diff --git a/RELEASES.md b/RELEASES.md
index 1cc907e407..0bcea1bdbb 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,8 +1,10 @@
-Version 0.9.7 (2024-XX-XX)
+Version 0.9.7 (2024-05-XX)
 ========================
 * New driving model
 * Adjust driving personality with the follow distance button
 * Support for hybrid variants of supported Ford models
+* Added toggle to enable driver monitoring even when openpilot is not engaged
+* Fingerprinting without the OBD-II port on all cars
 * 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/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index d5cf773cdd..e715d3b5e9 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -104,10 +104,10 @@ class CarController(CarControllerBase):
         can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN])
 
     hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
-    can_canfd = self.CP.flags & HyundaiFlags.CAN_CANFD
+    can_canfd_hybrid = self.CP.flags & HyundaiFlags.CAN_CANFD_HYBRID
 
     # CAN-FD platforms
-    if self.CP.carFingerprint in CANFD_CAR or (hda2 and can_canfd):
+    if self.CP.carFingerprint in CANFD_CAR or (hda2 and can_canfd_hybrid):
       hda2_long = hda2 and self.CP.openpilotLongitudinalControl
 
       # steering control
@@ -146,7 +146,7 @@ class CarController(CarControllerBase):
           self.accel_last = accel
       else:
         # button presses
-        can_sends.extend(self.create_button_messages(CC, CS, use_clu11=(hda2 and can_canfd)))
+        can_sends.extend(self.create_button_messages(CC, CS, use_clu11=(hda2 and can_canfd_hybrid)))
     else:
       can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_steer, apply_steer_req,
                                                 torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 8c6e1ffd41..5851e9501b 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -8,7 +8,7 @@ from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
-                                                   CANFD_CAR, Buttons, CarControllerParams
+                                                   CANFD_CAR, Buttons, CarControllerParams, CAN_CANFD_HYBRID_CAR
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 8
@@ -27,7 +27,7 @@ class CarState(CarStateBase):
     self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
                           "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
                           "GEAR_SHIFTER"
-    if CP.carFingerprint in CANFD_CAR:
+    if CP.carFingerprint in (CANFD_CAR - CAN_CANFD_HYBRID_CAR):
       self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
     elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
@@ -53,7 +53,7 @@ class CarState(CarStateBase):
     self.params = CarControllerParams(CP)
 
   def update(self, cp, cp_cam):
-    if self.CP.carFingerprint in CANFD_CAR:
+    if self.CP.carFingerprint in (CANFD_CAR - CAN_CANFD_HYBRID_CAR):
       return self.update_canfd(cp, cp_cam)
 
     ret = car.CarState.new_message()
@@ -107,7 +107,7 @@ class CarState(CarStateBase):
       ret.cruiseState.standstill = False
       ret.cruiseState.nonAdaptive = False
     else:
-      scc_bus = "SCC12" if self.CP.flags & HyundaiFlags.CAN_CANFD else "SCC11"
+      scc_bus = "SCC12" if self.CP.flags & HyundaiFlags.CAN_CANFD_HYBRID else "SCC11"
       ret.cruiseState.available = cp_cruise.vl[scc_bus]["MainMode_ACC"] == 1
       ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
       ret.cruiseState.standstill = cp_cruise.vl[scc_bus]["SCCInfoDisplay"] == 4.
@@ -145,7 +145,7 @@ class CarState(CarStateBase):
 
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
 
-    if not self.CP.openpilotLongitudinalControl and not (self.CP.flags & HyundaiFlags.CAN_CANFD.value):
+    if not self.CP.openpilotLongitudinalControl and not (self.CP.flags & HyundaiFlags.CAN_CANFD_HYBRID):
       aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
       aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
       aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
@@ -159,10 +159,10 @@ class CarState(CarStateBase):
       ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0
 
     # save the entire LKAS11 and CLU11
-    if not self.CP.flags & HyundaiFlags.CAN_CANFD:
+    if not self.CP.flags & HyundaiFlags.CAN_CANFD_HYBRID:
       self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
     self.clu11 = copy.copy(cp.vl["CLU11"])
-    if self.CP.flags & HyundaiFlags.CAN_CANFD and self.CP.flags & HyundaiFlags.CANFD_HDA2:
+    if self.CP.flags & HyundaiFlags.CAN_CANFD_HYBRID and self.CP.flags & HyundaiFlags.CANFD_HDA2:
       self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x2a4"])
     self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
     self.prev_cruise_buttons = self.cruise_buttons[-1]
@@ -254,12 +254,12 @@ class CarState(CarStateBase):
     return ret
 
   def get_can_parser(self, CP):
-    if CP.carFingerprint in CANFD_CAR:
+    if CP.carFingerprint in (CANFD_CAR - CAN_CANFD_HYBRID_CAR):
       return self.get_can_parser_canfd(CP)
 
     messages = [
       # address, frequency
-      ("MDPS12", 100 if CP.flags & HyundaiFlags.CAN_CANFD else 50),
+      ("MDPS12", 100 if CP.flags & HyundaiFlags.CAN_CANFD_HYBRID else 50),
       ("TCS11", 100),
       ("TCS13", 50),
       ("TCS15", 10),
@@ -274,7 +274,7 @@ class CarState(CarStateBase):
     ]
 
     if not CP.openpilotLongitudinalControl:
-      if CP.flags & HyundaiFlags.CAN_CANFD:
+      if CP.flags & HyundaiFlags.CAN_CANFD_HYBRID:
         messages.append(("SCC12", 50))
       elif CP.carFingerprint not in CAMERA_SCC_CAR:
         messages += [
@@ -285,7 +285,7 @@ class CarState(CarStateBase):
           messages.append(("FCA11", 50))
 
     if CP.enableBsm:
-      messages.append(("LCA11", 20 if CP.flags & HyundaiFlags.CAN_CANFD else 50))
+      messages.append(("LCA11", 20 if CP.flags & HyundaiFlags.CAN_CANFD_HYBRID else 50))
 
     if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
       messages.append(("E_EMS11", 50))
@@ -304,17 +304,17 @@ class CarState(CarStateBase):
     else:
       messages.append(("LVR12", 100))
 
-    bus = CanBus(CP).ECAN if CP.flags & HyundaiFlags.CAN_CANFD.value else 0
+    bus = CanBus(CP).ECAN if CP.flags & HyundaiFlags.CAN_CANFD_HYBRID else 0
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, bus)
 
   @staticmethod
   def get_cam_can_parser(CP):
-    if CP.carFingerprint in CANFD_CAR:
+    if CP.carFingerprint in (CANFD_CAR - CAN_CANFD_HYBRID_CAR):
       return CarState.get_cam_can_parser_canfd(CP)
 
     messages = []
 
-    if CP.flags & HyundaiFlags.CAN_CANFD:
+    if CP.flags & HyundaiFlags.CAN_CANFD_HYBRID:
       messages.append(("CAM_0x2a4", 20))
     else:
       messages.append(("LKAS11", 100))
@@ -328,7 +328,7 @@ class CarState(CarStateBase):
       if CP.flags & HyundaiFlags.USE_FCA.value:
         messages.append(("FCA11", 50))
 
-    bus = CanBus(CP).CAM if CP.flags & HyundaiFlags.CAN_CANFD else 2
+    bus = CanBus(CP).CAM if CP.flags & HyundaiFlags.CAN_CANFD_HYBRID else 2
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, bus)
 
   def get_can_parser_canfd(self, CP):
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index 628a33a261..854540721b 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -113,7 +113,7 @@ def create_clu11(packer, frame, clu11, button, CP, CAN):
   values["CF_Clu_CruiseSwState"] = button
   values["CF_Clu_AliveCnt1"] = frame % 0x10
   # send buttons to camera on camera-scc based cars
-  bus = 2 if CP.flags & HyundaiFlags.CAMERA_SCC else CAN.ECAN if CP.flags & HyundaiFlags.CAN_CANFD else 0
+  bus = 2 if CP.flags & HyundaiFlags.CAMERA_SCC else CAN.ECAN if CP.flags & HyundaiFlags.CAN_CANFD_HYBRID else 0
   return packer.make_can_msg("CLU11", bus, values)
 
