diff --git a/CHANGELOGS.md b/CHANGELOGS.md
index 9d9a88d1bb..45041f593d 100644
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@@ -24,6 +24,12 @@ sunnypilot - 0.9.7.0 (2024-05-xx)
   * comma Prime support
   * Personal Mapbox/Amap/Google Maps token support
   * Instructions on how to set up your iOS Siri Shortcuts: https://routinehub.co/shortcut/17677/
+* NEW❗: Forced Offroad mode
+  * Force sunnypilot in the offroad state even when the car is on
+  * When Forced Offroad mode is on, allows changing offroad-only settings even when the car is turned on
+* UPDATED: Hyundai CAN-FD Camera-based SCC
+  * NEW❗: Parse lead info for camera-based SCC platforms with longitudinal support
+    * Improve lead tracking when using openpilot longitudinal
 * RE-ENABLED: Map-based Turn Speed Control (M-TSC) for supported platforms
   * openpilot Longitudianl Control available cars
   * Custom Stock Longitudinal Control available cars
@@ -41,7 +47,7 @@ sunnypilot - 0.9.7.0 (2024-05-xx)
 * UPDATED: Neural Network Lateral Control (NNLC)
   * FIXED: Hotfix for "lazy" steering performance in tighter curves thanks to twilsonco!
   * Due to upstream changes with platform simplifications, most platforms will match and fallback to combined platform model
-  * This will be updated when the new mapping of platforms are restructured (thanks @twilsconso 😉)
+  * This will be updated when the new mapping of platforms are restructured (thanks @twilsonco 😉)
 * UI Updates
   * Display Metrics Below Chevron
     * NEW❗: Metrics is now being displayed below the chevron instead of above
diff --git a/common/params.cc b/common/params.cc
index 63eee698aa..1b5d31291e 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -255,6 +255,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"EnhancedScc", PERSISTENT | BACKUP},
     {"FeatureStatus", PERSISTENT | BACKUP},
     {"FleetManagerPin", PERSISTENT},
+    {"ForceOffroad", CLEAR_ON_MANAGER_START},
     {"GmapKey", PERSISTENT | BACKUP},
     {"HandsOnWheelMonitoring", PERSISTENT | BACKUP},
     {"HideVEgoUi", PERSISTENT | BACKUP},
@@ -324,6 +325,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"VisionCurveLaneless", PERSISTENT | BACKUP},
     {"VwAccType", PERSISTENT | BACKUP},
     {"VwCCOnly", PERSISTENT | BACKUP},
+    {"Offroad_ForceStatus", CLEAR_ON_MANAGER_START},
     {"Offroad_SupersededUpdate", PERSISTENT},
 
     {"SunnylinkCache_Users", PERSISTENT},
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index fcbf58999e..eb301b1f00 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -229,7 +229,7 @@ void can_recv_thread(std::vector<Panda *> pandas) {
   }
 }
 
-std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started) {
+std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started, Params &params) {
   bool ignition_local = false;
   const uint32_t pandas_cnt = pandas.size();
 
@@ -277,7 +277,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
       health.ignition_line_pkt = 0;
     }
 
-    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0));
+    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !params.getBool("ForceOffroad");
 
     pandaStates.push_back(health);
   }
@@ -432,7 +432,7 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
       send_peripheral_state(&pm, peripheral_panda);
     }
 
-    auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
+    auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started, params);
 
     if (!ignition_opt) {
       LOGE("Failed to get ignition_opt");
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 8ca6668b30..7b221595c9 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -141,7 +141,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS)
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
 
     # MADS BUTTON
     if self.CS.out.madsEnabled != self.CS.madsEnabled:
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 5d6fa7dde4..ed35d1ba43 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -104,7 +104,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS)
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
 
     if self.CS.out.madsEnabled != self.CS.madsEnabled:
       if self.mads_event_lock:
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 7787fabb02..465109eb4c 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -251,7 +251,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS)
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(distance_button))
 
