diff --git a/.github/workflows/ci_weekly_report.yaml b/.github/workflows/ci_weekly_report.yaml
index b96a5a56a8..1d3563fb18 100644
--- a/.github/workflows/ci_weekly_report.yaml
+++ b/.github/workflows/ci_weekly_report.yaml
@@ -38,7 +38,7 @@ jobs:
   report:
     needs: [ci_matrix_run]
     runs-on: ubuntu-latest
-    if: always()
+    if: always() && github.repository == 'commaai/openpilot'
     steps:
       - name: Get job results
         uses: actions/github-script@v7
diff --git a/.github/workflows/mici_raylib_ui_preview.yaml b/.github/workflows/mici_raylib_ui_preview.yaml
new file mode 100644
index 0000000000..707825b1ac
--- /dev/null
+++ b/.github/workflows/mici_raylib_ui_preview.yaml
@@ -0,0 +1,151 @@
+name: "mici raylib ui preview"
+on:
+  push:
+    branches:
+      - master
+  pull_request_target:
+    types: [assigned, opened, synchronize, reopened, edited]
+    branches:
+      - 'master'
+    paths:
+      - 'selfdrive/assets/**'
+      - 'selfdrive/ui/**'
+      - 'system/ui/**'
+  workflow_dispatch:
+
+env:
+  UI_JOB_NAME: "Create mici raylib UI Report"
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-mici-raylib-ui"
+  MASTER_BRANCH_NAME: "openpilot_master_ui_mici_raylib"
+  # All report files are pushed here
+  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
+
+jobs:
+  preview:
+    if: github.repository == 'commaai/openpilot'
+    name: preview
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    permissions:
+      contents: read
+      pull-requests: write
+      actions: read
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+
+      - name: Waiting for ui generation to end
+        uses: lewagon/wait-on-check-action@v1.3.4
+        with:
+          ref: ${{ env.SHA }}
+          check-name: ${{ env.UI_JOB_NAME }}
+          repo-token: ${{ secrets.GITHUB_TOKEN }}
+          allowed-conclusions: success
+          wait-interval: 20
+
+      - name: Getting workflow run ID
+        id: get_run_id
+        run: |
+          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
+
+      - name: Getting proposed ui  # filename: pr_ui/mici_ui_replay.mp4
+        id: download-artifact
+        uses: dawidd6/action-download-artifact@v6
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          run_id: ${{ steps.get_run_id.outputs.run_id }}
+          search_artifacts: true
+          name: mici-raylib-report-1-${{ env.REPORT_NAME }}
+          path: ${{ github.workspace }}/pr_ui
+
+      - name: Getting master ui  # filename: master_ui_raylib/mici_ui_replay.mp4
+        uses: actions/checkout@v4
+        with:
+          repository: commaai/ci-artifacts
+          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+          path: ${{ github.workspace }}/master_ui_raylib
+          ref: ${{ env.MASTER_BRANCH_NAME }}
+
+      - name: Saving new master ui
+        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+        working-directory: ${{ github.workspace }}/master_ui_raylib
+        run: |
+          git checkout --orphan=new_master_ui_mici_raylib
+          git rm -rf *
+          git branch -D ${{ env.MASTER_BRANCH_NAME }}
+          git branch -m ${{ env.MASTER_BRANCH_NAME }}
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          mv ${{ github.workspace }}/pr_ui/* .
+          git add .
+          git commit -m "mici raylib video for commit ${{ env.SHA }}"
+          git push origin ${{ env.MASTER_BRANCH_NAME }} --force
+
+      - name: Setup FFmpeg
+        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
+
+      - name: Finding diff
+        if: github.event_name == 'pull_request_target'
+        id: find_diff
+        run: |
+          # Find the video file from PR
+          pr_video="${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4"
+          mv "${{ github.workspace }}/pr_ui/mici_ui_replay.mp4" "$pr_video"
+
+          master_video="${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4"
+          mv "${{ github.workspace }}/master_ui_raylib/mici_ui_replay.mp4" "$master_video"
+
+          # Run report
+          export PYTHONPATH=${{ github.workspace }}
+          baseurl="https://github.com/commaai/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
+          diff_exit_code=0
+          python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
+
+          # Copy diff report files
+          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/
+          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/
+
+          REPORT_URL="https://commaai.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html"
+          if [ $diff_exit_code -eq 0 ]; then
+            DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)"
+          else
+            DIFF="❌ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"
+          fi
+          echo "DIFF=$DIFF" >> "$GITHUB_OUTPUT"
+
+      - name: Saving proposed ui
+        if: github.event_name == 'pull_request_target'
+        working-directory: ${{ github.workspace }}/master_ui_raylib
+        run: |
+          # Overwrite PR branch w/ proposed ui, and master ui at this point in time for future reference
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          git checkout --orphan=${{ env.BRANCH_NAME }}
+          git rm -rf *
+          mv ${{ github.workspace }}/pr_ui/* .
+          git add .
+          git commit -m "mici raylib video for PR #${{ github.event.number }}"
+          git push origin ${{ env.BRANCH_NAME }} --force
+
+          # Append diff report to report files branch
+          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
+          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
+          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html diff_pr_${{ github.event.number }}.html
+          git add diff_pr_${{ github.event.number }}.html
+          git commit -m "mici raylib ui diff report for PR #${{ github.event.number }}" || echo "No changes to commit"
+          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
+
+      - name: Comment Video on PR
+        if: github.event_name == 'pull_request_target'
+        uses: thollander/actions-comment-pull-request@v2
+        with:
+          message: |
+            <!-- _(run_id_video_mici_raylib **${{ github.run_id }}**)_ -->
+            ## mici raylib UI Preview
+            ${{ steps.find_diff.outputs.DIFF }}
+          comment_tag: run_id_video_mici_raylib
+          pr_number: ${{ github.event.number }}
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index aab16ffbbe..38bb7435e2 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -297,3 +297,29 @@ jobs:
         with:
           name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
           path: selfdrive/ui/tests/test_ui/raylib_report/screenshots
+
+  create_mici_raylib_ui_report:
+    name: Create mici raylib UI Report
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Build openpilot
+        run: ${{ env.RUN }} "scons -j$(nproc)"
+      - name: Create mici raylib UI Report
+        run: >
+          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
+                          source selfdrive/test/setup_xvfb.sh &&
+                          WINDOWED=1 python3 selfdrive/ui/tests/diff/replay.py"
+      - name: Upload Raylib UI Report
+        uses: actions/upload-artifact@v4
+        with:
+          name: mici-raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          path: selfdrive/ui/tests/diff/report
diff --git a/RELEASES.md b/RELEASES.md
index 58044dc694..fabe635c71 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,6 @@
+Version 0.10.3 (2025-12-10)
+========================
+
 Version 0.10.2 (2025-11-19)
 ========================
 * comma four support
diff --git a/common/api/__init__.py b/common/api/__init__.py
index 8b261486ba..d0b3dbc9e9 100644
--- a/common/api/__init__.py
+++ b/common/api/__init__.py
@@ -22,5 +22,5 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
   return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
 
 
-def get_key_pair():
+def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
   return CommaConnectApi(None).get_key_pair()
diff --git a/common/api/base.py b/common/api/base.py
index 682b266056..c37652b455 100644
--- a/common/api/base.py
+++ b/common/api/base.py
@@ -6,9 +6,9 @@ from datetime import datetime, timedelta, UTC
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_version
 
-       # name : jwt signature algorithm
-KEYS = {"id_rsa" : "RS256",
-        "id_ecdsa" : "ES256"}
+# name: jwt signature algorithm
+KEYS = {"id_rsa": "RS256",
+        "id_ecdsa": "ES256"}
 
 
 class BaseApi:
@@ -62,7 +62,7 @@ class BaseApi:
     return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
 
   @staticmethod
-  def get_key_pair():
+  def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
     for key in KEYS:
       if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
         with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
diff --git a/common/model.h b/common/model.h
index 03773b633a..f01460cdb6 100644
--- a/common/model.h
+++ b/common/model.h
@@ -1 +1 @@
-#define DEFAULT_MODEL "The Cool People (Default)"
+#define DEFAULT_MODEL "Dark Souls 2 (Default)"
diff --git a/common/params_keys.h b/common/params_keys.h
index 38578d7ddc..a5f0ae29f2 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -71,6 +71,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LastGPSPosition", {PERSISTENT, STRING}},
     {"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
+    {"LastAgnosPowerMonitorShutdown", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
diff --git a/common/tests/test_file_helpers.py b/common/tests/test_file_helpers.py
index c7fe1984c5..c2b880f873 100644
--- a/common/tests/test_file_helpers.py
+++ b/common/tests/test_file_helpers.py
@@ -1,7 +1,7 @@
 import os
 from uuid import uuid4
 
-from openpilot.common.utils import atomic_write_in_dir
+from openpilot.common.utils import atomic_write
 
 
 class TestFileHelpers:
@@ -15,5 +15,5 @@ class TestFileHelpers:
       assert f.read() == "test"
     os.remove(path)
 
-  def test_atomic_write_in_dir(self):
-    self.run_atomic_write_func(atomic_write_in_dir)
+  def test_atomic_write(self):
+    self.run_atomic_write_func(atomic_write)
diff --git a/common/utils.py b/common/utils.py
index 89c0601f06..71b29a0c4e 100644
--- a/common/utils.py
+++ b/common/utils.py
@@ -32,8 +32,8 @@ class CallbackReader:
 
 
 @contextlib.contextmanager
-def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
-                        overwrite: bool = False):
+def atomic_write(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
+                 overwrite: bool = False):
   """Write to a file atomically using a temporary file in the same directory as the destination file."""
   dir_name = os.path.dirname(path)
 
diff --git a/common/version.h b/common/version.h
index ef20670781..c489ecc578 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.10.2"
+#define COMMA_VERSION "0.10.3"
diff --git a/docs/CARS.md b/docs/CARS.md
index 4c1e90e18d..b36c11aef2 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -20,7 +20,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
 |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet 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 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
@@ -384,7 +384,7 @@ If your car has the following packages or features, then it's a good candidate f
 
 | Make | Required Package/Features |
 | ---- | ------------------------- |
-| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
 | Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md
index eb6e75afa2..644c35e0ab 100644
--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@@ -31,7 +31,7 @@ We'll run the `replay` tool with the demo route to get data streaming for testin
 tools/replay/replay --demo
 
 # in terminal 2
-selfdrive/ui/ui
+./selfdrive/ui/ui.py
 ```
 
 The openpilot UI should launch and show a replay of the demo route.
@@ -43,39 +43,36 @@ If you have your own comma device, you can replace `--demo` with one of your own
 
 Now let’s update the speed display color in the UI.
 
-Search for the function responsible for rendering UI text:
+Search for the function responsible for rendering the current speed:
 ```bash
-git grep "drawText" selfdrive/ui/qt/onroad/hud.cc
+git grep "_draw_current_speed" selfdrive/ui/onroad/hud_renderer.py
 ```
 
-You’ll find the relevant code inside `selfdrive/ui/qt/onroad/hud.cc`, in this function:
+You'll find the relevant code inside `selfdrive/ui/onroad/hud_renderer.py`, in this function:
 
-```cpp
-void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
-  QRect real_rect = p.fontMetrics().boundingRect(text);
-  real_rect.moveCenter({x, y - real_rect.height() / 2});
-
-  p.setPen(QColor(0xff, 0xff, 0xff, alpha));  // <- this sets the speed text color
-  p.drawText(real_rect.x(), real_rect.bottom(), text);
-}
+```python
+def _draw_current_speed(self, rect: rl.Rectangle) -> None:
+  """Draw the current vehicle speed and unit."""
+  speed_text = str(round(self.speed))
+  speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
+  speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
+  rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)  # <- this sets the speed text color
 ```
 
-Change the `QColor(...)` line to make it **blue** instead of white. A nice soft blue is `#8080FF`, which translates to:
+Change `COLORS.white` to make it **blue** instead of white. A nice soft blue is `#8080FF`, which you can change inline:
 
 ```diff
-- p.setPen(QColor(0xff, 0xff, 0xff, alpha));
-+ p.setPen(QColor(0x80, 0x80, 0xFF, alpha));
+- rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
++ rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, rl.Color(0x80, 0x80, 0xFF, 255))
 ```
 
-This change will tint all speed-related UI text to blue with the same transparency (`alpha`).
-
 ---
 
-## 4. Rebuild the UI
+## 4. Re-run the UI
 
-After making changes, rebuild Openpilot so your new UI is compiled:
+After making changes, re-run the UI to see your new UI:
 ```bash
-scons -j$(nproc) && selfdrive/ui/ui
+./selfdrive/ui/ui.py
 ```
 ![](https://blog.comma.ai/img/blue_speed_ui.png)
 
diff --git a/opendbc_repo b/opendbc_repo
index 61bf5a90c5..f746884333 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 61bf5a90c5c1917b657b8dd50c4d95e437413170
+Subproject commit f746884333eab1aa493e59bf83132e0617260a5f
diff --git a/panda b/panda
index dee9061b2a..5f3c09c910 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit dee9061b2ab83845b8620e8722620fcf50a316dd
+Subproject commit 5f3c09c9105f26c6c5c858d5c7f4e375a367fcc1
diff --git a/pyproject.toml b/pyproject.toml
index c58d950496..90feace27d 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -85,6 +85,7 @@ docs = [
 ]
 
 testing = [
+  "coverage",
   "hypothesis ==6.47.*",
   "mypy",
   "pytest",
@@ -115,7 +116,7 @@ dev = [
   "pyautogui",
   "pygame",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
-  "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
+  "pytools>=2025.1.6; platform_machine != 'aarch64'",
   "pywinctl",
   "pyprof2calltree",
   "tabulate",
@@ -125,7 +126,7 @@ dev = [
 
 tools = [
   "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
-  "dearpygui>=2.1.0",
+  "dearpygui>=2.1.0; (sys_platform != 'linux' or platform_machine != 'aarch64')", # not vended for linux aarch64
 ]
 
 [project.urls]
@@ -226,7 +227,7 @@ lint.select = [
   "TRY203", "TRY400", "TRY401", # try/excepts
   "RUF008", "RUF100",
   "TID251",
-  "PLR1704",
+  "PLE", "PLR1704",
 ]
 lint.ignore = [
   "E741",
diff --git a/scripts/usbgpu/benchmark.sh b/scripts/usbgpu/benchmark.sh
new file mode 100755
index 0000000000..04a76d054e
--- /dev/null
+++ b/scripts/usbgpu/benchmark.sh
@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+cd $DIR/../../tinygrad_repo
+
+GREEN='\033[0;32m'
+NC='\033[0m'
+
+
+#export DEBUG=2
+export PYTHONPATH=.
+export AM_RESET=1
+export AMD=1
+export AMD_IFACE=USB
+export AMD_LLVM=1
+
+python3 -m unittest -q --buffer test.test_tiny.TestTiny.test_plus \
+  > /tmp/test_tiny.log 2>&1 || (cat /tmp/test_tiny.log; exit 1)
+printf "${GREEN}Booted in ${SECONDS}s${NC}\n"
+printf "${GREEN}=============${NC}\n"
+
+printf "\n\n"
+printf "${GREEN}Transfer speeds:${NC}\n"
+printf "${GREEN}================${NC}\n"
+python3 test/external/external_test_usb_asm24.py TestDevCopySpeeds
diff --git a/selfdrive/assets/sounds/disengage.wav b/selfdrive/assets/sounds/disengage.wav
index 8983884b25..7bfd97ad71 100644
--- a/selfdrive/assets/sounds/disengage.wav
+++ b/selfdrive/assets/sounds/disengage.wav
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c94582be9d921146b3c356e08a7352700c309cb407877c1180542811b2d637fa
-size 48078
+oid sha256:42bd04a57b527c787a0555503e02a203f7d672c12d448769a3f41f17befbf013
+size 48044
diff --git a/selfdrive/assets/sounds/engage.wav b/selfdrive/assets/sounds/engage.wav
index 39d4c749c8..8633b5ac2d 100644
--- a/selfdrive/assets/sounds/engage.wav
+++ b/selfdrive/assets/sounds/engage.wav
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bc2b12bfe816a79307660b6b3d2de87a7643c6ccbfc9d1b33804645ad717682a
-size 48078
+oid sha256:b1e177499d9439367179cc57a6301b6162393972e3a136cc35c5fdac026bf10a
+size 48044
diff --git a/selfdrive/assets/sounds/make_beeps.py b/selfdrive/assets/sounds/make_beeps.py
new file mode 100644
index 0000000000..6161e80e74
--- /dev/null
+++ b/selfdrive/assets/sounds/make_beeps.py
@@ -0,0 +1,19 @@
+import numpy as np
+from scipy.io import wavfile
+
+
+sr = 48000
+max_int16 = 2**15 - 1
+
+def harmonic_beep(freq, duration_seconds):
+    n_total = int(sr * duration_seconds)
+
+    signal = np.sin(2 * np.pi * freq * np.arange(n_total) / sr)
+    x = np.arange(n_total)
+    exp_scale = np.exp(-x/5.5e3)
+    return max_int16 * signal * exp_scale
+
+engage_beep = harmonic_beep(1661.219, 0.5)
+wavfile.write("engage.wav", sr, engage_beep.astype(np.int16))
+disengage_beep = harmonic_beep(1318.51, 0.5)
+wavfile.write("disengage.wav", sr, disengage_beep.astype(np.int16))
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index 463683fd3c..cd352b2ede 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -42,7 +42,7 @@ If your car has the following packages or features, then it's a good candidate f
 
 | Make | Required Package/Features |
 | ---- | ------------------------- |
-| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
 | Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 270111524e..71d057694f 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -26,6 +26,18 @@ class MockCarState:
     return CS, CS_SP
 
 
+BRAND_EXTRA_GEARS = {
+  'ford': [GearShifter.low, GearShifter.manumatic],
+  'nissan': [GearShifter.brake],
+  'chrysler': [GearShifter.low],
+  'honda': [GearShifter.sport],
+  'toyota': [GearShifter.sport],
+  'gm': [GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic],
+  'volkswagen': [GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
+  'hyundai': [GearShifter.sport, GearShifter.manumatic]
+}
+
+
 class CarSpecificEvents:
   def __init__(self, CP: structs.CarParams):
     self.CP = CP
@@ -36,17 +48,13 @@ class CarSpecificEvents:
     self.silent_steer_warning = True
 
   def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
+    extra_gears = BRAND_EXTRA_GEARS.get(self.CP.brand, None)
+
     if self.CP.brand in ('body', 'mock'):
       events = Events()
 
-    elif self.CP.brand == 'ford':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low, GearShifter.manumatic])
-
-    elif self.CP.brand == 'nissan':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
-
     elif self.CP.brand == 'chrysler':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
 
       # Low speed steer alert hysteresis logic
       if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
@@ -57,7 +65,7 @@ class CarSpecificEvents:
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.brand == 'honda':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport], pcm_enable=False)
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=False)
 
       if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.belowEngageSpeed)
@@ -79,7 +87,7 @@ class CarSpecificEvents:
 
     elif self.CP.brand == 'toyota':
       # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport])
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
 
       if self.CP.openpilotLongitudinalControl:
         if CS.cruiseState.standstill and not CS.brakePressed:
@@ -94,9 +102,7 @@ class CarSpecificEvents:
             events.add(EventName.manualRestart)
 
     elif self.CP.brand == 'gm':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
-                                                                   GearShifter.eco, GearShifter.manumatic],
-                                         pcm_enable=self.CP.pcmCruise)
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
 
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
@@ -107,8 +113,7 @@ class CarSpecificEvents:
         events.add(EventName.resumeRequired)
 
     elif self.CP.brand == 'volkswagen':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
-                                         pcm_enable=self.CP.pcmCruise)
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
 
       if self.CP.openpilotLongitudinalControl:
         if CS.vEgo < self.CP.minEnableSpeed + 0.5:
@@ -121,15 +126,14 @@ class CarSpecificEvents:
       #   events.add(EventName.steerTimeLimit)
 
     elif self.CP.brand == 'hyundai':
-      events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
-                                         pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
 
     else:
-      events = self.create_common_events(CS, CS_prev)
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
 
     return events
 
-  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
+  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: list | None = None, pcm_enable=True,
                            allow_button_cancel=True):
     events = Events()
 
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 47d105f993..48d174bfa0 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -22,15 +22,17 @@ from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext import La
 # Additionally, there is friction in the steering wheel that needs
 # to be overcome to move it at all, this is compensated for too.
 
-KP = 1.0
-KI = 0.3
-KD = 0.0
+KP = 0.8
+KI = 0.15
+
 INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
 KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
 
 LP_FILTER_CUTOFF_HZ = 1.2
+JERK_LOOKAHEAD_SECONDS = 0.19
+JERK_GAIN = 0.3
 LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
-VERSION = 0
+VERSION = 1
 
 class LatControlTorque(LatControl):
   def __init__(self, CP, CP_SP, CI, dt):
@@ -38,13 +40,13 @@ class LatControlTorque(LatControl):
     self.torque_params = CP.lateralTuning.torque.as_builder()
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
     self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
-    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt)
+    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt)
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
     self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
     self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
-    self.previous_measurement = 0.0
-    self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
+    self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
+    self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
 
     self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
 
@@ -76,17 +78,15 @@ class LatControlTorque(LatControl):
 
       delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
       expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
-      # TODO factor out lateral jerk from error to later replace it with delay independent alternative
+      lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
+      raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
+      desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
       future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
       self.lat_accel_request_buffer.append(future_desired_lateral_accel)
       gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
-      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay
+      setpoint = expected_lateral_accel
 
       measurement = measured_curvature * CS.vEgo ** 2
-      measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
-      self.previous_measurement = measurement
-
-      setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
       error = setpoint - measurement
 
       # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
@@ -94,15 +94,10 @@ class LatControlTorque(LatControl):
       ff = gravity_adjusted_future_lateral_accel
       # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
       ff -= self.torque_params.latAccelOffset
-      # TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it
-      ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+      ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
       freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-      output_lataccel = self.pid.update(pid_log.error,
-                                       -measurement_rate,
-                                        feedforward=ff,
-                                        speed=CS.vEgo,
-                                        freeze_integrator=freeze_integrator)
+      output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
       output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
 
       # Lateral acceleration torque controller extension updates
diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py
index bf4588a40c..2a3ac8b861 100644
--- a/selfdrive/locationd/helpers.py
+++ b/selfdrive/locationd/helpers.py
@@ -172,7 +172,7 @@ class PoseCalibrator:
     ned_from_calib_euler = self._ned_from_calib(pose.orientation)
     angular_velocity_calib = self._transform_calib_from_device(pose.angular_velocity)
     acceleration_calib = self._transform_calib_from_device(pose.acceleration)
-    velocity_calib = self._transform_calib_from_device(pose.angular_velocity)
+    velocity_calib = self._transform_calib_from_device(pose.velocity)
 
     return Pose(ned_from_calib_euler, velocity_calib, acceleration_calib, angular_velocity_calib)
 
diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx
index 1e764af9ba..e0eb918125 100644
--- a/selfdrive/modeld/models/driving_policy.onnx
+++ b/selfdrive/modeld/models/driving_policy.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c5a1f0655ddf266ed42ad1980389d96f47cc5e756da1fa3ca1477a920bb9b157
+oid sha256:f8fe9a71b0fd428a045a82ed50790179f77aa664391198f078e11e7b2cb2c2d7
 size 13926324
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
index 441c4a16af..76c96670a9 100644
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8f16d548ea4eb5d01518a9e90d4527cd97c31a84bcaf6f695dead8f0015fecc4
+oid sha256:1dc66bc06f250b577653ccbeaa2c6521b3d46749f601d0a1a366419e929ca438
 size 46271942
diff --git a/selfdrive/modeld/tests/__init__.py b/selfdrive/modeld/tests/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py
deleted file mode 100644
index 6927c9e473..0000000000
--- a/selfdrive/modeld/tests/test_modeld.py
+++ /dev/null
@@ -1,102 +0,0 @@
-import numpy as np
-import random
-
-import cereal.messaging as messaging
-from msgq.visionipc import VisionIpcServer, VisionStreamType
-from opendbc.car.car_helpers import get_demo_car_params
-from openpilot.common.params import Params
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.common.realtime import DT_MDL
-from openpilot.system.manager.process_config import managed_processes
-from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
-
-CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam
-IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8)
-IMG_BYTES = IMG.flatten().tobytes()
-
-
-class TestModeld:
-
-  def setup_method(self):
-    self.vipc_server = VisionIpcServer("camerad")
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height)
-    self.vipc_server.start_listener()
-    Params().put("CarParams", get_demo_car_params().to_bytes())
-
-    self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
-    self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
-
-    managed_processes['modeld'].start()
-    self.pm.wait_for_readers_to_update("roadCameraState", 10)
-
-  def teardown_method(self):
-    managed_processes['modeld'].stop()
-    del self.vipc_server
-
-  def _send_frames(self, frame_id, cams=None):
-    if cams is None:
-      cams = ('roadCameraState', 'wideRoadCameraState')
-
-    cs = None
-    for cam in cams:
-      msg = messaging.new_message(cam)
-      cs = getattr(msg, cam)
-      cs.frameId = frame_id
-      cs.timestampSof = int((frame_id * DT_MDL) * 1e9)
-      cs.timestampEof = int(cs.timestampSof + (DT_MDL * 1e9))
-      cam_meta = meta_from_camera_state(cam)
-
-      self.pm.send(msg.which(), msg)
-      self.vipc_server.send(cam_meta.stream, IMG_BYTES, cs.frameId,
-                            cs.timestampSof, cs.timestampEof)
-    return cs
-
-  def _wait(self):
-    self.sm.update(5000)
-    if self.sm['modelV2'].frameId != self.sm['cameraOdometry'].frameId:
-      self.sm.update(1000)
-
-  def test_modeld(self):
-    for n in range(1, 500):
-      cs = self._send_frames(n)
-      self._wait()
-
-      mdl = self.sm['modelV2']
-      assert mdl.frameId == n
-      assert mdl.frameIdExtra == n
-      assert mdl.timestampEof == cs.timestampEof
-      assert mdl.frameAge == 0
-      assert mdl.frameDropPerc == 0
-
-      odo = self.sm['cameraOdometry']
-      assert odo.frameId == n
-      assert odo.timestampEof == cs.timestampEof
-
-  def test_dropped_frames(self):
-    """
-      modeld should only run on consecutive road frames
-    """
-    frame_id = -1
-    road_frames = list()
-    for n in range(1, 50):
-      if (random.random() < 0.1) and n > 3:
-        cams = random.choice([(), ('wideRoadCameraState', )])
-        self._send_frames(n, cams)
-      else:
-        self._send_frames(n)
-        road_frames.append(n)
-      self._wait()
-
-      if len(road_frames) < 3 or road_frames[-1] - road_frames[-2] == 1:
-        frame_id = road_frames[-1]
-
-      mdl = self.sm['modelV2']
-      odo = self.sm['cameraOdometry']
-      assert mdl.frameId == frame_id
-      assert mdl.frameIdExtra == frame_id
-      assert odo.frameId == frame_id
-      if n != frame_id:
-        assert not self.sm.updated['modelV2']
-        assert not self.sm.updated['cameraOdometry']
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index 02e5aafa68..022415af6d 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -40,8 +40,8 @@ def dmonitoringd_thread():
 
     # save rhd virtual toggle every 5 mins
     if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
-     DM.wheelpos_learner.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
-     DM.wheel_on_right == (DM.wheelpos_learner.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
+     DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
+     DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
       params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
 
 def main():
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 7697e68b98..3377ce6c68 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -40,6 +40,9 @@ class DRIVER_MONITOR_SETTINGS:
     self._PHONE_THRESH2 = 15.0
     self._PHONE_MAX_OFFSET = 0.06
     self._PHONE_MIN_OFFSET = 0.025
+    self._PHONE_DATA_AVG = 0.05
+    self._PHONE_DATA_VAR = 3*0.005
+    self._PHONE_MAX_COUNT = int(360 / self._DT_DMON)
 
     self._POSE_PITCH_THRESHOLD = 0.3133
     self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
@@ -47,9 +50,11 @@ class DRIVER_MONITOR_SETTINGS:
     self._POSE_YAW_THRESHOLD = 0.4020
     self._POSE_YAW_THRESHOLD_SLACK = 0.5042
     self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
-    self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned
+    self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
     self._PITCH_NATURAL_THRESHOLD = 0.449
-    self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned
+    self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
+    self._PITCH_NATURAL_VAR = 3*0.01
+    self._YAW_NATURAL_VAR = 3*0.05
     self._PITCH_MAX_OFFSET = 0.124
     self._PITCH_MIN_OFFSET = -0.0881
     self._YAW_MAX_OFFSET = 0.289
@@ -70,6 +75,9 @@ class DRIVER_MONITOR_SETTINGS:
     self._WHEELPOS_CALIB_MIN_SPEED = 11
     self._WHEELPOS_THRESHOLD = 0.5
     self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side
+    self._WHEELPOS_DATA_AVG = 0.03
+    self._WHEELPOS_DATA_VAR = 3*5.5e-5
+    self._WHEELPOS_MAX_COUNT = -1
 
     self._RECOVERY_FACTOR_MAX = 5.  # relative to minus step change
     self._RECOVERY_FACTOR_MIN = 1.25  # relative to minus step change
@@ -78,30 +86,33 @@ class DRIVER_MONITOR_SETTINGS:
     self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON)  # not allowed to engage after 30s of terminal alerts
 
 class DistractedType:
+
   NOT_DISTRACTED = 0
   DISTRACTED_POSE = 1 << 0
   DISTRACTED_BLINK = 1 << 1
   DISTRACTED_PHONE = 1 << 2
 
 class DriverPose:
-  def __init__(self, max_trackable):
+  def __init__(self, settings):
+    pitch_filter_raw_priors = (settings._PITCH_NATURAL_OFFSET, settings._PITCH_NATURAL_VAR, 2)
+    yaw_filter_raw_priors = (settings._YAW_NATURAL_OFFSET, settings._YAW_NATURAL_VAR, 2)
     self.yaw = 0.
     self.pitch = 0.
     self.roll = 0.
     self.yaw_std = 0.
     self.pitch_std = 0.
     self.roll_std = 0.
-    self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable)
-    self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable)
+    self.pitch_offseter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
+    self.yaw_offseter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
     self.calibrated = False
     self.low_std = True
     self.cfactor_pitch = 1.
     self.cfactor_yaw = 1.
 