 
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index b4dce8fc32..34d9373bd8 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -3,7 +3,7 @@ from panda import Panda
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
                                          CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
-                                         UNSUPPORTED_LONGITUDINAL_CAR, Buttons, CAN_CANFD_CAR
+                                         UNSUPPORTED_LONGITUDINAL_CAR, Buttons, CAN_CANFD_HYBRID_CAR
 from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -36,14 +36,13 @@ class CarInterface(CarInterfaceBase):
     if hda2:
       ret.flags |= HyundaiFlags.CANFD_HDA2.value
 
-    if candidate in CANFD_CAR:
+    if candidate in (CANFD_CAR - CAN_CANFD_HYBRID_CAR):
       # detect if car is hybrid
       if 0x105 in fingerprint[CAN.ECAN]:
         ret.flags |= HyundaiFlags.HYBRID.value
       elif candidate in EV_CAR:
         ret.flags |= HyundaiFlags.EV.value
 
-      # detect HDA2 with ADAS Driving ECU
       if hda2:
         if 0x110 in fingerprint[CAN.CAM]:
           ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
@@ -66,10 +65,6 @@ class CarInterface(CarInterfaceBase):
       elif candidate in EV_CAR:
         ret.flags |= HyundaiFlags.EV.value
 
-      # detect cars with hybrid definitions of CAN and CAN-FD
-      if candidate in CAN_CANFD_CAR:
-        ret.flags |= HyundaiFlags.CAN_CANFD.value
-
       # Send LFA message on cars with HDA
       if 0x485 in fingerprint[2]:
         ret.flags |= HyundaiFlags.SEND_LFA.value
@@ -92,7 +87,7 @@ class CarInterface(CarInterfaceBase):
           CarInterfaceBase.configure_torque_tune(platform_str, ret.lateralTuning)
 
     # *** longitudinal control ***
-    if candidate in CANFD_CAR:
+    if candidate in (CANFD_CAR - CAN_CANFD_HYBRID_CAR):
       ret.longitudinalTuning.kpV = [0.1]
       ret.longitudinalTuning.kiV = [0.0]
       ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)
@@ -114,45 +109,43 @@ class CarInterface(CarInterfaceBase):
       ret.stoppingDecelRate = 0.4
 
     # *** feature detection ***
-    if candidate in CANFD_CAR:
+    if candidate in (CANFD_CAR - CAN_CANFD_HYBRID_CAR):
       ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
     else:
-      bus = CAN.ECAN if ret.flags & HyundaiFlags.CAN_CANFD else 0
+      bus = CAN.ECAN if ret.flags & HyundaiFlags.CAN_CANFD_HYBRID else 0
       ret.enableBsm = 0x58b in fingerprint[bus]
 
     # *** panda safety config ***
-    if candidate in CANFD_CAR:
+    if candidate in (CANFD_CAR - CAN_CANFD_HYBRID_CAR):
       cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
       if CAN.ECAN >= 4:
         cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
       ret.safetyConfigs = cfgs
-
-      if ret.flags & HyundaiFlags.CANFD_HDA2:
-        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
-        if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
-          ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
       if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
       if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
     else:
-      if ret.flags & HyundaiFlags.CAN_CANFD:
+      if candidate in LEGACY_SAFETY_MODE_CAR:
+        # these cars require a special panda safety mode due to missing counters and checksums in the messages
+        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
+      else:
         cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundai), ]
         if CAN.ECAN >= 4:
           cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
         ret.safetyConfigs = cfgs
-        if ret.flags & HyundaiFlags.CANFD_HDA2:
-          ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
-        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAN_CANFD
-      elif candidate in LEGACY_SAFETY_MODE_CAR:
-        # these cars require a special panda safety mode due to missing counters and checksums in the messages
-        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
-      else:
-        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
+        if ret.flags & HyundaiFlags.CAN_CANFD_HYBRID:
+          ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAN_CANFD_HYBRID
 
       if candidate in CAMERA_SCC_CAR:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
 
+    # these flags apply to both CANFD_CAR and CAN_CANFD_HYBRID_CAR platforms
+    if ret.flags & HyundaiFlags.CANFD_HDA2:
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
+      if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
+
     if ret.openpilotLongitudinalControl:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
     if ret.flags & HyundaiFlags.HYBRID:
@@ -166,6 +159,10 @@ class CarInterface(CarInterfaceBase):
 
     ret.centerToFront = ret.wheelbase * 0.4
 
+    # FIXME: Non-HDA2 2023-24 Hyundai Palisade / Kia Telluride is disabled in this branch;
+    # The non-HDA2 variant is supported in another PR: https://github.com/commaai/openpilot/pull/27478
+    ret.dashcamOnly |= candidate in (CAR.HYUNDAI_PALISADE_2023, ) and not hda2
+
     return ret
 
   @staticmethod
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index f3073812eb..ee0ab2562d 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -25,7 +25,7 @@ class CarControllerParams:
     self.STEER_THRESHOLD = 150
     self.STEER_STEP = 1  # 100 Hz
 
-    if CP.carFingerprint in CANFD_CAR:
+    if CP.carFingerprint in (CANFD_CAR - CAN_CANFD_HYBRID_CAR):
       self.STEER_MAX = 270
       self.STEER_DRIVER_ALLOWANCE = 250
       self.STEER_DRIVER_MULTIPLIER = 2
@@ -95,8 +95,8 @@ class HyundaiFlags(IntFlag):
 
   MIN_STEER_32_MPH = 2 ** 23
 
-  # CAN CAN-FD
-  CAN_CANFD = 2 ** 24
+  # CAN CAN-FD hybrid architecture
+  CAN_CANFD_HYBRID = 2 ** 24
 
 
 class Footnote(Enum):
@@ -126,9 +126,6 @@ class HyundaiPlatformConfig(PlatformConfig):
     if self.flags & HyundaiFlags.MIN_STEER_32_MPH:
       self.specs = self.specs.override(minSteerSpeed=32 * CV.MPH_TO_MS)
 
-    if self.flags & HyundaiFlags.CAN_CANFD:
-      self.dbc_dict = dbc_dict('hyundai_palisade_2023_generated', None)
-
 
 @dataclass
 class HyundaiCanFDPlatformConfig(PlatformConfig):
@@ -137,6 +134,9 @@ class HyundaiCanFDPlatformConfig(PlatformConfig):
   def init(self):
     self.flags |= HyundaiFlags.CANFD
 
+    if self.flags & HyundaiFlags.CAN_CANFD_HYBRID:
+      self.dbc_dict = dbc_dict('hyundai_palisade_2023_generated', None)
+
 
 class CAR(Platforms):
   # Hyundai
@@ -300,13 +300,13 @@ class CAR(Platforms):
     CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63),
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
   )
-  HYUNDAI_PALISADE_2023 = HyundaiPlatformConfig(
+  HYUNDAI_PALISADE_2023 = HyundaiCanFDPlatformConfig(
     [
       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])),
     ],
     HYUNDAI_PALISADE.specs,
-    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.CAN_CANFD | HyundaiFlags.RADAR_SCC,
+    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.CAN_CANFD_HYBRID | HyundaiFlags.RADAR_SCC,
   )
   HYUNDAI_VELOSTER = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e]))],
@@ -586,7 +586,7 @@ 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.
-  fuzzy_platform_blacklist = {str(c) for c in (CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST)}
+  fuzzy_platform_blacklist = {str(c) for c in (CANFD_CAR - CAN_CANFD_HYBRID_CAR - EV_CAR - CANFD_FUZZY_WHITELIST)}
   candidates: set[str] = set()
 
   for candidate, fws in offline_fw_versions.items():
@@ -743,7 +743,7 @@ CAN_GEARS = {
 
 CANFD_CAR = CAR.with_flags(HyundaiFlags.CANFD)
 CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC)
-CAN_CANFD_CAR = CAR.with_flags(HyundaiFlags.CAN_CANFD)
+CAN_CANFD_HYBRID_CAR = CAR.with_flags(HyundaiFlags.CAN_CANFD_HYBRID)
 
 # These CAN FD cars do not accept communication control to disable the ADAS ECU,
 # responds with 0x7F2822 - 'conditions not correct'
diff --git a/selfdrive/debug/uiview.py b/selfdrive/debug/uiview.py
index f4440a912c..958ee72e04 100755
--- a/selfdrive/debug/uiview.py
+++ b/selfdrive/debug/uiview.py
@@ -4,12 +4,13 @@ import time
 from cereal import car, log, messaging
 from openpilot.common.params import Params
 from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.hardware import HARDWARE
 
 if __name__ == "__main__":
-  CP = car.CarParams(notCar=True)
+  CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10)
   Params().put("CarParams", CP.to_bytes())
 
