diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index a93556b1ea..4a6b6436fc 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -100,6 +100,8 @@ build:
     - touch ${BUILD_DIR}/prebuilt
     - mkdir -p ${OUTPUT_DIR}
     - shopt -s dotglob && mv ${BUILD_DIR}/* ${OUTPUT_DIR}
+  after_script:
+    - sudo chown -R comma:comma ${OUTPUT_DIR}
   artifacts:
     paths:
       - ${OUTPUT_DIR}/
diff --git a/.idea/customTargets.xml b/.idea/customTargets.xml
new file mode 100644
index 0000000000..457f9942d0
--- /dev/null
+++ b/.idea/customTargets.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CLionExternalBuildManager">
+    <target id="a62f99e8-5ec4-434c-8122-49efed5af108" name="Poetry SCons Build Debug" defaultType="TOOL">
+      <configuration id="b93ec964-16e5-4962-a12e-3ed360ce8f02" name="Poetry SCons Build Debug">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_Poetry SCons Build Debug" />
+        </build>
+        <clean type="TOOL">
+          <tool actionId="Tool_External Tools_Poetry SCons Clean" />
+        </clean>
+      </configuration>
+    </target>
+    <target id="edd8ad9d-183b-467c-a355-0d9a0ecab026" name="Poetry SCons Build Release" defaultType="TOOL">
+      <configuration id="09523339-5ce3-4223-ab9e-904f38ad7752" name="Poetry SCons Build Release">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_Poetry SCons Build Release" />
+        </build>
+        <clean type="TOOL">
+          <tool actionId="Tool_External Tools_Poetry SCons Clean" />
+        </clean>
+      </configuration>
+    </target>
+  </component>
+</project>
\ No newline at end of file
diff --git a/.run/Build Debug.run.xml b/.run/Build Debug.run.xml
new file mode 100644
index 0000000000..a7b47c9011
--- /dev/null
+++ b/.run/Build Debug.run.xml	
@@ -0,0 +1,10 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="Poetry SCons Build Debug" CONFIG_NAME="Poetry SCons Build Debug" RUN_PATH="_ui">
+    <envs>
+      <env name="QT_DBL_CLICK_DIST" value="150" />
+    </envs>
+    <method v="2">
+      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/.run/Build Release.run.xml b/.run/Build Release.run.xml
new file mode 100644
index 0000000000..cbf6343e87
--- /dev/null
+++ b/.run/Build Release.run.xml	
@@ -0,0 +1,10 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build Release" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="Poetry SCons Build Release" CONFIG_NAME="Poetry SCons Build Release" RUN_PATH="_ui">
+    <envs>
+      <env name="QT_DBL_CLICK_DIST" value="150" />
+    </envs>
+    <method v="2">
+      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/release/ci/install_gitlab_runner.sh b/release/ci/install_gitlab_runner.sh
index c8bac10c39..a44c13cc92 100755
--- a/release/ci/install_gitlab_runner.sh
+++ b/release/ci/install_gitlab_runner.sh
@@ -1,80 +1,106 @@
 #!/bin/bash
+set -e
 
-# We need RW for the install process
-sudo mount -o remount rw /
+# Check if script arguments are present, if not exit the script
+if [ $# -eq 0 ]; then
+    echo "No arguments provided. A GitLab token is required to run this script."
+    exit 1
+fi
 
-# Ensure filesystem is remounted as read-only on script exit
-trap "sudo mount -o remount ro /" EXIT
+# Constants
+GITLAB_RUNNER_DOWNLOAD_URL="https://gitlab-runner-downloads.s3.amazonaws.com/latest/binaries/gitlab-runner-linux-arm64"
+GITLAB_RUNNER_USER_NAME="gitlab-runner"
+USER_GROUPS="comma,gpu,gpio,sudo"
+GITLAB_BASE_DIR="/data/gitlab"
+GITLAB_BIN_DIR="${GITLAB_BASE_DIR}/bin"
+GITLAB_BUILDS_DIR="${GITLAB_BASE_DIR}/builds"
+GITLAB_LOGS_DIR="${GITLAB_BASE_DIR}/logs"
+GITLAB_CACHE_DIR="${GITLAB_BASE_DIR}/cache"
+GITLAB_OPENPILOT_DIR="${GITLAB_BASE_DIR}/openpilot"
+SERVICE_NAME="gitlab-runner"
 
