diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 7b31173b5c..bd6885cf5b 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -5,6 +5,7 @@ on:
     branches:
       - master
   pull_request:
+  workflow_dispatch:
 
 concurrency:
   group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 880912e271..e584758ecb 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -41,7 +41,7 @@ repos:
         args: ['--explicit-package-bases']
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.1.1
+    rev: v0.1.4
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
@@ -79,13 +79,13 @@ repos:
         language: script
         pass_filenames: false
 -   repo: https://github.com/python-poetry/poetry
-    rev: '1.6.0'
+    rev: '1.7.0'
     hooks:
     -   id: poetry-check
         name: validate poetry lock
         args:
         - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.27.0
+    rev: 0.27.1
     hooks:
     -   id: check-github-workflows
diff --git a/Jenkinsfile b/Jenkinsfile
index 35c16e29c9..314170341e 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -64,7 +64,9 @@ def deviceStage(String stageName, String deviceType, List env, def steps) {
     docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
       lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
         timeout(time: 20, unit: 'MINUTES') {
-          device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
+          retry (3) {
+            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
+          }
           steps.each { item ->
             device(device_ip, item[0], item[1])
           }
diff --git a/RELEASES.md b/RELEASES.md
index 96028a9787..1d88480278 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,7 +1,9 @@
-Version 0.9.5 (2023-XX-XX)
+Version 0.9.5 (2023-11-16)
 ========================
 * New driving model
   * Improved navigate on openpilot performance using navigation instructions as an additional model input
+  * Do lateral planning inside the model
+  * New vision transformer architecture
 * Cadillac Escalade ESV 2019 support thanks to twilsonco!
 * Hyundai Azera 2022 support thanks to sunnyhaibin!
 * Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
diff --git a/SConstruct b/SConstruct
index 9a18050122..51c944b642 100644
--- a/SConstruct
+++ b/SConstruct
@@ -26,6 +26,10 @@ AddOption('--ubsan',
           action='store_true',
           help='turn on UBSan')
 
+AddOption('--coverage',
+          action='store_true',
+          help='build with test coverage options')
+
 AddOption('--clazy',
           action='store_true',
           help='build with clazy')
diff --git a/cereal b/cereal
index 536c6b793f..fc1a20047f 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 536c6b793f9ee1d90c8fa0f52e707266f8f0c416
+Subproject commit fc1a20047fbed64bf25ce1944153cdac17ec7526
diff --git a/codecov.yml b/codecov.yml
index da57bb01cc..686d9b03f7 100644
--- a/codecov.yml
+++ b/codecov.yml
@@ -7,4 +7,5 @@ coverage:
     patch: off
 
 ignore:
-  - "**/test_*.py"
\ No newline at end of file
+  - "**/test_*.py"
+  - "selfdrive/test/**"
\ No newline at end of file
diff --git a/conftest.py b/conftest.py
index ee46436d3c..085ad5b28a 100644
--- a/conftest.py
+++ b/conftest.py
@@ -2,6 +2,7 @@ import os
 import pytest
 
 from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.system.hardware import TICI
 
 
 @pytest.fixture(scope="function", autouse=True)
@@ -31,3 +32,10 @@ def openpilot_class_fixture():
 
   os.environ.clear()
   os.environ.update(starting_env)
+
+
+def pytest_collection_modifyitems(config, items):
+  skipper = pytest.mark.skip(reason="Skipping tici test on PC")
+  for item in items:
+    if not TICI and "tici" in item.keywords:
+      item.add_marker(skipper)
\ No newline at end of file
diff --git a/docs/CARS.md b/docs/CARS.md
index d6961f6f56..eb7f88d731 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -21,10 +21,10 @@ A supported vehicle is one that just works when you install a comma device. All
 |Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
 |Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
 |Cadillac|Escalade ESV 2019[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2019">Buy Here</a></sub></details>||
-|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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
-|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
+|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
 |Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
@@ -50,14 +50,14 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV70 (3.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Acadia 2018[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
-|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
 |Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||
@@ -110,7 +110,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
 |Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
 |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
-|Hyundai|Tucson Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Tucson Hybrid 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
diff --git a/panda b/panda
index 43ad78a7e7..416b028322 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 43ad78a7e70794cbdc0bd24af84a3e83bb23f7db
+Subproject commit 416b02832217011092d682a9e7d8777f975cf19e
diff --git a/poetry.lock b/poetry.lock
index 93e907a578..2c91470f54 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -333,19 +333,19 @@ aio = ["aiohttp (>=3.0)"]
 
 [[package]]
 name = "azure-identity"
-version = "1.14.1"
+version = "1.15.0"
 description = "Microsoft Azure Identity Library for Python"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "azure-identity-1.14.1.zip", hash = "sha256:48e2a9dbdc59b4f095f841d867d9a8cbe4c1cdbbad8251e055561afd47b4a9b8"},
-    {file = "azure_identity-1.14.1-py3-none-any.whl", hash = "sha256:3a5bef8e9c3281e864e869739be8d67424bff616cddae96b546ca2a5168d863d"},
+    {file = "azure-identity-1.15.0.tar.gz", hash = "sha256:4c28fc246b7f9265610eb5261d65931183d019a23d4b0e99357facb2e6c227c8"},
+    {file = "azure_identity-1.15.0-py3-none-any.whl", hash = "sha256:a14b1f01c7036f11f148f22cd8c16e05035293d714458d6b44ddf534d93eb912"},
 ]
 
 [package.dependencies]
-azure-core = ">=1.11.0,<2.0.0"
+azure-core = ">=1.23.0,<2.0.0"
 cryptography = ">=2.5"
-msal = ">=1.20.0,<2.0.0"
+msal = ">=1.24.0,<2.0.0"
 msal-extensions = ">=0.3.0,<2.0.0"
 
 [[package]]
@@ -554,101 +554,101 @@ files = [
 
 [[package]]
 name = "charset-normalizer"
-version = "3.3.1"
+version = "3.3.2"
 description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
 optional = false
 python-versions = ">=3.7.0"
 files = [
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 [package.dependencies]
-numpy = {version = ">=1.16,<2.0", markers = "python_version <= \"3.11\""}
+numpy = ">=1.20,<2.0"
 
 [package.extras]
 bokeh = ["bokeh", "selenium"]
 docs = ["furo", "sphinx (>=7.2)", "sphinx-copybutton"]
-mypy = ["contourpy[bokeh,docs]", "docutils-stubs", "mypy (==1.4.1)", "types-Pillow"]
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 test = ["Pillow", "contourpy[test-no-images]", "matplotlib"]
-test-no-images = ["pytest", "pytest-cov", "wurlitzer"]
+test-no-images = ["pytest", "pytest-cov", "pytest-xdist", "wurlitzer"]
 
 [[package]]
 name = "control"
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 ]
 
 [package.dependencies]
@@ -966,69 +958,69 @@ tests = ["pytest", "pytest-cov", "pytest-xdist"]
 
 [[package]]
 name = "cython"
-version = "3.0.4"
+version = "3.0.5"
 description = "The Cython compiler for writing C extensions in the Python language."
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
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 [package.dependencies]
 contourpy = ">=1.0.1"
 cycler = ">=0.10"
 fonttools = ">=4.22.0"
-kiwisolver = ">=1.0.1"
+kiwisolver = ">=1.3.1"
 numpy = ">=1.21,<2"
 packaging = ">=20.0"
-pillow = ">=6.2.0"
+pillow = ">=8"
 pyparsing = ">=2.3.1"
 python-dateutil = ">=2.7"
-setuptools_scm = ">=7"
 
 [[package]]
 name = "mdit-py-plugins"
@@ -2371,13 +2361,13 @@ tests = ["pytest (>=4.6)"]
 
 [[package]]
 name = "msal"
-version = "1.24.1"
+version = "1.25.0"
 description = "The Microsoft Authentication Library (MSAL) for Python library"
 optional = false
 python-versions = ">=2.7"
 files = [
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 [package.dependencies]
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 description = "Open Neural Network Exchange"
 optional = false
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 [package.dependencies]
 numpy = "*"
 protobuf = ">=3.20.2"
-typing-extensions = ">=3.6.2.1"
 
 [package.extras]
-lint = ["lintrunner (>=0.10.0)", "lintrunner-adapters (>=0.3)"]
+reference = ["Pillow", "google-re2"]
 
 [[package]]
 name = "onnxruntime"
@@ -2983,40 +2966,40 @@ test = ["pylint (==2.4.*)", "pytest", "pytest-pylint"]
 
 [[package]]
 name = "pandas"
-version = "2.1.1"
+version = "2.1.2"
 description = "Powerful data structures for data analysis, time series, and statistics"
 optional = false
 python-versions = ">=3.9"
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 [package.dependencies]
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 python-dateutil = ">=2.8.2"
 pytz = ">=2020.1"
 tzdata = ">=2022.1"
@@ -3250,24 +3233,22 @@ files = [
 
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 name = "protobuf"
-version = "4.24.4"
+version = "4.25.0"
 description = ""
 optional = false
-python-versions = ">=3.7"
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 [[package]]
@@ -3300,22 +3281,22 @@ test = ["enum34", "ipaddress", "mock", "pywin32", "wmi"]
 
 [[package]]
 name = "pyaudio"
-version = "0.2.13"
+version = "0.2.14"
 description = "Cross-platform audio I/O with PortAudio"
 optional = false
 python-versions = "*"
 files = [
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 ]
 
 [package.extras]
@@ -3613,6 +3594,17 @@ files = [
 [package.dependencies]
 cffi = ">=1.0.0"
 
+[[package]]
+name = "pympler"
+version = "1.0.1"
+description = "A development tool to measure, monitor and analyze the memory behavior of Python objects."
+optional = false
+python-versions = ">=3.6"
+files = [
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+]
+
 [[package]]
 name = "pyopencl"
 version = "2023.1.4"
@@ -3676,20 +3668,20 @@ test = ["Mako", "pytest (>=7.0.0)"]
 
 [[package]]
 name = "pyopenssl"
-version = "23.2.0"
+version = "23.3.0"
 description = "Python wrapper module around the OpenSSL library"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
-cryptography = ">=38.0.0,<40.0.0 || >40.0.0,<40.0.1 || >40.0.1,<42"
+cryptography = ">=41.0.5,<42"
 
 [package.extras]
-docs = ["sphinx (!=5.2.0,!=5.2.0.post0)", "sphinx-rtd-theme"]
+docs = ["sphinx (!=5.2.0,!=5.2.0.post0,!=7.2.5)", "sphinx-rtd-theme"]
 test = ["flaky", "pretend", "pytest (>=3.0.1)"]
 
 [[package]]
@@ -3818,13 +3810,13 @@ cp2110 = ["hidapi"]
 
 [[package]]
 name = "pytest"
-version = "7.4.2"
+version = "7.4.3"
 description = "pytest: simple powerful testing with Python"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -3856,13 +3848,13 @@ testing = ["fields", "hunter", "process-tests", "pytest-xdist", "six", "virtuale
 
 [[package]]
 name = "pytest-cpp"
-version = "2.4.0"
+version = "2.5.0"
 description = "Use pytest's runner to discover and execute C++ tests"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -4197,28 +4189,28 @@ use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
 
 [[package]]
 name = "ruff"
-version = "0.1.1"
-description = "An extremely fast Python linter, written in Rust."
+version = "0.1.4"
+description = "An extremely fast Python linter and code formatter, written in Rust."
 optional = false
 python-versions = ">=3.7"
 files = [
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-    {file = "ruff-0.1.1-py3-none-win_amd64.whl", hash = "sha256:3ff3006c97d9dc396b87fb46bb65818e614ad0181f059322df82bbfe6944e264"},
-    {file = "ruff-0.1.1-py3-none-win_arm64.whl", hash = "sha256:e140bd717c49164c8feb4f65c644046fe929c46f42493672853e3213d7bdbce2"},
-    {file = "ruff-0.1.1.tar.gz", hash = "sha256:c90461ae4abec261609e5ea436de4a4b5f2822921cf04c16d2cc9327182dbbcc"},
+    {file = "ruff-0.1.4-py3-none-macosx_10_7_x86_64.whl", hash = "sha256:864958706b669cce31d629902175138ad8a069d99ca53514611521f532d91495"},
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+    {file = "ruff-0.1.4-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:9862811b403063765b03e716dac0fda8fdbe78b675cd947ed5873506448acea4"},
+    {file = "ruff-0.1.4-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:58826efb8b3efbb59bb306f4b19640b7e366967a31c049d49311d9eb3a4c60cb"},
+    {file = "ruff-0.1.4-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:fdfd453fc91d9d86d6aaa33b1bafa69d114cf7421057868f0b79104079d3e66e"},
+    {file = "ruff-0.1.4-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:e8791482d508bd0b36c76481ad3117987301b86072158bdb69d796503e1c84a8"},
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+    {file = "ruff-0.1.4-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:645591a613a42cb7e5c2b667cbefd3877b21e0252b59272ba7212c3d35a5819f"},
+    {file = "ruff-0.1.4-py3-none-win32.whl", hash = "sha256:99908ca2b3b85bffe7e1414275d004917d1e0dfc99d497ccd2ecd19ad115fd0d"},
+    {file = "ruff-0.1.4-py3-none-win_amd64.whl", hash = "sha256:1dfd6bf8f6ad0a4ac99333f437e0ec168989adc5d837ecd38ddb2cc4a2e3db8a"},
+    {file = "ruff-0.1.4-py3-none-win_arm64.whl", hash = "sha256:d98ae9ebf56444e18a3e3652b3383204748f73e247dea6caaf8b52d37e6b32da"},
+    {file = "ruff-0.1.4.tar.gz", hash = "sha256:21520ecca4cc555162068d87c747b8f95e1e95f8ecfcbbe59e8dd00710586315"},
 ]
 
 [[package]]
@@ -4477,27 +4469,6 @@ docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments
 testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pip (>=19.1)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-ruff", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
 testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "packaging (>=23.1)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
 
-[[package]]
-name = "setuptools-scm"
-version = "8.0.4"
-description = "the blessed package to manage your versions by scm tags"
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "setuptools-scm-8.0.4.tar.gz", hash = "sha256:b5f43ff6800669595193fd09891564ee9d1d7dcb196cab4b2506d53a2e1c95c7"},
-    {file = "setuptools_scm-8.0.4-py3-none-any.whl", hash = "sha256:b47844cd2a84b83b3187a5782c71128c28b4c94cad8bfb871da2784a5cb54c4f"},
-]
-
-[package.dependencies]
-packaging = ">=20"
-setuptools = "*"
-typing-extensions = "*"
-
-[package.extras]
-docs = ["entangled-cli[rich]", "mkdocs", "mkdocs-entangled-plugin", "mkdocs-material", "mkdocstrings[python]", "pygments"]
-rich = ["rich"]
-test = ["build", "pytest", "rich", "wheel"]
-
 [[package]]
 name = "shapely"
 version = "2.0.2"
@@ -5179,4 +5150,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "acb0688e485872194c21e1313e20fc4a67084893b26e9b8cde1d66e3fdbb1282"
+content-hash = "9538e574ca03437994b7b0a0b6cb41842256162a2f14abfd0da26587709f145a"
diff --git a/pyproject.toml b/pyproject.toml
index b87211cc92..71b677fbb7 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -5,7 +5,8 @@ addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda
 python_files = "test_*.py"
 #timeout = "30"  # you get this long by default
 markers = [
-  "slow: tests that take awhile to run and can be skipped with -m 'not slow'"
+  "slow: tests that take awhile to run and can be skipped with -m 'not slow'",
+  "tici: tests that are only meant to run on the C3/C3X",
 ]
 testpaths = [
   "common",
@@ -140,6 +141,7 @@ parameterized = "^0.8"
 pprofile = "*"
 pre-commit = "*"
 pygame = "*"
+pympler = "*"
 pyprof2calltree = "*"
 pytest = "*"
 pytest-cov = "*"
diff --git a/release/files_common b/release/files_common
index 69a1a4dea0..0ac515a97a 100644
--- a/release/files_common
+++ b/release/files_common
@@ -6,6 +6,7 @@ launch_openpilot.sh
 
 Jenkinsfile
 SConstruct
+pyproject.toml
 
 README.md
 RELEASES.md
@@ -623,15 +624,15 @@ opendbc/tesla_can.dbc
 opendbc/tesla_radar.dbc
 opendbc/tesla_powertrain.dbc
 
-tinygrad_repo/openpilot/compile.py
+tinygrad_repo/openpilot/compile2.py
 tinygrad_repo/extra/onnx.py
 tinygrad_repo/extra/onnx_ops.py
 tinygrad_repo/extra/thneed.py
 tinygrad_repo/extra/utils.py
 tinygrad_repo/tinygrad/codegen/kernel.py
 tinygrad_repo/tinygrad/codegen/linearizer.py
-tinygrad_repo/tinygrad/codegen/optimizer.py
 tinygrad_repo/tinygrad/features/image.py
+tinygrad_repo/tinygrad/features/search.py
 tinygrad_repo/tinygrad/nn/*
 tinygrad_repo/tinygrad/renderer/cstyle.py
 tinygrad_repo/tinygrad/renderer/opencl.py
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index 70e18bbedb..c93b434677 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -20,7 +20,7 @@ from dataclasses import asdict, dataclass, replace
 from datetime import datetime
 from functools import partial
 from queue import Queue
-from typing import BinaryIO, Callable, Dict, List, Optional, Set, Union, cast
+from typing import Callable, Dict, List, Optional, Set, Union, cast
 
 import requests
 from jsonrpc import JSONRPCResponseManager, dispatcher
@@ -290,19 +290,15 @@ def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) ->
     compress = True
 
   with open(path, "rb") as f:
-    data: BinaryIO
+    content = f.read()
     if compress:
       cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path)
-      compressed = bz2.compress(f.read())
-      size = len(compressed)
-      data = io.BytesIO(compressed)
-    else:
-      size = os.fstat(f.fileno()).st_size
-      data = f
+      content = bz2.compress(content)
 
+  with io.BytesIO(content) as data:
     return requests.put(upload_item.url,
-                        data=CallbackReader(data, callback, size) if callback else data,
-                        headers={**upload_item.headers, 'Content-Length': str(size)},
+                        data=CallbackReader(data, callback, len(content)) if callback else data,
+                        headers={**upload_item.headers, 'Content-Length': str(len(content))},
                         timeout=30)
 
 
diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py
index 27ccbdccc6..e81753a6a0 100755
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@@ -9,10 +9,11 @@ import queue
 import unittest
 from dataclasses import asdict, replace
 from datetime import datetime, timedelta
+from parameterized import parameterized
 from typing import Optional
 
 from multiprocessing import Process
-from pathlib import Path
+from pympler.tracker import SummaryTracker
 from unittest import mock
 from websocket import ABNF
 from websocket._exceptions import WebSocketConnectionClosedException
@@ -57,10 +58,11 @@ class TestAthenadMethods(unittest.TestCase):
         break
 
   @staticmethod
-  def _create_file(file: str, parent: Optional[str] = None) -> str:
+  def _create_file(file: str, parent: Optional[str] = None, data: bytes = b'') -> str:
     fn = os.path.join(Paths.log_root() if parent is None else parent, file)
     os.makedirs(os.path.dirname(fn), exist_ok=True)
-    Path(fn).touch()
+    with open(fn, 'wb') as f:
+      f.write(data)
     return fn
 
 
@@ -137,19 +139,31 @@ class TestAthenadMethods(unittest.TestCase):
     if fn.endswith('.bz2'):
       self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4])
 
-
+  @parameterized.expand([(True,), (False,)])
   @with_http_server
-  def test_do_upload(self, host):
-    fn = self._create_file('qlog.bz2')
+  def test_do_upload(self, compress, host):
+    # random bytes to ensure rather large object post-compression
+    fn = self._create_file('qlog', data=os.urandom(10000 * 1024))
 
-    item = athenad.UploadItem(path=fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')
+    # warm up object tracker
+    tracker = SummaryTracker()
+    for _ in range(5):
+      tracker.diff()
+
+    upload_fn = fn + ('.bz2' if compress else '')
+    item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')
     with self.assertRaises(requests.exceptions.ConnectionError):
       athenad._do_upload(item)
 
-    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='')
+    item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='')
     resp = athenad._do_upload(item)
     self.assertEqual(resp.status_code, 201)
 
+    # assert memory cleaned up
+    for _type, num_objects, total_size in tracker.diff():
+      with self.subTest(_type=_type):
+        self.assertLess(total_size / 1024, 10, f'Object {_type} ({num_objects=}) grew larger than 10 kB while uploading file')
+
   @with_http_server
   def test_uploadFileToUrl(self, host):
     fn = self._create_file('qlog.bz2')
diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py
index c1bf22f146..4036766faa 100755
--- a/selfdrive/boardd/tests/test_pandad.py
+++ b/selfdrive/boardd/tests/test_pandad.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import os
+import pytest
 import time
 import unittest
 
@@ -8,17 +9,16 @@ from cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init
 from panda import Panda, PandaDFU, PandaProtocolMismatch
 from openpilot.selfdrive.manager.process_config import managed_processes
-from openpilot.system.hardware import HARDWARE, PC
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.tici.pins import GPIO
 
 HERE = os.path.dirname(os.path.realpath(__file__))
 
 
+@pytest.mark.tici
 class TestPandad(unittest.TestCase):
 
   def setUp(self):
-    if PC:
-      raise unittest.SkipTest("needs a panda")
     # ensure panda is up
     if len(Panda.list()) == 0:
       self._run_test(60)
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 880404feca..2e80dde010 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -114,7 +114,7 @@ class CarHarness(EnumBase):
   hyundai_r = BaseCarHarness("Hyundai R connector")
   custom = BaseCarHarness("Developer connector")
   obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.long_obdc_cable], has_connector=False)
-  gm = BaseCarHarness("GM connector")
+  gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
   nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler])
   nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler])
   mazda = BaseCarHarness("Mazda connector")
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 0b6ab814f3..cda4f0a0a2 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -139,8 +139,8 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   ],
   CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
   CAR.CIVIC_2022: [
-    HondaCarInfo("Honda Civic 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
-    HondaCarInfo("Honda Civic Hatchback 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+    HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+    HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
   ],
   CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
   CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
@@ -1545,6 +1545,7 @@ FW_VERSIONS = {
       b'77959-T47-A940\x00\x00',
       b'77959-T47-A950\x00\x00',
       b'77959-T20-M820\x00\x00',
+      b'77959-T20-A980\x00\x00',
     ],
     (Ecu.combinationMeter, 0x18DA60F1, None): [
       b'78108-T21-A220\x00\x00',
@@ -1553,6 +1554,7 @@ FW_VERSIONS = {
       b'78108-T21-A230\x00\x00',
       b'78108-T22-A020\x00\x00',
       b'78108-T21-MB10\x00\x00',
+      b'78108-T21-A740\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36161-T20-A070\x00\x00',
@@ -1580,6 +1582,7 @@ FW_VERSIONS = {
       b'37805-64A-A540\x00\x00',
       b'37805-64A-A620\x00\x00',
       b'37805-64D-P510\x00\x00',
+      b'37805-64S-AA10\x00\x00',
     ],
   },
   CAR.CLARITY: {
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index a3896ac813..ab01f1d953 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -234,7 +234,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
     HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
   ],
-  CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
+  CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
   CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
   CAR.CUSTIN_1ST_GEN: HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
 
@@ -2088,6 +2088,7 @@ FW_VERSIONS = {
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W',
       b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9260 14Y',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index c63c05cb1a..7a9f996fb2 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -5,7 +5,8 @@ from openpilot.common.params import Params
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.subaru import subarucan
-from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, CanBus, CarControllerParams, SubaruFlags, SubaruFlagsSP
+from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, \
+                                                  CanBus, CarControllerParams, SubaruFlags, SubaruFlagsSP
 
 # FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
 # involves the total steering angle change rather than rate, but these limits work well for now
@@ -154,6 +155,21 @@ class CarController:
             bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
             can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd))
 
+      if self.CP.flags & SubaruFlags.DISABLE_EYESIGHT:
+        # Tester present (keeps eyesight disabled)
+        if self.frame % 100 == 0:
+          can_sends.append([GLOBAL_ES_ADDR, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", CanBus.camera])
+
+        # Create all of the other eyesight messages to keep the rest of the car happy when eyesight is disabled
+        if self.frame % 5 == 0:
+          can_sends.append(subarucan.create_es_highbeamassist(self.packer))
+
+        if self.frame % 10 == 0:
+          can_sends.append(subarucan.create_es_static_1(self.packer))
+
+        if self.frame % 2 == 0:
+          can_sends.append(subarucan.create_es_static_2(self.packer))
+
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
     new_actuators.steerOutputCan = self.apply_steer_last
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 9b3a98613d..c945bef868 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -1,8 +1,9 @@
 from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config, create_mads_event
+from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags, SubaruFlagsSP
+from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags, SubaruFlagsSP
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -136,6 +137,9 @@ class CarInterface(CarInterfaceBase):
     #ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS)
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
 
+    if candidate in GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
+      ret.flags |= SubaruFlags.DISABLE_EYESIGHT
+
     if ret.openpilotLongitudinalControl:
       ret.longitudinalTuning.kpBP = [0., 5., 35.]
       ret.longitudinalTuning.kpV = [0.8, 1.0, 1.5]
@@ -207,5 +211,10 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
+  @staticmethod
+  def init(CP, logcan, sendcan):
+    if CP.flags & SubaruFlags.DISABLE_EYESIGHT:
+      disable_ecu(logcan, sendcan, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')
+
   def apply(self, c, now_nanos):
     return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index bf847a6d23..834d14e5fb 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -248,6 +248,30 @@ def create_es_infotainment(packer, frame, es_infotainment_msg, visual_alert):
   return packer.make_can_msg("ES_Infotainment", CanBus.main, values)
 
 
+def create_es_highbeamassist(packer):
+  values = {
+    "HBA_Available": False,
+  }
+
+  return packer.make_can_msg("ES_HighBeamAssist", CanBus.main, values)
+
+
+def create_es_static_1(packer):
+  values = {
+    "SET_3": 3,
+  }
+
+  return packer.make_can_msg("ES_STATIC_1", CanBus.main, values)
+
+
+def create_es_static_2(packer):
+  values = {
+    "SET_3": 3,
+  }
+
+  return packer.make_can_msg("ES_STATIC_2", CanBus.main, values)
+
+
 # *** Subaru Pre-global ***
 
 def subaru_preglobal_checksum(packer, values, addr, checksum_byte=7):
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index bc566b4a5d..4c38d36ef4 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -46,18 +46,23 @@ class CarControllerParams:
 
   RPM_INACTIVE = 600             # a good base rpm for zero acceleration
 
-  THROTTLE_LOOKUP_BP = [0, 1]
+  THROTTLE_LOOKUP_BP = [0, 2]
   THROTTLE_LOOKUP_V = [THROTTLE_INACTIVE, THROTTLE_MAX]
 
-  RPM_LOOKUP_BP = [0, 1]
+  RPM_LOOKUP_BP = [0, 2]
   RPM_LOOKUP_V = [RPM_INACTIVE, RPM_MAX]
 