-  procs = ['camerad', 'ui', 'modeld', 'calibrationd']
+  procs = ['camerad', 'ui', 'modeld', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
   for p in procs:
     managed_processes[p].start()
 
@@ -17,6 +18,7 @@ if __name__ == "__main__":
 
   msgs = {s: messaging.new_message(s) for s in ['controlsState', 'deviceState', 'carParams']}
   msgs['deviceState'].deviceState.started = True
+  msgs['deviceState'].deviceState.deviceType = HARDWARE.get_device_type()
   msgs['carParams'].carParams.openpilotLongitudinalControl = True
 
   msgs['pandaStates'] = messaging.new_message('pandaStates', 1)
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index 664364e04f..5f178e9f8f 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -123,12 +123,15 @@ void MapWindow::updateState(const UIState &s) {
     auto locationd_pos = locationd_location.getPositionGeodetic();
     auto locationd_orientation = locationd_location.getCalibratedOrientationNED();
     auto locationd_velocity = locationd_location.getVelocityCalibrated();
+    auto locationd_ecef = locationd_location.getPositionECEF();
 
-    // Check std norm
-    auto pos_ecef_std = locationd_location.getPositionECEF().getStd();
-    bool pos_accurate_enough = sqrt(pow(pos_ecef_std[0], 2) + pow(pos_ecef_std[1], 2) + pow(pos_ecef_std[2], 2)) < 100;
-
-    locationd_valid = (locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid() && pos_accurate_enough);
+    locationd_valid = (locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid() && locationd_ecef.getValid());
+    if (locationd_valid) {
+      // Check std norm
+      auto pos_ecef_std = locationd_ecef.getStd();
+      bool pos_accurate_enough = sqrt(pow(pos_ecef_std[0], 2) + pow(pos_ecef_std[1], 2) + pow(pos_ecef_std[2], 2)) < 100;
+      locationd_valid = pos_accurate_enough;
+    }
 
     if (locationd_valid) {
       last_position = QMapLibre::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]);
diff --git a/selfdrive/ui/qt/network/wifi_manager.cc b/selfdrive/ui/qt/network/wifi_manager.cc
index 0c50d02f4f..717da47096 100644
--- a/selfdrive/ui/qt/network/wifi_manager.cc
+++ b/selfdrive/ui/qt/network/wifi_manager.cc
@@ -1,5 +1,7 @@
 #include "selfdrive/ui/qt/network/wifi_manager.h"
 
+#include <utility>
+
 #include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/widgets/prime.h"
 
@@ -14,9 +16,15 @@ bool compare_by_strength(const Network &a, const Network &b) {
 
 template <typename T = QDBusMessage, typename... Args>
 T call(const QString &path, const QString &interface, const QString &method, Args &&...args) {
-  QDBusInterface nm = QDBusInterface(NM_DBUS_SERVICE, path, interface, QDBusConnection::systemBus());
+  QDBusInterface nm(NM_DBUS_SERVICE, path, interface, QDBusConnection::systemBus());
   nm.setTimeout(DBUS_TIMEOUT);
-  QDBusMessage response = nm.call(method, args...);
+
+  QDBusMessage response = nm.call(method, std::forward<Args>(args)...);
+  if (response.type() == QDBusMessage::ErrorMessage) {
+    qCritical() << "DBus call error:" << response.errorMessage();
+    return T();
+  }
+
   if constexpr (std::is_same_v<T, QDBusMessage>) {
     return response;
   } else if (response.arguments().count() >= 1) {
@@ -99,10 +107,20 @@ void WifiManager::refreshFinished(QDBusPendingCallWatcher *watcher) {
   seenNetworks.clear();
 
   const QDBusReply<QList<QDBusObjectPath>> watcher_reply = *watcher;
+  if (!watcher_reply.isValid()) {
+    qCritical() << "Failed to refresh";
+    watcher->deleteLater();
+    return;
+  }
+
   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();
+    if (!reply.isValid()) {
+      qCritical() << "Failed to retrieve properties for path:" << path.path();
+      continue;
+    }
 
+    auto properties = reply.value();
     const QByteArray ssid = properties["Ssid"].toByteArray();
     if (ssid.isEmpty()) continue;
 
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 081279d38d..096e288cc2 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -31,8 +31,7 @@ int CameraState::clear_req_queue() {
   req_mgr_flush_request.session_hdl = session_handle;
   req_mgr_flush_request.link_hdl = link_handle;
   req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL;
-  int ret;
-  ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
+  int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
   // LOGD("flushed all req: %d", ret);
   return ret;
 }
@@ -470,7 +469,6 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
   enabled = enabled_;
   if (!enabled) return;
 
-  int ret;
   sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num);
   assert(sensor_fd >= 0);
   LOGD("opened sensor for %d", camera_num);
@@ -501,7 +499,7 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
 
   // create session
   struct cam_req_mgr_session_info session_info = {};
-  ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info));
+  int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info));
   LOGD("get session: %d 0x%X", ret, session_info.session_hdl);
   session_handle = session_info.session_hdl;
 
@@ -654,8 +652,6 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i
 }
 
 void cameras_open(MultiCameraState *s) {
-  int ret;
-
   LOG("-- Opening devices");
   // video0 is req_mgr, the target of many ioctls
   s->video0_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-soc:qcom_cam-req-mgr-video-index0", O_RDWR | O_NONBLOCK));
@@ -679,7 +675,7 @@ void cameras_open(MultiCameraState *s) {
   query_cap_cmd.handle_type = 1;
   query_cap_cmd.caps_handle = (uint64_t)&isp_query_cap_cmd;
   query_cap_cmd.size = sizeof(isp_query_cap_cmd);
-  ret = do_cam_control(s->isp_fd, CAM_QUERY_CAP, &query_cap_cmd, sizeof(query_cap_cmd));
+  int ret = do_cam_control(s->isp_fd, CAM_QUERY_CAP, &query_cap_cmd, sizeof(query_cap_cmd));
   assert(ret == 0);
   LOGD("using MMU handle: %x", isp_query_cap_cmd.device_iommu.non_secure);
   LOGD("using MMU handle: %x", isp_query_cap_cmd.cdm_iommu.non_secure);
@@ -703,15 +699,13 @@ void cameras_open(MultiCameraState *s) {
 }
 
 void CameraState::camera_close() {
-  int ret;
-
   // stop devices
   LOG("-- Stop devices %d", camera_num);
 
   if (enabled) {
     // ret = device_control(sensor_fd, CAM_STOP_DEV, session_handle, sensor_dev_handle);
     // LOGD("stop sensor: %d", ret);
-    ret = device_control(multi_cam_state->isp_fd, CAM_STOP_DEV, session_handle, isp_dev_handle);
+    int ret = device_control(multi_cam_state->isp_fd, CAM_STOP_DEV, session_handle, isp_dev_handle);
     LOGD("stop isp: %d", ret);
     ret = device_control(csiphy_fd, CAM_STOP_DEV, session_handle, csiphy_dev_handle);
     LOGD("stop csiphy: %d", ret);
@@ -746,7 +740,7 @@ void CameraState::camera_close() {
     LOGD("released buffers");
   }
 
-  ret = device_control(sensor_fd, CAM_RELEASE_DEV, session_handle, sensor_dev_handle);
+  int ret = device_control(sensor_fd, CAM_RELEASE_DEV, session_handle, sensor_dev_handle);
   LOGD("release sensor: %d", ret);
 
   // destroyed session
diff --git a/system/camerad/cameras/camera_util.cc b/system/camerad/cameras/camera_util.cc
index 4fe38997ce..7bd23fd9fe 100644
--- a/system/camerad/cameras/camera_util.cc
+++ b/system/camerad/cameras/camera_util.cc
@@ -86,11 +86,10 @@ void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align, int f
 }
 
 void release(int video0_fd, uint32_t handle) {
-  int ret;
   struct cam_mem_mgr_release_cmd mem_mgr_release_cmd = {0};
   mem_mgr_release_cmd.buf_handle = handle;
 
