
+    if (it != end && !it->second) {
+      rDebug("loading segment %d...", it->first);
+      it->second = std::make_unique<Segment>(it->first, route_->at(it->first), flags_, filters_);
+      QObject::connect(it->second.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished);
+      return true;
+    }
+    return false;
+  };
+
+  // Load forward segments, then try reverse
+  if (!loadNext(cur, end)) {
+    loadNext(std::make_reverse_iterator(cur), segments_.rend());
+  }
+}
+
 void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end) {
-  std::vector<int> segments_need_merge;
+  std::set<int> segments_to_merge;
   size_t new_events_size = 0;
   for (auto it = begin; it != end; ++it) {
     if (it->second && it->second->isLoaded()) {
-      segments_need_merge.push_back(it->first);
+      segments_to_merge.insert(it->first);
       new_events_size += it->second->log->events.size();
     }
   }
 
-  if (segments_need_merge != segments_merged_) {
-    std::string s;
-    for (int i = 0; i < segments_need_merge.size(); ++i) {
-      s += std::to_string(segments_need_merge[i]);
-      if (i != segments_need_merge.size() - 1) s += ", ";
-    }
-    rDebug("merge segments %s", s.c_str());
-    new_events_->clear();
-    new_events_->reserve(new_events_size);
-    for (int n : segments_need_merge) {
-      size_t size = new_events_->size();
-      const auto &events = segments_[n]->log->events;
-      std::copy_if(events.begin(), events.end(), std::back_inserter(*new_events_),
-                   [this](auto e) { return e->which < sockets_.size() && sockets_[e->which] != nullptr; });
-      std::inplace_merge(new_events_->begin(), new_events_->begin() + size, new_events_->end(), Event::lessThan());
-    }
+  if (segments_to_merge == merged_segments_) return;
 
-    if (stream_thread_) {
-      emit segmentsMerged();
-    }
-    updateEvents([&]() {
-      events_.swap(new_events_);
-      segments_merged_ = segments_need_merge;
-      // Do not wake up the stream thread if the current segment has not been merged.
-      return isSegmentMerged(current_segment_) || (segments_.count(current_segment_) == 0);
-    });
+  rDebug("merge segments %s", std::accumulate(segments_to_merge.begin(), segments_to_merge.end(), std::string{},
+    [](auto & a, int b) { return a + (a.empty() ? "" : ", ") + std::to_string(b); }).c_str());
+
+  std::vector<Event> new_events;
+  new_events.reserve(new_events_size);
+
+  // Merge events from segments_to_merge into new_events
+  for (int n : segments_to_merge) {
+    size_t size = new_events.size();
+    const auto &events = segments_.at(n)->log->events;
+    std::copy_if(events.begin(), events.end(), std::back_inserter(new_events),
+                  [this](const Event &e) { return e.which < sockets_.size() && sockets_[e.which] != nullptr; });
+    std::inplace_merge(new_events.begin(), new_events.begin() + size, new_events.end());
   }
+
+  if (stream_thread_) {
+    emit segmentsMerged();
+  }
+
+  updateEvents([&]() {
+    events_.swap(new_events);
+    merged_segments_ = segments_to_merge;
+    // Check if seeking is in progress
+    int target_segment = int(seeking_to_seconds_ / 60);
+    if (seeking_to_seconds_ >= 0 && segments_to_merge.count(target_segment) > 0) {
+      emit seekedTo(seeking_to_seconds_);
+      seeking_to_seconds_ = -1;  // Reset seeking_to_seconds_ to indicate completion of seek
+    }
+    // Wake up the stream thread if the current segment is loaded or invalid.
+    return isSegmentMerged(current_segment_) || (segments_.count(current_segment_) == 0);
+  });
 }
 
 void Replay::startStream(const Segment *cur_segment) {
   const auto &events = cur_segment->log->events;
-
-  // each segment has an INIT_DATA
-  route_start_ts_ = events.front()->mono_time;
+  route_start_ts_ = events.front().mono_time;
   cur_mono_time_ += route_start_ts_ - 1;
 
+  // get datetime from INIT_DATA, fallback to datetime in the route name
+  route_date_time_ = route()->datetime();
+  auto it = std::find_if(events.cbegin(), events.cend(),
+                         [](const Event &e) { return e.which == cereal::Event::Which::INIT_DATA; });
+  if (it != events.cend()) {
+    capnp::FlatArrayMessageReader reader(it->data);
+    auto event = reader.getRoot<cereal::Event>();
+    uint64_t wall_time = event.getInitData().getWallTimeNanos();
+    if (wall_time > 0) {
+      route_date_time_ = QDateTime::fromMSecsSinceEpoch(wall_time / 1e6);
+    }
+  }
+
   // write CarParams
-  auto it = std::find_if(events.begin(), events.end(), [](auto e) { return e->which == cereal::Event::Which::CAR_PARAMS; });
+  it = std::find_if(events.begin(), events.end(), [](const Event &e) { return e.which == cereal::Event::Which::CAR_PARAMS; });
   if (it != events.end()) {
-    car_fingerprint_ = (*it)->event.getCarParams().getCarFingerprint();
+    capnp::FlatArrayMessageReader reader(it->data);
+    auto event = reader.getRoot<cereal::Event>();
+    car_fingerprint_ = event.getCarParams().getCarFingerprint();
     capnp::MallocMessageBuilder builder;
-    builder.setRoot((*it)->event.getCarParams());
+    builder.setRoot(event.getCarParams());
     auto words = capnp::messageToFlatArray(builder);
     auto bytes = words.asBytes();
     Params().put("CarParams", (const char *)bytes.begin(), bytes.size());
@@ -322,8 +370,7 @@ void Replay::startStream(const Segment *cur_segment) {
   emit segmentsMerged();
   // start stream thread
   stream_thread_ = new QThread();
-  QObject::connect(stream_thread_, &QThread::started, [=]() { stream(); });
-  QObject::connect(stream_thread_, &QThread::finished, stream_thread_, &QThread::deleteLater);
+  QObject::connect(stream_thread_, &QThread::started, [=]() { streamThread(); });
   stream_thread_->start();
 
   timeline_future = QtConcurrent::run(this, &Replay::buildTimeline);
@@ -333,92 +380,68 @@ void Replay::publishMessage(const Event *e) {
   if (event_filter && event_filter(e, filter_opaque)) return;
 
   if (sm == nullptr) {
-    auto bytes = e->bytes();
+    auto bytes = e->data.asBytes();
     int ret = pm->send(sockets_[e->which], (capnp::byte *)bytes.begin(), bytes.size());
     if (ret == -1) {
       rWarning("stop publishing %s due to multiple publishers error", sockets_[e->which]);
       sockets_[e->which] = nullptr;
     }
   } else {
-    sm->update_msgs(nanos_since_boot(), {{sockets_[e->which], e->event}});
+    capnp::FlatArrayMessageReader reader(e->data);
+    auto event = reader.getRoot<cereal::Event>();
+    sm->update_msgs(nanos_since_boot(), {{sockets_[e->which], event}});
   }
 }
 
 void Replay::publishFrame(const Event *e) {
-  static const std::map<cereal::Event::Which, CameraType> cam_types{
-      {cereal::Event::ROAD_ENCODE_IDX, RoadCam},
-      {cereal::Event::DRIVER_ENCODE_IDX, DriverCam},
-      {cereal::Event::WIDE_ROAD_ENCODE_IDX, WideRoadCam},
-  };
-  if ((e->which == cereal::Event::DRIVER_ENCODE_IDX && !hasFlag(REPLAY_FLAG_DCAM)) ||
-      (e->which == cereal::Event::WIDE_ROAD_ENCODE_IDX && !hasFlag(REPLAY_FLAG_ECAM))) {
-    return;
+  CameraType cam;
+  switch (e->which) {
+    case cereal::Event::ROAD_ENCODE_IDX: cam = RoadCam; break;
+    case cereal::Event::DRIVER_ENCODE_IDX: cam = DriverCam; break;
+    case cereal::Event::WIDE_ROAD_ENCODE_IDX: cam = WideRoadCam; break;
+    default: return;  // Invalid event type
   }
-  auto eidx = capnp::AnyStruct::Reader(e->event).getPointerSection()[0].getAs<cereal::EncodeIndex>();
-  if (eidx.getType() == cereal::EncodeIndex::Type::FULL_H_E_V_C && isSegmentMerged(eidx.getSegmentNum())) {
-    CameraType cam = cam_types.at(e->which);
-    camera_server_->pushFrame(cam, segments_[eidx.getSegmentNum()]->frames[cam].get(), eidx);
+
+  if ((cam == DriverCam && !hasFlag(REPLAY_FLAG_DCAM)) || (cam == WideRoadCam && !hasFlag(REPLAY_FLAG_ECAM)))
+    return;  // Camera isdisabled
+
+  if (isSegmentMerged(e->eidx_segnum)) {
+    auto &segment = segments_.at(e->eidx_segnum);
+    if (auto &frame = segment->frames[cam]; frame) {
+      camera_server_->pushFrame(cam, frame.get(), e);
+    }
   }
 }
 