     # MADS BUTTON
     if self.CS.out.madsEnabled != self.CS.madsEnabled:
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 14975f045f..d412f81142 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -28,7 +28,7 @@ def get_can_messages(CP, gearbox_msg):
     ("STEER_MOTOR_TORQUE", 0),  # TODO: not on every car
   ]
 
-  if CP.carFingerprint in (SERIAL_STEERING | (CAR.HONDA_ODYSSEY_CHN, )):
+  if CP.carFingerprint in (SERIAL_STEERING | {CAR.HONDA_ODYSSEY_CHN, }):
     messages += [
       ("SCM_FEEDBACK", 25),
       ("SCM_BUTTONS", 50),
@@ -58,7 +58,7 @@ def get_can_messages(CP, gearbox_msg):
         ("ACC_CONTROL", 50),
       ]
   else:  # Nidec signals
-    if CP.carFingerprint in (SERIAL_STEERING | (CAR.HONDA_ODYSSEY_CHN, )):
+    if CP.carFingerprint in (SERIAL_STEERING | {CAR.HONDA_ODYSSEY_CHN, }):
       messages.append(("CRUISE_PARAMS", 10))
     else:
       messages.append(("CRUISE_PARAMS", 50))
@@ -78,7 +78,7 @@ def get_can_messages(CP, gearbox_msg):
 
   if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
     messages.append(("CRUISE_FAULT_STATUS", 50))
-  elif CP.carFingerprint == CAR.CLARITY:
+  elif CP.carFingerprint == CAR.HONDA_CLARITY:
     messages.append(("BRAKE_ERROR", 100)),
   elif CP.openpilotLongitudinalControl:
     messages.append(("STANDSTILL", 50))
@@ -150,7 +150,7 @@ class CarState(CarStateBase):
 
     if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
       ret.accFaulted = bool(cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"])
-    elif self.CP.carFingerprint == CAR.CLARITY:
+    elif self.CP.carFingerprint == CAR.HONDA_CLARITY:
       ret.accFaulted = bool(cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_1"] or cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_2"])
     else:
       # On some cars, these two signals are always 1, this flag is masking a bug in release
@@ -250,12 +250,12 @@ class CarState(CarStateBase):
       if ret.brake > 0.1:
         ret.brakePressed = True
 
-    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH,
-                                  CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
+    if self.CP.carFingerprint in (CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_CRV_5G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH,
+                                  CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.ACURA_RDX_3G, CAR.HONDA_E):
       ret.brakeLightsDEPRECATED = bool(cp.vl["ACC_CONTROL"]['BRAKE_LIGHTS'] != 0 or ret.brake > 0.4) if not self.CP.openpilotLongitudinalControl else \
                          bool(ret.brake > 0.4)
-    elif self.CP.carFingerprint in HONDA_BOSCH and self.CP.carFingerprint not in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH,
-                                    CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E) and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
+    elif self.CP.carFingerprint in HONDA_BOSCH and self.CP.carFingerprint not in (CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_CRV_5G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH,
+                                    CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.ACURA_RDX_3G, CAR.HONDA_E) and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
       ret.brakeLightsDEPRECATED = bool(cp.vl["ACC_CONTROL"]['BRAKE_LIGHTS'] != 0 or ret.brake > 0.4) if not self.CP.openpilotLongitudinalControl else \
                          bool(ret.brake > 0.4)
 
@@ -264,7 +264,7 @@ class CarState(CarStateBase):
       if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
         ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
     else:
-      aeb_sig = "COMPUTER_BRAKE_ALT" if self.CP.carFingerprint == CAR.CLARITY else "COMPUTER_BRAKE"
+      aeb_sig = "COMPUTER_BRAKE_ALT" if self.CP.carFingerprint == CAR.HONDA_CLARITY else "COMPUTER_BRAKE"
       ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"][aeb_sig] > 1e-5)
 
     self.acc_hud = False
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 070cc3e1ca..3eb05aa239 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -348,5 +348,3 @@ SERIAL_STEERING = {CAR.HONDA_ACCORD_4CYL_9TH_GEN, }
 