-  ret = do_cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd));
+  int ret = do_cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd));
   assert(ret == 0);
 }
 
diff --git a/system/camerad/main.cc b/system/camerad/main.cc
index 19de21c9bb..b86b4f57ff 100644
--- a/system/camerad/main.cc
+++ b/system/camerad/main.cc
@@ -12,8 +12,7 @@ int main(int argc, char *argv[]) {
     return 0;
   }
 
-  int ret;
-  ret = util::set_realtime_priority(53);
+  int ret = util::set_realtime_priority(53);
   assert(ret == 0);
   ret = util::set_core_affinity({6});
   assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores
diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index 6f08a9f20b..dd34782e33 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -111,6 +111,8 @@ void ChartView::setTheme(QChart::ChartTheme theme) {
     axis_y->setLabelsBrush(palette().text());
     chart()->legend()->setLabelColor(palette().color(QPalette::Text));
   }
+  axis_x->setLineVisible(false);
+  axis_y->setLineVisible(false);
   for (auto &s : sigs) {
     s.series->setColor(s.sig->color);
   }
@@ -745,8 +747,8 @@ void ChartView::drawTimeline(QPainter *painter) {
   const auto plot_area = chart()->plotArea();
   // draw vertical time line
   qreal x = std::clamp(chart()->mapToPosition(QPointF{cur_sec, 0}).x(), plot_area.left(), plot_area.right());
-  painter->setPen(QPen(chart()->titleBrush().color(), 2));
-  painter->drawLine(QPointF{x, plot_area.top()}, QPointF{x, plot_area.bottom() + 1});
+  painter->setPen(QPen(chart()->titleBrush().color(), 1));
+  painter->drawLine(QPointF{x, plot_area.top() - 1}, QPointF{x, plot_area.bottom() + 1});
 
   // draw current time under the axis-x
   QString time_str = QString::number(cur_sec, 'f', 2);
diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
index 71838a1df5..da44319b5c 100644
--- a/tools/cabana/dbc/dbc.h
+++ b/tools/cabana/dbc/dbc.h
@@ -29,11 +29,11 @@ struct MessageId {
   }
 
   bool operator<(const MessageId &other) const {
-    return std::pair{source, address} < std::pair{other.source, other.address};
+    return std::tie(source, address) < std::tie(other.source, other.address);
   }
 
   bool operator>(const MessageId &other) const {
-    return std::pair{source, address} > std::pair{other.source, other.address};
+    return std::tie(source, address) > std::tie(other.source, other.address);
   }
 };
 
diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
index bf246fd342..4a1c52819a 100644
--- a/tools/cabana/dbc/dbcfile.cc
+++ b/tools/cabana/dbc/dbcfile.cc
@@ -3,7 +3,6 @@
 #include <QFile>
 #include <QFileInfo>
 #include <QRegularExpression>
-#include <QTextStream>
 
 DBCFile::DBCFile(const QString &dbc_file_name) {
   QFile file(dbc_file_name);
@@ -76,117 +75,44 @@ cabana::Msg *DBCFile::msg(const QString &name) {
   return it != msgs.end() ? &(it->second) : nullptr;
 }
 
+cabana::Signal *DBCFile::signal(uint32_t address, const QString name) {
+  auto m = msg(address);
+  return m ? (cabana::Signal *)m->sig(name) : nullptr;
+}
+
 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 val_regexp(R"(VAL_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*))");
+  msgs.clear();
 
   int line_num = 0;
   QString line;
-  auto dbc_assert = [&line_num, &line, this](bool condition, const QString &msg = "") {
-    if (!condition) throw std::runtime_error(QString("[%1:%2]%3: %4").arg(filename).arg(line_num).arg(msg).arg(line).toStdString());
-  };
-  auto get_sig = [this](uint32_t address, const QString &name) -> cabana::Signal * {
-    auto m = (cabana::Msg *)msg(address);
-    return m ? (cabana::Signal *)m->sig(name) : nullptr;
-  };
-
-  msgs.clear();
-  QTextStream stream((QString *)&content);
   cabana::Msg *current_msg = nullptr;
   int multiplexor_cnt = 0;
   bool seen_first = false;
+  QTextStream stream((QString *)&content);
+
   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);
-      dbc_assert(match.hasMatch());
-      auto address = match.captured(1).toUInt();
-      dbc_assert(msgs.count(address) == 0, QString("Duplicate message address: %1").arg(address));
-      current_msg = &msgs[address];
-      current_msg->address = address;
-      current_msg->name = match.captured(2);
-      current_msg->size = match.captured(3).toULong();
-      current_msg->transmitter = match.captured(4).trimmed();
-    } else if (line.startsWith("SG_ ")) {
-      int offset = 0;
-      auto match = sg_regexp.match(line);
-      if (!match.hasMatch()) {
-        match = sgm_regexp.match(line);
-        offset = 1;
+    try {
+      if (line.startsWith("BO_ ")) {
+        multiplexor_cnt = 0;
+        current_msg = parseBO(line);
+      } else if (line.startsWith("SG_ ")) {
+        parseSG(line, current_msg, multiplexor_cnt);
+      } else if (line.startsWith("VAL_ ")) {
+        parseVAL(line);
+      } else if (line.startsWith("CM_ BO_")) {
+        parseCM_BO(line, content, raw_line, stream);
+      } else if (line.startsWith("CM_ SG_ ")) {
+        parseCM_SG(line, content, raw_line, stream);
+      } else {
+        seen = false;
       }
-      dbc_assert(match.hasMatch());
-      dbc_assert(current_msg, "No Message");
-      auto name = match.captured(1);
-      dbc_assert(current_msg->sig(name) == nullptr, "Duplicate signal name");
-      cabana::Signal s{};
-      if (offset == 1) {
-        auto indicator = match.captured(2);
-        if (indicator == "M") {
-          // Only one signal within a single message can be the multiplexer switch.
-          dbc_assert(++multiplexor_cnt < 2, "Multiple multiplexor");
-          s.type = cabana::Signal::Type::Multiplexor;
-        } else {
-          s.type = cabana::Signal::Type::Multiplexed;
-          s.multiplex_value = indicator.mid(1).toInt();
-        }
-      }
-      s.name = name;
-      s.start_bit = match.captured(offset + 2).toInt();
-      s.size = match.captured(offset + 3).toInt();
-      s.is_little_endian = match.captured(offset + 4).toInt() == 1;
-      s.is_signed = match.captured(offset + 5) == "-";
-      s.factor = match.captured(offset + 6).toDouble();
-      s.offset = match.captured(offset + 7).toDouble();
-      s.min = match.captured(8 + offset).toDouble();
-      s.max = match.captured(9 + offset).toDouble();
-      s.unit = match.captured(10 + offset);
-      s.receiver_name = match.captured(11 + offset).trimmed();
-
-      current_msg->sigs.push_back(new cabana::Signal(s));
-    } else if (line.startsWith("VAL_ ")) {
-      auto match = val_regexp.match(line);
-      dbc_assert(match.hasMatch());
-      if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) {
-        QStringList desc_list = match.captured(3).trimmed().split('"');
-        for (int i = 0; i < desc_list.size(); i += 2) {
-          auto val = desc_list[i].trimmed();
-          if (!val.isEmpty() && (i + 1) < desc_list.size()) {
-            auto desc = desc_list[i + 1].trimmed();
-            s->val_desc.push_back({val.toDouble(), desc});
-          }
-        }
-      }
-    } else if (line.startsWith("CM_ BO_")) {
-      if (!line.endsWith("\";")) {
-        int pos = stream.pos() - raw_line.length() - 1;
-        line = content.mid(pos, content.indexOf("\";", pos));
-      }
-      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().replace("\\\"", "\"");
-      }
-    } else if (line.startsWith("CM_ SG_ ")) {
-      if (!line.endsWith("\";")) {
-        int pos = stream.pos() - raw_line.length() - 1;
-        line = content.mid(pos, content.indexOf("\";", pos));
-      }
-      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().replace("\\\"", "\"");
-      }
-    } else {
-      seen = false;
+    } catch (std::exception &e) {
+      throw std::runtime_error(QString("[%1:%2]%3: %4").arg(filename).arg(line_num).arg(e.what()).arg(line).toStdString());
     }
 
     if (seen) {
@@ -201,6 +127,127 @@ void DBCFile::parse(const QString &content) {
   }
 }
 