-void Replay::stream() {
+void Replay::streamThread() {
+  stream_thread_id = pthread_self();
   cereal::Event::Which cur_which = cereal::Event::Which::INIT_DATA;
-  double prev_replay_speed = speed_;
   std::unique_lock lk(stream_lock_);
 
   while (true) {
-    stream_cv_.wait(lk, [=]() { return exit_ || (events_updated_ && !paused_); });
-    events_updated_ = false;
+    stream_cv_.wait(lk, [=]() { return exit_ || ( events_ready_ && !paused_); });
     if (exit_) break;
 
-    Event cur_event(cur_which, cur_mono_time_);
-    auto eit = std::upper_bound(events_->begin(), events_->end(), &cur_event, Event::lessThan());
-    if (eit == events_->end()) {
+    Event event(cur_which, cur_mono_time_, {});
+    auto first = std::upper_bound(events_.cbegin(), events_.cend(), event);
+    if (first == events_.cend()) {
       rInfo("waiting for events...");
+      events_ready_ = false;
       continue;
     }
 
-    uint64_t evt_start_ts = cur_mono_time_;
-    uint64_t loop_start_ts = nanos_since_boot();
+    auto it = publishEvents(first, events_.cend());
 
-    for (auto end = events_->end(); !updating_events_ && eit != end; ++eit) {
-      const Event *evt = (*eit);
-      cur_which = evt->which;
-      cur_mono_time_ = evt->mono_time;
-      setCurrentSegment(toSeconds(cur_mono_time_) / 60);
-
-      if (sockets_[cur_which] != nullptr) {
-        // keep time
-        long etime = (cur_mono_time_ - evt_start_ts) / speed_;
-        long rtime = nanos_since_boot() - loop_start_ts;
-        long behind_ns = etime - rtime;
-        // if behind_ns is greater than 1 second, it means that an invalid segment is skipped by seeking/replaying
-        if (behind_ns >= 1 * 1e9 || speed_ != prev_replay_speed) {
-          // reset event start times
-          evt_start_ts = cur_mono_time_;
-          loop_start_ts = nanos_since_boot();
-          prev_replay_speed = speed_;
-        } else if (behind_ns > 0) {
-          precise_nano_sleep(behind_ns);
-        }
-
-        if (!evt->frame) {
-          publishMessage(evt);
-        } else if (camera_server_) {
-          if (speed_ > 1.0) {
-            camera_server_->waitForSent();
-          }
-          publishFrame(evt);
-        }
-      }
-    }
-    // wait for frame to be sent before unlock.(frameReader may be deleted after unlock)
+    // Ensure frames are sent before unlocking to prevent race conditions
     if (camera_server_) {
       camera_server_->waitForSent();
     }
 
-    if (eit == events_->end() && !hasFlag(REPLAY_FLAG_NO_LOOP)) {
-      int last_segment = segments_.empty() ? 0 : segments_.rbegin()->first;
+    if (it != events_.cend()) {
+      cur_which = it->which;
+    } else if (!hasFlag(REPLAY_FLAG_NO_LOOP)) {
+      // Check for loop end and restart if necessary
+      int last_segment = segments_.rbegin()->first;
       if (current_segment_ >= last_segment && isSegmentMerged(last_segment)) {
         rInfo("reaches the end of route, restart from beginning");
         QMetaObject::invokeMethod(this, std::bind(&Replay::seekTo, this, 0, false), Qt::QueuedConnection);
@@ -426,3 +449,48 @@ void Replay::stream() {
     }
   }
 }
+
+std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::const_iterator first,
+                                                         std::vector<Event>::const_iterator last) {
+  uint64_t evt_start_ts = cur_mono_time_;
+  uint64_t loop_start_ts = nanos_since_boot();
+  double prev_replay_speed = speed_;
+
+  for (; !paused_ && first != last; ++first) {
+    const Event &evt = *first;
+    int segment = toSeconds(evt.mono_time) / 60;
+
+    if (current_segment_ != segment) {
+      current_segment_ = segment;
+      QMetaObject::invokeMethod(this, &Replay::updateSegmentsCache, Qt::QueuedConnection);
+    }
+
+     // Skip events if socket is not present
+    if (!sockets_[evt.which]) continue;
+
+    int64_t time_diff = (evt.mono_time - evt_start_ts) / speed_ - (nanos_since_boot() - loop_start_ts);
+    // if time_diff is greater than 1 second, it means that an invalid segment is skipped
+    if (time_diff >= 1e9 || speed_ != prev_replay_speed) {
+      // reset event start times
+      evt_start_ts = evt.mono_time;
+      loop_start_ts = nanos_since_boot();
+      prev_replay_speed = speed_;
+    } else if (time_diff > 0) {
+      precise_nano_sleep(time_diff);
+    }
+
+    if (paused_) break;
+
+    cur_mono_time_ = evt.mono_time;
+    if (evt.eidx_segnum == -1) {
+      publishMessage(&evt);
+    } else if (camera_server_) {
+      if (speed_ > 1.0) {
+        camera_server_->waitForSent();
+      }
+      publishFrame(&evt);
+    }
+  }
+
+  return first;
+}
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 1a74b69c3d..e3f321e1d7 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -4,6 +4,7 @@
 #include <map>
 #include <memory>
 #include <optional>
+#include <set>
 #include <string>
 #include <tuple>
 #include <vector>
@@ -53,11 +54,10 @@ public:
   ~Replay();
   bool load();
   void start(int seconds = 0);
-  void stop();
   void pause(bool pause);
   void seekToFlag(FindFlag flag);
   void seekTo(double seconds, bool relative);
-  inline bool isPaused() const { return paused_; }
+  inline bool isPaused() const { return user_paused_; }
   // the filter is called in streaming thread.try to return quickly from it to avoid blocking streaming.
   // the filter function must return true if the event should be filtered.
   // otherwise it must return false.
@@ -72,13 +72,14 @@ public:
   inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; }
   inline const Route* route() const { return route_.get(); }
   inline double currentSeconds() const { return double(cur_mono_time_ - route_start_ts_) / 1e9; }
-  inline QDateTime currentDateTime() const { return route_->datetime().addSecs(currentSeconds()); }
+  inline QDateTime routeDateTime() const { return route_date_time_; }
+  inline QDateTime currentDateTime() const { return route_date_time_.addSecs(currentSeconds()); }
   inline uint64_t routeStartTime() const { return route_start_ts_; }
   inline double toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; }
   inline int totalSeconds() const { return (!segments_.empty()) ? (segments_.rbegin()->first + 1) * 60 : 0; }
   inline void setSpeed(float speed) { speed_ = speed; }
   inline float getSpeed() const { return speed_; }
-  inline const std::vector<Event *> *events() const { return events_.get(); }
+  inline const std::vector<Event> *events() const { return &events_; }
   inline const std::map<int, std::unique_ptr<Segment>> &segments() const { return segments_; }
   inline const std::string &carFingerprint() const { return car_fingerprint_; }
   inline const std::vector<std::tuple<double, double, TimelineType>> getTimeline() {
@@ -98,39 +99,43 @@ protected slots:
 protected:
   typedef std::map<int, std::unique_ptr<Segment>> SegmentMap;
   std::optional<uint64_t> find(FindFlag flag);
+  void pauseStreamThread();
   void startStream(const Segment *cur_segment);
-  void stream();
-  void setCurrentSegment(int n);
-  void queueSegment();
+  void streamThread();
+  void updateSegmentsCache();
+  void loadSegmentInRange(SegmentMap::iterator begin, SegmentMap::iterator cur, SegmentMap::iterator end);
   void mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end);
-  void updateEvents(const std::function<bool()>& lambda);
+  void updateEvents(const std::function<bool()>& update_events_function);
+  std::vector<Event>::const_iterator publishEvents(std::vector<Event>::const_iterator first,
+                                                   std::vector<Event>::const_iterator last);
   void publishMessage(const Event *e);
   void publishFrame(const Event *e);
   void buildTimeline();
-  inline bool isSegmentMerged(int n) {
-    return std::find(segments_merged_.begin(), segments_merged_.end(), n) != segments_merged_.end();
-  }
+  inline bool isSegmentMerged(int n) const { return merged_segments_.count(n) > 0; }
 