-class DriverPhone:
-  def __init__(self, max_trackable):
+class DriverProb:
+  def __init__(self, raw_priors, max_trackable):
     self.prob = 0.
-    self.prob_offseter = RunningStatFilter(max_trackable=max_trackable)
+    self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
     self.prob_calibrated = False
 
 class DriverBlink:
@@ -140,9 +151,11 @@ class DriverMonitoring:
     self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
 
     # init driver status
-    self.wheelpos_learner = RunningStatFilter()
-    self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
-    self.phone = DriverPhone(self.settings._POSE_OFFSET_MAX_COUNT)
+    wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
+    phone_filter_raw_priors = (self.settings._PHONE_DATA_AVG, self.settings._PHONE_DATA_VAR, 2)
+    self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
+    self.phone = DriverProb(raw_priors=phone_filter_raw_priors, max_trackable=self.settings._PHONE_MAX_COUNT)
+    self.pose = DriverPose(settings=self.settings)
     self.blink = DriverBlink()
 
     self.always_on = always_on
@@ -234,8 +247,11 @@ class DriverMonitoring:
                                                     self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
     pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
     yaw_error = abs(yaw_error)
-    if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \
-       yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw:
+
+    pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
+    yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
+
+    if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
       distracted_types.append(DistractedType.DISTRACTED_POSE)
 
     if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
@@ -256,9 +272,12 @@ class DriverMonitoring:
     # calibrates only when there's movement and either face detected
     if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
                                           driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
-      self.wheelpos_learner.push_and_update(rhd_pred)
-    if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT or demo_mode:
-      self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
+      self.wheelpos.prob_offseter.push_and_update(rhd_pred)
+
+    self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT
+
+    if self.wheelpos.prob_calibrated or demo_mode:
+      self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
     else:
       self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
     # make sure no switching when engaged
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index cdd4301fcf..4a58e321fc 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-b508f43fb0481bce0859c9b6ab4f45ee690b8dab
\ No newline at end of file
+e0ad86508edb61b3eaa1b84662c515d2c3368295
\ No newline at end of file
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 27cc17624e..b9506d0806 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -206,8 +206,9 @@ class TestOnroad:
     result += "-------------- UI Draw Timing ------------------\n"
     result += "------------------------------------------------\n"
 
-    # skip first few frames -- connecting to vipc
-    ts = self.ts['uiDebug']['drawTimeMillis'][15:]
+    # other processes preempt ui while starting up
+    offset = int(20 * LOG_OFFSET)
+    ts = self.ts['uiDebug']['drawTimeMillis'][offset:]
     result += f"min  {min(ts):.2f}ms\n"
     result += f"max  {max(ts):.2f}ms\n"
     result += f"std  {np.std(ts):.2f}ms\n"
diff --git a/selfdrive/ui/layouts/settings/firehose.py b/selfdrive/ui/layouts/settings/firehose.py
index 5ab82fd8f5..18514feeb9 100644
--- a/selfdrive/ui/layouts/settings/firehose.py
+++ b/selfdrive/ui/layouts/settings/firehose.py
@@ -1,19 +1,11 @@
 import pyray as rl
-import time
-import threading
 
-from openpilot.common.api import api_get
-from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wrap_text import wrap_text
-from openpilot.system.ui.widgets import Widget
-from openpilot.selfdrive.ui.lib.api_helpers import get_token
+from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayoutBase
 
 TITLE = tr_noop("Firehose Mode")
 DESCRIPTION = tr_noop(
@@ -32,50 +24,17 @@ INSTRUCTIONS = tr_noop(
 )
 
 
-class FirehoseLayout(Widget):
-  PARAM_KEY = "ApiCache_FirehoseStats"
-  GREEN = rl.Color(46, 204, 113, 255)
-  RED = rl.Color(231, 76, 60, 255)
-  GRAY = rl.Color(68, 68, 68, 255)
-  LIGHT_GRAY = rl.Color(228, 228, 228, 255)
-  UPDATE_INTERVAL = 30  # seconds
-
+class FirehoseLayout(FirehoseLayoutBase):
   def __init__(self):
     super().__init__()
-    self.params = Params()
-    self.segment_count = self._get_segment_count()
-    self.scroll_panel = GuiScrollPanel()
-    self._content_height = 0
-
-    self.running = True
-    self.update_thread = threading.Thread(target=self._update_loop, daemon=True)
-    self.update_thread.start()
-    self.last_update_time = 0
-
-  def show_event(self):
-    self.scroll_panel.set_offset(0)
-
-  def _get_segment_count(self) -> int:
-    stats = self.params.get(self.PARAM_KEY)
-    if not stats:
-      return 0
-    try:
-      return int(stats.get("firehose", 0))
-    except Exception:
-      cloudlog.exception(f"Failed to decode firehose stats: {stats}")
-      return 0
-
-  def __del__(self):
-    self.running = False
-    if self.update_thread and self.update_thread.is_alive():
-      self.update_thread.join(timeout=1.0)
+    self._scroll_panel = GuiScrollPanel()
 
   def _render(self, rect: rl.Rectangle):
     # Calculate content dimensions
     content_rect = rl.Rectangle(rect.x, rect.y, rect.width, self._content_height)
 
     # Handle scrolling and render with clipping
-    scroll_offset = self.scroll_panel.update(rect, content_rect)
+    scroll_offset = self._scroll_panel.update(rect, content_rect)
     rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
     self._content_height = self._render_content(rect, scroll_offset)
     rl.end_scissor_mode()
@@ -107,9 +66,9 @@ class FirehoseLayout(Widget):
     y += 20 + 20
 
     # Contribution count (if available)
-    if self.segment_count > 0:
+    if self._segment_count > 0:
       contrib_text = trn("{} segment of your driving is in the training dataset so far.",
-                         "{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
+                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
       y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
       y += 20 + 20
 
@@ -121,7 +80,7 @@ class FirehoseLayout(Widget):
     y = self._draw_wrapped_text(x, y, w, tr(INSTRUCTIONS), gui_app.font(FontWeight.NORMAL), 40, self.LIGHT_GRAY)
 
     # bottom margin + remove effect of scroll offset
-    return int(round(y - self.scroll_panel.offset + 40))
+    return int(round(y - self._scroll_panel.offset + 40))
 
   def _draw_wrapped_text(self, x, y, width, text, font, font_size, color):
     wrapped = wrap_text(font, text, font_size, width)
@@ -129,32 +88,3 @@ class FirehoseLayout(Widget):
       rl.draw_text_ex(font, line, rl.Vector2(x, y), font_size, 0, color)
       y += font_size * FONT_SCALE
     return round(y)
-
-  def _get_status(self) -> tuple[str, rl.Color]:
-    network_type = ui_state.sm["deviceState"].networkType
-    network_metered = ui_state.sm["deviceState"].networkMetered
-
-    if not network_metered and network_type != 0:  # Not metered and connected
-      return tr("ACTIVE"), self.GREEN
-    else:
-      return tr("INACTIVE: connect to an unmetered network"), self.RED
-
-  def _fetch_firehose_stats(self):
-    try:
-      dongle_id = self.params.get("DongleId")
-      if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
-        return
-      identity_token = get_token(dongle_id)
-      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
-      if response.status_code == 200:
-        data = response.json()
-        self.segment_count = data.get("firehose", 0)
-        self.params.put(self.PARAM_KEY, data)
-    except Exception as e:
-      cloudlog.error(f"Failed to fetch firehose stats: {e}")
-
-  def _update_loop(self):
-    while self.running:
-      if not ui_state.started:
-        self._fetch_firehose_stats()
-      time.sleep(self.UPDATE_INTERVAL)
diff --git a/selfdrive/ui/layouts/settings/software.py b/selfdrive/ui/layouts/settings/software.py
index c4f899d798..e4c3098c2e 100644
--- a/selfdrive/ui/layouts/settings/software.py
+++ b/selfdrive/ui/layouts/settings/software.py
@@ -17,6 +17,13 @@ if gui_app.sunnypilot_ui():
 # TODO: remove this. updater fails to respond on startup if time is not correct
 UPDATED_TIMEOUT = 10  # seconds to wait for updated to respond
 
+# Mapping updater internal states to translated display strings
+STATE_TO_DISPLAY_TEXT = {
+  "checking...": tr("checking..."),
+  "downloading...": tr("downloading..."),
+  "finalizing update...": tr("finalizing update..."),
+}
+
 
 def time_ago(date: datetime.datetime | None) -> str:
   if not date:
@@ -103,7 +110,9 @@ class SoftwareLayout(Widget):
       # Updater responded
       self._waiting_for_updater = False
       self._download_btn.action_item.set_enabled(False)
-      self._download_btn.action_item.set_value(updater_state)
+      # Use the mapping, with a fallback to the original state string
+      display_text = STATE_TO_DISPLAY_TEXT.get(updater_state, updater_state)
+      self._download_btn.action_item.set_value(display_text)
     else:
       if failed_count > 0:
         self._download_btn.action_item.set_value(tr("failed to check for update"))
diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py
index fc72b4f9c6..e1ef387bf7 100644
--- a/selfdrive/ui/lib/prime_state.py
+++ b/selfdrive/ui/lib/prime_state.py
@@ -67,8 +67,10 @@ class PrimeState:
         cloudlog.info(f"Prime type updated to {prime_type}")
 
   def _worker_thread(self) -> None:
+    from openpilot.selfdrive.ui.ui_state import ui_state, device
     while self._running:
-      self._fetch_prime_status()
+      if not ui_state.started and device._awake:
+        self._fetch_prime_status()
 
       for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)):
         if not self._running:
diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index fd4de9a717..750a30b73a 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -3,18 +3,16 @@ import time
 from cereal import log
 import pyray as rl
 from collections.abc import Callable
-from openpilot.system.ui.widgets.label import gui_label, MiciLabel
+from openpilot.system.ui.widgets.label import gui_label, MiciLabel, UnifiedLabel
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR, MousePos
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.text import wrap_text
-from openpilot.system.version import training_version
+from openpilot.system.version import training_version, RELEASE_BRANCHES
 
 HEAD_BUTTON_FONT_SIZE = 40
 HOME_PADDING = 8
 
-RELEASE_BRANCH = "release3"
-
 NetworkType = log.DeviceState.NetworkType
 
 NETWORK_TYPES = {
@@ -115,7 +113,7 @@ class MiciHomeLayout(Widget):
     self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN)
     self._large_version_label = MiciLabel("", font_size=64, color=rl.GRAY, font_weight=FontWeight.ROMAN)
     self._date_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
-    self._branch_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN, elide_right=False, scroll=True)
+    self._branch_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, scroll=True)
     self._version_commit_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
 
   def show_event(self):
@@ -187,27 +185,22 @@ class MiciHomeLayout(Widget):
 
     if self._version_text is not None:
       # release branch
-      if self._version_text[0] == RELEASE_BRANCH:
-        version_pos = rl.Vector2(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16)
-        self._large_version_label.set_text(self._version_text[0])
-        self._large_version_label.set_position(version_pos.x, version_pos.y)
-        self._large_version_label.render()
+      release_branch = self._version_text[1] in RELEASE_BRANCHES
+      version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44)
+      self._version_label.set_text(self._version_text[0])
+      self._version_label.set_position(version_pos.x, version_pos.y)
+      self._version_label.render()
 
-      else:
-        version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44)
-        self._version_label.set_text(self._version_text[0])
-        self._version_label.set_position(version_pos.x, version_pos.y)
-        self._version_label.render()
+      self._date_label.set_text(" " + self._version_text[3])
+      self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
+      self._date_label.render()
 
-        self._date_label.set_text(" " + self._version_text[3])
-        self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
-        self._date_label.render()
-
-        self._branch_label.set_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
-        self._branch_label.set_text(" " + self._version_text[1])
-        self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
-        self._branch_label.render()
+      self._branch_label.set_max_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
+      self._branch_label.set_text(" " + ("release" if release_branch else self._version_text[1]))
+      self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
+      self._branch_label.render()
 
+      if not release_branch:
         # 2nd line
         self._version_commit_label.set_text(self._version_text[2])
         self._version_commit_label.set_position(version_pos.x, version_pos.y + self._date_label.font_size + 7)
diff --git a/selfdrive/ui/mici/layouts/offroad_alerts.py b/selfdrive/ui/mici/layouts/offroad_alerts.py
index cdde40d4a6..b01dae6aeb 100644
--- a/selfdrive/ui/mici/layouts/offroad_alerts.py
+++ b/selfdrive/ui/mici/layouts/offroad_alerts.py
@@ -5,6 +5,7 @@ from dataclasses import dataclass
 from enum import IntEnum
 from openpilot.common.params import Params
 from openpilot.selfdrive.selfdrived.alertmanager import OFFROAD_ALERTS
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import Scroller
@@ -220,6 +221,7 @@ class MiciOffroadAlerts(Widget):
     update_alert_data = AlertData(key="UpdateAvailable", text="", severity=-1)
     self.sorted_alerts.append(update_alert_data)
     update_alert_item = AlertItem(update_alert_data)
+    update_alert_item.set_click_callback(lambda: HARDWARE.reboot())
     self.alert_items.append(update_alert_item)
     self._scroller.add_widget(update_alert_item)
 
@@ -244,18 +246,18 @@ class MiciOffroadAlerts(Widget):
 
     if update_alert_data:
       if update_available:
-        # Default text
-        update_alert_data.text = "update available. go to comma.ai/blog to read the release notes."
+        version_string = ""
 
         # Get new version description and parse version and date
         new_desc = self.params.get("UpdaterNewDescription") or ""
         if new_desc:
-          # Parse description (format: "version / branch / commit / date")
+          # format: "version / branch / commit / date"
           parts = new_desc.split(" / ")
           if len(parts) > 3:
             version, date = parts[0], parts[3]
-            update_alert_data.text = f"update available\n sunnypilot {version}, {date}. go to comma.ai/blog to read the release notes."
+            version_string = f"\nsunnypilot {version}, {date}\n"
 
+        update_alert_data.text = f"Update available {version_string}. Click to update. Read the release notes at blog.comma.ai."
         update_alert_data.visible = True
         active_count += 1
       else:
diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py
index 5f20cf7c78..38dd70cea2 100644
--- a/selfdrive/ui/mici/layouts/onboarding.py
+++ b/selfdrive/ui/mici/layouts/onboarding.py
@@ -1,6 +1,7 @@
 from enum import IntEnum
 from collections.abc import Callable
 
+import weakref
 import pyray as rl
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.widgets import Widget
@@ -92,11 +93,10 @@ class TrainingGuideDMTutorial(Widget):
     super().__init__()
     self._title_header = TermsHeader("fill the circle to continue", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
 
-    self._original_continue_callback = continue_callback
-
     # Wrap the continue callback to restore settings
     def wrapped_continue_callback():
-      self._restore_settings()
+      device.set_offroad_brightness(None)
+      device.reset_interactive_timeout()
       continue_callback()
 
     self._dialog = DriverCameraSetupDialog(wrapped_continue_callback)
@@ -114,10 +114,6 @@ class TrainingGuideDMTutorial(Widget):
     device.set_offroad_brightness(100)
     device.reset_interactive_timeout(300)  # 5 minutes
 
-  def _restore_settings(self):
-    device.set_offroad_brightness(None)
-    device.reset_interactive_timeout()
-
   def _update_state(self):
     super()._update_state()
     if device.awake:
@@ -150,7 +146,7 @@ class TrainingGuideRecordFront(SetupTermsPage):
     super().__init__(on_continue, back_callback=on_back, back_text="no", continue_text="yes")
     self._title_header = TermsHeader("improve driver monitoring", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
 
-    self._dm_label = UnifiedLabel("Do you want to upload driver camera data to improve driver monitoring?", 42,
+    self._dm_label = UnifiedLabel("Do you want to upload driver camera data?", 42,
                                   FontWeight.ROMAN)
 
   def show_event(self):
@@ -214,11 +210,17 @@ class TrainingGuide(Widget):
     self._completed_callback = completed_callback
     self._step = 0
 
+    self_ref = weakref.ref(self)
+
+    def on_continue():
+      if obj := self_ref():
+        obj._advance_step()
+
     self._steps = [
-      TrainingGuideAttentionNotice(continue_callback=self._advance_step),
-      TrainingGuidePreDMTutorial(continue_callback=self._advance_step),
-      TrainingGuideDMTutorial(continue_callback=self._advance_step),
-      TrainingGuideRecordFront(continue_callback=self._advance_step),
+      TrainingGuideAttentionNotice(continue_callback=on_continue),
+      TrainingGuidePreDMTutorial(continue_callback=on_continue),
+      TrainingGuideDMTutorial(continue_callback=on_continue),
+      TrainingGuideRecordFront(continue_callback=on_continue),
     ]
 
   def _advance_step(self):
diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py
index 1d5e4989ec..81f0e870ef 100644
--- a/selfdrive/ui/mici/layouts/settings/device.py
+++ b/selfdrive/ui/mici/layouts/settings/device.py
@@ -39,7 +39,7 @@ class MiciFccModal(NavWidget):
     content_height += self._fcc_logo.height + 20
 
     scroll_content_rect = rl.Rectangle(rect.x, rect.y, rect.width, content_height)
-    scroll_offset = self._scroll_panel.update(rect, scroll_content_rect.height)
+    scroll_offset = round(self._scroll_panel.update(rect, scroll_content_rect.height))
 
     fcc_pos = rl.Vector2(rect.x + 20, rect.y + 20 + scroll_offset)
 
diff --git a/selfdrive/ui/mici/layouts/settings/firehose.py b/selfdrive/ui/mici/layouts/settings/firehose.py
index 18731d675e..462b1fc813 100644
--- a/selfdrive/ui/mici/layouts/settings/firehose.py
+++ b/selfdrive/ui/mici/layouts/settings/firehose.py
@@ -6,14 +6,13 @@ from openpilot.common.api import api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.api_helpers import get_token
-from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.ui_state import ui_state, device
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.lib.wrap_text import wrap_text
 from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2
 from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
-from openpilot.system.ui.widgets import NavWidget
-
+from openpilot.system.ui.widgets import Widget, NavWidget
 
 TITLE = tr_noop("Firehose Mode")
 DESCRIPTION = tr_noop(
@@ -34,9 +33,7 @@ FAQ_ITEMS = [
 ]
 
 
-class FirehoseLayoutMici(NavWidget):
-  BACK_TOUCH_AREA_PERCENTAGE = 0.1
-
+class FirehoseLayoutBase(Widget):
   PARAM_KEY = "ApiCache_FirehoseStats"
   GREEN = rl.Color(46, 204, 113, 255)
   RED = rl.Color(231, 76, 60, 255)
@@ -44,12 +41,10 @@ class FirehoseLayoutMici(NavWidget):
   LIGHT_GRAY = rl.Color(228, 228, 228, 255)
   UPDATE_INTERVAL = 30  # seconds
 
-  def __init__(self, back_callback):
+  def __init__(self):
     super().__init__()
-    self.set_back_callback(back_callback)
-
-    self.params = Params()
-    self.segment_count = self._get_segment_count()
+    self._params = Params()
+    self._segment_count = self._get_segment_count()
 
     self._scroll_panel = GuiScrollPanel2(horizontal=False)
     self._content_height = 0
@@ -71,7 +66,7 @@ class FirehoseLayoutMici(NavWidget):
     self._scroll_panel.set_offset(0)
 
   def _get_segment_count(self) -> int:
-    stats = self.params.get(self.PARAM_KEY)
+    stats = self._params.get(self.PARAM_KEY)
     if not stats:
       return 0
     try:
@@ -83,7 +78,7 @@ class FirehoseLayoutMici(NavWidget):
   def _render(self, rect: rl.Rectangle):
     # compute total content height for scrolling
     content_height = self._measure_content_height(rect)
-    scroll_offset = self._scroll_panel.update(rect, content_height)
+    scroll_offset = round(self._scroll_panel.update(rect, content_height))
 
     # start drawing with offset
     x = int(rect.x + 40)
@@ -111,9 +106,9 @@ class FirehoseLayoutMici(NavWidget):
     y += 20
 
     # Contribution count (if available)
-    if self.segment_count > 0:
+    if self._segment_count > 0:
       contrib_text = trn("{} segment of your driving is in the training dataset so far.",
-                         "{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
+                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
       y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 42, rl.WHITE)
       y += 20
 
@@ -165,9 +160,9 @@ class FirehoseLayoutMici(NavWidget):
     y += int(len(status_lines) * 48 * FONT_SCALE) + 20
 
     # Contribution count
-    if self.segment_count > 0:
+    if self._segment_count > 0:
       contrib_text = trn("{} segment of your driving is in the training dataset so far.",
-                         "{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
+                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
       contrib_lines = wrap_text(gui_app.font(FontWeight.BOLD), contrib_text, 42, w)
       y += int(len(contrib_lines) * 42 * FONT_SCALE) + 20
 
@@ -204,20 +199,28 @@ class FirehoseLayoutMici(NavWidget):
 
   def _fetch_firehose_stats(self):
     try:
-      dongle_id = self.params.get("DongleId")
+      dongle_id = self._params.get("DongleId")
       if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
         return
       identity_token = get_token(dongle_id)
       response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
       if response.status_code == 200:
         data = response.json()
-        self.segment_count = data.get("firehose", 0)
-        self.params.put(self.PARAM_KEY, data)
+        self._segment_count = data.get("firehose", 0)
+        self._params.put(self.PARAM_KEY, data)
     except Exception as e:
       cloudlog.error(f"Failed to fetch firehose stats: {e}")
 
   def _update_loop(self):
     while self._running:
-      if not ui_state.started:
+      if not ui_state.started and device._awake:
         self._fetch_firehose_stats()
       time.sleep(self.UPDATE_INTERVAL)
+
+
+class FirehoseLayout(FirehoseLayoutBase, NavWidget):
+  BACK_TOUCH_AREA_PERCENTAGE = 0.1
+
+  def __init__(self, back_callback):
+    super().__init__()
+    self.set_back_callback(back_callback)
diff --git a/selfdrive/ui/mici/layouts/settings/network/__init__.py b/selfdrive/ui/mici/layouts/settings/network/__init__.py
new file mode 100644
index 0000000000..d085fdf55f
--- /dev/null
+++ b/selfdrive/ui/mici/layouts/settings/network/__init__.py
@@ -0,0 +1,182 @@
+import pyray as rl
+from enum import IntEnum
+from collections.abc import Callable
+
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle, BigParamControl
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.lib.prime_state import PrimeType
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import NavWidget
+from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType
+
+
+class NetworkPanelType(IntEnum):
+  NONE = 0
+  WIFI = 1
+
+
+class NetworkLayoutMici(NavWidget):
+  def __init__(self, back_callback: Callable):
+    super().__init__()
+
+    self._current_panel = NetworkPanelType.WIFI
+    self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE)
+
+    self._wifi_manager = WifiManager()
+    self._wifi_manager.set_active(False)
+    self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE))
+
+    self._wifi_manager.add_callbacks(
+      networks_updated=self._on_network_updated,
+    )
+
+    _tethering_icon = "icons_mici/settings/network/tethering.png"
+
+    # ******** Tethering ********
+    def tethering_toggle_callback(checked: bool):
+      self._tethering_toggle_btn.set_enabled(False)
+      self._network_metered_btn.set_enabled(False)
+      self._wifi_manager.set_tethering_active(checked)
+
+    self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
+
+    def tethering_password_callback(password: str):
+      if password:
+        self._wifi_manager.set_tethering_password(password)
+
+    def tethering_password_clicked():
+      tethering_password = self._wifi_manager.tethering_password
+      dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
+                           confirm_callback=tethering_password_callback)
+      gui_app.set_modal_overlay(dlg)
+
+    txt_tethering = gui_app.texture(_tethering_icon, 64, 53)
+    self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
+    self._tethering_password_btn.set_click_callback(tethering_password_clicked)
+
+    # ******** IP Address ********
+    self._ip_address_btn = BigButton("IP Address", "Not connected")
+
+    # ******** Network Metered ********
+    def network_metered_callback(value: str):
+      self._network_metered_btn.set_enabled(False)
+      metered = {
+        'default': MeteredType.UNKNOWN,
+        'metered': MeteredType.YES,
+        'unmetered': MeteredType.NO
+      }.get(value, MeteredType.UNKNOWN)
+      self._wifi_manager.set_current_network_metered(metered)
+
+    # TODO: signal for current network metered type when changing networks, this is wrong until you press it once
+    # TODO: disable when not connected
+    self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
+    self._network_metered_btn.set_enabled(False)
+
+    wifi_button = BigButton("wi-fi")
+    wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))
+
+    # ******** Advanced settings ********
+    # ******** Roaming toggle ********
+    self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming)
+
+    # ******** APN settings ********
+    self._apn_btn = BigButton("apn settings", "edit")
+    self._apn_btn.set_click_callback(self._edit_apn)
+
+    # ******** Cellular metered toggle ********
+    self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered)
+
+    # Main scroller ----------------------------------
+    self._scroller = Scroller([
+      wifi_button,
+      self._network_metered_btn,
+      self._tethering_toggle_btn,
+      self._tethering_password_btn,
+      # /* Advanced settings
+      self._roaming_btn,
+      self._apn_btn,
+      self._cellular_metered_btn,
+      # */
+      self._ip_address_btn,
+    ], snap_items=False)
+
+    # Set initial config
+    roaming_enabled = ui_state.params.get_bool("GsmRoaming")
+    metered = ui_state.params.get_bool("GsmMetered")
+    self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered)
+
+    # Set up back navigation
+    self.set_back_callback(back_callback)
+
+  def _update_state(self):
+    super()._update_state()
+
+    # If not using prime SIM, show GSM settings and enable IPv4 forwarding
+    show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE)
+    self._wifi_manager.set_ipv4_forward(show_cell_settings)
+    self._roaming_btn.set_visible(show_cell_settings)
+    self._apn_btn.set_visible(show_cell_settings)
+    self._cellular_metered_btn.set_visible(show_cell_settings)
+
+  def show_event(self):
+    super().show_event()
+    self._current_panel = NetworkPanelType.NONE
+    self._wifi_ui.show_event()
+    self._scroller.show_event()
+
+  def hide_event(self):
+    super().hide_event()
+    self._wifi_ui.hide_event()
+
+  def _toggle_roaming(self, checked: bool):
+    self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered"))
+
+  def _edit_apn(self):
+    def update_apn(apn: str):
+      apn = apn.strip()
+      if apn == "":
+        ui_state.params.remove("GsmApn")
+      else:
+        ui_state.params.put("GsmApn", apn)
+
+      self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered"))
+
+    current_apn = ui_state.params.get("GsmApn") or ""
+    dlg = BigInputDialog("enter APN", current_apn, minimum_length=0, confirm_callback=update_apn)
+    gui_app.set_modal_overlay(dlg)
+
+  def _toggle_cellular_metered(self, checked: bool):
+    self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked)
+
+  def _on_network_updated(self, networks: list[Network]):
+    # Update tethering state
+    tethering_active = self._wifi_manager.is_tethering_active()
+    # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
+    self._tethering_toggle_btn.set_enabled(True)
+    self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
+    self._tethering_toggle_btn.set_checked(tethering_active)
+
+    # Update IP address
+    self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected")
+
+    # Update network metered
+    self._network_metered_btn.set_value(
+      {
+        MeteredType.UNKNOWN: 'default',
+        MeteredType.YES: 'metered',
+        MeteredType.NO: 'unmetered'
+      }.get(self._wifi_manager.current_network_metered, 'default'))
+
+  def _switch_to_panel(self, panel_type: NetworkPanelType):
+    self._current_panel = panel_type
+
+  def _render(self, rect: rl.Rectangle):
+    self._wifi_manager.process_callbacks()
+
+    if self._current_panel == NetworkPanelType.WIFI:
+      self._wifi_ui.render(rect)
+    else:
+      self._scroller.render(rect)
diff --git a/selfdrive/ui/mici/layouts/settings/network.py b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
similarity index 77%
rename from selfdrive/ui/mici/layouts/settings/network.py
rename to selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
index a62c1d153a..18c4dd5d6d 100644
--- a/selfdrive/ui/mici/layouts/settings/network.py
+++ b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
@@ -1,28 +1,20 @@
 import math
 import numpy as np
 import pyray as rl
-from enum import IntEnum
 from collections.abc import Callable
 
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigMultiOptionDialog, BigInputDialog, BigDialogOptionButton, BigConfirmationDialogV2
 from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
 from openpilot.system.ui.widgets import Widget, NavWidget
-from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType, MeteredType
+from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType
 
 
 def normalize_ssid(ssid: str) -> str:
   return ssid.replace("’", "'")  # for iPhone hotspots
 
 
-class NetworkPanelType(IntEnum):
-  NONE = 0
-  WIFI = 1
-
-
 class LoadingAnimation(Widget):
   def _render(self, _):
     cx = int(self._rect.x + 70)
@@ -91,11 +83,13 @@ class WifiIcon(Widget):
 
 class WifiItem(BigDialogOptionButton):
   LEFT_MARGIN = 20
+  HEIGHT = 54
+  SELECTED_HEIGHT = 74
 
   def __init__(self, network: Network):
     super().__init__(network.ssid)
 
-    self.set_rect(rl.Rectangle(0, 0, gui_app.width, 64))
+    self.set_rect(rl.Rectangle(0, 0, gui_app.width, self.HEIGHT))
 
     self._selected_txt = gui_app.texture("icons_mici/settings/network/new/wifi_selected.png", 48, 96)
 
@@ -103,6 +97,10 @@ class WifiItem(BigDialogOptionButton):
     self._wifi_icon = WifiIcon()
     self._wifi_icon.set_current_network(network)
 
+  def set_selected(self, selected: bool):
+    super().set_selected(selected)
+    self._rect.height = self.SELECTED_HEIGHT if selected else self.HEIGHT
+
   def set_current_network(self, network: Network):
     self._network = network
     self._wifi_icon.set_current_network(network)
@@ -117,7 +115,7 @@ class WifiItem(BigDialogOptionButton):
     self._wifi_icon.render(rl.Rectangle(
       self._rect.x + self.LEFT_MARGIN,
       self._rect.y,
-      self._rect.height,
+      self.SELECTED_HEIGHT,
       self._rect.height
     ))
 
@@ -126,7 +124,7 @@ class WifiItem(BigDialogOptionButton):
       self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.9)))
       self._label.set_font_weight(FontWeight.DISPLAY)
     else:
-      self._label.set_font_size(70)
+      self._label.set_font_size(54)
       self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.58)))
       self._label.set_font_weight(FontWeight.DISPLAY_REGULAR)
 
@@ -215,7 +213,7 @@ class NetworkInfoPage(NavWidget):
     self._connect_btn.set_click_callback(lambda: connect_callback(self._network.ssid) if self._network is not None else None)
 
     self._title = UnifiedLabel("", 64, FontWeight.DISPLAY, rl.Color(255, 255, 255, int(255 * 0.9)),
-                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, scroll=True)
     self._subtitle = UnifiedLabel("", 36, FontWeight.ROMAN, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
                                   alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
 
@@ -225,6 +223,10 @@ class NetworkInfoPage(NavWidget):
     self._network: Network | None = None
     self._connecting: Callable[[], str | None] | None = None
 
+  def show_event(self):
+    super().show_event()
+    self._title.reset_scroll()
+
   def update_networks(self, networks: dict[str, Network]):
     # update current network from latest scan results
     for ssid, network in networks.items():
@@ -392,7 +394,7 @@ class WifiUIMici(BigMultiOptionDialog):
           self._network_info_page.set_current_network(_network)
           self._should_open_network_info_page = True
 
-        network_button.set_click_callback(lambda _net=network,_button=network_button: _button._selected and show_network_info_page(_net))
+        network_button.set_click_callback(lambda _net=network, _button=network_button: _button._selected and show_network_info_page(_net))
 
       self.add_button(network_button)
 
@@ -443,116 +445,3 @@ class WifiUIMici(BigMultiOptionDialog):
 
     if not self._networks:
       self._loading_animation.render(self._rect)
-
-
-class NetworkLayoutMici(NavWidget):
-  def __init__(self, back_callback: Callable):
-    super().__init__()
-
-    self._current_panel = NetworkPanelType.WIFI
-    self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE)
-
-    self._wifi_manager = WifiManager()
-    self._wifi_manager.set_active(False)
-    self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE))
-
-    self._wifi_manager.add_callbacks(
-      networks_updated=self._on_network_updated,
-    )
-
-    _tethering_icon = "icons_mici/settings/network/tethering.png"
-
-    # ******** Tethering ********
-    def tethering_toggle_callback(checked: bool):
-      self._tethering_toggle_btn.set_enabled(False)
-      self._network_metered_btn.set_enabled(False)
-      self._wifi_manager.set_tethering_active(checked)
-
-    self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
-
-    def tethering_password_callback(password: str):
-      if password:
-        self._wifi_manager.set_tethering_password(password)
-
-    def tethering_password_clicked():
-      tethering_password = self._wifi_manager.tethering_password
-      dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
-                           confirm_callback=tethering_password_callback)
-      gui_app.set_modal_overlay(dlg)
-
-    txt_tethering = gui_app.texture(_tethering_icon, 64, 53)
-    self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
-    self._tethering_password_btn.set_click_callback(tethering_password_clicked)
-
-    # ******** IP Address ********
-    self._ip_address_btn = BigButton("IP Address", "Not connected")
-
-    # ******** Network Metered ********
-    def network_metered_callback(value: str):
-      self._network_metered_btn.set_enabled(False)
-      metered = {
-        'default': MeteredType.UNKNOWN,
-        'metered': MeteredType.YES,
-        'unmetered': MeteredType.NO
-      }.get(value, MeteredType.UNKNOWN)
-      self._wifi_manager.set_current_network_metered(metered)
-
-    # TODO: signal for current network metered type when changing networks, this is wrong until you press it once
-    # TODO: disable when not connected
-    self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
-    self._network_metered_btn.set_enabled(False)
-
-    wifi_button = BigButton("wi-fi")
-    wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))
-
-    # Main scroller ----------------------------------
-    self._scroller = Scroller([
-      wifi_button,
-      self._network_metered_btn,
-      self._tethering_toggle_btn,
-      self._tethering_password_btn,
-      self._ip_address_btn,
-    ], snap_items=False)
-
-    # Set up back navigation
-    self.set_back_callback(back_callback)
-
-  def show_event(self):
-    super().show_event()
-    self._current_panel = NetworkPanelType.NONE
-    self._wifi_ui.show_event()
-    self._scroller.show_event()
-
-  def hide_event(self):
-    super().hide_event()
-    self._wifi_ui.hide_event()
-
-  def _on_network_updated(self, networks: list[Network]):
-    # Update tethering state
-    tethering_active = self._wifi_manager.is_tethering_active()
-    # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
-    self._tethering_toggle_btn.set_enabled(True)
-    self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
-    self._tethering_toggle_btn.set_checked(tethering_active)
-
-    # Update IP address
-    self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected")
-
-    # Update network metered
-    self._network_metered_btn.set_value(
-      {
-        MeteredType.UNKNOWN: 'default',
-        MeteredType.YES: 'metered',
-        MeteredType.NO: 'unmetered'
-      }.get(self._wifi_manager.current_network_metered, 'default'))
-
-  def _switch_to_panel(self, panel_type: NetworkPanelType):
-    self._current_panel = panel_type
-
-  def _render(self, rect: rl.Rectangle):
-    self._wifi_manager.process_callbacks()
-
-    if self._current_panel == NetworkPanelType.WIFI:
-      self._wifi_ui.render(rect)
-    else:
-      self._scroller.render(rect)
diff --git a/selfdrive/ui/mici/layouts/settings/settings.py b/selfdrive/ui/mici/layouts/settings/settings.py
index 75238d581a..a452777748 100644
--- a/selfdrive/ui/mici/layouts/settings/settings.py
+++ b/selfdrive/ui/mici/layouts/settings/settings.py
@@ -10,7 +10,7 @@ from openpilot.selfdrive.ui.mici.layouts.settings.toggles import TogglesLayoutMi
 from openpilot.selfdrive.ui.mici.layouts.settings.network import NetworkLayoutMici
 from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici, PairBigButton
 from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici
-from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayoutMici
+from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget, NavWidget
 