+cabana::Msg *DBCFile::parseBO(const QString &line) {
+  static QRegularExpression bo_regexp(R"(^BO_ (?<address>\w+) (?<name>\w+) *: (?<size>\w+) (?<transmitter>\w+))");
+
+  QRegularExpressionMatch match = bo_regexp.match(line);
+  if (!match.hasMatch())
+    throw std::runtime_error("Invalid BO_ line format");
+
+  uint32_t address = match.captured("address").toUInt();
+  if (msgs.count(address) > 0)
+    throw std::runtime_error(QString("Duplicate message address: %1").arg(address).toStdString());
+
+  // Create a new message object
+  cabana::Msg *msg = &msgs[address];
+  msg->address = address;
+  msg->name = match.captured("name");
+  msg->size = match.captured("size").toULong();
+  msg->transmitter = match.captured("transmitter").trimmed();
+  return msg;
+}
+
+void DBCFile::parseCM_BO(const QString &line, const QString &content, const QString &raw_line, const QTextStream &stream) {
+  static QRegularExpression msg_comment_regexp(R"(^CM_ BO_ *(?<address>\w+) *\"(?<comment>(?:[^"\\]|\\.)*)\"\s*;)");
+
+  QString parse_line = line;
+  if (!parse_line.endsWith("\";")) {
+    int pos = stream.pos() - raw_line.length() - 1;
+    parse_line = content.mid(pos, content.indexOf("\";", pos));
+  }
+  auto match = msg_comment_regexp.match(parse_line);
+  if (!match.hasMatch())
+    throw std::runtime_error("Invalid message comment format");
+
+  if (auto m = (cabana::Msg *)msg(match.captured("address").toUInt()))
+    m->comment = match.captured("comment").trimmed().replace("\\\"", "\"");
+}
+
+void DBCFile::parseSG(const QString &line, cabana::Msg *current_msg, int &multiplexor_cnt) {
+  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+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
+
+  if (!current_msg)
+    throw std::runtime_error("No Message");
+
+  int offset = 0;
+  auto match = sg_regexp.match(line);
+  if (!match.hasMatch()) {
+    match = sgm_regexp.match(line);
+    offset = 1;
+  }
+  if (!match.hasMatch())
+    throw std::runtime_error("Invalid SG_ line format");
+
+  QString name = match.captured(1);
+  if (current_msg->sig(name) != nullptr)
+    throw std::runtime_error("Duplicate signal name");
+
+  cabana::Signal s{};
+  if (offset == 1) {
+    auto indicator = match.captured(2);
+    if (indicator == "M") {
+      ++multiplexor_cnt;
+      // Only one signal within a single message can be the multiplexer switch.
+      if (multiplexor_cnt >= 2)
+        throw std::runtime_error("Multiple multiplexor");
+
+      s.type = cabana::Signal::Type::Multiplexor;
+    } else {
+      s.type = cabana::Signal::Type::Multiplexed;
+      s.multiplex_value = indicator.mid(1).toInt();
+    }
+  }
+  s.name = name;
+  s.start_bit = match.captured(offset + 2).toInt();
+  s.size = match.captured(offset + 3).toInt();
+  s.is_little_endian = match.captured(offset + 4).toInt() == 1;
+  s.is_signed = match.captured(offset + 5) == "-";
+  s.factor = match.captured(offset + 6).toDouble();
+  s.offset = match.captured(offset + 7).toDouble();
+  s.min = match.captured(8 + offset).toDouble();
+  s.max = match.captured(9 + offset).toDouble();
+  s.unit = match.captured(10 + offset);
+  s.receiver_name = match.captured(11 + offset).trimmed();
+  current_msg->sigs.push_back(new cabana::Signal(s));
+}
+
+void DBCFile::parseCM_SG(const QString &line, const QString &content, const QString &raw_line, const QTextStream &stream) {
+  static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"((?:[^"\\]|\\.)*)\"\s*;)");
+
+  QString parse_line = line;
+  if (!parse_line.endsWith("\";")) {
+    int pos = stream.pos() - raw_line.length() - 1;
+    parse_line = content.mid(pos, content.indexOf("\";", pos));
+  }
+  auto match = sg_comment_regexp.match(parse_line);
+  if (!match.hasMatch())
+    throw std::runtime_error("Invalid CM_ SG_ line format");
+
+  if (auto s = signal(match.captured(1).toUInt(), match.captured(2))) {
+    s->comment = match.captured(3).trimmed().replace("\\\"", "\"");
+  }
+}
+
+void DBCFile::parseVAL(const QString &line) {
+  static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*))");
+
+  auto match = val_regexp.match(line);
+  if (!match.hasMatch())
+    throw std::runtime_error("invalid VAL_ line format");
+
+  if (auto s = signal(match.captured(1).toUInt(), match.captured(2))) {
+    QStringList desc_list = match.captured(3).trimmed().split('"');
+    for (int i = 0; i < desc_list.size(); i += 2) {
+      auto val = desc_list[i].trimmed();
+      if (!val.isEmpty() && (i + 1) < desc_list.size()) {
+        auto desc = desc_list[i + 1].trimmed();
+        s->val_desc.push_back({val.toDouble(), desc});
+      }
+    }
+  }
+}
+
 QString DBCFile::generateDBC() {
   QString dbc_string, comment, val_desc;
   for (const auto &[address, m] : msgs) {
diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h
index 29f19a80e4..20de04a861 100644
--- a/tools/cabana/dbc/dbcfile.h
+++ b/tools/cabana/dbc/dbcfile.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <map>
+#include <QTextStream>
 
 #include "tools/cabana/dbc/dbc.h"
 
@@ -26,6 +27,7 @@ public:
   cabana::Msg *msg(uint32_t address);
   cabana::Msg *msg(const QString &name);
   inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); }
+  cabana::Signal *signal(uint32_t address, const QString name);
 
   inline QString name() const { return name_.isEmpty() ? "untitled" : name_; }
   inline bool isEmpty() const { return msgs.empty() && name_.isEmpty(); }
@@ -34,6 +36,12 @@ public:
 
 private:
   void parse(const QString &content);
+  cabana::Msg *parseBO(const QString &line);
+  void parseSG(const QString &line, cabana::Msg *current_msg, int &multiplexor_cnt);
+  void parseCM_BO(const QString &line, const QString &content, const QString &raw_line, const QTextStream &stream);
+  void parseCM_SG(const QString &line, const QString &content, const QString &raw_line, const QTextStream &stream);
+  void parseVAL(const QString &line);
+
   QString header;
   std::map<uint32_t, cabana::Msg> msgs;
   QString name_;
diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h
index 8c9ee922f8..1ac6e5bbad 100644
--- a/tools/cabana/historylog.h
+++ b/tools/cabana/historylog.h
@@ -53,7 +53,7 @@ public:
   std::function<bool(double, double)> filter_cmp = nullptr;
   std::deque<Message> messages;
   std::vector<cabana::Signal *> sigs;
-  bool hex_mode = true;
+  bool hex_mode = false;
 };
 
 class LogsWidget : public QFrame {
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index 4c3efa0385..396cfdc38b 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -43,7 +43,6 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
   view->setItemsExpandable(false);
   view->setIndentation(0);
   view->setRootIsDecorated(false);
-  view->setUniformRowHeights(!settings.multiple_lines_hex);
 
   // Must be called before setting any header parameters to avoid overriding
   restoreHeaderState(settings.message_header_state);
@@ -135,15 +134,9 @@ void MessagesWidget::selectMessage(const MessageId &msg_id) {
 }
 
 void MessagesWidget::suppressHighlighted() {
-  if (sender() == suppress_add) {
-    size_t n = can->suppressHighlighted();
-    suppress_clear->setText(tr("Clear (%1)").arg(n));
-    suppress_clear->setEnabled(true);
-  } else {
-    can->clearSuppressed();
-    suppress_clear->setText(tr("Clear"));
-    suppress_clear->setEnabled(false);
-  }
+  int n = sender() == suppress_add ? can->suppressHighlighted() : (can->clearSuppressed(), 0);
+  suppress_clear->setText(n > 0 ? tr("Clear (%1)").arg(n) : tr("Clear"));
+  suppress_clear->setEnabled(n > 0);
 }
 
 void MessagesWidget::headerContextMenuEvent(const QPoint &pos) {
@@ -174,7 +167,6 @@ void MessagesWidget::menuAboutToShow() {
 void MessagesWidget::setMultiLineBytes(bool multi) {
   settings.multiple_lines_hex = multi;
   delegate->setMultipleLines(multi);
-  view->setUniformRowHeights(!multi);
   view->updateBytesSectionSize();
   view->doItemsLayout();
 }
@@ -207,22 +199,22 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
     }
   };
 