+  pthread_t stream_thread_id = 0;
   QThread *stream_thread_ = nullptr;
   std::mutex stream_lock_;
+  bool user_paused_ = false;
   std::condition_variable stream_cv_;
-  std::atomic<bool> updating_events_ = false;
   std::atomic<int> current_segment_ = 0;
+  double seeking_to_seconds_ = -1;
   SegmentMap segments_;
   // the following variables must be protected with stream_lock_
   std::atomic<bool> exit_ = false;
-  bool paused_ = false;
-  bool events_updated_ = false;
+  std::atomic<bool> paused_ = false;
+  bool events_ready_ = false;
+  QDateTime route_date_time_;
   uint64_t route_start_ts_ = 0;
   std::atomic<uint64_t> cur_mono_time_ = 0;
-  std::unique_ptr<std::vector<Event *>> events_;
-  std::unique_ptr<std::vector<Event *>> new_events_;
-  std::vector<int> segments_merged_;
+  std::vector<Event> events_;
+  std::set<int> merged_segments_;
 
   // messaging
   SubMaster *sm = nullptr;
   std::unique_ptr<PubMaster> pm;
   std::vector<const char*> sockets_;
+  std::vector<bool> filters_;
   std::unique_ptr<Route> route_;
   std::unique_ptr<CameraServer> camera_server_;
   std::atomic<uint32_t> flags_ = REPLAY_FLAG_NONE;
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index d0ddf7f3c8..1c7010eb8a 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -4,7 +4,7 @@
 #include <QEventLoop>
 #include <QJsonArray>
 #include <QJsonDocument>
-#include <QRegExp>
+#include <QRegularExpression>
 #include <QtConcurrent>
 #include <array>
 
@@ -18,11 +18,24 @@ Route::Route(const QString &route, const QString &data_dir) : data_dir_(data_dir
 }
 
 RouteIdentifier Route::parseRoute(const QString &str) {
-  QRegExp rx(R"(^(?:([a-z0-9]{16})([|_/]))?(\d{4}-\d{2}-\d{2}--\d{2}-\d{2}-\d{2})(?:(--|/)(\d*))?$)");
-  if (rx.indexIn(str) == -1) return {};
-
-  const QStringList list = rx.capturedTexts();
-  return {.dongle_id = list[1], .timestamp = list[3], .segment_id = list[5].toInt(), .str = list[1] + "|" + list[3]};
+  RouteIdentifier identifier = {};
+  QRegularExpression rx(R"(^((?<dongle_id>[a-z0-9]{16})[|_/])?(?<timestamp>.{20})((?<separator>--|/)(?<range>((-?\d+(:(-?\d+)?)?)|(:-?\d+))))?$)");
+  if (auto match = rx.match(str); match.hasMatch()) {
+    identifier.dongle_id = match.captured("dongle_id");
+    identifier.timestamp = match.captured("timestamp");
+    identifier.str = identifier.dongle_id + "|" + identifier.timestamp;
+    auto range_str = match.captured("range");
+    if (auto separator = match.captured("separator"); separator == "/" && !range_str.isEmpty()) {
+      auto range = range_str.split(":");
+      identifier.begin_segment = identifier.end_segment = range[0].toInt();
+      if (range.size() == 2) {
+        identifier.end_segment = range[1].isEmpty() ? -1 : range[1].toInt();
+      }
+    } else if (separator == "--") {
+      identifier.begin_segment = range_str.toInt();
+    }
+  }
+  return identifier;
 }
 
 bool Route::load() {
@@ -31,21 +44,42 @@ bool Route::load() {
     return false;
   }
   date_time_ = QDateTime::fromString(route_.timestamp, "yyyy-MM-dd--HH-mm-ss");
-  return data_dir_.isEmpty() ? loadFromServer() : loadFromLocal();
+  bool ret = data_dir_.isEmpty() ? loadFromServer() : loadFromLocal();
+  if (ret) {
+    if (route_.begin_segment == -1) route_.begin_segment = segments_.rbegin()->first;
+    if (route_.end_segment == -1) route_.end_segment = segments_.rbegin()->first;
+    for (auto it = segments_.begin(); it != segments_.end(); /**/) {
+      if (it->first < route_.begin_segment || it->first > route_.end_segment) {
+        it = segments_.erase(it);
+      } else {
+        ++it;
+      }
+    }
+  }
+  return !segments_.empty();
 }
 
-bool Route::loadFromServer() {
-  QEventLoop loop;
-  HttpRequest http(nullptr, !Hardware::PC());
-  QObject::connect(&http, &HttpRequest::requestDone, [&](const QString &json, bool success, QNetworkReply::NetworkError error) {
-    if (error == QNetworkReply::ContentAccessDenied || error == QNetworkReply::AuthenticationRequiredError) {
-      qWarning() << ">>  Unauthorized. Authenticate with tools/lib/auth.py  <<";
+bool Route::loadFromServer(int retries) {
+  for (int i = 1; i <= retries; ++i) {
+    QString result;
+    QEventLoop loop;
+    HttpRequest http(nullptr, !Hardware::PC());
+    QObject::connect(&http, &HttpRequest::requestDone, [&loop, &result](const QString &json, bool success, QNetworkReply::NetworkError err) {
+      result = json;
+      loop.exit((int)err);
+    });
+    http.sendRequest(CommaApi::BASE_URL + "/v1/route/" + route_.str + "/files");
+    auto err = (QNetworkReply::NetworkError)loop.exec();
+    if (err == QNetworkReply::NoError) {
+      return loadFromJson(result);
+    } else if (err == QNetworkReply::ContentAccessDenied || err == QNetworkReply::AuthenticationRequiredError) {
+      rWarning(">>  Unauthorized. Authenticate with tools/lib/auth.py  <<");
+      return false;
     }
-
-    loop.exit(success ? loadFromJson(json) : 0);
-  });
-  http.sendRequest(CommaApi::BASE_URL + "/v1/route/" + route_.str + "/files");
-  return loop.exec();
+    rWarning("Retrying %d/%d", i, retries);
+    util::sleep_for(3000);
+  }
+  return false;
 }
 
 bool Route::loadFromJson(const QString &json) {
@@ -62,15 +96,13 @@ bool Route::loadFromJson(const QString &json) {
 }
 
 bool Route::loadFromLocal() {
-  QDir log_dir(data_dir_);
-  for (const auto &folder : log_dir.entryList(QDir::Dirs | QDir::NoDot | QDir::NoDotDot, QDir::NoSort)) {
-    int pos = folder.lastIndexOf("--");
-    if (pos != -1 && folder.left(pos) == route_.timestamp) {
-      const int seg_num = folder.mid(pos + 2).toInt();
-      QDir segment_dir(log_dir.filePath(folder));
-      for (const auto &f : segment_dir.entryList(QDir::Files)) {
-        addFileToSegment(seg_num, segment_dir.absoluteFilePath(f));
-      }
+  QDirIterator it(data_dir_, {QString("%1--*").arg(route_.timestamp)}, QDir::Dirs | QDir::NoDotAndDotDot);
+  while (it.hasNext()) {
+    QString segment = it.next();
+    const int seg_num = segment.mid(segment.lastIndexOf("--") + 2).toInt();
+    QDir segment_dir(segment);
+    for (const auto &f : segment_dir.entryList(QDir::Files)) {
+      addFileToSegment(seg_num, segment_dir.absoluteFilePath(f));
     }
   }
   return !segments_.empty();
@@ -99,7 +131,8 @@ void Route::addFileToSegment(int n, const QString &file) {
 
