diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 89c3efbac6..ccd3368cb0 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -37,8 +37,8 @@ jobs:
       run: |
         ${{ env.RUN }} "pytest tools/plotjuggler/"
 
-  simulator:
-    name: simulator
+  simulator_build:
+    name: simulator docker build
     runs-on: ubuntu-latest
     if: github.repository == 'commaai/openpilot'
     timeout-minutes: 45
@@ -56,6 +56,28 @@ jobs:
       run: |
         selfdrive/test/docker_build.sh sim
 
+  simulator_driving:
+    name: simulator driving
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - run: git lfs pull
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build base docker image
+      run: eval "$BUILD"
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run bridge test
+      run: |
+        ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
+                        source selfdrive/test/setup_xvfb.sh && \
+                        source selfdrive/test/setup_vsound.sh && \
+                        CI=1 tools/sim/tests/test_metadrive_bridge.py"
+
   devcontainer:
     name: devcontainer
     runs-on: ubuntu-latest
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index d17fe6b7db..e9c7d93d88 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.4.2
+    rev: v0.4.3
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
diff --git a/Jenkinsfile b/Jenkinsfile
index efba905c6b..9d12b77746 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -9,11 +9,6 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
   throw Exception("Failed after ${maxRetries} retries")
 }
 
-// check if started by timer: https://gist.github.com/aaclarker/75b8a0eb2b4d600779f84f8e849f2c37
-def isJobStartedByTimer() {
-  return currentBuild.getBuildCauses()[0]["shortDescription"].matches("Started by timer");
-}
-
 def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
@@ -31,7 +26,6 @@ export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
-export AZURE_TOKEN_OPENPILOT_RELEASES='${env.AZURE_TOKEN_OPENPILOT_RELEASES}'
 export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
 # only use 1 thread for tici tests since most require HIL
 export PYTEST_ADDOPTS="-n 0"
@@ -111,7 +105,7 @@ def pcStage(String stageName, Closure body) {
 
     checkout scm
 
-    def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE} -e AZURE_TOKEN_OPENPILOT_RELEASES='${env.AZURE_TOKEN_OPENPILOT_RELEASES}' --cpus=8 --memory 16g -e PYTEST_ADDOPTS='-n8'";
+    def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE} --cpus=8 --memory 16g -e PYTEST_ADDOPTS='-n8'";
 
     def openpilot_base = retryWithDelay (3, 15) {
       return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
@@ -119,7 +113,7 @@ def pcStage(String stageName, Closure body) {
 
     lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) {
       openpilot_base.inside(dockerArgs) {
-        timeout(time: 25, unit: 'MINUTES') {
+        timeout(time: 20, unit: 'MINUTES') {
           try {
             retryWithDelay (3, 15) {
               sh "git config --global --add safe.directory '*'"
@@ -141,56 +135,14 @@ def pcStage(String stageName, Closure body) {
 def setupCredentials() {
   withCredentials([
     string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
-    string(credentialsId: 'azure_token_openpilot_releases', variable: 'AZURE_TOKEN_OPENPILOT_RELEASES'),
     string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
   ]) {
     env.AZURE_TOKEN = "${AZURE_TOKEN}"
-    env.AZURE_TOKEN_OPENPILOT_RELEASES = "${AZURE_TOKEN_OPENPILOT_RELEASES}"
     env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
   }
 }
 
 
-def build_git_release(String channel_name) {
-  return parallel (
-    "${channel_name} (git)": {
-      deviceStage("build git", "tici-needs-can", [], [
-        ["build ${channel_name}", "RELEASE_BRANCH=${channel_name} $SOURCE_DIR/release/build_git_release.sh"],
-      ])
-    }
-  )
-}
-
-
-def build_casync_release(String channel_name, def is_release) {
-  def extra_env = is_release ? "RELEASE=1 " : ""
-  def build_dir = "/data/openpilot"
-
-  extra_env += "TMPDIR=/data/tmp PYTHONPATH=$SOURCE_DIR"
-
-  return deviceStage("build casync", "tici-needs-can", [], [
-    ["build", "${extra_env} $SOURCE_DIR/release/build_release.sh ${build_dir}"],
-    ["package + upload", "${extra_env} $SOURCE_DIR/release/package_casync_build.py ${build_dir}"],
-  ])
-}
-
-
-def build_stage() {
-  return parallel (
-    'nightly': {
-      build_casync_release("nightly", true);
-    },
-    'master': {
-      build_casync_release("master", false);
-    },
-    'publish agnos': {
-      pcStage("publish agnos") {
-        sh "PYTHONWARNINGS=ignore release/package_casync_agnos.py"
-      }
-    }
-  )
-}
-
 node {
   env.CI = "1"
   env.PYTHONWARNINGS = "error"
@@ -205,108 +157,97 @@ node {
                          'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
-  def nightlyBranch = "master"
-
-  def props = [];
-
-  if (env.BRANCH_NAME == nightlyBranch) {
-    props.add(pipelineTriggers([
-      cron('0 9 * * *')     // at 2am PST (9am UTC) every night
-    ]))
+  if (env.BRANCH_NAME != 'master') {
+    properties([
+        disableConcurrentBuilds(abortPrevious: true)
+    ])
   }
 
-  if (env.BRANCH_NAME != "master") {
-    props.add(disableConcurrentBuilds(abortPrevious: true))
-  }
-
-  properties(props);
-
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
-      build_git_release("release3-staging")
+      deviceStage("build release3-staging", "tici-needs-can", [], [
+        ["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"],
+      ])
     }
 
     if (env.BRANCH_NAME == 'master-ci') {
-      build_git_release("nightly")
+      deviceStage("build nightly", "tici-needs-can", [], [
+        ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
+      ])
     }
 
     if (!env.BRANCH_NAME.matches(excludeRegex)) {
-      parallel (
-        // tici tests
-        'onroad tests': {
-          deviceStage("onroad", "tici-needs-can", [], [
-            // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
-            //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
-            ["build openpilot", "cd selfdrive/manager && ./build.py"],
-            ["check dirty", "release/check-dirty.sh"],
-            ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
-            ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
-          ])
-        },
-        'HW + Unit Tests': {
-          deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
-            ["build", "cd selfdrive/manager && ./build.py"],
-            ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
-            ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
-            ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
-            ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
-            ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
-          ])
-        },
-        'loopback': {
-          deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
-            ["build openpilot", "cd selfdrive/manager && ./build.py"],
-            ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
-          ])
-        },
-        'camerad': {
-          deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
-            ["build", "cd selfdrive/manager && ./build.py"],
-            ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-            ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-          ])
-          deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
-            ["build", "cd selfdrive/manager && ./build.py"],
-            ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-            ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-          ])
-        },
-        'sensord': {
-          deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
-            ["build", "cd selfdrive/manager && ./build.py"],
-            ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
-          ])
-          deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
-            ["build", "cd selfdrive/manager && ./build.py"],
-            ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
-          ])
-        },
-        'replay': {
-          deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
-            ["build", "cd selfdrive/manager && ./build.py"],
-            ["model replay", "selfdrive/test/process_replay/model_replay.py"],
-          ])
-        },
-        'tizi': {
-          deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-            ["build openpilot", "cd selfdrive/manager && ./build.py"],
-            ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
-            ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
-            ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
-            ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
-            ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
-          ])
-        },
-      )
-    }
+    parallel (
+      // tici tests
+      'onroad tests': {
+        deviceStage("onroad", "tici-needs-can", [], [
+          // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
+          //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["check dirty", "release/check-dirty.sh"],
+          ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
+          ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
+        ])
+      },
+      'HW + Unit Tests': {
+        deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
+          ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
+          ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
+          ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
+        ])
+      },
+      'loopback': {
+        deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+        ])
+      },
+      'camerad': {
+        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+        ])
+        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+        ])
+      },
+      'sensord': {
+        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
+        ])
+        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
+        ])
+      },
+      'replay': {
+        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["model replay", "selfdrive/test/process_replay/model_replay.py"],
+        ])
+      },
+      'tizi': {
+        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
+          ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
+          ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
+        ])
+      },
 
-    if (env.BRANCH_NAME == nightlyBranch && isJobStartedByTimer()) {
-      stage('build release') {
-        build_stage()
-      }
+    )
     }
   } catch (Exception e) {
     currentBuild.result = 'FAILED'
     throw e
   }
-}
\ No newline at end of file
+}
diff --git a/body b/body
index 864c5449ef..0e74db67ae 160000
--- a/body
+++ b/body
@@ -1 +1 @@
-Subproject commit 864c5449ef4f339589366f5abbfc2d2211e010dd
+Subproject commit 0e74db67ae6aaa7c30054bd4335dcafe69a5aa72
diff --git a/common/params.cc b/common/params.cc
index e8ab1bf319..c0729f6150 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -172,7 +172,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
     {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
-    {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
     {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
     {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
diff --git a/common/util.cc b/common/util.cc
index b6097bf28f..5ffd6e4099 100644
--- a/common/util.cc
+++ b/common/util.cc
@@ -246,12 +246,6 @@ std::string random_string(std::string::size_type length) {
   return s;
 }
 
-std::string dir_name(std::string const &path) {
-  size_t pos = path.find_last_of("/");
-  if (pos == std::string::npos) return "";
-  return path.substr(0, pos);
-}
-
 bool starts_with(const std::string &s1, const std::string &s2) {
   return strncmp(s1.c_str(), s2.c_str(), s2.size()) == 0;
 }
@@ -277,20 +271,4 @@ std::string check_output(const std::string& command) {
   return result;
 }
 
-struct tm get_time() {
-  time_t rawtime;
-  time(&rawtime);
-
-  struct tm sys_time;
-  gmtime_r(&rawtime, &sys_time);
-
-  return sys_time;
-}
-
-bool time_valid(struct tm sys_time) {
-  int year = 1900 + sys_time.tm_year;
-  int month = 1 + sys_time.tm_mon;
-  return (year > 2023) || (year == 2023 && month >= 6);
-}
-
 }  // namespace util
diff --git a/common/util.h b/common/util.h
index 0e8bcd56bf..186873ac21 100644
--- a/common/util.h
+++ b/common/util.h
@@ -8,7 +8,6 @@
 #include <atomic>
 #include <chrono>
 #include <csignal>
-#include <ctime>
 #include <map>
 #include <memory>
 #include <mutex>
@@ -45,10 +44,6 @@ int set_realtime_priority(int level);
 int set_core_affinity(std::vector<int> cores);
 int set_file_descriptor_limit(uint64_t limit);
 
-// ***** Time helpers *****
-struct tm get_time();
-bool time_valid(struct tm sys_time);
-
 // ***** math helpers *****
 
 // map x from [a1, a2] to [b1, b2]
@@ -75,7 +70,6 @@ int getenv(const char* key, int default_val);
 float getenv(const char* key, float default_val);
 
 std::string hexdump(const uint8_t* in, const size_t size);
-std::string dir_name(std::string const& path);
 bool starts_with(const std::string &s1, const std::string &s2);
 bool ends_with(const std::string &s, const std::string &suffix);
 
diff --git a/docs/CARS.md b/docs/CARS.md
index 6cf224d135..7e5324d322 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 285 Supported Cars
+# 286 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -29,6 +29,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2018|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 Hybrid 2018">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2019-23|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 Hybrid 2019-23">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 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=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |Dodge|Durango 2020-21|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=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
 |Ford|Bronco Sport 2021-23|Co-Pilot360 Assist+|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 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-23">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|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 Ford Q3 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=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
@@ -192,7 +193,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 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=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
 |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 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=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<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=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
-|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 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=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 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=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
 |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 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=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
 |Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<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=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<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=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
diff --git a/launch_env.sh b/launch_env.sh
index bfc2e6ac6a..81578aff01 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="10"
+  export AGNOS_VERSION="10.1"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/poetry.lock b/poetry.lock
index 2e66336f11..70e91f2cc2 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
@@ -311,13 +311,13 @@ aio = ["azure-core[aio] (>=1.28.0,<2.0.0)"]
 
 [[package]]
 name = "babel"
-version = "2.14.0"
+version = "2.15.0"
 description = "Internationalization utilities"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
-    {file = "Babel-2.14.0-py3-none-any.whl", hash = "sha256:efb1a25b7118e67ce3a259bed20545c29cb68be8ad2c784c83689981b7a57287"},
-    {file = "Babel-2.14.0.tar.gz", hash = "sha256:6919867db036398ba21eb5c7a0f6b28ab8cbc3ae7a73a44ebe34ae74a4e7d363"},
+    {file = "Babel-2.15.0-py3-none-any.whl", hash = "sha256:08706bdad8d0a3413266ab61bd6c34d0c28d6e1e7badf40a2cebe67644e2e1fb"},
+    {file = "babel-2.15.0.tar.gz", hash = "sha256:8daf0e265d05768bc6c7a314cf1321e9a123afc328cc635c18622a2f30a04413"},
 ]
 
 [package.extras]
@@ -756,63 +756,63 @@ test = ["pytest", "pytest-timeout"]
 
 [[package]]
 name = "coverage"
-version = "7.5.0"
+version = "7.5.1"
 description = "Code coverage measurement for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -7078,43 +7077,43 @@ use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
 
 [[package]]
 name = "rubicon-objc"
-version = "0.4.8"
+version = "0.4.9"
 description = "A bridge between an Objective C runtime environment and Python."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "rubicon-objc-0.4.8.tar.gz", hash = "sha256:f7bede0f0e73dde07083785984c75b3acf76116298743758ea5c51b3ebb81978"},
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 ]
 
 [package.extras]
-dev = ["pre-commit (==3.5.0)", "pre-commit (==3.7.0)", "pytest (==8.1.1)", "pytest-tldr (==0.2.5)", "setuptools-scm (==8.0.4)", "tox (==4.14.2)"]
-docs = ["furo (==2024.1.29)", "pyenchant (==3.2.2)", "sphinx (==7.1.2)", "sphinx (==7.2.6)", "sphinx-autobuild (==2021.3.14)", "sphinx-autobuild (==2024.2.4)", "sphinx-copybutton (==0.5.2)", "sphinx-tabs (==3.4.5)", "sphinxcontrib-spelling (==8.0.0)"]
+dev = ["pre-commit (==3.5.0)", "pre-commit (==3.7.0)", "pytest (==8.2.0)", "pytest-tldr (==0.2.5)", "setuptools-scm (==8.0.4)", "tox (==4.15.0)"]
+docs = ["furo (==2024.4.27)", "pyenchant (==3.2.2)", "sphinx (==7.1.2)", "sphinx (==7.3.7)", "sphinx-autobuild (==2021.3.14)", "sphinx-autobuild (==2024.4.16)", "sphinx-copybutton (==0.5.2)", "sphinx-tabs (==3.4.5)", "sphinxcontrib-spelling (==8.0.0)"]
 
 [[package]]
 name = "ruff"
-version = "0.4.2"
+version = "0.4.3"
 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-0.4.3.tar.gz", hash = "sha256:ff0a3ef2e3c4b6d133fbedcf9586abfbe38d076041f2dc18ffb2c7e0485d5a07"},
 ]
 
 [[package]]
@@ -7193,13 +7192,13 @@ stats = ["scipy (>=1.7)", "statsmodels (>=0.12)"]
 