@@ -67,7 +67,7 @@ class SettingsLayout(NavWidget):
       PanelType.NETWORK: PanelInfo("Network", NetworkLayoutMici(back_callback=lambda: self._set_current_panel(None))),
       PanelType.DEVICE: PanelInfo("Device", DeviceLayoutMici(back_callback=lambda: self._set_current_panel(None))),
       PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayoutMici(back_callback=lambda: self._set_current_panel(None))),
-      PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayoutMici(back_callback=lambda: self._set_current_panel(None))),
+      PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout(back_callback=lambda: self._set_current_panel(None))),
     }
 
     self._font_medium = gui_app.font(FontWeight.MEDIUM)
diff --git a/selfdrive/ui/mici/onroad/alert_renderer.py b/selfdrive/ui/mici/onroad/alert_renderer.py
index b7f0098073..b5f796bb03 100644
--- a/selfdrive/ui/mici/onroad/alert_renderer.py
+++ b/selfdrive/ui/mici/onroad/alert_renderer.py
@@ -89,10 +89,6 @@ ALERT_CRITICAL_REBOOT = Alert(
 class AlertRenderer(Widget):
   def __init__(self):
     super().__init__()
-    self.font_regular: rl.Font = gui_app.font(FontWeight.MEDIUM)
-    self.font_roman: rl.Font = gui_app.font(FontWeight.ROMAN)
-    self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
-    self.font_display: rl.Font = gui_app.font(FontWeight.DISPLAY)
 
     self._alert_text1_label = UnifiedLabel(text="", font_size=ALERT_FONT_BIG, font_weight=FontWeight.DISPLAY, line_height=0.86,
                                            letter_spacing=-0.02)
@@ -204,11 +200,11 @@ class AlertRenderer(Widget):
     text_x = self._rect.x + ALERT_MARGIN
     text_width = self._rect.width - ALERT_MARGIN
     if icon_side == 'left':
-      text_x = self._rect.x + self._txt_turn_signal_right.width + 20 * 2
-      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width - 20 * 2
+      text_x = self._rect.x + self._txt_turn_signal_right.width
+      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width
     elif icon_side == 'right':
       text_x = self._rect.x + ALERT_MARGIN
-      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width - 20 * 2
+      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width
 
     text_rect = rl.Rectangle(
       text_x,
diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index 64d57e8958..5fe33a7e48 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -1,6 +1,7 @@
+import time
 import numpy as np
 import pyray as rl
-from cereal import car, log
+from cereal import messaging, car, log
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
@@ -160,6 +161,9 @@ class AugmentedRoadView(CameraView):
 
     self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
 
+    # debug
+    self._pm = messaging.PubMaster(['uiDebug'])
+
   def is_swiping_left(self) -> bool:
     """Check if currently swiping left (for scroller to disable)."""
     return self._bookmark_icon.is_swiping_left()
@@ -179,6 +183,7 @@ class AugmentedRoadView(CameraView):
       super()._handle_mouse_release(mouse_pos)
 
   def _render(self, _):
+    start_draw = time.monotonic()
     self._switch_stream_if_needed(ui_state.sm)
 
     # Update calibration before rendering
@@ -244,6 +249,11 @@ class AugmentedRoadView(CameraView):
       rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
       self._offroad_label.render(self._content_rect)
 
+    # publish uiDebug
+    msg = messaging.new_message('uiDebug')
+    msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
+    self._pm.send('uiDebug', msg)
+
   def _switch_stream_if_needed(self, sm):
     if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
       v_ego = sm['carState'].vEgo
diff --git a/selfdrive/ui/mici/onroad/cameraview.py b/selfdrive/ui/mici/onroad/cameraview.py
index 0f425b10da..89a4926ce9 100644
--- a/selfdrive/ui/mici/onroad/cameraview.py
+++ b/selfdrive/ui/mici/onroad/cameraview.py
@@ -107,7 +107,6 @@ else:
 class CameraView(Widget):
   def __init__(self, name: str, stream_type: VisionStreamType):
     super().__init__()
-    # TODO: implement a receiver and connect thread
     self._name = name
     # Primary stream
     self.client = VisionIpcClient(name, stream_type, conflate=True)
@@ -197,7 +196,10 @@ class CameraView(Widget):
     # Clean up shader
     if self.shader and self.shader.id:
       rl.unload_shader(self.shader)
+      self.shader.id = 0
 
+    self.frame = None
+    self.available_streams.clear()
     self.client = None
 
   def __del__(self):
@@ -234,6 +236,9 @@ class CameraView(Widget):
     if buffer:
       self._texture_needs_update = True
       self.frame = buffer
+    elif not self.client.is_connected():
+      # ensure we clear the displayed frame when the connection is lost
+      self.frame = None
 
     if not self.frame:
       self._draw_placeholder(rect)
diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
index f2fa5e8fe8..9adb660d8b 100644
--- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -15,20 +15,27 @@ EventName = log.OnroadEvent.EventName
 EVENT_TO_INT = EventName.schema.enumerants
 
 
+class DriverCameraView(CameraView):
+  def _calc_frame_matrix(self, rect: rl.Rectangle):
+    base = super()._calc_frame_matrix(rect)
+    driver_view_ratio = 1.5
+    base[0, 0] *= driver_view_ratio
+    base[1, 1] *= driver_view_ratio
+    return base
+
+
 class DriverCameraDialog(NavWidget):
   def __init__(self, no_escape=False):
     super().__init__()
-    self._camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
-    self._original_calc_frame_matrix = self._camera_view._calc_frame_matrix
-    self._camera_view._calc_frame_matrix = self._calc_driver_frame_matrix
+    self._camera_view = DriverCameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
     self.driver_state_renderer = DriverStateRenderer(lines=True)
     self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 200, 200))
     self.driver_state_renderer.load_icons()
-    self._pm = messaging.PubMaster(['selfdriveState'])
+    self._pm: messaging.PubMaster | None = None
     if not no_escape:
       # TODO: this can grow unbounded, should be given some thought
-      device.add_interactive_timeout_callback(self.stop_dmonitoringmodeld)
-    self.set_back_callback(self._dismiss)
+      device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None))
+    self.set_back_callback(lambda: gui_app.set_modal_overlay(None))
     self.set_back_enabled(not no_escape)
 
     # Load eye icons
@@ -40,26 +47,24 @@ class DriverCameraDialog(NavWidget):
 
     self._load_eye_textures()
 
-  def stop_dmonitoringmodeld(self):
-    ui_state.params.put_bool("IsDriverViewEnabled", False)
-    gui_app.set_modal_overlay(None)
-
   def show_event(self):
     super().show_event()
     ui_state.params.put_bool("IsDriverViewEnabled", True)
     self._publish_alert_sound(None)
     device.reset_interactive_timeout(300)
     ui_state.params.remove("DriverTooDistracted")
+    self._pm = messaging.PubMaster(['selfdriveState'])
 
   def hide_event(self):
     super().hide_event()
+    ui_state.params.put_bool("IsDriverViewEnabled", False)
     device.reset_interactive_timeout()
 
   def _handle_mouse_release(self, _):
     ui_state.params.remove("DriverTooDistracted")
 
-  def _dismiss(self):
-    self.stop_dmonitoringmodeld()
+  def __del__(self):
+    self.close()
 
   def close(self):
     if self._camera_view:
@@ -103,6 +108,9 @@ class DriverCameraDialog(NavWidget):
 
   def _publish_alert_sound(self, dm_state):
     """Publish selfdriveState with only alertSound field set"""
+    if self._pm is None:
+      return
+
     msg = messaging.new_message('selfdriveState')
     if dm_state is not None and len(dm_state.events):
       event_name = EVENT_TO_INT[dm_state.events[0].name]
@@ -221,13 +229,6 @@ class DriverCameraDialog(NavWidget):
     glasses_prob = driver_data.sunglassesProb
     rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
 
-  def _calc_driver_frame_matrix(self, rect: rl.Rectangle):
-    base = self._original_calc_frame_matrix(rect)
-    driver_view_ratio = 1.5
-    base[0, 0] *= driver_view_ratio
-    base[1, 1] *= driver_view_ratio
-    return base
-
 
 if __name__ == "__main__":
   gui_app.init_window("Driver Camera View (mici)")
diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/selfdrive/ui/mici/onroad/driver_state.py
index 369055846e..080083c3e2 100644
--- a/selfdrive/ui/mici/onroad/driver_state.py
+++ b/selfdrive/ui/mici/onroad/driver_state.py
@@ -3,6 +3,7 @@ from collections.abc import Callable
 import numpy as np
 import math
 from cereal import log
+from openpilot.system.hardware import PC
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets import Widget
@@ -217,7 +218,10 @@ class DriverStateRenderer(Widget):
     rotation = math.degrees(math.atan2(pitch, yaw))
     angle_diff = rotation - self._rotation_filter.x
     angle_diff = ((angle_diff + 180) % 360) - 180
-    self._rotation_filter.update(self._rotation_filter.x + angle_diff)
+    if PC and self._confirm_mode:
+      self._rotation_filter.x += 2
+    else:
+      self._rotation_filter.update(self._rotation_filter.x + angle_diff)
 
     if not self.should_draw:
       self._fade_filter.update(0.0)
diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py
index bb5171d6e3..7f489ccf98 100644
--- a/selfdrive/ui/mici/onroad/hud_renderer.py
+++ b/selfdrive/ui/mici/onroad/hud_renderer.py
@@ -30,20 +30,8 @@ class FontSizes:
 
 @dataclass(frozen=True)
 class Colors:
-  white: rl.Color = rl.WHITE
-  disengaged: rl.Color = rl.Color(145, 155, 149, 255)
-  override: rl.Color = rl.Color(145, 155, 149, 255)  # Added
-  engaged: rl.Color = rl.Color(128, 216, 166, 255)
-  disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153)
-  override_bg: rl.Color = rl.Color(145, 155, 149, 204)
-  engaged_bg: rl.Color = rl.Color(128, 216, 166, 204)
-  grey: rl.Color = rl.Color(166, 166, 166, 255)
-  dark_grey: rl.Color = rl.Color(114, 114, 114, 255)
-  black_translucent: rl.Color = rl.Color(0, 0, 0, 166)
-  white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
-  border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
-  header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
-  header_gradient_end: rl.Color = rl.BLANK
+  WHITE = rl.WHITE
+  WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200)
 
 
 FONT_SIZES = FontSizes()
@@ -236,16 +224,18 @@ class HudRenderer(Widget):
 
   def _draw_set_speed(self, rect: rl.Rectangle) -> None:
     """Draw the MAX speed indicator box."""
-    x = rect.x
-    y = rect.y
-
     alpha = self._set_speed_alpha_filter.update(0 < rl.get_time() - self._set_speed_changed_time < SET_SPEED_PERSISTENCE and
                                                 self._can_draw_top_icons and self._engaged)
+    if alpha < 1e-2:
+      return
+
+    x = rect.x
+    y = rect.y
 
     # draw drop shadow
     circle_radius = 162 // 2
     rl.draw_circle_gradient(int(x + circle_radius), int(y + circle_radius), circle_radius,
-                            rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.Color(0, 0, 0, 0))
+                            rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.BLANK)
 
     set_speed_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
     max_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
@@ -279,9 +269,9 @@ class HudRenderer(Widget):
     speed_text = str(round(self.speed))
     speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
     speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
-    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
+    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
 
     unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
     unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
     unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
-    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)
+    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)
diff --git a/selfdrive/ui/mici/onroad/torque_bar.py b/selfdrive/ui/mici/onroad/torque_bar.py
index 1f6dffe879..d7c9f27a92 100644
--- a/selfdrive/ui/mici/onroad/torque_bar.py
+++ b/selfdrive/ui/mici/onroad/torque_bar.py
@@ -130,6 +130,9 @@ def arc_bar_pts(cx: float, cy: float,
 
   pts = np.vstack((outer, cap_end, inner, cap_start, outer[:1])).astype(np.float32)
 
+  # Rotate to start from middle of cap for proper triangulation
+  pts = np.roll(pts, cap_segs, axis=0)
+
   if DEBUG:
     n = len(pts)
     idx = int(time.monotonic() * 12) % max(1, n)  # speed: 12 pts/sec
diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py
index d64ab65ef2..b11056f993 100644
--- a/selfdrive/ui/mici/widgets/dialog.py
+++ b/selfdrive/ui/mici/widgets/dialog.py
@@ -282,7 +282,8 @@ class BigDialogOptionButton(Widget):
     self._selected = False
 
     self._label = UnifiedLabel(option, font_size=70, text_color=rl.Color(255, 255, 255, int(255 * 0.58)),
-                               font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
+                               font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+                               scroll=True)
 
   def set_selected(self, selected: bool):
     self._selected = selected
diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py
index 87db7cc636..5443948465 100644
--- a/selfdrive/ui/onroad/cameraview.py
+++ b/selfdrive/ui/onroad/cameraview.py
@@ -68,7 +68,6 @@ else:
 class CameraView(Widget):
   def __init__(self, name: str, stream_type: VisionStreamType):
     super().__init__()
-    # TODO: implement a receiver and connect thread
     self._name = name
     # Primary stream
     self.client = VisionIpcClient(name, stream_type, conflate=True)
@@ -337,12 +336,12 @@ class CameraView(Widget):
     self._initialize_textures()
 
   def _initialize_textures(self):
-      self._clear_textures()
-      if not TICI:
-        self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
-          int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
-        self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
-          int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
+    self._clear_textures()
+    if not TICI:
+      self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
+        int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
+      self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
+        int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
 
   def _clear_textures(self):
     if self.texture_y and self.texture_y.id:
diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py
index a2459c27e2..79f150deea 100644
--- a/selfdrive/ui/onroad/hud_renderer.py
+++ b/selfdrive/ui/onroad/hud_renderer.py
@@ -35,20 +35,20 @@ class FontSizes:
 
 @dataclass(frozen=True)
 class Colors:
-  white: rl.Color = rl.WHITE
-  disengaged: rl.Color = rl.Color(145, 155, 149, 255)
-  override: rl.Color = rl.Color(145, 155, 149, 255)  # Added
-  engaged: rl.Color = rl.Color(128, 216, 166, 255)
-  disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153)
-  override_bg: rl.Color = rl.Color(145, 155, 149, 204)
-  engaged_bg: rl.Color = rl.Color(128, 216, 166, 204)
-  grey: rl.Color = rl.Color(166, 166, 166, 255)
-  dark_grey: rl.Color = rl.Color(114, 114, 114, 255)
-  black_translucent: rl.Color = rl.Color(0, 0, 0, 166)
-  white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
-  border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
-  header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
-  header_gradient_end: rl.Color = rl.BLANK
+  WHITE = rl.WHITE
+  DISENGAGED = rl.Color(145, 155, 149, 255)
+  OVERRIDE = rl.Color(145, 155, 149, 255)  # Added
+  ENGAGED = rl.Color(128, 216, 166, 255)
+  DISENGAGED_BG = rl.Color(0, 0, 0, 153)
+  OVERRIDE_BG = rl.Color(145, 155, 149, 204)
+  ENGAGED_BG = rl.Color(128, 216, 166, 204)
+  GREY = rl.Color(166, 166, 166, 255)
+  DARK_GREY = rl.Color(114, 114, 114, 255)
+  BLACK_TRANSLUCENT = rl.Color(0, 0, 0, 166)
+  WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200)
+  BORDER_TRANSLUCENT = rl.Color(255, 255, 255, 75)
+  HEADER_GRADIENT_START = rl.Color(0, 0, 0, 114)
+  HEADER_GRADIENT_END = rl.BLANK
 
 
 UI_CONFIG = UIConfig()
@@ -108,8 +108,8 @@ class HudRenderer(Widget):
       int(rect.y),
       int(rect.width),
       UI_CONFIG.header_height,
-      COLORS.header_gradient_start,
-      COLORS.header_gradient_end,
+      COLORS.HEADER_GRADIENT_START,
+      COLORS.HEADER_GRADIENT_END,
     )
 
     if self.is_cruise_available:
@@ -131,19 +131,19 @@ class HudRenderer(Widget):
     y = rect.y + 45
 
     set_speed_rect = rl.Rectangle(x, y, set_speed_width, UI_CONFIG.set_speed_height)
-    rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.black_translucent)
-    rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.border_translucent)
+    rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.BLACK_TRANSLUCENT)
+    rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.BORDER_TRANSLUCENT)
 
-    max_color = COLORS.grey
-    set_speed_color = COLORS.dark_grey
+    max_color = COLORS.GREY
+    set_speed_color = COLORS.DARK_GREY
     if self.is_cruise_set:
-      set_speed_color = COLORS.white
+      set_speed_color = COLORS.WHITE
       if ui_state.status == UIStatus.ENGAGED:
-        max_color = COLORS.engaged
+        max_color = COLORS.ENGAGED
       elif ui_state.status == UIStatus.DISENGAGED:
-        max_color = COLORS.disengaged
+        max_color = COLORS.DISENGAGED
       elif ui_state.status == UIStatus.OVERRIDE:
-        max_color = COLORS.override
+        max_color = COLORS.OVERRIDE
 
     max_text = tr("MAX")
     max_text_width = measure_text_cached(self._font_semi_bold, max_text, FONT_SIZES.max_speed).x
@@ -172,9 +172,9 @@ class HudRenderer(Widget):
     speed_text = str(round(self.speed))
     speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
     speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
-    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
+    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
 
     unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
     unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
     unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
-    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)
+    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/developer.py b/selfdrive/ui/sunnypilot/layouts/settings/developer.py
new file mode 100644
index 0000000000..f3a2433373
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/developer.py
@@ -0,0 +1,106 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import datetime
+import os
+from pathlib import Path
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
+from openpilot.system.hardware import PC
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+from openpilot.system.ui.widgets.list_view import button_item
+
+from openpilot.system.ui.sunnypilot.widgets.html_render import HtmlModalSP
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+
+PREBUILT_PATH = os.path.join(Paths.comma_home(), "prebuilt") if PC else "/data/openpilot/prebuilt"
+
+
+class DeveloperLayoutSP(DeveloperLayout):
+  def __init__(self):
+    super().__init__()
+    self.error_log_path = os.path.join(Paths.crash_log_root(), "error.log")
+    self._is_release_branch: bool = self._is_release or ui_state.params.get_bool("IsReleaseSpBranch")
+    self._is_development_branch: bool = ui_state.params.get_bool("IsTestedBranch") or ui_state.params.get_bool("IsDevelopmentBranch")
+    self._initialize_items()
+
+    for item in self.items:
+      self._scroller.add_widget(item)
+
+  def _initialize_items(self):
+    self.show_advanced_controls = toggle_item_sp(tr("Show Advanced Controls"),
+                                                 tr("Toggle visibility of advanced sunnypilot controls.<br>This only changes the visibility of the toggles; " +
+                                                    "it does not change the actual enabled/disabled state."), param="ShowAdvancedControls")
+
+    self.enable_github_runner_toggle = toggle_item_sp(tr("GitHub Runner Service"), tr("Enables or disables the GitHub runner service."),
+                                                      param="EnableGithubRunner")
+
+    self.enable_copyparty_toggle = toggle_item_sp(tr("copyparty Service"),
+                                                  tr("copyparty is a very capable file server, you can use it to download your routes, view your logs " +
+                                                     "and even make some edits on some files from your browser. " +
+                                                     "Requires you to connect to your comma locally via its IP address."), param="EnableCopyparty")
+
+    self.prebuilt_toggle = toggle_item_sp(tr("Quickboot Mode"), "", param="QuickBootToggle", callback=self._on_prebuilt_toggled)
+
+    self.error_log_btn = button_item(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."), callback=self._on_error_log_clicked)
+
+    self.items: list = [self.show_advanced_controls, self.enable_github_runner_toggle, self.enable_copyparty_toggle, self.prebuilt_toggle, self.error_log_btn,]
+
+  @staticmethod
+  def _on_prebuilt_toggled(state):
+    if state:
+      Path(PREBUILT_PATH).touch(exist_ok=True)
+    else:
+      os.remove(PREBUILT_PATH)
+    ui_state.params.put_bool("QuickBootToggle", state)
+
+  def _on_delete_confirm(self, result):
+    if result == DialogResult.CONFIRM:
+      if os.path.exists(self.error_log_path):
+        os.remove(self.error_log_path)
+
+  def _on_error_log_closed(self, result, log_exists):
+    if result == DialogResult.CONFIRM and log_exists:
+      dialog2 = ConfirmDialog(tr("Would you like to delete this log?"), tr("Yes"), tr("No"), rich=False)
+      gui_app.set_modal_overlay(dialog2, callback=self._on_delete_confirm)
+
+  def _on_error_log_clicked(self):
+    text = ""
+    if os.path.exists(self.error_log_path):
+      text = f"<b>{datetime.datetime.fromtimestamp(os.path.getmtime(self.error_log_path)).strftime('%d-%b-%Y %H:%M:%S').upper()}</b><br><br>"
+      try:
+        with open(self.error_log_path) as file:
+          text += file.read()
+      except Exception:
+        pass
+    dialog = HtmlModalSP(text=text, callback=lambda result: self._on_error_log_closed(result, os.path.exists(self.error_log_path)))
+    gui_app.set_modal_overlay(dialog)
+
+  def _update_state(self):
+    disable_updates = ui_state.params.get_bool("DisableUpdates")
+    show_advanced = ui_state.params.get_bool("ShowAdvancedControls")
+
+    if (prebuilt_file := os.path.exists(PREBUILT_PATH)) != ui_state.params.get_bool("QuickBootToggle"):
+      ui_state.params.put_bool("QuickBootToggle", prebuilt_file)
+      self.prebuilt_toggle.action_item.set_state(prebuilt_file)
+
+    self.prebuilt_toggle.set_visible(show_advanced and not (self._is_release_branch or self._is_development_branch))
+    self.prebuilt_toggle.action_item.set_enabled(disable_updates)
+
+    if disable_updates:
+      self.prebuilt_toggle.set_description(tr("When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it " +
+                                              "removes the prebuilt file so compilation of locally edited cpp files can be made."))
+    else:
+      self.prebuilt_toggle.set_description(tr("Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first."))
+
+    self.enable_copyparty_toggle.set_visible(show_advanced)
+    self.enable_github_runner_toggle.set_visible(show_advanced and not self._is_release_branch)
+    self.error_log_btn.set_visible(not self._is_release_branch)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/models.py b/selfdrive/ui/sunnypilot/layouts/settings/models.py
index d2ae664ceb..e1e0f320c5 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/models.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -21,7 +21,8 @@ from openpilot.system.ui.widgets.toggle import ON_COLOR
 
 from openpilot.sunnypilot.models.runners.constants import CUSTOM_MODEL_PATH
 from openpilot.system.ui.sunnypilot.lib.styles import style
-from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP, ListItemSP, toggle_item_sp, option_item_sp
+from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
+from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP, toggle_item_sp, option_item_sp
 from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
 from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
 
@@ -29,11 +30,6 @@ if gui_app.sunnypilot_ui():
   from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
 
 
-class ModelAction(ButtonActionSP):
-  def get_width_hint(self):
-    return super().get_width_hint() + 1
-
-
 class ModelsLayout(Widget):
   def __init__(self):
     super().__init__()
@@ -55,7 +51,7 @@ class ModelsLayout(Widget):
     self.current_model_item = ListItemSP(
       title=tr("Current Model"),
       description="",
-      action_item=ModelAction(tr("SELECT")),
+      action_item=NoElideButtonAction(tr("SELECT")),
       callback=self._handle_current_model_clicked
     )
 
@@ -70,7 +66,7 @@ class ModelsLayout(Widget):
     self.clear_cache_item = ListItemSP(
       title=tr("Clear Model Cache"),
       description="",
-      action_item=ModelAction(tr("CLEAR")),
+      action_item=NoElideButtonAction(tr("CLEAR")),
       callback=self._clear_cache
     )
 
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/osm.py b/selfdrive/ui/sunnypilot/layouts/settings/osm.py
index d57a0de9d8..3726a820f5 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/osm.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/osm.py
@@ -4,27 +4,229 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+import datetime
+import os
+import platform
+import requests
+import shutil
+import threading
+from pathlib import Path
+from time import monotonic
+
 from openpilot.common.params import Params
+from openpilot.selfdrive.ui.ui_state import device, ui_state
+from openpilot.selfdrive.ui.layouts.settings.software import time_ago
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import DialogResult, Widget
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+from openpilot.system.ui.widgets.list_view import text_item
 from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets import Widget
+
+from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
+from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP
+from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeFolder, TreeNode, TreeOptionDialog
+from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
+
+MAP_PATH = Path(Paths.mapd_root()) / "offline"
 
 
 class OSMLayout(Widget):
   def __init__(self):
     super().__init__()
-
-    self._params = Params()
-    items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
+    self._current_percent = 0
+    self._last_map_size_update = 0
+    self._mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else ui_state.params
+    self._initialize_items()
+    self._update_map_size()
+    self._progress.set_visible(False)
+    self._state_btn.set_visible(False)
+    self._mapd_version.action_item.set_text(ui_state.params.get("MapdVersion") or "Loading...")
+    self._scroller = Scroller(self.items, line_separator=True, spacing=0)
 
   def _initialize_items(self):
-    items = [
+    self._mapd_version = text_item(tr("Mapd Version"), lambda: ui_state.params.get("MapdVersion") or "Loading...")
+    self._delete_maps_btn = ListItemSP(tr("Downloaded Maps"), action_item=NoElideButtonAction(tr("DELETE"), enabled=True), callback=self._delete_maps)
+    self._progress = progress_item(tr("Downloading Map"))
+    self._update_btn = ListItemSP(tr("Database Update"), action_item=NoElideButtonAction(tr("CHECK"), enabled=True), callback=self._update_db)
+    self._country_btn = ListItemSP(tr("Country"), action_item=NoElideButtonAction(tr("SELECT"), enabled=True), callback=lambda: self._select_region("Country"))
+    self._state_btn = ListItemSP(tr("State"), action_item=NoElideButtonAction(tr("SELECT"), enabled=True), callback=lambda: self._select_region("State"))
 
-    ]
-    return items
+    self.items = [self._mapd_version, self._delete_maps_btn, self._progress, self._update_btn, self._country_btn, self._state_btn]
 
-  def _render(self, rect):
-    self._scroller.render(rect)
+  def _show_confirm(self, msg, confirm_text, func):
+    gui_app.set_modal_overlay(ConfirmDialog(msg, confirm_text), lambda res: func() if res == DialogResult.CONFIRM else None)
+
+  def calculate_size(self):
+    total_size = 0
+    directories_to_scan = [MAP_PATH] if MAP_PATH.exists() else []
+    while directories_to_scan:
+      try:
+        for entry in os.scandir(directories_to_scan.pop()):
+          if entry.is_file():
+            total_size += entry.stat().st_size
+          elif entry.is_dir():
+            directories_to_scan.append(entry.path)
+      except OSError:
+        pass
+    self._delete_maps_btn.action_item.set_value(f"{total_size / 1024 ** 2:.2f} MB" if total_size < 1024 ** 3 else f"{total_size / 1024 ** 3:.2f} GB")
+
+  def _update_map_size(self):
+    threading.Thread(target=self.calculate_size, daemon=True).start()
+
+  def _do_delete_maps(self):
+    if MAP_PATH.exists():
+      shutil.rmtree(MAP_PATH)
+
+    for param in ("OsmDownloadedDate", "OsmLocal", "OsmLocationName", "OsmLocationTitle", "OsmStateName", "OsmStateTitle"):
+      ui_state.params.remove(param)
+
+    self._delete_maps_btn.action_item.set_enabled(True)
+    self._delete_maps_btn.action_item.set_text(tr("DELETE"))
+    self._update_map_size()
+
+  def _on_confirm_delete_maps(self):
+    self._delete_maps_btn.action_item.set_enabled(False)
+    self._delete_maps_btn.action_item.set_text("DELETING...")
+    threading.Thread(target=self._do_delete_maps).start()
+
+  def _delete_maps(self):
+    self._show_confirm(tr("This will delete ALL downloaded maps\n\nAre you sure you want to delete all maps?"),
+                       tr("Yes, delete all maps"), self._on_confirm_delete_maps)
+
+  def _update_db(self):
+    self._show_confirm(tr("This will start the download process and it might take a while to complete."), tr("Start Download"),
+                       lambda: ui_state.params.put_bool("OsmDbUpdatesCheck", True))
+
+  def _select_region(self, region_type):
+    is_country = region_type == "Country"
+    btn = self._country_btn if is_country else self._state_btn
+    btn.action_item.set_enabled(False)
+    btn.action_item.set_text(tr("FETCHING..."))
+    threading.Thread(target=self._do_select_region, args=(region_type, btn)).start()
+
+  def _handle_region_selection(self, region_type, locations, key, res, ref):
+    if res != DialogResult.CONFIRM or not ref:
+      if region_type == "State" and res == DialogResult.CANCEL:
+        if ui_state.params.get("OsmLocationName") == "US" and not ui_state.params.get("OsmStateName"):
+          ui_state.params.remove("OsmLocationName")
+          ui_state.params.remove("OsmLocationTitle")
+          ui_state.params.remove("OsmLocal")
+          self._update_labels()
+      return
+
+    if region_type == "Country":
+      ui_state.params.put_bool("OsmLocal", True)
+      ui_state.params.remove("OsmStateName")
+      ui_state.params.remove("OsmStateTitle")
+
+    ui_state.params.put(f"{key}Name", ref)
+    name = next((n.data['display_name'] for n in locations if n.ref == ref), ref)
+    ui_state.params.put(f"{key}Title", name)
+
+    if ref == "US" and region_type == "Country":
+      self._select_region("State")
+    else:
+      self._update_db()
+
+  def _do_select_region(self, region_type, btn):
+    base_url = "https://raw.githubusercontent.com/pfeiferj/openpilot-mapd/main/"
+    url = base_url + ("nation_bounding_boxes.json" if region_type == "Country" else "us_states_bounding_boxes.json")
+    try:
+      data = requests.get(url, timeout=10).json()
+      locations = sorted([TreeNode(ref=k, data={'display_name': v['full_name']}) for k, v in data.items()], key=lambda n: n.data['display_name'])
+    except Exception:
+      locations = []
+
+    if region_type == "State":
+      locations.insert(0, TreeNode(ref="All", data={'display_name': tr("All states (~6.0 GB)")}))
+
+    btn.action_item.set_enabled(True)
+    btn.action_item.set_text(tr("SELECT"))
+
+    key = "OsmLocation" if region_type == "Country" else "OsmState"
+    current = ui_state.params.get(f"{key}Name") or ""
+
+    dialog = TreeOptionDialog(tr(f"Select {region_type}"), [TreeFolder(folder="", nodes=locations)], current_ref=current, search_prompt="Perform a search")
+    dialog.on_exit = lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref)
+    gui_app.set_modal_overlay(dialog, callback=lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref))
+
+  def _update_labels(self):
+    downloading = bool(self._mem_params.get("OSMDownloadLocations"))
+    self._country_btn.set_enabled(not downloading)
+    self._state_btn.set_enabled(not downloading)
+    self._state_btn.set_visible(ui_state.params.get("OsmLocationName") == "US")
+    self._update_btn.set_visible(bool(ui_state.params.get("OsmLocationName")))
+
+    self._country_btn.action_item.set_value(ui_state.params.get("OsmLocationTitle") or "")
+    self._state_btn.action_item.set_value(ui_state.params.get("OsmStateTitle") or "")
+
+    pending = ui_state.params.get_bool("OsmDbUpdatesCheck")
+    if downloading or pending:
+      if downloading:
+        device.reset_interactive_timeout()
+        self._update_map_size()
+      self._progress.set_visible(True)
+      progress = ui_state.params.get("OSMDownloadProgress")
+      total = progress.get('total_files', 0) if progress else 0
+      done = progress.get('downloaded_files', 0) if progress else 0
+      failed = total > 0 and not downloading and done < total
+
+      if total > 0:
+        progress_perc = max(0.0, min(100.0, (done / total) * 100.0))
+      else:
+        progress_perc = 0.0
+
+      if failed:
+        text = "0% - Downloading Maps"
+        btn_text = tr("Error: Invalid download. Retry.")
+        self._current_percent = 0.0
+      elif total > 0 and downloading:
+        self._current_percent = progress_perc
+        perc_int = int(progress_perc)
+        text = f"{perc_int}% - Downloading Maps"
+        btn_text = f"{done}/{total} ({perc_int}%)"
+      else:
+        self._current_percent = 0.0
+        text = "0% - Downloading Maps"
+        btn_text = tr("Downloading Maps...")
+
+      self._progress.action_item.update(self._current_percent, text, show_progress=total > 0 and downloading and not failed)
+      self._update_btn.action_item.set_enabled(not downloading)  # TODO-SP: introduce CANCEL database download with mapd
+      self._update_btn.action_item.set_value(btn_text)
+      self._country_btn.action_item.set_enabled(not downloading)
+      self._state_btn.action_item.set_enabled(not downloading)
+      self._delete_maps_btn.action_item.set_enabled(not downloading)
+    else:
+      self._progress.set_visible(False)
+      self._update_btn.action_item.set_enabled(True)
+      self._country_btn.action_item.set_enabled(True)
+      self._state_btn.action_item.set_enabled(True)
+      self._delete_maps_btn.action_item.set_enabled(True)
+
+      ts = ui_state.params.get("OsmDownloadedDate")
+      dt: datetime.datetime | None = None
+
+      if ts:
+        try:
+          ts_f = float(ts)
+          if ts_f > 0:
+            dt = datetime.datetime.fromtimestamp(ts_f, tz=datetime.UTC)
+        except (ValueError, TypeError):
+          dt = None
+
+      formatted = time_ago(dt)
+      self._update_btn.action_item.set_value(tr("Last checked {}").format(formatted))
 
   def show_event(self):
     self._scroller.show_event()
+
+  def _update_state(self):
+    now = monotonic()
+    if now - self._last_map_size_update >= 1.0:
+      self._last_map_size_update = now
+      self._update_labels()
+
+  def _render(self, rect):
+    self._scroller.render(rect)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/settings.py b/selfdrive/ui/sunnypilot/layouts/settings/settings.py
index 0d30fdb6dd..15bce4b3ea 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/settings.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/settings.py
@@ -9,7 +9,6 @@ from enum import IntEnum
 
 import pyray as rl
 from openpilot.selfdrive.ui.layouts.settings import settings as OP
-from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
 from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.software import SoftwareLayoutSP
@@ -32,6 +31,7 @@ from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise import CruiseLayo
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.visuals import VisualsLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import DisplayLayout
 from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.developer import DeveloperLayoutSP
 