 
 DBC = CAR.create_dbc_map()
-
-SERIAL_STEERING = {CAR.HONDA_ACCORD_4CYL_9TH_GEN, }
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 4c891fbe81..173694d116 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -269,11 +269,11 @@ class CarController(CarControllerBase):
               # send resume at a max freq of 10Hz
               if (self.frame - self.last_button_frame) * DT_CTRL > 0.1 * send_freq:
                 # send 25 messages at a time to increases the likelihood of cruise buttons being accepted
-                can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, self.cruise_button, self.CP.carFingerprint)] * 25)
+                can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, self.cruise_button, self.CP)] * 25)
                 if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15 * send_freq:
                   self.last_button_frame = self.frame
             elif self.frame % 2 == 0:
-              can_sends.extend([hyundaican.create_clu11(self.packer, (self.frame // 2) + 1, CS.clu11, self.cruise_button, self.CP.carFingerprint)] * 25)
+              can_sends.extend([hyundaican.create_clu11(self.packer, (self.frame // 2) + 1, CS.clu11, self.cruise_button, self.CP)] * 25)
 
       # Parse lead distance from radarState and display the corresponding distance in the car's cluster
       if self.CP.openpilotLongitudinalControl and self.sm.updated['radarState'] and self.frame % 5 == 0:
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index d06cdbd209..d2a719ccd9 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -97,6 +97,9 @@ class CarInterface(CarInterfaceBase):
       ret.longitudinalTuning.kpV = [0.1]
       ret.longitudinalTuning.kiV = [0.0]
       ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR | NON_SCC_CAR)
+      if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC and not hda2:
+        ret.spFlags |= HyundaiFlagsSP.SP_CAMERA_SCC_LEAD.value
+        ret.radarUnavailable = False
     else:
       ret.longitudinalTuning.kpV = [0.5]
       ret.longitudinalTuning.kiV = [0.0]
@@ -239,7 +242,7 @@ class CarInterface(CarInterfaceBase):
       self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
       ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS)
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_buttons[-1] == 3))
 
     # MADS BUTTON
     if self.CS.out.madsEnabled != self.CS.madsEnabled:
diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py
index 76f2c370d6..f00b993563 100644
--- a/selfdrive/car/hyundai/radar_interface.py
+++ b/selfdrive/car/hyundai/radar_interface.py
@@ -3,7 +3,8 @@ import math
 from cereal import car
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
-from openpilot.selfdrive.car.hyundai.values import DBC, HyundaiFlagsSP
+from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
+from openpilot.selfdrive.car.hyundai.values import DBC, HyundaiFlagsSP, CANFD_CAR
 
 RADAR_START_ADDR = 0x500
 RADAR_MSG_COUNT = 32
@@ -12,12 +13,18 @@ RADAR_MSG_COUNT = 32
 
 def get_radar_can_parser(CP):
   if DBC[CP.carFingerprint]['radar'] is None:
-    if CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC:
-      lead_src, bus = "ESCC", 0
-    elif CP.spFlags & HyundaiFlagsSP.SP_CAMERA_SCC_LEAD:
-      lead_src, bus = "SCC11", 2
+    if CP.carFingerprint in CANFD_CAR:
+      if CP.spFlags & HyundaiFlagsSP.SP_CAMERA_SCC_LEAD:
+        lead_src, bus = "SCC_CONTROL", CanBus(CP).CAM
+      else:
+        return None
     else:
-      return None
+      if CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC:
+        lead_src, bus = "ESCC", 0
+      elif CP.spFlags & HyundaiFlagsSP.SP_CAMERA_SCC_LEAD:
+        lead_src, bus = "SCC11", 2
+      else:
+        return None
     messages = [(lead_src, 50)]
     return CANParser(DBC[CP.carFingerprint]['pt'], messages, bus)
 
