diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 5f0cdc3cef..02fbd9c892 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -12,6 +12,7 @@ variables:
 
 stages:
   - build
+  - sanity
   - publish
   - notify
 
@@ -70,6 +71,7 @@ build:
     paths:
       - "${CI_DIR}/scons_cache"
   before_script:
+    - find $BUILD_DIR/ -mindepth 1 -delete
     - *default_before_script
     - "echo Starting build stage..."
     - "echo BUILD_DIR: ${BUILD_DIR}"
@@ -79,7 +81,6 @@ build:
     - git config --global --add safe.directory ${CI_PROJECT_DIR}
   script:
     - export PYTHONPATH="$BUILD_DIR"
-    - "echo Calling to build [${CI_DIR}/build.sh ${CI_PROJECT_DIR} ${BUILD_DIR} ${VERSION}]"
     - "echo Building Panda..."
     - scons -j$(nproc) cache_dir=${CI_DIR}/scons_cache ${CI_PROJECT_DIR}/panda
     - mkdir -p ${BUILD_DIR}
@@ -89,28 +90,50 @@ build:
     - cd $BUILD_DIR
     - sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py # comment panda jungle when prebuilt
     - scons -j$(nproc) cache_dir=${CI_DIR}/scons_cache
-
-    # Cleanup
-    - echo "Doing cleanup for prebuilt\n\n"
-    - echo "Deleting specified files..."
-    - find ${BUILD_DIR} \( -name '*.a' -o -name '*.o' -o -name '*.os' -o -name '*.pyc' -o -name 'moc_*' -o -name '*.cc' -o -name "Jenkinsfile" -o -name "supercombo.onnx" -o -name ".sconsign.dblite" \) -print -delete
-
-    - echo "Deleting Headers from selfdrive/ui path..."
-    - find ${BUILD_DIR}/selfdrive/ui -type f -name '*.h' -print -delete
-
-    - echo "Deleting the following folders and subdirectories..."
-    - find "${BUILD_DIR}" -type d \( -path "*panda/board" -o -path "*panda/certs" -o -path "*panda/crypto" -o -path "*release" -o -path "*.github" -o -path "*selfdrive/ui/replay" -o -path "*__pycache__" \) -print -exec rm -rf {} +
-
-    # Move back signed panda fw
-    - mkdir -p ${BUILD_DIR}/panda/board/obj
-    - cp ${CI_PROJECT_DIR}/panda/board/obj/panda.bin.signed ${BUILD_DIR}/panda/board/obj/panda.bin.signed
-    - cp ${CI_PROJECT_DIR}/panda/board/obj/panda_h7.bin.signed ${BUILD_DIR}/panda/board/obj/panda_h7.bin.signed
-    - cp ${CI_PROJECT_DIR}/panda/board/obj/bootstub.panda.bin ${BUILD_DIR}/panda/board/obj/bootstub.panda.bin
-    - cp ${CI_PROJECT_DIR}/panda/board/obj/bootstub.panda_h7.bin ${BUILD_DIR}/panda/board/obj/bootstub.panda_h7.bin
     - touch ${BUILD_DIR}/prebuilt
+    - sudo rm -rf ${OUTPUT_DIR} 
     - mkdir -p ${OUTPUT_DIR}
-    - shopt -s dotglob && mv ${BUILD_DIR}/* ${OUTPUT_DIR}
-    - sudo chown -R comma:comma ${OUTPUT_DIR}
+    # We first include the paths we want to keep, even if we later will be excluding the other things on those paths
+    - rsync -av
+      --include='**/panda/board/'
+      --include='**/panda/board/obj'
+      --include='**/panda/board/obj/panda.bin.signed'
+      --include='**/panda/board/obj/panda_h7.bin.signed'
+      --include='**/panda/board/obj/bootstub.panda.bin'
+      --include='**/panda/board/obj/bootstub.panda_h7.bin'
+      --exclude='.sconsign.dblite'
+      --exclude='*.a'
+      --exclude='*.A'
+      --exclude='*.o'
+      --exclude='*.O'
+      --exclude='*.os'
+      --exclude='*.OS'
+      --exclude='*.pyc'
+      --exclude='*.PYC'
+      --exclude='moc_*'
+      --exclude='MOC_*'
+      --exclude='*.cc'
+      --exclude='*.CC'
+      --exclude='Jenkinsfile'
+      --exclude='supercombo.onnx'
+      --exclude='**/panda/board/*'
+      --exclude='**/panda/board/obj/**'
+      --exclude='**/panda/certs/'
+      --exclude='**/panda/crypto/'
+      --exclude='**/release/'
+      --exclude='**/.github/'
+      --exclude='**/selfdrive/ui/replay/'
+      --exclude='**/__pycache__/'
+      --exclude='**/selfdrive/ui/*.h'
+      --exclude='**/selfdrive/ui/**/*.h'
+      --exclude='**/selfdrive/ui/qt/offroad/sunnypilot/'
+      --exclude='**/.git/'
+      --delete-excluded
+      --chown=comma:comma
+      ${BUILD_DIR}/ ${OUTPUT_DIR}/
+  after_script:
+    # cleanup build dir after doing work 
+    - find $BUILD_DIR/ -mindepth 1 -delete
   artifacts:
     paths:
       - ${OUTPUT_DIR}/
@@ -120,6 +143,27 @@ build:
       when: manual
     - if: $NEW_BRANCH
       when: always
+      
+check no source code sent:
+  stage: sanity
+  variables:
+    FORBIDDEN_FILE_EXTENSIONS: "*.a,*.o,*.os,*.pyc,moc_*,*.cc,Jenkinsfile,supercombo.onnx,.sconsign.dblite"
+    FORBIDDEN_DIR_PATTERNS: "*panda/certs,*panda/crypto,*release,*.github,*selfdrive/ui/replay,*__pycache__"
+    REQUIRED_FILE_EXTENSIONS: "*.py,*.json"
+    REQUIRED_DIR_PATTERNS: "*selfdrive/ui,*openpilot"
+  before_script:
+    - apk update && apk upgrade
+    - apk add bash findutils
+  script:
+    - cd ${OUTPUT_DIR}
+    - echo "Checking that we have properly cleaned up"
+    - ${CI_DIR}/sanity_check.sh "$FORBIDDEN_FILE_EXTENSIONS" "$FORBIDDEN_DIR_PATTERNS" true
+    - echo "Checking that our sanity check works and also checking that some required files are indeed found"
+    - ${CI_DIR}/sanity_check.sh "$REQUIRED_FILE_EXTENSIONS" "$REQUIRED_DIR_PATTERNS" false
+  rules:
+    - if: $NEW_BRANCH
+      when: on_success
+    - when: never
 