 # from openpilot.selfdrive.ui.sunnypilot.layouts.settings.navigation import NavigationLayout
 
@@ -126,7 +126,7 @@ class SettingsLayoutSP(OP.SettingsLayout):
       OP.PanelType.TRIPS: PanelInfo(tr_noop("Trips"), TripsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
       OP.PanelType.VEHICLE: PanelInfo(tr_noop("Vehicle"), VehicleLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
       OP.PanelType.FIREHOSE: PanelInfo(tr_noop("Firehose"), FirehoseLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_firehose.png"),
-      OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayout(), icon="icons/shell.png"),
+      OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayoutSP(), icon="icons/shell.png"),
     }
 
   def _draw_sidebar(self, rect: rl.Rectangle):
diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore
index d926a7ae86..98f2a5e8ce 100644
--- a/selfdrive/ui/tests/.gitignore
+++ b/selfdrive/ui/tests/.gitignore
@@ -2,3 +2,8 @@ test
 test_translations
 test_ui/report_1
 test_ui/raylib_report
+
+diff/*.mp4
+diff/*.html
+diff/.coverage
+diff/htmlcov/
diff --git a/selfdrive/ui/tests/diff/diff.py b/selfdrive/ui/tests/diff/diff.py
new file mode 100755
index 0000000000..be7af5438a
--- /dev/null
+++ b/selfdrive/ui/tests/diff/diff.py
@@ -0,0 +1,201 @@
+#!/usr/bin/env python3
+import os
+import sys
+import subprocess
+import tempfile
+import base64
+import webbrowser
+import argparse
+from pathlib import Path
+from openpilot.common.basedir import BASEDIR
+
+DIFF_OUT_DIR = Path(BASEDIR) / "selfdrive" / "ui" / "tests" / "diff" / "report"
+
+
+def extract_frames(video_path, output_dir):
+  output_pattern = str(output_dir / "frame_%04d.png")
+  cmd = ['ffmpeg', '-i', video_path, '-vsync', '0', output_pattern, '-y']
+  subprocess.run(cmd, capture_output=True, check=True)
+  frames = sorted(output_dir.glob("frame_*.png"))
+  return frames
+
+
+def compare_frames(frame1_path, frame2_path):
+  result = subprocess.run(['cmp', '-s', frame1_path, frame2_path])
+  return result.returncode == 0
+
+
+def frame_to_data_url(frame_path):
+  with open(frame_path, 'rb') as f:
+    data = f.read()
+  return f"data:image/png;base64,{base64.b64encode(data).decode()}"
+
+
+def create_diff_video(video1, video2, output_path):
+  """Create a diff video using ffmpeg blend filter with difference mode."""
+  print("Creating diff video...")
+  cmd = ['ffmpeg', '-i', video1, '-i', video2, '-filter_complex', '[0:v]blend=all_mode=difference', '-vsync', '0', '-y', output_path]
+  subprocess.run(cmd, capture_output=True, check=True)
+
+
+def find_differences(video1, video2):
+  with tempfile.TemporaryDirectory() as tmpdir:
+    tmpdir = Path(tmpdir)
+
+    print(f"Extracting frames from {video1}...")
+    frames1_dir = tmpdir / "frames1"
+    frames1_dir.mkdir()
+    frames1 = extract_frames(video1, frames1_dir)
+
+    print(f"Extracting frames from {video2}...")
+    frames2_dir = tmpdir / "frames2"
+    frames2_dir.mkdir()
+    frames2 = extract_frames(video2, frames2_dir)
+
+    if len(frames1) != len(frames2):
+      print(f"WARNING: Frame count mismatch: {len(frames1)} vs {len(frames2)}")
+      min_frames = min(len(frames1), len(frames2))
+      frames1 = frames1[:min_frames]
+      frames2 = frames2[:min_frames]
+
+    print(f"Comparing {len(frames1)} frames...")
+    different_frames = []
+    frame_data = []
+
+    for i, (f1, f2) in enumerate(zip(frames1, frames2, strict=False)):
+      is_different = not compare_frames(f1, f2)
+      if is_different:
+        different_frames.append(i)
+
+      if i < 10 or i >= len(frames1) - 10 or is_different:
+        frame_data.append({'index': i, 'different': is_different, 'frame1_url': frame_to_data_url(f1), 'frame2_url': frame_to_data_url(f2)})
+
+    return different_frames, frame_data, len(frames1)
+
+
+def generate_html_report(video1, video2, basedir, different_frames, frame_data, total_frames):
+  chunks = []
+  if different_frames:
+    current_chunk = [different_frames[0]]
+    for i in range(1, len(different_frames)):
+      if different_frames[i] == different_frames[i - 1] + 1:
+        current_chunk.append(different_frames[i])
+      else:
+        chunks.append(current_chunk)
+        current_chunk = [different_frames[i]]
+    chunks.append(current_chunk)
+
+  result_text = (
+    f"✅ Videos are identical! ({total_frames} frames)"
+    if len(different_frames) == 0
+    else f"❌ Found {len(different_frames)} different frames out of {total_frames} total ({(len(different_frames) / total_frames * 100):.1f}%)"
+  )
+
+  html = f"""<h2>UI Diff</h2>
+<table>
+<tr>
+<td width='33%'>
+  <p><strong>Video 1</strong></p>
+  <video id='video1' width='100%' autoplay muted loop onplay='syncVideos()'>
+    <source src='{os.path.join(basedir, os.path.basename(video1))}' type='video/mp4'>
+    Your browser does not support the video tag.
+  </video>
+</td>
+<td width='33%'>
+  <p><strong>Video 2</strong></p>
+  <video id='video2' width='100%' autoplay muted loop onplay='syncVideos()'>
+    <source src='{os.path.join(basedir, os.path.basename(video2))}' type='video/mp4'>
+    Your browser does not support the video tag.
+  </video>
+</td>
+<td width='33%'>
+  <p><strong>Pixel Diff</strong></p>
+  <video id='diffVideo' width='100%' autoplay muted loop>
+    <source src='{os.path.join(basedir, 'diff.mp4')}' type='video/mp4'>
+    Your browser does not support the video tag.
+  </video>
+</td>
+</tr>
+</table>
+<script>
+function syncVideos() {{
+  const video1 = document.getElementById('video1');
+  const video2 = document.getElementById('video2');
+  const diffVideo = document.getElementById('diffVideo');
+  video1.currentTime = video2.currentTime = diffVideo.currentTime;
+}}
+video1.addEventListener('timeupdate', () => {{
+  if (Math.abs(video1.currentTime - video2.currentTime) > 0.1) {{
+    video2.currentTime = video1.currentTime;
+  }}
+  if (Math.abs(video1.currentTime - diffVideo.currentTime) > 0.1) {{
+    diffVideo.currentTime = video1.currentTime;
+  }}
+}});
+video2.addEventListener('timeupdate', () => {{
+  if (Math.abs(video2.currentTime - video1.currentTime) > 0.1) {{
+    video1.currentTime = video2.currentTime;
+  }}
+  if (Math.abs(video2.currentTime - diffVideo.currentTime) > 0.1) {{
+    diffVideo.currentTime = video2.currentTime;
+  }}
+}});
+diffVideo.addEventListener('timeupdate', () => {{
+  if (Math.abs(diffVideo.currentTime - video1.currentTime) > 0.1) {{
+    video1.currentTime = diffVideo.currentTime;
+    video2.currentTime = diffVideo.currentTime;
+  }}
+}});
+</script>
+<hr>
+<p><strong>Results:</strong> {result_text}</p>
+"""
+  return html
+
+
+def main():
+  parser = argparse.ArgumentParser(description='Compare two videos and generate HTML diff report')
+  parser.add_argument('video1', help='First video file')
+  parser.add_argument('video2', help='Second video file')
+  parser.add_argument('output', nargs='?', default='diff.html', help='Output HTML file (default: diff.html)')
+  parser.add_argument("--basedir", type=str, help="Base directory for output", default="")
+  parser.add_argument('--no-open', action='store_true', help='Do not open HTML report in browser')
+
+  args = parser.parse_args()
+
+  os.makedirs(DIFF_OUT_DIR, exist_ok=True)
+
+  print("=" * 60)
+  print("VIDEO DIFF - HTML REPORT")
+  print("=" * 60)
+  print(f"Video 1: {args.video1}")
+  print(f"Video 2: {args.video2}")
+  print(f"Output: {args.output}")
+  print()
+
+  # Create diff video
+  diff_video_path = os.path.join(os.path.dirname(args.output), DIFF_OUT_DIR / "diff.mp4")
+  create_diff_video(args.video1, args.video2, diff_video_path)
+
+  different_frames, frame_data, total_frames = find_differences(args.video1, args.video2)
+
+  if different_frames is None:
+    sys.exit(1)
+
+  print()
+  print("Generating HTML report...")
+  html = generate_html_report(args.video1, args.video2, args.basedir, different_frames, frame_data, total_frames)
+
+  with open(DIFF_OUT_DIR / args.output, 'w') as f:
+    f.write(html)
+
+  # Open in browser by default
+  if not args.no_open:
+    print(f"Opening {args.output} in browser...")
+    webbrowser.open(f'file://{os.path.abspath(DIFF_OUT_DIR / args.output)}')
+
+  return 0 if len(different_frames) == 0 else 1
+
+
+if __name__ == "__main__":
+  sys.exit(main())
diff --git a/selfdrive/ui/tests/diff/replay.py b/selfdrive/ui/tests/diff/replay.py
new file mode 100755
index 0000000000..9da157660e
--- /dev/null
+++ b/selfdrive/ui/tests/diff/replay.py
@@ -0,0 +1,128 @@
+#!/usr/bin/env python3
+import os
+import time
+import coverage
+import pyray as rl
+from dataclasses import dataclass
+from openpilot.selfdrive.ui.tests.diff.diff import DIFF_OUT_DIR
+
+os.environ["RECORD"] = "1"
+if "RECORD_OUTPUT" not in os.environ:
+  os.environ["RECORD_OUTPUT"] = "mici_ui_replay.mp4"
+
+os.environ["RECORD_OUTPUT"] = os.path.join(DIFF_OUT_DIR, os.environ["RECORD_OUTPUT"])
+
+from openpilot.common.params import Params
+from openpilot.system.version import terms_version, training_version
+from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
+
+FPS = 60
+HEADLESS = os.getenv("WINDOWED", "0") == "1"
+
+
+@dataclass
+class DummyEvent:
+  click: bool = False
+  # TODO: add some kind of intensity
+  swipe_left: bool = False
+  swipe_right: bool = False
+  swipe_down: bool = False
+
+
+SCRIPT = [
+  (0, DummyEvent()),
+  (FPS * 1, DummyEvent(click=True)),
+  (FPS * 2, DummyEvent(click=True)),
+  (FPS * 3, DummyEvent()),
+]
+
+
+def setup_state():
+  params = Params()
+  params.put("HasAcceptedTerms", terms_version)
+  params.put("CompletedTrainingVersion", training_version)
+  params.put("DongleId", "test123456789")
+  params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30")
+  return None
+
+
+def inject_click(coords):
+  events = []
+  x, y = coords[0]
+  events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=True, left_released=False, left_down=False, t=time.monotonic()))
+  for x, y in coords[1:]:
+    events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=False, left_down=True, t=time.monotonic()))
+  x, y = coords[-1]
+  events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=True, left_down=False, t=time.monotonic()))
+
+  with gui_app._mouse._lock:
+    gui_app._mouse._events.extend(events)
+
+
+def handle_event(event: DummyEvent):
+  if event.click:
+    inject_click([(gui_app.width // 2, gui_app.height // 2)])
+  if event.swipe_left:
+    inject_click([(gui_app.width * 3 // 4, gui_app.height // 2),
+                  (gui_app.width // 4, gui_app.height // 2),
+                  (0, gui_app.height // 2)])
+  if event.swipe_right:
+    inject_click([(gui_app.width // 4, gui_app.height // 2),
+                  (gui_app.width * 3 // 4, gui_app.height // 2),
+                  (gui_app.width, gui_app.height // 2)])
+  if event.swipe_down:
+    inject_click([(gui_app.width // 2, gui_app.height // 4),
+                  (gui_app.width // 2, gui_app.height * 3 // 4),
+                  (gui_app.width // 2, gui_app.height)])
+
+
+def run_replay():
+  setup_state()
+  os.makedirs(DIFF_OUT_DIR, exist_ok=True)
+
+  if not HEADLESS:
+    rl.set_config_flags(rl.FLAG_WINDOW_HIDDEN)
+  gui_app.init_window("ui diff test", fps=FPS)
+  main_layout = MiciMainLayout()
+  main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+
+  frame = 0
+  script_index = 0
+
+  for should_render in gui_app.render():
+    while script_index < len(SCRIPT) and SCRIPT[script_index][0] == frame:
+      _, event = SCRIPT[script_index]
+      handle_event(event)
+      script_index += 1
+
+    ui_state.update()
+
+    if should_render:
+      main_layout.render()
+
+    frame += 1
+
+    if script_index >= len(SCRIPT):
+      break
+
+  gui_app.close()
+
+  print(f"Total frames: {frame}")
+  print(f"Video saved to: {os.environ['RECORD_OUTPUT']}")
+
+
+def main():
+  cov = coverage.coverage(source=['openpilot.selfdrive.ui.mici'])
+  with cov.collect():
+    run_replay()
+  cov.stop()
+  cov.save()
+  cov.report()
+  cov.html_report(directory=os.path.join(DIFF_OUT_DIR, 'htmlcov'))
+  print("HTML report: htmlcov/index.html")
+
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/ui/tests/profile_onroad.py b/selfdrive/ui/tests/profile_onroad.py
index b1fa4acc48..fde4f25ffe 100755
--- a/selfdrive/ui/tests/profile_onroad.py
+++ b/selfdrive/ui/tests/profile_onroad.py
@@ -88,9 +88,9 @@ if __name__ == "__main__":
   print("Running...")
   patch_submaster(message_chunks)
 
-  W, H = 1928, 1208
+  W, H = 2048, 1216
   vipc = VisionIpcServer("camerad")
-  vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, 1928, 1208)
+  vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, W, H)
   vipc.start_listener()
   yuv_buffer_size = W * H + (W // 2) * (H // 2) * 2
   yuv_data = np.random.randint(0, 256, yuv_buffer_size, dtype=np.uint8).tobytes()
diff --git a/selfdrive/ui/translations/app_ko.po b/selfdrive/ui/translations/app_ko.po
index 5a3e891b87..f12aebaeb3 100644
--- a/selfdrive/ui/translations/app_ko.po
+++ b/selfdrive/ui/translations/app_ko.po
@@ -68,10 +68,10 @@ msgid ""
 "control alpha. Changing this setting will restart openpilot if the car is "
 "powered on."
 msgstr ""
-"<b>경고: 이 차량에서 openpilot의 종방향 제어는 알파 버전이며 자동 긴급 제동"
-"(AEB)을 비활성화합니다.</b><br><br>이 차량에서는 openpilot 종방향 제어 대신 "
-"차량 내장 ACC가 기본으로 사용됩니다. openpilot 종방향 제어로 전환하려면 이 설"
-"정을 켜세요. 종방향 제어 알파를 켤 때는 실험 모드 사용을 권장합니다. 차량 전"
+"<b>경고: 이 차량에서 openpilot의 롱컨 제어는 알파 버전이며 자동 긴급 제동"
+"(AEB)을 비활성화합니다.</b><br><br>이 차량에서는 openpilot 롱컨 제어 대신 "
+"차량 내장 ACC가 기본으로 사용됩니다. openpilot 롱컨 제어로 전환하려면 이 설"
+"정을 켜세요. 롱컨 제어 알파를 켤 때는 실험 모드 사용을 권장합니다. 차량 전"
 "원이 켜져 있는 경우 이 설정을 변경하면 openpilot이 재시작됩니다."
 
 #: selfdrive/ui/layouts/settings/device.py:148
@@ -130,7 +130,7 @@ msgstr "동의"
 #: selfdrive/ui/layouts/settings/toggles.py:70
 #, python-format
 msgid "Always-On Driver Monitoring"
-msgstr "항상 켜짐 운전자 모니터링"
+msgstr "운전자 모니터링 항상 켜짐"
 
 #: selfdrive/ui/layouts/settings/toggles.py:186
 #, python-format
@@ -138,7 +138,7 @@ msgid ""
 "An alpha version of openpilot longitudinal control can be tested, along with "
 "Experimental mode, on non-release branches."
 msgstr ""
-"openpilot 종방향 제어 알파 버전은 실험 모드와 함께 비릴리스 브랜치에서 테스트"
+"openpilot 롱컨 제어 알파 버전은 실험 모드와 함께 비릴리스 브랜치에서 테스트"
 "할 수 있습니다."
 
 #: selfdrive/ui/layouts/settings/device.py:187
@@ -192,7 +192,7 @@ msgstr "확인"
 #: selfdrive/ui/widgets/exp_mode_button.py:50
 #, python-format
 msgid "CHILL MODE ON"
-msgstr "칠 모드 켜짐"
+msgstr "안정적 모드 켜짐"
 
 #: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
 #: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
@@ -283,7 +283,7 @@ msgstr "해제 후 재시작"
 #: selfdrive/ui/layouts/settings/device.py:103
 #, python-format
 msgid "Disengage to Reset Calibration"
-msgstr "해제 후 보정 재설정"
+msgstr "해제 후 캘리브레이션 재설정"
 
 #: selfdrive/ui/layouts/settings/toggles.py:32
 msgid "Display speed in km/h instead of mph."
@@ -372,7 +372,7 @@ msgstr "openpilot 사용"
 msgid ""
 "Enable the openpilot longitudinal control (alpha) toggle to allow "
 "Experimental mode."
-msgstr "실험 모드를 사용하려면 openpilot 종방향 제어(알파) 토글을 켜세요."
+msgstr "실험 모드를 사용하려면 openpilot 롱컨 제어(알파) 토글을 켜세요."
 
 #: system/ui/widgets/network.py:204
 #, python-format
@@ -415,7 +415,7 @@ msgid ""
 "Experimental mode is currently unavailable on this car since the car's stock "
 "ACC is used for longitudinal control."
 msgstr ""
-"이 차량은 종방향 제어에 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습"
+"이 차량은 롱컨 제어에 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습"
 "니다."
 
 #: system/ui/widgets/network.py:373
@@ -430,11 +430,11 @@ msgstr "설정 완료"
 
 #: selfdrive/ui/layouts/settings/settings.py:66
 msgid "Firehose"
-msgstr "Firehose"
+msgstr "파이어호스"
 
 #: selfdrive/ui/layouts/settings/firehose.py:18
 msgid "Firehose Mode"
-msgstr "Firehose 모드"
+msgstr "파이어호스 모드"
 
 #: selfdrive/ui/layouts/settings/firehose.py:25
 msgid ""
@@ -462,7 +462,7 @@ msgstr ""
 "최대의 효과를 위해 주 1회는 장치를 실내로 가져와 품질 좋은 USB‑C 어댑터와 "
 "Wi‑Fi에 연결하세요.\n"
 "\n"
-"핫스팟이나 무제한 SIM에 연결되어 있다면 주행 중에도 Firehose 모드가 동작합니"
+"핫스팟이나 무제한 SIM에 연결되어 있다면 주행 중에도 파이어호스 모드가 동작합니"
 "다.\n"
 "\n"
 "\n"
@@ -470,7 +470,7 @@ msgstr ""
 "\n"
 "어떻게, 어디서 운전하는지가 중요한가요? 아니요. 평소처럼 운전하세요.\n"
 "\n"
-"Firehose 모드에서 모든 세그먼트가 가져가지나요? 아니요. 일부 세그먼트만 선택"
+"파이어호스 모드에서 모든 구간을 가져가지나요? 아니요. 일부 구간만 선택"
 "적으로 가져갑니다.\n"
 "\n"
 "좋은 USB‑C 어댑터는 무엇인가요? 빠른 휴대폰 또는 노트북 충전기면 충분합니"
@@ -544,7 +544,7 @@ msgstr "LTE"
 #: selfdrive/ui/layouts/settings/developer.py:64
 #, python-format
 msgid "Longitudinal Maneuver Mode"
-msgstr "종방향 매뉴버 모드"
+msgstr "롱컨 기동 모드"
 
 #: selfdrive/ui/onroad/hud_renderer.py:148
 #, python-format
@@ -623,7 +623,7 @@ msgstr "미리보기"
 #: selfdrive/ui/widgets/prime.py:44
 #, python-format
 msgid "PRIME FEATURES:"
-msgstr "prime 기능:"
+msgstr "프라임 기능:"
 
 #: selfdrive/ui/layouts/settings/device.py:48
 #, python-format
@@ -646,7 +646,7 @@ msgid ""
 "Pair your device with comma connect (connect.comma.ai) and claim your comma "
 "prime offer."
 msgstr ""
-"장치를 comma connect(connect.comma.ai)와 페어링하고 comma prime 혜택을 받으세"
+"장치를 comma connect(connect.comma.ai)와 페어링하고 comma 프라임 혜택을 받으세"
 "요."
 
 #: selfdrive/ui/widgets/setup.py:91
@@ -748,7 +748,7 @@ msgstr "규제 정보"
 #: selfdrive/ui/layouts/settings/toggles.py:98
 #, python-format
 msgid "Relaxed"
-msgstr "편안함"
+msgstr "편안한"
 
 #: selfdrive/ui/widgets/prime.py:47
 #, python-format
@@ -773,7 +773,7 @@ msgstr "재설정"
 #: selfdrive/ui/layouts/settings/device.py:51
 #, python-format
 msgid "Reset Calibration"
-msgstr "보정 재설정"
+msgstr "캘리브레이션 재설정"
 
 #: selfdrive/ui/layouts/settings/device.py:65
 #, python-format
@@ -841,7 +841,7 @@ msgid ""
 "cycle through these personalities with your steering wheel distance button."
 msgstr ""
 "표준을 권장합니다. 공격적 모드에서는 앞차를 더 가깝게 따라가고 가감속이 더 적"
-"극적입니다. 편안함 모드에서는 앞차와 거리를 더 둡니다. 지원 차량에서는 스티어"
+"극적입니다. 편안한 모드에서는 앞차와 거리를 더 둡니다. 지원 차량에서는 스티어"
 "링의 차간 버튼으로 이 성향들을 전환할 수 있습니다."
 
 #: selfdrive/ui/onroad/alert_renderer.py:59
@@ -892,7 +892,7 @@ msgstr "제거"
 
 #: selfdrive/ui/layouts/sidebar.py:117
 msgid "Unknown"
-msgstr "알 수 없음"
+msgstr "알수없음"
 
 #: selfdrive/ui/layouts/settings/software.py:48
 #, python-format
@@ -994,7 +994,7 @@ msgstr "카메라 시작 중"
 #: selfdrive/ui/widgets/prime.py:63
 #, python-format
 msgid "comma prime"
-msgstr "comma prime"
+msgstr "comma 프라임"
 
 #: system/ui/widgets/network.py:142
 #, python-format
@@ -1054,7 +1054,7 @@ msgstr "지금"
 #: selfdrive/ui/layouts/settings/developer.py:71
 #, python-format
 msgid "openpilot Longitudinal Control (Alpha)"
-msgstr "openpilot 종방향 제어(알파)"
+msgstr "openpilot 롱컨 제어(알파)"
 
 #: selfdrive/ui/onroad/alert_renderer.py:51
 #, python-format
@@ -1076,9 +1076,9 @@ msgid ""
 "some turns. The Experimental mode logo will also be shown in the top right "
 "corner."
 msgstr ""
-"openpilot은 기본적으로 칠 모드로 주행합니다. 실험 모드를 사용하면 칠 모드에 "
+"openpilot은 기본적으로 안정적 모드로 주행합니다. 실험 모드를 사용하면 안정적 모드에 "
 "아직 준비되지 않은 알파 수준의 기능이 활성화됩니다. 실험 기능은 아래와 같습니"
-"다:<br><h4>엔드투엔드 종방향 제어</h4><br>주행 모델이 가속과 제동을 제어합니"
+"다:<br><h4>엔드투엔드 롱컨 제어</h4><br>주행 모델이 가속과 제동을 제어합니"
 "다. openpilot은 빨간 신호 및 정지 표지에서의 정지를 포함해 사람이 운전한다고 "
 "판단하는 방식으로 주행합니다. 주행 속도는 모델이 결정하므로 설정 속도는 상한"
 "으로만 동작합니다. 알파 품질 기능이므로 오작동이 발생할 수 있습니다.<br><h4>"
@@ -1111,7 +1111,7 @@ msgstr ""
 #: selfdrive/ui/layouts/settings/toggles.py:183
 #, python-format
 msgid "openpilot longitudinal control may come in a future update."
-msgstr "openpilot 종방향 제어는 향후 업데이트에서 제공될 수 있습니다."
+msgstr "openpilot 롱컨 제어는 향후 업데이트에서 제공될 수 있습니다."
 
 #: selfdrive/ui/layouts/settings/device.py:26
 msgid ""
@@ -1177,7 +1177,7 @@ msgstr[0] "{}분 전"
 #, python-format
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "현재까지 귀하의 주행 {}세그먼트가 학습 데이터셋에 포함되었습니다."
+msgstr[0] "현재까지 귀하의 주행 {}구간이 학습 데이터셋에 포함되었습니다."
 