@@ -28,10 +35,12 @@ def get_radar_can_parser(CP):
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
+    self.CP = CP
     self.enhanced_scc = (CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC) and DBC[CP.carFingerprint]['radar'] is None
     self.camera_scc = CP.spFlags & HyundaiFlagsSP.SP_CAMERA_SCC_LEAD
     self.updated_messages = set()
     self.trigger_msg = 0x2AB if self.enhanced_scc else \
+                       0x1A0 if self.camera_scc and CP.carFingerprint in CANFD_CAR else \
                        0x420 if self.camera_scc else \
                        (RADAR_START_ADDR + RADAR_MSG_COUNT - 1)
     self.track_id = 0
@@ -68,9 +77,12 @@ class RadarInterface(RadarInterfaceBase):
     ret.errors = errors
 
     if self.enhanced_scc or self.camera_scc:
-      msg_src = "ESCC" if self.enhanced_scc else "SCC11"
+      msg_src = "ESCC" if self.enhanced_scc else \
+                "SCC_CONTROL" if self.CP.carFingerprint in CANFD_CAR else \
+                "SCC11"
       msg = self.rcp.vl[msg_src]
-      valid = msg['ACC_ObjStatus']
+      valid = msg['ACC_ObjDist'] < 204.6 if self.CP.carFingerprint in CANFD_CAR else \
+              msg['ACC_ObjStatus']
       for ii in range(1):
         if valid:
           if ii not in self.pts:
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 036e7ba2d5..fc9715cb82 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -593,7 +593,7 @@ class CarInterfaceBase(ABC):
     else:
       return CS.madsEnabled
 
-  def get_sp_common_state(self, cs_out, CS, min_enable_speed_pcm=False, gear_allowed=True):
+  def get_sp_common_state(self, cs_out, CS, min_enable_speed_pcm=False, gear_allowed=True, gap_button=False):
     cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed or min_enable_speed_pcm else \
                                  cs_out.cruiseState.enabled
 
@@ -603,6 +603,9 @@ class CarInterfaceBase(ABC):
       elif not cs_out.cruiseState.enabled and CS.out.cruiseState.enabled:
         CS.madsEnabled = False
 
+    if self.CP.openpilotLongitudinalControl:
+      self.toggle_exp_mode(gap_button)
+
     cs_out.belowLaneChangeSpeed = cs_out.vEgo < LANE_CHANGE_SPEED_MIN and self.below_speed_pause
 
     if cs_out.gearShifter in [GearShifter.park, GearShifter.reverse] or cs_out.doorOpen or \
@@ -628,6 +631,19 @@ class CarInterfaceBase(ABC):
 
     return cs_out, CS
 
+  # TODO: SP: use upstream's buttonEvents counter checks from controlsd
+  def toggle_exp_mode(self, gap_pressed):
+    if gap_pressed:
+      if not self.experimental_mode_hold:
+        self.gap_button_counter += 1
+        if self.gap_button_counter > 50:
+          self.gap_button_counter = 0
+          self.experimental_mode_hold = True
+          self.param_s.put_bool_nonblocking("ExperimentalMode", not self.experimental_mode)
+    else:
+      self.gap_button_counter = 0
+      self.experimental_mode_hold = False
+
   def create_sp_events(self, CS, cs_out, events, main_enabled=False, allow_enable=True, enable_pressed=False,
                        enable_from_brake=False, enable_pressed_long=False,
                        enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 2d6b68f9e1..8d49218b02 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -77,7 +77,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS)
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
 
     # MADS BUTTON
     if self.CS.out.madsEnabled != self.CS.madsEnabled:
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 4416299230..878d8f14c0 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -51,7 +51,7 @@ class CarInterface(CarInterfaceBase):
       self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
       ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS)
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
 
