diff --git a/SConstruct b/SConstruct
index 446fcc417d..bee043c545 100644
--- a/SConstruct
+++ b/SConstruct
@@ -42,11 +42,14 @@ if arch != "larch64":
   import capnproto
   import eigen
   import ffmpeg as ffmpeg_pkg
+  import python3_dev
   import zeromq
   pkgs = [capnproto, eigen, ffmpeg_pkg, zeromq]
+  py_include = python3_dev.INCLUDE_DIR
 else:
   # TODO: remove when AGNOS has our new vendor pkgs
   pkgs = []
+  py_include = sysconfig.get_paths()['include']
 
 env = Environment(
   ENV={
@@ -159,7 +162,6 @@ if os.environ.get('SCONS_PROGRESS'):
   Progress(progress_function, interval=node_interval)
 
 # ********** Cython build environment **********
-py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
diff --git a/pyproject.toml b/pyproject.toml
index da36ea9df4..3c4b1897a4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -29,6 +29,7 @@ dependencies = [
   "capnproto @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=capnproto",
   "eigen @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=eigen",
   "ffmpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ffmpeg",
+  "python3-dev @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=python3-dev",
   "zeromq @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zeromq",
   "git-lfs @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=git-lfs",
 
diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
index 98f1d878f8..368c6f2008 100755
--- a/tools/setup_dependencies.sh
+++ b/tools/setup_dependencies.sh
@@ -49,7 +49,6 @@ function install_ubuntu_deps() {
     xvfb
 
   $SUDO apt-get install -y --no-install-recommends \
-    python3-dev \
     libncurses5-dev \
     libzstd-dev
 
diff --git a/uv.lock b/uv.lock
index 11ff989278..2a03eb740d 100644
--- a/uv.lock
+++ b/uv.lock
@@ -116,7 +116,7 @@ wheels = [
 [[package]]
 name = "capnproto"
 version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=releases#96208e8726374ab5229366102a17401edb68076c" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=releases#7c17c720197a770e2ff9754c4aaebd75ba17b95c" }
 
 [[package]]
 name = "casadi"
@@ -376,7 +376,7 @@ wheels = [
 [[package]]
 name = "eigen"
 version = "3.4.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=releases#96208e8726374ab5229366102a17401edb68076c" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=releases#7c17c720197a770e2ff9754c4aaebd75ba17b95c" }
 
 [[package]]
 name = "execnet"
@@ -390,7 +390,7 @@ wheels = [
 [[package]]
 name = "ffmpeg"
 version = "7.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=releases#96208e8726374ab5229366102a17401edb68076c" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=releases#7c17c720197a770e2ff9754c4aaebd75ba17b95c" }
 
 [[package]]
 name = "fonttools"
@@ -437,7 +437,7 @@ wheels = [
 [[package]]
 name = "gcc-arm-none-eabi"
 version = "13.2.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=releases#96208e8726374ab5229366102a17401edb68076c" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=releases#7c17c720197a770e2ff9754c4aaebd75ba17b95c" }
 
 [[package]]
 name = "ghp-import"
@@ -454,7 +454,7 @@ wheels = [
 [[package]]
 name = "git-lfs"
 version = "3.6.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=releases#96208e8726374ab5229366102a17401edb68076c" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=releases#7c17c720197a770e2ff9754c4aaebd75ba17b95c" }
 
 [[package]]
 name = "google-crc32c"
@@ -790,6 +790,7 @@ dependencies = [
     { name = "pycryptodome" },
     { name = "pyjwt" },
     { name = "pyserial" },
+    { name = "python3-dev" },
     { name = "pyzmq" },
     { name = "qrcode" },
     { name = "raylib" },
@@ -877,6 +878,7 @@ requires-dist = [
     { name = "pytest-mock", marker = "extra == 'testing'" },
     { name = "pytest-subtests", marker = "extra == 'testing'" },
     { name = "pytest-xdist", marker = "extra == 'testing'", git = "https://github.com/sshane/pytest-xdist?rev=2b4372bd62699fb412c4fe2f95bf9f01bd2018da" },
+    { name = "python3-dev", git = "https://github.com/commaai/dependencies.git?subdirectory=python3-dev&rev=releases" },
     { name = "pyzmq" },
     { name = "qrcode" },
     { name = "raylib", specifier = ">5.5.0.3" },
@@ -1264,6 +1266,11 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/ec/57/56b9bcc3c9c6a792fcbaf139543cee77261f3651ca9da0c93f5c1221264b/python_dateutil-2.9.0.post0-py2.py3-none-any.whl", hash = "sha256:a8b2bc7bffae282281c8140a97d3aa9c14da0b136dfe83f850eea9a5f7470427", size = 229892, upload-time = "2024-03-01T18:36:18.57Z" },
 ]
 
+[[package]]
+name = "python3-dev"
+version = "3.12.8"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=python3-dev&rev=releases#7c17c720197a770e2ff9754c4aaebd75ba17b95c" }
+
 [[package]]
 name = "pyyaml"
 version = "6.0.3"
@@ -1630,7 +1637,7 @@ wheels = [
 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=releases#96208e8726374ab5229366102a17401edb68076c" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=releases#7c17c720197a770e2ff9754c4aaebd75ba17b95c" }
 
 [[package]]
 name = "zstandard"