 #: selfdrive/ui/widgets/prime.py:62
 #, python-format
@@ -1187,4 +1187,4 @@ msgstr "✓ 구독됨"
 #: selfdrive/ui/widgets/setup.py:22
 #, python-format
 msgid "🔥 Firehose Mode 🔥"
-msgstr "🔥 Firehose 모드 🔥"
+msgstr "🔥 파이어호스 모드 🔥"
diff --git a/selfdrive/ui/translations/app_uk.po b/selfdrive/ui/translations/app_uk.po
new file mode 100644
index 0000000000..cf78fb5a33
--- /dev/null
+++ b/selfdrive/ui/translations/app_uk.po
@@ -0,0 +1,1258 @@
+# Ukrainian translations for PACKAGE package.
+# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
+# This file is distributed under the same license as the PACKAGE package.
+# Automatically generated, 2025.
+#
+msgid ""
+msgstr ""
+"Project-Id-Version: \n"
+"Report-Msgid-Bugs-To: \n"
+"POT-Creation-Date: 2025-11-19 12:21+0200\n"
+"PO-Revision-Date: 2025-11-19 13:27+0200\n"
+"Last-Translator: KeeFeeRe <me@keefeere.me>\n"
+"Language-Team: none\n"
+"Language: uk\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Plural-Forms: nplurals=3; plural=(n%10==1 && n%100!=11 ? 0 : n%10>=2 && "
+"n%10<=4 && (n%100<10 || n%100>=20) ? 1 : 2);\n"
+"X-Generator: Poedit 3.8\n"
+
+#: selfdrive/ui/layouts/settings/device.py:160
+#, python-format
+msgid " Steering torque response calibration is complete."
+msgstr " Калібрування реакції крутного моменту керма завершено."
+
+#: selfdrive/ui/layouts/settings/device.py:158
+#, python-format
+msgid " Steering torque response calibration is {}% complete."
+msgstr "Калібрування реакції крутного моменту керма завершено на {}%."
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " Ваш пристрій нахилено на {:.1f}° {} та {:.1f}° {}."
+
+#: selfdrive/ui/layouts/sidebar.py:43
+msgid "--"
+msgstr "--"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "1 year of drive storage"
+msgstr "1 рік зберігання поїздок"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "24/7 LTE connectivity"
+msgstr "Підключення LTE 24/7"
+
+#: selfdrive/ui/layouts/sidebar.py:46
+msgid "2G"
+msgstr "2G"
+
+#: selfdrive/ui/layouts/sidebar.py:47
+msgid "3G"
+msgstr "3G"
+
+#: selfdrive/ui/layouts/sidebar.py:49
+msgid "5G"
+msgstr "5G"
+
+#: selfdrive/ui/layouts/settings/developer.py:23
+msgid ""
+"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
+"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
+"defaults to the car's built-in ACC instead of openpilot's longitudinal "
+"control. Enable this to switch to openpilot longitudinal control. Enabling "
+"Experimental mode is recommended when enabling openpilot longitudinal "
+"control alpha. Changing this setting will restart openpilot if the car is "
+"powered on."
+msgstr ""
+"ПОПЕРЕДЖЕННЯ: поздовжнє керування openpilot для цього автомобіля знаходиться "
+"в стадії альфа-тестування і вимкне автоматичне екстрене гальмування (AEB)."
+
+#: selfdrive/ui/layouts/settings/device.py:148
+#, python-format
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>Калібрування затримки кермування завершено."
+
+#: selfdrive/ui/layouts/settings/device.py:146
+#, python-format
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>Калібрування затримки кермування завершено на {}%."
+
+#: selfdrive/ui/layouts/settings/firehose.py:138
+#, python-format
+msgid "ACTIVE"
+msgstr "АКТИВНИЙ"
+
+#: selfdrive/ui/layouts/settings/developer.py:15
+msgid ""
+"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
+"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
+msgstr ""
+"ADB (Android Debug Bridge) дозволяє підключатися до вашого пристрою через "
+"USB або мережу. Дивіться https://docs.comma.ai/how-to/connect-to-comma для "
+"отримання додаткової інформації."
+
+#: selfdrive/ui/widgets/ssh_key.py:30
+msgid "ADD"
+msgstr "ДОДАТИ"
+
+#: system/ui/widgets/network.py:139
+#, python-format
+msgid "APN Setting"
+msgstr "Налаштування APN"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:109
+#, python-format
+msgid "Acknowledge Excessive Actuation"
+msgstr "Визнайте надмірне спрацьовування"
+
+#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
+#, python-format
+msgid "Advanced"
+msgstr "Розширені"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Aggressive"
+msgstr "Агресивн."
+
+#: selfdrive/ui/layouts/onboarding.py:116
+#, python-format
+msgid "Agree"
+msgstr "Погодитися"
+
+#: selfdrive/ui/layouts/settings/toggles.py:70
+#, python-format
+msgid "Always-On Driver Monitoring"
+msgstr "Постійний моніторинг водія"
+
+#: selfdrive/ui/layouts/settings/toggles.py:186
+#, python-format
+msgid ""
+"An alpha version of openpilot longitudinal control can be tested, along with "
+"Experimental mode, on non-release branches."
+msgstr ""
+"Альфа-версію поздовжнього керування openpilot можна протестувати разом з "
+"експериментальним режимом на нерелізних гілках."
+
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Are you sure you want to power off?"
+msgstr "Ви впевнені, що хочете вимкнути?"
+
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Are you sure you want to reboot?"
+msgstr "Ви впевнені, що хочете перезавантажити?"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Are you sure you want to reset calibration?"
+msgstr "Ви впевнені, що хочете скинути калібрування?"
+
+#: selfdrive/ui/layouts/settings/software.py:171
+#, python-format
+msgid "Are you sure you want to uninstall?"
+msgstr "Ви впевнені, що хочете видалити?"
+
+#: system/ui/widgets/network.py:99
+#: selfdrive/ui/layouts/onboarding.py:147
+#, python-format
+msgid "Back"
+msgstr "Назад"
+
+#: selfdrive/ui/widgets/prime.py:38
+#, python-format
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "Станьте членом comma prime на connect.comma.ai"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:119
+#, python-format
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr ""
+"Додайте connect.comma.ai до головного екрану, щоб використовувати його як "
+"додаток."
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "CHANGE"
+msgstr "ЗМІНИТИ"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#: selfdrive/ui/layouts/settings/software.py:115
+#: selfdrive/ui/layouts/settings/software.py:126
+#: selfdrive/ui/layouts/settings/software.py:155
+#, python-format
+msgid "CHECK"
+msgstr "ПЕРЕВІРИТИ"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "CHILL MODE ON"
+msgstr "СПОКІЙНИЙ РЕЖИМ"
+
+#: system/ui/widgets/network.py:155
+#: selfdrive/ui/layouts/sidebar.py:73
+#: selfdrive/ui/layouts/sidebar.py:134
+#: selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:138
+#, python-format
+msgid "CONNECT"
+msgstr "CONNECT"
+
+#: system/ui/widgets/network.py:369
+#, python-format
+msgid "CONNECTING..."
+msgstr "ПІДКЛЮЧА..."
+
+#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
+#: system/ui/widgets/network.py:318 system/ui/widgets/keyboard.py:81
+#, python-format
+msgid "Cancel"
+msgstr "Скасувати"
+
+#: system/ui/widgets/network.py:134
+#, python-format
+msgid "Cellular Metered"
+msgstr "Лімітне стільникове з'єднання"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "Change Language"
+msgstr "Змінити мову"
+
+#: selfdrive/ui/layouts/settings/toggles.py:125
+#, python-format
+msgid "Changing this setting will restart openpilot if the car is powered on."
+msgstr ""
+"Зміна цього параметра призведе до перезапуску openpilot, якщо автомобіль "
+"увімкнено."
+
+#: selfdrive/ui/widgets/pairing_dialog.py:118
+#, python-format
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "Натисніть «додати новий пристрій» і відскануйте QR-код праворуч."
+
+#: selfdrive/ui/widgets/offroad_alerts.py:104
+#, python-format
+msgid "Close"
+msgstr "Закрити"
+
+#: selfdrive/ui/layouts/settings/software.py:49
+#, python-format
+msgid "Current Version"
+msgstr "Поточна версія"
+
+#: selfdrive/ui/layouts/settings/software.py:118
+#, python-format
+msgid "DOWNLOAD"
+msgstr "ВАНТАЖ"
+
+#: selfdrive/ui/layouts/onboarding.py:115
+#, python-format
+msgid "Decline"
+msgstr "Відхилити"
+
+#: selfdrive/ui/layouts/onboarding.py:148
+#, python-format
+msgid "Decline, uninstall openpilot"
+msgstr "Відхилити, видалити openpilot"
+
+#: selfdrive/ui/layouts/settings/settings.py:64
+msgid "Developer"
+msgstr "Розробник"
+
+#: selfdrive/ui/layouts/settings/settings.py:59
+msgid "Device"
+msgstr "Пристрій"
+
+#: selfdrive/ui/layouts/settings/toggles.py:58
+#, python-format
+msgid "Disengage on Accelerator Pedal"
+msgstr "Вимкнення при натисканні на педаль газу"
+
+#: selfdrive/ui/layouts/settings/device.py:184
+#, python-format
+msgid "Disengage to Power Off"
+msgstr "Вимкніть openpilot, щоб вимкнути пристрій"
+
+#: selfdrive/ui/layouts/settings/device.py:172
+#, python-format
+msgid "Disengage to Reboot"
+msgstr "Вимкніть openpilot, щоб перезавантажити"
+
+#: selfdrive/ui/layouts/settings/device.py:103
+#, python-format
+msgid "Disengage to Reset Calibration"
+msgstr "Деактивуйте для скидання калібрування"
+
+#: selfdrive/ui/layouts/settings/toggles.py:32
+msgid "Display speed in km/h instead of mph."
+msgstr "Відображати швидкість у км/год замість миль/год."
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#, python-format
+msgid "Dongle ID"
+msgstr "ID ключа"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#, python-format
+msgid "Download"
+msgstr "Завантажити"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "Driver Camera"
+msgstr "Камера водія"
+
+#: selfdrive/ui/layouts/settings/toggles.py:96
+#, python-format
+msgid "Driving Personality"
+msgstr "Стиль водіння"
+
+#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
+#, python-format
+msgid "EDIT"
+msgstr "РЕДАГ."
+
+#: selfdrive/ui/layouts/sidebar.py:138
+msgid "ERROR"
+msgstr "ПОМИЛКА"
+
+#: selfdrive/ui/layouts/sidebar.py:45
+msgid "ETH"
+msgstr "ETH"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "EXPERIMENTAL MODE ON"
+msgstr "ЕКСПЕРИМЕНТ. РЕЖИМ"
+
+#: selfdrive/ui/layouts/settings/toggles.py:228
+#: selfdrive/ui/layouts/settings/developer.py:166
+#, python-format
+msgid "Enable"
+msgstr "Увімкнути"
+
+#: selfdrive/ui/layouts/settings/developer.py:39
+#, python-format
+msgid "Enable ADB"
+msgstr "Увімкнути ADB"
+
+#: selfdrive/ui/layouts/settings/toggles.py:64
+#, python-format
+msgid "Enable Lane Departure Warnings"
+msgstr "Увімкнути попередження про виїзд зі смуги"
+
+#: system/ui/widgets/network.py:129
+#, python-format
+msgid "Enable Roaming"
+msgstr "Увімкнути роумінг"
+
+#: selfdrive/ui/layouts/settings/developer.py:48
+#, python-format
+msgid "Enable SSH"
+msgstr "Увімкнути SSH"
+
+#: system/ui/widgets/network.py:120
+#, python-format
+msgid "Enable Tethering"
+msgstr "Увімкнути точку доступу"
+
+#: selfdrive/ui/layouts/settings/toggles.py:30
+msgid "Enable driver monitoring even when openpilot is not engaged."
+msgstr "Увімкнути моніторинг водія, навіть коли openpilot не ввімкнено."
+
+#: selfdrive/ui/layouts/settings/toggles.py:46
+#, python-format
+msgid "Enable openpilot"
+msgstr "Увімкнути openpilot"
+
+#: selfdrive/ui/layouts/settings/toggles.py:189
+#, python-format
+msgid ""
+"Enable the openpilot longitudinal control (alpha) toggle to allow "
+"Experimental mode."
+msgstr ""
+"Увімкніть перемикач поздовжнього керування openpilot (альфа), щоб увімкнути "
+"експериментальний режим."
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "Enter APN"
+msgstr "Введіть APN"
+
+#: system/ui/widgets/network.py:241
+#, python-format
+msgid "Enter SSID"
+msgstr "Введіть SSID"
+
+#: system/ui/widgets/network.py:254
+#, python-format
+msgid "Enter new tethering password"
+msgstr "Введіть новий пароль для модему"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "Enter password"
+msgstr "Введіть пароль"
+
+#: selfdrive/ui/widgets/ssh_key.py:89
+#, python-format
+msgid "Enter your GitHub username"
+msgstr "Введіть ваш логін GitHub"
+
+#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
+#, python-format
+msgid "Error"
+msgstr "Помилка"
+
+#: selfdrive/ui/layouts/settings/toggles.py:52
+#, python-format
+msgid "Experimental Mode"
+msgstr "Експериментальний режим"
+
+#: selfdrive/ui/layouts/settings/toggles.py:181
+#, python-format
+msgid ""
+"Experimental mode is currently unavailable on this car since the car's stock "
+"ACC is used for longitudinal control."
+msgstr ""
+"Експериментальний режим наразі недоступний для цього автомобіля, оскільки "
+"для поздовжнього керування використовується штатний адаптивний круїз-"
+"контроль (ACC)."
+
+#: system/ui/widgets/network.py:373
+#, python-format
+msgid "FORGETTING..."
+msgstr "ЗАБУВАЮ..."
+
+#: selfdrive/ui/widgets/setup.py:44
+#, python-format
+msgid "Finish Setup"
+msgstr "Завершити налаштування"
+
+#: selfdrive/ui/layouts/settings/settings.py:63
+msgid "Firehose"
+msgstr "Злива"
+
+#: selfdrive/ui/layouts/settings/firehose.py:18
+msgid "Firehose Mode"
+msgstr "Режим зливи"
+
+#: selfdrive/ui/layouts/settings/firehose.py:25
+msgid ""
+"For maximum effectiveness, bring your device inside and connect to a good "
+"USB-C adapter and Wi-Fi weekly.\n"
+"\n"
+"Firehose Mode can also work while you're driving if connected to a hotspot "
+"or unlimited SIM card.\n"
+"\n"
+"\n"
+"Frequently Asked Questions\n"
+"\n"
+"Does it matter how or where I drive? Nope, just drive as you normally "
+"would.\n"
+"\n"
+"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
+"subset of your segments.\n"
+"\n"
+"What's a good USB-C adapter? Any fast phone or laptop charger should be "
+"fine.\n"
+"\n"
+"Does it matter which software I run? Yes, only upstream openpilot (and "
+"particular forks) are able to be used for training."
+msgstr ""
+"Для максимальної ефективності щотижня заносьте пристрій у приміщення та "
+"підключайте його до якісного адаптера USB-C і Wi-Fi.\n"
+"\n"
+"Режим Зливи також може працювати під час руху, якщо пристрій підключено до "
+"точки доступу або SIM-картки з необмеженим трафіком.\n"
+"\n"
+"\n"
+"Поширені запитання\n"
+"\n"
+"Чи має значення, як і де я їду? Ні, просто їдьте, як зазвичай.\n"
+"\n"
+"Чи всі мої сегменти потрапляють у режим Зливи? Ні, ми вибірково вибираємо "
+"підмножину ваших сегментів.\n"
+"\n"
+"Що таке хороший адаптер USB-C? Будь-який швидкий зарядний пристрій для "
+"телефону або ноутбука підійде.\n"
+"\n"
+"Чи має значення, яке програмне забезпечення я використовую? Так, для "
+"навчання можна використовувати тільки upstream openpilot (і певні його "
+"форки)."
+
+#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
+#, python-format
+msgid "Forget"
+msgstr "Заб-и"
+
+#: system/ui/widgets/network.py:319
+#, python-format
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "Забути мережу Wi-Fi \"{}\"?"
+
+#: selfdrive/ui/layouts/sidebar.py:71
+#: selfdrive/ui/layouts/sidebar.py:125
+msgid "GOOD"
+msgstr "ДОБРА"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:117
+#, python-format
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "Перейдіть на сайт https://connect.comma.ai на своєму телефоні."
+
+#: selfdrive/ui/layouts/sidebar.py:129
+msgid "HIGH"
+msgstr "ВИСОКА"
+
+#: system/ui/widgets/network.py:155
+#, python-format
+msgid "Hidden Network"
+msgstr "Прихована мережа"
+
+#: selfdrive/ui/layouts/settings/firehose.py:140
+#, python-format
+msgid "INACTIVE: connect to an unmetered network"
+msgstr "НЕАКТИВНО: підключення до мережі без ліміту трафіку"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#: selfdrive/ui/layouts/settings/software.py:144
+#, python-format
+msgid "INSTALL"
+msgstr "ВСТАНОВ."
+
+#: system/ui/widgets/network.py:150
+#, python-format
+msgid "IP Address"
+msgstr "IP-адреса"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#, python-format
+msgid "Install Update"
+msgstr "Встановити оновлення"
+
+#: selfdrive/ui/layouts/settings/developer.py:56
+#, python-format
+msgid "Joystick Debug Mode"
+msgstr "Режим зневадження джойстика"
+
+#: selfdrive/ui/widgets/ssh_key.py:29
+msgid "LOADING"
+msgstr "ЗАВАНТАЖЕННЯ"
+
+#: selfdrive/ui/layouts/sidebar.py:48
+msgid "LTE"
+msgstr "LTE"
+
+#: selfdrive/ui/layouts/settings/developer.py:64
+#, python-format
+msgid "Longitudinal Maneuver Mode"
+msgstr "Режим поздовжнього маневрування"
+
+#: selfdrive/ui/onroad/hud_renderer.py:148
+#, python-format
+msgid "MAX"
+msgstr "МАКС"
+
+#: selfdrive/ui/widgets/setup.py:75
+#, python-format
+msgid ""
+"Maximize your training data uploads to improve openpilot's driving models."
+msgstr ""
+"Максимізуйте завантаження навчальних даних, щоб поліпшити моделі openpilot."
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "N/A"
+msgstr "Н/Д"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "NO"
+msgstr "НЕМАЄ"
+
+#: selfdrive/ui/layouts/settings/settings.py:60
+msgid "Network"
+msgstr "Мережа"
+
+#: selfdrive/ui/widgets/ssh_key.py:114
+#, python-format
+msgid "No SSH keys found"
+msgstr "Не знайдено ключів SSH"
+
+#: selfdrive/ui/widgets/ssh_key.py:126
+#, python-format
+msgid "No SSH keys found for user '{}'"
+msgstr "Користувач '{}' не має ключів на GitHub"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:320
+#, python-format
+msgid "No release notes available."
+msgstr "Інформація про випуск відсутня."
+
+#: selfdrive/ui/layouts/sidebar.py:73
+#: selfdrive/ui/layouts/sidebar.py:134
+msgid "OFFLINE"
+msgstr "ОФЛАЙН"
+
+#: system/ui/widgets/confirm_dialog.py:93 system/ui/widgets/html_render.py:263
+#: selfdrive/ui/layouts/sidebar.py:127
+#, python-format
+msgid "OK"
+msgstr "OK"
+
+#: selfdrive/ui/layouts/sidebar.py:72
+#: selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:144
+msgid "ONLINE"
+msgstr "ОНЛАЙН"
+
+#: selfdrive/ui/widgets/setup.py:20
+#, python-format
+msgid "Open"
+msgstr "ВІДКРИТИ"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "PAIR"
+msgstr "ПІДКЛЮЧИТИ"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "PANDA"
+msgstr "PANDA"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "PREVIEW"
+msgstr "ПОКАЖИ"
+
+#: selfdrive/ui/widgets/prime.py:44
+#, python-format
+msgid "PRIME FEATURES:"
+msgstr "XАРАКТЕРИСТИКИ PRIME:"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "Pair Device"
+msgstr "Підключити пристрій"
+
+#: selfdrive/ui/widgets/setup.py:19
+#, python-format
+msgid "Pair device"
+msgstr "Підключити пристрій"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:92
+#, python-format
+msgid "Pair your device to your comma account"
+msgstr "Підключіть свій пристрій до обліковки comma connect"
+
+#: selfdrive/ui/widgets/setup.py:48
+#: selfdrive/ui/layouts/settings/device.py:24
+#, python-format
+msgid ""
+"Pair your device with comma connect (connect.comma.ai) and claim your comma "
+"prime offer."
+msgstr ""
+"Підключіть свій пристрій до comma connect (connect.comma.ai) і отримайте "
+"свою пропозицію comma prime."
+
+#: selfdrive/ui/widgets/setup.py:91
+#, python-format
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "Будь ласка, підключіться до Wi-Fi, щоб завершити початкове сполучення."
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Power Off"
+msgstr "Вимкнути"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr ""
+"Запобігайте завантаженню великих обсягів даних під час використання Wi-Fi-"
+"з'єднання з обмеженим трафіком"
+
+#: system/ui/widgets/network.py:135
+#, python-format
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr ""
+"Запобігати великим завантаженням даних під час лімітного стільникового "
+"з'єднання"
+
+#: selfdrive/ui/layouts/settings/device.py:25
+msgid ""
+"Preview the driver facing camera to ensure that driver monitoring has good "
+"visibility. (vehicle must be off)"
+msgstr ""
+"Попередньо перегляньте камеру, спрямовану на водія, щоб переконатися, що "
+"система моніторингу водія має добру видимість. (автомобіль повинен бути "
+"вимкнений)"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:150
+#, python-format
+msgid "QR Code Error"
+msgstr "Помилка QR-коду"
+
+#: selfdrive/ui/widgets/ssh_key.py:31
+msgid "REMOVE"
+msgstr "ВИДАЛИТИ"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "RESET"
+msgstr "Скинути"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "REVIEW"
+msgstr "ДИВИТИСЬ"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Reboot"
+msgstr "Перезавантажити"
+
+#: selfdrive/ui/onroad/alert_renderer.py:66
+#, python-format
+msgid "Reboot Device"
+msgstr "Перезавантажте пристрій"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:112
+#, python-format
+msgid "Reboot and Update"
+msgstr "Перезавантажити та оновити"
+
+#: selfdrive/ui/layouts/settings/toggles.py:27
+msgid ""
+"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)."
+msgstr ""
+"Отримувати попередження про необхідність повернутися в смугу, коли ваш "
+"автомобіль перетинає виявлену лінію розмітки без увімкненого сигналу "
+"повороту під час руху зі швидкістю понад 31 миль/год (50 км/год)."
+
+#: selfdrive/ui/layouts/settings/toggles.py:76
+#, python-format
+msgid "Record and Upload Driver Camera"
+msgstr "Писати та вантажити відео з камери водія"
+
+#: selfdrive/ui/layouts/settings/toggles.py:82
+#, python-format
+msgid "Record and Upload Microphone Audio"
+msgstr "Запис та завантаження аудіо з мікрофона"
+
+#: selfdrive/ui/layouts/settings/toggles.py:33
+msgid ""
+"Record and store microphone audio while driving. The audio will be included "
+"in the dashcam video in comma connect."
+msgstr ""
+"Записуйте та зберігайте аудіо з мікрофона під час руху. Аудіо буде включено "
+"до відео з відеореєстратора в comma connect."
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "Regulatory"
+msgstr "Нормативні документи"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Relaxed"
+msgstr "Спокійний"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote access"
+msgstr "Віддалений доступ"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote snapshots"
+msgstr "Віддалені знімки"
+
+#: selfdrive/ui/widgets/ssh_key.py:123
+#, python-format
+msgid "Request timed out"
+msgstr "Час запиту вичерпано"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Reset"
+msgstr "Скинути"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "Reset Calibration"
+msgstr "Скинути калібрування"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "Review Training Guide"
+msgstr "Переглянути посібник з навчання"
+
+#: selfdrive/ui/layouts/settings/device.py:27
+msgid "Review the rules, features, and limitations of openpilot"
+msgstr "Перегляньте правила, функції та обмеження openpilot"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "SELECT"
+msgstr "ВИБРАТИ"
+
+#: selfdrive/ui/layouts/settings/developer.py:53
+#, python-format
+msgid "SSH Keys"
+msgstr "SSH ключі"
+
+#: system/ui/widgets/network.py:310
+#, python-format
+msgid "Scanning Wi-Fi networks..."
+msgstr "Пошук мереж..."
+
+#: system/ui/widgets/option_dialog.py:36
+#, python-format
+msgid "Select"
+msgstr "Вибрати"
+
+#: selfdrive/ui/layouts/settings/software.py:191
+#, python-format
+msgid "Select a branch"
+msgstr "Виберіть гілку"
+
+#: selfdrive/ui/layouts/settings/device.py:91
+#, python-format
+msgid "Select a language"
+msgstr "Виберіть мову"
+
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "Serial"
+msgstr "Серійний номер"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:106
+#, python-format
+msgid "Snooze Update"
+msgstr "Відкласти оновлення"
+
+#: selfdrive/ui/layouts/settings/settings.py:62
+msgid "Software"
+msgstr "Програма"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Standard"
+msgstr "Стандарт"
+
+#: selfdrive/ui/layouts/settings/toggles.py:22
+msgid ""
+"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."
+msgstr ""
+"Рекомендується стандартний режим. В агресивному режимі openpilot буде "
+"триматися ближче до автомобілів попереду і більш агресивно використовувати "
+"газ і гальма. У спокійному режимі openpilot буде триматися на більшій "
+"відстані від автомобілів попереду. На підтримуваних автомобілях ви можете "
+"перемикатися між цими режимами за допомогою кнопки дистанції на кермі."
+
+#: selfdrive/ui/onroad/alert_renderer.py:59
+#: selfdrive/ui/onroad/alert_renderer.py:65
+#, python-format
+msgid "System Unresponsive"
+msgstr "Система не реагує"
+
+#: selfdrive/ui/onroad/alert_renderer.py:58
+#, python-format
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "КЕРМУЙТЕ НЕГАЙНО"
+
+#: selfdrive/ui/layouts/sidebar.py:71
+#: selfdrive/ui/layouts/sidebar.py:125
+#: selfdrive/ui/layouts/sidebar.py:127
+#: selfdrive/ui/layouts/sidebar.py:129
+msgid "TEMP"
+msgstr "ТЕМП"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "Target Branch"
+msgstr "Цільова гілка"
+
+#: system/ui/widgets/network.py:124
+#, python-format
+msgid "Tethering Password"
+msgstr "Пароль для точки доступу"
+
+#: selfdrive/ui/layouts/settings/settings.py:61
+msgid "Toggles"
+msgstr "Перемикачі"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#, python-format
+msgid "UNINSTALL"
+msgstr "ВИДАЛИТИ"
+
+#: selfdrive/ui/layouts/home.py:155
+#, python-format
+msgid "UPDATE"
+msgstr "ОНОВИТИ"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#: selfdrive/ui/layouts/settings/software.py:171
+#, python-format
+msgid "Uninstall"
+msgstr "Видалити"
+
+#: selfdrive/ui/layouts/sidebar.py:117
+msgid "Unknown"
+msgstr "Невідомо"
+
+#: selfdrive/ui/layouts/settings/software.py:48
+#, python-format
+msgid "Updates are only downloaded while the car is off."
+msgstr "Оновлення завантажуються лише тоді, коли автомобіль вимкнено."
+
+#: selfdrive/ui/widgets/prime.py:33
+#, python-format
+msgid "Upgrade Now"
+msgstr "Оновити зараз"
+
+#: selfdrive/ui/layouts/settings/toggles.py:31
+msgid ""
+"Upload data from the driver facing camera and help improve the driver "
+"monitoring algorithm."
+msgstr ""
+"Завантажуйте дані з камери, спрямованої на водія, та допоможіть покращити "
+"алгоритм моніторингу водія."
+
+#: selfdrive/ui/layouts/settings/toggles.py:88
+#, python-format
+msgid "Use Metric System"
+msgstr "Використовувати метричну систему"
+
+#: selfdrive/ui/layouts/settings/toggles.py:17
+msgid ""
+"Use the openpilot system for adaptive cruise control and lane keep driver "
+"assistance. Your attention is required at all times to use this feature."
+msgstr ""
+"Використовуйте систему openpilot для адаптивного круїз-контролю та допомоги "
+"в утриманні смуги руху. Ваша увага потрібна постійно при використанні цієї "
+"функції. Зміна цього налаштування набуває чинності після вимкнення живлення "
+"автомобіля."
+
+#: selfdrive/ui/layouts/sidebar.py:72
+#: selfdrive/ui/layouts/sidebar.py:144
+msgid "VEHICLE"
+msgstr "АВТО"
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "VIEW"
+msgstr "ДИВИСЬ"
+
+#: selfdrive/ui/onroad/alert_renderer.py:52
+#, python-format
+msgid "Waiting to start"
+msgstr "Очікування початку"
+
+#: selfdrive/ui/layouts/settings/developer.py:19
+msgid ""
+"Warning: This grants SSH access to all public keys in your GitHub settings. "
+"Never enter a GitHub username other than your own. A comma employee will "
+"NEVER ask you to add their GitHub username."
+msgstr ""
+"Попередження: це надає доступ по SSH до всіх публічних ключів у ваших "
+"налаштуваннях GitHub. Ніколи не вводьте ім'я користувача GitHub, окрім "
+"вашого власного. Співробітник comma НІКОЛИ не попросить вас додати його ім'я "
+"користувача GitHub."
+
+#: selfdrive/ui/layouts/onboarding.py:111
+#, python-format
+msgid "Welcome to openpilot"
+msgstr "Ласкаво просимо до openpilot"
+
+#: selfdrive/ui/layouts/settings/toggles.py:20
+msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
+msgstr "Якщо увімкнено, натискання на педаль акселератора вимкне openpilot."
+
+#: selfdrive/ui/layouts/sidebar.py:44
+msgid "Wi-Fi"
+msgstr "Wi-Fi"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Wi-Fi Network Metered"
+msgstr "Трафік Wi-Fi"
+
+#: system/ui/widgets/network.py:314
+#, python-format
+msgid "Wrong password"
+msgstr "Невірний пароль"
+
+#: selfdrive/ui/layouts/onboarding.py:145
+#, python-format
+msgid "You must accept the Terms and Conditions in order to use openpilot."
+msgstr "Ви повинні прийняти Умови та положення, щоб користуватися openpilot."
+
+#: selfdrive/ui/layouts/onboarding.py:112
+#, python-format
+msgid ""
+"You must accept the Terms and Conditions to use openpilot. Read the latest "
+"terms at https://comma.ai/terms before continuing."
+msgstr ""
+"Ви повинні прийняти Умови використання, щоб користуватися openpilot. Перед "
+"тим, як продовжити, ознайомтеся з останніми умовами на сайті https://"
+"comma.ai/terms."
+
+#: selfdrive/ui/onroad/driver_camera_dialog.py:34
+#, python-format
+msgid "camera starting"
+msgstr "запуск камери"
+
+#: selfdrive/ui/layouts/settings/software.py:105
+#, python-format
+msgid "checking..."
+msgstr "перевіряю..."
+
+#: selfdrive/ui/widgets/prime.py:63
+#, python-format
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "default"
+msgstr "замовч."
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "down"
+msgstr "вниз"
+
+#: selfdrive/ui/layouts/settings/software.py:106
+#, python-format
+msgid "downloading..."
+msgstr "завантажую..."
+
+#: selfdrive/ui/layouts/settings/software.py:114
+#, python-format
+msgid "failed to check for update"
+msgstr "не вдалося перевірити оновлення"
+
+#: selfdrive/ui/layouts/settings/software.py:107
+#, python-format
+msgid "finalizing update..."
+msgstr "завершую..."
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "for \"{}\""
+msgstr "для \"{}\""
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "km/h"
+msgstr "км/год"
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "leave blank for automatic configuration"
+msgstr "залиште порожнім для автоматичного налаштування"
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "left"
+msgstr "вліво"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "metered"
+msgstr "обмеж."
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "mph"
+msgstr "миль/год"
+
+#: selfdrive/ui/layouts/settings/software.py:20
+#, python-format
+msgid "never"
+msgstr "ніколи"
+
+#: selfdrive/ui/layouts/settings/software.py:31
+#, python-format
+msgid "now"
+msgstr "зараз"
+
+#: selfdrive/ui/layouts/settings/developer.py:71
+#, python-format
+msgid "openpilot Longitudinal Control (Alpha)"
+msgstr "Поздовжнє керування openpilot (Альфа)"
+
+#: selfdrive/ui/onroad/alert_renderer.py:51
+#, python-format
+msgid "openpilot Unavailable"
+msgstr "openpilot Недоступний"
+
+#: selfdrive/ui/layouts/settings/toggles.py:158
+#, python-format
+msgid ""
+"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
+"level features that aren't ready for chill mode. Experimental features are "
+"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>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."
+"<br><h4>New Driving Visualization</h4><br>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."
+msgstr ""
+"openpilot за замовчуванням працює в режимі спокій. Експериментальний режим "
+"увімкне функції альфа-рівня, які ще не готові для режиму спокій. "
+"Експериментальні функції перелічені нижче:<br><h4>Кінцевий поздовжній "
+"контроль</h4><br>Дозвольте моделі водіння контролювати газ і гальма. "
+"openpilot буде керувати автомобілем так, як це робив би людина, включаючи "
+"зупинку на червоне світло і знаки зупинки. Оскільки модель водіння визначає "
+"швидкість руху, задана швидкість буде діяти лише як верхня межа. Це функція "
+"альфа-рівня; слід очікувати помилок.<br><h4>Нова візуалізація водіння</"
+"h4><br>Візуалізація водіння перейде на ширококутну камеру, спрямовану на "
+"дорогу, при низьких швидкостях, щоб краще показувати деякі повороти. Логотип "
+"експериментального режиму також буде показаний у верхньому правому куті."
+
+#: selfdrive/ui/layouts/settings/device.py:165
+#, python-format
+msgid ""
+"openpilot is continuously calibrating, resetting is rarely required. "
+"Resetting calibration will restart openpilot if the car is powered on."
+msgstr ""
+"openpilot постійно калібрується, скидання рідко потрібне. Скидання "
+"калібрування призведе до перезапуску openpilot, якщо автомобіль увімкнено."
+
+#: selfdrive/ui/layouts/settings/firehose.py:20
+msgid ""
+"openpilot learns to drive by watching humans, like you, drive.\n"
+"\n"
+"Firehose Mode allows you to maximize your training data uploads to improve "
+"openpilot's driving models. More data means bigger models, which means "
+"better Experimental Mode."
+msgstr ""
+"openpilot вчиться керувати автомобілем, спостерігаючи за тим, як це роблять "
+"люди, такі як ви.\n"
+"\n"
+"Режим зливи дозволяє максимально збільшити обсяг завантажуваних навчальних "
+"даних, щоб поліпшити моделі керування автомобілем openpilot. Більше даних "
+"означає більші моделі, а це означає кращий експериментальний режим."
+
+#: selfdrive/ui/layouts/settings/toggles.py:183
+#, python-format
+msgid "openpilot longitudinal control may come in a future update."
+msgstr "Поздовжнє керування openpilot може з'явитися в майбутньому оновленні."
+
+#: selfdrive/ui/layouts/settings/device.py:26
+msgid ""
+"openpilot requires the device to be mounted within 4° left or right and "
+"within 5° up or 9° down."
+msgstr ""
+"Для роботи openpilot потрібно, щоб пристрій був встановлений з нахилом не "
+"більше 4° вліво або вправо та не більше 5° вгору або 9° вниз. openpilot "
+"постійно калібрується, тому скидання калібрування потрібне рідко."
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "right"
+msgstr "вправо"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "unmetered"
+msgstr "необмеж."
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "up"
+msgstr "вгору"
+
+#: selfdrive/ui/layouts/settings/software.py:125
+#, python-format
+msgid "up to date, last checked never"
+msgstr "оновлено, ніколи не перевірялось"
+
+#: selfdrive/ui/layouts/settings/software.py:123
+#, python-format
+msgid "up to date, last checked {}"
+msgstr "оновлено, перевірив {}"
+
+#: selfdrive/ui/layouts/settings/software.py:117
+#, python-format
+msgid "update available"
+msgstr "доступне оновлення"
+
+#: selfdrive/ui/layouts/home.py:169
+#, python-format
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{} СПОВІЩЕННЯ"
+msgstr[1] "{} СПОВІЩЕННЯ"
+msgstr[2] "{} СПОВІЩЕНЬ"
+
+#: selfdrive/ui/layouts/settings/software.py:40
+#, python-format
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "{} день тому"
+msgstr[1] "{} дні тому"
+msgstr[2] "{} днів тому"
+
+#: selfdrive/ui/layouts/settings/software.py:37
+#, python-format
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "{} година тому"
+msgstr[1] "{} години тому"
+msgstr[2] "{} годин тому"
+
+#: selfdrive/ui/layouts/settings/software.py:34
+#, python-format
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "{} хвилина тому"
+msgstr[1] "{} хвилини тому"
+msgstr[2] "{} хвилин тому"
+
+#: selfdrive/ui/layouts/settings/firehose.py:111
+#, python-format
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] ""
+"{} сегмент вашого водіння на даний момент містяться в тренувальному наборі "
+"даних."
+msgstr[1] ""
+"{} сегменти вашого водіння на даний момент містяться в тренувальному наборі "
+"даних."
+msgstr[2] ""
+"{} сегментів вашого водіння на даний момент містяться в тренувальному наборі "
+"даних."
+
+#: selfdrive/ui/widgets/prime.py:62
+#, python-format
+msgid "✓ SUBSCRIBED"
+msgstr "✓ ПІДПИСАНО"
+
+#: selfdrive/ui/widgets/setup.py:22
+#, python-format
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🌧️ Режим зливи 🌧️"
diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
index b0674dee82..47e673ce89 100644
--- a/selfdrive/ui/translations/languages.json
+++ b/selfdrive/ui/translations/languages.json
@@ -5,6 +5,7 @@
   "Português": "pt-BR",
   "Español": "es",
   "Türkçe": "tr",
+  "Українська": "uk",
   "العربية": "ar",
   "ไทย": "th",
   "中文（繁體）": "zh-CHT",
diff --git a/sunnypilot/common/README.md b/sunnypilot/common/README.md
index fe42a58790..5c17e2702c 100644
--- a/sunnypilot/common/README.md
+++ b/sunnypilot/common/README.md
@@ -1,109 +1,122 @@
-# Comparative Analysis of Parameter Access Methods: `Params::get` vs. `ParamWatcher`
+<center>
 
-## Inefficiencies in Standard Parameter Access
-The standard `Params::get()` method executes a full file I/O lifecycle—opening, allocating, reading, and closing—for every function call. This approach results in significant CPU overhead and memory churn due to the frequency of these operations in the user interface loop.
+# Comparative Analysis of Parameter Getter Methods: Params vs. ParamWatcher
 
-### System Overhead Analysis
-*   **System Call Overhead**: Every read operation requires context switches into kernel mode. The `Params::get` function calls `util::read_file` (sunnypilot, 2025), which subsequently invokes `std::ifstream` (sunnypilot, 2025).
-*   **Impact**: Frequent context switching degrades performance (Linux man-pages, 2025 -a; Linux man-pages, 2025 -b).
-*   **C++ Stream Overhead**: The use of `std::ifstream` introduces additional overhead for maintaining stream state and buffering compared to raw file descriptors (cppreference.com, n.d.-a; Codezup, 2025).
-*   **Memory Churn**: The instantiation of `std::string result(size, '\0');` forces heap allocation and deallocation during every call (sunnypilot, 2025). This stresses the memory allocator and can lead to fragmentation (cppreference.com, n.d.).
+James (sunnypilot Developer) <br>
+December 13, 2025
 
-## The ParamWatcher Optimization
-The `ParamWatcher` implementation utilizes OS-level file system events, such as `inotify` on Linux or `FSEvents` on macOS, to maintain a Random Access Memory (RAM) cache. This architecture eliminates the need for continuous polling.
+</center>
 
-### Performance Comparison
-| Feature | Standard `Params::get` | Optimized `ParamWatcher` |
-| :--- | :--- | :--- |
-| **Workflow** | `open` → `malloc` → `read` → `close` | `dict.get()` (RAM lookup) |
-| **Complexity** | **O(N * F)** (Linear to toggles & FPS) | **O(1)** (Constant time) |
-| **Disk I/O** | ~1,000 reads/sec (50 toggles @ 20FPS) | **0 reads/sec** (Steady state) |
-| **Memory** | New string object per call (High GC pressure) | Returns reference (Zero GC pressure) |
 
-## Architectural Mismatch of Standard Modules
-Standard C++ modules like `std::ifstream` are optimized for **throughput**—reading large files sequentially—rather than **latency** required for polling small files frequently.
+## <br><br> Abstract
 
-*   **The I/O Trap**: Even when a file resides in the OS page cache (RAM), invoking `open()` and `read()` forces a CPU mode switch (User → Kernel → User). Executing this sequence 1,000 times per second consumes CPU cycles merely to verify state constancy.
-*   **The Memory Trap**: The `std::string` class allocates memory on the heap. Repeated allocation creates short-lived objects, which in C++ fragments memory. In Python (which wraps this), it triggers the Garbage Collector, pausing the UI.
-*   **The Query Mismatch**: `Params::get` queries the current value every frame, whereas `ParamWatcher` waits for a notification of change, serving cached values in the interim.
+This research report examines the inefficiencies in standard parameter access methods within sunnypilot and proposes an optimized alternative, ParamWatcher. The standard `Params::get()` method incurs significant CPU and memory overhead due to repeated file I/O operations (sunnypilot, 2025). ParamWatcher utilizes OS-level file system events (inotify on Linux, FSEvents on macOS) to maintain an in-memory cache, reducing I/O to near zero (Linux man-pages, 2025-c; Apple Inc., n.d.-a). Empirical benchmarks with ~10 million parameter accesses demonstrate a 14.5x CPU speedup and flat memory usage (514.7 KB vs. 497.7 KB for base Params, with only 17 KB overhead). The implementation employs a process-local singleton pattern for efficiency in multi-process architectures (Gamma et al., 1994). Results indicate ParamWatcher eliminates UI stutters and GC pauses, enhancing system responsiveness without compromising data freshness.
 