-  BRAKE_LOOKUP_BP = [-1, 0]
+  BRAKE_LOOKUP_BP = [-3.5, 0]
   BRAKE_LOOKUP_V = [BRAKE_MAX, BRAKE_MIN]
 
 
 class SubaruFlags(IntFlag):
   SEND_INFOTAINMENT = 1
+  DISABLE_EYESIGHT = 2
+
+
+GLOBAL_ES_ADDR = 0x787
+GEN2_ES_BUTTONS_DID = b'\x11\x30'
 
 
 class SubaruFlagsSP(IntFlag):
@@ -446,6 +451,7 @@ FW_VERSIONS = {
     (Ecu.abs, 0x7b0, None): [
       b'\x7d\x97\x14\x40',
       b'\xf1\x00\xbb\x0c\x04',
+      b'm\x97\x14@',
     ],
     (Ecu.eps, 0x746, None): [
       b'}\xc0\x10\x00',
@@ -454,13 +460,15 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x787, None): [
       b'\x00\x00\x64\x35\x1f\x40\x20\x09',
       b'\x00\x00c\xe9\x1f@ \x03',
-      b'\x00\x00d\xd3\x1f@ \t'
+      b'\x00\x00d\xd3\x1f@ \t',
+      b'\x00\x00c\xe9\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xba"@p\a',
       b'\xa7)\xa0q\a',
       b'\xf1\x82\xa7)\xa0q\a',
       b'\xba"@@\a',
+      b'\xa7"@p\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xdc\xf2\x60\x60\x00',
@@ -469,6 +477,7 @@ FW_VERSIONS = {
       b'\xdc\xf2`\x81\000',
       b'\xdc\xf2`\x80\x00',
       b'\x1a\xf6F`\x00',
+      b'\xda\xf2`\x80\x00',
     ],
   },
   CAR.LEGACY_PREGLOBAL: {
@@ -477,6 +486,7 @@ FW_VERSIONS = {
       b'[\xba\xc4\x03',
       b'{\x97D\x00',
       b'[\x97D\000',
+      b'k\x9aD\x00',
     ],
     (Ecu.eps, 0x746, None): [
       b'[\xb0\x00\x01',
@@ -493,12 +503,14 @@ FW_VERSIONS = {
       b'\xa0+@p\x07',
       b'\xb4"@0\x07',
       b'\xa0"@q\a',
+      b'\xab+@p\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xbe\xf2\x00p\x00',
       b'\xbf\xfb\xc0\x80\x00',
       b'\xbd\xf2\x00`\x00',
       b'\xbf\xf2\000\x80\000',
+      b'\xbe\xfb\xc0p\x00',
     ],
   },
   CAR.OUTBACK_PREGLOBAL: {
@@ -542,6 +554,7 @@ FW_VERSIONS = {
       b'\xb4"@r\a',
       b'\xa0+@@\x07',
       b'\xa0\"@\x80\a',
+      b'\xa0*@u\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xbd\xfb\xe0\x80\x00',
@@ -635,6 +648,7 @@ FW_VERSIONS = {
       b'\xbc"`q\x07',
       b'\xe3,\xa0@\x07',
       b'\xbc,\xa0u\x07',
+      b'\xde,\xa0@\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xa5\xfe\xf7@\x00',
@@ -723,5 +737,5 @@ PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREG
 HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
 
 # Cars that temporarily fault when steering angle rate is greater than some threshold.
-# Appears to be all cars that started production after 2020
-STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020}
+# Appears to be all torque-based cars produced around 2019 - present
+STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER}
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index da5d760dfe..8cf5f3debd 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -251,6 +251,7 @@ routes = [
   CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
   CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
   # CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.IMPREZA),  # openpilot longitudinal
+  # CarTestRoute("c3d1ccb52f5f9d65|2023-07-22--01-23-20", SUBARU.OUTBACK, segment=9), # gen2 longitudinal, eyesight disabled
   CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10),
   CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3),
   CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.CROSSTREK_HYBRID, segment=2),
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 745faf7493..ddc5fcdc1c 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1941,6 +1941,7 @@ FW_VERSIONS = {
       b'\x01896634D44000\x00\x00\x00\x00',
       b'\x018966348X0000\x00\x00\x00\x00',
       b'\x01896630ED5000\x00\x00\x00\x00',
+      b'\x018966348R9200\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1962,6 +1963,7 @@ FW_VERSIONS = {
       b'F152648D60\x00\x00\x00\x00\x00\x00',
       b'F152648811\x00\x00\x00\x00\x00\x00',
       b'F152648C80\x00\x00\x00\x00\x00\x00',
+      b'F152648493\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B48261\x00\x00\x00\x00\x00\x00',
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index bf46ca52d0..29a8e9cb68 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -679,11 +679,18 @@ class Controls:
     else:
       lac_log = log.ControlsState.LateralDebugState.new_message()
       if self.sm.rcv_frame['testJoystick'] > 0:
+        # reset joystick if it hasn't been received in a while
+        should_reset_joystick = (self.sm.frame - self.sm.rcv_frame['testJoystick'])*DT_CTRL > 0.2
+        if not should_reset_joystick:
+          joystick_axes = self.sm['testJoystick'].axes
+        else:
+          joystick_axes = [0.0, 0.0]
+
         if CC.longActive:
-          actuators.accel = 4.0*clip(self.sm['testJoystick'].axes[0], -1, 1)
+          actuators.accel = 4.0*clip(joystick_axes[0], -1, 1)
 
         if CC.latActive:
-          steer = clip(self.sm['testJoystick'].axes[1], -1, 1)
+          steer = clip(joystick_axes[1], -1, 1)
           # max angle is 45 for angle-based cars, max curvature is 0.02
           actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 45., steer * -0.02
 
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index 5ddd5de5c2..4c078e1903 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -46,7 +46,8 @@ class LateralPlanner:
     self.t_idxs = np.arange(TRAJECTORY_SIZE)
     self.y_pts = np.zeros((TRAJECTORY_SIZE,))
     self.v_plan = np.zeros((TRAJECTORY_SIZE,))
-    self.v_ego = 0.0
+    self.x_sol = np.zeros((TRAJECTORY_SIZE, 4), dtype=np.float32)
+    self.v_ego = MIN_SPEED
     self.l_lane_change_prob = 0.0
     self.r_lane_change_prob = 0.0
     self.d_path_w_lines_xyz = np.zeros((TRAJECTORY_SIZE, 3))
@@ -91,11 +92,15 @@ class LateralPlanner:
     # Parse model predictions
     md = sm['modelV2']
     self.LP.parse_model(md)
-    if len(md.position.x) == TRAJECTORY_SIZE and len(md.orientation.x) == TRAJECTORY_SIZE:
+    if len(md.position.x) == TRAJECTORY_SIZE and (len(md.orientation.x) == TRAJECTORY_SIZE or
+                                                  (len(md.velocity.x) == TRAJECTORY_SIZE and len(md.lateralPlannerSolution.x) == TRAJECTORY_SIZE)):
+      if len(md.orientation.x) == TRAJECTORY_SIZE:
+        self.t_idxs = np.array(md.position.t)
+        self.plan_yaw = np.array(md.orientation.z)
+        self.plan_yaw_rate = np.array(md.orientationRate.z)
+      if len(md.velocity.x) == TRAJECTORY_SIZE and len(md.lateralPlannerSolution.x) == TRAJECTORY_SIZE:
+        self.x_sol = np.column_stack([md.lateralPlannerSolution.x, md.lateralPlannerSolution.y, md.lateralPlannerSolution.yaw, md.lateralPlannerSolution.yawRate])
       self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z])
-      self.t_idxs = np.array(md.position.t)
-      self.plan_yaw = np.array(md.orientation.z)
-      self.plan_yaw_rate = np.array(md.orientationRate.z)
       self.velocity_xyz = np.column_stack([md.velocity.x, md.velocity.y, md.velocity.z])
       car_speed = np.linalg.norm(self.velocity_xyz, axis=1) - get_speed_error(md, v_ego_car)
       self.v_plan = np.clip(car_speed, MIN_SPEED, np.inf)
@@ -120,45 +125,46 @@ class LateralPlanner:
       self.path_xyz[:, 1] += self.LP.path_offset
       self.dynamic_lane_profile_status = True
 
-    self.lat_mpc.set_weights(PATH_COST, LATERAL_MOTION_COST,
-                             LATERAL_ACCEL_COST, LATERAL_JERK_COST,
-                             STEERING_RATE_COST)
+    if self.dynamic_lane_profile_status:
+      self.lat_mpc.set_weights(PATH_COST, LATERAL_MOTION_COST,
+                               LATERAL_ACCEL_COST, LATERAL_JERK_COST,
+                               STEERING_RATE_COST)
 
-    y_pts = self.path_xyz[:LAT_MPC_N+1, 1]
-    heading_pts = self.plan_yaw[:LAT_MPC_N+1]
-    yaw_rate_pts = self.plan_yaw_rate[:LAT_MPC_N+1]
-    self.y_pts = y_pts
+      y_pts = self.path_xyz[:LAT_MPC_N+1, 1]
+      heading_pts = self.plan_yaw[:LAT_MPC_N+1]
+      yaw_rate_pts = self.plan_yaw_rate[:LAT_MPC_N+1]
+      self.y_pts = y_pts
 
-    assert len(y_pts) == LAT_MPC_N + 1
-    assert len(heading_pts) == LAT_MPC_N + 1
-    assert len(yaw_rate_pts) == LAT_MPC_N + 1
-    lateral_factor = np.clip(self.factor1 - (self.factor2 * self.v_plan**2), 0.0, np.inf)
-    p = np.column_stack([self.v_plan, lateral_factor])
-    self.lat_mpc.run(self.x0,
-                     p,
-                     y_pts,
-                     heading_pts,
-                     yaw_rate_pts)
-    # init state for next iteration
-    # mpc.u_sol is the desired second derivative of psi given x0 curv state.
-    # with x0[3] = measured_yaw_rate, this would be the actual desired yaw rate.
-    # instead, interpolate x_sol so that x0[3] is the desired yaw rate for lat_control.
-    self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3])
+      assert len(y_pts) == LAT_MPC_N + 1
+      assert len(heading_pts) == LAT_MPC_N + 1
+      assert len(yaw_rate_pts) == LAT_MPC_N + 1
+      lateral_factor = np.clip(self.factor1 - (self.factor2 * self.v_plan**2), 0.0, np.inf)
+      p = np.column_stack([self.v_plan, lateral_factor])
+      self.lat_mpc.run(self.x0,
+                       p,
+                       y_pts,
+                       heading_pts,
+                       yaw_rate_pts)
+      # init state for next iteration
+      # mpc.u_sol is the desired second derivative of psi given x0 curv state.
+      # with x0[3] = measured_yaw_rate, this would be the actual desired yaw rate.
+      # instead, interpolate x_sol so that x0[3] is the desired yaw rate for lat_control.
+      self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3])
 
-    #  Check for infeasible MPC solution
-    mpc_nans = np.isnan(self.lat_mpc.x_sol[:, 3]).any()
-    t = time.monotonic()
-    if mpc_nans or self.lat_mpc.solution_status != 0:
-      self.reset_mpc()
-      self.x0[3] = measured_curvature * self.v_ego
-      if t > self.last_cloudlog_t + 5.0:
-        self.last_cloudlog_t = t
-        cloudlog.warning("Lateral mpc - nan: True")
+      #  Check for infeasible MPC solution
+      mpc_nans = np.isnan(self.lat_mpc.x_sol[:, 3]).any()
+      t = time.monotonic()
+      if mpc_nans or self.lat_mpc.solution_status != 0:
+        self.reset_mpc()
+        self.x0[3] = measured_curvature * self.v_ego
+        if t > self.last_cloudlog_t + 5.0:
+          self.last_cloudlog_t = t
+          cloudlog.warning("Lateral mpc - nan: True")
 
-    if self.lat_mpc.cost > 1e6 or mpc_nans:
-      self.solution_invalid_cnt += 1
-    else:
-      self.solution_invalid_cnt = 0
+      if self.lat_mpc.cost > 1e6 or mpc_nans:
+        self.solution_invalid_cnt += 1
+      else:
+        self.solution_invalid_cnt = 0
 
   def get_dynamic_lane_profile(self, longitudinal_plan_sp):
     if self.dynamic_lane_profile == 1:
@@ -191,19 +197,20 @@ class LateralPlanner:
 
     lateralPlan = plan_send.lateralPlan
     lateralPlan.modelMonoTime = sm.logMonoTime['modelV2']
-    lateralPlan.dPathPoints = self.y_pts.tolist()
-    lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist()
+    lateralPlan.dPathPoints = self.y_pts.tolist() if self.dynamic_lane_profile_status else self.path_xyz[:,1].tolist()
+    lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist() if self.dynamic_lane_profile_status else self.x_sol[0:CONTROL_N, 2].tolist()
 
-    lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist()
-    lateralPlan.curvatureRates = [float(x.item() / self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
+    lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist() if self.dynamic_lane_profile_status else (self.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist()
+    lateralPlan.curvatureRates = [float(x.item() / self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] if self.dynamic_lane_profile_status else [float(0) for _ in range(CONTROL_N-1)] # TODO: unused
 
-    lateralPlan.mpcSolutionValid = bool(plan_solution_valid)
-    lateralPlan.solverExecutionTime = self.lat_mpc.solve_time
+    lateralPlan.mpcSolutionValid = bool(plan_solution_valid) if self.dynamic_lane_profile_status else bool(1)
+    lateralPlan.solverExecutionTime = self.lat_mpc.solve_time if self.dynamic_lane_profile_status else 0.0
     if self.debug_mode:
-      lateralPlan.solverCost = self.lat_mpc.cost
-      lateralPlan.solverState = log.LateralPlan.SolverState.new_message()
-      lateralPlan.solverState.x = self.lat_mpc.x_sol.tolist()
-      lateralPlan.solverState.u = self.lat_mpc.u_sol.flatten().tolist()
+      lateralPlan.solverState.x = self.lat_mpc.x_sol.tolist() if self.dynamic_lane_profile_status else self.x_sol.tolist()
+      if self.dynamic_lane_profile_status:
+        lateralPlan.solverCost = self.lat_mpc.cost
+        lateralPlan.solverState = log.LateralPlan.SolverState.new_message()
+        lateralPlan.solverState.u = self.lat_mpc.u_sol.flatten().tolist()
 
     lateralPlan.desire = self.DH.desire
     lateralPlan.useLaneLines = self.use_lanelines
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 6ee9eab328..2825fe8270 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -21,8 +21,8 @@ def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
   ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
   uiPlan = ui_send.uiPlan
   uiPlan.frameId = sm['modelV2'].frameId
-  uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist()
-  uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist()
+  uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.x_sol[:,0]).tolist()
+  uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.x_sol[:,1]).tolist()
   uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist()
   uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist()
   pm.send('uiPlan', ui_send)
diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py
index 89ad483744..0fa186baff 100755
--- a/selfdrive/manager/test/test_manager.py
+++ b/selfdrive/manager/test/test_manager.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import os
+import pytest
 import signal
 import time
 import unittest
@@ -17,6 +18,7 @@ MAX_STARTUP_TIME = 3
 BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond']
 
 
+@pytest.mark.tici
 class TestManager(unittest.TestCase):
   def setUp(self):
     os.environ['PASSIVE'] = '0'
@@ -66,10 +68,6 @@ class TestManager(unittest.TestCase):
 
         self.assertNotIn(p.name, BLACKLIST_PROCS, f"{p.name} was started")
 
-        # TODO: mapsd should exit cleanly
-        if p.name == "mapsd":
-          continue
-
         self.assertTrue(exit_code is not None, f"{p.name} failed to exit")
 
         # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 286f3a0a4a..2d15223d1e 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -58,11 +58,11 @@ lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"]+files, cmd)
 
 # Build thneed model
 if arch == "larch64" or GetOption('pc_thneed'):
-  tinygrad_opts = ["NOLOCALS=1", "IMAGE=2", "GPU=1"]
+  tinygrad_opts = []
   if not GetOption('pc_thneed'):
     # use FLOAT16 on device for speed + don't cache the CL kernels for space
     tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"]
-  cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile.py {fn}.onnx {fn}.thneed"
+  cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn}.onnx {fn}.thneed"
 
   tinygrad_files = sum([lenv.Glob("#"+x) for x in open(File("#release/files_common").abspath).read().split("\n") if x.startswith("tinygrad_repo/")], [])
   lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd)
diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index e03d93d7e8..4d3af51635 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -21,6 +21,7 @@ class ModelConstants:
   NAV_FEATURE_LEN = 256
   NAV_INSTRUCTION_LEN = 150
   DRIVING_STYLE_LEN = 12
+  LAT_PLANNER_STATE_LEN = 4
 
   # model outputs constants
   FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)
@@ -37,6 +38,7 @@ class ModelConstants:
   ROAD_EDGES_WIDTH = 2
   PLAN_WIDTH = 15
   DESIRE_PRED_WIDTH = 8
+  LAT_PLANNER_SOLUTION_WIDTH = 4
 
   NUM_LANE_LINES = 4
   NUM_ROAD_EDGES = 2
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 55d7abc1aa..7434e94287 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -71,6 +71,11 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str,
   orientation_rate = modelV2.orientationRate
   fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
+  # lateral planning
+  solution = modelV2.lateralPlannerSolution
+  solution.x, solution.y, solution.yaw, solution.yawRate = [net_output_data['lat_planner_solution'][0,:,i].tolist() for i in range(4)]
+  solution.xStd, solution.yStd, solution.yawStd, solution.yawRateStd = [net_output_data['lat_planner_solution_stds'][0,:,i].tolist() for i in range(4)]
+
   # times at X_IDXS according to model plan
   PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
   PLAN_T_IDXS[0] = 0.0
@@ -87,7 +92,7 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str,
     # interpolate to find `t` for the current xidx
     current_x_val = plan_x[tidx]
     next_x_val = plan_x[tidx+1]
-    p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val)
+    p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan')
     PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]
 
   # lane lines
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 5df4e5e172..2b211b22e6 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import sys
 import os
 import time
 import pickle
@@ -12,15 +11,19 @@ from cereal.messaging import PubMaster, SubMaster
 from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.system.swaglog import cloudlog
 from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.numpy_fast import interp
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.model import get_warp_matrix
+from openpilot.selfdrive import sentry
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
 
+PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 MODEL_PATHS = {
@@ -53,6 +56,7 @@ class ModelState:
     self.inputs = {
       'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
       'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
+      'lat_planner_state': np.zeros(ModelConstants.LAT_PLANNER_STATE_LEN, dtype=np.float32),
       'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32),
       'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32),
       'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
@@ -104,12 +108,15 @@ class ModelState:
 
     self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:]
     self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :]
+    self.inputs['lat_planner_state'][2] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 2])
+    self.inputs['lat_planner_state'][3] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 3])
     return outputs
 
 
 def main():
-  cloudlog.bind(daemon="selfdrive.modeld.modeld")
-  setproctitle("selfdrive.modeld.modeld")
+  sentry.set_tag("daemon", PROCESS_NAME)
+  cloudlog.bind(daemon=PROCESS_NAME)
+  setproctitle(PROCESS_NAME)
   config_realtime_process(7, 54)
 
   cl_context = CLContext()
@@ -280,4 +287,7 @@ if __name__ == "__main__":
   try:
     main()
   except KeyboardInterrupt:
-    sys.exit()
+    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
+  except Exception:
+    sentry.capture_exception()
+    raise
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index fcbbb2c1f5..e2897b08a5 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:18e53fa5d0f9a185833d50fa0d777725ca715460062f3a2c050847588525d87c
-size 52272467
+oid sha256:0b7184d46dc2ba3f84eb748252634205105a3742bac29942ae4380b0332fa850
+size 52524758
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index a7b160fcea..9d37a5fad4 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -93,6 +93,7 @@ class Parser:
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
                    out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
     for k in ['lead_prob', 'lane_lines_prob', 'meta']:
       self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py
index 7ae6d5308f..e010f6cfd6 100755
--- a/selfdrive/modeld/tests/test_modeld.py
+++ b/selfdrive/modeld/tests/test_modeld.py
@@ -13,6 +13,7 @@ from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera
 IMG = np.zeros(int(tici_f_frame_size[0]*tici_f_frame_size[1]*(3/2)), dtype=np.uint8)
 IMG_BYTES = IMG.flatten().tobytes()
 
+
 class TestModeld(unittest.TestCase):
 
   def setUp(self):
diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript
index d1db79506a..c116ef1535 100644
--- a/selfdrive/navd/SConscript
+++ b/selfdrive/navd/SConscript
@@ -4,7 +4,7 @@ map_env = qt_env.Clone()
 libs = ['qt_widgets', 'qt_util', 'qmapboxgl', common, messaging, cereal, visionipc, transformations,
         'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"]
 if arch == 'larch64':
-  libs.append('EGL')
+  libs.append(':libEGL_mesa.so.0')
 
 if arch in ['larch64', 'aarch64', 'x86_64']:
   if arch == 'x86_64':
diff --git a/selfdrive/navd/main.cc b/selfdrive/navd/main.cc
index f8501bf4a5..5251b046fb 100644
--- a/selfdrive/navd/main.cc
+++ b/selfdrive/navd/main.cc
@@ -4,14 +4,19 @@
 #include <QApplication>
 #include <QDebug>
 
+#include "common/util.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/maps/map_helpers.h"
 #include "selfdrive/navd/map_renderer.h"
 #include "system/hardware/hw.h"
 
 int main(int argc, char *argv[]) {
+  Hardware::config_cpu_rendering();
+
   qInstallMessageHandler(swagLogMessageHandler);
   setpriority(PRIO_PROCESS, 0, -20);
+  int ret = util::set_core_affinity({0, 1, 2, 3});
+  assert(ret == 0);
 
   QApplication app(argc, argv);
   std::signal(SIGINT, sigTermHandler);
diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py
index 1c3d8acd7f..dbd6add995 100755
--- a/selfdrive/navd/tests/test_map_renderer.py
+++ b/selfdrive/navd/tests/test_map_renderer.py
@@ -1,5 +1,7 @@
 #!/usr/bin/env python3
+import numpy as np
 import os
+import pytest
 import unittest
 import requests
 import threading
@@ -16,6 +18,11 @@ CACHE_PATH = "/data/mbgl-cache-navd.db"
 LOCATION1 = (32.7174, -117.16277)
 LOCATION2 = (32.7558, -117.2037)
 
+DEFAULT_ITERATIONS = 30 * LLK_DECIMATION
+
+LOCATION1_REPEATED = [LOCATION1] * DEFAULT_ITERATIONS
+LOCATION2_REPEATED = [LOCATION2] * DEFAULT_ITERATIONS
+
 def gen_llk(location=LOCATION1):
   msg = messaging.new_message('liveLocationKalman')
   msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True}
@@ -27,19 +34,12 @@ def gen_llk(location=LOCATION1):
 class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
   INTERNET_ACTIVE = True
 
-  def setup(self):
-    if self.INTERNET_ACTIVE:
-      super().setup()
-
-  def handle(self):
-    if self.INTERNET_ACTIVE:
-      super().handle()
-
-  def finish(self):
-    if self.INTERNET_ACTIVE:
-      super().finish()
-
   def do_GET(self):
+    if not self.INTERNET_ACTIVE:
+      self.send_response(500)
+      self.end_headers()
+      return
+
     url = f'https://api.mapbox.com{self.path}'
 
     headers = dict(self.headers)
@@ -110,15 +110,14 @@ class TestMapRenderer(unittest.TestCase):
     assert self.vipc.connect(False)
     self.vipc.recv()
 
-
-  def _run_test(self, expect_valid, location=LOCATION1):
+  def _run_test(self, expect_valid, locations=LOCATION1_REPEATED):
     starting_frame_id = None
 
-    self.location = location
+    render_times = []
 
     # run test
     prev_frame_id = -1
-    for i in range(30*LLK_DECIMATION):
+    for i, location in enumerate(locations):
       frame_expected = (i+1) % LLK_DECIMATION == 0
 
       if self.sm.logMonoTime['mapRenderState'] == 0:
@@ -131,7 +130,7 @@ class TestMapRenderer(unittest.TestCase):
       if starting_frame_id is None:
         starting_frame_id = prev_frame_id
 
-      llk = gen_llk(self.location)
+      llk = gen_llk(location)
       self.pm.send("liveLocationKalman", llk)
       self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
       self.sm.update(1000 if frame_expected else 0)
@@ -157,6 +156,7 @@ class TestMapRenderer(unittest.TestCase):
         assert self.sm['mapRenderState'].renderTime == 0.
       else:
         assert 0. < self.sm['mapRenderState'].renderTime < 0.1
+        render_times.append(self.sm['mapRenderState'].renderTime)
 
       # check vision ipc output
       assert self.vipc.recv() is not None
@@ -164,6 +164,8 @@ class TestMapRenderer(unittest.TestCase):
       assert self.vipc.timestamp_sof == llk.logMonoTime
       assert self.vipc.frame_id == self.sm['mapRenderState'].frameId
 
+    return render_times
+
   def test_with_internet(self):
     self._setup_test()
     self._run_test(True)
@@ -180,13 +182,40 @@ class TestMapRenderer(unittest.TestCase):
     self.server.disable_internet()
 
     # change locations to force mapsd to refetch
-    self._run_test(False, LOCATION2)
+    self._run_test(False, LOCATION2_REPEATED)
 
     self.server.enable_internet()
-    self._run_test(True, LOCATION2)
+    self._run_test(True, LOCATION2_REPEATED)
+
+    self._run_test(True, LOCATION2_REPEATED)
+
+  @pytest.mark.tici
+  def test_render_time_distribution(self):
+    self._setup_test()
+    # from location1 -> location2 and back
+    locations = np.array([*np.linspace(LOCATION1, LOCATION2, 2000), *np.linspace(LOCATION2, LOCATION1, 2000)]).tolist()
+
+    render_times = self._run_test(True, locations)
+
+    _min = np.min(render_times)
+    _max = np.max(render_times)
+    _mean = np.mean(render_times)
+    _median = np.median(render_times)
+    _stddev = np.std(render_times)
+
+    print(f"Stats: min: {_min}, max: {_max}, mean: {_mean}, median: {_median}, stddev: {_stddev}, count: {len(render_times)}")
+
+    def assert_stat(stat, nominal, tol=0.3):
+      tol = (nominal / (1+tol)), (nominal * (1+tol))
+      self.assertTrue(tol[0] < stat < tol[1], f"{stat} not in tolerance {tol}")
+
+    assert_stat(_mean,   0.030)
+    assert_stat(_median, 0.027)
+    assert_stat(_stddev, 0.0078)
+
+    self.assertLess(_max, 0.065)
+    self.assertGreater(_min, 0.015)
 
-    self.location = LOCATION1
-    self._run_test(True, LOCATION2)
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/test/docker_common.sh b/selfdrive/test/docker_common.sh
index 1b3c705494..92da71ba66 100644
--- a/selfdrive/test/docker_common.sh
+++ b/selfdrive/test/docker_common.sh
@@ -1,17 +1,17 @@
-if [ $1 = "base" ]; then
+if [ "$1" = "base" ]; then
   export DOCKER_IMAGE=openpilot-base
   export DOCKER_FILE=Dockerfile.openpilot_base
-elif [ $1 = "sim" ]; then
+elif [ "$1" = "sim" ]; then
   export DOCKER_IMAGE=openpilot-sim
   export DOCKER_FILE=tools/sim/Dockerfile.sim
-elif [ $1 = "prebuilt" ]; then
+elif [ "$1" = "prebuilt" ]; then
   export DOCKER_IMAGE=openpilot-prebuilt
   export DOCKER_FILE=Dockerfile.openpilot
-elif [ $1 = "cl" ]; then
+elif [ "$1" = "cl" ]; then
   export DOCKER_IMAGE=openpilot-base-cl
   export DOCKER_FILE=Dockerfile.openpilot_base_cl
 else
-  echo "Invalid docker build image $1"
+  echo "Invalid docker build image: '$1'"
   exit 1
 fi
 