 // class Segment
 
-Segment::Segment(int n, const SegmentFile &files, uint32_t flags) : seg_num(n), flags(flags) {
+Segment::Segment(int n, const SegmentFile &files, uint32_t flags, const std::vector<bool> &filters)
+    : seg_num(n), flags(flags), filters_(filters) {
   // [RoadCam, DriverCam, WideRoadCam, log]. fallback to qcamera/qlog
   const std::array file_list = {
       (flags & REPLAY_FLAG_QCAMERA) || files.road_cam.isEmpty() ? files.qcamera : files.road_cam,
@@ -129,7 +162,7 @@ void Segment::loadFile(int id, const std::string file) {
     frames[id] = std::make_unique<FrameReader>();
     success = frames[id]->load(file, flags & REPLAY_FLAG_NO_HW_DECODER, &abort_, local_cache, 20 * 1024 * 1024, 3);
   } else {
-    log = std::make_unique<LogReader>();
+    log = std::make_unique<LogReader>(filters_);
     success = log->load(file, &abort_, local_cache, 0, 3);
   }
 
diff --git a/tools/replay/route.h b/tools/replay/route.h
index 4dad7a1f37..f956497804 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -3,6 +3,7 @@
 #include <map>
 #include <memory>
 #include <string>
+#include <vector>
 
 #include <QDateTime>
 #include <QFutureSynchronizer>
@@ -14,7 +15,8 @@
 struct RouteIdentifier {
   QString dongle_id;
   QString timestamp;
-  int segment_id;
+  int begin_segment = 0;
+  int end_segment = -1;
   QString str;
 };
 
@@ -41,7 +43,7 @@ public:
 
 protected:
   bool loadFromLocal();
-  bool loadFromServer();
+  bool loadFromServer(int retries = 3);
   bool loadFromJson(const QString &json);
   void addFileToSegment(int seg_num, const QString &file);
   RouteIdentifier route_ = {};
@@ -54,7 +56,7 @@ class Segment : public QObject {
   Q_OBJECT
 
 public:
-  Segment(int n, const SegmentFile &files, uint32_t flags);
+  Segment(int n, const SegmentFile &files, uint32_t flags, const std::vector<bool> &filters = {});
   ~Segment();
   inline bool isLoaded() const { return !loading_ && !abort_; }
 
@@ -72,4 +74,5 @@ protected:
   std::atomic<int> loading_ = 0;
   QFutureSynchronizer<void> synchronizer_;
   uint32_t flags;
+  std::vector<bool> filters_;
 };
diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
index 92510053ef..6c005f1bd4 100644
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -1,7 +1,6 @@
 #include <chrono>
 #include <thread>
 
-#include <QDebug>
 #include <QEventLoop>
 
 #include "catch2/catch.hpp"
@@ -67,7 +66,7 @@ TEST_CASE("LogReader") {
     corrupt_content.resize(corrupt_content.length() / 2);
     corrupt_content = decompressBZ2(corrupt_content);
     LogReader log;
-    REQUIRE(log.load((std::byte *)corrupt_content.data(), corrupt_content.size()));
+    REQUIRE(log.load(corrupt_content.data(), corrupt_content.size()));
     REQUIRE(log.events.size() > 0);
   }
 }
@@ -88,7 +87,7 @@ void read_segment(int n, const SegmentFile &segment_file, uint32_t flags) {
 
     // test LogReader & FrameReader
     REQUIRE(segment.log->events.size() > 0);
-    REQUIRE(std::is_sorted(segment.log->events.begin(), segment.log->events.end(), Event::lessThan()));
+    REQUIRE(std::is_sorted(segment.log->events.begin(), segment.log->events.end()));
 
     for (auto cam : ALL_CAMERAS) {
       auto &fr = segment.frames[cam];
@@ -158,63 +157,20 @@ TEST_CASE("Remote route") {
   }
 }
 
-// helper class for unit tests
-class TestReplay : public Replay {
- public:
-  TestReplay(const QString &route, uint32_t flags = REPLAY_FLAG_NO_FILE_CACHE | REPLAY_FLAG_NO_VIPC) : Replay(route, {}, {}, nullptr, flags) {}
-  void test_seek();
-  void testSeekTo(int seek_to);
-};
-
-void TestReplay::testSeekTo(int seek_to) {
-  seekTo(seek_to, false);
-
-  while (true) {
-    std::unique_lock lk(stream_lock_);
-    stream_cv_.wait(lk, [=]() { return events_updated_ == true; });
-    events_updated_ = false;
-    if (cur_mono_time_ != route_start_ts_ + seek_to * 1e9) {
-      // wake up by the previous merging, skip it.
-      continue;
-    }
-
-    Event cur_event(cereal::Event::Which::INIT_DATA, cur_mono_time_);
-    auto eit = std::upper_bound(events_->begin(), events_->end(), &cur_event, Event::lessThan());
-    if (eit == events_->end()) {
-      qDebug() << "waiting for events...";
-      continue;
-    }
-
-    REQUIRE(std::is_sorted(events_->begin(), events_->end(), Event::lessThan()));
-    const int seek_to_segment = seek_to / 60;
-    const int event_seconds = ((*eit)->mono_time - route_start_ts_) / 1e9;
-    current_segment_ = event_seconds / 60;
-    INFO("seek to [" << seek_to << "s segment " << seek_to_segment << "], events [" << event_seconds << "s segment" << current_segment_ << "]");
-    REQUIRE(event_seconds >= seek_to);
-    if (event_seconds > seek_to) {
-      auto it = segments_.lower_bound(seek_to_segment);
-      REQUIRE(it->first == current_segment_);
-    }
-    break;
-  }
-}
-
-void TestReplay::test_seek() {
-  // create a dummy stream thread
-  stream_thread_ = new QThread(this);
+TEST_CASE("seek_to") {
   QEventLoop loop;
-  std::thread thread = std::thread([&]() {
-    for (int i = 0; i < 10; ++i) {
-      testSeekTo(util::random_int(0, 2 * 60));
-    }
+  int seek_to = util::random_int(0, 2 * 59);
+  Replay replay(DEMO_ROUTE, {}, {}, nullptr, REPLAY_FLAG_NO_VIPC);
+
+  QObject::connect(&replay, &Replay::seekedTo, [&](double sec) {
+    INFO("seek to " << seek_to << "s seeked to" << sec);
+    REQUIRE(sec >= seek_to);
     loop.quit();
   });
-  loop.exec();
-  thread.join();
-}
 
-TEST_CASE("Replay") {
-  TestReplay replay(DEMO_ROUTE);
   REQUIRE(replay.load());
-  replay.test_seek();
+  replay.start();
+  replay.seekTo(seek_to, false);
+
+  loop.exec();
 }
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index be80166e76..31e4fff74d 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -10,8 +10,9 @@ import pygame
 import cereal.messaging as messaging
 from openpilot.common.numpy_fast import clip
 from openpilot.common.basedir import BASEDIR
-from openpilot.tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, UP,
-                                         _INTRINSICS, BLACK, GREEN,
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.tools.replay.lib.ui_helpers import (UP,
+                                         BLACK, GREEN,
                                          YELLOW, Calibration,
                                          get_blank_lid_overlay, init_plots,
                                          maybe_update_radar_points, plot_lead,
@@ -55,7 +56,7 @@ def ui_thread(addr):
   top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
 
   sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
-                            'liveTracks', 'modelV2', 'liveParameters'], addr=addr)
+                            'liveTracks', 'modelV2', 'liveParameters', 'roadCameraState'], addr=addr)
 
   img = np.zeros((480, 640, 3), dtype='uint8')
   imgff = None
@@ -100,8 +101,11 @@ def ui_thread(addr):
   draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles)
 
   vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
-  while 1:
-    list(pygame.event.get())
+  while True:
+    for event in pygame.event.get():
+      if event.type == pygame.QUIT:
+        pygame.quit()
+        sys.exit()
 
     screen.fill((64, 64, 64))
     lid_overlay = lid_overlay_blank.copy()
@@ -112,20 +116,27 @@ def ui_thread(addr):
       vipc_client.connect(True)
 
     yuv_img_raw = vipc_client.recv()
-
     if yuv_img_raw is None or not yuv_img_raw.data.any():
       continue
 