 .publish_base: &publish_base
   variables:
@@ -128,6 +172,9 @@ build:
   needs:
     - job: build
       artifacts: true
+    - job: "check no source code sent"
+      artifacts: false
+      optional: false
   before_script:
     - 'apk update && apk upgrade'
     - 'apk add git bash openssh'
diff --git a/CHANGELOGS.md b/CHANGELOGS.md
index 76cbb73382..7f729fc9cf 100644
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@@ -4,6 +4,7 @@ sunnypilot - 0.9.6.0 (2024-xx-xx)
 * NEW❗: Default Driving Model: Los Angeles v2 (January 24, 2024)
 * UPDATED: Driving Model Selector v3
   * NEW❗: Driving Model additions
+    * Certified Herbalist v2 (February 13, 2024) - CHv2
     * Certified Herbalist (February 5, 2024) - CH
     * Los Angeles v2 (January 24, 2024) - LAv2
     * Los Angeles (January 22, 2024) - LAv1
@@ -16,15 +17,15 @@ sunnypilot - 0.9.6.0 (2024-xx-xx)
     * Blue Diamond (November 18, 2023) - BDv1
     * Farmville (November 7, 2023) - FV
     * Night Strike (October 3, 2023) - NS
-  * Certain features are deprecated with Legacy Driving Models
+  * Certain features are deprecated with newer Driving Models
     * Dynamic Lane Profile
     * Custom Offsets
 * UPDATED: Dynamic Lane Profile (DLP)
   * Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
-  * Deprecate support for newer Driving Models (e.g., CH, LAv2, LAv1)
+  * Deprecate support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
 * UPDATED: Custom Offsets
   * Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
-  * Deprecate support for newer Driving Models (e.g., CH, LAv2, LAv1)
+  * Deprecate support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
 * FIXED: New comma 3X support
 * FIXED: New comma eSIM support
 * Bug fixes and performance improvements
diff --git a/release/ci/install_gitlab_runner.sh b/release/ci/install_gitlab_runner.sh
index a44c13cc92..0dccc95154 100755
--- a/release/ci/install_gitlab_runner.sh
+++ b/release/ci/install_gitlab_runner.sh
@@ -64,6 +64,7 @@ set_gitlab_directory_permissions() {
     sudo chmod g+s "$GITLAB_BASE_DIR"
 }
 