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index a445679691..ad5192dbba 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -94,6 +94,8 @@ def migrate_peripheralState(lr):
 def migrate_cameraStates(lr):
   all_msgs = []
   frame_to_encode_id = defaultdict(dict)
+  # just for encodeId fallback mechanism
+  min_frame_id = defaultdict(lambda: float('inf'))
 
   for msg in lr:
     if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
@@ -111,10 +113,18 @@ def migrate_cameraStates(lr):
       continue
 
     camera_state = getattr(msg, msg.which())
+    min_frame_id[msg.which()] = min(min_frame_id[msg.which()], camera_state.frameId)
+
     encode_id = frame_to_encode_id[msg.which()].get(camera_state.frameId)
     if encode_id is None:
       print(f"Missing encoded frame for camera feed {msg.which()} with frameId: {camera_state.frameId}")
-      continue
+      if len(frame_to_encode_id[msg.which()]) != 0:
+        continue
+
+      # fallback mechanism for logs without encodeIdx (e.g. logs from before 2022 with dcamera recording disabled)
+      # try to fake encode_id by subtracting lowest frameId
+      encode_id = camera_state.frameId - min_frame_id[msg.which()]
+      print(f"Faking encodeId to {encode_id} for camera feed {msg.which()} with frameId: {camera_state.frameId}")
 
     new_msg = messaging.new_message(msg.which())
     new_camera_state = getattr(new_msg, new_msg.which())
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index ca538ae160..2841386bf4 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -23,6 +23,7 @@ MAX_FRAMES = 100 if PC else 600
 NAV_FRAMES = 50
 
 NO_NAV = "NO_NAV" in os.environ
+NO_MODEL = "NO_MODEL" in os.environ
 SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))
 
 
@@ -161,8 +162,10 @@ if __name__ == "__main__":
   else:
     os.environ['MAPS_HOST'] = BASE_URL.rstrip('/')
 
+  log_msgs = []
   # run replays
-  log_msgs = model_replay(lr, frs)
+  if not NO_MODEL:
+    log_msgs += model_replay(lr, frs)
   if not NO_NAV:
     log_msgs += nav_model_replay(lr)
 
@@ -177,10 +180,11 @@ if __name__ == "__main__":
       cmp_log = []
 
       # logs are ordered based on type: modelV2, driverStateV2, nav messages (navThumbnail, mapRenderState, navModel)
-      model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "cameraOdometry"))
-      cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*2]
-      dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
-      cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES]
+      if not NO_MODEL:
+        model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "cameraOdometry"))
+        cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*2]
+        dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
+        cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES]
       if not NO_NAV:
         nav_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ["navThumbnail", "mapRenderState", "navModel"])
         nav_logs = all_logs[nav_start_index:nav_start_index + NAV_FRAMES*3]
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 2a4113a77f..977f19e7bc 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-0e0f55cf3bb2cf79b44adf190e6387a83deb6646
+35a05ff1b68062c9478b2adfe96f1c294bee1b6c
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 0cb8ac9cac..a520b3d740 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -27,6 +27,7 @@ from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture
 from openpilot.tools.lib.logreader import LogIterable
+from openpilot.tools.lib.framereader import BaseFrameReader
 
 # Numpy gives different results based on CPU features after version 19
 NUMPY_TOLERANCE = 1e-7
@@ -201,16 +202,15 @@ class ProcessContainer:
 
     self.environ_config = environ_config
 
-  def _setup_vision_ipc(self, all_msgs):
+  def _setup_vision_ipc(self, all_msgs: LogIterable, frs: Dict[str, Any]):
     assert len(self.cfg.vision_pubs) != 0
 
-    device_type = next(str(msg.initData.deviceType) for msg in all_msgs if msg.which() == "initData")
-
     vipc_server = VisionIpcServer("camerad")
     streams_metas = available_streams(all_msgs)
     for meta in streams_metas:
       if meta.camera_state in self.cfg.vision_pubs:
-        vipc_server.create_buffers(meta.stream, 2, False, *meta.frame_sizes[device_type])
+        frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h)
+        vipc_server.create_buffers(meta.stream, 2, False, *frame_size)
     vipc_server.start_listener()
 
     self.vipc_server = vipc_server
@@ -224,7 +224,7 @@ class ProcessContainer:
 
   def start(
     self, params_config: Dict[str, Any], environ_config: Dict[str, Any],
-    all_msgs: LogIterable,
+    all_msgs: LogIterable, frs: Optional[Dict[str, BaseFrameReader]],
     fingerprint: Optional[str], capture_output: bool
   ):
     with self.prefix as p:
@@ -241,7 +241,8 @@ class ProcessContainer:
       self.sockets = [messaging.sub_sock(s, timeout=100) for s in self.cfg.subs]
 
       if len(self.cfg.vision_pubs) != 0:
-        self._setup_vision_ipc(all_msgs)
+        assert frs is not None
+        self._setup_vision_ipc(all_msgs, frs)
         assert self.vipc_server is not None
 
       if capture_output:
@@ -265,7 +266,7 @@ class ProcessContainer:
       self.prefix.clean_dirs()
       self._clean_env()
 
-  def run_step(self, msg: capnp._DynamicStructReader, frs: Optional[Dict[str, Any]]) -> List[capnp._DynamicStructReader]:
+  def run_step(self, msg: capnp._DynamicStructReader, frs: Optional[Dict[str, BaseFrameReader]]) -> List[capnp._DynamicStructReader]:
     assert self.rc and self.pm and self.sockets and self.process.proc
 
     output_msgs = []
@@ -622,7 +623,7 @@ def replay_process_with_name(name: Union[str, Iterable[str]], lr: LogIterable, *
 
 
 def replay_process(
-  cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: LogIterable, frs: Optional[Dict[str, Any]] = None,
+  cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: LogIterable, frs: Optional[Dict[str, BaseFrameReader]] = None,
   fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None,
   captured_output_store: Optional[Dict[str, Dict[str, str]]] = None, disable_progress: bool = False
 ) -> List[capnp._DynamicStructReader]:
@@ -650,7 +651,7 @@ def replay_process(
 
 
 def _replay_multi_process(
-  cfgs: List[ProcessConfig], lr: LogIterable, frs: Optional[Dict[str, Any]], fingerprint: Optional[str],
+  cfgs: List[ProcessConfig], lr: LogIterable, frs: Optional[Dict[str, BaseFrameReader]], fingerprint: Optional[str],
   custom_params: Optional[Dict[str, Any]], captured_output_store: Optional[Dict[str, Dict[str, str]]], disable_progress: bool
 ) -> List[capnp._DynamicStructReader]:
   if fingerprint is not None:
@@ -677,7 +678,7 @@ def _replay_multi_process(
     for cfg in cfgs:
       container = ProcessContainer(cfg)
       containers.append(container)
-      container.start(params_config, env_config, all_msgs, fingerprint, captured_output_store is not None)
+      container.start(params_config, env_config, all_msgs, frs, fingerprint, captured_output_store is not None)
 
     all_pubs = {pub for container in containers for pub in container.pubs}
     all_subs = {sub for container in containers for sub in container.subs}
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 7f484d2658..40ac91ee70 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-d05b67ec66630521e8cedb90981002d57d738f6d
+dbea36698ba48429b201b138846165eb4c329b92
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index 5024ecaee8..245b5b2709 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -3,18 +3,42 @@ import os
 import argparse
 import time
 import capnp
+import numpy as np
 
 from typing import Union, Iterable, Optional, List, Any, Dict, Tuple
 
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
                                                                    check_openpilot_enabled, get_custom_params_from_lr
+from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_FRAME_SIZES
 from openpilot.selfdrive.test.update_ci_routes import upload_route
 from openpilot.tools.lib.route import Route
-from openpilot.tools.lib.framereader import FrameReader
+from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
 from openpilot.tools.lib.logreader import LogReader, LogIterable
 from openpilot.tools.lib.helpers import save_log
 
 
+class DummyFrameReader(BaseFrameReader):
+  def __init__(self, w: int, h: int, frame_count: int, pix_val: int):
+    self.pix_val = pix_val
+    self.w, self.h = w, h
+    self.frame_count = frame_count
+    self.frame_type = FrameType.raw
+
+  def get(self, idx, count=1, pix_fmt="yuv420p"):
+    if pix_fmt == "rgb24":
+      shape = (self.h, self.w, 3)
+    elif pix_fmt == "nv12" or pix_fmt == "yuv420p":
+      shape = (int((self.h * self.w) * 3 / 2),)
+    else:
+      raise NotImplementedError
+
+    return [np.full(shape, self.pix_val, dtype=np.uint8) for _ in range(count)]
+
+  @staticmethod
+  def zero_dcamera():
+    return DummyFrameReader(*DRIVER_FRAME_SIZES["tici"], 1200, 0)
+
+
 def regen_segment(
   lr: LogIterable, frs: Optional[Dict[str, Any]] = None,
   processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False
@@ -31,7 +55,8 @@ def regen_segment(
 
 
 def setup_data_readers(
-    route: str, sidx: int, use_route_meta: bool, needs_driver_cam: bool = True, needs_road_cam: bool = True
+    route: str, sidx: int, use_route_meta: bool,
+    needs_driver_cam: bool = True, needs_road_cam: bool = True, dummy_driver_cam: bool = False
 ) -> Tuple[LogReader, Dict[str, Any]]:
   if use_route_meta:
     r = Route(route)
@@ -41,8 +66,13 @@ def setup_data_readers(
       frs['roadCameraState'] = FrameReader(r.camera_paths()[sidx])
     if needs_road_cam and  len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None:
       frs['wideRoadCameraState'] = FrameReader(r.ecamera_paths()[sidx])
-    if needs_driver_cam and len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
-      frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
+    if needs_driver_cam:
+      if dummy_driver_cam:
+        frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
+      elif len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
+        device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
+        assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
+        frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
   else:
     lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2")
     frs = {}
@@ -51,14 +81,19 @@ def setup_data_readers(
       if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
         frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc")
     if needs_driver_cam:
-      frs['driverCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc")
+      if dummy_driver_cam:
+        frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
+      else:
+        device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
+        assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
+        frs['driverCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc")
 
   return lr, frs
 
 
 def regen_and_save(
   route: str, sidx: int, processes: Union[str, Iterable[str]] = "all", outdir: str = FAKEDATA,
-  upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False
+  upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False, dummy_driver_cam: bool = False
 ) -> str:
   if not isinstance(processes, str) and not hasattr(processes, "__iter__"):
     raise ValueError("whitelist_proc must be a string or iterable")
@@ -77,7 +112,8 @@ def regen_and_save(
   all_vision_pubs = {pub for cfg in replayed_processes for pub in cfg.vision_pubs}
   lr, frs = setup_data_readers(route, sidx, use_route_meta,
                                needs_driver_cam="driverCameraState" in all_vision_pubs,
-                               needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs)
+                               needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs,
+                               dummy_driver_cam=dummy_driver_cam)
   output_logs = regen_segment(lr, frs, replayed_processes, disable_tqdm=disable_tqdm)
 
   log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime()))
@@ -107,6 +143,7 @@ if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Generate new segments from old ones")
   parser.add_argument("--upload", action="store_true", help="Upload the new segment to the CI bucket")
   parser.add_argument("--outdir", help="log output dir", default=FAKEDATA)
+  parser.add_argument("--dummy-dcamera", action='store_true', help="Use dummy blank driver camera")
   parser.add_argument("--whitelist-procs", type=comma_separated_list, default=all_procs,
                       help="Comma-separated whitelist of processes to regen (e.g. controlsd,radard)")
   parser.add_argument("--blacklist-procs", type=comma_separated_list, default=[],
@@ -117,4 +154,4 @@ if __name__ == "__main__":
 
   blacklist_set = set(args.blacklist_procs)
   processes = [p for p in args.whitelist_procs if p not in blacklist_set]
-  regen_and_save(args.route, args.seg, processes=processes, upload=args.upload, outdir=args.outdir)
+  regen_and_save(args.route, args.seg, processes=processes, upload=args.upload, outdir=args.outdir, dummy_driver_cam=args.dummy_dcamera)
diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py
index b797b9b0da..656a5b89e1 100755
--- a/selfdrive/test/process_replay/regen_all.py
+++ b/selfdrive/test/process_replay/regen_all.py
@@ -18,7 +18,7 @@ def regen_job(segment, upload, disable_tqdm):
     fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11))
     try:
       relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload, use_route_meta=False,
-                            outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm)
+                            outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm, dummy_driver_cam=True)
       relr = '|'.join(relr.split('/')[-2:])
       return f'  ("{segment[0]}", "{relr}"), '
     except Exception as e:
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index c3321208b6..5429c9b63e 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -41,23 +41,23 @@ source_segments = [
 ]
 
 segments = [
-  ("BODY", "aregenECF15D9E559|2023-05-10--14-26-40--0"),
-  ("HYUNDAI", "aregenAB9F543F70A|2023-05-10--14-28-25--0"),
-  ("HYUNDAI2", "aregen39F5A028F96|2023-05-10--14-31-00--0"),
-  ("TOYOTA", "aregen8D6A8B36E8D|2023-05-10--14-32-38--0"),
-  ("TOYOTA2", "aregenB1933C49809|2023-05-10--14-34-14--0"),
-  ("TOYOTA3", "aregen5D9915223DC|2023-05-10--14-36-43--0"),
-  ("HONDA", "aregen484B732B675|2023-05-10--14-38-23--0"),
-  ("HONDA2", "aregenAF6ACED4713|2023-05-10--14-40-01--0"),
-  ("CHRYSLER", "aregen99B094E1E2E|2023-05-10--14-41-40--0"),
-  ("RAM", "aregen5C2487E1EEB|2023-05-10--14-44-09--0"),
-  ("SUBARU", "aregen98D277B792E|2023-05-10--14-46-46--0"),
-  ("GM", "aregen377BA28D848|2023-05-10--14-48-28--0"),
-  ("GM2", "aregen7CA0CC0F0C2|2023-05-10--14-51-00--0"),
-  ("NISSAN", "aregen7097BF01563|2023-05-10--14-52-43--0"),
-  ("VOLKSWAGEN", "aregen765AF3D2CB5|2023-05-10--14-54-23--0"),
-  ("MAZDA", "aregen3053762FF2E|2023-05-10--14-56-53--0"),
-  ("FORD", "aregenDDE0F89FA1E|2023-05-10--14-59-26--0"),
+  ("BODY", "regen997DF2697CB|2023-10-30--23-14-29--0"),
+  ("HYUNDAI", "regen2A9D2A8E0B4|2023-10-30--23-13-34--0"),
+  ("HYUNDAI2", "regen6CA24BC3035|2023-10-30--23-14-28--0"),
+  ("TOYOTA", "regen5C019D76307|2023-10-30--23-13-31--0"),
+  ("TOYOTA2", "regen5DCADA88A96|2023-10-30--23-14-57--0"),
+  ("TOYOTA3", "regen7204CA3A498|2023-10-30--23-15-55--0"),
+  ("HONDA", "regen048F8FA0B24|2023-10-30--23-15-53--0"),
+  ("HONDA2", "regen7D2D3F82D5B|2023-10-30--23-15-55--0"),
+  ("CHRYSLER", "regen7125C42780C|2023-10-30--23-16-21--0"),
+  ("RAM", "regen2731F3213D2|2023-10-30--23-18-11--0"),
+  ("SUBARU", "regen86E4C1B4DDD|2023-10-30--23-18-14--0"),
+  ("GM", "regenF6393D64745|2023-10-30--23-17-18--0"),
+  ("GM2", "regen220F830C05B|2023-10-30--23-18-39--0"),
+  ("NISSAN", "regen4F671F7C435|2023-10-30--23-18-40--0"),
+  ("VOLKSWAGEN", "regen8BDFE7307A0|2023-10-30--23-19-36--0"),
+  ("MAZDA", "regen2E9F1A15FD5|2023-10-30--23-20-36--0"),
+  ("FORD", "regen6D39E54606E|2023-10-30--23-20-54--0"),
   ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
diff --git a/selfdrive/test/process_replay/test_regen.py b/selfdrive/test/process_replay/test_regen.py
index ec1277a76c..f352205564 100755
--- a/selfdrive/test/process_replay/test_regen.py
+++ b/selfdrive/test/process_replay/test_regen.py
@@ -4,13 +4,12 @@ import unittest
 
 from parameterized import parameterized
 
-from openpilot.selfdrive.test.process_replay.regen import regen_segment
-from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled, CONFIGS
+from openpilot.selfdrive.test.process_replay.regen import regen_segment, DummyFrameReader
+from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled
 from openpilot.selfdrive.test.openpilotci import get_url
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.framereader import FrameReader
 
-EXCLUDED_PROCESSES = {"dmonitoringd", "dmonitoringmodeld"}
 TESTED_SEGMENTS = [
   ("PRIUS_C2", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA PRIUS 2017:     NEO, pandaStateDEPRECATED, no peripheralState, sensorEventsDEPRECATED
   # Enable these once regen on CI becomes faster or use them for different tests running controlsd in isolation
@@ -21,9 +20,9 @@ TESTED_SEGMENTS = [
 
 def ci_setup_data_readers(route, sidx):
   lr = LogReader(get_url(route, sidx, "rlog"))
-  # dm disabled
   frs = {
     'roadCameraState': FrameReader(get_url(route, sidx, "fcamera")),
+    'driverCameraState': DummyFrameReader.zero_dcamera()
   }
   if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
     frs["wideRoadCameraState"] = FrameReader(get_url(route, sidx, "ecamera"))
@@ -34,11 +33,9 @@ def ci_setup_data_readers(route, sidx):
 class TestRegen(unittest.TestCase):
   @parameterized.expand(TESTED_SEGMENTS)
   def test_engaged(self, case_name, segment):
-    tested_procs = [p for p in CONFIGS if p.proc_name not in EXCLUDED_PROCESSES]
-
     route, sidx = segment.rsplit("--", 1)
     lr, frs = ci_setup_data_readers(route, sidx)
-    output_logs = regen_segment(lr, frs, processes=tested_procs, disable_tqdm=True)
+    output_logs = regen_segment(lr, frs, disable_tqdm=True)
 
     engaged = check_openpilot_enabled(output_logs)
     self.assertTrue(engaged, f"openpilot not engaged in {case_name}")
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index ca458f2a79..c34e097f73 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -43,11 +43,11 @@ while true; do
     sudo systemctl start ssh
   fi
 
-  if ! pgrep -f 'ciui.py' > /dev/null 2>&1; then
-    echo 'starting UI'
-    cp $SOURCE_DIR/selfdrive/test/ciui.py /data/
-    /data/ciui.py &
-  fi
+  #if ! pgrep -f 'ciui.py' > /dev/null 2>&1; then
+  #  echo 'starting UI'
+  #  cp $SOURCE_DIR/selfdrive/test/ciui.py /data/
+  #  /data/ciui.py &
+  #fi
 
   sleep 5s
 done
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index e4f6bccf6c..0e9d207da3 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -3,6 +3,9 @@ import bz2
 import math
 import json
 import os
+import pathlib
+import psutil
+import pytest
 import shutil
 import subprocess
 import time
@@ -31,7 +34,7 @@ PROCS = {
   "./encoderd": 17.0,
   "./camerad": 14.5,
   "./locationd": 11.0,
-  "./mapsd": 2.0,
+  "./mapsd": 1.5,
   "selfdrive.controls.plannerd": 16.5,
   "./_ui": 18.0,
   "selfdrive.locationd.paramsd": 9.0,
@@ -96,6 +99,7 @@ def cputime_total(ct):
   return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
 
 
+@pytest.mark.tici
 class TestOnroad(unittest.TestCase):
 
   @classmethod
@@ -151,6 +155,8 @@ class TestOnroad(unittest.TestCase):
       cls.segments = cls.segments[:-1]
 
     finally:
+      cls.gpu_procs = {psutil.Process(int(f.name)).name() for f in pathlib.Path('/sys/devices/virtual/kgsl/kgsl/proc/').iterdir() if f.is_dir()}
+
       if proc is not None:
         proc.terminate()
         if proc.wait(60) is None:
@@ -296,6 +302,9 @@ class TestOnroad(unittest.TestCase):
     # expected to go up while the MSGQ buffers fill up
     self.assertLessEqual(max(mems) - min(mems), 3.0)
 
+  def test_gpu_usage(self):
+    self.assertEqual(self.gpu_procs, {"weston", "_ui", "camerad", "selfdrive.modeld.modeld"})
+
   def test_camera_processing_time(self):
     result = "\n"
     result += "------------------------------------------------\n"
diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py
index 501ce16b64..cc2cc6514e 100755
--- a/selfdrive/test/test_time_to_onroad.py
+++ b/selfdrive/test/test_time_to_onroad.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import os
+import pytest
 import time
 import subprocess
 
@@ -9,6 +10,7 @@ from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.test.helpers import set_params_enabled
 
 
+@pytest.mark.tici
 def test_time_to_onroad():
   # launch
   set_params_enabled()
diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py
index e679cd2c3b..dd79e03de4 100755
--- a/selfdrive/test/test_updated.py
+++ b/selfdrive/test/test_updated.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import datetime
 import os
+import pytest
 import time
 import tempfile
 import unittest
@@ -13,6 +14,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 
 
+@pytest.mark.tici
 class TestUpdated(unittest.TestCase):
 
   def setUp(self):
diff --git a/selfdrive/ui/qt/body.cc b/selfdrive/ui/qt/body.cc
index f2628d304f..e01adbe063 100644
--- a/selfdrive/ui/qt/body.cc
+++ b/selfdrive/ui/qt/body.cc
@@ -63,9 +63,9 @@ BodyWindow::BodyWindow(QWidget *parent) : fuel_filter(1.0, 5., 1. / UI_FREQ), QW
   face = new QLabel();
   face->setAlignment(Qt::AlignCenter);
   layout->addWidget(face);
-  awake = new QMovie("../assets/body/awake.gif");
+  awake = new QMovie("../assets/body/awake.gif", {}, this);
   awake->setCacheMode(QMovie::CacheAll);
-  sleep = new QMovie("../assets/body/sleep.gif");
+  sleep = new QMovie("../assets/body/sleep.gif", {}, this);
   sleep->setCacheMode(QMovie::CacheAll);
 
   // record button
diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc
index ed843610a8..022355e3ce 100644
--- a/selfdrive/ui/qt/maps/map_helpers.cc
+++ b/selfdrive/ui/qt/maps/map_helpers.cc
@@ -21,6 +21,7 @@ QMapboxGLSettings get_mapbox_settings() {
 
   if (!Hardware::PC()) {
     settings.setCacheDatabasePath(MAPS_CACHE_PATH);
+    settings.setCacheDatabaseMaximumSize(100 * 1024 * 1024);
   }
   settings.setApiBaseUrl(MAPS_HOST);
   settings.setAccessToken(get_mapbox_token());
diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc
index 1b481b64b1..ce88ab964a 100644
--- a/selfdrive/ui/qt/network/networking.cc
+++ b/selfdrive/ui/qt/network/networking.cc
@@ -105,6 +105,7 @@ void Networking::showEvent(QShowEvent *event) {
 }
 
 void Networking::hideEvent(QHideEvent *event) {
+  main_layout->setCurrentWidget(wifiScreen);
   wifi->stop();
 }
 
diff --git a/selfdrive/ui/qt/widgets/wifi.cc b/selfdrive/ui/qt/widgets/wifi.cc
index ed5825ab77..9c5289a22d 100644
--- a/selfdrive/ui/qt/widgets/wifi.cc
+++ b/selfdrive/ui/qt/widgets/wifi.cc
@@ -18,8 +18,8 @@ WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
     title_layout->setSpacing(32);
     {
       QLabel *icon = new QLabel;
-      QPixmap *pixmap = new QPixmap("../assets/offroad/icon_wifi_strength_full.svg");
-      icon->setPixmap(pixmap->scaledToWidth(80, Qt::SmoothTransformation));
+      QPixmap pixmap("../assets/offroad/icon_wifi_strength_full.svg");
+      icon->setPixmap(pixmap.scaledToWidth(80, Qt::SmoothTransformation));
       title_layout->addWidget(icon);
 
       QLabel *title = new QLabel(tr("Setup Wi-Fi"));
@@ -68,8 +68,8 @@ WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
       title_layout->addStretch();
 
       QLabel *icon = new QLabel;
-      QPixmap *pixmap = new QPixmap("../assets/offroad/icon_wifi_uploading.svg");
-      icon->setPixmap(pixmap->scaledToWidth(120, Qt::SmoothTransformation));
+      QPixmap pixmap("../assets/offroad/icon_wifi_uploading.svg");
+      icon->setPixmap(pixmap.scaledToWidth(120, Qt::SmoothTransformation));
       title_layout->addWidget(icon);
     }
     uploading_layout->addLayout(title_layout);
diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py
index b680c1df67..ad3a9fdc91 100755
--- a/system/camerad/test/test_camerad.py
+++ b/system/camerad/test/test_camerad.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import pytest
 import time
 import unittest
 import numpy as np
@@ -8,7 +9,6 @@ import cereal.messaging as messaging
 from cereal import log
 from cereal.services import SERVICE_LIST
 from openpilot.selfdrive.manager.process_config import managed_processes
-from openpilot.system.hardware import TICI
 
 TEST_TIMESPAN = 30
 LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5,  # ARs use synced pulses for frame starts
@@ -19,12 +19,10 @@ FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,
 CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
 
 
+@pytest.mark.tici
 class TestCamerad(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
-
     # run camerad and record logs
     managed_processes['camerad'].start()
     time.sleep(3)
diff --git a/system/hardware/base.h b/system/hardware/base.h
index d86b316843..43f5db023d 100644
--- a/system/hardware/base.h
+++ b/system/hardware/base.h
@@ -34,6 +34,8 @@ public:
   static bool get_ssh_enabled() { return false; }
   static void set_ssh_enabled(bool enabled) {}
 
+  static void config_cpu_rendering();
+
   static bool PC() { return false; }
   static bool TICI() { return false; }
   static bool AGNOS() { return false; }
diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h
index 5cd825d61d..7a7ddd60b7 100644
--- a/system/hardware/pc/hardware.h
+++ b/system/hardware/pc/hardware.h
@@ -20,4 +20,10 @@ public:
     snprintf(volume_str, sizeof(volume_str), "%.3f", volume);
     std::system(("pactl set-sink-volume @DEFAULT_SINK@ " + std::string(volume_str)).c_str());
   }
+
+  static void config_cpu_rendering() {
+    setenv("QT_QPA_PLATFORM", "offscreen", 1);
+    setenv("__GLX_VENDOR_LIBRARY_NAME", "mesa", 1);
+    setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU
+  }
 };
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index c1a2dcb169..fe0a20ae58 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -103,4 +103,9 @@ public:
 
   static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); }
   static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); }
+
+  static void config_cpu_rendering() {
+    setenv("QT_QPA_PLATFORM", "eglfs", 1); // offscreen doesn't work with EGL/GLES
+    setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU
+  }
 };
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 7f8ef37f1a..d3375831ad 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -505,7 +505,7 @@ class Tici(HardwareBase):
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on")
     sudo_write("1000", "/sys/class/kgsl/kgsl-3d0/idle_timer")
     sudo_write("performance", "/sys/class/kgsl/kgsl-3d0/devfreq/governor")
-    sudo_write("596", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz")
+    sudo_write("710", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz")
 
     # setup governors
     sudo_write("performance", "/sys/class/devfreq/soc:qcom,cpubw/governor")
diff --git a/system/hardware/tici/tests/test_hardware.py b/system/hardware/tici/tests/test_hardware.py
index 7d377ac3fb..4abc86107b 100755
--- a/system/hardware/tici/tests/test_hardware.py
+++ b/system/hardware/tici/tests/test_hardware.py
@@ -1,20 +1,19 @@
 #!/usr/bin/env python3
+import pytest
 import time
 import unittest
 import numpy as np
 
-from openpilot.system.hardware import TICI
 from openpilot.system.hardware.tici.hardware import Tici
 
 HARDWARE = Tici()
 
+
+@pytest.mark.tici
 class TestHardware(unittest.TestCase):
 
   @classmethod
   def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
-
     HARDWARE.initialize_hardware()
     HARDWARE.set_power_save(False)
 
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index 1ec9b6ec59..c61d67e79d 100755
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -1,15 +1,16 @@
 #!/usr/bin/env python3
+import pytest
 import unittest
 import time
-import math
 import threading
+import numpy as np
 from dataclasses import dataclass
 from tabulate import tabulate
 from typing import List
 
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
-from openpilot.system.hardware import HARDWARE, TICI
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.tici.power_monitor import get_power
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.manager.manager import manager_cleanup
@@ -28,7 +29,7 @@ class Proc:
 
 PROCS = [
   Proc('camerad', 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
-  Proc('modeld', 1.0, atol=0.2, msgs=['modelV2']),
+  Proc('modeld', 1.12, atol=0.2, msgs=['modelV2']),
   Proc('dmonitoringmodeld', 0.4, msgs=['driverStateV2']),
   Proc('encoderd', 0.23, msgs=[]),
   Proc('mapsd', 0.05, msgs=['mapRenderState']),
@@ -44,13 +45,9 @@ def send_llk_msg(done):
     time.sleep(1/20.)
 