-# Define directories
-BASE_DIR="/data/gitlab"
-BIN_DIR="$BASE_DIR/bin"
-CONFIG_DIR="$BASE_DIR"
-BUILDS_DIR="$BASE_DIR/builds"
-OPENPILOT_DIR="$BASE_DIR/openpilot"
-LOGS_DIR="$BASE_DIR/logs"
-CACHE_DIR="$BASE_DIR/cache"
-GITLAB_RUNNER_USERNAME="gitlab-runner"
-GROUPS_NEEDED="comma,gpu,gpio"
+create_gitlab_runner_directories() {
+    sudo mkdir -p "$GITLAB_BIN_DIR" "$GITLAB_BUILDS_DIR" "$GITLAB_LOGS_DIR" "$GITLAB_CACHE_DIR" "$GITLAB_OPENPILOT_DIR"
+    mkdir -p "/data/openpilot"
+    sudo chown -R comma:comma "/data/openpilot"
+}
 
-# Create necessary directories
-sudo mkdir -p "$BIN_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
+download_and_setup_gitlab_runner() {
+    sudo curl -L --output "$GITLAB_BIN_DIR/gitlab-runner" "$GITLAB_RUNNER_DOWNLOAD_URL"
+    sudo chmod +x "$GITLAB_BIN_DIR/gitlab-runner"
+}
 
-# Download the GitLab Runner binary
-sudo curl -L --output "$BIN_DIR/gitlab-runner" "https://gitlab-runner-downloads.s3.amazonaws.com/latest/binaries/gitlab-runner-linux-arm64"
+setup_gitlab_runner_user() {
+    sudo useradd --comment 'GitLab Runner' --create-home --home-dir ${GITLAB_BASE_DIR} ${GITLAB_RUNNER_USER_NAME} --shell /bin/bash -G ${USER_GROUPS} || sudo usermod -aG ${USER_GROUPS} ${GITLAB_RUNNER_USER_NAME}
+    export GITLAB_BASE_DIR # Export it to make it available to sub-processes
+    sudo -u ${GITLAB_RUNNER_USER_NAME} bash -c "truncate -s 0 '${GITLAB_BASE_DIR}/.bash_logout'"
+}
 
-# Give it permission to execute
-sudo chmod +x "$BIN_DIR/gitlab-runner"
+create_sudoers_entry() {
+    sudo grep -qxF "${GITLAB_RUNNER_USER_NAME} ALL=(ALL) NOPASSWD: ALL" /etc/sudoers || echo "${GITLAB_RUNNER_USER_NAME} ALL=(ALL) NOPASSWD: ALL" | sudo tee -a /etc/sudoers
+}
 
-# Create a GitLab Runner user
-sudo useradd --comment 'GitLab Runner' --create-home --home-dir ${BASE_DIR} ${GITLAB_RUNNER_USERNAME} --shell /bin/bash -G ${GROUPS_NEEDED} || sudo usermod -aG ${GROUPS_NEEDED} gitlab-runner
-
-# Clean bash_logout as it break gitlab pipelines
-sudo truncate -s 0 ${BASE_DIR}/.bash_logout
-
-# Create a configuration file
-cat <<EOL | sudo tee "$CONFIG_DIR/config.toml"
+generate_gitlab_config_file() {
+    cat <<EOL | sudo tee "$GITLAB_BASE_DIR/config.toml"
 [[runners]]
   name = "tici"
   url = "https://gitlab.com/"
   token = "$1"
   executor = "shell"
-  builds_dir = "$BUILDS_DIR"
+  builds_dir = "$GITLAB_BUILDS_DIR"
   [runners.custom_build_dir]
   [runners.docker]
-    volumes = ["$CACHE_DIR:/cache"]
+    volumes = ["$GITLAB_CACHE_DIR:/cache"]
   [runners.cache]
     MaxUploadedArchiveSize = 0
   [runners.custom]
-    config_exec = "$LOGS_DIR"
+    config_exec = "$GITLAB_LOGS_DIR"
 EOL
+}
 
-# Set permissions
-sudo chown -R ${GITLAB_RUNNER_USERNAME}:comma "$BASE_DIR"
-sudo chmod g+rwx "$BASE_DIR"
-sudo chmod g+s "$BASE_DIR"
+set_gitlab_directory_permissions() {
+    sudo chown -R ${GITLAB_RUNNER_USER_NAME}:comma "$GITLAB_BASE_DIR"
+    sudo chmod g+rwx "$GITLAB_BASE_DIR"
+    sudo chmod g+s "$GITLAB_BASE_DIR"
+}
 