 [[package]]
 name = "sentry-sdk"
-version = "2.0.1"
+version = "2.1.1"
 description = "Python client for Sentry (https://sentry.io)"
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "sentry_sdk-2.0.1-py2.py3-none-any.whl", hash = "sha256:b54c54a2160f509cf2757260d0cf3885b608c6192c2555a3857e3a4d0f84bdb3"},
-    {file = "sentry_sdk-2.0.1.tar.gz", hash = "sha256:c278e0f523f6f0ee69dc43ad26dcdb1202dffe5ac326ae31472e012d941bee21"},
+    {file = "sentry_sdk-2.1.1-py2.py3-none-any.whl", hash = "sha256:99aeb78fb76771513bd3b2829d12613130152620768d00cd3e45ac00cb17950f"},
+    {file = "sentry_sdk-2.1.1.tar.gz", hash = "sha256:95d8c0bb41c8b0bc37ab202c2c4a295bb84398ee05f4cdce55051cd75b926ec1"},
 ]
 
 [package.dependencies]
@@ -7208,6 +7207,7 @@ urllib3 = ">=1.26.11"
 
 [package.extras]
 aiohttp = ["aiohttp (>=3.5)"]
+anthropic = ["anthropic (>=0.16)"]
 arq = ["arq (>=0.23)"]
 asyncpg = ["asyncpg (>=0.23)"]
 beam = ["apache-beam (>=2.12)"]
@@ -7223,6 +7223,8 @@ flask = ["blinker (>=1.1)", "flask (>=0.11)", "markupsafe"]
 grpcio = ["grpcio (>=1.21.1)"]
 httpx = ["httpx (>=0.16.0)"]
 huey = ["huey (>=2)"]
+huggingface-hub = ["huggingface-hub (>=0.22)"]
+langchain = ["langchain (>=0.0.210)"]
 loguru = ["loguru (>=0.5)"]
 openai = ["openai (>=1.0.0)", "tiktoken (>=0.3.0)"]
 opentelemetry = ["opentelemetry-distro (>=0.35b0)"]
@@ -7745,13 +7747,13 @@ files = [
 
 [[package]]
 name = "tqdm"
-version = "4.66.2"
+version = "4.66.4"
 description = "Fast, Extensible Progress Meter"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "tqdm-4.66.2-py3-none-any.whl", hash = "sha256:1ee4f8a893eb9bef51c6e35730cebf234d5d0b6bd112b0271e10ed7c24a02bd9"},
-    {file = "tqdm-4.66.2.tar.gz", hash = "sha256:6cd52cdf0fef0e0f543299cfc96fec90d7b8a7e88745f411ec33eb44d5ed3531"},
+    {file = "tqdm-4.66.4-py3-none-any.whl", hash = "sha256:b75ca56b413b030bc3f00af51fd2c1a1a5eac6a0c1cca83cbb37a5c52abce644"},
+    {file = "tqdm-4.66.4.tar.gz", hash = "sha256:e4d936c9de8727928f3be6079590e97d9abfe8d39a590be678eb5919ffc186bb"},
 ]
 
 [package.dependencies]
diff --git a/rednose_repo b/rednose_repo
index 24c50f57bb..72b3479bab 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 24c50f57bb4247322560da6cfa585cfc035d9824
+Subproject commit 72b3479bababc658f24cc7aa0dc8bb550f0474fc
diff --git a/release/README.md b/release/README.md
deleted file mode 100644
index 89e6cce6f3..0000000000
--- a/release/README.md
+++ /dev/null
@@ -1,34 +0,0 @@
-# openpilot releases
-
-
-## terms
-
-- `channel` - a named version of openpilot (git branch, casync caibx) which receives updates
-- `build` - a copy of openpilot ready for distribution, already built for a specific device
-- `build_style` - type of build, either `debug` or `release`
-  - `debug` - build with `ALLOW_DEBUG=true`, can test experimental features like longitudinal on alpha cars
-  - `release` - build with `ALLOW_DEBUG=false`, experimental features disabled
-
-
-## openpilot channels
-
-| channel      | build_style | description                                                       |
-| -----------  | ----------- | ----------                                                        |
-| release      | `release`   | stable release of openpilot                                       |
-| staging      | `release`   | release candidate of openpilot for final verification             |
-| nightly      | `release`   | generated nightly from last commit passing CI tests               |
-| master       | `debug`     | current master commit with experimental features enabled          |
-| git branches | `debug`     | installed manually, experimental features enabled, build required |
-
-
-## build
-
-`release/build_release.sh <build_dir>` - creates an openpilot build into `build_dir`, ready for distribution
-
-## packaging a casync release
-
-`release/package_casync_build.py <build_dir>` - packages an openpilot build into a casync tar and uploads to `openpilot-releases`
-
-## release builds
-
-to create a release build, set `RELEASE=1` environment variable when running the build script
diff --git a/release/build_git_release.sh b/release/build_git_release.sh
deleted file mode 100755
index 08f8a5a185..0000000000
--- a/release/build_git_release.sh
+++ /dev/null
@@ -1,105 +0,0 @@
-#!/usr/bin/bash -e
-
-# git diff --name-status origin/release3-staging | grep "^A" | less
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
-cd $DIR
-
-BUILD_DIR=/data/openpilot
-SOURCE_DIR="$(git rev-parse --show-toplevel)"
-
-if [ -f /TICI ]; then
-  FILES_SRC="release/files_tici"
-else
-  echo "no release files set"
-  exit 1
-fi
-
-if [ -z "$RELEASE_BRANCH" ]; then
-  echo "RELEASE_BRANCH is not set"
-  exit 1
-fi
-
-
-# set git identity
-source $DIR/identity.sh
-
-echo "[-] Setting up repo T=$SECONDS"
-rm -rf $BUILD_DIR
-mkdir -p $BUILD_DIR
-cd $BUILD_DIR
-git init
-git remote add origin git@github.com:commaai/openpilot.git
-git checkout --orphan $RELEASE_BRANCH
-
-# do the files copy
-echo "[-] copying files T=$SECONDS"
-cd $SOURCE_DIR
-cp -pR --parents $(cat release/files_common) $BUILD_DIR/
-cp -pR --parents $(cat $FILES_SRC) $BUILD_DIR/
-
-# in the directory
-cd $BUILD_DIR
-
-rm -f panda/board/obj/panda.bin.signed
-rm -f panda/board/obj/panda_h7.bin.signed
-
-VERSION=$(cat common/version.h | awk -F[\"-]  '{print $2}')
-echo "#define COMMA_VERSION \"$VERSION-release\"" > common/version.h
-
-echo "[-] committing version $VERSION T=$SECONDS"
-git add -f .
-git commit -a -m "openpilot v$VERSION release"
-
-# Build
-export PYTHONPATH="$BUILD_DIR"
-scons -j$(nproc)
-
-# release panda fw
-CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
-
-# Ensure no submodules in release
-if test "$(git submodule--helper list | wc -l)" -gt "0"; then
-  echo "submodules found:"
-  git submodule--helper list
-  exit 1
-fi
-git submodule status
-
-# Cleanup
-find . -name '*.a' -delete
-find . -name '*.o' -delete
-find . -name '*.os' -delete
-find . -name '*.pyc' -delete
-find . -name 'moc_*' -delete
-find . -name '__pycache__' -delete
-rm -rf .sconsign.dblite Jenkinsfile release/
-rm selfdrive/modeld/models/supercombo.onnx
-
-# Restore third_party
-git checkout third_party/
-
-# Mark as prebuilt release
-touch prebuilt
-
-# Add built files to git
-git add -f .
-git commit --amend -m "openpilot v$VERSION"
-
-# Run tests
-TEST_FILES="tools/"
-cd $SOURCE_DIR
-cp -pR -n --parents $TEST_FILES $BUILD_DIR/
-cd $BUILD_DIR
-RELEASE=1 selfdrive/test/test_onroad.py
-#selfdrive/manager/test/test_manager.py
-#selfdrive/car/tests/test_car_interfaces.py
-rm -rf $TEST_FILES
-
-if [ ! -z "$RELEASE_BRANCH" ]; then
-  echo "[-] pushing release T=$SECONDS"
-  git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH
-fi
-
-echo "[-] done T=$SECONDS"
diff --git a/release/build_release.sh b/release/build_release.sh
index 19c06700fa..fc15cf6cdf 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -1,40 +1,72 @@
-#!/usr/bin/bash
+#!/usr/bin/bash -e
 
-set -e
+# git diff --name-status origin/release3-staging | grep "^A" | less
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-SOURCE_DIR="$(git -C $DIR rev-parse --show-toplevel)"
-BUILD_DIR=${1:-$(mktemp -d)}
+
+cd $DIR
+
+BUILD_DIR=/data/openpilot
+SOURCE_DIR="$(git rev-parse --show-toplevel)"
 
 if [ -f /TICI ]; then
   FILES_SRC="release/files_tici"
 else
-  FILES_SRC="release/files_pc"
+  echo "no release files set"
+  exit 1
 fi
 
-echo "Building openpilot into $BUILD_DIR"
+if [ -z "$RELEASE_BRANCH" ]; then
+  echo "RELEASE_BRANCH is not set"
+  exit 1
+fi
 
+
+# set git identity
+source $DIR/identity.sh
+
+echo "[-] Setting up repo T=$SECONDS"
 rm -rf $BUILD_DIR
 mkdir -p $BUILD_DIR
+cd $BUILD_DIR
+git init
+git remote add origin git@github.com:commaai/openpilot.git
+git checkout --orphan $RELEASE_BRANCH
 
-# Copy required files to BUILD_DIR
+# do the files copy
+echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
 cp -pR --parents $(cat release/files_common) $BUILD_DIR/
 cp -pR --parents $(cat $FILES_SRC) $BUILD_DIR/
 
-# Build + cleanup
+# in the directory
 cd $BUILD_DIR
-export PYTHONPATH="$BUILD_DIR"
 
 rm -f panda/board/obj/panda.bin.signed
 rm -f panda/board/obj/panda_h7.bin.signed
 
-if [ -n "$RELEASE" ]; then
-  export CERT=/data/pandaextra/certs/release
-fi
+VERSION=$(cat common/version.h | awk -F[\"-]  '{print $2}')
+echo "#define COMMA_VERSION \"$VERSION-release\"" > common/version.h
 
+echo "[-] committing version $VERSION T=$SECONDS"
+git add -f .
+git commit -a -m "openpilot v$VERSION release"
+
+# Build
+export PYTHONPATH="$BUILD_DIR"
 scons -j$(nproc)
 
+# release panda fw
+CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
+
+# Ensure no submodules in release
+if test "$(git submodule--helper list | wc -l)" -gt "0"; then
+  echo "submodules found:"
+  git submodule--helper list
+  exit 1
+fi
+git submodule status
+
 # Cleanup
 find . -name '*.a' -delete
 find . -name '*.o' -delete
@@ -45,7 +77,29 @@ find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
 rm selfdrive/modeld/models/supercombo.onnx
 
+# Restore third_party
+git checkout third_party/
+
 # Mark as prebuilt release
 touch prebuilt
 
-echo "----- openpilot has been built to $BUILD_DIR -----"
+# Add built files to git
+git add -f .
+git commit --amend -m "openpilot v$VERSION"
+
+# Run tests
+TEST_FILES="tools/"
+cd $SOURCE_DIR
+cp -pR -n --parents $TEST_FILES $BUILD_DIR/
+cd $BUILD_DIR
+RELEASE=1 selfdrive/test/test_onroad.py
+#selfdrive/manager/test/test_manager.py
+selfdrive/car/tests/test_car_interfaces.py
+rm -rf $TEST_FILES
+
+if [ ! -z "$RELEASE_BRANCH" ]; then
+  echo "[-] pushing release T=$SECONDS"
+  git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH
+fi
+
+echo "[-] done T=$SECONDS"
diff --git a/release/package_casync_agnos.py b/release/package_casync_agnos.py
deleted file mode 100755
index b80cdfa98d..0000000000
--- a/release/package_casync_agnos.py
+++ /dev/null
@@ -1,59 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import json
-import os
-import pathlib
-import tempfile
-import time
-from openpilot.common.basedir import BASEDIR
-from openpilot.system.hardware.tici.agnos import StreamingDecompressor, unsparsify, noop, AGNOS_MANIFEST_FILE
-from openpilot.system.updated.casync.common import create_casync_from_file
-from release.package_casync_build import upload_casync_release
-
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="creates a casync release")
-  parser.add_argument("--manifest", type=str, help="json manifest to create agnos release from", \
-                        default=str(pathlib.Path(BASEDIR) / AGNOS_MANIFEST_FILE))
-  args = parser.parse_args()
-
-  manifest_file = pathlib.Path(args.manifest)
-
-  with tempfile.TemporaryDirectory() as temp_dir:
-    working_dir = pathlib.Path(temp_dir)
-    casync_dir = working_dir / "casync"
-    casync_dir.mkdir()
-
-    agnos_casync_dir = casync_dir / "agnos"
-    agnos_casync_dir.mkdir()
-
-    entry_path = working_dir / "entry"
-
-    with open(manifest_file) as f:
-      manifest = json.load(f)
-
-    for entry in manifest:
-      print(f"creating casync agnos build from {entry}")
-      start = time.monotonic()
-      downloader = StreamingDecompressor(entry['url'])
-
-      parse_func = unsparsify if entry['sparse'] else noop
-
-      parsed_chunks = parse_func(downloader)
-
-      size = entry["size"]
-
-      cur = 0
-      with open(entry_path, "wb") as f:
-        for chunk in parsed_chunks:
-          f.write(chunk)
-
-      print(f"downloaded in {time.monotonic() - start}")
-
-      start = time.monotonic()
-      agnos_filename = os.path.basename(entry["url"]).split(".")[0]
-      create_casync_from_file(entry_path, agnos_casync_dir, agnos_filename)
-      print(f"created casnc in {time.monotonic() - start}")
-
-    upload_casync_release(casync_dir)
diff --git a/release/package_casync_build.py b/release/package_casync_build.py
deleted file mode 100755
index 5f92e893be..0000000000
--- a/release/package_casync_build.py
+++ /dev/null
@@ -1,108 +0,0 @@
-#!/usr/bin/env python3
-
-# packages a casync release, uploads to azure, and creates a manifest
-
-import argparse
-import dataclasses
-import json
-import os
-import pathlib
-import tempfile
-
-from openpilot.system.hardware.tici.agnos import AGNOS_MANIFEST_FILE, get_partition_path
-from openpilot.system.updated.casync.common import create_build_metadata_file, create_casync_release
-from openpilot.system.version import get_build_metadata
-from openpilot.tools.lib.azure_container import AzureContainer
-
-
-BASE_URL = "https://commadist.blob.core.windows.net"
-
-OPENPILOT_RELEASES = f"{BASE_URL}/openpilot-releases/openpilot"
-AGNOS_RELEASES = f"{BASE_URL}/openpilot-releases/agnos"
-
-
-def create_casync_caibx(target_dir: pathlib.Path, output_dir: pathlib.Path):
-  output_dir.mkdir()
-  build_metadata = get_build_metadata()
-  build_metadata.openpilot.build_style = "release" if os.environ.get("RELEASE", None) is not None else "debug"
-
-  create_build_metadata_file(target_dir, build_metadata)
-
-  digest, caibx = create_casync_release(target_dir, output_dir, build_metadata.canonical)
-
-  print(f"Created casync release from {target_dir} to {caibx} with digest {digest}")
-
-
-def upload_casync_release(casync_dir: pathlib.Path):
-  if "AZURE_TOKEN_OPENPILOT_RELEASES" in os.environ:
-    os.environ["AZURE_TOKEN"] = os.environ["AZURE_TOKEN_OPENPILOT_RELEASES"]
-
-  OPENPILOT_RELEASES_CONTAINER = AzureContainer("commadist", "openpilot-releases")
-
-  for f in casync_dir.rglob("*"):
-    if f.is_file():
-      blob_name = f.relative_to(casync_dir)
-      print(f"uploading {f} to {blob_name}")
-      OPENPILOT_RELEASES_CONTAINER.upload_file(str(f), str(blob_name), overwrite=True)
-
-
-def create_partition_manifest(partition):
-  agnos_filename = os.path.basename(partition["url"]).split(".")[0]
-
-  return {
-    "type": "partition",
-    "casync": {
-      "caibx": f"{AGNOS_RELEASES}/{agnos_filename}.caibx"
-    },
-    "path": get_partition_path(0, partition),
-    "ab": True,
-    "size": partition["size"],
-    "full_check": partition["full_check"],
-    "hash_raw": partition["hash_raw"],
-  }
-
-
-def create_openpilot_manifest(build_metadata):
-  return {
-    "type": "path_tarred",
-    "path": "/data/openpilot",
-    "casync": {
-      "caibx": f"{OPENPILOT_RELEASES}/{build_metadata.canonical}.caibx"
-    }
-  }
-
-
-def create_manifest(target_dir):
-  with open(pathlib.Path(target_dir) / AGNOS_MANIFEST_FILE) as f:
-    agnos_manifest = json.load(f)
-
-  build_metadata = get_build_metadata(args.target_dir)
-
-  return {
-    "build_metadata": dataclasses.asdict(build_metadata),
-    "manifest": [
-      *[create_partition_manifest(entry) for entry in agnos_manifest],
-      create_openpilot_manifest(build_metadata)
-    ]
-  }
-
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="creates a casync release")
-  parser.add_argument("target_dir", type=str, help="path to a release build of openpilot to create release from")
-  args = parser.parse_args()
-
-  target_dir = pathlib.Path(args.target_dir)
-
-  with tempfile.TemporaryDirectory() as temp_dir:
-    casync_dir = pathlib.Path(temp_dir) / "casync"
-    casync_dir.mkdir(parents=True)
-
-    manifest_file = pathlib.Path(temp_dir) / "manifest.json"
-
-    create_casync_caibx(target_dir, casync_dir / "openpilot")
-    upload_casync_release(casync_dir)
-    manifest = create_manifest(target_dir)
-
-    print(json.dumps(manifest, indent=2))
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index 989e284e74..9eec7a931b 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -467,6 +467,10 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local
                            cookie="jwt=" + identity_token,
                            enable_multithread=True)
 