 
+@pytest.mark.tici
 class TestPowerDraw(unittest.TestCase):
 
-  @classmethod
-  def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
-
   def setUp(self):
     HARDWARE.initialize_hardware()
     HARDWARE.set_power_save(False)
@@ -94,8 +91,8 @@ class TestPowerDraw(unittest.TestCase):
       msgs_expected = int(sum(SAMPLE_TIME * SERVICE_LIST[msg].frequency for msg in proc.msgs))
       tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received])
       with self.subTest(proc=proc.name):
-        self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol))
-        self.assertTrue(math.isclose(msgs_expected, msgs_received, rel_tol=.02, abs_tol=2))
+        np.testing.assert_allclose(cur, expected, rtol=proc.rtol, atol=proc.atol)
+        np.testing.assert_allclose(msgs_expected, msgs_received, rtol=.02, atol=2)
     print(tabulate(tab))
     print(f"Baseline {baseline:.2f}W\n")
 
diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py
index c46ac31b7f..bd076dc5f3 100755
--- a/system/loggerd/tests/test_encoder.py
+++ b/system/loggerd/tests/test_encoder.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import math
 import os
+import pytest
 import random
 import shutil
 import subprocess
@@ -31,14 +32,9 @@ CAMERAS = [
 FILE_SIZE_TOLERANCE = 0.5
 
 
+@pytest.mark.tici # TODO: all of loggerd should work on PC
 class TestEncoder(unittest.TestCase):
 
-  # TODO: all of loggerd should work on PC
-  @classmethod
-  def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
-
   def setUp(self):
     self._clear_logs()
     os.environ["LOGGERD_TEST"] = "1"
diff --git a/system/sensord/rawgps/rawgpsd.py b/system/sensord/rawgps/rawgpsd.py
index e710a16920..b947c54872 100755
--- a/system/sensord/rawgps/rawgpsd.py
+++ b/system/sensord/rawgps/rawgpsd.py
@@ -190,7 +190,13 @@ def setup_quectel(diag: ModemDiag) -> bool:
 
   if gps_enabled():
     at_cmd("AT+QGPSEND")
-  #at_cmd("AT+QGPSDEL=0")
+
+  if "GPS_COLD_START" in os.environ:
+    # deletes all assistance
+    at_cmd("AT+QGPSDEL=0")
+  else:
+    # allow module to perform hot start
+    at_cmd("AT+QGPSDEL=1")
 
   # disable DPO power savings for more accuracy
   at_cmd("AT+QGPSCFG=\"dpoenable\",0")
diff --git a/system/sensord/rawgps/test_rawgps.py b/system/sensord/rawgps/test_rawgps.py
index 2a0ee656e2..3642438132 100755
--- a/system/sensord/rawgps/test_rawgps.py
+++ b/system/sensord/rawgps/test_rawgps.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import os
+import pytest
 import json
 import time
 import datetime
@@ -7,19 +8,16 @@ import unittest
 import subprocess
 
 import cereal.messaging as messaging
-from openpilot.system.hardware import TICI
 from openpilot.system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem
 from openpilot.selfdrive.manager.process_config import managed_processes
 
 GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
 
 
+@pytest.mark.tici
 class TestRawgpsd(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
-
     os.system("sudo systemctl start systemd-resolved")
     os.system("sudo systemctl restart ModemManager lte")
     wait_for_modem()
diff --git a/system/sensord/tests/test_pigeond.py b/system/sensord/tests/test_pigeond.py
index b23afcb07c..f2ab43bbb7 100755
--- a/system/sensord/tests/test_pigeond.py
+++ b/system/sensord/tests/test_pigeond.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import pytest
 import time
 import unittest
 
@@ -7,16 +8,12 @@ from cereal.services import SERVICE_LIST
 from openpilot.common.gpio import gpio_read
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.manager.process_config import managed_processes
-from openpilot.system.hardware import TICI
 from openpilot.system.hardware.tici.pins import GPIO
 
 
 # TODO: test TTFF when we have good A-GNSS
+@pytest.mark.tici
 class TestPigeond(unittest.TestCase):
-  @classmethod
-  def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
 
   def tearDown(self):
     managed_processes['pigeond'].stop()
diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
index fba3ef79a4..0905248071 100755
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import os
+import pytest
 import time
 import unittest
 import numpy as np
@@ -10,7 +11,6 @@ from cereal import log
 from cereal.services import SERVICE_LIST
 from openpilot.common.gpio import get_irqs_for_action
 from openpilot.common.timeout import Timeout
-from openpilot.system.hardware import TICI
 from openpilot.selfdrive.manager.process_config import managed_processes
 
 BMX = {
@@ -98,12 +98,10 @@ def read_sensor_events(duration_sec):
 
   return {k: v for k, v in events.items() if len(v) > 0}
 
+@pytest.mark.tici
 class TestSensord(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
-
     # enable LSM self test
     os.environ["LSM_SELF_TEST"] = "1"
 
diff --git a/tinygrad_repo b/tinygrad_repo
index 5a4a62ecae..ae5d1407ee 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 5a4a62ecaecb2bfd8bb0f77033aca46df4e668bd
+Subproject commit ae5d1407ee844a97a52ad3756835d38e7e2b9e1b
diff --git a/tools/README.md b/tools/README.md
index a6889b769d..315db3a75f 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -26,6 +26,7 @@ git clone --recurse-submodules https://github.com/commaai/openpilot.git
 
 ``` bash
 cd openpilot
+git lfs pull
 tools/ubuntu_setup.sh
 ```
 
diff --git a/tools/bodyteleop/static/js/webrtc.js b/tools/bodyteleop/static/js/webrtc.js
index 7668c1c1e4..e2f6583c17 100644
--- a/tools/bodyteleop/static/js/webrtc.js
+++ b/tools/bodyteleop/static/js/webrtc.js
@@ -89,18 +89,18 @@ export const constraints = {
 export function createDummyVideoTrack() {
   const canvas = document.createElement('canvas');
   const context = canvas.getContext('2d');
-  
+
   const frameWidth = 5; // Set the width of the frame
   const frameHeight = 5; // Set the height of the frame
   canvas.width = frameWidth;
   canvas.height = frameHeight;
-  
+
   context.fillStyle = 'black';
   context.fillRect(0, 0, frameWidth, frameHeight);
-  
+
   const stream = canvas.captureStream();
   const videoTrack = stream.getVideoTracks()[0];
-  
+
   return videoTrack;
 }
 
@@ -111,7 +111,7 @@ export function start(pc, dc) {
   // add audio track
   navigator.mediaDevices.enumerateDevices()
     .then(function(devices) {
-      const hasAudioInput = devices.find((device) => { device.kind === "audioinput" });
+      const hasAudioInput = devices.find((device) => device.kind === "audioinput");
       var modifiedConstraints = {};
       modifiedConstraints.video = constraints.video;
       modifiedConstraints.audio = hasAudioInput ? constraints.audio : false;
@@ -143,7 +143,7 @@ export function start(pc, dc) {
   // const dummyMediaStream = new MediaStream();
   // dummyMediaStream.addTrack(dummyVideoTrack);
   // pc.addTrack(dummyVideoTrack, dummyMediaStream);
-  
+
   // setInterval(() => {pc.getStats(null).then((stats) => {stats.forEach((report) => console.log(report))})}, 10000)
   // var video = document.querySelector('video');
   // var print = function (e, f){console.log(e, f);  video.requestVideoFrameCallback(print);};
@@ -167,7 +167,7 @@ export function start(pc, dc) {
     var message = JSON.stringify({type: 'battery_level'});
     dc.send(message);
   }
-  
+
   dc.onopen = function() {
     dcInterval = setInterval(controlCommand, 50);
     batteryInterval = setInterval(batteryLevel, 10000);
diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore
index c3f5ef2b69..362a51f5c9 100644
--- a/tools/cabana/.gitignore
+++ b/tools/cabana/.gitignore
@@ -2,6 +2,5 @@ moc_*
 *.moc
 
 cabana
-settings
 dbc/car_fingerprint_to_dbc.json
 tests/test_cabana
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 46958f14e5..d557b3af80 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -1,10 +1,7 @@
-import os
-Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib',
-       'cereal', 'transformations', 'widgets')
+Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', 'cereal', 'widgets')
 
 base_frameworks = qt_env['FRAMEWORKS']
-base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
-             'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+base_libs = [common, messaging, cereal, visionipc, 'qt_util', 'zmq', 'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
 
 if arch == "Darwin":
   base_frameworks.append('OpenCL')
@@ -18,8 +15,7 @@ else:
 qt_libs = ['qt_util'] + base_libs
 
 cabana_env = qt_env.Clone()
-cabana_env["LIBPATH"] += ['../../opendbc/can']
-cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'libdbc_static', 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'usb-1.0'] + qt_libs
+cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'usb-1.0'] + qt_libs
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index 5bc88f2d4e..c72ebf9d35 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -2,6 +2,7 @@
 
 #include <algorithm>
 
+#include <QDebug>
 #include <QFontDatabase>
 #include <QHeaderView>
 #include <QMouseEvent>
@@ -273,7 +274,7 @@ void BinaryViewModel::refresh() {
     row_count = can->lastMessage(msg_id).dat.size();
     items.resize(row_count * column_count);
   }
-  int valid_rows = std::min(can->lastMessage(msg_id).dat.size(), row_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;
   }
@@ -311,7 +312,7 @@ void BinaryViewModel::updateState() {
       int val = ((binary[i] >> (7 - j)) & 1) != 0 ? 1 : 0;
       // Bit update frequency based highlighting
       double offset = !item.sigs.empty() ? 50 : 0;
-      auto n = last_msg.bit_change_counts[i][7 - j];
+      auto n = last_msg.last_changes[i].bit_change_counts[j];
       double min_f = n == 0 ? offset : offset + 25;
       double alpha = std::clamp(offset + log2(1.0 + factor * (double)n / (double)last_msg.count) * scaler, min_f, max_f);
       auto color = item.bg_color;
@@ -334,13 +335,8 @@ QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, i
 }
 
 QVariant BinaryViewModel::data(const QModelIndex &index, int role) const {
-  if (role == Qt::ToolTipRole) {
-    auto item = (const BinaryViewModel::Item *)index.internalPointer();
-    if (item && !item->sigs.empty()) {
-      return signalToolTip(item->sigs.back());
-    }
-  }
-  return {};
+  auto item = (const BinaryViewModel::Item *)index.internalPointer();
+  return role == Qt::ToolTipRole && item && !item->sigs.empty() ? signalToolTip(item->sigs.back()) : QVariant();
 }
 
 // BinaryItemDelegate
@@ -388,7 +384,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
           drawSignalCell(painter, option, index, s);
         }
       }
-    } else if (item->valid) {
+    } else if (item->valid && item->bg_color.alpha() > 0) {
       painter->fillRect(option.rect, item->bg_color);
     }
     auto color_role = item->sigs.contains(bin_view->hovered_sig) ? QPalette::BrightText : QPalette::Text;
diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc
index 0ccef7d3ab..205d795776 100644
--- a/tools/cabana/cabana.cc
+++ b/tools/cabana/cabana.cc
@@ -18,8 +18,6 @@ int main(int argc, char *argv[]) {
   app.setWindowIcon(QIcon(":cabana-icon.png"));
 
   UnixSignalHandler signalHandler;
-
-  settings.load();
   utils::setTheme(settings.theme);
 
   QCommandLineParser cmd_parser;
@@ -28,6 +26,7 @@ int main(int argc, char *argv[]) {
   cmd_parser.addOption({"demo", "use a demo route instead of providing your own"});
   cmd_parser.addOption({"qcam", "load qcamera"});
   cmd_parser.addOption({"ecam", "load wide road camera"});
+  cmd_parser.addOption({"dcam", "load driver camera"});
   cmd_parser.addOption({"stream", "read can messages from live streaming"});
   cmd_parser.addOption({"panda", "read can messages from panda"});
   cmd_parser.addOption({"panda-serial", "read can messages from panda with given serial", "panda-serial"});
@@ -62,13 +61,10 @@ int main(int argc, char *argv[]) {
     stream = new SocketCanStream(&app, config);
   } else {
     uint32_t replay_flags = REPLAY_FLAG_NONE;
-    if (cmd_parser.isSet("ecam")) {
-      replay_flags |= REPLAY_FLAG_ECAM;
-    } else if (cmd_parser.isSet("qcam")) {
-      replay_flags |= REPLAY_FLAG_QCAMERA;
-    } else if (cmd_parser.isSet("no-vipc")) {
-      replay_flags |= REPLAY_FLAG_NO_VIPC;
-    }
+    if (cmd_parser.isSet("ecam")) replay_flags |= REPLAY_FLAG_ECAM;
+    if (cmd_parser.isSet("qcam")) replay_flags |= REPLAY_FLAG_QCAMERA;
+    if (cmd_parser.isSet("dcam")) replay_flags |= REPLAY_FLAG_DCAM;
+    if (cmd_parser.isSet("no-vipc")) replay_flags |= REPLAY_FLAG_NO_VIPC;
 
     const QStringList args = cmd_parser.positionalArguments();
     QString route;
diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index dee7cc5248..28d122576c 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -25,20 +25,18 @@ const int AXIS_X_TOP_MARGIN = 4;
 static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; }
 
 ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent)
-    : charts_widget(parent), tip_label(this), QChartView(nullptr, parent) {
+    : charts_widget(parent), tip_label(this), QChartView(parent) {
   series_type = (SeriesType)settings.chart_series_type;
-  QChart *chart = new QChart();
-  chart->setBackgroundVisible(false);
+  chart()->setBackgroundVisible(false);
   axis_x = new QValueAxis(this);
   axis_y = new QValueAxis(this);
-  chart->addAxis(axis_x, Qt::AlignBottom);
-  chart->addAxis(axis_y, Qt::AlignLeft);
-  chart->legend()->layout()->setContentsMargins(0, 0, 0, 0);
-  chart->legend()->setShowToolTips(true);
-  chart->setMargins({0, 0, 0, 0});
+  chart()->addAxis(axis_x, Qt::AlignBottom);
+  chart()->addAxis(axis_y, Qt::AlignLeft);
+  chart()->legend()->layout()->setContentsMargins(0, 0, 0, 0);
+  chart()->legend()->setShowToolTips(true);
+  chart()->setMargins({0, 0, 0, 0});
 
   axis_x->setRange(x_range.first, x_range.second);
-  setChart(chart);
 
   createToolButtons();
   setRubberBand(QChartView::HorizontalRubberBand);
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index 63e103793c..0db99063e0 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -100,7 +100,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim
   QObject::connect(&auto_scroll_timer, &QTimer::timeout, this, &ChartsWidget::doAutoScroll);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
   QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged);
-  QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState);
+  QObject::connect(can, &AbstractStream::msgsReceived, this, &ChartsWidget::updateState);
   QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange);
   QObject::connect(new_plot_btn, &QToolButton::clicked, this, &ChartsWidget::newChart);
   QObject::connect(remove_all_btn, &QToolButton::clicked, this, &ChartsWidget::removeAll);
@@ -324,7 +324,7 @@ void ChartsWidget::updateLayout(bool force) {
       charts_layout->addWidget(current_charts[i], i / n, i % n);
       if (current_charts[i]->sigs.empty()) {
         // the chart will be resized after add signal. delay setVisible to reduce flicker.
-        QTimer::singleShot(0, [c = current_charts[i]]() { c->setVisible(true); });
+        QTimer::singleShot(0, current_charts[i], [c = current_charts[i]]() { c->setVisible(true); });
       } else {
         current_charts[i]->setVisible(true);
       }
diff --git a/tools/cabana/chart/signalselector.cc b/tools/cabana/chart/signalselector.cc
index 50fe861a03..0ddb212a8a 100644
--- a/tools/cabana/chart/signalselector.cc
+++ b/tools/cabana/chart/signalselector.cc
@@ -44,9 +44,9 @@ SignalSelector::SignalSelector(QString title, QWidget *parent) : QDialog(parent)
   auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
   main_layout->addWidget(buttonBox, 3, 2);
 
-  for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
-    if (auto m = dbc()->msg(it.key())) {
-      msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key().toString()), QVariant::fromValue(it.key()));
+  for (const auto &[id, _] : can->lastMessages()) {
+    if (auto m = dbc()->msg(id)) {
+      msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(id.toString()), QVariant::fromValue(id));
     }
   }
   msgs_combo->model()->sort(0);
diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc
index 1ae6a1bfe0..42608c030f 100644
--- a/tools/cabana/chart/sparkline.cc
+++ b/tools/cabana/chart/sparkline.cc
@@ -1,5 +1,6 @@
 #include "tools/cabana/chart/sparkline.h"
 
+#include <algorithm>
 #include <limits>
 #include <QPainter>
 
@@ -12,52 +13,30 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl
   auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), first_ts, CompareCanEvent());
   auto last = std::upper_bound(first, msgs.cend(), ts, CompareCanEvent());
 
-  bool update_values = last_ts != last_msg_ts || time_range != range;
-  last_ts = last_msg_ts;
-  time_range = range;
-
-  if (first != last) {
-    if (update_values) {
-      values.clear();
-      if (values.capacity() < std::distance(first, last)) {
-        values.reserve(std::distance(first, last) * 2);
-      }
-      min_val = std::numeric_limits<double>::max();
-      max_val = std::numeric_limits<double>::lowest();
-      for (auto it = first; it != last; ++it) {
-        const CanEvent *e = *it;
-        double value = 0;
-        if (sig->getValue(e->dat, e->size, &value)) {
-          values.emplace_back((e->mono_time - (*first)->mono_time) / 1e9, value);
-          if (min_val > value) min_val = value;
-          if (max_val < value) max_val = value;
-        }
-      }
-      if (min_val == max_val) {
-        min_val -= 1;
-        max_val += 1;
+  if (first != last && !size.isEmpty()) {
+    points.clear();
+    double value = 0;
+    for (auto it = first; it != last; ++it) {
+      if (sig->getValue((*it)->dat, (*it)->size, &value)) {
+        points.emplace_back(((*it)->mono_time - (*first)->mono_time) / 1e9, value);
       }
     }
-  } else {
-    values.clear();
-  }
-
-  if (!values.empty()) {
-    render(sig->color, size);
+    const auto [min, max] = std::minmax_element(points.begin(), points.end(),
+                                                [](auto &l, auto &r) { return l.y() < r.y(); });
+    min_val = min->y() == max->y() ? min->y() - 1 : min->y();
+    max_val = min->y() == max->y() ? max->y() + 1 : max->y();
+    freq_ = points.size() / std::max(points.back().x() - points.front().x(), 1.0);
+    render(sig->color, range, size);
   } else {
     pixmap = QPixmap();
-    min_val = -1;
-    max_val = 1;
   }
 }
 
-void Sparkline::render(const QColor &color, QSize size) {
-  const double xscale = (size.width() - 1) / (double)time_range;
+void Sparkline::render(const QColor &color, int range, QSize size) {
+  const double xscale = (size.width() - 1) / (double)range;
   const double yscale = (size.height() - 3) / (max_val - min_val);
-  points.clear();
-  points.reserve(values.capacity());
-  for (auto &v : values) {
-    points.emplace_back(v.x() * xscale, 1 + std::abs(v.y() - max_val) * yscale);
+  for (auto &v : points) {
+    v = QPoint(v.x() * xscale, 1 + std::abs(v.y() - max_val) * yscale);
   }
 
   qreal dpr = qApp->devicePixelRatio();
diff --git a/tools/cabana/chart/sparkline.h b/tools/cabana/chart/sparkline.h
index 21cbd40a3f..3bdd8a3ee5 100644
--- a/tools/cabana/chart/sparkline.h
+++ b/tools/cabana/chart/sparkline.h
@@ -1,29 +1,24 @@
 #pragma once
 
-#include <algorithm>
-
 #include <QPixmap>
 #include <QPointF>
 #include <vector>
 
-#include "tools/cabana/dbc/dbcmanager.h"
+#include "tools/cabana/dbc/dbc.h"
 
 class Sparkline {
 public:
   void update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size);
-  const QSize size() const { return pixmap.size() / pixmap.devicePixelRatio(); }
-  inline double freq() const {
-    return values.empty() ? 0 : values.size() / std::max(values.back().x() - values.front().x(), 1.0);
-  }
+  inline double freq() const { return freq_; }
+  bool isEmpty() const { return pixmap.isNull(); }
 
   QPixmap pixmap;
   double min_val = 0;
   double max_val = 0;
-  double last_ts = 0;
-  int time_range = 0;
 
 private:
-  void render(const QColor &color, QSize size);
-  std::vector<QPointF> values;
+  void render(const QColor &color, int range, QSize size);
+
   std::vector<QPointF> points;
+  double freq_ = 0;
 };
diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
index bfb26c2842..e07903e680 100644
--- a/tools/cabana/dbc/dbc.h
+++ b/tools/cabana/dbc/dbc.h
@@ -10,7 +10,6 @@
 #include <QMetaType>
 #include <QString>
 
-#include "opendbc/can/common_dbc.h"
 
 const QString UNTITLED = "untitled";
 const QString DEFAULT_NODE_NAME = "XXX";
@@ -120,5 +119,4 @@ public:
 double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig);
 void updateMsbLsb(cabana::Signal &s);
 inline int flipBitPos(int start_bit) { return 8 * (start_bit / 8) + 7 - start_bit % 8; }
-inline std::vector<std::string> allDBCNames() { return get_dbc_names(); }
 inline QString doubleToString(double value) { return QString::number(value, 'g', std::numeric_limits<double>::digits10); }
diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
index c923e4d5b2..a22d979212 100644
--- a/tools/cabana/dbc/dbcfile.cc
+++ b/tools/cabana/dbc/dbcfile.cc
@@ -4,10 +4,8 @@
 #include <QFileInfo>
 #include <QRegularExpression>
 #include <QTextStream>
-#include <numeric>
-#include <sstream>
 
-DBCFile::DBCFile(const QString &dbc_file_name, QObject *parent) : QObject(parent) {
+DBCFile::DBCFile(const QString &dbc_file_name) {
   QFile file(dbc_file_name);
   if (file.open(QIODevice::ReadOnly)) {
     name_ = QFileInfo(dbc_file_name).baseName();
@@ -22,7 +20,7 @@ DBCFile::DBCFile(const QString &dbc_file_name, QObject *parent) : QObject(parent
   }
 }
 
-DBCFile::DBCFile(const QString &name, const QString &content, QObject *parent) : QObject(parent), name_(name), filename("") {
+DBCFile::DBCFile(const QString &name, const QString &content) : name_(name), filename("") {
   // Open from clipboard
   parse(content);
 }
diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h
index a3ab1cebe4..ade6b249e2 100644
--- a/tools/cabana/dbc/dbcfile.h
+++ b/tools/cabana/dbc/dbcfile.h
@@ -1,18 +1,15 @@
 #pragma once
 
 #include <map>
-#include <QObject>
 
 #include "tools/cabana/dbc/dbc.h"
 
 const QString AUTO_SAVE_EXTENSION = ".tmp";
 
-class DBCFile : public QObject {
-  Q_OBJECT
-
+class DBCFile {
 public:
-  DBCFile(const QString &dbc_file_name, QObject *parent=nullptr);
-  DBCFile(const QString &name, const QString &content, QObject *parent=nullptr);
+  DBCFile(const QString &dbc_file_name);
+  DBCFile(const QString &name, const QString &content);
   ~DBCFile() {}
 
   bool save();
diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc
index 459ca0111d..87a7d962c5 100644
--- a/tools/cabana/dbc/dbcmanager.cc
+++ b/tools/cabana/dbc/dbcmanager.cc
@@ -7,7 +7,7 @@ bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QS
   try {
     auto it = std::find_if(dbc_files.begin(), dbc_files.end(),
                            [&](auto &f) { return f.second && f.second->filename == dbc_file_name; });
-    auto file = (it != dbc_files.end()) ? it->second : std::make_shared<DBCFile>(dbc_file_name, this);
+    auto file = (it != dbc_files.end()) ? it->second : std::make_shared<DBCFile>(dbc_file_name);
     for (auto s : sources) {
       dbc_files[s] = file;
     }
@@ -22,7 +22,7 @@ bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QS
 
 bool DBCManager::open(const SourceSet &sources, const QString &name, const QString &content, QString *error) {
   try {
-    auto file = std::make_shared<DBCFile>(name, content, this);
+    auto file = std::make_shared<DBCFile>(name, content);
     for (auto s : sources) {
       dbc_files[s] = file;
     }
@@ -189,6 +189,13 @@ const SourceSet DBCManager::sources(const DBCFile *dbc_file) const {
   return sources;
 }
 
+QString toString(const SourceSet &ss) {
+  return std::accumulate(ss.cbegin(), ss.cend(), QString(), [](QString str, int source) {
+    if (!str.isEmpty()) str += ", ";
+    return str + (source == -1 ? QStringLiteral("all") : QString::number(source));
+  });
+}
+
 DBCManager *dbc() {
   static DBCManager dbc_manager(nullptr);
   return &dbc_manager;
diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h
index 5f782fc930..53a77a2c13 100644
--- a/tools/cabana/dbc/dbcmanager.h
+++ b/tools/cabana/dbc/dbcmanager.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <QObject>
 #include <memory>
 #include <map>
 #include <set>
@@ -66,15 +67,8 @@ private:
 
 DBCManager *dbc();
 
+QString toString(const SourceSet &ss);
 inline QString msgName(const MessageId &id) {
   auto msg = dbc()->msg(id);
   return msg ? msg->name : UNTITLED;
 }
-
-inline QString toString(const SourceSet &ss) {
-  QStringList ret;
-  for (auto s : ss) {
-    ret << (s == -1 ? QString("all") : QString::number(s));
-  }
-  return ret.join(", ");
-}
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index 472ffce104..7befadb722 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -147,8 +147,8 @@ void DetailWidget::refresh() {
   warning_widget->setVisible(!warnings.isEmpty());
 }
 
-void DetailWidget::updateState(const QHash<MessageId, CanData> *msgs) {
-  if ((msgs && !msgs->contains(msg_id)))
+void DetailWidget::updateState(const std::set<MessageId> *msgs) {
+  if ((msgs && !msgs->count(msg_id)))
     return;
 
   if (tab_widget->currentIndex() == 0)
diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h
index 5bb4b7f305..15e1ee5f2f 100644
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@@ -4,6 +4,7 @@
 #include <QSplitter>
 #include <QTabWidget>
 #include <QTextEdit>
+#include <set>
 
 #include "selfdrive/ui/qt/widgets/controls.h"
 #include "tools/cabana/binaryview.h"
@@ -11,7 +12,6 @@
 #include "tools/cabana/historylog.h"
 #include "tools/cabana/signalview.h"
 
-class MainWindow;
 class EditMessageDialog : public QDialog {
 public:
   EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent);
@@ -39,7 +39,7 @@ private:
   void showTabBarContextMenu(const QPoint &pt);
   void editMsg();
   void removeMsg();
-  void updateState(const QHash<MessageId, CanData> * msgs = nullptr);
+  void updateState(const std::set<MessageId> *msgs = nullptr);
 
   MessageId msg_id;
   QLabel *warning_icon, *warning_label;
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 5330549963..b3440b557b 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -7,7 +7,6 @@
 #include <QVBoxLayout>
 