+    sm.update(0)
+
+    camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))]
+
     imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride))
     num_px = vipc_client.width * vipc_client.height
     rgb = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12)
 
-    zoom_matrix = _BB_TO_FULL_FRAME[num_px]
+    qcam = "QCAM" in os.environ
+    bb_scale = (528 if qcam else camera.fcam.width) / 640.
+    calib_scale = camera.fcam.width / 640.
+    zoom_matrix = np.asarray([
+        [bb_scale, 0., 0.],
+        [0., bb_scale, 0.],
+        [0., 0., 1.]])
     cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
 
-    intrinsic_matrix = _INTRINSICS[num_px]
-
-    sm.update(0)
+    intrinsic_matrix = camera.fcam.intrinsics
 
     w = sm['controlsState'].lateralControlState.which()
     if w == 'lqrStateDEPRECATED':
@@ -165,7 +176,7 @@ def ui_thread(addr):
 
     if sm.updated['liveCalibration'] and num_px:
       rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
-      calibration = Calibration(num_px, rpyCalib, intrinsic_matrix)
+      calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale)
 
     # *** blits ***
     pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1))
diff --git a/tools/replay/util.cc b/tools/replay/util.cc
index b4f72d0530..c8203fd79d 100644
--- a/tools/replay/util.cc
+++ b/tools/replay/util.cc
@@ -4,10 +4,11 @@
 #include <curl/curl.h>
 #include <openssl/sha.h>
 
+#include <cassert>
+#include <algorithm>
+#include <cmath>
 #include <cstdarg>
 #include <cstring>
-#include <cassert>
-#include <cmath>
 #include <fstream>
 #include <iostream>
 #include <map>
@@ -158,7 +159,10 @@ size_t getRemoteFileSize(const std::string &url, std::atomic<bool> *abort) {
   int still_running = 1;
   while (still_running > 0 && !(abort && *abort)) {
     CURLMcode mc = curl_multi_perform(cm, &still_running);
-    if (!mc) curl_multi_wait(cm, nullptr, 0, 1000, nullptr);
+    if (mc != CURLM_OK) break;
+    if (still_running > 0) {
+      curl_multi_wait(cm, nullptr, 0, 1000, nullptr);
+    }
   }
 
   double content_length = -1;
@@ -208,10 +212,20 @@ bool httpDownload(const std::string &url, T &buf, size_t chunk_size, size_t cont
   }
 
   int still_running = 1;
+  size_t prev_written = 0;
   while (still_running > 0 && !(abort && *abort)) {
-    curl_multi_wait(cm, nullptr, 0, 1000, nullptr);
-    curl_multi_perform(cm, &still_running);
-    download_stats.update(url, written);
+    CURLMcode mc = curl_multi_perform(cm, &still_running);
+    if (mc != CURLM_OK) {
+      break;
+    }
+    if (still_running > 0) {
+      curl_multi_wait(cm, nullptr, 0, 1000, nullptr);
+    }
+
+    if (((written - prev_written) / (double)content_length) >= 0.01) {
+      download_stats.update(url, written);
+      prev_written = written;
+    }
   }
 
   CURLMsg *msg;
@@ -298,27 +312,39 @@ std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool>
   BZ2_bzDecompressEnd(&strm);
   if (bzerror == BZ_STREAM_END && !(abort && *abort)) {
     out.resize(strm.total_out_lo32);
+    out.shrink_to_fit();
     return out;
   }
   return {};
 }
 
-void precise_nano_sleep(long sleep_ns) {
+void precise_nano_sleep(int64_t nanoseconds) {
+#ifdef __APPLE__
   const long estimate_ns = 1 * 1e6;  // 1ms
   struct timespec req = {.tv_nsec = estimate_ns};
   uint64_t start_sleep = nanos_since_boot();
-  while (sleep_ns > estimate_ns) {
+  while (nanoseconds > estimate_ns) {
     nanosleep(&req, nullptr);
     uint64_t end_sleep = nanos_since_boot();
-    sleep_ns -= (end_sleep - start_sleep);
+    nanoseconds -= (end_sleep - start_sleep);
     start_sleep = end_sleep;
   }
   // spin wait
-  if (sleep_ns > 0) {
-    while ((nanos_since_boot() - start_sleep) <= sleep_ns) {
+  if (nanoseconds > 0) {
+    while ((nanos_since_boot() - start_sleep) <= nanoseconds) {
       std::this_thread::yield();
     }
   }
+#else
+  struct timespec req, rem;
+
+  req.tv_sec = nanoseconds / 1e9;
+  req.tv_nsec = nanoseconds % (int64_t)1e9;
+  while (clock_nanosleep(CLOCK_MONOTONIC, 0, &req, &rem) && errno == EINTR) {
+    // Retry sleep if interrupted by a signal
+    req = rem;
+  }
+#endif
 }
 
 std::string sha256(const std::string &str) {
@@ -329,3 +355,26 @@ std::string sha256(const std::string &str) {
   SHA256_Final(hash, &sha256);
   return util::hexdump(hash, SHA256_DIGEST_LENGTH);
 }
+
+// MonotonicBuffer
+
+void *MonotonicBuffer::allocate(size_t bytes, size_t alignment) {
+  assert(bytes > 0);
+  void *p = std::align(alignment, bytes, current_buf, available);
+  if (p == nullptr) {
+    available = next_buffer_size = std::max(next_buffer_size, bytes);
+    current_buf = buffers.emplace_back(std::aligned_alloc(alignment, next_buffer_size));
+    next_buffer_size *= growth_factor;
+    p = current_buf;
+  }
+
+  current_buf = (char *)current_buf + bytes;
+  available -= bytes;
+  return p;
+}
+
+MonotonicBuffer::~MonotonicBuffer() {
+  for (auto buf : buffers) {
+    free(buf);
+  }
+}
diff --git a/tools/replay/util.h b/tools/replay/util.h
index 6c808095e8..750c133555 100644
--- a/tools/replay/util.h
+++ b/tools/replay/util.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <atomic>
+#include <deque>
 #include <functional>
 #include <string>
 
@@ -20,8 +21,23 @@ void logMessage(ReplyMsgType type, const char* fmt, ...);
 #define rWarning(fmt, ...) ::logMessage(ReplyMsgType::Warning, fmt,  ## __VA_ARGS__)
 #define rError(fmt, ...) ::logMessage(ReplyMsgType::Critical , fmt,  ## __VA_ARGS__)
 
+class MonotonicBuffer {
+public:
+  MonotonicBuffer(size_t initial_size) : next_buffer_size(initial_size) {}
+  ~MonotonicBuffer();
+  void *allocate(size_t bytes, size_t alignment = 16ul);
+  void deallocate(void *p) {}
+
+private:
+  void *current_buf = nullptr;
+  size_t next_buffer_size = 0;
+  size_t available = 0;
+  std::deque<void *> buffers;
+  static constexpr float growth_factor = 1.5;
+};
+
 std::string sha256(const std::string &str);
-void precise_nano_sleep(long sleep_ns);
+void precise_nano_sleep(int64_t nanoseconds);
 std::string decompressBZ2(const std::string &in, std::atomic<bool> *abort = nullptr);
 std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool> *abort = nullptr);
 std::string getUrlWithoutQuery(const std::string &url);
diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
index 10e2a055a3..3bd2f35772 100644
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@@ -13,7 +13,6 @@ from openpilot.selfdrive.car.honda.values import CruiseButtons
 from openpilot.tools.sim.lib.common import SimulatorState, World
 from openpilot.tools.sim.lib.simulated_car import SimulatedCar
 from openpilot.tools.sim.lib.simulated_sensors import SimulatedSensors
-from openpilot.tools.sim.lib.keyboard_ctrl import KEYBOARD_HELP
 
 
 def rk_loop(function, hz, exit_event: threading.Event):
@@ -29,6 +28,7 @@ class SimulatorBridge(ABC):
   def __init__(self, dual_camera, high_quality):
     set_params_enabled()
     self.params = Params()
+    self.params.put_bool("ExperimentalLongitudinalEnabled", True)
 
     self.rk = Ratekeeper(100, None)
 