     # CANCEL
     if self.CS.out.cruiseState.enabled and not ret.cruiseState.enabled:
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 314c5cdd86..188964d667 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -104,7 +104,7 @@ class CarState(CarStateBase):
 
     ret.standstill = abs(ret.vEgoRaw) < 1e-3
 
-    if self.CP.carFingerprint != CAR.PRIUS_V:
+    if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
       self.lta_status = cp_cam.vl["LKAS_HUD"]["SET_ME_X02"]
       if ((self.prev_lta_status == 16 and self.lta_status == 0) or
           (self.prev_lta_status == 0 and self.lta_status == 16)) and not self.lta_status_active:
@@ -113,7 +113,7 @@ class CarState(CarStateBase):
         self.prev_lta_status = self.lta_status
     if self.lta_status_active:
       self.lkas_enabled = self.lta_status
-    elif self.CP.carFingerprint != CAR.PRIUS_V:
+    elif self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
       self.lkas_enabled = cp_cam.vl["LKAS_HUD"]["LKAS_STATUS"]
     if self.prev_lkas_enabled is None:
       self.prev_lkas_enabled = self.lkas_enabled
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 51d76dece0..38f4753c47 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -224,7 +224,7 @@ class CarInterface(CarInterfaceBase):
       if not self.CP.pcmCruise:
         ret.cruiseState.enabled = self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS)
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(distance_button))
 
     # CANCEL
     if self.CS.out.cruiseState.enabled and not ret.cruiseState.enabled:
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 5fef307f8a..096cfdf060 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -130,7 +130,7 @@ class CarState(CarStateBase):
     ret.cruiseState.available = pt_cp.vl["TSK_06"]["TSK_Status"] in (2, 3, 4, 5)
     ret.cruiseState.enabled = pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5)
 
-    if self.CP.pcmCruise:
+    if self.CP.pcmCruise and not self.CP.spFlags & VolkswagenFlagsSP.SP_CC_ONLY_NO_RADAR:
       # Cruise Control mode; check for distance UI setting from the radar.
       # ECM does not manage this, so do not need to check for openpilot longitudinal
       ret.cruiseState.nonAdaptive = ext_cp.vl["ACC_02"]["ACC_Gesetzte_Zeitluecke"] == 0
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index ff927f563c..48eddc7b84 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -209,34 +209,6 @@ class Controls:
       if any(ps.controlsAllowed for ps in self.sm['pandaStates']):
         self.state = State.enabled
 
-  def get_road_edge(self, carstate, model_v2):
-    # Lane detection by FrogAi
-    one_blinker = carstate.leftBlinker != carstate.rightBlinker
-    if not self.edge_toggle:
-      self.road_edge = False
-    elif one_blinker:
-      # Set the minimum lane threshold to 3.0 meters
-      min_lane_threshold = 3.0
-      # Set the blinker index based on which signal is on
-      blinker_index = 0 if carstate.leftBlinker else 1
-      desired_edge = model_v2.roadEdges[blinker_index]
-      current_lane = model_v2.laneLines[blinker_index + 1]
-      # Check if both the desired lane and the current lane have valid x and y values
-      if all([desired_edge.x, desired_edge.y, current_lane.x, current_lane.y]) and len(desired_edge.x) == len(current_lane.x):
-        # Interpolate the x and y values to the same length
-        x = np.linspace(desired_edge.x[0], desired_edge.x[-1], num=len(desired_edge.x))
-        lane_y = np.interp(x, current_lane.x, current_lane.y)
-        desired_y = np.interp(x, desired_edge.x, desired_edge.y)
-        # Calculate the width of the lane we're wanting to change into
-        lane_width = np.abs(desired_y - lane_y)
-        # Set road_edge to False if the lane width is not larger than the threshold
-        self.road_edge = not (np.amax(lane_width) > min_lane_threshold)
-      else:
-        self.road_edge = True
-    else:
-      # Default to setting "road_edge" to False
-      self.road_edge = False
-
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
 