 #include "tools/cabana/commands.h"
-// HistoryLogModel
 
 QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
   const bool show_signals = display_signals_mode && sigs.size() > 0;
@@ -17,11 +16,11 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
       return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 2);
     }
     int i = index.column() - 1;
-    return show_signals ? QString::number(m.sig_values[i], 'f', sigs[i]->precision) : toHex(m.data);
+    return show_signals ? QString::number(m.sig_values[i], 'f', sigs[i]->precision) : QString();
   } else if (role == ColorsRole) {
-    return QVariant::fromValue(m.colors);
+    return QVariant::fromValue((void *)(&m.colors));
   } else if (role == BytesRole) {
-    return m.data;
+    return QVariant::fromValue((void *)(&m.data));
   } else if (role == Qt::TextAlignmentRole) {
     return (uint32_t)(Qt::AlignRight | Qt::AlignVCenter);
   }
@@ -123,7 +122,7 @@ void HistoryLogModel::fetchMore(const QModelIndex &parent) {
 template <class InputIt>
 std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, InputIt last, uint64_t min_time) {
   std::deque<HistoryLogModel::Message> msgs;
-  QVector<double> values(sigs.size());
+  std::vector<double> values(sigs.size());
   for (; first != last && (*first)->mono_time > min_time; ++first) {
     const CanEvent *e = *first;
     for (int i = 0; i < sigs.size(); ++i) {
@@ -132,7 +131,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, I
     if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) {
       auto &m = msgs.emplace_back();
       m.mono_time = e->mono_time;
-      m.data = QByteArray((const char *)e->dat, e->size);
+      m.data.assign(e->dat, e->dat + e->size);
       m.sig_values = values;
       if (msgs.size() >= batch_size && min_time == 0) {
         return msgs;
@@ -146,7 +145,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
   const auto &events = can->events(msg_id);
   const auto freq = can->lastMessage(msg_id).freq;
   const bool update_colors = !display_signals_mode || sigs.empty();
-
+  const std::vector<uint8_t> no_mask;
   const auto speed = can->getSpeed();
   if (dynamic_mode) {
     auto first = std::upper_bound(events.rbegin(), events.rend(), from_time, [](uint64_t ts, auto e) {
@@ -155,7 +154,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
     auto msgs = fetchData(first, events.rend(), min_time);
     if (update_colors && (min_time > 0 || messages.empty())) {
       for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) {
-        hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq);
+        hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, no_mask, freq);
         it->colors = hex_colors.colors;
       }
     }
@@ -166,7 +165,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
     auto msgs = fetchData(first, events.cend(), 0);
     if (update_colors) {
       for (auto it = msgs.begin(); it != msgs.end(); ++it) {
-        hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq);
+        hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, no_mask, freq);
         it->colors = hex_colors.colors;
       }
     }
@@ -177,7 +176,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
 // HeaderView
 
 QSize HeaderView::sectionSizeFromContents(int logicalIndex) const {
-  static QSize time_col_size = fontMetrics().boundingRect({0, 0, 200, 200}, defaultAlignment(), "000000.000").size() + QSize(10, 6);
+  static const QSize time_col_size = fontMetrics().boundingRect({0, 0, 200, 200}, defaultAlignment(), "000000.000").size() + QSize(10, 6);
   if (logicalIndex == 0) {
     return time_col_size;
   } else {
@@ -237,10 +236,11 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) {
   main_layout->addWidget(logs = new QTableView(this));
   logs->setModel(model = new HistoryLogModel(this));
   delegate = new MessageBytesDelegate(this);
-  logs->setItemDelegateForColumn(1, new MessageBytesDelegate(this));
   logs->setHorizontalHeader(new HeaderView(Qt::Horizontal, this));
   logs->horizontalHeader()->setDefaultAlignment(Qt::AlignRight | (Qt::Alignment)Qt::TextWordWrap);
   logs->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
+  logs->verticalHeader()->setSectionResizeMode(QHeaderView::Fixed);
+  logs->verticalHeader()->setDefaultSectionSize(delegate->sizeForBytes(8).height());
   logs->verticalHeader()->setVisible(false);
   logs->setFrameShape(QFrame::NoFrame);
 
diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h
index a68fbdbf43..154b139fb0 100644
--- a/tools/cabana/historylog.h
+++ b/tools/cabana/historylog.h
@@ -46,9 +46,9 @@ public slots:
 public:
   struct Message {
     uint64_t mono_time = 0;
-    QVector<double> sig_values;
-    QByteArray data;
-    QVector<QColor> colors;
+    std::vector<double> sig_values;
+    std::vector<uint8_t> data;
+    std::vector<QColor> colors;
   };
 
   template <class InputIt>
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index 9ac88032d5..71e5ade9bb 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -9,6 +9,7 @@
 #include <QFile>
 #include <QFileDialog>
 #include <QFileInfo>
+#include <QJsonObject>
 #include <QMenuBar>
 #include <QMessageBox>
 #include <QResizeEvent>
@@ -21,8 +22,10 @@
 #include "tools/cabana/commands.h"
 #include "tools/cabana/streamselector.h"
 #include "tools/cabana/tools/findsignal.h"
+#include "tools/replay/replay.h"
 
 MainWindow::MainWindow() : QMainWindow() {
+  loadFingerprints();
   createDockWindows();
   setCentralWidget(center_widget = new CenterWidget(this));
   createActions();
@@ -55,12 +58,6 @@ MainWindow::MainWindow() : QMainWindow() {
     qInfo() << QString::fromStdString(msg);
   });
 
-  // load fingerprints
-  QFile json_file(QApplication::applicationDirPath() + "/dbc/car_fingerprint_to_dbc.json");
-  if (json_file.open(QIODevice::ReadOnly)) {
-    fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
-  }
-
   setStyleSheet(QString(R"(QMainWindow::separator {
     width: %1px; /* when vertical */
     height: %1px; /* when horizontal */
@@ -76,6 +73,16 @@ MainWindow::MainWindow() : QMainWindow() {
   QObject::connect(StreamNotifier::instance(), &StreamNotifier::streamStarted, this, &MainWindow::streamStarted);
 }
 
+void MainWindow::loadFingerprints() {
+  QFile json_file(QApplication::applicationDirPath() + "/dbc/car_fingerprint_to_dbc.json");
+  if (json_file.open(QIODevice::ReadOnly)) {
+    fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
+    auto dbc_names = fingerprint_to_dbc.object().toVariantMap().values();
+    std::transform(dbc_names.begin(), dbc_names.end(), std::inserter(opendbc_names, opendbc_names.begin()),
+                   [](const auto &name) { return name.toString(); });
+  }
+}
+
 void MainWindow::createActions() {
   // File menu
   QMenu *file_menu = menuBar()->addMenu(tr("&File"));
@@ -84,8 +91,8 @@ void MainWindow::createActions() {
   close_stream_act->setEnabled(false);
   file_menu->addSeparator();
 
-  file_menu->addAction(tr("New DBC File"), [this]() { newFile(); })->setShortcuts(QKeySequence::New);
-  file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); })->setShortcuts(QKeySequence::Open);
+  file_menu->addAction(tr("New DBC File"), [this]() { newFile(); }, QKeySequence::New);
+  file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); }, QKeySequence::Open);
 
   manage_dbcs_menu = file_menu->addMenu(tr("Manage &DBC Files"));
 
@@ -101,29 +108,22 @@ void MainWindow::createActions() {
   file_menu->addSeparator();
   QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc"));
   // load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }");
-  auto dbc_names = allDBCNames();
-  std::sort(dbc_names.begin(), dbc_names.end());
-  for (const auto &name : dbc_names) {
-    QString dbc_name = QString::fromStdString(name);
-    load_opendbc_menu->addAction(dbc_name, [=]() { loadDBCFromOpendbc(dbc_name); });
+  for (const auto &dbc_name : opendbc_names) {
+    load_opendbc_menu->addAction(dbc_name, [this, name = dbc_name]() { loadDBCFromOpendbc(name); });
   }
 
   file_menu->addAction(tr("Load DBC From Clipboard"), [=]() { loadFromClipboard(); });
 
   file_menu->addSeparator();
-  save_dbc = file_menu->addAction(tr("Save DBC..."), this, &MainWindow::save);
-  save_dbc->setShortcuts(QKeySequence::Save);
-
-  save_dbc_as = file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAs);
-  save_dbc_as->setShortcuts(QKeySequence::SaveAs);
-
+  save_dbc = file_menu->addAction(tr("Save DBC..."), this, &MainWindow::save, QKeySequence::Save);
+  save_dbc_as = file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAs, QKeySequence::SaveAs);
   copy_dbc_to_clipboard = file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveToClipboard);
 
   file_menu->addSeparator();
-  file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption)->setShortcuts(QKeySequence::Preferences);
+  file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption, QKeySequence::Preferences);
 
   file_menu->addSeparator();
-  file_menu->addAction(tr("E&xit"), qApp, &QApplication::closeAllWindows)->setShortcuts(QKeySequence::Quit);
+  file_menu->addAction(tr("E&xit"), qApp, &QApplication::closeAllWindows, QKeySequence::Quit);
 
   // Edit Menu
   QMenu *edit_menu = menuBar()->addMenu(tr("&Edit"));
@@ -157,7 +157,7 @@ void MainWindow::createActions() {
 
   // Help Menu
   QMenu *help_menu = menuBar()->addMenu(tr("&Help"));
-  help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp)->setShortcuts(QKeySequence::HelpContents);
+  help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp, QKeySequence::HelpContents);
   help_menu->addAction(tr("About &Qt"), qApp, &QApplication::aboutQt);
 }
 
@@ -374,7 +374,7 @@ void MainWindow::eventsMerged() {
       auto dbc_name = fingerprint_to_dbc[car_fingerprint];
       if (dbc_name != QJsonValue::Undefined) {
         // Prevent dialog that load autosaved file from blocking replay->start().
-        QTimer::singleShot(0, [dbc_name, this]() { loadDBCFromOpendbc(dbc_name.toString()); });
+        QTimer::singleShot(0, this, [dbc_name, this]() { loadDBCFromOpendbc(dbc_name.toString()); });
       }
     }
   }
@@ -471,11 +471,7 @@ void MainWindow::saveFileToClipboard(DBCFile *dbc_file) {
 
 void MainWindow::updateLoadSaveMenus() {
   int cnt = dbc()->nonEmptyDBCCount();
-  if (cnt > 1) {
-    save_dbc->setText(tr("Save %1 DBCs...").arg(dbc()->dbcCount()));
-  } else {
-    save_dbc->setText(tr("Save DBC..."));
-  }
+  save_dbc->setText(cnt > 1 ? tr("Save %1 DBCs...").arg(cnt) : tr("Save DBC..."));
   save_dbc->setEnabled(cnt > 0);
   save_dbc_as->setEnabled(cnt == 1);
 
@@ -608,12 +604,6 @@ void MainWindow::closeEvent(QCloseEvent *event) {
   }
   settings.message_header_state = messages_widget->saveHeaderState();
 
-  auto status = settings.save();
-  if (status == QSettings::AccessError) {
-    QString error = tr("Failed to write settings to [%1]: access denied").arg(Settings::filePath());
-    qDebug() << error;
-    QMessageBox::warning(this, tr("Failed to write settings"), error);
-  }
   QWidget::closeEvent(event);
 }
 
diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
index bbbe8730cb..2b1c991271 100644
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -7,6 +7,7 @@
 #include <QProgressBar>
 #include <QSplitter>
 #include <QStatusBar>
+#include <set>
 
 #include "tools/cabana/chart/chartswidget.h"
 #include "tools/cabana/dbc/dbcmanager.h"
@@ -50,6 +51,7 @@ protected:
   void saveFile(DBCFile *dbc_file);
   void saveFileAs(DBCFile *dbc_file);
   void saveFileToClipboard(DBCFile *dbc_file);
+  void loadFingerprints();
   void loadFromClipboard(SourceSet s = SOURCE_ALL, bool close_all = true);
   void autoSave();
   void cleanupAutoSaveFile();
@@ -84,6 +86,7 @@ protected:
   QProgressBar *progress_bar;
   QLabel *status_label;
   QJsonDocument fingerprint_to_dbc;
+  std::set<QString> opendbc_names;
   QSplitter *video_splitter = nullptr;
   enum { MAX_RECENT_FILES = 15 };
   QAction *recent_files_acts[MAX_RECENT_FILES] = {};
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index 6a94e013f6..7d4938e427 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -2,6 +2,7 @@
 
 #include <limits>
 
+#include <QCheckBox>
 #include <QHBoxLayout>
 #include <QPainter>
 #include <QPushButton>
@@ -10,11 +11,6 @@
 
 #include "tools/cabana/commands.h"
 
-static QString msg_node_from_id(const MessageId &id) {
-  auto msg = dbc()->msg(id);
-  return msg ? msg->transmitter : QString();
-}
-
 MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
@@ -22,12 +18,10 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
   // toolbar
   main_layout->addWidget(createToolBar());
   // message table
-  view = new MessageView(this);
-  model = new MessageListModel(this);
-  header = new MessageViewHeader(this);
-  view->setItemDelegate(delegate = new MessageBytesDelegate(view, settings.multiple_lines_bytes));
-  view->setHeader(header);
-  view->setModel(model);
+  main_layout->addWidget(view = new MessageView(this));
+  view->setItemDelegate(delegate = new MessageBytesDelegate(view, settings.multiple_lines_hex));
+  view->setModel(model = new MessageListModel(this));
+  view->setHeader(header = new MessageViewHeader(this));
   view->setSortingEnabled(true);
   view->sortByColumn(MessageListModel::Column::NAME, Qt::AscendingOrder);
   view->setAllColumnsShowFocus(true);
@@ -35,6 +29,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
   view->setItemsExpandable(false);
   view->setIndentation(0);
   view->setRootIsDecorated(false);
+  view->setUniformRowHeights(!settings.multiple_lines_hex);
 
   // Must be called before setting any header parameters to avoid overriding
   restoreHeaderState(settings.message_header_state);
@@ -43,15 +38,14 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
   header->setStretchLastSection(true);
   header->setContextMenuPolicy(Qt::CustomContextMenu);
 
-  main_layout->addWidget(view);
-
   // suppress
   QHBoxLayout *suppress_layout = new QHBoxLayout();
-  suppress_add = new QPushButton("Suppress Highlighted");
-  suppress_clear = new QPushButton();
-  suppress_layout->addWidget(suppress_add);
-  suppress_layout->addWidget(suppress_clear);
-  QCheckBox *suppress_defined_signals = new QCheckBox(tr("Suppress Defined Signals"), this);
+  suppress_layout->addWidget(suppress_add = new QPushButton("Suppress Highlighted"));
+  suppress_layout->addWidget(suppress_clear = new QPushButton());
+  suppress_clear->setToolTip(tr("Clear suppressed"));
+  suppress_layout->addStretch(1);
+  QCheckBox *suppress_defined_signals = new QCheckBox(tr("Suppress Signals"), this);
+  suppress_defined_signals->setToolTip(tr("Suppress defined signals"));
   suppress_defined_signals->setChecked(settings.suppress_defined_signals);
   suppress_layout->addWidget(suppress_defined_signals);
   main_layout->addLayout(suppress_layout);
@@ -61,10 +55,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
   QObject::connect(header, &MessageViewHeader::filtersUpdated, model, &MessageListModel::setFilterStrings);
   QObject::connect(header, &MessageViewHeader::customContextMenuRequested, this, &MessagesWidget::headerContextMenuEvent);
   QObject::connect(view->horizontalScrollBar(), &QScrollBar::valueChanged, header, &MessageViewHeader::updateHeaderPositions);
-  QObject::connect(suppress_defined_signals, &QCheckBox::stateChanged, [=](int state) {
-    settings.suppress_defined_signals = (state == Qt::Checked);
-    emit settings.changed();
-  });
+  QObject::connect(suppress_defined_signals, &QCheckBox::stateChanged, can, &AbstractStream::suppressDefinedSignals);
   QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MessagesWidget::dbcModified);
   QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MessagesWidget::dbcModified);
@@ -75,24 +66,17 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
     view->updateBytesSectionSize();
   });
   QObject::connect(view->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex &current, const QModelIndex &previous) {
-    if (current.isValid() && current.row() < model->msgs.size()) {
-      auto &id = model->msgs[current.row()];
+    if (current.isValid() && current.row() < model->items_.size()) {
+      const auto &id = model->items_[current.row()].id;
       if (!current_msg_id || id != *current_msg_id) {
         current_msg_id = id;
         emit msgSelectionChanged(*current_msg_id);
       }
     }
   });
-  QObject::connect(suppress_add, &QPushButton::clicked, [=]() {
-    model->suppress();
-    updateSuppressedButtons();
-  });
-  QObject::connect(suppress_clear, &QPushButton::clicked, [=]() {
-    model->clearSuppress();
-    updateSuppressedButtons();
-  });
-
-  updateSuppressedButtons();
+  QObject::connect(suppress_add, &QPushButton::clicked, this, &MessagesWidget::suppressHighlighted);
+  QObject::connect(suppress_clear, &QPushButton::clicked, this, &MessagesWidget::suppressHighlighted);
+  suppressHighlighted();
 
   setWhatsThis(tr(R"(
     <b>Message View</b><br/>
@@ -125,19 +109,22 @@ void MessagesWidget::dbcModified() {
 }
 
 void MessagesWidget::selectMessage(const MessageId &msg_id) {
-  auto it = std::find(model->msgs.cbegin(), model->msgs.cend(), msg_id);
-  if (it != model->msgs.cend()) {
-    view->setCurrentIndex(model->index(std::distance(model->msgs.cbegin(), it), 0));
+  auto it = std::find_if(model->items_.cbegin(), model->items_.cend(),
+                         [&msg_id](auto &item) { return item.id == msg_id; });
+  if (it != model->items_.cend()) {
+    view->setCurrentIndex(model->index(std::distance(model->items_.cbegin(), it), 0));
   }
 }
 
-void MessagesWidget::updateSuppressedButtons() {
-  if (model->suppressed_bytes.empty()) {
-    suppress_clear->setEnabled(false);
-    suppress_clear->setText("Clear Suppressed");
-  } else {
+void MessagesWidget::suppressHighlighted() {
+  if (sender() == suppress_add) {
+    size_t n = can->suppressHighlighted();
+    suppress_clear->setText(tr("Clear (%1)").arg(n));
     suppress_clear->setEnabled(true);
-    suppress_clear->setText(QString("Clear Suppressed (%1)").arg(model->suppressed_bytes.size()));
+  } else {
+    can->clearSuppressed();
+    suppress_clear->setText(tr("Clear"));
+    suppress_clear->setEnabled(false);
   }
 }
 
@@ -159,12 +146,13 @@ void MessagesWidget::menuAboutToShow() {
   menu->addSeparator();
   auto action = menu->addAction(tr("Mutlti-Line bytes"), this, &MessagesWidget::setMultiLineBytes);
   action->setCheckable(true);
-  action->setChecked(settings.multiple_lines_bytes);
+  action->setChecked(settings.multiple_lines_hex);
 }
 
 void MessagesWidget::setMultiLineBytes(bool multi) {
-  settings.multiple_lines_bytes = multi;
+  settings.multiple_lines_hex = multi;
   delegate->setMultipleLines(multi);
+  view->setUniformRowHeights(!multi);
   view->updateBytesSectionSize();
   view->doItemsLayout();
 }
@@ -187,7 +175,7 @@ QVariant MessageListModel::headerData(int section, Qt::Orientation orientation,
 }
 
 QVariant MessageListModel::data(const QModelIndex &index, int role) const {
-  if (!index.isValid() || index.row() >= msgs.size()) return {};
+  if (!index.isValid() || index.row() >= items_.size()) return {};
 
   auto getFreq = [](const CanData &d) {
     if (d.freq > 0 && (can->currentSec() - d.ts - 1.0 / settings.fps) < (5.0 / d.freq)) {
@@ -197,33 +185,25 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
     }
   };
 
-  const auto &id = msgs[index.row()];
-  auto &can_data = can->lastMessage(id);
+  const auto &item = items_[index.row()];
+  const auto &data = can->lastMessage(item.id);
   if (role == Qt::DisplayRole) {
     switch (index.column()) {
-      case Column::NAME: return msgName(id);
-      case Column::SOURCE: return id.source != INVALID_SOURCE ? QString::number(id.source) : "N/A";
-      case Column::ADDRESS: return QString::number(id.address, 16);
-      case Column::NODE: return msg_node_from_id(id);
-      case Column::FREQ: return id.source != INVALID_SOURCE ? getFreq(can_data) : "N/A";
-      case Column::COUNT: return id.source != INVALID_SOURCE ? QString::number(can_data.count) : "N/A";
-      case Column::DATA: return id.source != INVALID_SOURCE ? toHex(can_data.dat) : "N/A";
+      case Column::NAME: return item.name;
+      case Column::SOURCE: return item.id.source != INVALID_SOURCE ? QString::number(item.id.source) : "N/A";
+      case Column::ADDRESS: return QString::number(item.id.address, 16);
+      case Column::NODE: return item.node;
+      case Column::FREQ: return item.id.source != INVALID_SOURCE ? getFreq(data) : "N/A";
+      case Column::COUNT: return item.id.source != INVALID_SOURCE ? QString::number(data.count) : "N/A";
+      case Column::DATA: return item.id.source != INVALID_SOURCE ? "" : "N/A";
     }
   } else if (role == ColorsRole) {
-    QVector<QColor> colors = can_data.colors;
-    if (!suppressed_bytes.empty()) {
-      for (int i = 0; i < colors.size(); i++) {
-        if (suppressed_bytes.contains({id, i})) {
-          colors[i] = QColor(255, 255, 255, 0);
-        }
-      }
-    }
-    return QVariant::fromValue(colors);
-  } else if (role == BytesRole && index.column() == Column::DATA && id.source != INVALID_SOURCE) {
-    return can_data.dat;
+    return QVariant::fromValue((void*)(&data.colors));
+  } else if (role == BytesRole && index.column() == Column::DATA && item.id.source != INVALID_SOURCE) {
+    return QVariant::fromValue((void*)(&data.dat));
   } else if (role == Qt::ToolTipRole && index.column() == Column::NAME) {
-    auto msg = dbc()->msg(id);
-    auto tooltip = msg ? msg->name : UNTITLED;
+    auto msg = dbc()->msg(item.id);
+    auto tooltip = item.name;
     if (msg && !msg->comment.isEmpty()) tooltip += "<br /><span style=\"color:gray;\">" + msg->comment + "</span>";
     return tooltip;
   }
@@ -231,31 +211,31 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
 }
 
 void MessageListModel::setFilterStrings(const QMap<int, QString> &filters) {
-  filter_str = filters;
+  filters_ = filters;
   filterAndSort();
 }
 
 void MessageListModel::dbcModified() {
-  dbc_address.clear();
+  dbc_messages_.clear();
   for (const auto &[_, m] : dbc()->getMessages(-1)) {
-    dbc_address.insert(m.address);
+    dbc_messages_.insert(MessageId{.source = INVALID_SOURCE, .address = m.address});
   }
   filterAndSort();
 }
 
-void MessageListModel::sortMessages(std::vector<MessageId> &new_msgs) {
-  auto do_sort = [order = sort_order](std::vector<MessageId> &m, auto proj) {
-    std::sort(m.begin(), m.end(), [order, proj = std::move(proj)](auto &l, auto &r) {
+void MessageListModel::sortItems(std::vector<MessageListModel::Item> &items) {
+  auto do_sort = [order = sort_order](std::vector<MessageListModel::Item> &m, auto proj) {
+    std::stable_sort(m.begin(), m.end(), [order, proj = std::move(proj)](auto &l, auto &r) {
       return order == Qt::AscendingOrder ? proj(l) < proj(r) : proj(l) > proj(r);
     });
   };
   switch (sort_column) {
-    case Column::NAME: do_sort(new_msgs, [](auto &id) { return std::make_pair(msgName(id), id); }); break;
-    case Column::SOURCE: do_sort(new_msgs, [](auto &id) { return std::tie(id.source, id); }); break;
-    case Column::ADDRESS: do_sort(new_msgs, [](auto &id) { return std::tie(id.address, id);}); break;
-    case Column::NODE: do_sort(new_msgs, [](auto &id) { return std::make_pair(msg_node_from_id(id), id);}); break;
-    case Column::FREQ: do_sort(new_msgs, [](auto &id) { return std::tie(can->lastMessage(id).freq, id); }); break;
-    case Column::COUNT: do_sort(new_msgs, [](auto &id) { return std::tie(can->lastMessage(id).count, id); }); break;
+    case Column::NAME: do_sort(items, [](auto &item) { return std::tie(item.name, item.id); }); break;
+    case Column::SOURCE: do_sort(items, [](auto &item) { return std::tie(item.id.source, item.id); }); break;
+    case Column::ADDRESS: do_sort(items, [](auto &item) { return std::tie(item.id.address, item.id);}); break;
+    case Column::NODE: do_sort(items, [](auto &item) { return std::tie(item.node, item.id);}); break;
+    case Column::FREQ: do_sort(items, [](auto &item) { return std::make_pair(can->lastMessage(item.id).freq, item.id); }); break;
+    case Column::COUNT: do_sort(items, [](auto &item) { return std::make_pair(can->lastMessage(item.id).count, item.id); }); break;
   }
 }
 
@@ -274,29 +254,33 @@ static bool parseRange(const QString &filter, uint32_t value, int base = 10) {
   return ok && value >= min && value <= max;
 }
 
-bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, const QMap<int, QString> &filters) {
+bool MessageListModel::match(const MessageListModel::Item &item) {
+  if (filters_.isEmpty())
+    return true;
+
   bool match = true;
-  for (auto it = filters.cbegin(); it != filters.cend() && match; ++it) {
+  const auto &data = can->lastMessage(item.id);
+  for (auto it = filters_.cbegin(); it != filters_.cend() && match; ++it) {
     const QString &txt = it.value();
-    QRegularExpression re(txt, QRegularExpression::CaseInsensitiveOption | QRegularExpression::DotMatchesEverythingOption);
     switch (it.key()) {
       case Column::NAME: {
-        const auto msg = dbc()->msg(id);
-        match = re.match(msg ? msg->name : UNTITLED).hasMatch();
-        match = match || (msg && std::any_of(msg->sigs.cbegin(), msg->sigs.cend(),
-                                             [&re](const auto &s) { return re.match(s->name).hasMatch(); }));
+        match = item.name.contains(txt, Qt::CaseInsensitive);
+        if (!match) {
+          const auto m = dbc()->msg(item.id);
+          match = m && std::any_of(m->sigs.cbegin(), m->sigs.cend(),
+                                   [&txt](const auto &s) { return s->name.contains(txt, Qt::CaseInsensitive); });
+        }
         break;
       }
       case Column::SOURCE:
-        match = parseRange(txt, id.source);
+        match = parseRange(txt, item.id.source);
         break;
-      case Column::ADDRESS: {
-        match = re.match(QString::number(id.address, 16)).hasMatch();
-        match = match || parseRange(txt, id.address, 16);
+      case Column::ADDRESS:
+        match = QString::number(item.id.address, 16).contains(txt, Qt::CaseInsensitive);
+        match = match || parseRange(txt, item.id.address, 16);
         break;
-      }
       case Column::NODE:
-        match = re.match(msg_node_from_id(id)).hasMatch();
+        match = item.node.contains(txt, Qt::CaseInsensitive);
         break;
       case Column::FREQ:
         // TODO: Hide stale messages?
@@ -305,52 +289,50 @@ bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, co
       case Column::COUNT:
         match = parseRange(txt, data.count);
         break;
-      case Column::DATA: {
-        match = QString(data.dat.toHex()).contains(txt, Qt::CaseInsensitive);
-        match = match || re.match(QString(data.dat.toHex())).hasMatch();
-        match = match || re.match(QString(data.dat.toHex(' '))).hasMatch();
+      case Column::DATA:
+        match = utils::toHex(data.dat).contains(txt, Qt::CaseInsensitive);
         break;
-      }
     }
   }
   return match;
 }
 
 void MessageListModel::filterAndSort() {
-  std::vector<MessageId> new_msgs;
-  new_msgs.reserve(can->last_msgs.size() + dbc_address.size());
-
-  auto address = dbc_address;
-  for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
-    if (filter_str.isEmpty() || matchMessage(it.key(), it.value(), filter_str)) {
-      new_msgs.push_back(it.key());
-    }
-    address.remove(it.key().address);
+  // merge CAN and DBC messages
+  std::vector<MessageId> all_messages;
+  all_messages.reserve(can->lastMessages().size() + dbc_messages_.size());
+  auto dbc_msgs = dbc_messages_;
+  for (const auto &[id, m] : can->lastMessages()) {
+    all_messages.push_back(id);
+    dbc_msgs.erase(MessageId{.source = INVALID_SOURCE, .address = id.address});
   }
+  all_messages.insert(all_messages.end(), dbc_msgs.begin(), dbc_msgs.end());
 
