diff --git a/pyproject.toml b/pyproject.toml
index 5b5b1aa577..ab2a6d327a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -39,6 +39,7 @@ dependencies = [
   "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
   "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
   "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
+  "xvfb @ git+https://github.com/commaai/dependencies.git@release-xvfb#subdirectory=xvfb",
 
   # body / webrtcd
   "av",
diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh
index c1b74a850e..269ecfb689 100755
--- a/selfdrive/test/setup_xvfb.sh
+++ b/selfdrive/test/setup_xvfb.sh
@@ -9,7 +9,7 @@ else
 fi
 export DISPLAY=:$DISP_ID
 
-sudo Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
+Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
 
 # check for x11 socket for the specified display ID
 while [ ! -S /tmp/.X11-unix/X$DISP_ID ]
@@ -19,4 +19,4 @@ do
 done
 
 touch ~/.Xauthority
-export XDG_SESSION_TYPE="x11"
\ No newline at end of file
+export XDG_SESSION_TYPE="x11"
diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
index 73cee5569b..3fb7165a50 100755
--- a/tools/setup_dependencies.sh
+++ b/tools/setup_dependencies.sh
@@ -33,20 +33,20 @@ function install_linux_deps() {
   # normal stuff, this mostly for bare docker images
   if command -v apt-get > /dev/null 2>&1; then
     $SUDO apt-get update
-    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git xvfb
+    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git
   elif command -v dnf > /dev/null 2>&1; then
-    $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git xorg-x11-server-Xvfb
+    $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git
   elif command -v yum > /dev/null 2>&1; then
-    $SUDO yum install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git xorg-x11-server-Xvfb
+    $SUDO yum install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git
   elif command -v pacman > /dev/null 2>&1; then
-    $SUDO pacman -Syu --noconfirm --needed base-devel ca-certificates curl git xorg-server-xvfb
+    $SUDO pacman -Syu --noconfirm --needed base-devel ca-certificates curl git
   elif command -v zypper > /dev/null 2>&1; then
     $SUDO zypper --non-interactive refresh
-    $SUDO zypper --non-interactive install ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-locale git xorg-x11-server
+    $SUDO zypper --non-interactive install ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-locale git
   elif command -v apk > /dev/null 2>&1; then
-    $SUDO apk add --no-cache ca-certificates build-base curl curl-dev musl-locales git xvfb
+    $SUDO apk add --no-cache ca-certificates build-base curl curl-dev musl-locales git
   elif command -v xbps-install > /dev/null 2>&1; then
-    $SUDO xbps-install -Syu base-devel ca-certificates curl git libcurl-devel glibc-locales xorg-server-xvfb
+    $SUDO xbps-install -Syu base-devel ca-certificates curl git libcurl-devel glibc-locales
   else
     echo "Unsupported Linux distribution. Supported package managers: apt-get, dnf, yum, pacman, zypper, apk, xbps-install."
     exit 1
diff --git a/uv.lock b/uv.lock
index d76b1bb393..9e1e887dca 100644
--- a/uv.lock
+++ b/uv.lock
@@ -796,6 +796,7 @@ dependencies = [
     { name = "tqdm" },
     { name = "websocket-client" },
     { name = "xattr" },
+    { name = "xvfb" },
     { name = "zeromq" },
     { name = "zstandard" },
     { name = "zstd" },
@@ -891,6 +892,7 @@ requires-dist = [
     { name = "ty", marker = "extra == 'testing'" },
     { name = "websocket-client" },
     { name = "xattr" },
+    { name = "xvfb", git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb" },
     { name = "zensical", marker = "extra == 'docs'" },
     { name = "zeromq", git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq" },
     { name = "zstandard" },
@@ -1559,6 +1561,11 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/38/63/188f7cb41ab35d795558325d5cc8ab552171d5498cfb178fd14409651e18/xattr-1.3.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:2aaa5d66af6523332189108f34e966ca120ff816dfa077ca34b31e6263f8a236", size = 37754, upload-time = "2025-10-13T22:16:15.306Z" },
 ]
 
+[[package]]
+name = "xvfb"
+version = "1.20.11"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=xvfb&rev=release-xvfb#e98ecfa02a49f59cbb5194ed122e14b50f458873" }
+
 [[package]]
 name = "yarl"
 version = "1.23.0"