+  const static QString NA =  QStringLiteral("N/A");
   const auto &item = items_[index.row()];
-  const auto &data = can->lastMessage(item.id);
   if (role == Qt::DisplayRole) {
     switch (index.column()) {
       case Column::NAME: return item.name;
-      case Column::SOURCE: return item.id.source != INVALID_SOURCE ? QString::number(item.id.source) : "N/A";
+      case Column::SOURCE: return item.id.source != INVALID_SOURCE ? QString::number(item.id.source) : NA;
       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.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";
+      case Column::FREQ: return item.id.source != INVALID_SOURCE ? getFreq(can->lastMessage(item.id).freq) : NA;
+      case Column::COUNT: return item.id.source != INVALID_SOURCE ? QString::number(can->lastMessage(item.id).count) : NA;
+      case Column::DATA: return item.id.source != INVALID_SOURCE ? "" : NA;
     }
   } else if (role == ColorsRole) {
-    return QVariant::fromValue((void*)(&data.colors));
+    return QVariant::fromValue((void*)(&can->lastMessage(item.id).colors));
   } else if (role == BytesRole && index.column() == Column::DATA && item.id.source != INVALID_SOURCE) {
-    return QVariant::fromValue((void*)(&data.dat));
+    return QVariant::fromValue((void*)(&can->lastMessage(item.id).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) {
@@ -366,18 +358,17 @@ bool MessageListModel::filterAndSort() {
 }
 
 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)) {
+  if (has_new_ids || ((filters_.count(Column::FREQ) || filters_.count(Column::COUNT) || filters_.count(Column::DATA)) &&
+                      ++sort_threshold_ == settings.fps)) {
+    sort_threshold_ = 0;
     if (filterAndSort()) return;
   }
-  for (int i = 0; i < items_.size(); ++i) {
-    auto &item = items_[i];
-    bool prev_active = item.active;
+
+  for (auto &item : items_) {
     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});
-    }
   }
+  // Update viewport
+  emit dataChanged(index(0, 0), index(rowCount() - 1, columnCount() - 1));
 }
 
 void MessageListModel::sort(int column, Qt::SortOrder order) {
@@ -420,6 +411,7 @@ void MessageView::updateBytesSectionSize() {
       max_bytes = std::max<int>(max_bytes, m.dat.size());
     }
   }
+  setUniformRowHeights(!delegate->multipleLines() || max_bytes <= 8);
   header()->resizeSection(MessageListModel::Column::DATA, delegate->sizeForBytes(max_bytes).width());
 }
 
diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h
index c110db2b56..823fcb74e3 100644
--- a/tools/cabana/messageswidget.h
+++ b/tools/cabana/messageswidget.h
@@ -61,6 +61,7 @@ private:
   std::set<MessageId> dbc_messages_;
   int sort_column = 0;
   Qt::SortOrder sort_order = Qt::AscendingOrder;
+  int sort_threshold_ = 0;
 };
 
 class MessageView : public QTreeView {
diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc
index b63789a026..523cbf3be7 100644
--- a/tools/cabana/settings.cc
+++ b/tools/cabana/settings.cc
@@ -12,6 +12,9 @@
 
 #include "tools/cabana/utils/util.h"
 
+const int MIN_CACHE_MINIUTES = 30;
+const int MAX_CACHE_MINIUTES = 120;
+
 Settings settings;
 
 template <class SettingOperation>
@@ -72,7 +75,7 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
   fps->setValue(settings.fps);
 
   form_layout->addRow(tr("Max Cached Minutes"), cached_minutes = new QSpinBox(this));
-  cached_minutes->setRange(5, 60);
+  cached_minutes->setRange(MIN_CACHE_MINIUTES, MAX_CACHE_MINIUTES);
   cached_minutes->setSingleStep(1);
   cached_minutes->setValue(settings.max_cached_minutes);
   main_layout->addWidget(groupbox);
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 9c52908c36..593d1bf5d8 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -130,6 +130,7 @@ void AbstractStream::updateLastMsgsTo(double sec) {
   current_sec_ = sec;
   uint64_t last_ts = (sec + routeStartTime()) * 1e9;
   std::unordered_map<MessageId, CanData> msgs;
+  msgs.reserve(events_.size());
 
   for (const auto &[id, ev] : events_) {
     auto it = std::upper_bound(ev.begin(), ev.end(), last_ts, CompareCanEvent());
@@ -171,6 +172,8 @@ const CanEvent *AbstractStream::newEvent(uint64_t mono_time, const cereal::CanDa
 void AbstractStream::mergeEvents(const std::vector<const CanEvent *> &events) {
   static MessageEventsMap msg_events;
   std::for_each(msg_events.begin(), msg_events.end(), [](auto &e) { e.second.clear(); });
+
+  // Group events by message ID
   for (auto e : events) {
     msg_events[{.source = e->src, .address = e->address}].push_back(e);
   }
@@ -207,7 +210,7 @@ inline QColor blend(const QColor &a, const QColor &b) {
   return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
 }
 
-// Calculate the frequency of the past minute.
+// Calculate the frequency from the past one minute data
 double calc_freq(const MessageId &msg_id, double current_sec) {
   const auto &events = can->events(msg_id);
   uint64_t cur_mono_time = (can->routeStartTime() + current_sec) * 1e9;
@@ -255,11 +258,8 @@ void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const in
       if (last != cur) {
         const int delta = cur - last;
         // Keep track if signal is changing randomly, or mostly moving in the same direction
-        if (std::signbit(delta) == std::signbit(last_change.delta)) {
-          last_change.same_delta_counter = std::min(16, last_change.same_delta_counter + 1);
-        } else {
-          last_change.same_delta_counter = std::max(0, last_change.same_delta_counter - 4);
-        }
+        last_change.same_delta_counter += std::signbit(delta) == std::signbit(last_change.delta) ? 1 : -4;
+        last_change.same_delta_counter = std::clamp(last_change.same_delta_counter, 0, 16);
 
         const double delta_t = ts - last_change.ts;
         // Mostly moves in the same direction, color based on delta up/down
@@ -272,10 +272,10 @@ void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const in
         }
 
         // Track bit level changes
-        const uint8_t tmp = (cur ^ last);
+        const uint8_t diff = (cur ^ last);
         for (int bit = 0; bit < 8; bit++) {
-          if (tmp & (1 << (7 - bit))) {
-            last_change.bit_change_counts[bit] += 1;
+          if (diff & (1u << bit)) {
+            ++last_change.bit_change_counts[7 - bit];
           }
         }
 
diff --git a/tools/cabana/utils/util.cc b/tools/cabana/utils/util.cc
index f85ea6d105..4556f90850 100644
--- a/tools/cabana/utils/util.cc
+++ b/tools/cabana/utils/util.cc
@@ -51,7 +51,8 @@ std::pair<double, double> SegmentTree::get_minmax(int n, int left, int right, in
 
 // MessageBytesDelegate
 
-MessageBytesDelegate::MessageBytesDelegate(QObject *parent, bool multiple_lines) : multiple_lines(multiple_lines), QStyledItemDelegate(parent) {
+MessageBytesDelegate::MessageBytesDelegate(QObject *parent, bool multiple_lines)
+    : font_metrics(QApplication::font()), multiple_lines(multiple_lines), QStyledItemDelegate(parent) {
   fixed_font = QFontDatabase::systemFont(QFontDatabase::FixedFont);
   byte_size = QFontMetrics(fixed_font).size(Qt::TextSingleLine, "00 ") + QSize(0, 2);
   for (int i = 0; i < 256; ++i) {
@@ -73,31 +74,38 @@ QSize MessageBytesDelegate::sizeHint(const QStyleOptionViewItem &option, const Q
 }
 
 void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
-  auto data = index.data(BytesRole);
-  if (!data.isValid()) {
-    return QStyledItemDelegate::paint(painter, option, index);
-  }
-
-  QFont old_font = painter->font();
-  QPen old_pen = painter->pen();
   if (option.state & QStyle::State_Selected) {
     painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight));
   }
-  const QPoint pt{option.rect.left() + h_margin, option.rect.top() + v_margin};
-  painter->setFont(fixed_font);
 