-## Implementation Analysis
-The `ParamWatcher` class provides a cross-platform solution for monitoring file system changes, specifically targeting the parameter files used in Openpilot. The implementation leverages the `ctypes` library to interface directly with operating system kernels, bypassing higher-level abstractions for maximum performance.
+**Keywords:** parameter access, file I/O optimization, event-driven caching, autonomous driving systems, performance benchmarking
 
-### Linux Implementation (`_run_linux`)
-The Linux implementation interacts directly with the kernel's `inotify` subsystem (Linux man-pages, 2025 -c).
+## Introduction
 
-*   **Library Loading**: `libc = ctypes.CDLL('libc.so.6')` loads the standard C library to access system calls.
-*   **Initialization**: `inotify_init()` is called to create a new inotify instance, returning a file descriptor.
-*   **Watch Setup**: `inotify_add_watch(fd, path, mask)` registers the parameters directory. The mask includes `IN_MODIFY | IN_CREATE | IN_DELETE | IN_MOVED_TO | IN_CLOSE_WRITE` (Linux Kernel Organization, 2005) to capture all relevant file changes.
-*   **Event Loop**:
-    *   **Polling**: `select.epoll()` is used to efficiently wait for activity on the file descriptor without busy-waiting.
-    *   **Reading**: When events occur, `os.read(fd, 1024)` retrieves the raw binary event data.
-    *   **Parsing**: The code uses Python's `struct` module (`struct.unpack_from("iIII", ...)`) to parse the C-style `inotify_event` structures directly from the buffer, avoiding the overhead of defining `ctypes` structures.
-    *   **Handling**: Extracted filenames are passed to `_trigger_callbacks`, which invalidates the specific cache entry (`self._cache.pop(path, None)`), forcing a fresh read on the next access.
+In sunnypilot, efficient parameter management is important for real-time system access. The standard `Params::get()` method, implemented in C++ and wrapped in Python, performs full file I/O cycles for each access, leading to high CPU overhead and memory churn (sunnypilot, 2025). This is particularly problematic in UI loops where parameters are queried frequently (e.g., 50 toggles at 20 FPS equates to ~1,000 reads/second).
 
-### macOS Implementation (`_run_darwin`)
-The macOS implementation uses the `FSEvents` API from the `CoreServices` framework (Apple Inc., n.d.-a), which is more efficient than `kqueue` for directory monitoring.
+This inefficiency stems from architectural mismatches: C++ streams are designed for throughput, not latency (cppreference.com, n.d.-a). Each call triggers kernel mode switches, heap allocations, and garbage collection in Python, causing UI stutters (Linux man-pages, 2025-a; Linux man-pages, 2025-b).
 
-*   **Framework Loading**: `ctypes.cdll.LoadLibrary` loads `CoreServices` and `CoreFoundation`.
-*   **Callback Definition**: `CFUNCTYPE` is used to define a C-compatible callback function. This function is invoked by the OS whenever a change occurs in the watched directory.
-*   **Stream Creation**: `FSEventStreamCreate` creates a stream for the target directory. The `kFSEventStreamCreateFlagFileEvents` flag is used to request file-level granularity where available.
-*   **Event Filtering**: The callback filters events using flags such as `kFSEventStreamEventFlagItemCreated` and `kFSEventStreamEventFlagItemModified` to ensure only relevant file changes trigger updates (Apple Inc., n.d.-c).
-*   **Scheduling**: `FSEventStreamScheduleWithRunLoop` attaches the stream to the current thread's run loop (Apple Inc., n.d.-b).
-*   **Execution**: `CFRunLoopRun()` starts the event loop. This passes control to the OS, which wakes the thread only when necessary.
-*   **Handling**: Inside the callback, the code iterates through the changed paths provided by the OS. It extracts the filename and calls `_trigger_callbacks` to invalidate the cache for that specific parameter.
+### Inefficiencies in Standard Parameter Access
+The standard `Params::get()` method executes a full file I/O lifecycle—opening, allocating, reading, and closing—for every function call. This results in significant CPU overhead and memory churn due to the frequency of these operations in the user interface loop.
 
-### Python ctypes Integration
-The use of `ctypes` (Python Software Foundation, 2025) is a strategic choice. It allows the Python interpreter to load shared libraries (`libc.so.6` on Linux, `CoreServices` on macOS) and call C functions directly. This approach avoids the overhead of spawning subprocesses or compiling external C extensions, keeping the codebase pure Python while achieving C-level system integration.
+#### System Overhead Analysis
+- **System Call Overhead**: Every read operation requires context switches into kernel mode. The `Params::get` function calls `util::read_file` (sunnypilot, 2025), which subsequently invokes `std::ifstream` (sunnypilot, 2025).
+- **Impact**: Frequent context switching degrades performance (Linux man-pages, 2025-a; Linux man-pages, 2025-b).
+- **C++ Stream Overhead**: The use of `std::ifstream` introduces additional overhead for maintaining stream state and buffering compared to raw file descriptors (cppreference.com, n.d.-a; Codezup, 2025).
+- **Memory Churn**: The instantiation of `std::string result(size, '\0');` forces heap allocation and deallocation during every call (sunnypilot, 2025). This stresses the memory allocator and can lead to fragmentation (cppreference.com, n.d.-b).
 
-### Memory Impact Analysis
- With 232 defined parameters in `param_keys.h`, the maximum static RAM footprint of `ParamWatcher` is estimated to be **less than 250 KB**. Even if every single parameter were cached simultaneously, this static usage is negligible. Importantly, this stable footprint is likely more probable to maintain no trend of memory increase, whenc compared to the standard `Params::get` approach, which generates **megabytes** of short-lived "garbage" allocations per second, forcing the Python Garbage Collector to pause execution repeatedly.
+This report introduces ParamWatcher, an event-driven caching solution using OS file system events. It shifts from polling to notifications, caching converted values in static RAM. I propose that ParamWatcher achieves minimum 10x+ CPU gains with bounded non increasing memory, improving sunnypilot's performance both on latency and responsiveness.
 
-## Architectural Integration: The Process-Local Singleton Pattern
-To ensure resource efficiency within openpilot's multi-process architecture (e.g., `ui`, `controlsd`, `modeld`), `ParamWatcher` implements the Singleton design pattern (Gamma et al., 1994) using the Python `__new__` allocator.
+## Method
 
-### Process Isolation and Concurrency
-In the context of Python's memory model, a Singleton ensures a single instance exists *per process*. This behavior aligns with openpilot's multiprocess design:
+### Materials
+- **System:** sunnypilot, running on macOS, Ubuntu/Linux, comma 3x, and comma four.
+- **Parameters:** 231 defined keys in `param_keys.h`.
+- **Tools:** Python 3, tracemalloc for memory profiling, time.perf_counter for CPU timing, ctypes for OS integration (Python Software Foundation, 2025).
 
-*   **Intra-Process Efficiency**: Within a single heavy process like `ui`, multiple sub-components (e.g., `UIState`, `SunnylinkState`) import and use `Params`. The Singleton pattern ensures they share a single `inotify` thread and a unified RAM cache. This prevents the proliferation of redundant watcher threads, which would otherwise compete for the Global Interpreter Lock (GIL).
-*   **Inter-Process Safety**: Distinct processes (e.g., `modeld` vs. `ui`) maintain completely isolated `ParamWatcher` instances. This isolation eliminates the need for complex Inter-Process Communication (IPC) locking mechanisms for the cache, as each process synchronizes its independent state via the OS file system events.
+### Implementation Details
+ParamWatcher provides cross-platform file system monitoring using ctypes for direct OS integration (Python Software Foundation, 2025).
 
-### Empirical Verification
-Runtime analysis demonstrates that multiple instantiation attempts result in a shared object reference, minimizing memory footprint.
+#### Linux Implementation
+On Linux, ParamWatcher uses the inotify subsystem for efficient file change detection (Linux man-pages, 2025-c). It loads `libc.so.6` to access system calls, initializes an inotify instance, and watches the parameters directory for events like `IN_MODIFY` and `IN_CLOSE_WRITE` (Linux Kernel Organization, 2005). Events are polled with `select.epoll()` and parsed using `struct.unpack_from()` to avoid ctypes overhead. Filenames are extracted and passed to cache invalidation, ensuring real-time updates without polling (Codezup, 2025).
 
-*   **Test Case**: Instantiating `ParamWatcher` in `UIStateSP` and subsequently in a standalone script within the same process.
-*   **Result**: Both instances report the exact same memory address (`4814358960`) and share the same background thread ID (`6114635776`).
-*   **Impact**: The system incurs the overhead of the watcher thread (measured at < 0.1% CPU idle usage) only once per active process, regardless of import frequency. The average CPU usage across one minute was 0.002%.
+- **Library Loading**: `libc = ctypes.CDLL('libc.so.6')` loads the standard C library to access system calls.
+- **Initialization**: `inotify_init()` is called to create a new inotify instance, returning a file descriptor.
+- **Watch Setup**: `inotify_add_watch(fd, path, mask)` registers the parameters directory. The mask includes `IN_MODIFY | IN_CREATE | IN_DELETE | IN_MOVED_TO | IN_CLOSE_WRITE` (Linux Kernel Organization, 2005) to capture all relevant file changes.
+- **Event Loop**:
+  - **Polling**: `select.epoll()` is used to efficiently wait for activity on the file descriptor without busy-waiting.
+  - **Reading**: When events occur, `os.read(fd, 1024)` retrieves the raw binary event data.
+  - **Parsing**: The code uses Python's `struct` module (`struct.unpack_from("iIII", ...)`) to parse the C-style `inotify_event` structures directly from the buffer, avoiding the overhead of defining `ctypes` structures.
+  - **Handling**: Extracted filenames are passed to `_trigger_callbacks`, which invalidates the specific cache entry (`self._cache.pop(path, None)`), forcing a fresh read on the next access.
 
-## Limitations and Trade-offs
-While `ParamWatcher` offers superior performance for UI rendering, it presents specific trade-offs:
+#### macOS Implementation
+On macOS, ParamWatcher leverages FSEvents from CoreServices for directory monitoring (Apple Inc., n.d.-a). It defines a C-compatible callback using `CFUNCTYPE`, creates an `FSEventStream` with `kFSEventStreamCreateFlagFileEvents`, and schedules it on the run loop (Apple Inc., n.d.-b). Events are filtered for modifications, creations, and renames (Apple Inc., n.d.-c), triggering cache invalidation for affected parameters.
 
-*   **Static RAM Usage**: `ParamWatcher` maintains a persistent dictionary cache of all accessed parameters (~50KB), whereas `Params::get` uses zero static RAM but incurs high dynamic memory access.
-*   **Event Latency**: In high-load scenarios, `inotify` events may experience slight delays or coalescing compared to direct reads. However, for user interface applications, this latency (<10ms) is imperceptible.
-*   **Complexity**: The solution (the process singleton approach) requires managing a background thread and OS-specific event loops, increasing code complexity compared to the synchronous `Params::get` function.
+- **Framework Loading**: `ctypes.cdll.LoadLibrary` loads `CoreServices` and `CoreFoundation`.
+- **Callback Definition**: `CFUNCTYPE` is used to define a C-compatible callback function. This function is invoked by the OS whenever a change occurs in the watched directory.
+- **Stream Creation**: `FSEventStreamCreate` creates a stream for the target directory. The `kFSEventStreamCreateFlagFileEvents` flag is used to request file-level granularity where available.
+- **Event Filtering**: The callback filters events using flags such as `kFSEventStreamEventFlagItemCreated` and `kFSEventStreamEventFlagItemModified` to ensure only relevant file changes trigger updates (Apple Inc., n.d.-c).
+- **Scheduling**: `FSEventStreamScheduleWithRunLoop` attaches the stream to the current thread's run loop (Apple Inc., n.d.-b).
+- **Execution**: `CFRunLoopRun()` starts the event loop. This passes control to the OS, which wakes the thread only when necessary.
+- **Handling**: Inside the callback, the code iterates through the changed paths provided by the OS. It extracts the filename and calls `_trigger_callbacks` to invalidate the cache for that specific parameter.
 
-## Alternative Architecture Considered: ZeroMQ Service (ZMQ)
-During the development of `ParamWatcher`, a Client-Server architecture using ZMQ was evaluated. In this architecture, a single background service process would monitor file system events and publish changes over a ZMQ PUB socket to multiple client processes (SUB).
+### Procedure
+Benchmarks simulated heavy load:
+- **Memory Test:** ~10 million gets (43,290 loops over 231 keys), measured with tracemalloc.
+- **CPU Test:** Same load, timed with perf_counter.
+- Comparisons: Base Params vs. ParamWatcher.
 
-### Trade-off Analysis
-| Metric | In-Process (Current) | ZMQ Service (Rejected)                                |
-| :--- | :--- |:------------------------------------------------------|
-| **Memory Usage** | Low (1 thread/process) | High (1 full Python process + ZMQ buffers per client) |
-| **CPU Usage** | Low (Direct callback) | High (Serialization + TCP Stack + Deserialization)    |
-| **Latency** | Instant (<0.1ms) | Variable (TCP Loopback overhead)                      |
-| **Scalability** | Limited by OS file handles | Limited by TCP ports/buffers                          |
-| **Robustness** | Process-isolated failure | Single point of failure (Service crash affects all)   |
+## Results
 
-### Decision Rationale
-While the ZMQ approach offers better isolation and reduces the total number of OS file watchers (1 vs N), the overhead of inter-process communication (IPC) proved excessive for this use case.
-*   **Efficiency**: Even with 50+ processes, the memory footprint of 50 simple threads is significantly lower than the overhead of a dedicated Python service process plus the ZMQ context in every client.
-*   **Complexity**: The ZMQ architecture introduced synchronization challenges (e.g., service startup race conditions, "Address already in use" errors) that outweighed its benefits.
-*   **Performance**: The latency of serializing messages and passing them through the TCP stack is orders of magnitude higher than a direct function call within the same process memory space.
+### Memory Usage
+Using tracemalloc for peak memory measurement during ~10 million parameter accesses (43,290 loops over 231 keys), base Params peaked at 497.7 KB, while ParamWatcher peaked at 514.7 KB (17 KB overhead). ParamWatcher's memory remained flat post-initialization, preventing churn.
 
-## Conclusion
-Replacing polling mechanisms with event-driven caching shifts the computational load from kernel space (syscalls) to user space (RAM). This transition eliminates I/O overhead and UI stutters caused by garbage collection, resulting in a more responsive user experience. The In-Process Singleton approach was selected as the optimal balance between performance, complexity, and resource efficiency.
+| Condition | Memory (KB) | Overhead |
+|-----------|-------------|----------|
+| Base Params | 497.7 | - |
+| ParamWatcher | 514.7 | 17 KB |
+### CPU Performance
+ParamWatcher was 14.5x faster: 4.52s vs. 65.43s to complete ~10 million param gets.
+
+| Condition | Time (s) | Speedup |
+|-----------|----------|---------|
+| Base Params | 65.43 | 1x |
+| ParamWatcher | 4.52 | 14.5x |
+
+### Scalability
+No degradation at scale; cache invalidation maintained freshness.
+
+See Appendix A for visual graphs of memory usage over a 30-minute time span, captured on comma four. These two routes are of equal conditions: each route started completely unplugged to two minutes offroad, followed by onroad state, with ambient temperature at 75 degrees fahrenheit. These routes are direct comparisons of pre-ParamWatcher and ParamWatcher implementations. Appendix A also includes I/O capture graphs for those 30-minute routes, demonstrating reductions in file system activity post-ParamWatcher.
+
+## Discussion
+
+ParamWatcher successfully optimizes parameter access, delivering substantial CPU gains with minimal memory overhead. The event-driven approach eliminates I/O bottlenecks, reducing GC pressure and UI stutters (cppreference.com, n.d.-b). The 17 KB memory overhead is negligible compared to the megabytes of churn from base Params, ensuring bounded usage in multi-process environments via the singleton pattern (Gamma et al., 1994).
+
+Results demonstrate scalability without degradation, with cache invalidation maintaining data freshness. This optimization enhances system responsiveness.
+Limitations include potential event latency in high-load scenarios (<10 ms, imperceptible for UI) and increased complexity from background threads.
+Trade-offs: Static RAM (~17 KB) vs. dynamic churn; benefits outweigh costs for param-heavy workloads.
+
+## <br> Appendix A: Memory Usage Graphs
+
+### Base Params Memory Usage
+![Base Params Memory Usage](assets/memory_usage_pre_paramwatcher.png)
+
+### ParamWatcher Memory Usage
+![ParamWatcher Memory Usage](assets/memory_usage_00000025--d50a4a3471.png)
+
+### Base Params IO Usage
+![Base Params IO Usage](assets/io_usage_pre_paramwatcher.png)
+
+### ParamWatcher IO Usage
+![Base Params IO Usage](assets/io_usage_param_watcher.png)
+
+
+## <br>References
 
-## References
 Apple Inc. (n.d.-a). *File System Events*. Retrieved from https://developer.apple.com/documentation/coreservices/file_system_events
 
 Apple Inc. (n.d.-b). *CFRunLoop*. Retrieved from https://developer.apple.com/documentation/corefoundation/cfrunloop
@@ -116,17 +129,17 @@ cppreference.com. (n.d.-a). *std::basic_ifstream*. Retrieved from https://en.cpp
 
 cppreference.com. (n.d.-b). *std::basic_string*. Retrieved from https://en.cppreference.com/w/cpp/string/basic_string/basic_string
 
-Linux man-pages. (2025 -a). *open(2)*. Retrieved from https://man7.org/linux/man-pages/man2/open.2.html
-
-Linux man-pages. (2025-b). *read(2)*. Retrieved from https://man7.org/linux/man-pages/man2/read.2.html
-
-Linux man-pages. (2025 -c). *inotify(7)*. Retrieved from https://man7.org/linux/man-pages/man7/inotify.7.html
+Gamma, E., Helm, R., Johnson, R., & Vlissides, J. (1994). *Design Patterns: Elements of Reusable Object-Oriented Software*. Addison-Wesley.
 
 Linux Kernel Organization. (2005). *include/uapi/linux/inotify.h*. Retrieved from https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/tree/include/uapi/linux/inotify.h
 
-Python Software Foundation. (2025). *ctypes — A foreign function library for Python*. Retrieved from https://docs.python.org/3/library/ctypes.html
+Linux man-pages. (2025-a). *open(2)*. Retrieved from https://man7.org/linux/man-pages/man2/open.2.html
 
-Gamma, E., Helm, R., Johnson, R., & Vlissides, J. (1994). *Design Patterns: Elements of Reusable Object-Oriented Software*. Addison-Wesley.
+Linux man-pages. (2025-b). *read(2)*. Retrieved from https://man7.org/linux/man-pages/man2/read.2.html
+
+Linux man-pages. (2025-c). *inotify(7)*. Retrieved from https://man7.org/linux/man-pages/man7/inotify.7.html
+
+Python Software Foundation. (2025). *ctypes — A foreign function library for Python*. Retrieved from https://docs.python.org/3/library/ctypes.html
 
 sunnypilot. (2025). *common/params.cc* [Source code]. GitHub. https://github.com/sunnypilot/sunnypilot/blob/master/common/params.cc#L180C1-L206C2
 
diff --git a/sunnypilot/common/assets/io_usage_param_watcher.png b/sunnypilot/common/assets/io_usage_param_watcher.png
new file mode 100644
index 0000000000..1fa5a0960c
--- /dev/null
+++ b/sunnypilot/common/assets/io_usage_param_watcher.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b94f93515223b41fba5250ffb7c795ebb1640c524de5296393b02bd36a202a18
+size 566837
diff --git a/sunnypilot/common/assets/io_usage_pre_paramwatcher.png b/sunnypilot/common/assets/io_usage_pre_paramwatcher.png
new file mode 100644
index 0000000000..ede6256cb2
--- /dev/null
+++ b/sunnypilot/common/assets/io_usage_pre_paramwatcher.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:696dc900066c78de38e64f0636716a588f68f2fa4a3d4fbfdb5ca3f8ab49e922
+size 291424
diff --git a/sunnypilot/common/assets/memory_usage_00000025--d50a4a3471.png b/sunnypilot/common/assets/memory_usage_00000025--d50a4a3471.png
new file mode 100644
index 0000000000..070e65b7fd
--- /dev/null
+++ b/sunnypilot/common/assets/memory_usage_00000025--d50a4a3471.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abb4a5ec3108d337cb4aab0d009c5dd7c03f601f725188fcb933f7dc4cd1b1fa
+size 248658
diff --git a/sunnypilot/common/assets/memory_usage_pre_paramwatcher.png b/sunnypilot/common/assets/memory_usage_pre_paramwatcher.png
new file mode 100644
index 0000000000..d169afa212
--- /dev/null
+++ b/sunnypilot/common/assets/memory_usage_pre_paramwatcher.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a27f8ba0633e806083ce41bb51fbabcd027f8ad713534dc04298cc2f350b3389
+size 311370
diff --git a/sunnypilot/mapd/mapd_manager.py b/sunnypilot/mapd/mapd_manager.py
index 1211c1ecc6..9304f8f0b7 100755
--- a/sunnypilot/mapd/mapd_manager.py
+++ b/sunnypilot/mapd/mapd_manager.py
@@ -64,12 +64,7 @@ def request_refresh_osm_location_data(nations: list[str], states: list[str] = No
     "states": states or []
   }
 
-  osm_download_locations_dump = json.dumps({
-    "nations": nations,
-    "states": states or []
-  })
-
-  print(f"Downloading maps for {osm_download_locations_dump}")
+  print(f"Downloading maps for {json.dumps(osm_download_locations)}")
   mem_params.put("OSMDownloadLocations", osm_download_locations)
 
 
@@ -103,8 +98,6 @@ def filter_nations_and_states(nations: list[str], states: list[str] = None) -> t
 
 
 def update_osm_db() -> None:
-  # last_downloaded_date = params.get("OsmDownloadedDate", return_default=True)
-  # if params.get_bool("OsmDbUpdatesCheck") or time.monotonic() - last_downloaded_date >= 604800:  # 7 days * 24 hours/day * 60
   if params.get_bool("OsmDbUpdatesCheck"):
     cleanup_old_osm_data(get_files_for_cleanup())
     country = params.get("OsmLocationName", return_default=True)
diff --git a/sunnypilot/modeld_v2/fill_model_msg.py b/sunnypilot/modeld_v2/fill_model_msg.py
index ee0eb48684..57e968d02f 100644
--- a/sunnypilot/modeld_v2/fill_model_msg.py
+++ b/sunnypilot/modeld_v2/fill_model_msg.py
@@ -11,13 +11,12 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 ConfidenceClass = log.ModelDataV2.ConfidenceClass
 
 
-def get_curvature_from_output(output, vego, lat_action_t, mlsim):
+def get_curvature_from_output(output, plan, vego, lat_action_t, mlsim):
   if not mlsim:
     if desired_curv := output.get('desired_curvature'):  # If the model outputs the desired curvature, use that directly
       return float(desired_curv[0, 0])
 
-  plan_output = output['plan'][0]
-  return float(get_curvature_from_plan(plan_output[:, Plan.T_FROM_CURRENT_EULER][:, 2], plan_output[:, Plan.ORIENTATION_RATE][:, 2],
+  return float(get_curvature_from_plan(plan[:, Plan.T_FROM_CURRENT_EULER][:, 2], plan[:, Plan.ORIENTATION_RATE][:, 2],
                                        ModelConstants.T_IDXS, vego, lat_action_t))
 
 
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index 0fd45940d8..82eb099e7e 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -28,6 +28,7 @@ from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
 PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
+RECOVERY_POWER = 1.0 # The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong
 
 
 class FrameMeta:
@@ -156,11 +157,13 @@ class ModelState(ModelStateBase):
   def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                             lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
     plan = model_output['plan'][0]
+    if 'planplus' in model_output:
+      plan = plan + RECOVERY_POWER*model_output['planplus'][0]
     desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
                                                      action_t=long_action_t)
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
 
-    desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.mlsim)
+    desired_curvature = get_curvature_from_output(model_output, plan, v_ego, lat_action_t, self.mlsim)
     if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
       if v_ego > self.MIN_LAT_CONTROL_SPEED:
         desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/sunnypilot/modeld_v2/parse_model_outputs_split.py
index 9cf321a1b6..a099facd15 100644
--- a/sunnypilot/modeld_v2/parse_model_outputs_split.py
+++ b/sunnypilot/modeld_v2/parse_model_outputs_split.py
@@ -108,6 +108,8 @@ class Parser:
       plan_in_N, plan_out_N = (SplitModelConstants.PLAN_MHP_N, SplitModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
       self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
                      out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
+      if 'planplus' in outs:
+        self.parse_mdn('planplus', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
 
   def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
     if 'desired_curvature' in outs:
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index a581185371..ce6625a1f0 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -19,7 +19,7 @@ from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 12
+CURRENT_SELECTOR_VERSION = 13
 REQUIRED_MIN_SELECTOR_VERSION = 12
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash
index 82ff797b5b..f37b9dba50 100644
--- a/sunnypilot/models/tests/model_hash
+++ b/sunnypilot/models/tests/model_hash
@@ -1 +1 @@
-030a2a502e95e51290bb1d76795013b72b25521a572c3942a232b9395e544250
\ No newline at end of file
+6168bc755ea17aececa535e8b94e6c798e5e855bfc47be19220d5cbc08483332
\ No newline at end of file
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
index 31c2182d41..c6658bdc78 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
@@ -15,9 +15,8 @@ LAT_PLAN_MIN_IDX = 5
 LATERAL_LAG_MOD = 0.0  # seconds, modifies how far in the future we look ahead for the lateral plan
 
 # from selfdrive/controls/lib/latcontrol_torque.py
-KP = 1.0
-KI = 0.3
-KD = 0.0
+KP = 0.8
+KI = 0.15
 INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
 KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
 
@@ -64,7 +63,7 @@ class LatControlTorqueExtBase:
     self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()
 
     self._ff = 0.0
-    self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD)
+    self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI)
     self._pid_log = None
     self._setpoint = 0.0
     self._measurement = 0.0
diff --git a/sunnypilot/sunnylink/api.py b/sunnypilot/sunnylink/api.py
index 26c3f3462d..3c78dd3e55 100644
--- a/sunnypilot/sunnylink/api.py
+++ b/sunnypilot/sunnylink/api.py
@@ -2,9 +2,10 @@ import json
 import os
 import random
 import time
-from datetime import datetime, timedelta
-
 import jwt
+from typing import cast
+from datetime import datetime, timedelta, UTC
+
 from openpilot.common.api.base import BaseApi
 from openpilot.common.params import Params
 from openpilot.system.hardware import HARDWARE
@@ -92,7 +93,8 @@ class SunnylinkApi(BaseApi):
 
       backoff = 1
       while True:
-        register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm=jwt_algo)
+        register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)},
+                                    cast(str, private_key), algorithm=jwt_algo)
         try:
           if verbose or time.monotonic() - start_time < timeout / 2:
             self._status_update("Registering device to sunnylink...")
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index 83ec3c7af8..3228fd0d62 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -258,11 +258,11 @@
     "description": ""
   },
   "EnableCopyparty": {
-    "title": "Enable Copyparty",
+    "title": "copyparty Service",
     "description": ""
   },
   "EnableGithubRunner": {
-    "title": "Enable GitHub Runner",
+    "title": "GitHub Runner Service",
     "description": ""
   },
   "EnableSunnylinkUploader": {
@@ -458,6 +458,10 @@
     "title": "Language",
     "description": ""
   },
+  "LastAgnosPowerMonitorShutdown": {
+    "title": "Last AGNOS Power Monitor Shutdown",
+    "description": ""
+  },
   "LastAthenaPingTime": {
     "title": "Last Athena Ping Time",
     "description": ""
diff --git a/sunnypilot/sunnylink/statsd.py b/sunnypilot/sunnylink/statsd.py
index 70d3d58e94..233b531e85 100755
--- a/sunnypilot/sunnylink/statsd.py
+++ b/sunnypilot/sunnylink/statsd.py
@@ -17,7 +17,7 @@ from cereal.messaging import SubMaster
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import HARDWARE
-from openpilot.common.utils import atomic_write_in_dir
+from openpilot.common.utils import atomic_write
 from openpilot.system.version import get_build_metadata
 from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
 from openpilot.system.statsd import METRIC_TYPE, StatLogSP
@@ -242,7 +242,7 @@ def stats_main(end_event):
         if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
           if len(result) > 0:
             stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}")
-            with atomic_write_in_dir(stats_path) as f:
+            with atomic_write(stats_path) as f:
               f.write(result)
             idx += 1
         else:
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 22e15051da..1f4187e8f7 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -31,7 +31,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
 import cereal.messaging as messaging
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.api import Api
+from openpilot.common.api import Api, get_key_pair
 from openpilot.common.utils import CallbackReader, get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
@@ -554,11 +554,8 @@ def start_local_proxy_shim(global_end_event: threading.Event, local_port: int, w
 
 @dispatcher.add_method
 def getPublicKey() -> str | None:
-  if not os.path.isfile(Paths.persist_root() + '/comma/id_rsa.pub'):
-    return None
-
-  with open(Paths.persist_root() + '/comma/id_rsa.pub') as f:
-    return f.read()
+  _, _, public_key = get_key_pair()
+  return public_key
 
 
 @dispatcher.add_method
diff --git a/system/athena/registration.py b/system/athena/registration.py
index c6da463bd2..26a2adb1af 100755
--- a/system/athena/registration.py
+++ b/system/athena/registration.py
@@ -2,6 +2,7 @@
 import time
 import json
 import jwt
+from typing import cast
 from pathlib import Path
 
 from datetime import datetime, timedelta, UTC
@@ -69,7 +70,9 @@ def register(show_spinner=False) -> str | None:
     start_time = time.monotonic()
     while True:
       try:
-        register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)}, private_key, algorithm=jwt_algo)
+        register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)},
+                                    cast(str, private_key), algorithm=jwt_algo)
+        cloudlog.info("getting pilotauth")
         cloudlog.info("getting pilotauth")
         resp = api_get("v2/pilotauth/", method='POST', timeout=15,
                        imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token)
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index caf7871573..0d93b70465 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -1004,8 +1004,8 @@ bool SpectraCamera::openSensor() {
   };
 
   // Figure out which sensor we have
-  if (!init_sensor_lambda(new OX03C10) &&
-      !init_sensor_lambda(new OS04C10)) {
+  if (!init_sensor_lambda(new OS04C10) &&
+      !init_sensor_lambda(new OX03C10)) {
     LOGE("** sensor %d FAILED bringup, disabling", cc.camera_num);
     enabled = false;
     return false;
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 38be4ecca4..62c26ca809 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -1,6 +1,7 @@
 #include <cmath>
 
 #include "system/camerad/sensors/sensor.h"
+#include "third_party/linux/include/msm_camsensor_sdk.h"
 
 namespace {
 
@@ -51,7 +52,7 @@ OS04C10::OS04C10() {
   probe_expected_data = 0x5304;
   bits_per_pixel = 12;
   mipi_format = CAM_FORMAT_MIPI_RAW_12;
-  frame_data_type = 0x2c;
+  frame_data_type = CSI_RAW12;
   mclk_frequency = 24000000; // Hz
 
   // TODO: this was set from logs. actually calculate it out
diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h
index 7cd9e97be5..28d6b3310c 100644
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/system/camerad/sensors/os04c10_registers.h
@@ -4,10 +4,10 @@ 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[] = {
-  // DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
-  {0x0103, 0x01},
+  // baseed on DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
+  {0x0103, 0x01}, // software reset
 
-  // PLL
+  // PLL + clocks
   {0x0301, 0xe4},
   {0x0303, 0x01},
   {0x0305, 0xb6},
@@ -24,7 +24,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3106, 0x21},
   {0x3107, 0xa1},
 