@@ -760,12 +732,9 @@ class Controls:
 
     # decrement personality on distance button press
     if self.CP.openpilotLongitudinalControl:
-      if self.v_cruise_helper.update_personality:
+      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
         self.personality = (self.personality - 1) % 3
         self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
-      if self.v_cruise_helper.update_experimental_mode:
-        self.experimental_mode = not self.experimental_mode
-        self.params.put_bool_nonblocking('ExperimentalMode', self.experimental_mode)
 
     return CC, lac_log
 
@@ -798,7 +767,7 @@ class Controls:
     hudControl.speedVisible = self.enabled_long
     hudControl.lanesVisible = self.enabled
     hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
-    hudControl.leadDistanceBars = self.personality + 1
+    hudControl.leadDistanceBars = PERSONALITY_MAPPING.get(self.personality, log.LongitudinalPersonality.standard) + 1
 
     hudControl.rightLaneVisible = True
     hudControl.leftLaneVisible = True
diff --git a/selfdrive/controls/lib/alerts_offroad.json b/selfdrive/controls/lib/alerts_offroad.json
index 0293a655fa..4bb7fd1736 100644
--- a/selfdrive/controls/lib/alerts_offroad.json
+++ b/selfdrive/controls/lib/alerts_offroad.json
@@ -52,5 +52,9 @@
   "Offroad_OSMUpdateRequired": {
     "text": "OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.\n\n%1",
     "severity": 0
+  },
+  "Offroad_ForceStatus": {
+    "text": "sunnypilot is now in Forced Offroad mode. sunnypilot won't start until Forced Offroad mode is disabled. Go to \"Settings\" -> \"Device\" -> \"Unforce Offroad\" to exit Force Offroad mode.",
+    "severity": 1
   }
 }
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 0c80d186e5..61edf7aade 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -75,7 +75,7 @@ class VCruiseHelper:
     self.v_cruise_kph = V_CRUISE_UNSET
     self.v_cruise_cluster_kph = V_CRUISE_UNSET
     self.v_cruise_kph_last = 0
-    self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0, ButtonType.gapAdjustCruise: 0}
+    self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
     self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
 
     self.is_metric_prev = None
@@ -84,9 +84,6 @@ class VCruiseHelper:
     self.slc_state_prev = SpeedLimitControlState.inactive
     self.slc_speed_limit_offsetted = 0
 
-    self.update_personality = False
-    self.update_experimental_mode = False
-
   @property
   def v_cruise_initialized(self):
     return self.v_cruise_kph != V_CRUISE_UNSET
@@ -123,8 +120,6 @@ class VCruiseHelper:
 
     long_press = False
     button_type = None
-    update_personality = False
-    update_experimental_mode = False
 
     v_cruise_delta = 1. if is_metric else IMPERIAL_INCREMENT
     v_cruise_delta_mltplr = 10 if is_metric else 5
@@ -145,15 +140,6 @@ class VCruiseHelper:
     if button_type is None:
       return
 
-    if button_type == ButtonType.gapAdjustCruise and self.button_timers[ButtonType.gapAdjustCruise]:
-      if self.button_timers[ButtonType.gapAdjustCruise] < 50:
-        update_personality = True
-      elif self.button_timers[ButtonType.gapAdjustCruise] == 50:
-        update_experimental_mode = True
-
-    self.update_personality = update_personality
-    self.update_experimental_mode = update_experimental_mode
-
     resume_button = ButtonType.accelCruise
     if not self.CP.pcmCruiseSpeed:
       if self.CP.carName == "chrysler":
@@ -168,9 +154,6 @@ class VCruiseHelper:
     if not self.button_change_states[button_type]["enabled"]:
       return
 