-  // merge all DBC messages
-  for (auto &addr : address) {
-    MessageId id{.source = INVALID_SOURCE, .address = addr};
-    if (filter_str.isEmpty() || matchMessage(id, {}, filter_str)) {
-      new_msgs.push_back(id);
-    }
+  // filter and sort
+  std::vector<Item> items;
+  for (const auto &id : all_messages) {
+    auto msg = dbc()->msg(id);
+    Item item = {.id = id,
+                 .name = msg ? msg->name : UNTITLED,
+                 .node = msg ? msg->transmitter : QString()};
+    if (match(item))
+      items.emplace_back(item);
   }
+  sortItems(items);
 
-  sortMessages(new_msgs);
-
-  if (msgs != new_msgs) {
+  if (items_ != items) {
     beginResetModel();
-    msgs = std::move(new_msgs);
+    items_ = std::move(items);
     endResetModel();
   }
 }
 
-void MessageListModel::msgsReceived(const QHash<MessageId, CanData> *new_msgs, bool has_new_ids) {
-  if (has_new_ids || filter_str.contains(Column::FREQ) || filter_str.contains(Column::COUNT) || filter_str.contains(Column::DATA)) {
+void MessageListModel::msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids) {
+  if (has_new_ids || filters_.contains(Column::FREQ) || filters_.contains(Column::COUNT) || filters_.contains(Column::DATA)) {
     filterAndSort();
   }
-  for (int i = 0; i < msgs.size(); ++i) {
-    if (new_msgs->contains(msgs[i])) {
+  for (int i = 0; i < items_.size(); ++i) {
+    if (!new_msgs || new_msgs->count(items_[i].id)) {
       for (int col = Column::FREQ; col < columnCount(); ++col)
         emit dataChanged(index(i, col), index(i, col), {Qt::DisplayRole});
     }
@@ -358,31 +340,13 @@ void MessageListModel::msgsReceived(const QHash<MessageId, CanData> *new_msgs, b
 }
 
 void MessageListModel::sort(int column, Qt::SortOrder order) {
-  if (column != columnCount() - 1) {
+  if (column != Column::DATA) {
     sort_column = column;
     sort_order = order;
     filterAndSort();
   }
 }
 
-void MessageListModel::suppress() {
-  const double cur_ts = can->currentSec();
-
-  for (auto &id : msgs) {
-    auto &can_data = can->lastMessage(id);
-    for (int i = 0; i < can_data.dat.size(); i++) {
-      const double dt = cur_ts - can_data.last_change_t[i];
-      if (dt < 2.0) {
-        suppressed_bytes.insert({id, i});
-      }
-    }
-  }
-}
-
-void MessageListModel::clearSuppress() {
-  suppressed_bytes.clear();
-}
-
 // MessageView
 
 void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@@ -413,14 +377,11 @@ void MessageView::updateBytesSectionSize() {
   auto delegate = ((MessageBytesDelegate *)itemDelegate());
   int max_bytes = 8;
   if (!delegate->multipleLines()) {
-    for (auto it = can->last_msgs.constBegin(); it != can->last_msgs.constEnd(); ++it) {
-      max_bytes = std::max(max_bytes, it.value().dat.size());
+    for (const auto &[_, m] : can->lastMessages()) {
+      max_bytes = std::max<int>(max_bytes, m.dat.size());
     }
   }
-  int width = delegate->widthForBytes(max_bytes);
-  if (header()->sectionSize(MessageListModel::Column::DATA) != width) {
-    header()->resizeSection(MessageListModel::Column::DATA, width);
-  }
+  header()->resizeSection(MessageListModel::Column::DATA, delegate->sizeForBytes(max_bytes).width());
 }
 
 // MessageViewHeader
@@ -445,8 +406,7 @@ void MessageViewHeader::updateHeaderPositions() {
   for (int i = 0; i < count(); i++) {
     if (editors[i]) {
       int h = editors[i]->sizeHint().height();
-      editors[i]->move(sectionViewportPosition(i), sz.height());
-      editors[i]->resize(sectionSize(i), h);
+      editors[i]->setGeometry(sectionViewportPosition(i), sz.height(), sectionSize(i), h);
       editors[i]->setHidden(isSectionHidden(i));
     }
   }
diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h
index 11d95dd3f2..2452dcf212 100644
--- a/tools/cabana/messageswidget.h
+++ b/tools/cabana/messageswidget.h
@@ -1,6 +1,8 @@
 #pragma once
 
 #include <algorithm>
+#include <optional>
+#include <set>
 #include <utility>
 #include <vector>
 
@@ -9,7 +11,6 @@
 #include <QLabel>
 #include <QLineEdit>
 #include <QMenu>
-#include <QSet>
 #include <QToolBar>
 #include <QTreeView>
 
@@ -34,23 +35,29 @@ public:
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
   int columnCount(const QModelIndex &parent = QModelIndex()) const override { return Column::DATA + 1; }
   QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const;
-  int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); }
+  int rowCount(const QModelIndex &parent = QModelIndex()) const override { return items_.size(); }
   void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override;
   void setFilterStrings(const QMap<int, QString> &filters);
-  void msgsReceived(const QHash<MessageId, CanData> *new_msgs, bool has_new_ids);
+  void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
   void filterAndSort();
-  void suppress();
-  void clearSuppress();
   void dbcModified();
-  std::vector<MessageId> msgs;
-  QSet<std::pair<MessageId, int>> suppressed_bytes;
+
+  struct Item {
+    MessageId id;
+    QString name;
+    QString node;
+    bool operator==(const Item &other) const {
+      return id == other.id && name == other.name && node == other.node;
+    }
+  };
+  std::vector<Item> items_;
 
 private:
-  void sortMessages(std::vector<MessageId> &new_msgs);
-  bool matchMessage(const MessageId &id, const CanData &data, const QMap<int, QString> &filters);
+  void sortItems(std::vector<MessageListModel::Item> &items);
+  bool match(const MessageListModel::Item &id);
 
-  QMap<int, QString> filter_str;
-  QSet<uint32_t> dbc_address;
+  QMap<int, QString> filters_;
+  std::set<MessageId> dbc_messages_;
   int sort_column = 0;
   Qt::SortOrder sort_order = Qt::AscendingOrder;
 };
@@ -91,7 +98,7 @@ public:
   void selectMessage(const MessageId &message_id);
   QByteArray saveHeaderState() const { return view->header()->saveState(); }
   bool restoreHeaderState(const QByteArray &state) const { return view->header()->restoreState(state); }
-  void updateSuppressedButtons();
+  void suppressHighlighted();
 
 public slots:
   void dbcModified();
diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc
index c408179fdd..17de0a1c0a 100644
--- a/tools/cabana/settings.cc
+++ b/tools/cabana/settings.cc
@@ -6,65 +6,51 @@
 #include <QFileDialog>
 #include <QFormLayout>
 #include <QPushButton>
+#include <QSettings>
 #include <QStandardPaths>
+#include <type_traits>
 
 #include "tools/cabana/util.h"
 
 Settings settings;
 
-QSettings::Status Settings::save() {
-  QSettings s(filePath(), QSettings::IniFormat);
-  s.setValue("absolute_time", absolute_time);
-  s.setValue("fps", fps);
-  s.setValue("max_cached_minutes", max_cached_minutes);
-  s.setValue("chart_height", chart_height);
-  s.setValue("chart_range", chart_range);
-  s.setValue("chart_column_count", chart_column_count);
-  s.setValue("last_dir", last_dir);
-  s.setValue("last_route_dir", last_route_dir);
-  s.setValue("window_state", window_state);
-  s.setValue("geometry", geometry);
-  s.setValue("video_splitter_state", video_splitter_state);
-  s.setValue("recent_files", recent_files);
-  s.setValue("message_header_state_v3", message_header_state);
-  s.setValue("chart_series_type", chart_series_type);
-  s.setValue("theme", theme);
-  s.setValue("sparkline_range", sparkline_range);
-  s.setValue("multiple_lines_bytes", multiple_lines_bytes);
-  s.setValue("log_livestream", log_livestream);
-  s.setValue("log_path", log_path);
-  s.setValue("drag_direction", drag_direction);
-  s.setValue("suppress_defined_signals", suppress_defined_signals);
-  s.sync();
-  return s.status();
+template <class SettingOperation>
+void settings_op(SettingOperation op) {
+  QSettings s("cabana");
+  op(s, "absolute_time", settings.absolute_time);
+  op(s, "fps", settings.fps);
+  op(s, "max_cached_minutes", settings.max_cached_minutes);
+  op(s, "chart_height", settings.chart_height);
+  op(s, "chart_range", settings.chart_range);
+  op(s, "chart_column_count", settings.chart_column_count);
+  op(s, "last_dir", settings.last_dir);
+  op(s, "last_route_dir", settings.last_route_dir);
+  op(s, "window_state", settings.window_state);
+  op(s, "geometry", settings.geometry);
+  op(s, "video_splitter_state", settings.video_splitter_state);
+  op(s, "recent_files", settings.recent_files);
+  op(s, "message_header_state", settings.message_header_state);
+  op(s, "chart_series_type", settings.chart_series_type);
+  op(s, "theme", settings.theme);
+  op(s, "sparkline_range", settings.sparkline_range);
+  op(s, "multiple_lines_hex", settings.multiple_lines_hex);
+  op(s, "log_livestream", settings.log_livestream);
+  op(s, "log_path", settings.log_path);
+  op(s, "drag_direction", (int &)settings.drag_direction);
+  op(s, "suppress_defined_signals", settings.suppress_defined_signals);
 }
 
-void Settings::load() {
-  QSettings s(filePath(), QSettings::IniFormat);
-  absolute_time = s.value("absolute_time", false).toBool();
-  fps = s.value("fps", 10).toInt();
-  max_cached_minutes = s.value("max_cached_minutes", 30).toInt();
-  chart_height = s.value("chart_height", 200).toInt();
-  chart_range = s.value("chart_range", 3 * 60).toInt();
-  chart_column_count = s.value("chart_column_count", 1).toInt();
-  last_dir = s.value("last_dir", QDir::homePath()).toString();
-  last_route_dir = s.value("last_route_dir", QDir::homePath()).toString();
-  window_state = s.value("window_state").toByteArray();
-  geometry = s.value("geometry").toByteArray();
-  video_splitter_state = s.value("video_splitter_state").toByteArray();
-  recent_files = s.value("recent_files").toStringList();
-  message_header_state = s.value("message_header_state_v3").toByteArray();
-  chart_series_type = s.value("chart_series_type", 0).toInt();
-  theme = s.value("theme", 0).toInt();
-  sparkline_range = s.value("sparkline_range", 15).toInt();
-  multiple_lines_bytes = s.value("multiple_lines_bytes", true).toBool();
-  log_livestream = s.value("log_livestream", true).toBool();
-  log_path = s.value("log_path").toString();
-  drag_direction = (Settings::DragDirection)s.value("drag_direction", 0).toInt();
-  suppress_defined_signals = s.value("suppress_defined_signals", false).toBool();
-  if (log_path.isEmpty()) {
-    log_path = QStandardPaths::writableLocation(QStandardPaths::HomeLocation) + "/cabana_live_stream/";
-  }
+Settings::Settings() {
+  last_dir = last_route_dir = QDir::homePath();
+  log_path = QStandardPaths::writableLocation(QStandardPaths::HomeLocation) + "/cabana_live_stream/";
+  settings_op([](QSettings &s, const QString &key, auto &value) {
+    if (auto v = s.value(key); v.canConvert<std::decay_t<decltype(value)>>())
+      value = v.value<std::decay_t<decltype(value)>>();
+  });
+}
+
+Settings::~Settings() {
+  settings_op([](QSettings &s, const QString &key, auto &v) { s.setValue(key, v); });
 }
 
 // SettingsDlg
@@ -75,45 +61,39 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
   QGroupBox *groupbox = new QGroupBox("General");
   QFormLayout *form_layout = new QFormLayout(groupbox);
 
-  theme = new QComboBox(this);
+  form_layout->addRow(tr("Color Theme"), theme = new QComboBox(this));
   theme->setToolTip(tr("You may need to restart cabana after changes theme"));
   theme->addItems({tr("Automatic"), tr("Light"), tr("Dark")});
   theme->setCurrentIndex(settings.theme);
-  form_layout->addRow(tr("Color Theme"), theme);
 
-  fps = new QSpinBox(this);
+  form_layout->addRow("FPS", fps = new QSpinBox(this));
   fps->setRange(10, 100);
   fps->setSingleStep(10);
   fps->setValue(settings.fps);
-  form_layout->addRow("FPS", fps);
 
-  cached_minutes = new QSpinBox(this);
+  form_layout->addRow(tr("Max Cached Minutes"), cached_minutes = new QSpinBox(this));
   cached_minutes->setRange(5, 60);
   cached_minutes->setSingleStep(1);
   cached_minutes->setValue(settings.max_cached_minutes);
-  form_layout->addRow(tr("Max Cached Minutes"), cached_minutes);
   main_layout->addWidget(groupbox);
 
   groupbox = new QGroupBox("New Signal Settings");
   form_layout = new QFormLayout(groupbox);
-  drag_direction = new QComboBox(this);
+  form_layout->addRow(tr("Drag Direction"), drag_direction = new QComboBox(this));
   drag_direction->addItems({tr("MSB First"), tr("LSB First"), tr("Always Little Endian"), tr("Always Big Endian")});
   drag_direction->setCurrentIndex(settings.drag_direction);
-  form_layout->addRow(tr("Drag Direction"), drag_direction);
   main_layout->addWidget(groupbox);
 
   groupbox = new QGroupBox("Chart");
   form_layout = new QFormLayout(groupbox);
-  chart_series_type = new QComboBox(this);
+  form_layout->addRow(tr("Default Series Type"), chart_series_type = new QComboBox(this));
   chart_series_type->addItems({tr("Line"), tr("Step Line"), tr("Scatter")});
   chart_series_type->setCurrentIndex(settings.chart_series_type);
-  form_layout->addRow(tr("Chart Default Series Type"), chart_series_type);
 
-  chart_height = new QSpinBox(this);
+  form_layout->addRow(tr("Chart Height"), chart_height = new QSpinBox(this));
   chart_height->setRange(100, 500);
   chart_height->setSingleStep(10);
   chart_height->setValue(settings.chart_height);
-  form_layout->addRow(tr("Chart Height"), chart_height);
   main_layout->addWidget(groupbox);
 
   log_livestream = new QGroupBox(tr("Enable live stream logging"), this);
@@ -125,10 +105,9 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
   path_layout->addWidget(browse_btn);
   main_layout->addWidget(log_livestream);
 
-
-  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel | QDialogButtonBox::Apply);
+  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
   main_layout->addWidget(buttonBox);
-  main_layout->addStretch(1);
+  setFixedSize(400, sizeHint().height());
 
   QObject::connect(browse_btn, &QPushButton::clicked, [this]() {
     QString fn = QFileDialog::getExistingDirectory(
@@ -139,31 +118,22 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
       log_path->setText(fn);
     }
   });
-  QObject::connect(buttonBox, &QDialogButtonBox::clicked, [=](QAbstractButton *button) {
-    auto role = buttonBox->buttonRole(button);
-    if (role == QDialogButtonBox::AcceptRole) {
-      save();
-      accept();
-    } else if (role == QDialogButtonBox::ApplyRole) {
-      save();
-    } else if (role == QDialogButtonBox::RejectRole) {
-      reject();
-    }
-  });
+  QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
+  QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &SettingsDlg::save);
 }
 
 void SettingsDlg::save() {
-  settings.fps = fps->value();
   if (std::exchange(settings.theme, theme->currentIndex()) != settings.theme) {
     // set theme before emit changed
     utils::setTheme(settings.theme);
   }
+  settings.fps = fps->value();
   settings.max_cached_minutes = cached_minutes->value();
   settings.chart_series_type = chart_series_type->currentIndex();
   settings.chart_height = chart_height->value();
   settings.log_livestream = log_livestream->isChecked();
   settings.log_path = log_path->text();
   settings.drag_direction = (Settings::DragDirection)drag_direction->currentIndex();
-  settings.save();
   emit settings.changed();
+  QDialog::accept();
 }
diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h
index da7781e6e4..e75c519ac7 100644
--- a/tools/cabana/settings.h
+++ b/tools/cabana/settings.h
@@ -1,13 +1,10 @@
 #pragma once
 
-#include <QApplication>
 #include <QByteArray>
-#include <QCheckBox>
 #include <QComboBox>
 #include <QDialog>
 #include <QGroupBox>
 #include <QLineEdit>
-#include <QSettings>
 #include <QSpinBox>
 
 #define LIGHT_THEME 1
@@ -24,10 +21,8 @@ public:
     AlwaysBE,
   };
 
-  Settings() {}
-  QSettings::Status save();
-  void load();
-  inline static QString filePath() { return QApplication::applicationDirPath() + "/settings"; }
+  Settings();
+  ~Settings();
 
   bool absolute_time = false;
   int fps = 10;
@@ -38,7 +33,7 @@ public:
   int chart_series_type = 0;
   int theme = 0;
   int sparkline_range = 15; // 15 seconds
-  bool multiple_lines_bytes = true;
+  bool multiple_lines_hex = false;
   bool log_livestream = true;
   bool suppress_defined_signals = false;
   QString log_path;
@@ -49,15 +44,13 @@ public:
   QByteArray window_state;
   QStringList recent_files;
   QByteArray message_header_state;
-  DragDirection drag_direction;
+  DragDirection drag_direction = MsbFirst;
 
 signals:
   void changed();
 };
 
 class SettingsDlg : public QDialog {
-  Q_OBJECT
-
 public:
   SettingsDlg(QWidget *parent);
   void save();
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 934609a439..7eb647b650 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -36,8 +36,8 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p
 void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) {
   Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name, .type = Item::Sig};
   parent_item->children.insert(pos, item);
-  QString titles[]{"Name", "Size", "Node", "Little Endian", "Signed", "Offset", "Factor", "Type", "Multiplex Value", "Extra Info",
-                   "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Descriptions"};
+  QString titles[]{"Name", "Size", "Receiver Nodes", "Little Endian", "Signed", "Offset", "Factor", "Type",
+                   "Multiplex Value", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Table"};
   for (int i = 0; i < std::size(titles); ++i) {
     item->children.push_back(new Item{.sig = sig, .parent = item, .title = titles[i], .type = (Item::Type)(i + Item::Name)});
   }
@@ -68,10 +68,7 @@ void SignalModel::refresh() {
 }
 
 SignalModel::Item *SignalModel::getItem(const QModelIndex &index) const {
-  SignalModel::Item *item = nullptr;
-  if (index.isValid()) {
-    item = (SignalModel::Item *)index.internalPointer();
-  }
+  auto item = index.isValid() ? (SignalModel::Item *)index.internalPointer() : nullptr;
   return item ? item : root.get();
 }
 
@@ -354,7 +351,7 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
       painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
       QRect rect = r.adjusted(sparkline_size.width() + 1, 0, 0, 0);
       int value_adjust = 10;
-      if (item->highlight || option.state & QStyle::State_Selected) {
+      if (!item->sparkline.isEmpty() && (item->highlight || option.state & QStyle::State_Selected)) {
         painter->drawLine(rect.topLeft(), rect.bottomLeft());
         rect.adjust(5, -v_margin, 0, v_margin);
         painter->setFont(minmax_font);
@@ -364,13 +361,12 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
         painter->drawText(rect, Qt::AlignLeft | Qt::AlignBottom, min);
         QFontMetrics fm(minmax_font);
         value_adjust = std::max(fm.width(min), fm.width(max)) + 5;
-      } else if (item->sig->type == cabana::Signal::Type::Multiplexed) {
+      } else if (!item->sparkline.isEmpty()  && item->sig->type == cabana::Signal::Type::Multiplexed) {
         // display freq of multiplexed signal
         painter->setFont(label_font);
         QString freq = QString("%1 hz").arg(item->sparkline.freq(), 0, 'g', 2);
         painter->drawText(rect.adjusted(5, 0, 0, 0), Qt::AlignLeft | Qt::AlignVCenter, freq);
-        QFontMetrics fm(label_font);
-        value_adjust = fm.width(freq) + 10;
+        value_adjust = QFontMetrics(label_font).width(freq) + 10;
       }
       // signal value
       painter->setFont(option.font);
@@ -504,7 +500,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
   QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalView::updateState);
   QObject::connect(tree->header(), &QHeaderView::sectionResized, [this](int logicalIndex, int oldSize, int newSize) {
     if (logicalIndex == 1) {
-      value_column_width = newSize - delegate->button_size.width();
+      value_column_width = newSize;
       updateState();
     }
   });
@@ -614,21 +610,17 @@ void SignalView::handleSignalAdded(MessageId id, const cabana::Signal *sig) {
 }
 
 void SignalView::handleSignalUpdated(const cabana::Signal *sig) {
-  if (int row = model->signalRow(sig); row != -1) {
-    auto item = model->getItem(model->index(row, 1));
-    // invalidate the sparkline
-    item->sparkline.last_ts = 0;
+  if (int row = model->signalRow(sig); row != -1)
     updateState();
-  }
 }
 
-void SignalView::updateState(const QHash<MessageId, CanData> *msgs) {
+void SignalView::updateState(const std::set<MessageId> *msgs) {
   const auto &last_msg = can->lastMessage(model->msg_id);
-  if (model->rowCount() == 0 || (msgs && !msgs->contains(model->msg_id)) || last_msg.dat.size() == 0) return;
+  if (model->rowCount() == 0 || (msgs && !msgs->count(model->msg_id)) || last_msg.dat.size() == 0) return;
 
   for (auto item : model->root->children) {
     double value = 0;
-    if (item->sig->getValue((uint8_t *)last_msg.dat.constData(), last_msg.dat.size(), &value)) {
+    if (item->sig->getValue(last_msg.dat.data(), last_msg.dat.size(), &value)) {
       item->sig_val = item->sig->formatValue(value);
     }
     max_value_width = std::max(max_value_width, fontMetrics().width(item->sig_val));
@@ -645,17 +637,15 @@ void SignalView::updateState(const QHash<MessageId, CanData> *msgs) {
     }
 
     const static int min_max_width = QFontMetrics(delegate->minmax_font).width("-000.00") + 5;
-    int value_width = std::min<int>(max_value_width + min_max_width, value_column_width / 2);
-    QSize size(value_column_width - value_width,
+    int available_width = value_column_width - delegate->button_size.width();
+    int value_width = std::min<int>(max_value_width + min_max_width, available_width / 2);
+    QSize size(available_width - value_width,
                delegate->button_size.height() - style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2);
     QFutureSynchronizer<void> synchronizer;
     for (int i = first_visible_row; i <= last_visible_row; ++i) {
       auto item = model->getItem(model->index(i, 1));
-      auto &s = item->sparkline;
-      if (s.last_ts != last_msg.ts || s.size() != size || s.time_range != settings.sparkline_range) {
-        synchronizer.addFuture(QtConcurrent::run(
-            &s, &Sparkline::update, model->msg_id, item->sig, last_msg.ts, settings.sparkline_range, size));
-      }
+      synchronizer.addFuture(QtConcurrent::run(
+          &item->sparkline, &Sparkline::update, model->msg_id, item->sig, last_msg.ts, settings.sparkline_range, size));
     }
   }
 
diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h
index c08579bc55..30978f928c 100644
--- a/tools/cabana/signalview.h
+++ b/tools/cabana/signalview.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <memory>
+#include <set>
 
 #include <QAbstractItemModel>
 #include <QLabel>
@@ -82,7 +83,7 @@ class SignalItemDelegate : public QStyledItemDelegate {
 public:
   SignalItemDelegate(QObject *parent);
   void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
-  QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const;
+  QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   void setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const override;
@@ -117,7 +118,7 @@ private:
   void setSparklineRange(int value);
   void handleSignalAdded(MessageId id, const cabana::Signal *sig);
   void handleSignalUpdated(const cabana::Signal *sig);
-  void updateState(const QHash<MessageId, CanData> *msgs = nullptr);
+  void updateState(const std::set<MessageId> *msgs = nullptr);
 
   struct TreeView : public QTreeView {
     TreeView(QWidget *parent) : QTreeView(parent) {}
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index eb2859e5a3..c68259ed8b 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -1,8 +1,10 @@
 #include "tools/cabana/streams/abstractstream.h"
 
 #include <algorithm>
+#include <utility>
 
-#include <QTimer>
+#include "common/timing.h"
+#include "tools/cabana/settings.h"
 
 static const int EVENT_NEXT_BUFFER_SIZE = 6 * 1024 * 1024;  // 6MB
 
@@ -15,82 +17,97 @@ StreamNotifier *StreamNotifier::instance() {
 
 AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
   assert(parent != nullptr);
-  new_msgs = std::make_unique<QHash<MessageId, CanData>>();
-  event_buffer = std::make_unique<MonotonicBuffer>(EVENT_NEXT_BUFFER_SIZE);
+  event_buffer_ = std::make_unique<MonotonicBuffer>(EVENT_NEXT_BUFFER_SIZE);
 
+  QObject::connect(this, &AbstractStream::privateUpdateLastMsgsSignal, this, &AbstractStream::updateLastMessages, Qt::QueuedConnection);
   QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo);
-  QObject::connect(&settings, &Settings::changed, this, &AbstractStream::updateMasks);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks);
   QObject::connect(dbc(), &DBCManager::maskUpdated, this, &AbstractStream::updateMasks);
   QObject::connect(this, &AbstractStream::streamStarted, [this]() {
     emit StreamNotifier::instance()->changingStream();
     delete can;
     can = this;
-    // TODO: add method stop() to class AbstractStream
-    QObject::connect(qApp, &QApplication::aboutToQuit, can, []() {
-      qDebug() << "stopping stream thread";
-      can->pause(true);
-    });
     emit StreamNotifier::instance()->streamStarted();
   });
 }
 
 void AbstractStream::updateMasks() {
-  std::lock_guard lk(mutex);
-  masks.clear();
-  if (settings.suppress_defined_signals) {
-    for (auto s : sources) {
-      if (auto f = dbc()->findDBCFile(s)) {
-        for (const auto &[address, m] : f->getMessages()) {
-          masks[{.source = (uint8_t)s, .address = address}] = m.mask;
-        }
+  std::lock_guard lk(mutex_);
+  masks_.clear();
+  if (!settings.suppress_defined_signals)
+    return;
+
+  for (const auto s : sources) {
+    for (const auto &[address, m] : dbc()->getMessages(s)) {
+      masks_[{.source = (uint8_t)s, .address = address}] = m.mask;
+    }
+  }
+  // clear bit change counts
+  for (auto &[id, m] : messages_) {
+    auto &mask = masks_[id];
+    const int size = std::min(mask.size(), m.last_changes.size());
+    for (int i = 0; i < size; ++i) {
+      for (int j = 0; j < 8; ++j) {
+        if (((mask[i] >> (7 - j)) & 1) != 0) m.last_changes[i].bit_change_counts[j] = 0;
       }
     }
   }
 }
 