-  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*>());
+  QRect item_rect = option.rect.adjusted(h_margin, v_margin, -h_margin, -v_margin);
+  QColor highlighted_color = option.palette.color(QPalette::HighlightedText);
   auto text_color = index.data(Qt::ForegroundRole).value<QColor>();
   bool inactive = text_color.isValid();
   if (!inactive) {
     text_color = option.palette.color(QPalette::Text);
   }
+  auto data = index.data(BytesRole);
+  if (!data.isValid()) {
+    painter->setFont(option.font);
+    painter->setPen(option.state & QStyle::State_Selected ? highlighted_color : text_color);
+    QString text = font_metrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, item_rect.width());
+    painter->drawText(item_rect, Qt::AlignLeft | Qt::AlignVCenter, text);
+    return;
+  }
 
+  // Paint hex column
+  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 *>());
+
+  painter->setFont(fixed_font);
+  const QPen text_pen(option.state & QStyle::State_Selected ? highlighted_color : text_color);
+  const QPoint pt = item_rect.topLeft();
   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);
+    QRect r({pt.x() + column * byte_size.width(), pt.y() + row * byte_size.height()}, byte_size);
+
     if (!inactive && i < colors.size() && colors[i].alpha() > 0) {
       if (option.state & QStyle::State_Selected) {
         painter->setPen(option.palette.color(QPalette::Text));
@@ -105,12 +113,10 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &
       }
       painter->fillRect(r, colors[i]);
     } else {
-      painter->setPen(option.state & QStyle::State_Selected ? option.palette.color(QPalette::HighlightedText) : text_color);
+      painter->setPen(text_pen);
     }
     utils::drawStaticText(painter, r, hex_text_table[bytes[i]]);
   }
-  painter->setFont(old_font);
-  painter->setPen(old_pen);
 }
 
 // TabBar
diff --git a/tools/cabana/utils/util.h b/tools/cabana/utils/util.h
index 218b8eeb51..0ebd7e41f8 100644
--- a/tools/cabana/utils/util.h
+++ b/tools/cabana/utils/util.h
@@ -9,6 +9,7 @@
 #include <QByteArray>
 #include <QDoubleValidator>
 #include <QFont>
+#include <QFontMetrics>
 #include <QPainter>
 #include <QRegExpValidator>
 #include <QSocketNotifier>
@@ -76,6 +77,7 @@ public:
 
 private:
   std::array<QStaticText, 256> hex_text_table;
+  QFontMetrics font_metrics;
   QFont fixed_font;
   QSize byte_size = {};
   bool multiple_lines = false;
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index f7ba316480..df815b582f 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -54,8 +54,8 @@ fi
 eval "$(pyenv init --path)"
 
 echo "update pip"
-pip install pip==23.3
-pip install poetry==1.6.1
+pip install pip==24.0
+pip install poetry==1.7.0
 
 poetry config virtualenvs.prefer-active-python true --local
 poetry config virtualenvs.in-project true --local
diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc
index fb70a82c40..26ef4684a4 100644
--- a/tools/replay/framereader.cc
+++ b/tools/replay/framereader.cc
@@ -1,5 +1,10 @@
 #include "tools/replay/framereader.h"
 
+#include <map>
+#include <memory>
+#include <tuple>
+#include <utility>
+
 #include "common/util.h"
 #include "third_party/libyuv/include/libyuv.h"
 #include "tools/replay/util.h"
@@ -12,7 +17,6 @@
 #define HW_PIX_FMT AV_PIX_FMT_CUDA
 #endif
 
-
 namespace {
 
 enum AVPixelFormat get_hw_format(AVCodecContext *ctx, const enum AVPixelFormat *pix_fmts) {
@@ -21,11 +25,32 @@ enum AVPixelFormat get_hw_format(AVCodecContext *ctx, const enum AVPixelFormat *
     if (*p == *hw_pix_fmt) return *p;
   }
   rWarning("Please run replay with the --no-hw-decoder flag!");
-  // fallback to YUV420p
   *hw_pix_fmt = AV_PIX_FMT_NONE;
   return AV_PIX_FMT_YUV420P;
 }
 
+struct DecoderManager {
+  VideoDecoder *acquire(CameraType type, AVCodecParameters *codecpar, bool hw_decoder) {
+    auto key = std::tuple(type, codecpar->width, codecpar->height);
+    std::unique_lock lock(mutex_);
+    if (auto it = decoders_.find(key); it != decoders_.end()) {
+      return it->second.get();
+    }
+
+    auto decoder = std::make_unique<VideoDecoder>();
+    if (!decoder->open(codecpar, hw_decoder)) {
+      decoder.reset(nullptr);
+    }
+    decoders_[key] = std::move(decoder);
+    return decoders_[key].get();
+  }
+
+  std::mutex mutex_;
+  std::map<std::tuple<CameraType, int, int>, std::unique_ptr<VideoDecoder>> decoders_;
+};
+
+DecoderManager decoder_manager;
+
 }  // namespace
 
 FrameReader::FrameReader() {
@@ -33,12 +58,10 @@ FrameReader::FrameReader() {
 }
 
 FrameReader::~FrameReader() {
-  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);
 }
 
-bool FrameReader::load(const std::string &url, bool no_hw_decoder, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
+bool FrameReader::load(CameraType type, const std::string &url, bool no_hw_decoder, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
   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);
@@ -46,10 +69,10 @@ bool FrameReader::load(const std::string &url, bool no_hw_decoder, std::atomic<b
       return false;
     }
   }
-  return loadFromFile(local_file_path, no_hw_decoder, abort);
+  return loadFromFile(type, local_file_path, no_hw_decoder, abort);
 }
 
-bool FrameReader::loadFromFile(const std::string &file, bool no_hw_decoder, std::atomic<bool> *abort) {
+bool FrameReader::loadFromFile(CameraType type, 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");
@@ -57,27 +80,12 @@ bool FrameReader::loadFromFile(const std::string &file, bool no_hw_decoder, std:
   }
   input_ctx->probesize = 10 * 1024 * 1024;  // 10MB
 
-  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);
-  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 && !initHardwareDecoder(HW_DEVICE_TYPE)) {
-    rWarning("No device with hardware decoder found. fallback to CPU decoding.");
-  }
-
-  if (avcodec_open2(decoder_ctx, decoder, nullptr) < 0) {
-    rError("Failed to open codec");
+  decoder_ = decoder_manager.acquire(type, input_ctx->streams[0]->codecpar, !no_hw_decoder);
+  if (!decoder_) {
     return false;
   }
+  width = decoder_->width;
+  height = decoder_->height;
 
   AVPacket pkt;
   packets_info.reserve(60 * 20);  // 20fps, one minute
@@ -85,29 +93,70 @@ bool FrameReader::loadFromFile(const std::string &file, bool no_hw_decoder, std:
     packets_info.emplace_back(PacketInfo{.flags = pkt.flags, .pos = pkt.pos});
     av_packet_unref(&pkt);
   }
-
   avio_seek(input_ctx->pb, 0, SEEK_SET);
   return !packets_info.empty();
 }
 