-    if button_type == ButtonType.gapAdjustCruise:
-      return
-
     pressed_value = (1 if long_press else v_cruise_delta_mltplr) if reverse_acc else (v_cruise_delta_mltplr if long_press else 1)
     long_press_state = not long_press if reverse_acc else long_press
     v_cruise_delta = v_cruise_delta * pressed_value
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index c4dade1319..b203f56b7d 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -103,6 +103,7 @@ def manager_init() -> None:
     ("OsmDbUpdatesCheck", "0"),
     ("OsmDownloadedDate", "0"),
     ("OSMDownloadProgress", "{}"),
+    ("SidebarTemperatureOptions", "0"),
     ("SunnylinkEnabled", "1"),
   ]
   if not PC:
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index d602594e8a..13c1f05c30 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -45,7 +45,7 @@ def only_offroad(started, params, CP: car.CarParams) -> bool:
 
 def model_use_nav(started, params, CP: car.CarParams) -> bool:
   custom_model, model_gen = get_model_generation(params)
-  return started and custom_model and model_gen != 4
+  return started and custom_model and model_gen not in (0, 4)
 
 procs = [
   DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 10d0c13883..57b9914239 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -311,6 +311,12 @@ def thermald_thread(end_event, hw_queue) -> None:
     # ensure device is fully booted
     startup_conditions["device_booted"] = startup_conditions.get("device_booted", False) or HARDWARE.booted()
 
+    # user-forced status
+    force_offroad = params.get_bool("ForceOffroad")
+    startup_conditions["not_force_offroad"] = not force_offroad
+    onroad_conditions["not_force_offroad"] = not force_offroad
+    set_offroad_alert("Offroad_ForceStatus", force_offroad)
+
     # if the temperature enters the danger zone, go offroad to cool down
     onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
     extra_text = f"{offroad_comp_temp:.1f}C"
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 886653bd4b..4c9a2e9085 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -420,13 +420,24 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
     connect(uiState(), &UIState::offroadTransition, poweroff_btn, &QPushButton::setVisible);
   }
 
+  offroad_btn = new QPushButton(tr("Toggle Onroad/Offroad"));
+  offroad_btn->setObjectName("offroad_btn");
+  QObject::connect(offroad_btn, &QPushButton::clicked, this, &DevicePanel::forceoffroad);
+
+  QVBoxLayout *buttons_layout = new QVBoxLayout();
+  buttons_layout->setSpacing(24);
+  buttons_layout->addLayout(power_layout);
+  buttons_layout->addWidget(offroad_btn);
+
   setStyleSheet(R"(
     #reboot_btn { height: 120px; border-radius: 15px; background-color: #393939; }
     #reboot_btn:pressed { background-color: #4a4a4a; }
     #poweroff_btn { height: 120px; border-radius: 15px; background-color: #E22C2C; }
     #poweroff_btn:pressed { background-color: #FF2424; }
   )");
-  addItem(power_layout);
+  addItem(buttons_layout);
+
+  updateLabels();
 }
 
 void DevicePanel::onPinFileChanged(const QString &file_path) {
@@ -501,9 +512,51 @@ void DevicePanel::poweroff() {
   }
 }
 