-void AbstractStream::updateMessages(QHash<MessageId, CanData> *messages) {
+void AbstractStream::suppressDefinedSignals(bool suppress) {
+  settings.suppress_defined_signals = suppress;
+  updateMasks();
+}
+
+size_t AbstractStream::suppressHighlighted() {
+  std::lock_guard lk(mutex_);
+  size_t cnt = 0;
+  const double cur_ts = currentSec();
+  for (auto &[_, m] : messages_) {
+    for (auto &last_change : m.last_changes) {
+      const double dt = cur_ts - last_change.ts;
+      if (dt < 2.0) {
+        last_change.suppressed = true;
+      }
+      // clear bit change counts
+      last_change.bit_change_counts.fill(0);
+      cnt += last_change.suppressed;
+    }
+  }
+  return cnt;
+}
+
+void AbstractStream::clearSuppressed() {
+  std::lock_guard lk(mutex_);
+  for (auto &[_, m] : messages_) {
+    std::for_each(m.last_changes.begin(), m.last_changes.end(), [](auto &c) { c.suppressed = false; });
+  }
+}
+
+void AbstractStream::updateLastMessages() {
   auto prev_src_size = sources.size();
   auto prev_msg_size = last_msgs.size();
-  for (auto it = messages->begin(); it != messages->end(); ++it) {
-    const auto &id = it.key();
-    last_msgs[id] = it.value();
-    sources.insert(id.source);
+  std::set<MessageId> msgs;
+  {
+    std::lock_guard lk(mutex_);
+    for (const auto &id : new_msgs_) {
+      last_msgs[id] = messages_[id];
+      sources.insert(id.source);
+    }
+    msgs = std::move(new_msgs_);
   }
+
   if (sources.size() != prev_src_size) {
     updateMasks();
     emit sourcesUpdated(sources);
   }
-  emit updated();
-  emit msgsReceived(messages, prev_msg_size != last_msgs.size());
-  delete messages;
-  processing = false;
+  emit msgsReceived(&msgs, prev_msg_size != last_msgs.size());
 }
 
 void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size) {
-  std::lock_guard lk(mutex);
-  auto mask_it = masks.find(id);
-  std::vector<uint8_t> *mask = mask_it == masks.end() ? nullptr : &mask_it->second;
-  all_msgs[id].compute(id, (const char *)data, size, sec, getSpeed(), mask);
-  if (!new_msgs->contains(id)) {
-    new_msgs->insert(id, {});
-  }
-}
-
-bool AbstractStream::postEvents() {
-  // delay posting CAN message if UI thread is busy
-  if (processing == false) {
-    processing = true;
-    for (auto it = new_msgs->begin(); it != new_msgs->end(); ++it) {
-      it.value() = all_msgs[it.key()];
-    }
-    // use pointer to avoid data copy in queued connection.
-    QMetaObject::invokeMethod(this, std::bind(&AbstractStream::updateMessages, this, new_msgs.release()), Qt::QueuedConnection);
-    new_msgs.reset(new QHash<MessageId, CanData>);
-    new_msgs->reserve(100);
-    return true;
-  }
-  return false;
+  std::lock_guard lk(mutex_);
+  messages_[id].compute(id, data, size, sec, getSpeed(), masks_[id]);
+  new_msgs_.insert(id);
 }
 
 const std::vector<const CanEvent *> &AbstractStream::events(const MessageId &id) const {
@@ -102,76 +119,62 @@ const std::vector<const CanEvent *> &AbstractStream::events(const MessageId &id)
 const CanData &AbstractStream::lastMessage(const MessageId &id) {
   static CanData empty_data = {};
   auto it = last_msgs.find(id);
-  return it != last_msgs.end() ? it.value() : empty_data;
+  return it != last_msgs.end() ? it->second : empty_data;
 }
 
 // it is thread safe to update data in updateLastMsgsTo.
 // updateLastMsgsTo is always called in UI thread.
 void AbstractStream::updateLastMsgsTo(double sec) {
-  new_msgs.reset(new QHash<MessageId, CanData>);
-  all_msgs.clear();
-  last_msgs.clear();
+  new_msgs_.clear();
+  messages_.clear();
 
   uint64_t last_ts = (sec + routeStartTime()) * 1e9;
-  for (auto &[id, ev] : events_) {
-    auto it = std::lower_bound(ev.crbegin(), ev.crend(), last_ts, [](auto e, uint64_t ts) {
-      return e->mono_time > ts;
-    });
-    auto mask_it = masks.find(id);
-    std::vector<uint8_t> *mask = mask_it == masks.end() ? nullptr : &mask_it->second;
-    if (it != ev.crend()) {
-      double ts = (*it)->mono_time / 1e9 - routeStartTime();
-      auto &m = all_msgs[id];
-      m.compute(id, (const char *)(*it)->dat, (*it)->size, ts, getSpeed(), mask);
-      m.count = std::distance(it, ev.crend());
+  for (const auto &[id, ev] : events_) {
+    auto it = std::upper_bound(ev.begin(), ev.end(), last_ts, CompareCanEvent());
+    if (it != ev.begin()) {
+      auto prev = std::prev(it);
+      double ts = (*prev)->mono_time / 1e9 - routeStartTime();
+      auto &m = messages_[id];
+      m.compute(id, (*prev)->dat, (*prev)->size, ts, getSpeed(), {});
+      m.count = std::distance(ev.begin(), prev) + 1;
     }
   }
 
-  // deep copy all_msgs to last_msgs to avoid multi-threading issue.
-  last_msgs = all_msgs;
-  last_msgs.detach();
-  // use a timer to prevent recursive calls
-  QTimer::singleShot(0, [this]() {
-    emit updated();
-    emit msgsReceived(&last_msgs, true);
-  });
+  bool id_changed = messages_.size() != last_msgs.size() ||
+                    std::any_of(messages_.cbegin(), messages_.cend(),
+                                [this](const auto &m) { return !last_msgs.count(m.first); });
+  last_msgs = messages_;
+  emit msgsReceived(nullptr, id_changed);
 }
 
-void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last) {
+const CanEvent *AbstractStream::newEvent(uint64_t mono_time, const cereal::CanData::Reader &c) {
+  auto dat = c.getDat();
+  CanEvent *e = (CanEvent *)event_buffer_->allocate(sizeof(CanEvent) + sizeof(uint8_t) * dat.size());
+  e->src = c.getSrc();
+  e->address = c.getAddress();
+  e->mono_time = mono_time;
+  e->size = dat.size();
+  memcpy(e->dat, (uint8_t *)dat.begin(), e->size);
+  return e;
+}
+
+void AbstractStream::mergeEvents(const std::vector<const CanEvent *> &events) {
   static MessageEventsMap msg_events;
-  static  std::vector<const CanEvent *> new_events;
-
   std::for_each(msg_events.begin(), msg_events.end(), [](auto &e) { e.second.clear(); });
-  new_events.clear();
-
-  for (auto it = first; it != last; ++it) {
-    if ((*it)->which == cereal::Event::Which::CAN) {
-      uint64_t ts = (*it)->mono_time;
-      for (const auto &c : (*it)->event.getCan()) {
-        auto dat = c.getDat();
-        CanEvent *e = (CanEvent *)event_buffer->allocate(sizeof(CanEvent) + sizeof(uint8_t) * dat.size());
-        e->src = c.getSrc();
-        e->address = c.getAddress();
-        e->mono_time = ts;
-        e->size = dat.size();
-        memcpy(e->dat, (uint8_t *)dat.begin(), e->size);
-
-        msg_events[{.source = e->src, .address = e->address}].push_back(e);
-        new_events.push_back(e);
-      }
-    }
+  for (auto e : events) {
+    msg_events[{.source = e->src, .address = e->address}].push_back(e);
   }
 
-  if (!new_events.empty()) {
-    for (auto &[id, new_e] : msg_events) {
+  if (!events.empty()) {
+    for (const auto &[id, new_e] : msg_events) {
       if (!new_e.empty()) {
         auto &e = events_[id];
         auto pos = std::upper_bound(e.cbegin(), e.cend(), new_e.front()->mono_time, CompareCanEvent());
         e.insert(pos, new_e.cbegin(), new_e.cend());
       }
     }
-    auto pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front()->mono_time, CompareCanEvent());
-    all_events_.insert(pos, new_events.cbegin(), new_events.cend());
+    auto pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), events.front()->mono_time, CompareCanEvent());
+    all_events_.insert(pos, events.cbegin(), events.cend());
     emit eventsMerged(msg_events);
   }
   lastest_event_ts = all_events_.empty() ? 0 : all_events_.back()->mono_time;
@@ -181,15 +184,16 @@ void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std
 
 namespace {
 
-constexpr int periodic_threshold = 10;
-constexpr int start_alpha = 128;
-constexpr float fade_time = 2.0;
-const QColor CYAN = QColor(0, 187, 255, start_alpha);
-const QColor RED = QColor(255, 0, 0, start_alpha);
-const QColor GREYISH_BLUE = QColor(102, 86, 169, start_alpha / 2);
-const QColor CYAN_LIGHTER = QColor(0, 187, 255, start_alpha).lighter(135);
-const QColor RED_LIGHTER = QColor(255, 0, 0, start_alpha).lighter(135);
-const QColor GREYISH_BLUE_LIGHTER = QColor(102, 86, 169, start_alpha / 2).lighter(135);
+enum Color { GREYISH_BLUE, CYAN, RED};
+QColor getColor(int c) {
+  constexpr int start_alpha = 128;
+  static const QColor colors[] = {
+      [GREYISH_BLUE] = QColor(102, 86, 169, start_alpha / 2),
+      [CYAN] = QColor(0, 187, 255, start_alpha),
+      [RED] = QColor(255, 0, 0, start_alpha),
+  };
+  return settings.theme == LIGHT_THEME ? colors[c] : colors[c].lighter(135);
+}
 
 inline QColor blend(const QColor &a, const QColor &b) {
   return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
@@ -212,8 +216,8 @@ double calc_freq(const MessageId &msg_id, double current_sec) {
 
 }  // namespace
 
-void CanData::compute(const MessageId &msg_id, const char *can_data, const int size, double current_sec,
-                      double playback_speed, const std::vector<uint8_t> *mask, double in_freq) {
+void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const int size, double current_sec,
+                      double playback_speed, const std::vector<uint8_t> &mask, double in_freq) {
   ts = current_sec;
   ++count;
 
@@ -224,55 +228,53 @@ void CanData::compute(const MessageId &msg_id, const char *can_data, const int s
 
   if (dat.size() != size) {
     dat.resize(size);
-    bit_change_counts.resize(size);
-    colors = QVector(size, QColor(0, 0, 0, 0));
-    last_change_t.assign(size, ts);
-    last_delta.resize(size);
-    same_delta_counter.resize(size);
+    colors.assign(size, QColor(0, 0, 0, 0));
+    last_changes.resize(size);
+    std::for_each(last_changes.begin(), last_changes.end(), [current_sec](auto &c) { c.ts = current_sec; });
   } else {
-    bool lighter = settings.theme == DARK_THEME;
-    const QColor &cyan = !lighter ? CYAN : CYAN_LIGHTER;
-    const QColor &red = !lighter ? RED : RED_LIGHTER;
-    const QColor &greyish_blue = !lighter ? GREYISH_BLUE : GREYISH_BLUE_LIGHTER;
+    constexpr int periodic_threshold = 10;
+    constexpr float fade_time = 2.0;
+    const float alpha_delta = 1.0 / (freq + 1) / (fade_time * playback_speed);
 
     for (int i = 0; i < size; ++i) {
-      const uint8_t mask_byte = (mask && i < mask->size()) ? (~((*mask)[i])) : 0xff;
+      auto &last_change = last_changes[i];
+
+      uint8_t mask_byte = last_change.suppressed ? 0x00 : 0xFF;
+      if (i < mask.size()) mask_byte &= ~(mask[i]);
+
       const uint8_t last = dat[i] & mask_byte;
       const uint8_t cur = can_data[i] & mask_byte;
-      const int delta = cur - last;
-
       if (last != cur) {
-        double delta_t = ts - last_change_t[i];
-
+        const int delta = cur - last;
         // Keep track if signal is changing randomly, or mostly moving in the same direction
-        if (std::signbit(delta) == std::signbit(last_delta[i])) {
-          same_delta_counter[i] = std::min(16, same_delta_counter[i] + 1);
+        if (std::signbit(delta) == std::signbit(last_change.delta)) {
+          last_change.same_delta_counter = std::min(16, last_change.same_delta_counter + 1);
         } else {
-          same_delta_counter[i] = std::max(0, same_delta_counter[i] - 4);
+          last_change.same_delta_counter = std::max(0, last_change.same_delta_counter - 4);
         }
 
+        const double delta_t = ts - last_change.ts;
         // Mostly moves in the same direction, color based on delta up/down
-        if (delta_t * freq > periodic_threshold || same_delta_counter[i] > 8) {
+        if (delta_t * freq > periodic_threshold || last_change.same_delta_counter > 8) {
           // Last change was while ago, choose color based on delta up or down
-          colors[i] = (cur > last) ? cyan : red;
+          colors[i] = getColor(cur > last ? CYAN : RED);
         } else {
           // Periodic changes
-          colors[i] = blend(colors[i], greyish_blue);
+          colors[i] = blend(colors[i], getColor(GREYISH_BLUE));
         }
 
         // Track bit level changes
         const uint8_t tmp = (cur ^ last);
         for (int bit = 0; bit < 8; bit++) {
-          if (tmp & (1 << bit)) {
-            bit_change_counts[i][bit] += 1;
+          if (tmp & (1 << (7 - bit))) {
+            last_change.bit_change_counts[bit] += 1;
           }
         }
 
-        last_change_t[i] = ts;
-        last_delta[i] = delta;
+        last_change.ts = ts;
+        last_change.delta = delta;
       } else {
         // Fade out
-        float alpha_delta = 1.0 / (freq + 1) / (fade_time * playback_speed);
         colors[i].setAlphaF(std::max(0.0, colors[i].alphaF() - alpha_delta));
       }
     }
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 4a17affebe..16d4040d62 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -1,35 +1,37 @@
 #pragma once
 
 #include <array>
-#include <atomic>
 #include <memory>
-#include <tuple>
+#include <mutex>
+#include <set>
 #include <unordered_map>
 #include <vector>
 
 #include <QColor>
 #include <QDateTime>
-#include <QHash>
 
-#include "common/timing.h"
+#include "cereal/messaging/messaging.h"
 #include "tools/cabana/dbc/dbcmanager.h"
-#include "tools/cabana/settings.h"
 #include "tools/cabana/util.h"
-#include "tools/replay/replay.h"
 
 struct CanData {
-  void compute(const MessageId &msg_id, const char *dat, const int size, double current_sec,
-               double playback_speed, const std::vector<uint8_t> *mask = nullptr, double in_freq = 0);
+  void compute(const MessageId &msg_id, const uint8_t *dat, const int size, double current_sec,
+               double playback_speed, const std::vector<uint8_t> &mask, double in_freq = 0);
 
   double ts = 0.;
   uint32_t count = 0;
   double freq = 0;
-  QByteArray dat;
-  QVector<QColor> colors;
-  std::vector<double> last_change_t;
-  std::vector<std::array<uint32_t, 8>> bit_change_counts;
-  std::vector<int> last_delta;
-  std::vector<int> same_delta_counter;
+  std::vector<uint8_t> dat;
+  std::vector<QColor> colors;
+
+  struct ByteLastChange {
+    double ts;
+    int delta;
+    int same_delta_counter;
+    bool suppressed;
+    std::array<uint32_t, 8> bit_change_counts;
+  };
+  std::vector<ByteLastChange> last_changes;
   double last_freq_update_ts = 0;
 };
 
@@ -61,7 +63,7 @@ public:
   AbstractStream(QObject *parent);
   virtual ~AbstractStream() {}
   virtual void start() = 0;
-  inline bool liveStreaming() const { return route() == nullptr; }
+  virtual bool liveStreaming() const { return true; }
   virtual void seekTo(double ts) {}
   virtual QString routeName() const = 0;
   virtual QString carFingerprint() const { return ""; }
@@ -69,17 +71,20 @@ public:
   virtual double routeStartTime() const { return 0; }
   virtual double currentSec() const = 0;
   virtual double totalSeconds() const { return lastEventMonoTime() / 1e9 - routeStartTime(); }
-  const CanData &lastMessage(const MessageId &id);
-  virtual VisionStreamType visionStreamType() const { return VISION_STREAM_ROAD; }
-  virtual const Route *route() const { return nullptr; }
   virtual void setSpeed(float speed) {}
   virtual double getSpeed() { return 1; }
   virtual bool isPaused() const { return false; }
   virtual void pause(bool pause) {}
-  const MessageEventsMap &eventsMap() const { return events_; }
-  const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
+
+  inline const std::unordered_map<MessageId, CanData> &lastMessages() const { return last_msgs; }
+  inline const MessageEventsMap &eventsMap() const { return events_; }
+  inline const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
+  const CanData &lastMessage(const MessageId &id);
   const std::vector<const CanEvent *> &events(const MessageId &id) const;
-  virtual const std::vector<std::tuple<double, double, TimelineType>> getTimeline() { return {}; }
+
+  size_t suppressHighlighted();
+  void clearSuppressed();
+  void suppressDefinedSignals(bool suppress);
 
 signals:
   void paused();
@@ -87,32 +92,36 @@ signals:
   void seekedTo(double sec);
   void streamStarted();
   void eventsMerged(const MessageEventsMap &events_map);
-  void updated();
-  void msgsReceived(const QHash<MessageId, CanData> *new_msgs, bool has_new_ids);
+  void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
   void sourcesUpdated(const SourceSet &s);
+  void privateUpdateLastMsgsSignal();
 
 public:
-  QHash<MessageId, CanData> last_msgs;
   SourceSet sources;
 
 protected:
-  void mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last);
-  bool postEvents();
-  uint64_t lastEventMonoTime() const { return lastest_event_ts; }
+  void mergeEvents(const std::vector<const CanEvent *> &events);
+  const CanEvent *newEvent(uint64_t mono_time, const cereal::CanData::Reader &c);
   void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size);
-  void updateMessages(QHash<MessageId, CanData> *);
-  void updateMasks();
-  void updateLastMsgsTo(double sec);
+  uint64_t lastEventMonoTime() const { return lastest_event_ts; }
 
-  uint64_t lastest_event_ts = 0;
-  std::atomic<bool> processing = false;
-  std::unique_ptr<QHash<MessageId, CanData>> new_msgs;
-  QHash<MessageId, CanData> all_msgs;
-  MessageEventsMap events_;
   std::vector<const CanEvent *> all_events_;
-  std::unique_ptr<MonotonicBuffer> event_buffer;
-  std::mutex mutex;
-  std::unordered_map<MessageId, std::vector<uint8_t>> masks;
+  uint64_t lastest_event_ts = 0;
+
+private:
+  void updateLastMessages();
+  void updateLastMsgsTo(double sec);
+  void updateMasks();
+
+  MessageEventsMap events_;
+  std::unordered_map<MessageId, CanData> last_msgs;
+  std::unique_ptr<MonotonicBuffer> event_buffer_;
+
+  // Members accessed in multiple threads. (mutex protected)
+  std::mutex mutex_;
+  std::set<MessageId> new_msgs_;
+  std::unordered_map<MessageId, CanData> messages_;
+  std::unordered_map<MessageId, std::vector<uint8_t>> masks_;
 };
 
 class AbstractOpenStreamWidget : public QWidget {
diff --git a/tools/cabana/streams/devicestream.cc b/tools/cabana/streams/devicestream.cc
index 349a2d7a1c..80507391a7 100644
--- a/tools/cabana/streams/devicestream.cc
+++ b/tools/cabana/streams/devicestream.cc
@@ -8,6 +8,7 @@
 #include <QRadioButton>
 #include <QRegularExpression>
 #include <QRegularExpressionValidator>
+#include <QThread>
 
 // DeviceStream
 
@@ -21,17 +22,14 @@ void DeviceStream::streamThread() {
   std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString();
   std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", address));
   assert(sock != NULL);
-  sock->setTimeout(50);
   // run as fast as messages come in
   while (!QThread::currentThread()->isInterruptionRequested()) {
-    Message *msg = sock->receive(true);
+    std::unique_ptr<Message> msg(sock->receive(true));
     if (!msg) {
       QThread::msleep(50);
       continue;
     }
-
-    handleEvent(msg->getData(), msg->getSize());
-    delete msg;
+    handleEvent(kj::ArrayPtr<capnp::word>((capnp::word*)msg->getData(), msg->getSize() / sizeof(capnp::word)));
   }
 }
 
diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc
index fd140eb8bf..4e1f6d77d9 100644
--- a/tools/cabana/streams/livestream.cc
+++ b/tools/cabana/streams/livestream.cc
@@ -1,12 +1,17 @@
 #include "tools/cabana/streams/livestream.h"
 
+#include <QThread>
 #include <algorithm>
+#include <fstream>
 #include <memory>
 
+#include "common/timing.h"
+#include "common/util.h"
+
 struct LiveStream::Logger {
   Logger() : start_ts(seconds_since_epoch()), segment_num(-1) {}
 
-  void write(const char *data, const size_t size) {
+  void write(kj::ArrayPtr<capnp::word> data) {
     int n = (seconds_since_epoch() - start_ts) / 60.0;
     if (std::exchange(segment_num, n) != segment_num) {
       QString dir = QString("%1/%2--%3")
@@ -17,7 +22,8 @@ struct LiveStream::Logger {
       fs.reset(new std::ofstream((dir + "/rlog").toStdString(), std::ios::binary | std::ios::out));
     }
 
-    fs->write(data, size);
+    auto bytes = data.asBytes();
+    fs->write((const char*)bytes.begin(), bytes.size());
   }
 
   std::unique_ptr<std::ofstream> fs;
@@ -57,14 +63,20 @@ LiveStream::~LiveStream() {
 }
 
 // called in streamThread
-void LiveStream::handleEvent(const char *data, const size_t size) {
+void LiveStream::handleEvent(kj::ArrayPtr<capnp::word> data) {
   if (logger) {
-    logger->write(data, size);
+    logger->write(data);
   }
 
-  std::lock_guard lk(lock);
-  auto &msg = receivedMessages.emplace_back(data, size);
-  receivedEvents.push_back(msg.event);
+  capnp::FlatArrayMessageReader reader(data);
+  auto event = reader.getRoot<cereal::Event>();
+  if (event.which() == cereal::Event::Which::CAN) {
+    const uint64_t mono_time = event.getLogMonoTime();
+    std::lock_guard lk(lock);
+    for (const auto &c : event.getCan()) {
+      received_events_.push_back(newEvent(mono_time, c));
+    }
+  }
 }
 
 void LiveStream::timerEvent(QTimerEvent *event) {
@@ -72,9 +84,8 @@ void LiveStream::timerEvent(QTimerEvent *event) {
     {
       // merge events received from live stream thread.
       std::lock_guard lk(lock);
-      mergeEvents(receivedEvents.cbegin(), receivedEvents.cend());
-      receivedEvents.clear();
-      receivedMessages.clear();
+      mergeEvents(received_events_);
+      received_events_.clear();
     }
     if (!all_events_.empty()) {
       begin_event_ts = all_events_.front()->mono_time;
@@ -112,7 +123,7 @@ void LiveStream::updateEvents() {
     updateEvent(id, (e->mono_time - begin_event_ts) / 1e9, e->dat, e->size);
     current_event_ts = e->mono_time;
   }
-  postEvents();
+  emit privateUpdateLastMsgsSignal();
 }
 
 void LiveStream::seekTo(double sec) {
diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h
index d72112c604..719ea15c24 100644
--- a/tools/cabana/streams/livestream.h
+++ b/tools/cabana/streams/livestream.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include <deque>
 #include <memory>
 #include <vector>
 
@@ -26,26 +25,16 @@ public:
 
 protected:
   virtual void streamThread() = 0;
-  void handleEvent(const char *data, const size_t size);
+  void handleEvent(kj::ArrayPtr<capnp::word> event);
 
 private:
   void startUpdateTimer();
   void timerEvent(QTimerEvent *event) override;
   void updateEvents();
 
-  struct Msg {
-    Msg(const char *data, const size_t size) {
-      event = ::new Event(aligned_buf.align(data, size));
-    }
-    ~Msg() { ::delete event; }
-    Event *event;
-    AlignedBuffer aligned_buf;
-  };
-
   std::mutex lock;
   QThread *stream_thread;
-  std::vector<Event *> receivedEvents;
-  std::deque<Msg> receivedMessages;
+  std::vector<const CanEvent *> received_events_;
 
   int timer_id;
   QBasicTimer update_timer;
diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc
index 4a6c588e51..bea1fd7480 100644
--- a/tools/cabana/streams/pandastream.cc
+++ b/tools/cabana/streams/pandastream.cc
@@ -1,14 +1,13 @@
 #include "tools/cabana/streams/pandastream.h"
 
-#include <vector>
-
+#include <QDebug>
+#include <QCheckBox>
 #include <QLabel>
 #include <QMessageBox>
 #include <QPushButton>
+#include <QThread>
 #include <QVBoxLayout>
 
-#include "selfdrive/ui/qt/util.h"
-
 // TODO: remove clearLayout
 static void clearLayout(QLayout* layout) {
   while (layout->count() > 0) {
@@ -89,7 +88,6 @@ void PandaStream::streamThread() {
     MessageBuilder msg;
     auto evt = msg.initEvent();
     auto canData = evt.initCan(raw_can_data.size());
-
     for (uint i = 0; i<raw_can_data.size(); i++) {
       canData[i].setAddress(raw_can_data[i].address);
       canData[i].setBusTime(raw_can_data[i].busTime);
@@ -97,8 +95,7 @@ void PandaStream::streamThread() {
       canData[i].setSrc(raw_can_data[i].src);
     }
 
-    auto bytes = msg.toBytes();
-    handleEvent((const char*)bytes.begin(), bytes.size());
+    handleEvent(capnp::messageToFlatArray(msg));
 
     panda->send_heartbeat(false);
   }
diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h
index 43803950f9..919156f400 100644
--- a/tools/cabana/streams/pandastream.h
+++ b/tools/cabana/streams/pandastream.h
@@ -5,7 +5,6 @@
 
 #include <QComboBox>
 #include <QFormLayout>
-#include <QVBoxLayout>
 
 #include "tools/cabana/streams/livestream.h"
 #include "selfdrive/boardd/panda.h"
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index 8a6b806a8a..e94aefec2b 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -15,7 +15,7 @@ ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) {
   op_prefix = std::make_unique<OpenpilotPrefix>();
 #endif
 