+    # Set TOS to keep connection responsive while under load.
+    # DSCP of 36/HDD_LINUX_AC_VI with the minimum delay flag
+    ws.sock.setsockopt(socket.IPPROTO_IP, socket.IP_TOS, 0x90)
+
     ssock, csock = socket.socketpair()
     local_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
     local_sock.connect(('127.0.0.1', local_port))
@@ -657,10 +661,12 @@ def stat_handler(end_event: threading.Event) -> None:
 def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket, end_event: threading.Event, global_end_event: threading.Event) -> None:
   while not (end_event.is_set() or global_end_event.is_set()):
     try:
-      data = ws.recv()
-      if isinstance(data, str):
-        data = data.encode("utf-8")
-      local_sock.sendall(data)
+      r = select.select((ws.sock,), (), (), 30)
+      if r[0]:
+        data = ws.recv()
+        if isinstance(data, str):
+          data = data.encode("utf-8")
+        local_sock.sendall(data)
     except WebSocketTimeoutException:
       pass
     except Exception:
@@ -670,6 +676,7 @@ def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket
   cloudlog.debug("athena.ws_proxy_recv closing sockets")
   ssock.close()
   local_sock.close()
+  ws.close()
   cloudlog.debug("athena.ws_proxy_recv done closing sockets")
 
   end_event.set()
diff --git a/selfdrive/athena/tests/helpers.py b/selfdrive/athena/tests/helpers.py
index 3dd98f02c9..322e9d81dd 100644
--- a/selfdrive/athena/tests/helpers.py
+++ b/selfdrive/athena/tests/helpers.py
@@ -43,6 +43,8 @@ class MockApi():
 
 
 class MockWebsocket():
+  sock = socket.socket()
+
   def __init__(self, recv_queue, send_queue):
     self.recv_queue = recv_queue
     self.send_queue = send_queue
@@ -56,6 +58,9 @@ class MockWebsocket():
   def send(self, data, opcode):
     self.send_queue.put_nowait((data, opcode))
 
+  def close(self):
+    pass
+
 
 class HTTPRequestHandler(http.server.SimpleHTTPRequestHandler):
   def do_PUT(self):
diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h
index e61d25402f..6b64768c17 100644
--- a/selfdrive/boardd/panda_comms.h
+++ b/selfdrive/boardd/panda_comms.h
@@ -78,5 +78,6 @@ private:
   int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout);
   int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
   int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
+  int lltransfer(spi_ioc_transfer &t);
 };
 #endif
diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc
index d11e955c49..e02252018f 100644
--- a/selfdrive/boardd/spi.cc
+++ b/selfdrive/boardd/spi.cc
@@ -268,7 +268,7 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout,
   tx_buf[0] = tx;
 
   while (true) {
-    int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
+    int ret = lltransfer(transfer);
     if (ret < 0) {
       LOGE("SPI: failed to send ACK request");
       return ret;
@@ -291,6 +291,32 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout,
   return 0;
 }
 
+int PandaSpiHandle::lltransfer(spi_ioc_transfer &t) {
+  static const double err_prob = std::stod(util::getenv("SPI_ERR_PROB", "-1"));
+
+  if (err_prob > 0) {
+    if ((static_cast<double>(rand()) / RAND_MAX) < err_prob) {
+      printf("transfer len error\n");
+      t.len = rand() % SPI_BUF_SIZE;
+    }
+    if ((static_cast<double>(rand()) / RAND_MAX) < err_prob && t.tx_buf != (uint64_t)NULL) {
+      printf("corrupting TX\n");
+      memset((uint8_t*)t.tx_buf, (uint8_t)(rand() % 256), rand() % (t.len+1));
+    }
+  }
+
+  int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &t);
+
+  if (err_prob > 0) {
+    if ((static_cast<double>(rand()) / RAND_MAX) < err_prob && t.rx_buf != (uint64_t)NULL) {
+      printf("corrupting RX\n");
+      memset((uint8_t*)t.rx_buf, (uint8_t)(rand() % 256), rand() % (t.len+1));
+    }
+  }
+
+  return ret;
+}
+
 int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout) {
   int ret;
   uint16_t rx_data_len;
@@ -316,7 +342,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   memcpy(tx_buf, &header, sizeof(header));
   add_checksum(tx_buf, sizeof(header));
   transfer.len = sizeof(header) + 1;
-  ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
+  ret = lltransfer(transfer);
   if (ret < 0) {
     LOGE("SPI: failed to send header");
     goto transfer_fail;
@@ -334,7 +360,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   }
   add_checksum(tx_buf, tx_len);
   transfer.len = tx_len + 1;
-  ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
+  ret = lltransfer(transfer);
   if (ret < 0) {
     LOGE("SPI: failed to send data");
     goto transfer_fail;
@@ -355,7 +381,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
 
   transfer.len = rx_data_len + 1;
   transfer.rx_buf = (uint64_t)(rx_buf + 2 + 1);
-  ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
+  ret = lltransfer(transfer);
   if (ret < 0) {
     LOGE("SPI: failed to read rx data");
     goto transfer_fail;
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 885be94588..73354470b8 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -1,5 +1,5 @@
 # functions common among cars
-from collections import defaultdict, namedtuple
+from collections import namedtuple
 from dataclasses import dataclass
 from enum import IntFlag, ReprEnum, EnumType
 from dataclasses import replace
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 82335500d8..8d1ef70d62 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -15,7 +15,6 @@ from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-
 REPLAY = "REPLAY" in os.environ
 
 
@@ -28,7 +27,7 @@ class CarD:
     self.sm = messaging.SubMaster(['pandaStates'])
     self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
 
-    self.can_rcv_timeout_counter = 0      # conseuctive timeout count
+    self.can_rcv_timeout_counter = 0  # consecutive timeout count
     self.can_rcv_cum_timeout_counter = 0  # cumulative timeout count
 
     self.CC_prev = car.CarControl.new_message()
@@ -54,12 +53,11 @@ class CarD:
     if not disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
-    car_recognized = self.CP.carName != 'mock'
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
 
-    self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly
+    self.CP.passive = not controller_available or self.CP.dashcamOnly
     if self.CP.passive:
       safety_config = car.CarParams.SafetyConfig.new_message()
       safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
@@ -139,4 +137,3 @@ class CarD:
     self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=self.CS.canValid))
 
     self.CC_prev = CC
-
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index bb1ca6bd42..b66d2a16e0 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -266,7 +266,7 @@ class CarDocs:
     # min steer & enable speed columns
     # TODO: set all the min steer speeds in carParams and remove this
     if self.min_steer_speed is not None:
-      assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarDocs and CarParams"
+      assert CP.minSteerSpeed < 0.5, f"{CP.carFingerprint}: Minimum steer speed set in both CarDocs and CarParams"
     else:
       self.min_steer_speed = CP.minSteerSpeed
 
diff --git a/selfdrive/car/ford/fingerprints.py b/selfdrive/car/ford/fingerprints.py
index 4dcf2a65fd..2201072fa3 100644
--- a/selfdrive/car/ford/fingerprints.py
+++ b/selfdrive/car/ford/fingerprints.py
@@ -61,6 +61,7 @@ FW_VERSIONS = {
       b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'L1MC-2D053-BJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
diff --git a/selfdrive/car/ford/tests/print_platform_codes.py b/selfdrive/car/ford/tests/print_platform_codes.py
new file mode 100755
index 0000000000..670199980a
--- /dev/null
+++ b/selfdrive/car/ford/tests/print_platform_codes.py
@@ -0,0 +1,30 @@
+#!/usr/bin/env python3
+from collections import defaultdict
+
+from cereal import car
+from openpilot.selfdrive.car.ford.values import get_platform_codes
+from openpilot.selfdrive.car.ford.fingerprints import FW_VERSIONS
+
+Ecu = car.CarParams.Ecu
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+
+
+if __name__ == "__main__":
+  cars_for_code: defaultdict = defaultdict(lambda: defaultdict(set))
+
+  for car_model, ecus in FW_VERSIONS.items():
+    print(car_model)
+    for ecu in sorted(ecus, key=lambda x: int(x[0])):
+      platform_codes = get_platform_codes(ecus[ecu])
+      for code in platform_codes:
+        cars_for_code[ecu][code].add(car_model)
+
+      print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+      print(f'    Codes: {sorted(platform_codes)}')
+    print()
+
+  print('\nCar models vs. platform codes:')
+  for ecu, codes in cars_for_code.items():
+    print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+    for code, cars in codes.items():
+      print(f'    {code!r}: {sorted(map(str, cars))}')
diff --git a/selfdrive/car/ford/tests/test_ford.py b/selfdrive/car/ford/tests/test_ford.py
index 2ad3f5db1b..5d7b2c3332 100755
--- a/selfdrive/car/ford/tests/test_ford.py
+++ b/selfdrive/car/ford/tests/test_ford.py
@@ -1,12 +1,15 @@
 #!/usr/bin/env python3
+import random
 import unittest
-from parameterized import parameterized
 from collections.abc import Iterable
 
 import capnp
+from hypothesis import settings, given, strategies as st
+from parameterized import parameterized
 
 from cereal import car
-from openpilot.selfdrive.car.ford.values import FW_QUERY_CONFIG
+from openpilot.selfdrive.car.fw_versions import build_fw_dict
+from openpilot.selfdrive.car.ford.values import CAR, FW_QUERY_CONFIG, FW_PATTERN, get_platform_codes
 from openpilot.selfdrive.car.ford.fingerprints import FW_VERSIONS
 
 Ecu = car.CarParams.Ecu
@@ -23,7 +26,7 @@ ECU_ADDRESSES = {
 }
 
 
-ECU_FW_CORE = {
+ECU_PART_NUMBER = {
   Ecu.eps: [
     b"14D003",
   ],
@@ -37,9 +40,6 @@ ECU_FW_CORE = {
     b"14F397",  # Ford Q3
     b"14H102",  # Ford Q4
   ],
-  Ecu.engine: [
-    b"14C204",
-  ],
 }
 
 
@@ -53,29 +53,96 @@ class TestFordFW(unittest.TestCase):
   @parameterized.expand(FW_VERSIONS.items())
   def test_fw_versions(self, car_model: str, fw_versions: dict[tuple[capnp.lib.capnp._EnumModule, int, int | None], Iterable[bytes]]):
     for (ecu, addr, subaddr), fws in fw_versions.items():
-      self.assertIn(ecu, ECU_FW_CORE, "Unexpected ECU")
+      self.assertIn(ecu, ECU_PART_NUMBER, "Unexpected ECU")
       self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch")
       self.assertIsNone(subaddr, "Unexpected ECU subaddress")
 
-      # Software part number takes the form: PREFIX-CORE-SUFFIX
-      # Prefix changes based on the family of part. It includes the model year
-      #   and likely the platform.
-      # Core identifies the type of the item (e.g. 14D003 = PSCM, 14C204 = PCM).
-      # Suffix specifies the version of the part. -AA would be followed by -AB.
-      #   Small increments in the suffix are usually compatible.
-      # Details: https://forscan.org/forum/viewtopic.php?p=70008#p70008
       for fw in fws:
         self.assertEqual(len(fw), 24, "Expected ECU response to be 24 bytes")
 
-        # TODO: parse with regex, don't need detailed error message
-        fw_parts = fw.rstrip(b'\x00').split(b'-')
-        self.assertEqual(len(fw_parts), 3, "Expected FW to be in format: prefix-core-suffix")
+        match = FW_PATTERN.match(fw)
+        self.assertIsNotNone(match, f"Unable to parse FW: {fw!r}")
+        if match:
+          part_number = match.group("part_number")
+          self.assertIn(part_number, ECU_PART_NUMBER[ecu], f"Unexpected part number for {fw!r}")
 