+void DevicePanel::forceoffroad() {
+  if (!uiState()->engaged()) {
+    if (params.getBool("ForceOffroad")) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to unforce offroad?"), tr("Unforce"), this)) {
+        // Check engaged again in case it changed while the dialog was open
+        if (!uiState()->engaged()) {
+          params.remove("ForceOffroad");
+        }
+      }
+    } else {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to force offroad?"), tr("Force"), this)) {
+        // Check engaged again in case it changed while the dialog was open
+        if (!uiState()->engaged()) {
+          params.putBool("ForceOffroad", true);
+        }
+      }
+    }
+  } else {
+    ConfirmationDialog::alert(tr("Disengage to Force Offroad"), this);
+  }
+
+  updateLabels();
+}
+
 void DevicePanel::showEvent(QShowEvent *event) {
   pair_device->setVisible(uiState()->primeType() == PrimeType::UNPAIRED);
   ListWidget::showEvent(event);
+  updateLabels();
+}
+
+void DevicePanel::updateLabels() {
+  if (!isVisible()) {
+    return;
+  }
+
+  bool force_offroad_param = params.getBool("ForceOffroad");
+  QString offroad_btn_style = force_offroad_param ? "#393939" : "#E22C2C";
+  QString offroad_btn_pressed_style = force_offroad_param ? "#4a4a4a" : "#FF2424";
+  QString btn_common_style = QString("QPushButton { height: 120px; border-radius: 15px; background-color: %1; }"
+                                     "QPushButton:pressed { background-color: %2; }")
+                             .arg(offroad_btn_style,
+                                  offroad_btn_pressed_style);
+
+  offroad_btn->setText(force_offroad_param ? tr("Unforce Offroad") : tr("Force Offroad"));
+  offroad_btn->setStyleSheet(btn_common_style + offroad_btn_style + offroad_btn_pressed_style);
 }
 
 void SettingsWindow::showEvent(QShowEvent *event) {
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
index b1ee32f39d..0e550850e8 100644
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -63,6 +63,9 @@ private slots:
   void updateCalibDescription();
   void onPinFileChanged(const QString &file_path);
   void refreshPin();
+  void forceoffroad();
+
+  void updateLabels();
 
 private:
   Params params;
@@ -72,6 +75,8 @@ private:
   QString pin_title = tr("Fleet Manager PIN:") + " ";
   QString pin = "OFF";
   QFileSystemWatcher *fs_watch;
+
+  QPushButton *offroad_btn;
 };
 
 class TogglesPanel : public ListWidget {
diff --git a/selfdrive/ui/qt/offroad/sunnypilot/sunnylink_settings.cc b/selfdrive/ui/qt/offroad/sunnypilot/sunnylink_settings.cc
index e765792b4d..6c55bd1655 100644
--- a/selfdrive/ui/qt/offroad/sunnypilot/sunnylink_settings.cc
+++ b/selfdrive/ui/qt/offroad/sunnypilot/sunnylink_settings.cc
@@ -107,16 +107,9 @@ SunnylinkPanel::SunnylinkPanel(QWidget* parent) : QFrame(parent) {
   connect(restoreSettings, &QPushButton::clicked, [=]() {
     is_restore = true;
     backup_settings->started();
-    if (uiState()->isSunnylinkSponsor()) {
-      if (ConfirmationDialog::confirm(tr("Are you sure you want to restore the last backed up sunnypilot settings?"), tr("Restore"), this)) {
-        backup_settings->getParams();
-      } else {
-        backup_settings->finished();
-      }
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to restore the last backed up sunnypilot settings?"), tr("Restore"), this)) {
+      backup_settings->getParams();
     } else {
-      if (ConfirmationDialog::confirm(tr("Early alpha access only. Become a sponsor to get early access to sunnylink features."), tr("Become a Sponsor"), this)) {
-        status_popup->exec();
-      }
       backup_settings->finished();
     }
     is_restore = false;
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 11ac3ee650..b7b37ec9de 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -165,6 +165,7 @@ static void update_sockets(UIState *s) {
 static void update_state(UIState *s) {
   SubMaster &sm = *(s->sm);
   UIScene &scene = s->scene;
+  auto params = Params();
 
   if (sm.updated("liveCalibration")) {
     auto live_calib = sm["liveCalibration"].getLiveCalibration();
@@ -214,7 +215,7 @@ static void update_state(UIState *s) {
     float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
     scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f);
   }
-  scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
+  scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition && !params.getBool("ForceOffroad");
 
   scene.world_objects_visible = scene.world_objects_visible ||
                                 (scene.started &&