-  QObject::connect(&settings, &Settings::changed, [this]() {
+  QObject::connect(&settings, &Settings::changed, this, [this]() {
     if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes);
   });
 }
@@ -28,14 +28,25 @@ void ReplayStream::mergeSegments() {
   for (auto &[n, seg] : replay->segments()) {
     if (seg && seg->isLoaded() && !processed_segments.count(n)) {
       processed_segments.insert(n);
-      const auto &events = seg->log->events;
-      mergeEvents(events.cbegin(), events.cend());
+
+      std::vector<const CanEvent *> new_events;
+      new_events.reserve(seg->log->events.size());
+      for (auto it = seg->log->events.cbegin(); it != seg->log->events.cend(); ++it) {
+        if ((*it)->which == cereal::Event::Which::CAN) {
+          const uint64_t ts = (*it)->mono_time;
+          for (const auto &c : (*it)->event.getCan()) {
+            new_events.push_back(newEvent(ts, c));
+          }
+        }
+      }
+      mergeEvents(new_events);
     }
   }
 }
 
 bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) {
-  replay.reset(new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, {}, nullptr, replay_flags, data_dir, this));
+  replay.reset(new Replay(route, {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"},
+                          {}, {}, nullptr, replay_flags, data_dir, this));
   replay->setSegmentCacheLimit(settings.max_cached_minutes);
   replay->installEventFilter(event_filter, this);
   QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo);
@@ -51,7 +62,6 @@ void ReplayStream::start() {
 
 bool ReplayStream::eventFilter(const Event *event) {
   static double prev_update_ts = 0;
-  // delay posting CAN message if UI thread is busy
   if (event->which == cereal::Event::Which::CAN) {
     double current_sec = event->mono_time / 1e9 - routeStartTime();
     for (const auto &c : event->event.getCan()) {
@@ -63,9 +73,8 @@ bool ReplayStream::eventFilter(const Event *event) {
 
   double ts = millis_since_boot();
   if ((ts - prev_update_ts) > (1000.0 / settings.fps)) {
-    if (postEvents()) {
-      prev_update_ts = ts;
-    }
+    emit privateUpdateLastMsgsSignal();
+    prev_update_ts = ts;
   }
   return true;
 }
@@ -84,25 +93,21 @@ AbstractOpenStreamWidget *ReplayStream::widget(AbstractStream **stream) {
 
 OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
   // TODO: get route list from api.comma.ai
-  QGridLayout *grid_layout = new QGridLayout();
+  QGridLayout *grid_layout = new QGridLayout(this);
   grid_layout->addWidget(new QLabel(tr("Route")), 0, 0);
   grid_layout->addWidget(route_edit = new QLineEdit(this), 0, 1);
   route_edit->setPlaceholderText(tr("Enter remote route name or click browse to select a local route"));
   auto file_btn = new QPushButton(tr("Browse..."), this);
   grid_layout->addWidget(file_btn, 0, 2);
 
-  grid_layout->addWidget(new QLabel(tr("Video")), 1, 0);
-  grid_layout->addWidget(choose_video_cb = new QComboBox(this), 1, 1);
-  QString items[] = {tr("No Video"), tr("Road Camera"), tr("Wide Road Camera"), tr("Driver Camera"), tr("QCamera")};
-  for (int i = 0; i < std::size(items); ++i) {
-    choose_video_cb->addItem(items[i]);
-  }
-  choose_video_cb->setCurrentIndex(1);  // default is road camera;
+  grid_layout->addWidget(new QLabel(tr("Camera")), 1, 0);
+  QHBoxLayout *camera_layout = new QHBoxLayout();
+  for (auto c : {tr("Road camera"), tr("Driver camera"), tr("Wide road camera")})
+    camera_layout->addWidget(cameras.emplace_back(new QCheckBox(c, this)));
+  camera_layout->addStretch(1);
+  grid_layout->addItem(camera_layout, 1, 1);
 
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->addLayout(grid_layout);
   setMinimumWidth(550);
-
   QObject::connect(file_btn, &QPushButton::clicked, [=]() {
     QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), settings.last_route_dir);
     if (!dir.isEmpty()) {
@@ -124,9 +129,13 @@ bool OpenReplayWidget::open() {
   if (!is_valid_format) {
     QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route));
   } else {
-    uint32_t flags[] = {REPLAY_FLAG_NO_VIPC, REPLAY_FLAG_NONE, REPLAY_FLAG_ECAM, REPLAY_FLAG_DCAM, REPLAY_FLAG_QCAMERA};
     auto replay_stream = std::make_unique<ReplayStream>(qApp);
-    if (replay_stream->loadRoute(route, data_dir, flags[choose_video_cb->currentIndex()])) {
+    uint32_t flags = REPLAY_FLAG_NONE;
+    if (cameras[1]->isChecked()) flags |= REPLAY_FLAG_DCAM;
+    if (cameras[2]->isChecked()) flags |= REPLAY_FLAG_ECAM;
+    if (flags == REPLAY_FLAG_NONE && !cameras[0]->isChecked()) flags = REPLAY_FLAG_NO_VIPC;
+
+    if (replay_stream->loadRoute(route, data_dir, flags)) {
       *stream = replay_stream.release();
     } else {
       QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route));
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index d69922a432..95fb632628 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -1,13 +1,14 @@
 #pragma once
 
+#include <QCheckBox>
 #include <algorithm>
 #include <memory>
 #include <set>
-#include <tuple>
 #include <vector>
 
 #include "common/prefix.h"
 #include "tools/cabana/streams/abstractstream.h"
+#include "tools/replay/replay.h"
 
 class ReplayStream : public AbstractStream {
   Q_OBJECT
@@ -18,20 +19,19 @@ public:
   bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
   bool eventFilter(const Event *event);
   void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
+  bool liveStreaming() const override { return false; }
   inline QString routeName() const override { return replay->route()->name(); }
   inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }
   double totalSeconds() const override { return replay->totalSeconds(); }
-  inline VisionStreamType visionStreamType() const override { return replay->hasFlag(REPLAY_FLAG_ECAM) ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD; }
   inline QDateTime beginDateTime() const { return replay->route()->datetime(); }
   inline double routeStartTime() const override { return replay->routeStartTime() / (double)1e9; }
   inline double currentSec() const override { return replay->currentSeconds(); }
-  inline const Route *route() const override { return replay->route(); }
+  inline const Route *route() const { return replay->route(); }
   inline void setSpeed(float speed) override { replay->setSpeed(speed); }
   inline float getSpeed() const { return replay->getSpeed(); }
   inline Replay *getReplay() const { return replay.get(); }
   inline bool isPaused() const override { return replay->isPaused(); }
   void pause(bool pause) override;
-  inline const std::vector<std::tuple<double, double, TimelineType>> getTimeline() override { return replay->getTimeline(); }
   static AbstractOpenStreamWidget *widget(AbstractStream **stream);
 
 signals:
@@ -54,5 +54,5 @@ public:
 
 private:
   QLineEdit *route_edit;
-  QComboBox *choose_video_cb;
+  std::vector<QCheckBox *> cameras;
 };
diff --git a/tools/cabana/streams/socketcanstream.cc b/tools/cabana/streams/socketcanstream.cc
index 3df8e31f3b..0f13b9901b 100644
--- a/tools/cabana/streams/socketcanstream.cc
+++ b/tools/cabana/streams/socketcanstream.cc
@@ -1,8 +1,11 @@
 #include "tools/cabana/streams/socketcanstream.h"
 
-#include <QLabel>
+#include <QDebug>
+#include <QFormLayout>
+#include <QHBoxLayout>
 #include <QMessageBox>
 #include <QPushButton>
+#include <QThread>
 
 SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) : config(config_), LiveStream(parent) {
   if (!available()) {
@@ -49,7 +52,6 @@ void SocketCanStream::streamThread() {
     auto evt = msg.initEvent();
     auto canData = evt.initCan(frames.size());
 
-
     for (uint i = 0; i < frames.size(); i++) {
       if (!frames[i].isValid()) continue;
 
@@ -60,8 +62,7 @@ void SocketCanStream::streamThread() {
       canData[i].setDat(kj::arrayPtr((uint8_t*)payload.data(), payload.size()));
     }
 
-    auto bytes = msg.toBytes();
-    handleEvent((const char*)bytes.begin(), bytes.size());
+    handleEvent(capnp::messageToFlatArray(msg));
   }
 }
 
diff --git a/tools/cabana/streams/socketcanstream.h b/tools/cabana/streams/socketcanstream.h
index 6f2d7aa353..e0fb826acb 100644
--- a/tools/cabana/streams/socketcanstream.h
+++ b/tools/cabana/streams/socketcanstream.h
@@ -5,10 +5,7 @@
 #include <QtSerialBus/QCanBus>
 #include <QtSerialBus/QCanBusDevice>
 #include <QtSerialBus/QCanBusDeviceInfo>
-
 #include <QComboBox>
-#include <QFormLayout>
-#include <QVBoxLayout>
 
 #include "tools/cabana/streams/livestream.h"
 
@@ -21,7 +18,6 @@ class SocketCanStream : public LiveStream {
 public:
   SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {});
   static AbstractOpenStreamWidget *widget(AbstractStream **stream);
-
   static bool available();
 
   inline QString routeName() const override {
diff --git a/tools/cabana/streamselector.cc b/tools/cabana/streamselector.cc
index 719ba72920..07755c0fe0 100644
--- a/tools/cabana/streamselector.cc
+++ b/tools/cabana/streamselector.cc
@@ -2,7 +2,6 @@
 
 #include <QDialogButtonBox>
 #include <QFileDialog>
-#include <QFormLayout>
 #include <QLabel>
 #include <QPushButton>
 
diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc
index 791dfd1329..f6884a2dc9 100644
--- a/tools/cabana/tests/test_cabana.cc
+++ b/tools/cabana/tests/test_cabana.cc
@@ -1,5 +1,4 @@
 
-#include "opendbc/can/common.h"
 #undef INFO
 #include "catch2/catch.hpp"
 #include "tools/replay/logreader.h"
@@ -29,46 +28,6 @@ TEST_CASE("DBCFile::generateDBC") {
   }
 }
 
-TEST_CASE("Parse can messages") {
-  DBCManager dbc(nullptr);
-  dbc.open({0}, "toyota_new_mc_pt_generated");
-  CANParser can_parser(0, "toyota_new_mc_pt_generated", {}, {});
-
-  LogReader log;
-  REQUIRE(log.load(TEST_RLOG_URL, nullptr, {}, true));
-  REQUIRE(log.events.size() > 0);
-  for (auto e : log.events) {
-    if (e->which == cereal::Event::Which::CAN) {
-      std::map<std::pair<uint32_t, QString>, std::vector<double>> values_1;
-      for (const auto &c : e->event.getCan()) {
-        const auto msg = dbc.msg({.source = c.getSrc(), .address = c.getAddress()});
-        if (c.getSrc() == 0 && msg) {
-          for (auto sig : msg->getSignals()) {
-            double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *sig);
-            values_1[{c.getAddress(), sig->name}].push_back(val);
-          }
-        }
-      }
-
-      can_parser.UpdateCans(e->mono_time, e->event.getCan());
-      std::vector<SignalValue> values_2;
-      can_parser.query_latest(values_2);
-      for (auto &[key, v1] : values_1) {
-        bool found = false;
-        for (auto &v2 : values_2) {
-          if (v2.address == key.first && key.second == v2.name.c_str()) {
-            REQUIRE(v2.all_values.size() == v1.size());
-            REQUIRE(v2.all_values == v1);
-            found = true;
-            break;
-          }
-        }
-        REQUIRE(found);
-      }
-    }
-  }
-}
-
 TEST_CASE("parse_dbc") {
   QString content = R"(
 BO_ 160 message_1: 8 EON
diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc
index 51d86f5964..5155ad91d2 100644
--- a/tools/cabana/tools/findsignal.cc
+++ b/tools/cabana/tools/findsignal.cc
@@ -192,7 +192,7 @@ void FindSignalDlg::search() {
   search_btn->setEnabled(false);
   stats_label->setVisible(false);
   search_btn->setText("Finding ....");
-  QTimer::singleShot(0, [=]() { model->search(cmp); });
+  QTimer::singleShot(0, this, [=]() { model->search(cmp); });
 }
 
 void FindSignalDlg::setInitialSignals() {
@@ -222,15 +222,15 @@ void FindSignalDlg::setInitialSignals() {
   }
   model->initial_signals.clear();
 
-  for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
-    if (buses.isEmpty() || buses.contains(it.key().source) && (addresses.isEmpty() || addresses.contains(it.key().address))) {
-      const auto &events = can->events(it.key());
+  for (const auto &[id, m] : can->lastMessages()) {
+    if (buses.isEmpty() || buses.contains(id.source) && (addresses.isEmpty() || addresses.contains(id.address))) {
+      const auto &events = can->events(id);
       auto e = std::lower_bound(events.cbegin(), events.cend(), first_time, CompareCanEvent());
       if (e != events.cend()) {
-        const int total_size = it.value().dat.size() * 8;
+        const int total_size = m.dat.size() * 8;
         for (int size = min_size->value(); size <= max_size->value(); ++size) {
           for (int start = 0; start <= total_size - size; ++start) {
-            FindSignalModel::SearchSignal s{.id = it.key(), .mono_time = first_time, .sig = sig};
+            FindSignalModel::SearchSignal s{.id = id, .mono_time = first_time, .sig = sig};
             s.sig.start_bit = start;
             s.sig.size = size;
             updateMsbLsb(s.sig);
diff --git a/tools/cabana/tools/findsignal.h b/tools/cabana/tools/findsignal.h
index e9e5f9f180..5ef7461fee 100644
--- a/tools/cabana/tools/findsignal.h
+++ b/tools/cabana/tools/findsignal.h
@@ -4,6 +4,7 @@
 #include <limits>
 
 #include <QAbstractTableModel>
+#include <QCheckBox>
 #include <QLabel>
 #include <QPushButton>
 #include <QTableView>
diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc
index 38190da301..f984230c47 100644
--- a/tools/cabana/util.cc
+++ b/tools/cabana/util.cc
@@ -9,7 +9,7 @@
 #include <unistd.h>
 
 #include <QColor>
-#include <QDebug>
+#include <QDateTime>
 #include <QFontDatabase>
 #include <QLocale>
 #include <QPainter>
@@ -59,23 +59,18 @@ MessageBytesDelegate::MessageBytesDelegate(QObject *parent, bool multiple_lines)
     hex_text_table[i].setText(QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper());
     hex_text_table[i].prepare({}, fixed_font);
   }
+  h_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
+  v_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameVMargin) + 1;
 }
 
-int MessageBytesDelegate::widthForBytes(int n) const {
-  int h_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
-  return n * byte_size.width() + h_margin * 2;
+QSize MessageBytesDelegate::sizeForBytes(int n) const {
+  int rows = multiple_lines ? std::max(1, n / 8) : 1;
+  return {(n / rows) * byte_size.width() + h_margin * 2, rows * byte_size.height() + v_margin * 2};
 }
 
 QSize MessageBytesDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const {
-  int v_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameVMargin) + 1;
   auto data = index.data(BytesRole);
-  if (!data.isValid()) {
-    return {1, byte_size.height() + 2 * v_margin};
-  }
-  int n = data.toByteArray().size();
-  assert(n >= 0 && n <= 64);
-  return !multiple_lines ? QSize{widthForBytes(n), byte_size.height() + 2 * v_margin}
-                         : QSize{widthForBytes(8), byte_size.height() * std::max(1, n / 8) + 2 * v_margin};
+  return sizeForBytes(data.isValid() ? static_cast<std::vector<uint8_t> *>(data.value<void *>())->size() : 0);
 }
 
 void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@@ -84,20 +79,17 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &
     return QStyledItemDelegate::paint(painter, option, index);
   }
 
-  auto byte_list = data.toByteArray();
-  auto colors = index.data(ColorsRole).value<QVector<QColor>>();
-
-  int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
-  int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin);
+  QFont old_font = painter->font();
+  QPen old_pen = painter->pen();
   if (option.state & QStyle::State_Selected) {
     painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight));
   }
-
   const QPoint pt{option.rect.left() + h_margin, option.rect.top() + v_margin};
-  QFont old_font = painter->font();
-  QPen old_pen = painter->pen();
   painter->setFont(fixed_font);
-  for (int i = 0; i < byte_list.size(); ++i) {
+
+  const auto &bytes = *static_cast<std::vector<uint8_t>*>(data.value<void*>());
+  const auto &colors = *static_cast<std::vector<QColor>*>(index.data(ColorsRole).value<void*>());
+  for (int i = 0; i < bytes.size(); ++i) {
     int row = !multiple_lines ? 0 : i / 8;
     int column = !multiple_lines ? i : i % 8;
     QRect r = QRect({pt.x() + column * byte_size.width(), pt.y() + row * byte_size.height()}, byte_size);
@@ -110,7 +102,7 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &
     } else if (option.state & QStyle::State_Selected) {
       painter->setPen(option.palette.color(QPalette::HighlightedText));
     }
-    utils::drawStaticText(painter, r, hex_text_table[(uint8_t)(byte_list[i])]);
+    utils::drawStaticText(painter, r, hex_text_table[bytes[i]]);
   }
   painter->setFont(old_font);
   painter->setPen(old_pen);
@@ -251,15 +243,6 @@ QString formatSeconds(double sec, bool include_milliseconds, bool absolute_time)
 
 }  // namespace utils
 
-QString toHex(uint8_t byte) {
-  static std::array<QString, 256> hex = []() {
-    std::array<QString, 256> ret;
-    for (int i = 0; i < 256; ++i) ret[i] = QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper();
-    return ret;
-  }();
-  return hex[byte];
-}
-
 int num_decimals(double num) {
   const QString string = QString::number(num);
   auto dot_pos = string.indexOf('.');
diff --git a/tools/cabana/util.h b/tools/cabana/util.h
index da476ab31a..158321f784 100644
--- a/tools/cabana/util.h
+++ b/tools/cabana/util.h
@@ -8,7 +8,6 @@
 
 #include <QApplication>
 #include <QByteArray>
-#include <QDateTime>
 #include <QDoubleValidator>
 #include <QFont>
 #include <QPainter>
@@ -18,7 +17,6 @@
 #include <QStringBuilder>
 #include <QStyledItemDelegate>
 #include <QToolButton>
-#include <QVector>
 
 #include "tools/cabana/dbc/dbc.h"
 #include "tools/cabana/settings.h"
@@ -75,18 +73,16 @@ public:
   QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   bool multipleLines() const { return multiple_lines; }
   void setMultipleLines(bool v) { multiple_lines = v; }
-  int widthForBytes(int n) const;
+  QSize sizeForBytes(int n) const;
 
 private:
   std::array<QStaticText, 256> hex_text_table;
   QFont fixed_font;
   QSize byte_size = {};
   bool multiple_lines = false;
+  int h_margin, v_margin;
 };
 
-inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); }
-QString toHex(uint8_t byte);
-
 class NameValidator : public QRegExpValidator {
   Q_OBJECT
 public:
@@ -108,6 +104,10 @@ inline void drawStaticText(QPainter *p, const QRect &r, const QStaticText &text)
   auto size = (r.size() - text.size()) / 2;
   p->drawStaticText(r.left() + size.width(), r.top() + size.height(), text);
 }
+inline QString toHex(const std::vector<uint8_t> &dat, char separator = '\0') {
+  return QByteArray::fromRawData((const char *)dat.data(), dat.size()).toHex(separator).toUpper();
+}
+
 }
 
 class ToolButton : public QToolButton {
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 0a1d2855a5..bbb1ef28da 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -13,6 +13,9 @@
 #include <QVBoxLayout>
 #include <QtConcurrent>
 
+#include "tools/cabana/streams/replaystream.h"
+#include "tools/cabana/util.h"
+
 const int MIN_VIDEO_HEIGHT = 100;
 const int THUMBNAIL_MARGIN = 3;
 
@@ -33,11 +36,9 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   main_layout->addLayout(createPlaybackController());
 
   setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum);
-
   QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState);
   QObject::connect(can, &AbstractStream::resume, this, &VideoWidget::updatePlayBtnState);
-  QObject::connect(can, &AbstractStream::updated, this, &VideoWidget::updateState);
-  QObject::connect(&settings, &Settings::changed, this, &VideoWidget::updatePlayBtnState);
+  QObject::connect(can, &AbstractStream::msgsReceived, this, &VideoWidget::updateState);
 
   updatePlayBtnState();
   setWhatsThis(tr(R"(
@@ -131,28 +132,58 @@ QWidget *VideoWidget::createCameraWidget() {
   QWidget *w = new QWidget(this);
   QVBoxLayout *l = new QVBoxLayout(w);
   l->setContentsMargins(0, 0, 0, 0);
+  l->setSpacing(0);
+
+  l->addWidget(camera_tab = new TabBar(w));
+  camera_tab->setAutoHide(true);
+  camera_tab->setExpanding(false);
 
   QStackedLayout *stacked = new QStackedLayout();
   stacked->setStackingMode(QStackedLayout::StackAll);
-  stacked->addWidget(cam_widget = new CameraWidget("camerad", can->visionStreamType(), false));
+  stacked->addWidget(cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false));
   cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
   cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
   stacked->addWidget(alert_label = new InfoLabel(this));
   l->addLayout(stacked);
 
-  l->addWidget(slider = new Slider(this));
+  l->addWidget(slider = new Slider(w));
   slider->setSingleStep(0);
 
   setMaximumTime(can->totalSeconds());
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); });
   QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection);
-  QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog);
+  QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
+  QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated);
+  QObject::connect(camera_tab, &QTabBar::currentChanged, [this](int index) {
+    if (index != -1) cam_widget->setStreamType((VisionStreamType)camera_tab->tabData(index).toInt());
+  });
   return w;
 }
 
+void VideoWidget::vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams) {
+  static const QString stream_names[] = {
+    [VISION_STREAM_ROAD] = "Road camera",
+    [VISION_STREAM_WIDE_ROAD] = "Wide road camera",
+    [VISION_STREAM_DRIVER] = "Driver camera"};
+
+  for (int i = 0; i < streams.size(); ++i) {
+    if (camera_tab->count() <= i) {
+      camera_tab->addTab(QString());
+    }
+    int type = *std::next(streams.begin(), i);
+    camera_tab->setTabText(i, stream_names[type]);
+    camera_tab->setTabData(i, type);
+  }
+  while (camera_tab->count() > streams.size()) {
+    camera_tab->removeTab(camera_tab->count() - 1);
+  }
+}
+
 void VideoWidget::loopPlaybackClicked() {
   auto replay = qobject_cast<ReplayStream *>(can)->getReplay();
+  if (!replay) return;
+
   if (replay->hasFlag(REPLAY_FLAG_NO_LOOP)) {
     replay->removeFlag(REPLAY_FLAG_NO_LOOP);
     loop_btn->setIcon("repeat");
@@ -172,12 +203,8 @@ void VideoWidget::updateTimeRange(double min, double max, bool is_zoomed) {
     skip_to_end_btn->setEnabled(!is_zoomed);
     return;
   }
-
-  if (!is_zoomed) {
-    min = 0;
-    max = maximum_time;
-  }
-  slider->setTimeRange(min, max);
+  is_zoomed ? slider->setTimeRange(min, max)
+            : slider->setTimeRange(0, maximum_time);
 }
 
 QString VideoWidget::formatTime(double sec, bool include_milliseconds) {
@@ -262,7 +289,7 @@ void Slider::paintEvent(QPaintEvent *ev) {
   double min = minimum() / factor;
   double max = maximum() / factor;
 
-  for (auto [begin, end, type] : qobject_cast<ReplayStream *>(can)->getTimeline()) {
+  for (auto [begin, end, type] : qobject_cast<ReplayStream *>(can)->getReplay()->getTimeline()) {
     if (begin > max || end < min)
       continue;
     r.setLeft(((std::max(min, begin) - min) / (max - min)) * width());
@@ -282,8 +309,7 @@ void Slider::paintEvent(QPaintEvent *ev) {
 void Slider::mousePressEvent(QMouseEvent *e) {
   QSlider::mousePressEvent(e);
   if (e->button() == Qt::LeftButton && !isSliderDown()) {
-    int value = minimum() + ((maximum() - minimum()) * e->x()) / width();
-    setValue(value);
+    setValue(minimum() + ((maximum() - minimum()) * e->x()) / width());
     emit sliderReleased();
   }
 }
@@ -293,9 +319,9 @@ void Slider::mouseMoveEvent(QMouseEvent *e) {
   double seconds = (minimum() + pos * ((maximum() - minimum()) / (double)width())) / factor;
   QPixmap thumb = thumbnail(seconds);
   if (!thumb.isNull()) {
-    int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, rect().right() - thumb.width() - THUMBNAIL_MARGIN);
-    int y = -thumb.height();
-    thumbnail_label.showPixmap(mapToParent({x, y}), utils::formatSeconds(seconds), thumb, alertInfo(seconds));
+    int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, width() - thumb.width() - THUMBNAIL_MARGIN + 1);
+    int y = -thumb.height() - THUMBNAIL_MARGIN;
+    thumbnail_label.showPixmap(mapToParent(QPoint(x, y)), utils::formatSeconds(seconds), thumb, alertInfo(seconds));
   } else {
     thumbnail_label.hide();
   }
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 68e0461117..69f1edd2bc 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -2,13 +2,17 @@
 
 #include <map>
 #include <memory>
+#include <set>
 
 #include <QHBoxLayout>
+#include <QFrame>
 #include <QSlider>
+#include <QTabBar>
 #include <QToolButton>
 
 #include "selfdrive/ui/qt/widgets/cameraview.h"
-#include "tools/cabana/streams/replaystream.h"
+#include "tools/cabana/util.h"
+#include "tools/replay/logreader.h"
 
 struct AlertInfo {
   cereal::ControlsState::AlertStatus status;
@@ -70,6 +74,7 @@ protected:
   QWidget *createCameraWidget();
   QHBoxLayout *createPlaybackController();
   void loopPlaybackClicked();
+  void vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams);
 
   CameraWidget *cam_widget;
   double maximum_time = 0;
@@ -82,4 +87,5 @@ protected:
   ToolButton *skip_to_end_btn = nullptr;
   InfoLabel *alert_label = nullptr;
   Slider *slider = nullptr;
+  QTabBar *camera_tab = nullptr;
 };
diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py
index 98f1ad84b8..bbd53ebfff 100755
--- a/tools/gpstest/test_gps.py
+++ b/tools/gpstest/test_gps.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import pytest
 import time
 import unittest
 import struct
@@ -6,7 +7,6 @@ import struct
 from openpilot.common.params import Params
 import cereal.messaging as messaging
 import openpilot.system.sensord.pigeond as pd
-from openpilot.system.hardware import TICI
 from openpilot.selfdrive.test.helpers import with_processes
 
 
@@ -107,12 +107,10 @@ def verify_time_to_first_fix(pigeon):
   assert ttff < 40, f"Time to first fix > 40s, {ttff}"
 
 
+@pytest.mark.tici
 class TestGPS(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
-
     ublox_available = Params().get_bool("UbloxAvailable")
     if not ublox_available:
       raise unittest.SkipTest
diff --git a/tools/gpstest/test_gps_qcom.py b/tools/gpstest/test_gps_qcom.py
index c399671715..2ea5556684 100755
--- a/tools/gpstest/test_gps_qcom.py
+++ b/tools/gpstest/test_gps_qcom.py
@@ -1,10 +1,10 @@
 #!/usr/bin/env python3
+import pytest
 import time
 import unittest
 import subprocess as sp
 
 from openpilot.common.params import Params
-from openpilot.system.hardware import TICI
 import cereal.messaging as messaging
 from openpilot.selfdrive.manager.process_config import managed_processes
 
@@ -30,12 +30,10 @@ def wait_for_location(socket, timeout):
     continue
 
 
+@pytest.mark.tici
 class TestGPS(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
-
     ublox_available = Params().get_bool("UbloxAvailable")
     if ublox_available:
       raise unittest.SkipTest
diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py
index 2f933e3b7f..315ade514b 100644
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -17,6 +17,10 @@ def hash_256(link):
   return hsh
 
 
+class URLFileException(Exception):
+  pass
+
+
 class URLFile:
   _tlocal = threading.local()
 
@@ -158,11 +162,11 @@ class URLFile:
 
     response_code = c.getinfo(pycurl.RESPONSE_CODE)
     if response_code == 416:  # Requested Range Not Satisfiable
-      raise Exception(f"Error, range out of bounds {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
+      raise URLFileException(f"Error, range out of bounds {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
     if download_range and response_code != 206:  # Partial Content
-      raise Exception(f"Error, requested range but got unexpected response {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
+      raise URLFileException(f"Error, requested range but got unexpected response {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
     if (not download_range) and response_code != 200:  # OK
-      raise Exception(f"Error {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
+      raise URLFileException(f"Error {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}")
 
     ret = dats.getvalue()
     self._pos += len(ret)