+# Please note that when the gitlab runner is started, linux implicitly executes "source /etc/profile" for every logged shell. This will make scons available
 create_gitlab_runner_service() {
     cat <<EOL | sudo tee /etc/systemd/system/${SERVICE_NAME}.service
 [Unit]
diff --git a/release/ci/sanity_check.sh b/release/ci/sanity_check.sh
new file mode 100755
index 0000000000..a099d190e8
--- /dev/null
+++ b/release/ci/sanity_check.sh
@@ -0,0 +1,75 @@
+#!/usr/bin/env bash
+
+# Check if the correct number of arguments are provided
+if [ "$#" -lt 2 ]; then
+  echo "Error: Missing required arguments."
+  echo "Usage: $0 \"ext1,ext2,...\" \"dir1,dir2,...\" [expect_no_match]"
+  exit 1
+fi
+
+# Convert comma-separated lists of extensions and directory patterns to arrays
+IFS=',' read -r -a file_extensions <<< "$1"
+IFS=',' read -r -a dir_patterns <<< "$2"
+
+# Boolean argument to determine the script's behavior when matches are found
+expect_no_match=${3:-true} # Default to true if not provided
+
+# Validate that file_extensions and dir_patterns are not empty
+if [ ${#file_extensions[@]} -eq 0 ]; then
+  echo "Error: No file extensions provided."
+  exit 1
+fi
+
+if [ ${#dir_patterns[@]} -eq 0 ]; then
+  echo "Error: No directory patterns provided."
+  exit 1
+fi
+
+# Define the command and arguments as an array
+find_command=(find . \( -false)
+
+for ext in "${file_extensions[@]}"; do
+  find_command+=(-o -type f -name "*$ext")
+done
+for dir in "${dir_patterns[@]}"; do
+  find_command+=(-o -type d -path "$dir")
+done
+
+find_command+=(\) -print)
+
+# Debug print
+echo "Executing find_command ${find_command[@]}"
+# Execute the find command
+FOUND=$("${find_command[@]}")
+
+# Function to handle found matches
+handle_found() {
+  local count=$(echo "$FOUND" | grep -c '^')
+  if [ "$expect_no_match" = true ]; then
+    echo "Failure: Unexpected match$( [ "$count" -gt 1 ] && echo "es" ) found ($count):"
+    echo "$FOUND"
+    exit 1
+  else
+    echo "Success: Expected match$( [ "$count" -gt 1 ] && echo "es" ) found ($count):"
+    echo "$FOUND"
+    exit 0
+  fi
+}
+
+# Function to handle no matches found
+handle_not_found() {
+  if [ "$expect_no_match" = false ]; then
+    echo "Failure: Expected matches not found."
+    exit 1
+  else
+    echo "Success: No matches found as expected."
+    exit 0
+  fi
+}
+
+# Check if any files or directories are found and handle accordingly
+if [ -n "$FOUND" ]; then
+  handle_found
+else
+  handle_not_found
+fi
diff --git a/release/ci/uninstall_gitlab_runner.sh b/release/ci/uninstall_gitlab_runner.sh
old mode 100644
new mode 100755
diff --git a/release/files_common b/release/files_common
index cbce7906f4..a12ed62db6 100644
--- a/release/files_common
+++ b/release/files_common
@@ -102,6 +102,7 @@ selfdrive/car/tests/__init__.py
 selfdrive/car/tests/test_car_interfaces.py
 selfdrive/car/torque_data/*.toml
 selfdrive/car/torque_data/lat_models/*
+selfdrive/car/torque_data/neural_ff_weights.json
 
 selfdrive/car/body/*.py
 selfdrive/car/chrysler/*.py
diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py
index d064ce894d..b0a3d74e1a 100644
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@@ -40,7 +40,7 @@ class NissanCarInfo(CarInfo):
 CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
   CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"),
   CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
-  CAR.LEAF_IC: None,  # same platforms
+  CAR.LEAF_IC: NissanCarInfo("Nissan Leaf Instrument Cluster 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),  # same platforms
   CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
   CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
 }
diff --git a/selfdrive/car/sunnypilot_carname.json b/selfdrive/car/sunnypilot_carname.json
index c8090c8b3b..79b3176d59 100644
--- a/selfdrive/car/sunnypilot_carname.json
+++ b/selfdrive/car/sunnypilot_carname.json
@@ -180,6 +180,7 @@
   "Mazda CX-9 2021-23": "MAZDA CX-9 2021",
   "Nissan Altima 2019-20": "NISSAN ALTIMA 2020",
   "Nissan Leaf 2018-23": "NISSAN LEAF 2018",
+  "Nissan Leaf Instrument Cluster 2018-23": "NISSAN LEAF 2018 Instrument Cluster",
   "Nissan Rogue 2018-20": "NISSAN ROGUE 2019",
   "Nissan X-Trail 2017": "NISSAN X-TRAIL 2017",
   "Ram 1500 2019-24": "RAM 1500 5TH GEN",
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 4e0d69a6ea..c5d0e7ef8f 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -189,12 +189,13 @@ class LatControlTorque(LatControl):
       lateral_jerk_measurement = 0
       lookahead_lateral_jerk = 0
 