@@ -57,14 +57,14 @@ class SimulatorBridge(ABC):
     try:
       self._run(q)
     finally:
-      self.close()
+      self.close("bridge terminated")
 
-  def close(self):
+  def close(self, reason):
     self.started.value = False
     self._exit_event.set()
 
     if self.world is not None:
-      self.world.close()
+      self.world.close(reason)
 
   def run(self, queue, retries=-1):
     bridge_p = Process(name="bridge", target=self.bridge_keep_alive, args=(queue, retries))
@@ -74,9 +74,6 @@ class SimulatorBridge(ABC):
   def print_status(self):
     print(
     f"""
-Keyboard Commands:
-{KEYBOARD_HELP}
-
 State:
 Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_engaged}
     """)
@@ -171,8 +168,12 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
       steer_out = steer_op if self.simulator_state.is_engaged else steer_manual
 
       self.world.apply_controls(steer_out, throttle_out, brake_out)
+      self.world.read_state()
       self.world.read_sensors(self.simulator_state)
 
+      if self.world.exit_event.is_set():
+        self.shutdown()
+
       if self.rk.frame % self.TICKS_PER_FRAME == 0:
         self.world.tick()
         self.world.read_cameras()
diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py
index c94fca2b95..5c91238c55 100644
--- a/tools/sim/bridge/metadrive/metadrive_bridge.py
+++ b/tools/sim/bridge/metadrive/metadrive_bridge.py
@@ -1,48 +1,14 @@
-import numpy as np
+from multiprocessing import Queue
 
-from metadrive.component.sensors.rgb_camera import RGBCamera
 from metadrive.component.sensors.base_camera import _cuda_enable
 from metadrive.component.map.pg_map import MapGenerateMethod
-from panda3d.core import Texture, GraphicsOutput
 
 from openpilot.tools.sim.bridge.common import SimulatorBridge
+from openpilot.tools.sim.bridge.metadrive.metadrive_common import RGBCameraRoad, RGBCameraWide
 from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld
 from openpilot.tools.sim.lib.camerad import W, H
 
 
-
-class CopyRamRGBCamera(RGBCamera):
-  """Camera which copies its content into RAM during the render process, for faster image grabbing."""
-  def __init__(self, *args, **kwargs):
-    super().__init__(*args, **kwargs)
-    self.cpu_texture = Texture()
-    self.buffer.addRenderTexture(self.cpu_texture, GraphicsOutput.RTMCopyRam)
-
-  def get_rgb_array_cpu(self):
-    origin_img = self.cpu_texture
-    img = np.frombuffer(origin_img.getRamImage().getData(), dtype=np.uint8)
-    img = img.reshape((origin_img.getYSize(), origin_img.getXSize(), -1))
-    img = img[:,:,:3] # RGBA to RGB
-    # img = np.swapaxes(img, 1, 0)
-    img = img[::-1] # Flip on vertical axis
-    return img
-
-
-class RGBCameraWide(CopyRamRGBCamera):
-  def __init__(self, *args, **kwargs):
-    super().__init__(*args, **kwargs)
-    lens = self.get_lens()
-    lens.setFov(120)
-    lens.setNear(0.1)
-
-class RGBCameraRoad(CopyRamRGBCamera):
-  def __init__(self, *args, **kwargs):
-    super().__init__(*args, **kwargs)
-    lens = self.get_lens()
-    lens.setFov(40)
-    lens.setNear(0.1)
-
-
 def straight_block(length):
   return {
     "id": "S",
@@ -109,6 +75,7 @@ class MetaDriveBridge(SimulatorBridge):
       on_continuous_line_done=False,
       crash_vehicle_done=False,
       crash_object_done=False,
+      arrive_dest_done=False,
       traffic_density=0.0, # traffic is incredibly expensive
       map_config=create_map(),
       decision_repeat=1,
@@ -116,4 +83,4 @@ class MetaDriveBridge(SimulatorBridge):
       preload_models=False
     )
 
-    return MetaDriveWorld(config, self.dual_camera)
+    return MetaDriveWorld(Queue(), config, self.dual_camera)
diff --git a/tools/sim/bridge/metadrive/metadrive_common.py b/tools/sim/bridge/metadrive/metadrive_common.py
new file mode 100644
index 0000000000..42a7eb60dd
--- /dev/null
+++ b/tools/sim/bridge/metadrive/metadrive_common.py
@@ -0,0 +1,37 @@
+import numpy as np
+
+from metadrive.component.sensors.rgb_camera import RGBCamera
+from panda3d.core import Texture, GraphicsOutput
+
+
+class CopyRamRGBCamera(RGBCamera):
+  """Camera which copies its content into RAM during the render process, for faster image grabbing."""
+  def __init__(self, *args, **kwargs):
+    super().__init__(*args, **kwargs)
+    self.cpu_texture = Texture()
+    self.buffer.addRenderTexture(self.cpu_texture, GraphicsOutput.RTMCopyRam)
+
+  def get_rgb_array_cpu(self):
+    origin_img = self.cpu_texture
+    img = np.frombuffer(origin_img.getRamImage().getData(), dtype=np.uint8)
+    img = img.reshape((origin_img.getYSize(), origin_img.getXSize(), -1))
+    img = img[:,:,:3] # RGBA to RGB
+    # img = np.swapaxes(img, 1, 0)
+    img = img[::-1] # Flip on vertical axis
+    return img
+
+
+class RGBCameraWide(CopyRamRGBCamera):
+  def __init__(self, *args, **kwargs):
+    super().__init__(*args, **kwargs)
+    lens = self.get_lens()
+    lens.setFov(120)
+    lens.setNear(0.1)
+
+
+class RGBCameraRoad(CopyRamRGBCamera):
+  def __init__(self, *args, **kwargs):
+    super().__init__(*args, **kwargs)
+    lens = self.get_lens()
+    lens.setFov(40)
+    lens.setNear(0.1)
diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py
index aa6ae57976..79eefcd545 100644
--- a/tools/sim/bridge/metadrive/metadrive_process.py
+++ b/tools/sim/bridge/metadrive/metadrive_process.py
@@ -19,9 +19,10 @@ C3_POSITION = Vec3(0.0, 0, 1.22)
 C3_HPR = Vec3(0, 0,0)
 
 
-metadrive_state = namedtuple("metadrive_state", ["velocity", "position", "bearing", "steering_angle"])
+metadrive_simulation_state = namedtuple("metadrive_simulation_state", ["running", "done", "done_info"])
+metadrive_vehicle_state = namedtuple("metadrive_vehicle_state", ["velocity", "position", "bearing", "steering_angle"])
 
-def apply_metadrive_patches():
+def apply_metadrive_patches(arrive_dest_done=True):
   # By default, metadrive won't try to use cuda images unless it's used as a sensor for vehicles, so patch that in
   def add_image_sensor_patched(self, name: str, cls, args):
     if self.global_config["image_on_cuda"]:# and name == self.global_config["vehicle_config"]["image_source"]:
@@ -43,11 +44,14 @@ def apply_metadrive_patches():
   def arrive_destination_patch(self, *args, **kwargs):
     return False
 
-  MetaDriveEnv._is_arrive_destination = arrive_destination_patch
+  if not arrive_dest_done:
+    MetaDriveEnv._is_arrive_destination = arrive_destination_patch
 
 def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, image_lock,
-                      controls_recv: Connection, state_send: Connection, exit_event):
-  apply_metadrive_patches()
+                      controls_recv: Connection, simulation_state_send: Connection, vehicle_state_send: Connection,
+                      exit_event):
+  arrive_dest_done = config.pop("arrive_dest_done", True)
+  apply_metadrive_patches(arrive_dest_done)
 
   road_image = np.frombuffer(camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
   if dual_camera:
@@ -60,6 +64,13 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
     env.reset()
     env.vehicle.config["max_speed_km_h"] = 1000
 