-        prefix, core, suffix = fw_parts
-        self.assertEqual(len(prefix), 4, "Expected FW prefix to be 4 characters")
-        self.assertIn(len(core), (5, 6), "Expected FW core to be 5-6 characters")
-        self.assertIn(core, ECU_FW_CORE[ecu], f"Unexpected FW core for {ecu}")
-        self.assertIn(len(suffix), (2, 3), "Expected FW suffix to be 2-3 characters")
+        codes = get_platform_codes([fw])
+        self.assertEqual(1, len(codes), f"Unable to parse FW: {fw!r}")
+
+  @settings(max_examples=100)
+  @given(data=st.data())
+  def test_platform_codes_fuzzy_fw(self, data):
+    """Ensure function doesn't raise an exception"""
+    fw_strategy = st.lists(st.binary())
+    fws = data.draw(fw_strategy)
+    get_platform_codes(fws)
+
+  def test_platform_codes_spot_check(self):
+    # Asserts basic platform code parsing behavior for a few cases
+    results = get_platform_codes([
+      b"JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00",
+      b"NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
+      b"PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00",
+      b"LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00",
+    ])
+    self.assertEqual(results, {(b"X6A", b"J"), (b"Z6T", b"N"), (b"J6T", b"P"), (b"B5A", b"L")})
+
+  def test_fuzzy_match(self):
+    for platform, fw_by_addr in FW_VERSIONS.items():
+      # Ensure there's no overlaps in platform codes
+      for _ in range(20):
+        car_fw = []
+        for ecu, fw_versions in fw_by_addr.items():
+          ecu_name, addr, sub_addr = ecu
+          fw = random.choice(fw_versions)
+          car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr,
+                         "subAddress": 0 if sub_addr is None else sub_addr})
+
+        CP = car.CarParams.new_message(carFw=car_fw)
+        matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
+        self.assertEqual(matches, {platform})
+
+  def test_match_fw_fuzzy(self):
+    offline_fw = {
+      (Ecu.eps, 0x730, None): [
+        b"L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
+        b"L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
+      ],
+      (Ecu.abs, 0x760, None): [
+        b"L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
+        b"L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
+      ],
+      (Ecu.fwdRadar, 0x764, None): [
+        b"LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
+        b"LB5T-14D049-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
+      ],
+      # We consider all model year hints for ECU, even with different platform codes
+      (Ecu.fwdCamera, 0x706, None): [
+        b"LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
+        b"NC5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
+      ],
+    }
+    expected_fingerprint = CAR.FORD_EXPLORER_MK6
+
+    # ensure that we fuzzy match on all non-exact FW with changed revisions
+    live_fw = {
+      (0x730, None): {b"L1MC-14D003-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
+      (0x760, None): {b"L1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
+      (0x764, None): {b"LB5T-14D049-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
+      (0x706, None): {b"LB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
+    }
+    candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw})
+    self.assertEqual(candidates, {expected_fingerprint})
+
+    # model year hint in between the range should match
+    live_fw[(0x706, None)] = {b"MB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
+    candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw,})
+    self.assertEqual(candidates, {expected_fingerprint})
+
+    # unseen model year hint should not match
+    live_fw[(0x760, None)] = {b"M1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
+    candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw})
+    self.assertEqual(len(candidates), 0, "Should not match new model year hint")
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index a5494c921c..b1868bfa9b 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -1,4 +1,5 @@
 import copy
+import re
 from dataclasses import dataclass, field, replace
 from enum import Enum, IntFlag
 
@@ -7,7 +8,7 @@ from cereal import car
 from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
                                                      Device
-from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries, p16
 
 Ecu = car.CarParams.Ecu
 
@@ -143,6 +144,76 @@ class CAR(Platforms):
   )
 
 
+# FW response contains a combined software and part number
+# A-Z except no I, O or W
+# e.g. NZ6A-14C204-AAA
+#      1222-333333-444
+# 1 = Model year hint (approximates model year/generation)
+# 2 = Platform hint
+# 3 = Part number
+# 4 = Software version
+FW_ALPHABET = b'A-HJ-NP-VX-Z'
+FW_PATTERN = re.compile(b'^(?P<model_year_hint>[' + FW_ALPHABET + b'])' +
+                        b'(?P<platform_hint>[0-9' + FW_ALPHABET + b']{3})-' +
+                        b'(?P<part_number>[0-9' + FW_ALPHABET + b']{5,6})-' +
+                        b'(?P<software_revision>[' + FW_ALPHABET + b']{2,})\x00*$')
+
+
+def get_platform_codes(fw_versions: list[bytes] | set[bytes]) -> set[tuple[bytes, bytes]]:
+  codes = set()
+  for fw in fw_versions:
+    match = FW_PATTERN.match(fw)
+    if match is not None:
+      codes.add((match.group('platform_hint'), match.group('model_year_hint')))
+
+  return codes
+
+
+def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, vin: str, offline_fw_versions: OfflineFwVersions) -> set[str]:
+  candidates: set[str] = set()
+
+  for candidate, fws in offline_fw_versions.items():
+    # Keep track of ECUs which pass all checks (platform hint, within model year hint range)
+    valid_found_ecus = set()
+    valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}
+    for ecu, expected_versions in fws.items():
+      addr = ecu[1:]
+      # Only check ECUs expected to have platform codes
+      if ecu[0] not in PLATFORM_CODE_ECUS:
+        continue
+
+      # Expected platform codes & model year hints
+      codes = get_platform_codes(expected_versions)
+      expected_platform_codes = {code for code, _ in codes}
+      expected_model_year_hints = {model_year_hint for _, model_year_hint in codes}
+
+      # Found platform codes & model year hints
+      codes = get_platform_codes(live_fw_versions.get(addr, set()))
+      found_platform_codes = {code for code, _ in codes}
+      found_model_year_hints = {model_year_hint for _, model_year_hint in codes}
+
+      # Check platform code matches for any found versions
+      if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes):
+        break
+
+      # Check any model year hint within range in the database. Note that some models have more than one
+      # platform code per ECU which we don't consider as separate ranges
+      if not any(min(expected_model_year_hints) <= found_model_year_hint <= max(expected_model_year_hints) for
+                 found_model_year_hint in found_model_year_hints):
+        break
+
+      valid_found_ecus.add(addr)
+
+    # If all live ECUs pass all checks for candidate, add it as a match
+    if valid_expected_ecus.issubset(valid_found_ecus):
+      candidates.add(candidate)
+
+  return candidates
+
+
+# All of these ECUs must be present and are expected to have platform codes we can match
+PLATFORM_CODE_ECUS = (Ecu.abs, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps)
+
 DATA_IDENTIFIER_FORD_ASBUILT = 0xDE00
 
 ASBUILT_BLOCKS: list[tuple[int, list]] = [
@@ -201,6 +272,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
     (Ecu.shiftByWire, 0x732, None),   # Gear Shift Module
     (Ecu.debug, 0x7d0, None),         # Accessory Protocol Interface Module
   ],
+  # Custom fuzzy fingerprinting function using platform and model year hints
+  match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
 )
 
 DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py
index d875b16ac3..8c5bdaffc3 100644
--- a/selfdrive/car/honda/fingerprints.py
+++ b/selfdrive/car/honda/fingerprints.py
@@ -309,6 +309,7 @@ FW_VERSIONS = {
       b'37805-5BB-L540\x00\x00',
       b'37805-5BB-L630\x00\x00',
       b'37805-5BB-L640\x00\x00',
+      b'37805-5BF-J130\x00\x00',
     ],
     (Ecu.transmission, 0x18da1ef1, None): [
       b'28101-5CG-A920\x00\x00',
@@ -342,6 +343,7 @@ FW_VERSIONS = {
       b'57114-TGG-G320\x00\x00',
       b'57114-TGG-L320\x00\x00',
       b'57114-TGG-L330\x00\x00',
+      b'57114-TGH-L130\x00\x00',
       b'57114-TGK-T320\x00\x00',
       b'57114-TGL-G330\x00\x00',
     ],
@@ -355,6 +357,7 @@ FW_VERSIONS = {
       b'39990-TGG-A020\x00\x00',
       b'39990-TGG-A120\x00\x00',
       b'39990-TGG-J510\x00\x00',
+      b'39990-TGH-J530\x00\x00',
       b'39990-TGL-E130\x00\x00',
       b'39990-TGN-E120\x00\x00',
     ],
@@ -369,6 +372,7 @@ FW_VERSIONS = {
       b'77959-TGG-G110\x00\x00',
       b'77959-TGG-J320\x00\x00',
       b'77959-TGG-Z820\x00\x00',
+      b'77959-TGH-J110\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TBA-A150\x00\x00',
@@ -380,6 +384,7 @@ FW_VERSIONS = {
       b'36802-TGG-A130\x00\x00',
       b'36802-TGG-G040\x00\x00',
       b'36802-TGG-G130\x00\x00',
+      b'36802-TGH-A140\x00\x00',
       b'36802-TGK-Q120\x00\x00',
       b'36802-TGL-G040\x00\x00',
     ],
@@ -394,6 +399,7 @@ FW_VERSIONS = {
       b'36161-TGG-G070\x00\x00',
       b'36161-TGG-G130\x00\x00',
       b'36161-TGG-G140\x00\x00',
+      b'36161-TGH-A140\x00\x00',
       b'36161-TGK-Q120\x00\x00',
       b'36161-TGL-G050\x00\x00',
       b'36161-TGL-G070\x00\x00',
@@ -401,6 +407,7 @@ FW_VERSIONS = {
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TBA-A020\x00\x00',
       b'38897-TBA-A110\x00\x00',
+      b'38897-TGH-A010\x00\x00',
     ],
     (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
       b'39494-TGL-G030\x00\x00',
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index 2b7003d089..2fead28cdb 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -284,6 +284,7 @@ FW_VERSIONS = {
       b'\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1500         ',
       b'\xf1\x00TM__ SCC F-CUP      1.00 1.01 99110-S1500         ',
       b'\xf1\x00TM__ SCC FHCUP      1.00 1.00 99110-S1500         ',
+      b'\xf1\x00TM__ SCC FHCUP      1.00 1.01 99110-S1500         ',
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00TM ESC \x01 102!\x04\x03 58910-S2DA0',
@@ -294,6 +295,7 @@ FW_VERSIONS = {
       b'\xf1\x00TM ESC \x03 102!\x04\x03 58910-S2DA0',
       b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
       b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
+      b'\xf1\x00TM ESC \x04 103"\x07\x08 58910-S2GA0',
       b'\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0',
       b'\xf1\x00TM ESC   103!\x030 58910-S1MA0',
     ],
@@ -415,6 +417,7 @@ FW_VERSIONS = {
       b'\xf1\x00LX2_ SCC FHCUP      1.00 1.03 99110-S8100         ',
       b'\xf1\x00LX2_ SCC FHCUP      1.00 1.04 99110-S8100         ',
       b'\xf1\x00LX2_ SCC FHCUP      1.00 1.05 99110-S8100         ',
+      b'\xf1\x00ON__ FCA FHCUP      1.00 1.00 99110-S9110         ',
       b'\xf1\x00ON__ FCA FHCUP      1.00 1.01 99110-S9110         ',
       b'\xf1\x00ON__ FCA FHCUP      1.00 1.02 99110-S9100         ',
       b'\xf1\x00ON__ FCA FHCUP      1.00 1.03 99110-S9100         ',
@@ -868,6 +871,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.00 99210-AB000 200819',
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.01 99210-AB000 210205',
+      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.02 99210-AB000 220111',
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AB000 220426',
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.06 99210-AA000 220111',
@@ -1114,6 +1118,7 @@ FW_VERSIONS = {
       b'\xf1\x00KA4 MFC  AT EUR LHD 1.00 1.06 99210-R0000 220221',
       b'\xf1\x00KA4 MFC  AT KOR LHD 1.00 1.06 99210-R0000 220221',
       b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.00 99210-R0100 230105',
+      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.01 99210-R0100 230710',
       b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.05 99210-R0000 201221',
       b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.06 99210-R0000 220221',
       b'\xf1\x00KA4CMFC  AT CHN LHD 1.00 1.01 99211-I4000 210525',
@@ -1128,6 +1133,7 @@ FW_VERSIONS = {
   CAR.KIA_K8_HEV_1ST_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00GL3HMFC  AT KOR LHD 1.00 1.03 99211-L8000 210907',
+      b'\xf1\x00GL3HMFC  AT KOR LHD 1.00 1.04 99211-L8000 230207',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00GL3_ RDR -----      1.00 1.02 99110-L8000         ',
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index bb5e6caea5..a62a6d8143 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -795,6 +795,3 @@ NON_SCC_FCA_CAR = CAR.with_sp_flags(HyundaiFlagsSP.SP_NON_SCC_FCA)
 NON_SCC_RADAR_FCA_CAR = CAR.with_sp_flags(HyundaiFlagsSP.SP_NON_SCC_RADAR_FCA)
 
 DBC = CAR.create_dbc_map()
-
-if __name__ == "__main__":
-  CAR.print_debug(HyundaiFlags)
diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
index 6100717a74..7506bab053 100755
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@@ -18,6 +18,7 @@ class CarInterface(CarInterfaceBase):
     ret.wheelbase = 2.70
     ret.centerToFront = ret.wheelbase * 0.5
     ret.steerRatio = 13.
+    ret.dashcamOnly = True
     return ret
 
   def _update(self, c):
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 4668b266fd..65c0aeaa12 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -276,6 +276,3 @@ FW_QUERY_CONFIG = FwQueryConfig(
 )
 
 DBC = CAR.create_dbc_map()
-
-if __name__ == "__main__":
-  CAR.print_debug(SubaruFlags)
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 69220ae2b9..2a0626c590 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -94,7 +94,7 @@ class TestCarModelBase(unittest.TestCase):
         car_fw = msg.carParams.carFw
         if msg.carParams.openpilotLongitudinalControl:
           experimental_long = True
-        if cls.platform is None and not cls.ci:
+        if cls.platform is None and not cls.test_route_on_bucket:
           live_fingerprint = msg.carParams.carFingerprint
           cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint)
 
diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py
index def5ce6e03..e20fa4fc1c 100644
--- a/selfdrive/car/volkswagen/fingerprints.py
+++ b/selfdrive/car/volkswagen/fingerprints.py
@@ -891,6 +891,7 @@ FW_VERSIONS = {
       b'\xf1\x8704L906056CR\xf1\x892181',
       b'\xf1\x8704L906056CR\xf1\x892797',
       b'\xf1\x8705E906018AS\xf1\x899596',
+      b'\xf1\x8781A906259B \xf1\x890003',
       b'\xf1\x878V0906264H \xf1\x890005',
       b'\xf1\x878V0907115E \xf1\x890002',
     ],
@@ -900,6 +901,7 @@ FW_VERSIONS = {
       b'\xf1\x870CW300050J \xf1\x891908',
       b'\xf1\x870D9300014S \xf1\x895202',
       b'\xf1\x870D9300042M \xf1\x895016',
+      b'\xf1\x870GC300014P \xf1\x892801',
       b'\xf1\x870GC300043A \xf1\x892304',
     ],
     (Ecu.srs, 0x715, None): [
@@ -910,6 +912,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1312001313001305171311052900',
       b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1312001313001305171311052900',
       b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\x0e1312001313001305171311052900',
+      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100110200--1113121149',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571N60511A1',
@@ -918,8 +921,10 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511N01805A0',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521N01309A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521N05808A1',
+      b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x0013N619137N',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x872Q0907572M \xf1\x890233',
       b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101',
       b'\xf1\x875Q0907572H \xf1\x890620',
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index aee4ffc9a1..d32abe8272 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -2,7 +2,7 @@ from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
+from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, CarControllerParams, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -112,7 +112,7 @@ class CarInterface(CarInterfaceBase):
                                        enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
 