-  // ?
+  // Analog/timing fine-tuning block
   {0x3624, 0x00},
   {0x3625, 0x4c},
   {0x3660, 0x04},
@@ -101,7 +101,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3f00, 0x0b},
   {0x3f06, 0x04},
 
-  // BLC
+  // BLC - black level correction
   {0x400a, 0x01},
   {0x400b, 0x50},
   {0x400e, 0x08},
@@ -157,7 +157,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x5180, 0x70},
   {0x5181, 0x10},
 
-  // DPC
+  // DPC - defective pixel correction
   {0x520a, 0x03},
   {0x520b, 0x06},
   {0x520c, 0x0c},
@@ -248,7 +248,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x4008, 0x01},
   {0x4009, 0x06},
 
-  // FSIN
+  // FSIN - frame sync
   {0x3002, 0x22},
   {0x3663, 0x22},
   {0x368a, 0x04},
@@ -276,8 +276,8 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3816, 0x03},
   {0x3817, 0x01},
 
-  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS
-  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS
+  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS (line length)
+  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS (frame length)
 
   {0x3820, 0xb3},
   {0x3821, 0x01},
@@ -309,17 +309,17 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   // initialize exposure
   {0x3503, 0x88},
 
-  // long
+  // long exposure
   {0x3500, 0x00}, {0x3501, 0x00}, {0x3502, 0x10},
   {0x3508, 0x00}, {0x3509, 0x80},
   {0x350a, 0x04}, {0x350b, 0x00},
 
-  // short
+  // short exposure
   {0x3510, 0x00}, {0x3511, 0x00}, {0x3512, 0x40},
   {0x350c, 0x00}, {0x350d, 0x80},
   {0x350e, 0x04}, {0x350f, 0x00},
 
-  // wb
+  // white balance
   // b
   {0x5100, 0x06}, {0x5101, 0x7e},
   {0x5140, 0x06}, {0x5141, 0x7e},
@@ -332,7 +332,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
 };
 
 const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
-  // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
+  // based on OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
   {0x3c8c, 0x40},
   {0x3714, 0x24},
   {0x37c2, 0x04},
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index 6f7e658f48..05d58f03c6 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -1,6 +1,7 @@
 #include <cmath>
 
 #include "system/camerad/sensors/sensor.h"
+#include "third_party/linux/include/msm_camsensor_sdk.h"
 
 namespace {
 
@@ -40,8 +41,8 @@ OX03C10::OX03C10() {
   probe_expected_data = 0x5803;
   bits_per_pixel = 12;
   mipi_format = CAM_FORMAT_MIPI_RAW_12;
-  frame_data_type = 0x2c; // one is 0x2a, two are 0x2b
-  mclk_frequency = 24000000; //Hz
+  frame_data_type = CSI_RAW12;
+  mclk_frequency = 24000000; // Hz
 
   readout_time_ns = 14697000;
 
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index 8a0c066942..d59b45efcb 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -7,7 +7,6 @@
 #include <string>
 #include <algorithm>  // for std::clamp
 
-#include "common/params.h"
 #include "common/util.h"
 #include "system/hardware/base.h"
 
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index c6a4b12e63..1cac16adcd 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -16,6 +16,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.system.hardware.hw import Paths
+from openpilot.system.hardware import TICI
 from openpilot.system.loggerd.xattr_cache import getxattr
 from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
 from openpilot.system.manager.process_config import managed_processes
@@ -221,13 +222,16 @@ class TestLoggerd:
     assert abs(boot.wallTimeNanos - time.time_ns()) < 5*1e9 # within 5s
     assert boot.launchLog == launch_log
 
-    for fn in ["console-ramoops", "pmsg-ramoops-0"]:
-      path = Path(os.path.join("/sys/fs/pstore/", fn))
-      if path.is_file():
-        with open(path, "rb") as f:
-          expected_val = f.read()
-        bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0]
-        assert expected_val == bootlog_val
+    if TICI:
+      for fn in ["console-ramoops", "pmsg-ramoops-0"]:
+        path = Path(os.path.join("/sys/fs/pstore/", fn))
+        if path.is_file():
+          with open(path, "rb") as f:
+            expected_val = f.read()
+          bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0]
+          assert expected_val == bootlog_val
+    else:
+      assert len(boot.pstore.entries) == 0
 
     # next one should increment by one
     bl1 = re.match(RE.LOG_ID_V2, bootlog_path.name)
diff --git a/system/manager/build.py b/system/manager/build.py
index c88befd454..d79e7fd2ad 100755
--- a/system/manager/build.py
+++ b/system/manager/build.py
@@ -14,7 +14,7 @@ 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")
 
-TOTAL_SCONS_NODES = 2280
+TOTAL_SCONS_NODES = 2705
 MAX_BUILD_PROGRESS = 100
 
 def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
diff --git a/system/manager/manager.py b/system/manager/manager.py
index d70b4d74b7..36e45488f6 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -9,6 +9,7 @@ import traceback
 from cereal import log
 import cereal.messaging as messaging
 import openpilot.system.sentry as sentry
+from openpilot.common.utils import atomic_write
 from openpilot.common.params import Params, ParamKeyFlag
 from openpilot.common.text_window import TextWindow
 from openpilot.system.hardware import HARDWARE
@@ -168,7 +169,7 @@ def manager_thread() -> None:
     # kick AGNOS power monitoring watchdog
     try:
       if sm.all_checks(['deviceState']):
-        with open("/var/tmp/power_watchdog", "w") as f:
+        with atomic_write("/var/tmp/power_watchdog", "w", overwrite=True) as f:
           f.write(str(time.monotonic()))
     except Exception:
       pass
diff --git a/system/manager/process.py b/system/manager/process.py
index e6b6a44c40..1e24198267 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -67,6 +67,7 @@ class ManagerProcess(ABC):
   enabled = True
   name = ""
   shutting_down = False
+  restart_if_crash = False
 
   @abstractmethod
   def prepare(self) -> None:
@@ -167,13 +168,14 @@ class NativeProcess(ManagerProcess):
 
 
 class PythonProcess(ManagerProcess):
-  def __init__(self, name, module, should_run, enabled=True, sigkill=False):
+  def __init__(self, name, module, should_run, enabled=True, sigkill=False, restart_if_crash=False):
     self.name = name
     self.module = module
     self.should_run = should_run
     self.enabled = enabled
     self.sigkill = sigkill
     self.launcher = launcher
+    self.restart_if_crash = restart_if_crash
 
   def prepare(self) -> None:
     if self.enabled:
@@ -252,6 +254,9 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None
   running = []
   for p in procs:
     if p.enabled and p.name not in not_run and p.should_run(started, params, CP):
+      if p.restart_if_crash and p.proc is not None and not p.proc.is_alive():
+        cloudlog.error(f'Restarting {p.name} (exitcode {p.proc.exitcode})')
+        p.restart()
       running.append(p)
     else:
       p.stop(block=False)
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 23c7a0116c..793fbc07fa 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -126,7 +126,7 @@ procs = [
   PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
 
   PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
-  PythonProcess("ui", "selfdrive.ui.ui", always_run),
+  PythonProcess("ui", "selfdrive.ui.ui", always_run, restart_if_crash=True),
   PythonProcess("soundd", "selfdrive.ui.soundd", driverview),
   PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
   NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
diff --git a/system/statsd.py b/system/statsd.py
index 17a5e4190e..3a67dd44c2 100755
--- a/system/statsd.py
+++ b/system/statsd.py
@@ -17,7 +17,7 @@ from cereal.messaging import SubMaster
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import HARDWARE
-from openpilot.common.utils import atomic_write_in_dir
+from openpilot.common.utils import atomic_write
 from openpilot.system.version import get_build_metadata
 from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
 
@@ -218,7 +218,7 @@ def main() -> NoReturn:
         if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
           if len(result) > 0:
             stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}")
-            with atomic_write_in_dir(stats_path) as f:
+            with atomic_write(stats_path) as f:
               f.write(result)
             idx += 1
         else:
diff --git a/system/ui/README.md b/system/ui/README.md
index 796d298626..54697dada8 100644
--- a/system/ui/README.md
+++ b/system/ui/README.md
@@ -10,6 +10,7 @@ Quick start:
 * set `BURN_IN=1` to get a burn-in heatmap version of the UI
 * set `GRID=50` to show a 50-pixel alignment grid overlay
 * set `MAGIC_DEBUG=1` to show every dropped frames (only on device)
+* set `RECORD=1` to record the screen, output defaults to `output.mp4` but can be set with `RECORD_OUTPUT`
 * set `SUNNYPILOT_UI=0` to run the stock UI instead of the sunnypilot UI
 * https://www.raylib.com/cheatsheet/cheatsheet.html
 * https://electronstudio.github.io/raylib-python-cffi/README.html#quickstart
diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index 60a110293d..20f2d3a424 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -7,11 +7,13 @@ import sys
 import pyray as rl
 import threading
 import platform
+import subprocess
 from contextlib import contextmanager
 from collections.abc import Callable
 from collections import deque
 from dataclasses import dataclass
 from enum import StrEnum
+from pathlib import Path
 from typing import NamedTuple
 from importlib.resources import as_file, files
 from openpilot.common.swaglog import cloudlog
@@ -38,6 +40,8 @@ SCALE = float(os.getenv("SCALE", "1.0"))
 GRID_SIZE = int(os.getenv("GRID", "0"))
 PROFILE_RENDER = int(os.getenv("PROFILE_RENDER", "0"))
 PROFILE_STATS = int(os.getenv("PROFILE_STATS", "100"))  # Number of functions to show in profile output
+RECORD = os.getenv("RECORD") == "1"
+RECORD_OUTPUT = str(Path(os.getenv("RECORD_OUTPUT", "output")).with_suffix(".mp4"))
 
 GL_VERSION = """
 #version 300 es
@@ -200,10 +204,15 @@ class GuiApplication(GuiApplicationExt):
     else:
       self._scale = SCALE
 
+    # Scale, then ensure dimensions are even
     self._scaled_width = int(self._width * self._scale)
     self._scaled_height = int(self._height * self._scale)
+    self._scaled_width += self._scaled_width % 2
+    self._scaled_height += self._scaled_height % 2
+
     self._render_texture: rl.RenderTexture | None = None
     self._burn_in_shader: rl.Shader | None = None
+    self._ffmpeg_proc: subprocess.Popen | None = None
     self._textures: dict[str, rl.Texture] = {}
     self._target_fps: int = _DEFAULT_FPS
     self._last_fps_log_time: float = time.monotonic()
@@ -264,12 +273,33 @@ class GuiApplication(GuiApplicationExt):
       rl.set_config_flags(flags)
 
       rl.init_window(self._scaled_width, self._scaled_height, title)
-      needs_render_texture = self._scale != 1.0 or BURN_IN_MODE
+
+      needs_render_texture = self._scale != 1.0 or BURN_IN_MODE or RECORD
       if self._scale != 1.0:
         rl.set_mouse_scale(1 / self._scale, 1 / self._scale)
       if needs_render_texture:
         self._render_texture = rl.load_render_texture(self._width, self._height)
         rl.set_texture_filter(self._render_texture.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
+
+      if RECORD:
+        ffmpeg_args = [
+          'ffmpeg',
+          '-v', 'warning',          # Reduce ffmpeg log spam
+          '-stats',                 # Show encoding progress
+          '-f', 'rawvideo',         # Input format
+          '-pix_fmt', 'rgba',       # Input pixel format
+          '-s', f'{self._width}x{self._height}',  # Input resolution
+          '-r', str(fps),           # Input frame rate
+          '-i', 'pipe:0',           # Input from stdin
+          '-vf', 'vflip,format=yuv420p',  # Flip vertically and convert rgba to yuv420p
+          '-c:v', 'libx264',        # Video codec
+          '-preset', 'ultrafast',   # Encoding speed
+          '-y',                     # Overwrite existing file
+          '-f', 'mp4',              # Output format
+          RECORD_OUTPUT,            # Output file path
+        ]
+        self._ffmpeg_proc = subprocess.Popen(ffmpeg_args, stdin=subprocess.PIPE)
+
       rl.set_target_fps(fps)
 
       self._target_fps = fps
@@ -314,6 +344,9 @@ class GuiApplication(GuiApplicationExt):
 
   def set_modal_overlay(self, overlay, callback: Callable | None = None):
     if self._modal_overlay.overlay is not None:
+      if hasattr(self._modal_overlay.overlay, 'hide_event'):
+        self._modal_overlay.overlay.hide_event()
+
       if self._modal_overlay.callback is not None:
         self._modal_overlay.callback(-1)
 
@@ -377,6 +410,16 @@ class GuiApplication(GuiApplicationExt):
     rl.unload_image(image)
     return texture
 
+  def close_ffmpeg(self):
+    if self._ffmpeg_proc is not None:
+      self._ffmpeg_proc.stdin.flush()
+      self._ffmpeg_proc.stdin.close()
+      try:
+        self._ffmpeg_proc.wait(timeout=5)
+      except subprocess.TimeoutExpired:
+        self._ffmpeg_proc.terminate()
+        self._ffmpeg_proc.wait()
+
   def close(self):
     if not rl.is_window_ready():
       return
@@ -400,6 +443,8 @@ class GuiApplication(GuiApplicationExt):
     if not PC:
       self._mouse.stop()
 
+    self.close_ffmpeg()
+
     rl.close_window()
 
   @property
@@ -477,6 +522,15 @@ class GuiApplication(GuiApplicationExt):
           self._draw_grid()
 
         rl.end_drawing()
+
+        if RECORD:
+          image = rl.load_image_from_texture(self._render_texture.texture)
+          data_size = image.width * image.height * 4
+          data = bytes(rl.ffi.buffer(image.data, data_size))
+          self._ffmpeg_proc.stdin.write(data)
+          self._ffmpeg_proc.stdin.flush()
+          rl.unload_image(image)
+
         self._monitor_fps()
         self._frame += 1
 
@@ -514,6 +568,8 @@ class GuiApplication(GuiApplicationExt):
         # Clear the overlay and execute the callback
         original_modal = self._modal_overlay
         self._modal_overlay = ModalOverlay()
+        if hasattr(original_modal.overlay, 'hide_event'):
+          original_modal.overlay.hide_event()
         if original_modal.callback is not None:
           original_modal.callback(result)
       return True
@@ -602,6 +658,7 @@ class GuiApplication(GuiApplicationExt):
     # Strict mode: terminate UI if FPS drops too much
     if STRICT_MODE and fps < self._target_fps * FPS_CRITICAL_THRESHOLD:
       cloudlog.error(f"FPS dropped critically below {fps}. Shutting down UI.")
+      self.close_ffmpeg()
       os._exit(1)
 
   def _draw_touch_points(self):
diff --git a/system/ui/lib/egl.py b/system/ui/lib/egl.py
index d119a8a832..69236482b0 100644
--- a/system/ui/lib/egl.py
+++ b/system/ui/lib/egl.py
@@ -128,8 +128,12 @@ def init_egl() -> bool:
 def create_egl_image(width: int, height: int, stride: int, fd: int, uv_offset: int) -> EGLImage | None:
   assert _egl.initialized, "EGL not initialized"
 
-  # Duplicate fd since EGL needs it
-  dup_fd = os.dup(fd)
+  try:
+    # Duplicate fd since EGL needs it
+    dup_fd = os.dup(fd)
+  except OSError as e:
+    cloudlog.exception(f"Failed to duplicate frame fd when creating EGL image: {e}")
+    return None
 
   # Create image attributes for EGL
   img_attrs = [
diff --git a/system/ui/lib/scroll_panel2.py b/system/ui/lib/scroll_panel2.py
index 8d9caadfdd..00ef95cc8b 100644
--- a/system/ui/lib/scroll_panel2.py
+++ b/system/ui/lib/scroll_panel2.py
@@ -8,7 +8,7 @@ from openpilot.system.ui.lib.application import gui_app, MouseEvent
 from openpilot.system.hardware import TICI
 from collections import deque
 
-MIN_VELOCITY = 2  # px/s, changes from auto scroll to steady state
+MIN_VELOCITY = 10  # px/s, changes from auto scroll to steady state
 MIN_VELOCITY_FOR_CLICKING = 2 * 60  # px/s, accepts clicks while auto scrolling below this velocity
 MIN_DRAG_PIXELS = 12
 AUTO_SCROLL_TC_SNAP = 0.025
@@ -67,16 +67,18 @@ class GuiScrollPanel2:
       print()
     return self.get_offset()
 
+  def _get_offset_bounds(self, bounds_size: float, content_size: float) -> tuple[float, float]:
+    """Returns (max_offset, min_offset) for the given bounds and content size."""
+    return 0.0, min(0.0, bounds_size - content_size)
+
   def _update_state(self, bounds_size: float, content_size: float) -> None:
     """Runs per render frame, independent of mouse events. Updates auto-scrolling state and velocity."""
     if self._state == ScrollState.AUTO_SCROLL:
+      max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
       # simple exponential return if out of bounds
-      out_of_bounds = self.get_offset() > 0 or self.get_offset() < (bounds_size - content_size)
+      out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
       if out_of_bounds and self._handle_out_of_bounds:
-        if self.get_offset() < (bounds_size - content_size):  # too far right
-          target = bounds_size - content_size
-        else:  # too far left
-          target = 0.0
+        target = max_offset if self.get_offset() > max_offset else min_offset
 
         dt = rl.get_frame_time() or 1e-6
         factor = 1.0 - math.exp(-BOUNCE_RETURN_RATE * dt)
@@ -88,6 +90,7 @@ class GuiScrollPanel2:
         # Steady once we are close enough to the target
         if abs(dist) < 1 and abs(self._velocity) < MIN_VELOCITY:
           self.set_offset(target)
+          self._velocity = 0.0
           self._state = ScrollState.STEADY
 
       elif abs(self._velocity) < MIN_VELOCITY:
@@ -102,7 +105,9 @@ class GuiScrollPanel2:
 
   def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
                           content_size: float) -> None:
-    out_of_bounds = self.get_offset() > 0 or self.get_offset() < (bounds_size - content_size)
+    max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
+    # simple exponential return if out of bounds
+    out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
     if DEBUG:
       print('Mouse event:', mouse_event)
 
@@ -201,8 +206,8 @@ class GuiScrollPanel2:
   def _get_mouse_pos(self, mouse_event: MouseEvent) -> float:
     return mouse_event.pos.x if self._horizontal else mouse_event.pos.y
 
-  def get_offset(self) -> int:
-    return round(self._offset.x if self._horizontal else self._offset.y)
+  def get_offset(self) -> float:
+    return self._offset.x if self._horizontal else self._offset.y
 
   def set_offset(self, value: float) -> None:
     if self._horizontal:
diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py
index 316e6c4a8b..4435bd95e3 100755
--- a/system/ui/mici_setup.py
+++ b/system/ui/mici_setup.py
@@ -244,7 +244,7 @@ class TermsPage(Widget):
     pass
 
   def _render(self, _):
-    scroll_offset = self._scroll_panel.update(self._rect, self._content_height + self._continue_button.rect.height + 16)
+    scroll_offset = round(self._scroll_panel.update(self._rect, self._content_height + self._continue_button.rect.height + 16))
 
     if scroll_offset <= self._scrolled_down_offset:
       # don't show back if not enabled
diff --git a/system/ui/sunnypilot/lib/utils.py b/system/ui/sunnypilot/lib/utils.py
new file mode 100644
index 0000000000..09230da14b
--- /dev/null
+++ b/system/ui/sunnypilot/lib/utils.py
@@ -0,0 +1,12 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP
+
+
+class NoElideButtonAction(ButtonActionSP):
+  def get_width_hint(self):
+    return super().get_width_hint() + 1
diff --git a/system/ui/sunnypilot/widgets/html_render.py b/system/ui/sunnypilot/widgets/html_render.py
new file mode 100644
index 0000000000..259067723e
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/html_render.py
@@ -0,0 +1,27 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.html_render import HtmlModal
+
+
+class HtmlModalSP(HtmlModal):
+  def __init__(self, file_path=None, text=None, callback=None):
+    super().__init__(file_path=file_path, text=text)
+    self._callback = callback
+    self._dialog_result = DialogResult.NO_ACTION
+    self._ok_button._click_callback = self._on_ok_clicked
+
+  def _on_ok_clicked(self):
+    self._dialog_result = DialogResult.CONFIRM
+    gui_app.set_modal_overlay(None)
+
+    if self._callback:
+      self._callback(self._dialog_result)
+
+  def reset(self):
+    self._dialog_result = DialogResult.NO_ACTION
diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py
index 95858ec1b3..546c682f33 100644
--- a/system/ui/widgets/__init__.py
+++ b/system/ui/widgets/__init__.py
@@ -104,46 +104,53 @@ class Widget(abc.ABC):
 
     # Keep track of whether mouse down started within the widget's rectangle
     if self.enabled and self.__was_awake:
-      for mouse_event in gui_app.mouse_events:
-        if not self._multi_touch and mouse_event.slot != 0:
-          continue
-
-        # Ignores touches/presses that start outside our rect
-        # Allows touch to leave the rect and come back in focus if mouse did not release
-        if mouse_event.left_pressed and self._touch_valid():
-          if rl.check_collision_point_rec(mouse_event.pos, self._hit_rect):
-            self._handle_mouse_press(mouse_event.pos)
-            self.__is_pressed[mouse_event.slot] = True
-            self.__tracking_is_pressed[mouse_event.slot] = True
-            self._handle_mouse_event(mouse_event)
-
-        # Callback such as scroll panel signifies user is scrolling
-        elif not self._touch_valid():
-          self.__is_pressed[mouse_event.slot] = False
-          self.__tracking_is_pressed[mouse_event.slot] = False
-
-        elif mouse_event.left_released:
-          self._handle_mouse_event(mouse_event)
-          if self.__is_pressed[mouse_event.slot] and rl.check_collision_point_rec(mouse_event.pos, self._hit_rect):
-            self._handle_mouse_release(mouse_event.pos)
-          self.__is_pressed[mouse_event.slot] = False
-          self.__tracking_is_pressed[mouse_event.slot] = False
-
-        # Mouse/touch is still within our rect
-        elif rl.check_collision_point_rec(mouse_event.pos, self._hit_rect):
-          if self.__tracking_is_pressed[mouse_event.slot]:
-            self.__is_pressed[mouse_event.slot] = True
-            self._handle_mouse_event(mouse_event)
-
-        # Mouse/touch left our rect but may come back into focus later
-        elif not rl.check_collision_point_rec(mouse_event.pos, self._hit_rect):
-          self.__is_pressed[mouse_event.slot] = False
-          self._handle_mouse_event(mouse_event)
+      self._process_mouse_events()
 
     self.__was_awake = device.awake
 
     return ret
 
+  def _process_mouse_events(self) -> None:
+    hit_rect = self._hit_rect
+    touch_valid = self._touch_valid()
+
+    for mouse_event in gui_app.mouse_events:
+      if not self._multi_touch and mouse_event.slot != 0:
+        continue
+
+      mouse_in_rect = rl.check_collision_point_rec(mouse_event.pos, hit_rect)
+      # Ignores touches/presses that start outside our rect
+      # Allows touch to leave the rect and come back in focus if mouse did not release
+      if mouse_event.left_pressed and touch_valid:
+        if mouse_in_rect:
+          self._handle_mouse_press(mouse_event.pos)
+          self.__is_pressed[mouse_event.slot] = True
+          self.__tracking_is_pressed[mouse_event.slot] = True
+          self._handle_mouse_event(mouse_event)
+
+      # Callback such as scroll panel signifies user is scrolling
+      elif not touch_valid:
+        self.__is_pressed[mouse_event.slot] = False
+        self.__tracking_is_pressed[mouse_event.slot] = False
+
+      elif mouse_event.left_released:
+        self._handle_mouse_event(mouse_event)
+        if self.__is_pressed[mouse_event.slot] and mouse_in_rect:
+          self._handle_mouse_release(mouse_event.pos)
+        self.__is_pressed[mouse_event.slot] = False
+        self.__tracking_is_pressed[mouse_event.slot] = False
+
+      # Mouse/touch is still within our rect
+      elif mouse_in_rect:
+        if self.__tracking_is_pressed[mouse_event.slot]:
+          self.__is_pressed[mouse_event.slot] = True
+          self._handle_mouse_event(mouse_event)
+
+      # Mouse/touch left our rect but may come back into focus later
+      elif not mouse_in_rect:
+        self.__is_pressed[mouse_event.slot] = False
+        self._handle_mouse_event(mouse_event)
+
   @abc.abstractmethod
   def _render(self, rect: rl.Rectangle) -> bool | int | None:
     """Render the widget within the given rectangle."""
@@ -359,6 +366,10 @@ class NavWidget(Widget, abc.ABC):
       self._nav_bar.set_position(bar_x, round(self._nav_bar_y_filter.x))
       self._nav_bar.render()
 
+      # draw black above widget when dismissing
+      if self._rect.y > 0:
+        rl.draw_rectangle(int(self._rect.x), 0, int(self._rect.width), int(self._rect.y), rl.BLACK)
+
     return ret
 
   def show_event(self):
diff --git a/system/ui/widgets/label.py b/system/ui/widgets/label.py
index 35e2708e62..97b293083d 100644
--- a/system/ui/widgets/label.py
+++ b/system/ui/widgets/label.py
@@ -179,11 +179,11 @@ class MiciLabel(Widget):
     if self._needs_scroll:
       # draw black fade on left and right
       fade_width = 20
-      rl.draw_rectangle_gradient_h(int(rect.x + rect.width - fade_width), int(rect.y), fade_width, int(rect.height), rl.Color(0, 0, 0, 0), rl.BLACK)
+      rl.draw_rectangle_gradient_h(int(rect.x + rect.width - fade_width), int(rect.y), fade_width, int(rect.height), rl.BLANK, rl.BLACK)
       if self._scroll_state != ScrollState.STARTING:
-        rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), fade_width, int(rect.height), rl.BLACK, rl.Color(0, 0, 0, 0))
+        rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), fade_width, int(rect.height), rl.BLACK, rl.BLANK)
 
-    rl.end_scissor_mode()
+      rl.end_scissor_mode()
 
 
 # TODO: This should be a Widget class
@@ -412,6 +412,7 @@ class UnifiedLabel(Widget):
                max_width: int | None = None,
                elide: bool = True,
                wrap_text: bool = True,
+               scroll: bool = False,
                line_height: float = 1.0,
                letter_spacing: float = 0.0):
     super().__init__()
@@ -426,10 +427,23 @@ class UnifiedLabel(Widget):
     self._max_width = max_width
     self._elide = elide
     self._wrap_text = wrap_text
+    self._scroll = scroll
     self._line_height = line_height * 0.9
     self._letter_spacing = letter_spacing  # 0.1 = 10%
     self._spacing_pixels = font_size * letter_spacing
 
+    # Scroll state
+    self._scroll = scroll
+    self._needs_scroll = False
+    self._scroll_offset = 0
+    self._scroll_pause_t: float | None = None
+    self._scroll_state: ScrollState = ScrollState.STARTING
+
+    # Scroll mode does not support eliding or multiline wrapping
+    if self._scroll:
+      self._elide = False
+      self._wrap_text = False
+
     # Cached data
     self._cached_text: str | None = None
     self._cached_wrapped_lines: list[str] = []
@@ -446,7 +460,7 @@ class UnifiedLabel(Widget):
   def set_text(self, text: str | Callable[[], str]):
     """Update the text content."""
     self._text = text
-    self._cached_text = None  # Invalidate cache
+    # No need to update cache here, will be done on next render if needed
 
   @property
   def text(self) -> str:
@@ -463,15 +477,17 @@ class UnifiedLabel(Widget):
 
   def set_font_size(self, size: int):
     """Update the font size."""
-    self._font_size = size
-    self._spacing_pixels = size * self._letter_spacing  # Recalculate spacing
-    self._cached_text = None  # Invalidate cache
+    if self._font_size != size:
+      self._font_size = size
+      self._spacing_pixels = size * self._letter_spacing  # Recalculate spacing
+      self._cached_text = None  # Invalidate cache
 
   def set_letter_spacing(self, letter_spacing: float):
     """Update letter spacing (as percentage, e.g., 0.1 = 10%)."""
-    self._letter_spacing = letter_spacing
-    self._spacing_pixels = self._font_size * letter_spacing
-    self._cached_text = None  # Invalidate cache
+    if self._letter_spacing != letter_spacing:
+      self._letter_spacing = letter_spacing
+      self._spacing_pixels = self._font_size * letter_spacing
+      self._cached_text = None  # Invalidate cache
 
   def set_font_weight(self, font_weight: FontWeight):
     """Update the font weight."""
@@ -488,6 +504,12 @@ class UnifiedLabel(Widget):
     """Update the vertical text alignment."""
     self._alignment_vertical = alignment_vertical
 
+  def reset_scroll(self):
+    """Reset scroll state to initial position."""
+    self._scroll_offset = 0
+    self._scroll_pause_t = None
+    self._scroll_state = ScrollState.STARTING
+
   def set_max_width(self, max_width: int | None):
     """Set the maximum width constraint for wrapping/eliding."""
     if self._max_width != max_width:
@@ -526,6 +548,9 @@ class UnifiedLabel(Widget):
     # Elide lines if needed (for width constraint)
     self._cached_wrapped_lines = [self._elide_line(line, content_width) for line in self._cached_wrapped_lines]
 
+    if self._scroll:
+      self._cached_wrapped_lines = self._cached_wrapped_lines[:1]  # Only first line for scrolling
+
     # Process each line: measure and find emojis
     self._cached_line_sizes = []
     self._cached_line_emojis = []
@@ -538,6 +563,11 @@ class UnifiedLabel(Widget):
         size = rl.Vector2(0, self._font_size * FONT_SCALE)
       else:
         size = measure_text_cached(self._font, line, self._font_size, self._spacing_pixels)
+
+      # This is the only line
+      if self._scroll:
+        self._needs_scroll = size.x > content_width
+
       self._cached_line_sizes.append(size)
 
     # Calculate total height
@@ -597,13 +627,13 @@ class UnifiedLabel(Widget):
       return self._cached_total_height
     return 0.0
 
-  def _render(self, rect: rl.Rectangle):
+  def _render(self, _):
     """Render the label."""
-    if rect.width <= 0 or rect.height <= 0:
+    if self._rect.width <= 0 or self._rect.height <= 0:
       return
 
     # Determine available width
-    available_width = rect.width
+    available_width = self._rect.width
     if self._max_width is not None:
       available_width = min(available_width, self._max_width)
 
@@ -631,7 +661,7 @@ class UnifiedLabel(Widget):
       line_height_needed = size.y * self._line_height
 
       # Check if this line fits
-      if current_height + line_height_needed > rect.height:
+      if current_height + line_height_needed > self._rect.height:
         # This line doesn't fit
         if len(visible_lines) == 0:
           # First line doesn't fit by height - still show it (will be clipped by scissor if needed)
@@ -675,51 +705,92 @@ class UnifiedLabel(Widget):
 
     # Calculate vertical alignment offset
     if self._alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP:
-      start_y = rect.y
+      start_y = self._rect.y
     elif self._alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM:
-      start_y = rect.y + rect.height - total_visible_height
+      start_y = self._rect.y + self._rect.height - total_visible_height
     else:  # TEXT_ALIGN_MIDDLE
-      start_y = rect.y + (rect.height - total_visible_height) / 2
+      start_y = self._rect.y + (self._rect.height - total_visible_height) / 2
+
+    # Only scissor when we know there is a single scrolling line
+    # Pad a little since descenders like g or j may overflow below rect from font_scale
+    if self._needs_scroll:
+      rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y - self._font_size / 2), int(self._rect.width), int(self._rect.height + self._font_size))
 
     # Render each line
     current_y = start_y
     for idx, (line, size, emojis) in enumerate(zip(visible_lines, visible_sizes, visible_emojis, strict=True)):
-      # Calculate horizontal position
-      if self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
-        line_x = rect.x + self._text_padding
-      elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_CENTER:
-        line_x = rect.x + (rect.width - size.x) / 2
-      elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_RIGHT:
-        line_x = rect.x + rect.width - size.x - self._text_padding
+      if self._needs_scroll:
+        if self._scroll_state == ScrollState.STARTING:
+          if self._scroll_pause_t is None:
+            self._scroll_pause_t = rl.get_time() + 2.0
+          if rl.get_time() >= self._scroll_pause_t:
+            self._scroll_state = ScrollState.SCROLLING
+            self._scroll_pause_t = None
+
+        elif self._scroll_state == ScrollState.SCROLLING:
+          self._scroll_offset -= 0.8 / 60. * gui_app.target_fps
+          # don't fully hide
+          if self._scroll_offset <= -size.x - self._rect.width / 3:
+            self._scroll_offset = 0
+            self._scroll_state = ScrollState.STARTING
+            self._scroll_pause_t = None
       else:
-        line_x = rect.x + self._text_padding
+        self.reset_scroll()
 
-      # Render line with emojis
-      line_pos = rl.Vector2(line_x, current_y)
-      prev_index = 0
+      self._render_line(line, size, emojis, current_y)
 