-      if self.use_nn or self.use_lateral_jerk:
+      model_good = model_data is not None and len(model_data.orientation.x) >= CONTROL_N
+      if model_good and (self.use_nn or self.use_lateral_jerk):
         # prepare "look-ahead" desired lateral jerk
         lookahead = interp(CS.vEgo, self.friction_look_ahead_bp, self.friction_look_ahead_v)
         friction_upper_idx = next((i for i, val in enumerate(ModelConstants.T_IDXS) if val > lookahead), 16)
         predicted_lateral_jerk = get_predicted_lateral_jerk(model_data.acceleration.y, self.t_diffs)
-        desired_lateral_jerk = (interp(self.desired_lat_jerk_time, ModelConstants.T_IDXS, model_data.acceleration.y) - actual_lateral_accel) / self.desired_lat_jerk_time
+        desired_lateral_jerk = (interp(self.desired_lat_jerk_time, ModelConstants.T_IDXS, model_data.acceleration.y) - desired_lateral_accel) / self.desired_lat_jerk_time
         lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk)
         if self.use_steering_angle or lookahead_lateral_jerk == 0.0:
           lookahead_lateral_jerk = 0.0
@@ -203,12 +204,12 @@ class LatControlTorque(LatControl):
         lateral_jerk_setpoint = self.lat_jerk_friction_factor * lookahead_lateral_jerk
         lateral_jerk_measurement = self.lat_jerk_friction_factor * actual_lateral_jerk
 
-      model_good = model_data is not None and len(model_data.orientation.x) >= CONTROL_N
       if self.use_nn and model_good:
         # update past data
         roll = params.roll
-        pitch = self.pitch.update(llk.calibratedOrientationNED.value[1])
-        roll = roll_pitch_adjust(roll, pitch)
+        if len(llk.calibratedOrientationNED.value) > 1:
+          pitch = self.pitch.update(llk.calibratedOrientationNED.value[1])
+          roll = roll_pitch_adjust(roll, pitch)
         self.roll_deque.append(roll)
         self.lateral_accel_desired_deque.append(desired_lateral_accel)
 
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index cd7e14a8e3..e39892a13b 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -166,6 +166,10 @@ def manager_init() -> None:
   if os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')):
     os.remove(os.path.join(sentry.CRASHES_DIR, 'error.txt'))
 
+  models_dir = "/data/media/0/models"
+  if not os.path.exists(models_dir):
+    os.makedirs(models_dir)
+
   # preimport all processes
   for p in managed_processes.values():
     p.prepare()
diff --git a/selfdrive/modeld/navmodeld.py b/selfdrive/modeld/navmodeld.py
index bfe9c8fbed..47439dbab6 100755
--- a/selfdrive/modeld/navmodeld.py
+++ b/selfdrive/modeld/navmodeld.py
@@ -15,6 +15,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import set_realtime_priority
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
+from openpilot.selfdrive.sunnypilot import get_model_generation
 
 NAV_INPUT_SIZE = 256*256
 NAV_FEATURE_LEN = 256
@@ -51,7 +52,8 @@ class ModelState:
     assert ctypes.sizeof(NavModelResult) == NAV_OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
     self.output = np.zeros(NAV_OUTPUT_SIZE, dtype=np.float32)
     self.param_s = Params()
-    if self.param_s.get_bool("CustomDrivingModel"):
+    self.custom_model, self.model_gen = get_model_generation(self.param_s)
+    if self.custom_model and self.model_gen != 0:
       _model_name = self.param_s.get("NavModelText", encoding="utf8")
       _model_paths = {
         ModelRunner.SNPE: f"{CUSTOM_MODEL_PATH}/navmodel_q_{_model_name}.dlc"}
diff --git a/selfdrive/ui/qt/offroad/sunnypilot/software_settings_sp.cc b/selfdrive/ui/qt/offroad/sunnypilot/software_settings_sp.cc
index 616bee253d..17e219ec7c 100644
--- a/selfdrive/ui/qt/offroad/sunnypilot/software_settings_sp.cc
+++ b/selfdrive/ui/qt/offroad/sunnypilot/software_settings_sp.cc
@@ -68,7 +68,7 @@ QString SoftwarePanelSP::GetModelName() {
     return selectedModelToDownload->displayName;
   }
 
-  if (params.getBool("CustomDrivingModel")) {
+  if (params.getBool("CustomDrivingModel") && QString::fromStdString(params.get("DrivingModelGeneration")) != "0") {
     return QString::fromStdString(params.get("DrivingModelName"));
   }