     # Low speed steer alert hysteresis logic
-    if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):
+    if (self.CP.minSteerSpeed - 1e-3) > CarControllerParams.DEFAULT_MIN_STEER_SPEED and ret.vEgo < (self.CP.minSteerSpeed + 1.):
       self.low_speed_alert = True
     elif ret.vEgo > (self.CP.minSteerSpeed + 2.):
       self.low_speed_alert = False
diff --git a/selfdrive/car/volkswagen/tests/test_volkswagen.py b/selfdrive/car/volkswagen/tests/test_volkswagen.py
index 92569e194e..17331203bb 100755
--- a/selfdrive/car/volkswagen/tests/test_volkswagen.py
+++ b/selfdrive/car/volkswagen/tests/test_volkswagen.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import random
 import re
 import unittest
 
@@ -38,9 +39,9 @@ class TestVolkswagenPlatformConfigs(unittest.TestCase):
                            f"Shared chassis codes: {comp}")
 
   def test_custom_fuzzy_fingerprinting(self):
-    for platform in CAR:
-      expected_radar_fw = FW_VERSIONS[platform][Ecu.fwdRadar, 0x757, None]
+    all_radar_fw = list({fw for ecus in FW_VERSIONS.values() for fw in ecus[Ecu.fwdRadar, 0x757, None]})
 
+    for platform in CAR:
       with self.subTest(platform=platform):
         for wmi in WMI:
           for chassis_code in platform.config.chassis_codes | {"00"}:
@@ -50,9 +51,9 @@ class TestVolkswagenPlatformConfigs(unittest.TestCase):
             vin = "".join(vin)
 
             # Check a few FW cases - expected, unexpected
-            for radar_fw in expected_radar_fw + [b'\xf1\x877H9907572AA\xf1\x890396']:
+            for radar_fw in random.sample(all_radar_fw, 5) + [b'\xf1\x875Q0907572G \xf1\x890571', b'\xf1\x877H9907572AA\xf1\x890396']:
               should_match = ((wmi in platform.config.wmis and chassis_code in platform.config.chassis_codes) and
-                              radar_fw in expected_radar_fw)
+                              radar_fw in all_radar_fw)
 
               live_fws = {(0x757, None): [radar_fw]}
               matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fws, vin, FW_VERSIONS)
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index a0d38d1b57..eb537575fa 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -1,4 +1,4 @@
-from collections import namedtuple
+from collections import defaultdict, namedtuple
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag, StrEnum
 
@@ -9,7 +9,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import dbc_dict, CarSpecs, DbcDict, PlatformConfig, Platforms
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
                                                      Device
-from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
+from openpilot.selfdrive.car.fw_query_definitions import EcuAddrSubAddr, FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
 NetworkLocation = car.CarParams.NetworkLocation
@@ -34,6 +34,8 @@ class CarControllerParams:
   STEER_TIME_ALERT = STEER_TIME_MAX - 10   # If mitigation fails, time to soft disengage before EPS timer expires
   STEER_TIME_STUCK_TORQUE = 1.9            # EPS limits same torque to 6 seconds, reset timer 3x within that period
 
+  DEFAULT_MIN_STEER_SPEED = 0.4            # m/s, newer EPS racks fault below this speed, don't show a low speed alert
+
   ACCEL_MAX = 2.0                          # 2.0 m/s max acceleration
   ACCEL_MIN = -3.5                         # 3.5 m/s max deceleration
 
@@ -159,6 +161,7 @@ class VolkswagenPQPlatformConfig(VolkswagenMQBPlatformConfig):
 class VolkswagenCarSpecs(CarSpecs):
   centerToFrontRatio: float = 0.45
   steerRatio: float = 15.6
+  minSteerSpeed: float = CarControllerParams.DEFAULT_MIN_STEER_SPEED
 
 
 class Footnote(Enum):
@@ -195,6 +198,9 @@ class VWCarDocs(CarDocs):
     if CP.carFingerprint in (CAR.VOLKSWAGEN_CRAFTER_MK2, CAR.VOLKSWAGEN_TRANSPORTER_T61):
       self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533])
 
+    if abs(CP.minSteerSpeed - CarControllerParams.DEFAULT_MIN_STEER_SPEED) < 1e-3:
+      self.min_steer_speed = 0
+
 
 # Check the 7th and 8th characters of the VIN before adding a new CAR. If the
 # chassis code is already listed below, don't add a new CAR, just add to the
@@ -372,7 +378,8 @@ class CAR(Platforms):
   )
   SEAT_ATECA_MK1 = VolkswagenMQBPlatformConfig(
     [
-      VWCarDocs("SEAT Ateca 2018"),
+      VWCarDocs("CUPRA Ateca 2018-23"),
+      VWCarDocs("SEAT Ateca 2016-23"),
       VWCarDocs("SEAT Leon 2014-20"),
     ],
     VolkswagenCarSpecs(mass=1300, wheelbase=2.64),
@@ -427,19 +434,26 @@ class CAR(Platforms):
 def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str]:
   candidates = set()
 
+  # Compile all FW versions for each ECU
+  all_ecu_versions: dict[EcuAddrSubAddr, set[str]] = defaultdict(set)
+  for ecus in offline_fw_versions.values():
+    for ecu, versions in ecus.items():
+      all_ecu_versions[ecu] |= set(versions)
+
   # Check the WMI and chassis code to determine the platform
   wmi = vin[:3]
   chassis_code = vin[6:8]
 
   for platform in CAR:
     valid_ecus = set()
-    for ecu, expected_versions in offline_fw_versions[platform].items():
+    for ecu in offline_fw_versions[platform]:
       addr = ecu[1:]
       if ecu[0] not in CHECK_FUZZY_ECUS:
         continue
 
-      # Sanity check that a subset of Volkswagen FW is in the database
+      # Sanity check that live FW is in the superset of all FW, Volkswagen ECU part numbers are commonly shared
       found_versions = live_fw_versions.get(addr, [])
+      expected_versions = all_ecu_versions[ecu]
       if not any(found_version in expected_versions for found_version in found_versions):
         break
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 09b0f4e243..53332acde9 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -111,7 +111,6 @@ class Controls:
     if not self.CP.openpilotLongitudinalControl:
       self.params.remove("ExperimentalMode")
 
-    self.CC = car.CarControl.new_message()
     self.CS_prev = car.CarState.new_message()
     self.AM = AlertManager()
     self.events = Events()
@@ -812,9 +811,6 @@ class Controls:
     cc_send.carControl = CC
     self.pm.send('carControl', cc_send)
 
-    # copy CarControl to pass to CarInterface on the next iteration
-    self.CC = CC
-
   def step(self):
     start_time = time.monotonic()
 
diff --git a/selfdrive/controls/lib/alerts_offroad.json b/selfdrive/controls/lib/alerts_offroad.json
index 35446ca22b..6fb6c569b0 100644
--- a/selfdrive/controls/lib/alerts_offroad.json
+++ b/selfdrive/controls/lib/alerts_offroad.json
@@ -1,7 +1,7 @@
 {
   "Offroad_TemperatureTooHigh": {
     "text": "Device temperature too high. System cooling down before starting. Current internal component temperature: %1",
-    "severity": 1
+    "severity": 0
   },
   "Offroad_ConnectivityNeededPrompt": {
     "text": "Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1",
@@ -17,10 +17,6 @@
     "severity": 1,
     "_comment": "Set extra field to the failed reason."
   },
-  "Offroad_InvalidTime": {
-    "text": "Invalid date and time settings, system won't start. Connect to internet to set time.",
-    "severity": 1
-  },
   "Offroad_IsTakingSnapshot": {
     "text": "Taking camera snapshots. System won't start until finished.",
     "severity": 0
diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py
index 3de6b8eb66..24c467659d 100755
--- a/selfdrive/debug/check_timings.py
+++ b/selfdrive/debug/check_timings.py
@@ -21,5 +21,5 @@ if __name__ == "__main__":
 
       if len(ts[s]) > 2:
         d = np.diff(ts[s])
-        print(f"{s:25} {np.mean(d):.2f} {np.std(d):.2f} {np.max(d):.2f} {np.min(d):.2f}")
+        print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}")
     time.sleep(1)
diff --git a/selfdrive/debug/print_flags.py b/selfdrive/debug/print_flags.py
new file mode 100755
index 0000000000..c69765550e
--- /dev/null
+++ b/selfdrive/debug/print_flags.py
@@ -0,0 +1,14 @@
+#!/usr/bin/env python3
+from openpilot.selfdrive.car.values import BRANDS
+
+for brand in BRANDS:
+  all_flags = set()
+  for platform in brand:
+    if platform.config.flags != 0:
+      all_flags |= set(platform.config.flags)
+
+  if len(all_flags):
+    print(brand.__module__.split('.')[-2].upper() + ':')
+    for flag in sorted(all_flags):
+      print(f'  {flag.name:<24}:', {platform.name for platform in brand.with_flags(flag)})
+    print()
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index c1c9bda2b3..0bd95172d3 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -26,7 +26,7 @@ def dmonitoringd_thread():
   steering_wheel_engaged = False
   hands_on_wheel_monitoring_enabled = params.get_bool("HandsOnWheelMonitoring")
 
-  # 10Hz <- dmonitoringmodeld
+  # 20Hz <- dmonitoringmodeld
   while True:
     sm.update()
     if not sm.updated['driverStateV2']:
@@ -53,14 +53,15 @@ def dmonitoringd_thread():
     if sm.all_checks() and len(sm['liveCalibration'].rpyCalib):
       driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
 
-    # Block engaging after max number of distrations
+    # Block engaging after max number of distrations or when alert active
     if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \
-       driver_status.terminal_time >= driver_status.settings._MAX_TERMINAL_DURATION:
+       driver_status.terminal_time >= driver_status.settings._MAX_TERMINAL_DURATION or \
+       driver_status.always_on and driver_status.awareness <= driver_status.threshold_prompt:
       events.add(car.CarEvent.EventName.tooDistracted)
 
     # Update events from driver state
     driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled,
-      sm['carState'].standstill, sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park])
+      sm['carState'].standstill, sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park], sm['carState'].vEgo)
     # Update events and state from hands on wheel monitoring status
     if hands_on_wheel_monitoring_enabled:
       hands_on_wheel_status.update(events, steering_wheel_engaged, sm['controlsState'].enabled, sm['carState'].vEgo)
diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py
index 749931af77..7db0bd6c9f 100644
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -55,6 +55,7 @@ class DRIVER_MONITOR_SETTINGS():
     self._POSESTD_THRESHOLD = 0.3
     self._HI_STD_FALLBACK_TIME = int(10  / self._DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
     self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
+    self._ALWAYS_ON_ALERT_MIN_SPEED = 7
 
     self._POSE_CALIB_MIN_SPEED = 13  # 30 mph
     self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON)  # valid data counts before calibration completes, 1min cumulative
@@ -302,7 +303,7 @@ class DriverStatus():
     elif self.face_detected and self.pose.low_std:
       self.hi_stds = 0
 
-  def update_events(self, events, driver_engaged, ctrl_active, standstill, wrong_gear):
+  def update_events(self, events, driver_engaged, ctrl_active, standstill, wrong_gear, car_speed):
     always_on_valid = self.always_on and not wrong_gear
     if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or \
        (not always_on_valid and not ctrl_active) or \
@@ -327,14 +328,19 @@ class DriverStatus():
       if self.awareness > self.threshold_prompt:
         return
 
-    standstill_exemption = standstill and self.awareness - self.step_change <= self.threshold_prompt
-    always_on_red_exemption = always_on_valid and not ctrl_active and self.awareness - self.step_change <= 0
+    _reaching_audible = self.awareness - self.step_change <= self.threshold_prompt
+    _reaching_terminal = self.awareness - self.step_change <= 0
+    standstill_exemption = standstill and _reaching_audible
+    always_on_red_exemption = always_on_valid and not ctrl_active and _reaching_terminal
+    always_on_lowspeed_exemption = always_on_valid and not ctrl_active and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED and _reaching_audible
+
     certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
     maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
+
     if certainly_distracted or maybe_distracted:
-      # should always be counting if distracted unless at standstill and reaching orange
+      # should always be counting if distracted unless at standstill (lowspeed for always-on) and reaching orange
       # also will not be reaching 0 if DM is active when not engaged
-      if not standstill_exemption and not always_on_red_exemption:
+      if not (standstill_exemption or always_on_red_exemption or always_on_lowspeed_exemption):
         self.awareness = max(self.awareness - self.step_change, -0.1)
 
     alert = None
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index 39fef75479..50b2746e2d 100755
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -63,7 +63,7 @@ class TestMonitoring(unittest.TestCase):
       # cal_rpy and car_speed don't matter here
 
       # evaluate events at 10Hz for tests
-      DS.update_events(e, interaction[idx], engaged[idx], standstill[idx], 0)
+      DS.update_events(e, interaction[idx], engaged[idx], standstill[idx], 0, 0)
       events.append(e)
     assert len(events) == len(msgs), f"got {len(events)} for {len(msgs)} driverState input msgs"
     return events, DS
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 4e24f8eb29..a0d3cc6bb2 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-692a21e4a722d91086998b532ca6759a3f85c345
+685a2bb9aacdd790e26d14aa49d3792c3ed65125
\ No newline at end of file
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 5de9d20297..cd0846c894 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -27,8 +27,15 @@ from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
 from openpilot.system.hardware.hw import Paths
 from openpilot.tools.lib.logreader import LogReader
 
-# Baseline CPU usage by process
+"""
+CPU usage budget
+* each process is entitled to at least 8%
+* total CPU usage of openpilot (sum(PROCS.values())
+  should not exceed MAX_TOTAL_CPU
+"""
+MAX_TOTAL_CPU = 250.  # total for all 8 cores
 PROCS = {
+  # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 46.0,
   "./loggerd": 14.0,
   "./encoderd": 17.0,
@@ -274,6 +281,7 @@ class TestOnroad(unittest.TestCase):
       result += f"{proc_name.ljust(35)}  {cpu_usage:5.2f}% ({exp}%) {err}\n"
       if len(err) > 0:
         cpu_ok = False
+    result += "------------------------------------------------\n"
 
     # Ensure there's no missing procs
     all_procs = {p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning}
@@ -281,7 +289,14 @@ class TestOnroad(unittest.TestCase):
       with self.subTest(proc=p):
         assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}"
 