+    simulation_state = metadrive_simulation_state(
+      running=True,
+      done=False,
+      done_info=None,
+    )
+    simulation_state_send.send(simulation_state)
+
   reset()
 
   def get_cam_as_rgb(cam):
@@ -78,14 +89,14 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
   vc = [0,0]
 
   while not exit_event.is_set():
-    state = metadrive_state(
+    vehicle_state = metadrive_vehicle_state(
       velocity=vec3(x=float(env.vehicle.velocity[0]), y=float(env.vehicle.velocity[1]), z=0),
       position=env.vehicle.position,
       bearing=float(math.degrees(env.vehicle.heading_theta)),
       steering_angle=env.vehicle.steering * env.vehicle.MAX_STEERING
     )
 
-    state_send.send(state)
+    vehicle_state_send.send(vehicle_state)
 
     if controls_recv.poll(0):
       while controls_recv.poll(0):
@@ -103,7 +114,13 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
       obs, _, terminated, _, info = env.step(vc)
 
       if terminated:
-        reset()
+        done_result = env.done_function("default_agent")
+        simulation_state = metadrive_simulation_state(
+          running=False,
+          done=done_result[0],
+          done_info=done_result[1],
+        )
+        simulation_state_send.send(simulation_state)
 
       if dual_camera:
         wide_road_image[...] = get_cam_as_rgb("rgb_wide")
diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py
index 4cbe64393e..3570205069 100644
--- a/tools/sim/bridge/metadrive/metadrive_world.py
+++ b/tools/sim/bridge/metadrive/metadrive_world.py
@@ -5,14 +5,16 @@ import numpy as np
 import time
 
 from multiprocessing import Pipe, Array
-from openpilot.tools.sim.bridge.metadrive.metadrive_process import metadrive_process, metadrive_state
+from openpilot.tools.sim.bridge.metadrive.metadrive_process import (metadrive_process, metadrive_simulation_state,
+                                                                    metadrive_vehicle_state)
 from openpilot.tools.sim.lib.common import SimulatorState, World
 from openpilot.tools.sim.lib.camerad import W, H
 
 
 class MetaDriveWorld(World):
-  def __init__(self, config, dual_camera = False):
+  def __init__(self, status_q, config, dual_camera = False):
     super().__init__(dual_camera)
+    self.status_q = status_q
     self.camera_array = Array(ctypes.c_uint8, W*H*3)
     self.road_image = np.frombuffer(self.camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
     self.wide_camera_array = None
@@ -21,22 +23,26 @@ class MetaDriveWorld(World):
       self.wide_road_image = np.frombuffer(self.wide_camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
 
     self.controls_send, self.controls_recv = Pipe()
-    self.state_send, self.state_recv = Pipe()
+    self.simulation_state_send, self.simulation_state_recv = Pipe()
+    self.vehicle_state_send, self.vehicle_state_recv = Pipe()
 
     self.exit_event = multiprocessing.Event()
 
     self.metadrive_process = multiprocessing.Process(name="metadrive process", target=
                               functools.partial(metadrive_process, dual_camera, config,
                                                 self.camera_array, self.wide_camera_array, self.image_lock,
-                                                self.controls_recv, self.state_send, self.exit_event))
+                                                self.controls_recv, self.simulation_state_send,
+                                                self.vehicle_state_send, self.exit_event))
 
     self.metadrive_process.start()
+    self.status_q.put({"status": "starting"})
 
     print("----------------------------------------------------------")
     print("---- Spawning Metadrive world, this might take awhile ----")
     print("----------------------------------------------------------")
 
-    self.state_recv.recv() # wait for a state message to ensure metadrive is launched
+    self.vehicle_state_recv.recv() # wait for a state message to ensure metadrive is launched
+    self.status_q.put({"status": "started"})
 
     self.steer_ratio = 15
     self.vc = [0.0,0.0]
@@ -58,13 +64,24 @@ class MetaDriveWorld(World):
     self.controls_send.send([*self.vc, self.should_reset])
     self.should_reset = False
 
+  def read_state(self):
+    while self.simulation_state_recv.poll(0):
+      md_state: metadrive_simulation_state = self.simulation_state_recv.recv()
+      if md_state.done:
+        self.status_q.put({
+          "status": "terminating",
+          "reason": "done",
+          "done_info": md_state.done_info
+        })
+        self.exit_event.set()
+
   def read_sensors(self, state: SimulatorState):
-    while self.state_recv.poll(0):
-      md_state: metadrive_state = self.state_recv.recv()
-      state.velocity = md_state.velocity
-      state.bearing = md_state.bearing
-      state.steering_angle = md_state.steering_angle
-      state.gps.from_xy(md_state.position)
+    while self.vehicle_state_recv.poll(0):
+      md_vehicle: metadrive_vehicle_state = self.vehicle_state_recv.recv()
+      state.velocity = md_vehicle.velocity
+      state.bearing = md_vehicle.bearing
+      state.steering_angle = md_vehicle.steering_angle
+      state.gps.from_xy(md_vehicle.position)
       state.valid = True
 
   def read_cameras(self):
@@ -76,6 +93,10 @@ class MetaDriveWorld(World):
   def reset(self):
     self.should_reset = True
 
-  def close(self):
+  def close(self, reason: str):
+    self.status_q.put({
+      "status": "terminating",
+      "reason": reason,
+    })
     self.exit_event.set()
     self.metadrive_process.join()
diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh
index 9532537283..86d9607bb0 100755
--- a/tools/sim/launch_openpilot.sh
+++ b/tools/sim/launch_openpilot.sh
@@ -4,7 +4,7 @@ export PASSIVE="0"
 export NOBOARD="1"
 export SIMULATION="1"
 export SKIP_FW_QUERY="1"
-export FINGERPRINT="HONDA CIVIC 2016"
+export FINGERPRINT="HONDA_CIVIC_2022"
 
 export BLOCK="${BLOCK},camerad,loggerd,encoderd,micd,logmessaged"
 if [[ "$CI" ]]; then
diff --git a/tools/sim/lib/common.py b/tools/sim/lib/common.py
index 795d7505c7..168b3aa324 100644
--- a/tools/sim/lib/common.py
+++ b/tools/sim/lib/common.py
@@ -69,6 +69,8 @@ class World(ABC):
     self.road_image = np.zeros((H, W, 3), dtype=np.uint8)
     self.wide_road_image = np.zeros((H, W, 3), dtype=np.uint8)
 
+    self.exit_event = multiprocessing.Event()
+
   @abstractmethod
   def apply_controls(self, steer_sim, throttle_out, brake_out):
     pass
@@ -77,6 +79,10 @@ class World(ABC):
   def tick(self):
     pass
 
+  @abstractmethod
+  def read_state(self):
+    pass
+
   @abstractmethod
   def read_sensors(self, simulator_state: SimulatorState):
     pass
@@ -86,7 +92,7 @@ class World(ABC):
     pass
 
   @abstractmethod
-  def close(self):
+  def close(self, reason: str):
     pass
 
   @abstractmethod
diff --git a/tools/sim/lib/keyboard_ctrl.py b/tools/sim/lib/keyboard_ctrl.py
index 339f4ea6bb..ea255d9ce4 100644
--- a/tools/sim/lib/keyboard_ctrl.py
+++ b/tools/sim/lib/keyboard_ctrl.py
@@ -49,7 +49,12 @@ def getch() -> str:
     termios.tcsetattr(STDIN_FD, termios.TCSADRAIN, old_settings)
   return ch
 
+def print_keyboard_help():
+  print(f"Keyboard Commands:\n{KEYBOARD_HELP}")
+
 def keyboard_poll_thread(q: 'Queue[str]'):
+  print_keyboard_help()
+
   while True:
     c = getch()
     if c == '1':
@@ -77,6 +82,8 @@ def keyboard_poll_thread(q: 'Queue[str]'):
     elif c == 'q':
       q.put("quit")
       break
+    else:
+      print_keyboard_help()
 
 def test(q: 'Queue[str]') -> NoReturn:
   while True:
diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py
index f6319dd819..8c15195dcb 100644
--- a/tools/sim/lib/simulated_car.py
+++ b/tools/sim/lib/simulated_car.py
@@ -4,15 +4,13 @@ from opendbc.can.packer import CANPacker
 from opendbc.can.parser import CANParser
 from openpilot.common.params import Params
 from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
-from openpilot.selfdrive.car import crc8_pedal
 from openpilot.tools.sim.lib.common import SimulatorState
 from panda.python import Panda
 
 
 class SimulatedCar:
-  """Simulates a honda civic 2016 (panda state + can messages) to OpenPilot"""
-  packer = CANPacker("honda_civic_touring_2016_can_generated")
-  rpacker = CANPacker("acura_ilx_2016_nidec")
+  """Simulates a honda civic 2022 (panda state + can messages) to OpenPilot"""
+  packer = CANPacker("honda_civic_ex_2022_can_generated")
 
   def __init__(self):
     self.pm = messaging.PubMaster(['can', 'pandaStates'])
@@ -24,11 +22,8 @@ class SimulatedCar:
 