-      for start, end, emoji in emojis:
-        # Draw text before emoji
-        text_before = line[prev_index:start]
-        if text_before:
-          rl.draw_text_ex(self._font, text_before, line_pos, self._font_size, self._spacing_pixels, self._text_color)
-          width_before = measure_text_cached(self._font, text_before, self._font_size, self._spacing_pixels)
-          line_pos.x += width_before.x
-
-        # Draw emoji
-        tex = emoji_tex(emoji)
-        emoji_scale = self._font_size / tex.height * FONT_SCALE
-        rl.draw_texture_ex(tex, line_pos, 0.0, emoji_scale, self._text_color)
-        # Emoji width is font_size * FONT_SCALE (as per measure_text_cached)
-        line_pos.x += self._font_size * FONT_SCALE
-        prev_index = end
-
-      # Draw remaining text after last emoji
-      text_after = line[prev_index:]
-      if text_after:
-        rl.draw_text_ex(self._font, text_after, line_pos, self._font_size, self._spacing_pixels, self._text_color)
+      # Draw 2nd instance for scrolling
+      if self._needs_scroll and self._scroll_state != ScrollState.STARTING:
+        text2_scroll_offset = size.x + self._rect.width / 3
+        self._render_line(line, size, emojis, current_y, text2_scroll_offset)
 
       # Move to next line (if not last line)
       if idx < len(visible_lines) - 1:
         # Use current line's height * line_height for spacing to next line
         current_y += size.y * self._line_height
+
+    if self._needs_scroll:
+      # draw black fade on left and right
+      fade_width = 20
+      rl.draw_rectangle_gradient_h(int(self._rect.x + self._rect.width - fade_width), int(self._rect.y), fade_width, int(self._rect.height), rl.BLANK, rl.BLACK)
+      if self._scroll_state != ScrollState.STARTING:
+        rl.draw_rectangle_gradient_h(int(self._rect.x), int(self._rect.y), fade_width, int(self._rect.height), rl.BLACK, rl.BLANK)
+
+      rl.end_scissor_mode()
+
+  def _render_line(self, line, size, emojis, current_y, x_offset=0.0):
+    # Calculate horizontal position
+    if self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
+      line_x = self._rect.x + self._text_padding
+    elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_CENTER:
+      line_x = self._rect.x + (self._rect.width - size.x) / 2
+    elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_RIGHT:
+      line_x = self._rect.x + self._rect.width - size.x - self._text_padding
+    else:
+      line_x = self._rect.x + self._text_padding
+    line_x += self._scroll_offset + x_offset
+
+    # Render line with emojis
+    line_pos = rl.Vector2(line_x, current_y)
+    prev_index = 0
+
+    for start, end, emoji in emojis:
+      # Draw text before emoji
+      text_before = line[prev_index:start]
+      if text_before:
+        rl.draw_text_ex(self._font, text_before, line_pos, self._font_size, self._spacing_pixels, self._text_color)
+        width_before = measure_text_cached(self._font, text_before, self._font_size, self._spacing_pixels)
+        line_pos.x += width_before.x
+
+      # Draw emoji
+      tex = emoji_tex(emoji)
+      emoji_scale = self._font_size / tex.height * FONT_SCALE
+      rl.draw_texture_ex(tex, line_pos, 0.0, emoji_scale, self._text_color)
+      # Emoji width is font_size * FONT_SCALE (as per measure_text_cached)
+      line_pos.x += self._font_size * FONT_SCALE
+      prev_index = end
+
+    # Draw remaining text after last emoji
+    text_after = line[prev_index:]
+    if text_after:
+      rl.draw_text_ex(self._font, text_after, line_pos, self._font_size, self._spacing_pixels, self._text_color)
diff --git a/system/ui/widgets/mici_keyboard.py b/system/ui/widgets/mici_keyboard.py
index a4f4c7d09b..7459dc5731 100644
--- a/system/ui/widgets/mici_keyboard.py
+++ b/system/ui/widgets/mici_keyboard.py
@@ -4,7 +4,7 @@ import numpy as np
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, MouseEvent
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.widgets import Widget
-from openpilot.common.filter_simple import BounceFilter
+from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
 
 CHAR_FONT_SIZE = 42
 CHAR_NEAR_FONT_SIZE = CHAR_FONT_SIZE * 2
@@ -204,6 +204,7 @@ class MiciKeyboard(Widget):
     self._text: str = ""
 
     self._bg_scale_filter = BounceFilter(1.0, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps)
+    self._selected_key_filter = FirstOrderFilter(0.0, 0.075 * ANIMATION_SCALE, 1 / gui_app.target_fps)
 
   def get_candidate_character(self) -> str:
     # return str of character about to be added to text
@@ -309,6 +310,9 @@ class MiciKeyboard(Widget):
     self._text += ' '
 
   def _update_state(self):
+    # update selected key filter
+    self._selected_key_filter.update(self._closest_key[0] is not None)
+
     # unselect key after animation plays
     if self._unselect_key_t is not None and rl.get_time() > self._unselect_key_t:
       self._closest_key = (None, float('inf'))
@@ -335,8 +339,9 @@ class MiciKeyboard(Widget):
           key.set_font_size(SELECTED_CHAR_FONT_SIZE)
 
           # draw black circle behind selected key
+          circle_alpha = int(self._selected_key_filter.x * 225)
           rl.draw_circle_gradient(int(key_x + key.rect.width / 2), int(key_y + key.rect.height / 2),
-                                  SELECTED_CHAR_FONT_SIZE, rl.Color(0, 0, 0, 225), rl.BLANK)
+                                  SELECTED_CHAR_FONT_SIZE, rl.Color(0, 0, 0, circle_alpha), rl.BLANK)
         else:
           # move other keys away from selected key a bit
           dx = key.original_position.x - self._closest_key[0].original_position.x
diff --git a/system/ui/widgets/scroller.py b/system/ui/widgets/scroller.py
index 9a04e84257..72f76d90c4 100644
--- a/system/ui/widgets/scroller.py
+++ b/system/ui/widgets/scroller.py
@@ -124,7 +124,7 @@ class Scroller(Widget):
     self.scroll_panel.set_enabled(scroll_enabled and self.enabled)
     self.scroll_panel.update(self._rect, content_size)
     if not self._snap_items:
-      return self.scroll_panel.get_offset()
+      return round(self.scroll_panel.get_offset())
 
     # Snap closest item to center
     center_pos = self._rect.x + self._rect.width / 2 if self._horizontal else self._rect.y + self._rect.height / 2
@@ -224,12 +224,15 @@ class Scroller(Widget):
 
       # Scale each element around its own origin when scrolling
       scale = self._zoom_filter.x
-      rl.rl_push_matrix()
-      rl.rl_scalef(scale, scale, 1.0)
-      rl.rl_translatef((1 - scale) * (x + item.rect.width / 2) / scale,
-                       (1 - scale) * (y + item.rect.height / 2) / scale, 0)
-      item.render()
-      rl.rl_pop_matrix()
+      if scale != 1.0:
+        rl.rl_push_matrix()
+        rl.rl_scalef(scale, scale, 1.0)
+        rl.rl_translatef((1 - scale) * (x + item.rect.width / 2) / scale,
+                        (1 - scale) * (y + item.rect.height / 2) / scale, 0)
+        item.render()
+        rl.rl_pop_matrix()
+      else:
+        item.render()
 
     # Draw scroll indicator
     if SCROLL_BAR and not self._horizontal and len(visible_items) > 0:
diff --git a/system/updated/casync/casync.py b/system/updated/casync/casync.py
index 7a3303a9e9..79ac26f1c6 100755
--- a/system/updated/casync/casync.py
+++ b/system/updated/casync/casync.py
@@ -99,7 +99,7 @@ class DirectoryTarChunkReader(BinaryChunkReader):
     create_casync_tar_package(pathlib.Path(path), pathlib.Path(cache_file))
 
     self.f = open(cache_file, "rb")
-    return super().__init__(self.f)
+    super().__init__(self.f)
 
   def __del__(self):
     self.f.close()
diff --git a/system/updated/tests/test_base.py b/system/updated/tests/test_base.py
index 699a0f0bd3..c4894f2711 100644
--- a/system/updated/tests/test_base.py
+++ b/system/updated/tests/test_base.py
@@ -133,7 +133,7 @@ class TestBaseUpdate:
 class ParamsBaseUpdateTest(TestBaseUpdate):
   def _test_finalized_update(self, branch, version, agnos_version, release_notes):
     assert self.params.get("UpdaterNewDescription").startswith(f"{version} / {branch}")
-    assert self.params.get("UpdaterNewReleaseNotes") == f"{release_notes}\n"
+    assert self.params.get("UpdaterNewReleaseNotes") == f"{release_notes}\n".encode()
     super()._test_finalized_update(branch, version, agnos_version, release_notes)
 
   def send_check_for_updates_signal(self, updated: ManagerProcess):
diff --git a/system/version.py b/system/version.py
index 84d6b75591..8a0e2da3e2 100755
--- a/system/version.py
+++ b/system/version.py
@@ -13,7 +13,7 @@ from openpilot.common.git import get_commit, get_origin, get_branch, get_short_b
 RELEASE_SP_BRANCHES = ['release-c3', 'release', 'release-tizi', 'release-tici', 'release-tizi-staging', 'release-tici-staging']
 TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging']
 MASTER_SP_BRANCHES = ['master']
-RELEASE_BRANCHES = ['release-tizi-staging', 'release-tici', 'release-tizi', 'nightly']
+RELEASE_BRANCHES = ['release-tizi-staging', 'release-mici-staging', 'release-tizi', 'release-mici', 'nightly']
 TESTED_BRANCHES = RELEASE_BRANCHES + ['devel-staging', 'nightly-dev'] + RELEASE_SP_BRANCHES + TESTED_SP_BRANCHES
 
 SP_BRANCH_MIGRATIONS = {
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index eb0af5b64a..b5a68c6b26 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -275,16 +275,13 @@ void BinaryViewModel::refresh() {
     row_count = can->lastMessage(msg_id).dat.size();
     items.resize(row_count * column_count);
   }
-  int valid_rows = std::min<int>(can->lastMessage(msg_id).dat.size(), row_count);
-  for (int i = 0; i < valid_rows * column_count; ++i) {
-    items[i].valid = true;
-  }
   endResetModel();
   updateState();
 }
 
 void BinaryViewModel::updateItem(int row, int col, uint8_t val, const QColor &color) {
   auto &item = items[row * column_count + col];
+  item.valid = true;
   if (item.val != val || item.bg_color != color) {
     item.val = val;
     item.bg_color = color;
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index 3e9e452b90..aba25dcf83 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -322,6 +322,32 @@ void ChartsWidget::splitChart(ChartView *src_chart) {
   }
 }
 
+QStringList ChartsWidget::serializeChartIds() const {
+  QStringList chart_ids;
+  for (auto c : charts) {
+    QStringList ids;
+    for (const auto& s : c->sigs)
+      ids += QString("%1|%2").arg(s.msg_id.toString(), s.sig->name);
+    chart_ids += ids.join(',');
+  }
+  std::reverse(chart_ids.begin(), chart_ids.end());
+  return chart_ids;
+}
+
+void ChartsWidget::restoreChartsFromIds(const QStringList& chart_ids) {
+  for (const auto& chart_id : chart_ids) {
+    int index = 0;
+    for (const auto& part : chart_id.split(',')) {
+      const auto sig_parts = part.split('|');
+      if (sig_parts.size() != 2) continue;
+      MessageId msg_id = MessageId::fromString(sig_parts[0]);
+      if (auto* msg = dbc()->msg(msg_id))
+        if (auto* sig = msg->sig(sig_parts[1]))
+          showChart(msg_id, sig, true, index++ > 0);
+    }
+  }
+}
+
 void ChartsWidget::setColumnCount(int n) {
   n = std::clamp(n, 1, MAX_COLUMN_COUNT);
   if (column_count != n) {
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index 46e7f546b0..f87b1276c5 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -43,6 +43,8 @@ public:
   ChartsWidget(QWidget *parent = nullptr);
   void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge);
   inline bool hasSignal(const MessageId &id, const cabana::Signal *sig) { return findChart(id, sig) != nullptr; }
+  QStringList serializeChartIds() const;
+  void restoreChartsFromIds(const QStringList &chart_ids);
 
 public slots:
   void setColumnCount(int n);
diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
index d2b25bc5f2..134d88a919 100644
--- a/tools/cabana/dbc/dbc.h
+++ b/tools/cabana/dbc/dbc.h
@@ -20,6 +20,12 @@ struct MessageId {
     return QString("%1:%2").arg(source).arg(QString::number(address, 16).toUpper());
   }
 
+  inline static MessageId fromString(const QString &str) {
+    auto parts = str.split(':');
+    if (parts.size() != 2) return {};
+    return MessageId{.source = uint8_t(parts[0].toUInt()), .address = parts[1].toUInt(nullptr, 16)};
+  }
+
   bool operator==(const MessageId &other) const {
     return source == other.source && address == other.address;
   }
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index 4eda46f37b..35492c8efa 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -118,10 +118,7 @@ void DetailWidget::showTabBarContextMenu(const QPoint &pt) {
   }
 }
 
-void DetailWidget::setMessage(const MessageId &message_id) {
-  if (std::exchange(msg_id, message_id) == message_id) return;
-
-  tabbar->blockSignals(true);
+int DetailWidget::findOrAddTab(const MessageId& message_id) {
   int index = tabbar->count() - 1;
   for (/**/; index >= 0; --index) {
     if (tabbar->tabData(index).value<MessageId>() == message_id) break;
@@ -131,6 +128,14 @@ void DetailWidget::setMessage(const MessageId &message_id) {
     tabbar->setTabData(index, QVariant::fromValue(message_id));
     tabbar->setTabToolTip(index, msgName(message_id));
   }
+  return index;
+}
+
+void DetailWidget::setMessage(const MessageId &message_id) {
+  if (std::exchange(msg_id, message_id) == message_id) return;
+
+  tabbar->blockSignals(true);
+  int index = findOrAddTab(message_id);
   tabbar->setCurrentIndex(index);
   tabbar->blockSignals(false);
 
@@ -142,6 +147,29 @@ void DetailWidget::setMessage(const MessageId &message_id) {
   setUpdatesEnabled(true);
 }
 
+std::pair<QString, QStringList> DetailWidget::serializeMessageIds() const {
+  QStringList msgs;
+  for (int i = 0; i < tabbar->count(); ++i) {
+    MessageId id = tabbar->tabData(i).value<MessageId>();
+    msgs.append(id.toString());
+  }
+  return std::make_pair(msg_id.toString(), msgs);
+}
+
+void DetailWidget::restoreTabs(const QString active_msg_id, const QStringList& msg_ids) {
+  tabbar->blockSignals(true);
+  for (const auto& str_id : msg_ids) {
+    MessageId id = MessageId::fromString(str_id);
+    if (dbc()->msg(id) != nullptr)
+      findOrAddTab(id);
+  }
+  tabbar->blockSignals(false);
+
+  auto active_id = MessageId::fromString(active_msg_id);
+  if (dbc()->msg(active_id) != nullptr)
+    setMessage(active_id);
+}
+
 void DetailWidget::refresh() {
   QStringList warnings;
   auto msg = dbc()->msg(msg_id);
@@ -244,13 +272,13 @@ CenterWidget::CenterWidget(QWidget *parent) : QWidget(parent) {
   main_layout->addWidget(welcome_widget = createWelcomeWidget());
 }
 
-void CenterWidget::setMessage(const MessageId &msg_id) {
+DetailWidget* CenterWidget::ensureDetailWidget() {
   if (!detail_widget) {
     delete welcome_widget;
     welcome_widget = nullptr;
     layout()->addWidget(detail_widget = new DetailWidget(((MainWindow*)parentWidget())->charts_widget, this));
   }
-  detail_widget->setMessage(msg_id);
+  return detail_widget;
 }
 
 void CenterWidget::clear() {
diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h
index 6df164b442..0fe1535c7a 100644
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@@ -34,9 +34,12 @@ public:
   DetailWidget(ChartsWidget *charts, QWidget *parent);
   void setMessage(const MessageId &message_id);
   void refresh();
+  std::pair<QString, QStringList> serializeMessageIds() const;
+  void restoreTabs(const QString active_msg_id, const QStringList &msg_ids);
 
 private:
   void createToolBar();
+  int findOrAddTab(const MessageId& message_id);
   void showTabBarContextMenu(const QPoint &pt);
   void editMsg();
   void removeMsg();
@@ -60,7 +63,9 @@ class CenterWidget : public QWidget {
   Q_OBJECT
 public:
   CenterWidget(QWidget *parent);
-  void setMessage(const MessageId &msg_id);
+  void setMessage(const MessageId &message_id) { ensureDetailWidget()->setMessage(message_id); }
+  DetailWidget* getDetailWidget() { return detail_widget; }
+  DetailWidget* ensureDetailWidget();
   void clear();
 
 private:
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index d65fc5b760..1ea3733ed0 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -235,6 +235,8 @@ void MainWindow::DBCFileChanged() {
     title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name()));
   }
   setWindowFilePath(title.join(" | "));
+
+  QTimer::singleShot(0, this, &::MainWindow::restoreSessionState);
 }
 
 void MainWindow::selectAndOpenStream() {
@@ -311,11 +313,19 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
 }
 
 void MainWindow::openStream(AbstractStream *stream, const QString &dbc_file) {
+  if (can) {
+    QObject::connect(can, &QObject::destroyed, this, [=]() { startStream(stream, dbc_file); });
+    can->deleteLater();
+  } else {
+    startStream(stream, dbc_file);
+  }
+}
+
+void MainWindow::startStream(AbstractStream *stream, QString dbc_file) {
   center_widget->clear();
   delete messages_widget;
   delete video_splitter;
 
-  delete can;
   can = stream;
   can->setParent(this);  // take ownership
   can->start();
@@ -563,6 +573,7 @@ void MainWindow::closeEvent(QCloseEvent *event) {
     settings.message_header_state = messages_widget->saveHeaderState();
   }
 
+  saveSessionState();
   QWidget::closeEvent(event);
 }
 
@@ -607,6 +618,39 @@ void MainWindow::toggleFullScreen() {
   }
 }
 
+void MainWindow::saveSessionState() {
+  settings.recent_dbc_file = "";
+  settings.active_msg_id = "";
+  settings.selected_msg_ids.clear();
+  settings.active_charts.clear();
+
+  for (auto &f : dbc()->allDBCFiles())
+    if (!f->isEmpty()) { settings.recent_dbc_file = f->filename; break; }
+
+  if (auto *detail = center_widget->getDetailWidget()) {
+    auto [active_id, ids] = detail->serializeMessageIds();
+    settings.active_msg_id = active_id;
+    settings.selected_msg_ids = ids;
+  }
+  if (charts_widget)
+    settings.active_charts = charts_widget->serializeChartIds();
+}
+
+void MainWindow::restoreSessionState() {
+  if (settings.recent_dbc_file.isEmpty() || dbc()->nonEmptyDBCCount() == 0) return;
+
+  QString dbc_file;
+  for (auto& f : dbc()->allDBCFiles())
+    if (!f->isEmpty()) { dbc_file = f->filename; break; }
+  if (dbc_file != settings.recent_dbc_file) return;
+
+  if (!settings.selected_msg_ids.isEmpty())
+    center_widget->ensureDetailWidget()->restoreTabs(settings.active_msg_id, settings.selected_msg_ids);
+
+  if (charts_widget != nullptr && !settings.active_charts.empty())
+    charts_widget->restoreChartsFromIds(settings.active_charts);
+}
+
 // HelpOverlay
 HelpOverlay::HelpOverlay(MainWindow *parent) : QWidget(parent) {
   setAttribute(Qt::WA_NoSystemBackground, true);
diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
index 9bc94c090f..92c2714ae7 100644
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -44,6 +44,7 @@ signals:
   void updateProgressBar(uint64_t cur, uint64_t total, bool success);
 
 protected:
+  void startStream(AbstractStream *stream, QString dbc_file);
   bool eventFilter(QObject *obj, QEvent *event) override;
   void remindSaveChanges();
   void closeFile(SourceSet s = SOURCE_ALL);
@@ -72,6 +73,8 @@ protected:
   void updateLoadSaveMenus();
   void createDockWidgets();
   void eventsMerged();
+  void saveSessionState();
+  void restoreSessionState();
 
   VideoWidget *video_widget = nullptr;
   QDockWidget *video_dock;
diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc
index cccc9b6d9a..e7b1129a30 100644
--- a/tools/cabana/settings.cc
+++ b/tools/cabana/settings.cc
@@ -41,6 +41,10 @@ void settings_op(SettingOperation op) {
   op(s, "log_path", settings.log_path);
   op(s, "drag_direction", (int &)settings.drag_direction);
   op(s, "suppress_defined_signals", settings.suppress_defined_signals);
+  op(s, "recent_dbc_file", settings.recent_dbc_file);
+  op(s, "active_msg_id", settings.active_msg_id);
+  op(s, "selected_msg_ids", settings.selected_msg_ids);
+  op(s, "active_charts", settings.active_charts);
 }
 
 Settings::Settings() {
diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h
index e75c519ac7..7ab50d1494 100644
--- a/tools/cabana/settings.h
+++ b/tools/cabana/settings.h
@@ -46,6 +46,12 @@ public:
   QByteArray message_header_state;
   DragDirection drag_direction = MsbFirst;
 
+  // session data
+  QString recent_dbc_file;
+  QString active_msg_id;
+  QStringList selected_msg_ids;
+  QStringList active_charts;
+
 signals:
   void changed();
 };
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index cdbaca32cf..c2db249cf2 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
-set -e
+set -euo pipefail
 
 # Increase the pip timeout to handle TimeoutError
 export PIP_DEFAULT_TIMEOUT=200
@@ -10,7 +10,7 @@ cd "$ROOT"
 
 if ! command -v "uv" > /dev/null 2>&1; then
   echo "installing uv..."
-  curl -LsSf https://astral.sh/uv/install.sh | sh
+  curl -LsSf --retry 5 --retry-delay 5 --retry-all-errors https://astral.sh/uv/install.sh | sh
   UV_BIN="$HOME/.local/bin"
   PATH="$UV_BIN:$PATH"
 fi
diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py
index ee9ee294bb..f5418be81a 100644
--- a/tools/lib/filereader.py
+++ b/tools/lib/filereader.py
@@ -1,4 +1,5 @@
 import os
+import io
 import posixpath
 import socket
 from functools import cache
@@ -41,9 +42,17 @@ def file_exists(fn):
     return URLFile(fn).get_length_online() != -1
   return os.path.exists(fn)
 
+class DiskFile(io.BufferedReader):
+  def get_multi_range(self, ranges: list[tuple[int, int]]) -> list[bytes]:
+    parts = []
+    for r in ranges:
+      self.seek(r[0])
+      parts.append(self.read(r[1] - r[0]))
+    return parts
 
-def FileReader(fn, debug=False):
+def FileReader(fn):
   fn = resolve_name(fn)
   if fn.startswith(("http://", "https://")):
-    return URLFile(fn, debug=debug)
-  return open(fn, "rb")
+    return URLFile(fn)
+  else:
+    return DiskFile(open(fn, "rb"))
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 8d84cdbd5d..f9a90490b9 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -181,6 +181,8 @@ def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode)
         # We've found all files, return them
         if len(needed_seg_idxs) == 0:
           return cast(list[str], list(valid_files.values()))
+        else:
+          raise FileNotFoundError(f"Did not find {fn} for seg idxs {needed_seg_idxs} of {sr.route_name}")
 
       except Exception as e:
         exceptions[source.__name__] = e
diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py
index 31c1e0ff11..c791444f74 100644
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -1,14 +1,15 @@
+import re
 import logging
 import os
 import socket
-import time
 from hashlib import sha256
 from urllib3 import PoolManager, Retry
 from urllib3.response import BaseHTTPResponse
 from urllib3.util import Timeout
 
-from openpilot.common.utils import atomic_write_in_dir
+from openpilot.common.utils import atomic_write
 from openpilot.system.hardware.hw import Paths
+from urllib3.exceptions import MaxRetryError
 
 #  Cache chunk size
 K = 1000
@@ -40,12 +41,11 @@ class URLFile:
       URLFile._pool_manager = PoolManager(num_pools=10, maxsize=100, socket_options=socket_options, retries=retries)
     return URLFile._pool_manager
 
-  def __init__(self, url: str, timeout: int = 10, debug: bool = False, cache: bool | None = None):
+  def __init__(self, url: str, timeout: int = 10, cache: bool | None = None):
     self._url = url
     self._timeout = Timeout(connect=timeout, read=timeout)
     self._pos = 0
     self._length: int | None = None
-    self._debug = debug
     #  True by default, false if FILEREADER_CACHE is defined, but can be overwritten by the cache input
     self._force_download = not int(os.environ.get("FILEREADER_CACHE", "0"))
     if cache is not None:
@@ -61,7 +61,10 @@ class URLFile:
     pass
 
   def _request(self, method: str, url: str, headers: dict[str, str] | None = None) -> BaseHTTPResponse:
-    return URLFile.pool_manager().request(method, url, timeout=self._timeout, headers=headers)
+    try:
+      return URLFile.pool_manager().request(method, url, timeout=self._timeout, headers=headers)
+    except MaxRetryError as e:
+      raise URLFileException(f"Failed to {method} {url}: {e}") from e
 
   def get_length_online(self) -> int:
     response = self._request('HEAD', self._url)
@@ -83,7 +86,7 @@ class URLFile:
 
     self._length = self.get_length_online()
     if not self._force_download and self._length != -1:
-      with atomic_write_in_dir(file_length_path, mode="w", overwrite=True) as file_length:
+      with atomic_write(file_length_path, mode="w", overwrite=True) as file_length:
         file_length.write(str(self._length))
     return self._length
 
@@ -106,7 +109,7 @@ class URLFile:
       #  If we don't have a file, download it
       if not os.path.exists(full_path):
         data = self.read_aux(ll=CHUNK_SIZE)
-        with atomic_write_in_dir(full_path, mode="wb", overwrite=True) as new_cached_file:
+        with atomic_write(full_path, mode="wb", overwrite=True) as new_cached_file:
           new_cached_file.write(data)
       else:
         with open(full_path, "rb") as cached_file:
@@ -120,39 +123,45 @@ class URLFile:
         return response
 
   def read_aux(self, ll: int | None = None) -> bytes:
-    download_range = False
-    headers = {}
-    if self._pos != 0 or ll is not None:
-      if ll is None:
-        end = self.get_length() - 1
-      else:
-        end = min(self._pos + ll, self.get_length()) - 1
-      if self._pos >= end:
-        return b""
-      headers['Range'] = f"bytes={self._pos}-{end}"
-      download_range = True
+    if ll is None:
+      length = self.get_length()
+      if length == -1:
+        raise URLFileException(f"Remote file is empty or doesn't exist: {self._url}")
+      end = length
+    else:
+      end = self._pos + ll
+    data = self.get_multi_range([(self._pos, end)])
+    self._pos += len(data[0])
+    return data[0]
 
-    if self._debug:
-      t1 = time.monotonic()
+  def get_multi_range(self, ranges: list[tuple[int, int]]) -> list[bytes]:
+    # HTTP range requests are inclusive
+    assert all(e > s for s, e in ranges), "Range end must be greater than start"
+    rs = [f"{s}-{e-1}" for s, e in ranges if e > s]
 
-    response = self._request('GET', self._url, headers=headers)
-    ret = response.data
+    r = self._request("GET", self._url, headers={"Range": "bytes=" + ",".join(rs)})
+    if r.status not in [200, 206]:
+      raise URLFileException(f"Expected 206 or 200 response {r.status} ({self._url})")
 
-    if self._debug:
-      t2 = time.monotonic()
-      if t2 - t1 > 0.1:
-        print(f"get {self._url} {headers!r} {t2 - t1:.3f} slow")
+    ctype = (r.headers.get("content-type") or "").lower()
+    if "multipart/byteranges" not in ctype:
+      return [r.data,]
 
-    response_code = response.status
-    if response_code == 416:  # Requested Range Not Satisfiable
-      raise URLFileException(f"Error, range out of bounds {response_code} {headers} ({self._url}): {repr(ret)[:500]}")
-    if download_range and response_code != 206:  # Partial Content
-      raise URLFileException(f"Error, requested range but got unexpected response {response_code} {headers} ({self._url}): {repr(ret)[:500]}")
-    if (not download_range) and response_code != 200:  # OK
-      raise URLFileException(f"Error {response_code} {headers} ({self._url}): {repr(ret)[:500]}")
+    m = re.search(r'boundary="?([^";]+)"?', ctype)
+    if not m:
+      raise URLFileException(f"Missing multipart boundary ({self._url})")
+    boundary = m.group(1).encode()
 
-    self._pos += len(ret)
-    return ret
+    parts = []
+    for chunk in r.data.split(b"--" + boundary):
+      if b"\r\n\r\n" not in chunk:
+        continue
+      payload = chunk.split(b"\r\n\r\n", 1)[1].rstrip(b"\r\n")
+      if payload and payload != b"--":
+        parts.append(payload)
+    if len(parts) != len(ranges):
+      raise URLFileException(f"Expected {len(ranges)} parts, got {len(parts)} ({self._url})")
+    return parts
 
   def seek(self, pos: int) -> None:
     self._pos = pos
diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index bdbdb3e841..a57c8a125d 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -117,7 +117,12 @@ void ConsoleUI::initWindows() {
     w[Win::Log] = newwin(log_height - 2, max_width - 2 * BORDER_SIZE, 18, BORDER_SIZE);
     scrollok(w[Win::Log], true);
   }
-  w[Win::Help] = newwin(5, max_width - (2 * BORDER_SIZE), max_height - 6, BORDER_SIZE);
+  if (max_height >= 23) {
+    w[Win::Help] = newwin(5, max_width - (2 * BORDER_SIZE), max_height - 6, BORDER_SIZE);
+  } else if (max_height >= 17) {
+    w[Win::Help] = newwin(1, max_width - (2 * BORDER_SIZE), max_height - 1, BORDER_SIZE);
+    mvwprintw(w[Win::Help], 0, 0, "Expand screen vertically to list available commands");
+  }
 
   // set the title bar
   wbkgd(w[Win::Title], A_REVERSE);
@@ -126,7 +131,7 @@ void ConsoleUI::initWindows() {
   // show windows on the real screen
   refresh();
   displayTimelineDesc();
-  displayHelp();
+  if (max_height >= 23) displayHelp();
   updateSummary();
   updateTimeline();
   for (auto win : w) {
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index c9ab7e7e2b..cc105dd10e 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -31,6 +31,8 @@ void Replay::setupServices(const std::vector<std::string> &allow, const std::vec
   sockets_.resize(event_schema.getUnionFields().size(), nullptr);
 
   std::vector<const char *> active_services;
+  active_services.reserve(services.size());
+
   for (const auto &[name, _] : services) {
     bool is_blocked = std::find(block.begin(), block.end(), name) != block.end();
     bool is_allowed = allow.empty() || std::find(allow.begin(), allow.end(), name) != allow.end();
@@ -40,7 +42,9 @@ void Replay::setupServices(const std::vector<std::string> &allow, const std::vec
       active_services.push_back(name.c_str());
     }
   }
-  rInfo("active services: %s", join(active_services, ", ").c_str());
+
+  std::string services_str = join(active_services, ", ");
+  rInfo("active services: %s", services_str.c_str());
   if (!sm_) {
     pm_ = std::make_unique<PubMaster>(active_services);
   }
@@ -59,7 +63,6 @@ void Replay::setupSegmentManager(bool has_filters) {
 }
 
 Replay::~Replay() {
-  seg_mgr_.reset();
   if (stream_thread_.joinable()) {
     rInfo("shutdown: in progress...");
     interruptStream([this]() {
@@ -70,6 +73,7 @@ Replay::~Replay() {
     rInfo("shutdown: done");
   }
   camera_server_.reset();
+  seg_mgr_.reset();
 }
 
 bool Replay::load() {
diff --git a/tools/replay/seg_mgr.cc b/tools/replay/seg_mgr.cc
index ee034fb083..f4e865d476 100644
--- a/tools/replay/seg_mgr.cc
+++ b/tools/replay/seg_mgr.cc
@@ -91,7 +91,8 @@ bool SegmentManager::mergeSegments(const SegmentMap::iterator &begin, const Segm
   auto &merged_events = merged_event_data->events;
   merged_events.reserve(total_event_count);
 
-  rDebug("merging segments: %s", join(segments_to_merge, ", ").c_str());
+  std::string segments_str = join(segments_to_merge, ", ");
+  rDebug("merging segments: %s", segments_str.c_str());
   for (int n : segments_to_merge) {
     const auto &events = segments_.at(n)->log->events;
     if (events.empty()) continue;
diff --git a/tools/setup.sh b/tools/setup.sh
index e0a9a4f6a6..fd7efcee90 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -1,6 +1,5 @@
 #!/usr/bin/env bash
-
-set -e
+set -euo pipefail
 
 RED='\033[0;31m'
 GREEN='\033[0;32m'
diff --git a/uv.lock b/uv.lock
index c34a6d9b71..b179517e0b 100644
--- a/uv.lock
+++ b/uv.lock
@@ -371,6 +371,41 @@ wheels = [
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 [[package]]
 name = "crcmod"
 version = "1.7"
@@ -1349,6 +1384,7 @@ docs = [
 ]
 testing = [
     { name = "codespell" },
+    { name = "coverage" },
     { name = "hypothesis" },
     { name = "mypy" },
     { name = "pre-commit-hooks" },
@@ -1364,7 +1400,7 @@ testing = [
     { name = "ruff" },
 ]
 tools = [
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+    { name = "dearpygui", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
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     { name = "cffi" },
     { name = "codespell", marker = "extra == 'testing'" },
+    { name = "coverage", marker = "extra == 'testing'" },
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