-    result += "------------------------------------------------\n"
+    # total CPU check
+    procs_tot = sum([(max(x) if isinstance(x, tuple) else x) for x in PROCS.values()])
+    with self.subTest(name="total CPU"):
+      assert procs_tot < MAX_TOTAL_CPU, "Total CPU budget exceeded"
+    result +=  "------------------------------------------------\n"
+    result += f"Total allocated CPU usage is {procs_tot}%, budget is {MAX_TOTAL_CPU}%, {MAX_TOTAL_CPU-procs_tot:.1f}% left\n"
+    result +=  "------------------------------------------------\n"
+
     print(result)
 
     self.assertTrue(cpu_ok)
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index f00905b75b..d8146723a4 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -440,10 +440,6 @@
         <translation>غير قادر على تحميل التحديثات
 %1</translation>
     </message>
-    <message>
-        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
-        <translation>إعدادات التاريخ والتوقيت غير صحيحة، لن يبدأ النظام. اتصل بالإنترنت من أجل ضبط الوقت.</translation>
-    </message>
     <message>
         <source>Taking camera snapshots. System won&apos;t start until finished.</source>
         <translation>التقاط لقطات كاميرا. لن يبدأ النظام حتى تنتهي هذه العملية.</translation>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 71d95244cb..010aa4d304 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -431,10 +431,6 @@
 %1</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Taking camera snapshots. System won&apos;t start until finished.</source>
         <translation type="unfinished"></translation>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 5da51d8b47..dde6adadd3 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -436,10 +436,6 @@
         <translation>Impossible de télécharger les mises à jour
 %1</translation>
     </message>
-    <message>
-        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
-        <translation>Paramètres de date et d&apos;heure invalides, le système ne démarrera pas. Connectez l&apos;appareil à Internet pour régler l&apos;heure.</translation>
-    </message>
     <message>
         <source>Taking camera snapshots. System won&apos;t start until finished.</source>
         <translation>Capture de clichés photo. Le système ne démarrera pas tant qu&apos;il n&apos;est pas terminé.</translation>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 7a27f46ea3..e0fb60620b 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -430,10 +430,6 @@
 %1</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Taking camera snapshots. System won&apos;t start until finished.</source>
         <translation type="unfinished"></translation>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 518bb4b58f..b2d07b770b 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -431,10 +431,6 @@
         <translation>업데이트를 다운로드할 수 없습니다
 %1</translation>
     </message>
-    <message>
-        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
-        <translation>날짜 및 시간 설정이 잘못되어 시스템이 시작되지 않습니다. 날짜와 시간을 동기화하려면 인터넷에 연결하세요.</translation>
-    </message>
     <message>
         <source>Taking camera snapshots. System won&apos;t start until finished.</source>
         <translation>카메라 스냅샷 찍기가 완료될 때까지 시스템이 시작되지 않습니다.</translation>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 6210e35f2a..feaa6e86a1 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -432,10 +432,6 @@
         <translation>Não é possível baixar atualizações
 %1</translation>
     </message>
-    <message>
-        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
-        <translation>Configurações de data e hora inválidas, o sistema não será iniciado. Conecte-se à internet para definir o horário.</translation>
-    </message>
     <message>
         <source>Taking camera snapshots. System won&apos;t start until finished.</source>
         <translation>Tirando fotos da câmera. O sistema não será iniciado até terminar.</translation>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index c8bf0d3ade..e594a6975f 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -435,10 +435,6 @@
         <translation>ไม่สามารถดาวน์โหลดอัพเดทได้
 %1</translation>
     </message>
-    <message>
-        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
-        <translation>วันที่และเวลาไม่ถูกต้อง ระบบจะไม่เริ่มทำงาน เชื่อต่ออินเตอร์เน็ตเพื่อตั้งเวลา</translation>
-    </message>
     <message>
         <source>Taking camera snapshots. System won&apos;t start until finished.</source>
         <translation>กล้องกำลังถ่ายภาพ ระบบจะไม่เริ่มทำงานจนกว่าจะเสร็จ</translation>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 000fc1a2ec..48615f1699 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -434,10 +434,6 @@
 %1</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Taking camera snapshots. System won&apos;t start until finished.</source>
         <translation type="unfinished"></translation>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 3d9cf1c001..306678363a 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -431,10 +431,6 @@
         <translation>无法下载更新
 %1</translation>
     </message>
-    <message>
-        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
-        <translation>日期和时间设置无效，系统无法启动。请连接至互联网以设置时间。</translation>
-    </message>
     <message>
         <source>Taking camera snapshots. System won&apos;t start until finished.</source>
         <translation>正在使用相机拍摄中。在完成之前，系统将无法启动。</translation>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index d9030b82ff..8d0df30f94 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -431,10 +431,6 @@
         <translation>無法下載更新
 %1</translation>
     </message>
-    <message>
-        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
-        <translation>日期和時間設定無效，系統無法啟動。請連接至網際網路以設定時間。</translation>
-    </message>
     <message>
         <source>Taking camera snapshots. System won&apos;t start until finished.</source>
         <translation>正在使用相機拍攝中。在完成之前，系統將無法啟動。</translation>
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index cc3f6bb830..b1862bdef9 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,10 +1,10 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-543fdc8aadf700f33a6e90740b8a227036bbd190626861d45ba1eb0d9ac422d1.img.xz",
-    "hash": "543fdc8aadf700f33a6e90740b8a227036bbd190626861d45ba1eb0d9ac422d1",
-    "hash_raw": "543fdc8aadf700f33a6e90740b8a227036bbd190626861d45ba1eb0d9ac422d1",
-    "size": 15636480,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f.img.xz",
+    "hash": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f",
+    "hash_raw": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f",
+    "size": 16029696,
     "sparse": false,
     "full_check": true,
     "has_ab": true
@@ -61,17 +61,17 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-bd2967074298a2686f81e2094db3867d7cb2605750d63b1a7309a923f6985b2a.img.xz",
-    "hash": "dc2f960631f02446d912885786922c27be4eb1ec6c202cacce6699d5a74021ba",
-    "hash_raw": "bd2967074298a2686f81e2094db3867d7cb2605750d63b1a7309a923f6985b2a",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz",
+    "hash": "328e90c62068222dfd98f71dd3f6251fcb962f082b49c6be66ab2699f5db6f4f",
+    "hash_raw": "1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a",
     "size": 10737418240,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
     "alt": {
-      "hash": "283e5e754593c6e1bb5e9d63b54624cda5475b88bc1b130fe6ab13acdbd966e2",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-bd2967074298a2686f81e2094db3867d7cb2605750d63b1a7309a923f6985b2a.img.xz",
-      "size": 4548070712
+      "hash": "bc11d2148f29862ee1326aca2af1cf6bbf5fed831e3f8f6b8f7a0f110dfe8d26",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz",
+      "size": 4548070000
     }
   }
 ]
\ No newline at end of file
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 6af4ca08f5..2574e3368b 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -26,7 +26,7 @@ cabana_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET")
 cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "assets/assets.o"]))
 
 cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/socketcanstream.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
-                                               'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
+                                               'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
                                                'utils/export.cc', 'utils/util.cc',
                                                'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
                                                'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc
index 205d795776..bb29a7e3a4 100644
--- a/tools/cabana/cabana.cc
+++ b/tools/cabana/cabana.cc
@@ -3,7 +3,6 @@
 
 #include "selfdrive/ui/qt/util.h"
 #include "tools/cabana/mainwin.h"
-#include "tools/cabana/streamselector.h"
 #include "tools/cabana/streams/devicestream.h"
 #include "tools/cabana/streams/pandastream.h"
 #include "tools/cabana/streams/replaystream.h"
@@ -82,28 +81,17 @@ int main(int argc, char *argv[]) {
     }
   }
 
-  int ret = 0;
-  {
-    MainWindow w;
-    QTimer::singleShot(0, [&]() {
-      if (!stream) {
-        StreamSelector dlg(&stream);
-        dlg.exec();
-        dbc_file = dlg.dbcFile();
-      }
-      if (!stream) {
-        stream = new DummyStream(&app);
-      }
-      stream->start();
-      if (!dbc_file.isEmpty()) {
-        w.loadFile(dbc_file);
-      }
-      w.show();
-    });
-
-    ret = app.exec();
+  MainWindow w;
+  if (stream) {
+    stream->start();
+    if (!dbc_file.isEmpty()) {
+      w.loadFile(dbc_file);
+    }
+  } else {
+    w.openStream();
   }
-
+  w.show();
+  int ret = app.exec();
   delete can;
   return ret;
 }
diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index ce52825ac5..fcf171a858 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -22,6 +22,7 @@
 
 // ChartAxisElement's padding is 4 (https://codebrowser.dev/qt5/qtcharts/src/charts/axis/chartaxiselement_p.h.html)
 const int AXIS_X_TOP_MARGIN = 4;
+const double MIN_ZOOM_SECONDS = 0.01; // 10ms
 // Define a small value of epsilon to compare double values
 const float EPSILON = 0.000001;
 static inline bool xLessThan(const QPointF &p, float x) { return p.x() < (x - EPSILON); }
@@ -511,7 +512,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
     if (rubber->width() <= 0) {
       // no rubber dragged, seek to mouse position
       can->seekTo(min);
-    } else if (rubber->width() > 10 && (max - min) > 0.01) { // Minimum range is 10 milliseconds.
+    } else if (rubber->width() > 10 && (max - min) > MIN_ZOOM_SECONDS) {
       charts_widget->zoom_undo_stack->push(new ZoomCommand(charts_widget, {min, max}));
     } else {
       viewport()->update();
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index 63d6091cac..a7bdd74646 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -197,7 +197,8 @@ void ChartsWidget::updateState() {
     display_range.second = display_range.first + max_chart_range;
   } else if (cur_sec < (zoomed_range.first - 0.1) || cur_sec >= zoomed_range.second) {
     // loop in zoomed range
-    can->seekTo(zoomed_range.first);
+    QTimer::singleShot(0, [ts = zoomed_range.first]() { can->seekTo(ts);});
+    return;
   }
 
   const auto &range = is_zoomed ? zoomed_range : display_range;
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index a4b7764346..e6c9b49ca1 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -262,6 +262,9 @@ void MainWindow::openStream() {
     }
     stream->start();
     statusBar()->showMessage(tr("Route %1 loaded").arg(can->routeName()), 2000);
+  } else if (!can) {
+    stream = new DummyStream(this);
+    stream->start();
   }
 }
 
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 593d1bf5d8..540634b9b7 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -138,13 +138,16 @@ void AbstractStream::updateLastMsgsTo(double sec) {
       auto prev = std::prev(it);
       double ts = (*prev)->mono_time / 1e9 - routeStartTime();
       auto &m = msgs[id];
+      double freq = 0;
       // Keep suppressed bits.
       if (auto old_m = messages_.find(id); old_m != messages_.end()) {
+        freq = old_m->second.freq;
+        m.last_changes.reserve(old_m->second.last_changes.size());
         std::transform(old_m->second.last_changes.cbegin(), old_m->second.last_changes.cend(),
                        std::back_inserter(m.last_changes),
                        [](const auto &change) { return CanData::ByteLastChange{.suppressed = change.suppressed}; });
       }
-      m.compute(id, (*prev)->dat, (*prev)->size, ts, getSpeed(), {});
+      m.compute(id, (*prev)->dat, (*prev)->size, ts, getSpeed(), {}, freq);
       m.count = std::distance(ev.begin(), prev) + 1;
     }
   }
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 18c00cb8b6..3d63ee49bd 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -90,6 +90,7 @@ public:
 signals:
   void paused();
   void resume();
+  void seekingTo(double sec);
   void seekedTo(double sec);
   void streamStarted();
   void eventsMerged(const MessageEventsMap &events_map);
@@ -107,6 +108,7 @@ protected:
   uint64_t lastEventMonoTime() const { return lastest_event_ts; }
 
   std::vector<const CanEvent *> all_events_;
+  double current_sec_ = 0;
   uint64_t lastest_event_ts = 0;
 
 private:
@@ -114,7 +116,6 @@ private:
   void updateLastMsgsTo(double sec);
   void updateMasks();
 
-  double current_sec_ = 0;
   MessageEventsMap events_;
   std::unordered_map<MessageId, CanData> last_msgs;
   std::unique_ptr<MonotonicBuffer> event_buffer_;
diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc
index bea1fd7480..308391a10c 100644
--- a/tools/cabana/streams/pandastream.cc
+++ b/tools/cabana/streams/pandastream.cc
@@ -6,39 +6,12 @@
 #include <QMessageBox>
 #include <QPushButton>
 #include <QThread>
-#include <QVBoxLayout>
 
-// TODO: remove clearLayout
-static void clearLayout(QLayout* layout) {
-  while (layout->count() > 0) {
-    QLayoutItem* item = layout->takeAt(0);
-    if (QWidget* widget = item->widget()) {
-      widget->deleteLater();
-    }
-    if (QLayout* childLayout = item->layout()) {
-      clearLayout(childLayout);
-    }
-    delete item;
-  }
-}
-
-PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) {
-  if (config.serial.isEmpty()) {
-    auto serials = Panda::list();
-    if (serials.size() == 0) {
-      throw std::runtime_error("No panda found");
-    }
-    config.serial = QString::fromStdString(serials[0]);
-  }
-
-  qDebug() << "Connecting to panda with serial" << config.serial;
-  if (!connect()) {
-    throw std::runtime_error("Failed to connect to panda");
-  }
-}
+PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) {}
 
 bool PandaStream::connect() {
   try {
+    qDebug() << "Connecting to panda with serial" << config.serial;
     panda.reset(new Panda(config.serial.toStdString()));
     config.bus_config.resize(3);
     qDebug() << "Connected";
@@ -47,7 +20,6 @@ bool PandaStream::connect() {
   }
 
   panda->set_safety_model(cereal::CarParams::SafetyModel::SILENT);
-
   for (int bus = 0; bus < config.bus_config.size(); bus++) {
     panda->set_can_speed_kbps(bus, config.bus_config[bus].can_speed_kbps);
 
@@ -60,7 +32,6 @@ bool PandaStream::connect() {
         panda->set_data_speed_kbps(bus, 10);
       }
     }
-
   }
   return true;
 }
@@ -108,26 +79,14 @@ AbstractOpenStreamWidget *PandaStream::widget(AbstractStream **stream) {
 // OpenPandaWidget
 
 OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->addStretch(1);
-
-  QFormLayout *form_layout = new QFormLayout();
-
+  form_layout = new QFormLayout(this);
   QHBoxLayout *serial_layout = new QHBoxLayout();
-  serial_edit = new QComboBox();
-  serial_edit->setFixedWidth(300);
-  serial_layout->addWidget(serial_edit);
+  serial_layout->addWidget(serial_edit = new QComboBox());
 
   QPushButton *refresh = new QPushButton(tr("Refresh"));
-  refresh->setFixedWidth(100);
+  refresh->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Preferred);
   serial_layout->addWidget(refresh);
   form_layout->addRow(tr("Serial"), serial_layout);
-  main_layout->addLayout(form_layout);
-
-  config_layout = new QFormLayout();
-  main_layout->addLayout(config_layout);
-
-  main_layout->addStretch(1);
 
   QObject::connect(refresh, &QPushButton::clicked, this, &OpenPandaWidget::refreshSerials);
   QObject::connect(serial_edit, &QComboBox::currentTextChanged, this, &OpenPandaWidget::buildConfigForm);
@@ -145,15 +104,16 @@ void OpenPandaWidget::refreshSerials() {
 }
 
 void OpenPandaWidget::buildConfigForm() {
-  clearLayout(config_layout);
-  QString serial = serial_edit->currentText();
+  for (int i = form_layout->rowCount() - 1; i > 0; --i) {
+    form_layout->removeRow(i);
+  }
 