-
-# Create a systemd service file for gitlab-runner
-cat <<EOL | sudo tee /etc/systemd/system/gitlab-runner.service
+create_gitlab_runner_service() {
+    cat <<EOL | sudo tee /etc/systemd/system/${SERVICE_NAME}.service
 [Unit]
 Description=GitLab Runner
 After=syslog.target network.target
-ConditionFileIsExecutable=$BIN_DIR/gitlab-runner
-
+ConditionFileIsExecutable=$GITLAB_BIN_DIR/gitlab-runner
 [Service]
 StartLimitInterval=5
 StartLimitBurst=10
-ExecStart=/usr/bin/unshare -m -- sh -c 'mount --bind $OPENPILOT_DIR /data/openpilot && exec $BIN_DIR/gitlab-runner "run" "--working-directory" "$BUILDS_DIR" "--config" "$CONFIG_DIR/config.toml" "--service" "gitlab-runner" "--syslog" "--user" "${GITLAB_RUNNER_USERNAME}"'
-
+ExecStart=/usr/bin/unshare -m -- sh -c 'mount --bind $GITLAB_OPENPILOT_DIR /data/openpilot && exec $GITLAB_BIN_DIR/gitlab-runner "run" "--working-directory" "$GITLAB_BUILDS_DIR" "--config" "$GITLAB_BASE_DIR/config.toml" "--service" "gitlab-runner" "--syslog" "--user" "${GITLAB_RUNNER_USER_NAME}"'
 Restart=always
 RestartSec=120
-
 [Install]
 WantedBy=multi-user.target
 EOL
+}
 
-# Reload systemd and start gitlab-runner
-sudo systemctl daemon-reload
-sudo systemctl disable gitlab-runner # Intentionally, making sure the service is NOT enabled on boot.
-sudo systemctl start gitlab-runner
+start_gitlab_runner_service() {
+    sudo systemctl daemon-reload
+    sudo systemctl disable gitlab-runner # Intentionally making sure the service is NOT enabled on boot.
+    sudo systemctl start gitlab-runner
+}
+
+# Make the filesystem writable
+sudo mount -o remount,rw /
+
+# Ensure filesystem is remounted as read-only on script exit
+trap "sudo mount -o remount,ro /" EXIT
+
+# Call functions
+setup_gitlab_runner_user
+create_sudoers_entry
+create_gitlab_runner_directories
+download_and_setup_gitlab_runner
+generate_gitlab_config_file "$1"
+set_gitlab_directory_permissions
+create_gitlab_runner_service
+start_gitlab_runner_service
+
+# End of install script
diff --git a/release/ci/uninstall_gitlab_runner.sh b/release/ci/uninstall_gitlab_runner.sh
new file mode 100644
index 0000000000..8bb1ee90e2
--- /dev/null
+++ b/release/ci/uninstall_gitlab_runner.sh
@@ -0,0 +1,58 @@
+#!/bin/bash
+# Define directories and user
+GITLAB_BASE_DIR="/data/gitlab"
+BIN_DIR="$GITLAB_BASE_DIR/bin"
+BUILDS_DIR="$GITLAB_BASE_DIR/builds"
+OPENPILOT_DIR="$GITLAB_BASE_DIR/openpilot"
+LOGS_DIR="$GITLAB_BASE_DIR/logs"
+CACHE_DIR="$GITLAB_BASE_DIR/cache"
+RUNNER_USERNAME="gitlab-runner"
+# Define the systemd service name
+SERVICE_NAME="gitlab-runner"
+USER_GROUPS="comma,gpu,gpio,sudo"
+
+# Function to stop and disable the systemd service
+stop_service() {
+    sudo systemctl stop ${SERVICE_NAME}
+    sudo systemctl disable ${SERVICE_NAME}
+}
+
+# Function to remove the systemd service file
+remove_service_file() {
+    sudo rm /etc/systemd/system/${SERVICE_NAME}.service
+    sudo systemctl daemon-reload
+}
+
+# Function to delete the GitLab Runner directories
+delete_directories() {
+    sudo rm -rf "$BIN_DIR/gitlab-runner"
+    sudo rm -rf "$GITLAB_BASE_DIR" "$BIN_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
+}
+
+# Function to remove the GitLab Runner user
+delete_user() {
+    for group in ${USER_GROUPS//,/ }
+    do
+       sudo gpasswd -d ${RUNNER_USERNAME} ${group}
+    done
+    sudo userdel -r ${RUNNER_USERNAME}
+}
+
+# Function to remove sudoers entry
+remove_sudoers_entry() {
+    sudo sed -i.bak "/${RUNNER_USERNAME} ALL=(ALL) NOPASSWD: ALL/d" /etc/sudoers
+}
+
+# Make filesystem writable
+sudo mount -o remount rw /
+
+# Ensure filesystem is remounted as read-only on script exit
+trap "sudo mount -o remount ro /" EXIT
+
+# Call functions
+stop_service
+remove_service_file
+delete_directories
+delete_user
+remove_sudoers_entry
+# End of uninstall script