-bool FrameReader::initHardwareDecoder(AVHWDeviceType hw_device_type) {
-  for (int i = 0;; i++) {
-    const AVCodecHWConfig *config = avcodec_get_hw_config(decoder_ctx->codec, i);
-    if (!config) {
-      rWarning("decoder %s does not support hw device type %s.", decoder_ctx->codec->name,
-               av_hwdevice_get_type_name(hw_device_type));
-      return false;
-    }
+bool FrameReader::get(int idx, VisionBuf *buf) {
+  if (!buf || idx < 0 || idx >= packets_info.size()) {
+    return false;
+  }
+  return decoder_->decode(this, idx, buf);
+}
+
+// class VideoDecoder
+
+VideoDecoder::VideoDecoder() {
+  av_frame_ = av_frame_alloc();
+  hw_frame_ = av_frame_alloc();
+}
+
+VideoDecoder::~VideoDecoder() {
+  if (hw_device_ctx) av_buffer_unref(&hw_device_ctx);
+  if (decoder_ctx) avcodec_free_context(&decoder_ctx);
+  av_frame_free(&av_frame_);
+  av_frame_free(&hw_frame_);
+}
+
+bool VideoDecoder::open(AVCodecParameters *codecpar, bool hw_decoder) {
+  const AVCodec *decoder = avcodec_find_decoder(codecpar->codec_id);
+  if (!decoder) return false;
+
+  decoder_ctx = avcodec_alloc_context3(decoder);
+  if (!decoder_ctx || avcodec_parameters_to_context(decoder_ctx, codecpar) != 0) {
+    rError("Failed to allocate or initialize codec context");
+    return false;
+  }
+  width = (decoder_ctx->width + 3) & ~3;
+  height = decoder_ctx->height;
+
+  if (hw_decoder && !initHardwareDecoder(HW_DEVICE_TYPE)) {
+    rWarning("No device with hardware decoder found. fallback to CPU decoding.");
+  }
+
+  if (avcodec_open2(decoder_ctx, decoder, nullptr) < 0) {
+    rError("Failed to open codec");
+    return false;
+  }
+  return true;
+}
+
+bool VideoDecoder::initHardwareDecoder(AVHWDeviceType hw_device_type) {
+  const AVCodecHWConfig *config = nullptr;
+  for (int i = 0; (config = avcodec_get_hw_config(decoder_ctx->codec, i)) != nullptr; i++) {
     if (config->methods & AV_CODEC_HW_CONFIG_METHOD_HW_DEVICE_CTX && config->device_type == hw_device_type) {
       hw_pix_fmt = config->pix_fmt;
       break;
     }
   }
+  if (!config) {
+    rWarning("Hardware configuration not found");
+    return false;
+  }
 
   int ret = av_hwdevice_ctx_create(&hw_device_ctx, hw_device_type, nullptr, nullptr, 0);
   if (ret < 0) {
     hw_pix_fmt = AV_PIX_FMT_NONE;
-    has_hw_decoder = false;
     rWarning("Failed to create specified HW device %d.", ret);
     return false;
   }
@@ -118,34 +167,27 @@ bool FrameReader::initHardwareDecoder(AVHWDeviceType hw_device_type) {
   return true;
 }
 
-bool FrameReader::get(int idx, VisionBuf *buf) {
-  if (!buf || idx < 0 || idx >= packets_info.size()) {
-    return false;
-  }
-  return decode(idx, buf);
-}
-
-bool FrameReader::decode(int idx, VisionBuf *buf) {
+bool VideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) {
   int from_idx = idx;
-  if (idx != prev_idx + 1) {
+  if (idx != reader->prev_idx + 1) {
     // seeking to the nearest key frame
     for (int i = idx; i >= 0; --i) {
-      if (packets_info[i].flags & AV_PKT_FLAG_KEY) {
+      if (reader->packets_info[i].flags & AV_PKT_FLAG_KEY) {
         from_idx = i;
         break;
       }
     }
-    avio_seek(input_ctx->pb, packets_info[from_idx].pos, SEEK_SET);
+    avio_seek(reader->input_ctx->pb, reader->packets_info[from_idx].pos, SEEK_SET);
   }
-  prev_idx = idx;
+  reader->prev_idx = idx;
 
   bool result = false;
   AVPacket pkt;
   for (int i = from_idx; i <= idx; ++i) {
-    if (av_read_frame(input_ctx, &pkt) == 0) {
+    if (av_read_frame(reader->input_ctx, &pkt) == 0) {
       AVFrame *f = decodeFrame(&pkt);
       if (f && i == idx) {
-        result = copyBuffers(f, buf);
+        result = copyBuffer(f, buf);
       }
       av_packet_unref(&pkt);
     }
@@ -153,33 +195,27 @@ bool FrameReader::decode(int idx, VisionBuf *buf) {
   return result;
 }
 
-AVFrame *FrameReader::decodeFrame(AVPacket *pkt) {
+AVFrame *VideoDecoder::decodeFrame(AVPacket *pkt) {
   int ret = avcodec_send_packet(decoder_ctx, pkt);
   if (ret < 0) {
     rError("Error sending a packet for decoding: %d", ret);
     return nullptr;
   }
 
-  av_frame_.reset(av_frame_alloc());
-  ret = avcodec_receive_frame(decoder_ctx, av_frame_.get());
+  ret = avcodec_receive_frame(decoder_ctx, av_frame_);
   if (ret != 0) {
     rError("avcodec_receive_frame error: %d", ret);
     return nullptr;
   }
 
-  if (av_frame_->format == hw_pix_fmt) {
-    hw_frame.reset(av_frame_alloc());
-    if ((ret = av_hwframe_transfer_data(hw_frame.get(), av_frame_.get(), 0)) < 0) {
-      rError("error transferring the data from GPU to CPU");
-      return nullptr;
-    }
-    return hw_frame.get();
-  } else {
-    return av_frame_.get();
+  if (av_frame_->format == hw_pix_fmt && av_hwframe_transfer_data(hw_frame_, av_frame_, 0) < 0) {
+    rError("error transferring frame data from GPU to CPU");
+    return nullptr;
   }
+  return (av_frame_->format == hw_pix_fmt) ? hw_frame_ : av_frame_;
 }
 
-bool FrameReader::copyBuffers(AVFrame *f, VisionBuf *buf) {
+bool VideoDecoder::copyBuffer(AVFrame *f, VisionBuf *buf) {
   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 a25b508cc7..b9abefb7c3 100644
--- a/tools/replay/framereader.h
+++ b/tools/replay/framereader.h
@@ -1,10 +1,10 @@
 #pragma once
 
-#include <memory>
 #include <string>
 #include <vector>
 
 #include "cereal/visionipc/visionbuf.h"
+#include "system/camerad/cameras/camera_common.h"
 #include "tools/replay/filereader.h"
 
 extern "C" {
@@ -12,39 +12,46 @@ extern "C" {
 #include <libavformat/avformat.h>
 }
 
-struct AVFrameDeleter {
-  void operator()(AVFrame* frame) const { av_frame_free(&frame); }
-};
+class VideoDecoder;
 
 class FrameReader {
 public:
   FrameReader();
   ~FrameReader();
-  bool load(const std::string &url, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr, bool local_cache = false,
+  bool load(CameraType type, 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 loadFromFile(const std::string &file, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr);
+  bool loadFromFile(CameraType type, const std::string &file, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr);
   bool get(int idx, VisionBuf *buf);
   size_t getFrameCount() const { return packets_info.size(); }
 
   int width = 0, height = 0;
 
-private:
-  bool initHardwareDecoder(AVHWDeviceType hw_device_type);
-  bool decode(int idx, VisionBuf *buf);
-  AVFrame * decodeFrame(AVPacket *pkt);
-  bool copyBuffers(AVFrame *f, VisionBuf *buf);
-
-  std::unique_ptr<AVFrame, AVFrameDeleter>av_frame_, hw_frame;
+  VideoDecoder *decoder_ = nullptr;
   AVFormatContext *input_ctx = nullptr;
-  AVCodecContext *decoder_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;
+};
+
+
+class VideoDecoder {
+public:
+  VideoDecoder();
+  ~VideoDecoder();
+  bool open(AVCodecParameters *codecpar, bool hw_decoder);
+  bool decode(FrameReader *reader, int idx, VisionBuf *buf);
+  int width = 0, height = 0;
+
+private:
+  bool initHardwareDecoder(AVHWDeviceType hw_device_type);
+  AVFrame *decodeFrame(AVPacket *pkt);
+  bool copyBuffer(AVFrame *f, VisionBuf *buf);
+
+  AVFrame *av_frame_, *hw_frame_;
+  AVCodecContext *decoder_ctx = nullptr;
+  AVPixelFormat hw_pix_fmt = AV_PIX_FMT_NONE;
+  AVBufferRef *hw_device_ctx = nullptr;
 };
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index 1c7010eb8a..e8e73459ea 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -160,7 +160,7 @@ void Segment::loadFile(int id, const std::string file) {
   bool success = false;
   if (id < MAX_CAMERAS) {
     frames[id] = std::make_unique<FrameReader>();
-    success = frames[id]->load(file, flags & REPLAY_FLAG_NO_HW_DECODER, &abort_, local_cache, 20 * 1024 * 1024, 3);
+    success = frames[id]->load((CameraType)id, file, flags & REPLAY_FLAG_NO_HW_DECODER, &abort_, local_cache, 20 * 1024 * 1024, 3);
   } else {
     log = std::make_unique<LogReader>(filters_);
     success = log->load(file, &abort_, local_cache, 0, 3);