+  QString serial = serial_edit->currentText();
   bool has_fd = false;
   bool has_panda = !serial.isEmpty();
-
   if (has_panda) {
     try {
-      Panda panda = Panda(serial.toStdString());
+      Panda panda(serial.toStdString());
       has_fd = (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA) || (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA_V2);
     } catch (const std::exception& e) {
       has_panda = false;
@@ -201,20 +161,22 @@ void OpenPandaWidget::buildConfigForm() {
         QObject::connect(enable_fd, &QCheckBox::stateChanged, [=](int state) {config.bus_config[i].can_fd = (bool)state;});
       }
 
-      config_layout->addRow(tr("Bus %1:").arg(i), bus_layout);
+      form_layout->addRow(tr("Bus %1:").arg(i), bus_layout);
     }
   } else {
     config.serial = "";
-    config_layout->addWidget(new QLabel(tr("No panda found")));
+    form_layout->addWidget(new QLabel(tr("No panda found")));
   }
 }
 
 bool OpenPandaWidget::open() {
-  try {
-    *stream = new PandaStream(qApp, config);
-  } catch (std::exception &e) {
-    QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what()));
-    return false;
+  if (!config.serial.isEmpty()) {
+    auto panda_stream = std::make_unique<PandaStream>(qApp, config);
+    if (panda_stream->connect()) {
+      *stream = panda_stream.release();
+      return true;
+    }
   }
-  return true;
+  QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda"));
+  return false;
 }
diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h
index 919156f400..ce0adfc9f8 100644
--- a/tools/cabana/streams/pandastream.h
+++ b/tools/cabana/streams/pandastream.h
@@ -21,6 +21,7 @@ class PandaStream : public LiveStream {
   Q_OBJECT
 public:
   PandaStream(QObject *parent, PandaStreamConfig config_ = {});
+  bool connect();
   static AbstractOpenStreamWidget *widget(AbstractStream **stream);
   inline QString routeName() const override {
     return QString("Live Streaming From Panda %1").arg(config.serial);
@@ -28,7 +29,6 @@ public:
 
 protected:
   void streamThread() override;
-  bool connect();
 
   std::unique_ptr<Panda> panda;
   PandaStreamConfig config = {};
@@ -47,6 +47,6 @@ private:
   void buildConfigForm();
 
   QComboBox *serial_edit;
-  QFormLayout *config_layout;
+  QFormLayout *form_layout;
   PandaStreamConfig config = {};
 };
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index ddd1c1dfed..3c3e431ce7 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -7,6 +7,7 @@
 #include <QPushButton>
 
 #include "common/timing.h"
+#include "tools/cabana/streams/routes.h"
 
 ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) {
   unsetenv("ZMQ");
@@ -84,6 +85,16 @@ bool ReplayStream::eventFilter(const Event *event) {
   return true;
 }
 
+void ReplayStream::seekTo(double ts) {
+  // Update timestamp and notify receivers of the time change.
+  current_sec_ = ts;
+  std::set<MessageId> new_msgs;
+  msgsReceived(&new_msgs, false);
+
+  // Seek to the specified timestamp
+  replay->seekTo(std::max(double(0), ts), false);
+}
+
 void ReplayStream::pause(bool pause) {
   replay->pause(pause);
   emit(pause ? paused() : resume());
@@ -97,29 +108,36 @@ AbstractOpenStreamWidget *ReplayStream::widget(AbstractStream **stream) {
 // OpenReplayWidget
 
 OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
-  // TODO: get route list from api.comma.ai
   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);
+  route_edit->setPlaceholderText(tr("Enter route name or browse for local/remote route"));
+  auto browse_remote_btn = new QPushButton(tr("Remote route..."), this);
+  grid_layout->addWidget(browse_remote_btn, 0, 2);
+  auto browse_local_btn = new QPushButton(tr("Local route..."), this);
+  grid_layout->addWidget(browse_local_btn, 0, 3);
 
-  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)));
+  cameras[0]->setChecked(true);
   camera_layout->addStretch(1);
   grid_layout->addItem(camera_layout, 1, 1);
 
   setMinimumWidth(550);
-  QObject::connect(file_btn, &QPushButton::clicked, [=]() {
+  QObject::connect(browse_local_btn, &QPushButton::clicked, [=]() {
     QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), settings.last_route_dir);
     if (!dir.isEmpty()) {
       route_edit->setText(dir);
       settings.last_route_dir = QFileInfo(dir).absolutePath();
     }
   });
+  QObject::connect(browse_remote_btn, &QPushButton::clicked, [this]() {
+    RoutesDialog route_dlg(this);
+    if (route_dlg.exec()) {
+      route_edit->setText(route_dlg.route());
+    }
+  });
 }
 
 bool OpenReplayWidget::open() {
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index d92a2e426b..e3278d9a32 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -18,7 +18,7 @@ public:
   void start() override;
   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); }
+  void seekTo(double ts) override;
   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(); }
diff --git a/tools/cabana/streams/routes.cc b/tools/cabana/streams/routes.cc
new file mode 100644
index 0000000000..c805e7d60d
--- /dev/null
+++ b/tools/cabana/streams/routes.cc
@@ -0,0 +1,123 @@
+#include "tools/cabana/streams/routes.h"
+
+#include <QDateTime>
+#include <QDialogButtonBox>
+#include <QFormLayout>
+#include <QJsonArray>
+#include <QJsonDocument>
+#include <QListWidget>
+#include <QMessageBox>
+#include <QPainter>
+
+#include "system/hardware/hw.h"
+
+// The RouteListWidget class extends QListWidget to display a custom message when empty
+class RouteListWidget : public QListWidget {
+public:
+  RouteListWidget(QWidget *parent = nullptr) : QListWidget(parent) {}
+  void setEmptyText(const QString &text) {
+    empty_text_ = text;
+    viewport()->update();
+  }
+  void paintEvent(QPaintEvent *event) override {
+    QListWidget::paintEvent(event);
+    if (count() == 0) {
+      QPainter painter(viewport());
+      painter.drawText(viewport()->rect(), Qt::AlignCenter, empty_text_);
+    }
+  }
+  QString empty_text_ = tr("No items");
+};
+
+RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent) {
+  setWindowTitle(tr("Remote routes"));
+
+  QFormLayout *layout = new QFormLayout(this);
+  layout->addRow(tr("Device"), device_list_ = new QComboBox(this));
+  layout->addRow(tr("Duration"), period_selector_ = new QComboBox(this));
+  layout->addRow(route_list_ = new RouteListWidget(this));
+  auto button_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
+  layout->addRow(button_box);
+
+  device_list_->addItem(tr("Loading..."));
+  // Populate period selector with predefined durations
+  period_selector_->addItem(tr("Last week"), 7);
+  period_selector_->addItem(tr("Last 2 weeks"), 14);
+  period_selector_->addItem(tr("Last month"), 30);
+  period_selector_->addItem(tr("Last 6 months"), 180);
+
+  // Connect signals and slots
+  connect(device_list_, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &RoutesDialog::fetchRoutes);
+  connect(period_selector_, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &RoutesDialog::fetchRoutes);
+  connect(route_list_, &QListWidget::itemDoubleClicked, this, &QDialog::accept);
+  QObject::connect(button_box, &QDialogButtonBox::accepted, this, &QDialog::accept);
+  QObject::connect(button_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
+
+  // Send request to fetch devices
+  HttpRequest *http = new HttpRequest(this, !Hardware::PC());
+  QObject::connect(http, &HttpRequest::requestDone, this, &RoutesDialog::parseDeviceList);
+  http->sendRequest(CommaApi::BASE_URL + "/v1/me/devices/");
+}
+
+void RoutesDialog::parseDeviceList(const QString &json, bool success, QNetworkReply::NetworkError err) {
+  if (success) {
+    device_list_->clear();
+    auto devices = QJsonDocument::fromJson(json.toUtf8()).array();
+    for (const QJsonValue &device : devices) {
+      QString dongle_id = device["dongle_id"].toString();
+      device_list_->addItem(dongle_id, dongle_id);
+    }
+  } else {
+    bool unauthorized = (err == QNetworkReply::ContentAccessDenied || err == QNetworkReply::AuthenticationRequiredError);
+    QMessageBox::warning(this, tr("Error"), unauthorized ? tr("Unauthorized, Authenticate with tools/lib/auth.py") : tr("Network error"));
+    reject();
+  }
+  sender()->deleteLater();
+}
+
+void RoutesDialog::fetchRoutes() {
+  if (device_list_->currentIndex() == -1 || device_list_->currentData().isNull())
+    return;
+
+  route_list_->clear();
+  route_list_->setEmptyText(tr("Loading..."));
+
+  HttpRequest *http = new HttpRequest(this, !Hardware::PC());
+  QObject::connect(http, &HttpRequest::requestDone, this, &RoutesDialog::parseRouteList);
+
+  // Construct URL with selected device and date range
+  auto dongle_id = device_list_->currentData().toString();
+  QDateTime current = QDateTime::currentDateTime();
+  QString url = QString("%1/v1/devices/%2/routes_segments?start=%3&end=%4")
+                    .arg(CommaApi::BASE_URL).arg(dongle_id)
+                    .arg(current.addDays(-(period_selector_->currentData().toInt())).toMSecsSinceEpoch())
+                    .arg(current.toMSecsSinceEpoch());
+  http->sendRequest(url);
+}
+
+void RoutesDialog::parseRouteList(const QString &json, bool success, QNetworkReply::NetworkError err) {
+  if (success) {
+    for (const QJsonValue &route : QJsonDocument::fromJson(json.toUtf8()).array()) {
+      uint64_t start_time = route["start_time_utc_millis"].toDouble();
+      uint64_t end_time = route["end_time_utc_millis"].toDouble();
+      auto datetime = QDateTime::fromMSecsSinceEpoch(start_time);
+      auto item = new QListWidgetItem(QString("%1    %2min").arg(datetime.toString()).arg((end_time - start_time) / (1000 * 60)));
+      item->setData(Qt::UserRole, route["fullname"].toString());
+      route_list_->addItem(item);
+    }
+    // Select first route if available
+    if (route_list_->count() > 0) route_list_->setCurrentRow(0);
+  } else {
+    QMessageBox::warning(this, tr("Error"), tr("Failed to fetch routes. Check your network connection."));
+    reject();
+  }
+  route_list_->setEmptyText(tr("No items"));
+  sender()->deleteLater();
+}
+
+void RoutesDialog::accept() {
+  if (auto current_item = route_list_->currentItem()) {
+    route_ = current_item->data(Qt::UserRole).toString();
+  }
+  QDialog::accept();
+}
diff --git a/tools/cabana/streams/routes.h b/tools/cabana/streams/routes.h
new file mode 100644
index 0000000000..31e42fb075
--- /dev/null
+++ b/tools/cabana/streams/routes.h
@@ -0,0 +1,26 @@
+#pragma once
+
+#include <QComboBox>
+#include <QDialog>
+
+#include "selfdrive/ui/qt/api.h"
+
+class RouteListWidget;
+
+class RoutesDialog : public QDialog {
+  Q_OBJECT
+public:
+  RoutesDialog(QWidget *parent);
+  QString route() const { return route_; }
+
+protected:
+  void accept() override;
+  void parseDeviceList(const QString &json, bool success, QNetworkReply::NetworkError err);
+  void parseRouteList(const QString &json, bool success, QNetworkReply::NetworkError err);
+  void fetchRoutes();
+
+  QComboBox *device_list_;
+  QComboBox *period_selector_;
+  RouteListWidget *route_list_;
+  QString route_;
+};
diff --git a/tools/cabana/streamselector.cc b/tools/cabana/streamselector.cc
index 07755c0fe0..d12f1a5df7 100644
--- a/tools/cabana/streamselector.cc
+++ b/tools/cabana/streamselector.cc
@@ -13,12 +13,8 @@
 
 StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDialog(parent) {
   setWindowTitle(tr("Open stream"));
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-
-  QWidget *w = new QWidget(this);
-  QVBoxLayout *layout = new QVBoxLayout(w);
+  QVBoxLayout *layout = new QVBoxLayout(this);
   tab = new QTabWidget(this);
-  tab->setTabBarAutoHide(true);
   layout->addWidget(tab);
 
   QHBoxLayout *dbc_layout = new QHBoxLayout();
@@ -35,9 +31,8 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial
   line->setFrameStyle(QFrame::HLine | QFrame::Sunken);
   layout->addWidget(line);
 
-  main_layout->addWidget(w);
   auto btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel);
-  main_layout->addWidget(btn_box);
+  layout->addWidget(btn_box);
 
   addStreamWidget(ReplayStream::widget(stream));
   addStreamWidget(PandaStream::widget(stream));
@@ -48,14 +43,11 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial
 
   QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
   QObject::connect(btn_box, &QDialogButtonBox::accepted, [=]() {
-    btn_box->button(QDialogButtonBox::Open)->setEnabled(false);
-    w->setEnabled(false);
+    setEnabled(false);
     if (((AbstractOpenStreamWidget *)tab->currentWidget())->open()) {
       accept();
-    } else {
-      btn_box->button(QDialogButtonBox::Open)->setEnabled(true);
-      w->setEnabled(true);
     }
+    setEnabled(true);
   });
   QObject::connect(file_btn, &QPushButton::clicked, [this]() {
     QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)");
diff --git a/tools/car_porting/auto_fingerprint.py b/tools/car_porting/auto_fingerprint.py
index 0a6b602a15..145f38c63f 100755
--- a/tools/car_porting/auto_fingerprint.py
+++ b/tools/car_porting/auto_fingerprint.py
@@ -4,67 +4,37 @@ import argparse
 from collections import defaultdict
 from openpilot.selfdrive.debug.format_fingerprints import format_brand_fw_versions
 
-from openpilot.selfdrive.car.fw_versions import match_fw_to_car
-from openpilot.selfdrive.car.interfaces import get_interface_attr
+from openpilot.selfdrive.car.fingerprints import MIGRATION
+from openpilot.selfdrive.car.fw_versions import MODEL_TO_BRAND, match_fw_to_car
 from openpilot.tools.lib.logreader import LogReader, ReadMode
 
-
-ALL_FW_VERSIONS = get_interface_attr("FW_VERSIONS")
-ALL_CARS = get_interface_attr("CAR")
-
-PLATFORM_TO_PYTHON_CAR_NAME = {brand: {car.value: car.name for car in ALL_CARS[brand]} for brand in ALL_CARS}
-BRAND_TO_PLATFORMS = {brand: [car.value for car in ALL_CARS[brand]] for brand in ALL_CARS}
-PLATFORM_TO_BRAND = dict(sum([[(platform, brand) for platform in BRAND_TO_PLATFORMS[brand]] for brand in BRAND_TO_PLATFORMS], []))
-
-
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Auto fingerprint from a route")
   parser.add_argument("route", help="The route name to use")
-  parser.add_argument("platform", help="The platform, or leave empty to auto-determine using fuzzy", default=None, nargs='?')
+  parser.add_argument("platform", help="The platform, or leave empty to auto-determine using fuzzy", default=None, nargs="?")
   args = parser.parse_args()
 
   lr = LogReader(args.route, ReadMode.QLOG)
-
-  carFw = None
-  carVin = None
-  carPlatform = None
-
-  platform: str | None = None
-
   CP = lr.first("carParams")
+  assert CP is not None, "No carParams in route"
 