   @staticmethod
   def get_car_can_parser():
-    dbc_f = 'honda_civic_touring_2016_can_generated'
+    dbc_f = 'honda_civic_ex_2022_can_generated'
     checks = [
-      (0xe4, 100),
-      (0x1fa, 50),
-      (0x200, 50),
     ]
     return CANParser(dbc_f, checks, 0)
 
@@ -51,15 +46,6 @@ class SimulatedCar:
 
     msg.append(self.packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": simulator_state.cruise_button}))
 
-    values = {
-      "COUNTER_PEDAL": self.idx & 0xF,
-      "INTERCEPTOR_GAS": simulator_state.user_gas * 2**12,
-      "INTERCEPTOR_GAS2": simulator_state.user_gas * 2**12,
-    }
-    checksum = crc8_pedal(self.packer.make_can_msg("GAS_SENSOR", 0, values)[2][:-1])
-    values["CHECKSUM_PEDAL"] = checksum
-    msg.append(self.packer.make_can_msg("GAS_SENSOR", 0, values))
-
     msg.append(self.packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}))
     msg.append(self.packer.make_can_msg("GAS_PEDAL_2", 0, {}))
     msg.append(self.packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}))
@@ -72,6 +58,7 @@ class SimulatedCar:
     msg.append(self.packer.make_can_msg("DOORS_STATUS", 0, {}))
     msg.append(self.packer.make_can_msg("CRUISE_PARAMS", 0, {}))
     msg.append(self.packer.make_can_msg("CRUISE", 0, {}))
+    msg.append(self.packer.make_can_msg("CRUISE_FAULT_STATUS", 0, {}))
     msg.append(self.packer.make_can_msg("SCM_FEEDBACK", 0,
                                     {
                                       "MAIN_ON": 1,
@@ -84,20 +71,12 @@ class SimulatedCar:
                                     "PEDAL_GAS": simulator_state.user_gas,
                                     "BRAKE_PRESSED": simulator_state.user_brake > 0
                                     }))
-    msg.append(self.packer.make_can_msg("HUD_SETTING", 0, {}))
     msg.append(self.packer.make_can_msg("CAR_SPEED", 0, {}))
 
     # *** cam bus ***
     msg.append(self.packer.make_can_msg("STEERING_CONTROL", 2, {}))
     msg.append(self.packer.make_can_msg("ACC_HUD", 2, {}))
     msg.append(self.packer.make_can_msg("LKAS_HUD", 2, {}))
-    msg.append(self.packer.make_can_msg("BRAKE_COMMAND", 2, {}))
-
-    # *** radar bus ***
-    if self.idx % 5 == 0:
-      msg.append(self.rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}))
-      for i in range(16):
-        msg.append(self.rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}))
 
     self.pm.send('can', can_list_to_can_capnp(msg))
 
@@ -114,9 +93,9 @@ class SimulatedCar:
       'ignitionLine': simulator_state.ignition,
       'pandaType': "blackPanda",
       'controlsAllowed': True,
-      'safetyModel': 'hondaNidec',
+      'safetyModel': 'hondaBosch',
       'alternativeExperience': self.sm["carParams"].alternativeExperience,
-      'safetyParam': Panda.FLAG_HONDA_GAS_INTERCEPTOR
+      'safetyParam': Panda.FLAG_HONDA_RADARLESS | Panda.FLAG_HONDA_BOSCH_LONG,
     }
     self.pm.send('pandaStates', dat)
 
diff --git a/tools/sim/scenarios/metadrive/stay_in_lane.py b/tools/sim/scenarios/metadrive/stay_in_lane.py
new file mode 100755
index 0000000000..683ce55162
--- /dev/null
+++ b/tools/sim/scenarios/metadrive/stay_in_lane.py
@@ -0,0 +1,92 @@
+#!/usr/bin/env python
+
+from multiprocessing import Queue
+
+from metadrive.component.sensors.base_camera import _cuda_enable
+from metadrive.component.map.pg_map import MapGenerateMethod
+
+from openpilot.tools.sim.bridge.common import SimulatorBridge
+from openpilot.tools.sim.bridge.metadrive.metadrive_common import RGBCameraRoad, RGBCameraWide
+from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld
+from openpilot.tools.sim.lib.camerad import W, H
+
+
+def create_map():
+  return dict(
+    type=MapGenerateMethod.PG_MAP_FILE,
+    lane_num=2,
+    lane_width=3.5,
+    config=[
+      {
+        "id": "S",
+        "pre_block_socket_index": 0,
+        "length": 60,
+      },
+      {
+        "id": "C",
+        "pre_block_socket_index": 0,
+        "length": 60,
+        "radius": 600,
+        "angle": 45,
+        "dir": 0,
+      },
+    ]
+  )
+
+
+class MetaDriveBridge(SimulatorBridge):
+  TICKS_PER_FRAME = 5
+
+  def __init__(self, world_status_q, dual_camera, high_quality):
+    self.world_status_q = world_status_q
+    self.should_render = False
+
+    super().__init__(dual_camera, high_quality)
+
+  def spawn_world(self):
+    sensors = {
+      "rgb_road": (RGBCameraRoad, W, H, )
+    }
+
+    if self.dual_camera:
+      sensors["rgb_wide"] = (RGBCameraWide, W, H)
+
+    config = dict(
+      use_render=self.should_render,
+      vehicle_config=dict(
+        enable_reverse=False,
+        image_source="rgb_road",
+      ),
+      sensors=sensors,
+      image_on_cuda=_cuda_enable,
+      image_observation=True,
+      interface_panel=[],
+      out_of_route_done=True,
+      on_continuous_line_done=True,
+      crash_vehicle_done=True,
+      crash_object_done=True,
+      arrive_dest_done=True,
+      traffic_density=0.0,
+      map_config=create_map(),
+      map_region_size=2048,
+      decision_repeat=1,
+      physics_world_step_size=self.TICKS_PER_FRAME/100,
+      preload_models=False
+    )
+
+    return MetaDriveWorld(world_status_q, config, self.dual_camera)
+
+
+if __name__ == "__main__":
+  command_queue: Queue = Queue()
+  world_status_q: Queue = Queue()
+  simulator_bridge = MetaDriveBridge(world_status_q, True, False)
+  simulator_process = simulator_bridge.run(command_queue)
+
+  while True:
+    world_status = world_status_q.get()
+    print(f"World Status: {str(world_status)}")
+    if world_status["status"] == "terminating":
+      break
+
+  simulator_process.join()
diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py
index f804b328de..6abf1338dc 100755
--- a/tools/tuning/measure_steering_accuracy.py
+++ b/tools/tuning/measure_steering_accuracy.py
@@ -47,7 +47,7 @@ class SteeringAccuracyTool:
 
     v_ego = sm['carState'].vEgo
     active = sm['controlsState'].active
-    steer = sm['carControl'].actuatorsOutput.steer
+    steer = sm['carOutput'].actuatorsOutput.steer
     standstill = sm['carState'].standstill
     steer_limited = abs(sm['carControl'].actuators.steer - sm['carControl'].actuatorsOutput.steer) > 1e-2
     overriding = sm['carState'].steeringPressed
@@ -150,7 +150,7 @@ if __name__ == "__main__":
       messaging.context = messaging.Context()
 
     carControl = messaging.sub_sock('carControl', addr=args.addr, conflate=True)
-    sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'modelV2'], addr=args.addr)
+    sm = messaging.SubMaster(['carState', 'carControl', 'carOutput', 'controlsState', 'modelV2'], addr=args.addr)
     time.sleep(1)  # Make sure all submaster data is available before going further
 
     print("waiting for messages...")