-  if CP is None:
-    raise Exception("No fw versions in the provided route...")
+  carPlatform = MIGRATION.get(CP.carFingerprint, CP.carFingerprint)
 
-  carFw = CP.carFw
-  carVin = CP.carVin
-  carPlatform = CP.carFingerprint
-
-  if args.platform is None: # attempt to auto-determine platform with other fuzzy fingerprints
-    _, possible_platforms = match_fw_to_car(carFw, carVin, log=False)
-
-    if len(possible_platforms) != 1:
-      print(f"Unable to auto-determine platform, possible platforms: {possible_platforms}")
-
-      if carPlatform != "MOCK":
-        print("Using platform from route")
-        platform = carPlatform
-      else:
-        platform = None
-    else:
-      platform = list(possible_platforms)[0]
-  else:
+  if args.platform is not None:
     platform = args.platform
+  elif carPlatform != "MOCK":
+    platform = carPlatform
+  else:
+    _, matches = match_fw_to_car(CP.carFw, CP.carVin, log=False)
+    assert len(matches) == 1, f"Unable to auto-determine platform, matches: {matches}"
+    platform = list(matches)[0]
 
-  if platform is None:
-    raise Exception("unable to determine platform, try manually specifying the fingerprint.")
-
-  print("Attempting to add fw version for: ", platform)
+  print("Attempting to add fw version for:", platform)
 
   fw_versions: dict[str, dict[tuple, list[bytes]]] = defaultdict(lambda: defaultdict(list))
-  brand = PLATFORM_TO_BRAND[platform]
+  brand = MODEL_TO_BRAND[platform]
 
-  for fw in carFw:
+  for fw in CP.carFw:
     if fw.brand == brand and not fw.logging:
       addr = fw.address
       subAddr = None if fw.subAddress == 0 else fw.subAddress
diff --git a/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb b/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb
index 99efc45aca..1048011c05 100644
--- a/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb
+++ b/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb
@@ -18,7 +18,7 @@
     "from openpilot.selfdrive.car.subaru.values import CAR, SubaruFlags\n",
     "from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS\n",
     "\n",
-    "TEST_PLATFORMS = CAR.without_flags(SubaruFlags.PREGLOBAL)\n",
+    "TEST_PLATFORMS = set(CAR) - CAR.with_flags(SubaruFlags.PREGLOBAL)\n",
     "\n",
     "Ecu = car.CarParams.Ecu\n",
     "\n",
diff --git a/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py
index b4d263667c..5f8294fd3c 100755
--- a/tools/car_porting/test_car_model.py
+++ b/tools/car_porting/test_car_model.py
@@ -12,7 +12,7 @@ def create_test_models_suite(routes: list[CarTestRoute], ci=False) -> unittest.T
   test_suite = unittest.TestSuite()
   for test_route in routes:
     # create new test case and discover tests
-    test_case_args = {"car_model": test_route.car_model, "test_route": test_route, "ci": ci}
+    test_case_args = {"platform": test_route.car_model, "test_route": test_route, "test_route_on_bucket": ci}
     CarModelTestCase = type("CarModelTestCase", (TestCarModel,), test_case_args)
     test_suite.addTest(unittest.TestLoader().loadTestsFromTestCase(CarModelTestCase))
   return test_suite
diff --git a/tools/foxglove/fox.py b/tools/foxglove/fox.py
deleted file mode 100755
index a1e930d893..0000000000
--- a/tools/foxglove/fox.py
+++ /dev/null
@@ -1,304 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import json
-import base64
-import os
-import subprocess
-from multiprocessing import Pool
-from openpilot.tools.lib.route import Route
-from openpilot.tools.lib.logreader import LogReader
-
-try:
-  from mcap.writer import Writer, CompressionType
-except ImportError:
-  print("mcap module not found. Attempting to install...")
-  subprocess.run([sys.executable, "-m", "pip", "install", "mcap"])
-  # Attempt to import again after installation
-  try:
-    from mcap.writer import Writer, CompressionType
-  except ImportError:
-    print("Failed to install mcap module. Exiting.")
-    sys.exit(1)
-
-
-FOXGLOVE_IMAGE_SCHEME_TITLE = "foxglove.CompressedImage"
-FOXGLOVE_GEOJSON_TITLE = "foxglove.GeoJSON"
-FOXGLOVE_IMAGE_ENCODING = "base64"
-OUT_MCAP_FILE_NAME = "json_log.mcap"
-RLOG_FOLDER = "rlogs"
-SCHEMAS_FOLDER = "schemas"
-SCHEMA_EXTENSION = ".json"
-
-schemas: dict[str, int] = {}
-channels: dict[str, int] = {}
-writer: Writer
-
-
-def convertBytesToString(data):
-  if isinstance(data, bytes):
-    return data.decode('latin-1')  # Assuming UTF-8 encoding, adjust if needed
-  elif isinstance(data, list):
-    return [convertBytesToString(item) for item in data]
-  elif isinstance(data, dict):
-    return {key: convertBytesToString(value) for key, value in data.items()}
-  else:
-    return data
-
-
-# Load jsonscheme for every Event
-def loadSchema(schemaName):
-  with open(os.path.join(SCHEMAS_FOLDER, schemaName + SCHEMA_EXTENSION), "r") as file:
-    return json.loads(file.read())
-
-
-# Foxglove creates one graph of an array, and not one for each item of an array
-# This can be avoided by transforming array to separate objects
-def transformListsToJsonDict(json_data):
-  def convert_array_to_dict(array):
-    new_dict = {}
-    for index, item in enumerate(array):
-      if isinstance(item, dict):
-        new_dict[index] = transformListsToJsonDict(item)
-      else:
-        new_dict[index] = item
-    return new_dict
-
-  new_data = {}
-  for key, value in json_data.items():
-    if isinstance(value, list):
-      new_data[key] = convert_array_to_dict(value)
-    elif isinstance(value, dict):
-      new_data[key] = transformListsToJsonDict(value)
-    else:
-      new_data[key] = value
-  return new_data
-
-
-# Transform openpilot thumbnail to foxglove compressedImage
-def transformToFoxgloveSchema(jsonMsg):
-  bytesImgData = jsonMsg.get("thumbnail").get("thumbnail").encode('latin1')
-  base64ImgData = base64.b64encode(bytesImgData)
-  base64_string = base64ImgData.decode('utf-8')
-  foxMsg = {
-    "timestamp": {"sec": "0", "nsec": jsonMsg.get("logMonoTime")},
-    "frame_id": str(jsonMsg.get("thumbnail").get("frameId")),
-    "data": base64_string,
-    "format": "jpeg",
-  }
-  return foxMsg
-
-
-# TODO: Check if there is a tool to build GEOJson
-def transformMapCoordinates(jsonMsg):
-  coordinates = []
-  for jsonCoords in jsonMsg.get("navRoute").get("coordinates"):
-    coordinates.append([jsonCoords.get("longitude"), jsonCoords.get("latitude")])
-
-  # Define the GeoJSON
-  geojson_data = {
-    "type": "FeatureCollection",
-    "features": [{"type": "Feature", "geometry": {"type": "LineString", "coordinates": coordinates}, "logMonoTime": jsonMsg.get("logMonoTime")}],
-  }
-
-  # Create the final JSON with the GeoJSON data encoded as a string
-  geoJson = {"geojson": json.dumps(geojson_data)}
-
-  return geoJson
-
-
-def jsonToScheme(jsonData):
-  zeroArray = False
-  schema = {"type": "object", "properties": {}, "required": []}
-  for key, value in jsonData.items():
-    if isinstance(value, dict):
-      tempScheme, zeroArray = jsonToScheme(value)
-      if tempScheme == 0:
-        return 0
-      schema["properties"][key] = tempScheme
-      schema["required"].append(key)
-    elif isinstance(value, list):
-      if all(isinstance(item, dict) for item in value) and len(value) > 0:  # Handle zero value arrays
-        # Handle array of objects
-        tempScheme, zeroArray = jsonToScheme(value[0])
-        schema["properties"][key] = {"type": "array", "items": tempScheme if value else {}}
-        schema["required"].append(key)
-      else:
-        if len(value) == 0:
-          zeroArray = True
-        # Handle array of primitive types
-        schema["properties"][key] = {"type": "array", "items": {"type": "string"}}
-        schema["required"].append(key)
-    else:
-      typeName = type(value).__name__
-      if typeName == "str":
-        typeName = "string"
-      elif typeName == "bool":
-        typeName = "boolean"
-      elif typeName == "float":
-        typeName = "number"
-      elif typeName == "int":
-        typeName = "integer"
-      schema["properties"][key] = {"type": typeName}
-      schema["required"].append(key)
-
-  return schema, zeroArray
-
-
-def saveScheme(scheme, schemaFileName):
-  schemaFileName = schemaFileName + SCHEMA_EXTENSION
-  # Create the new schemas folder
-  os.makedirs(SCHEMAS_FOLDER, exist_ok=True)
-  with open(os.path.join(SCHEMAS_FOLDER, schemaFileName), 'w') as json_file:
-    json.dump(convertBytesToString(scheme), json_file)
-
-
-def convertToFoxGloveFormat(jsonData, rlogTopic):
-  jsonData["title"] = rlogTopic
-  if rlogTopic == "thumbnail":
-    jsonData = transformToFoxgloveSchema(jsonData)
-    jsonData["title"] = FOXGLOVE_IMAGE_SCHEME_TITLE
-  elif rlogTopic == "navRoute":
-    jsonData = transformMapCoordinates(jsonData)
-    jsonData["title"] = FOXGLOVE_GEOJSON_TITLE
-  else:
-    jsonData = transformListsToJsonDict(jsonData)
-  return jsonData
-
-
-def generateSchemas():
-  listOfDirs = os.listdir(RLOG_FOLDER)
-  # Open every dir in rlogs
-  for directory in listOfDirs:
-    # List every file in every rlog dir
-    dirPath = os.path.join(RLOG_FOLDER, directory)
-    listOfFiles = os.listdir(dirPath)
-    lastIteration = len(listOfFiles)
-    for iteration, file in enumerate(listOfFiles):
-      # Load json data from every file until found one without empty arrays
-      filePath = os.path.join(dirPath, file)
-      with open(filePath, 'r') as jsonFile:
-        jsonData = json.load(jsonFile)
-        scheme, zerroArray = jsonToScheme(jsonData)
-        # If array of len 0 has been found, type of its data can not be parsed, skip to the next log
-        # in search for a non empty array. If there is not an non empty array in logs, put a dummy string type
-        if zerroArray and not iteration == lastIteration - 1:
-          continue
-        title = jsonData.get("title")
-        scheme["title"] = title
-        # Add contentEncoding type, hardcoded in foxglove format
-        if title == FOXGLOVE_IMAGE_SCHEME_TITLE:
-          scheme["properties"]["data"]["contentEncoding"] = FOXGLOVE_IMAGE_ENCODING
-        saveScheme(scheme, directory)
-        break
-
-
-def downloadLogs(logPaths):
-  segment_counter = 0
-  for logPath in logPaths:
-    segment_counter += 1
-    msg_counter = 1
-    print(segment_counter)
-    rlog = LogReader(logPath)
-    for msg in rlog:
-      jsonMsg = json.loads(json.dumps(convertBytesToString(msg.to_dict())))
-      jsonMsg = convertToFoxGloveFormat(jsonMsg, msg.which())
-      rlog_dir_path = os.path.join(RLOG_FOLDER, msg.which())
-      if not os.path.exists(rlog_dir_path):
-        os.makedirs(rlog_dir_path)
-      file_path = os.path.join(rlog_dir_path, str(segment_counter) + "," + str(msg_counter))
-      with open(file_path, 'w') as json_file:
-        json.dump(jsonMsg, json_file)
-      msg_counter += 1
-
-
-def getLogMonoTime(jsonMsg):
-  if jsonMsg.get("title") == FOXGLOVE_IMAGE_SCHEME_TITLE:
-    logMonoTime = jsonMsg.get("timestamp").get("nsec")
-  elif jsonMsg.get("title") == FOXGLOVE_GEOJSON_TITLE:
-    logMonoTime = json.loads(jsonMsg.get("geojson")).get("features")[0].get("logMonoTime")
-  else:
-    logMonoTime = jsonMsg.get("logMonoTime")
-  return logMonoTime
-
-
-def processMsgs(args):
-  msgFile, rlogTopicPath, rlogTopic = args
-  msgFilePath = os.path.join(rlogTopicPath, msgFile)
-  with open(msgFilePath, "r") as file:
-    jsonMsg = json.load(file)
-    logMonoTime = getLogMonoTime(jsonMsg)
-    return {'channel_id': channels[rlogTopic], 'log_time': logMonoTime, 'data': json.dumps(jsonMsg).encode("utf-8"), 'publish_time': logMonoTime}
-
-
-# Get logs from a path, and convert them into mcap
-def createMcap(logPaths):
-  print(f"Downloading logs [{len(logPaths)}]")
-  downloadLogs(logPaths)
-  print("Creating schemas")
-  generateSchemas()
-  print("Creating mcap file")
-
-  listOfRlogTopics = os.listdir(RLOG_FOLDER)
-  print(f"Registering schemas and channels [{len(listOfRlogTopics)}]")
-  for counter, rlogTopic in enumerate(listOfRlogTopics):
-    print(counter)
-    schema = loadSchema(rlogTopic)
-    schema_id = writer.register_schema(name=schema.get("title"), encoding="jsonschema", data=json.dumps(schema).encode())
-    schemas[rlogTopic] = schema_id
-    channel_id = writer.register_channel(schema_id=schemas[rlogTopic], topic=rlogTopic, message_encoding="json")
-    channels[rlogTopic] = channel_id
-    rlogTopicPath = os.path.join(RLOG_FOLDER, rlogTopic)
-    msgFiles = os.listdir(rlogTopicPath)
-    pool = Pool()
-    results = pool.map(processMsgs, [(msgFile, rlogTopicPath, rlogTopic) for msgFile in msgFiles])
-    pool.close()
-    pool.join()
-    for result in results:
-      writer.add_message(channel_id=result['channel_id'], log_time=result['log_time'], data=result['data'], publish_time=result['publish_time'])
-
-
-def is_program_installed(program_name):
-  try:
-    # Check if the program is installed using dpkg (for traditional Debian packages)
-    subprocess.run(["dpkg", "-l", program_name], check=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
-    return True
-  except subprocess.CalledProcessError:
-    # Check if the program is installed using snap
-    try:
-      subprocess.run(["snap", "list", program_name], check=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
-      return True
-    except subprocess.CalledProcessError:
-      return False
-
-
-if __name__ == '__main__':
-  # Example usage:
-  program_name = "foxglove-studio"  # Change this to the program you want to check
-  if is_program_installed(program_name):
-    print(f"{program_name} detected.")
-  else:
-    print(f"{program_name} could not be detected.")
-    installFoxglove = input("Would you like to install it? YES/NO? - ")
-    if installFoxglove.lower() == "yes":
-      try:
-        subprocess.run(['./install_foxglove.sh'], check=True)
-        print("Installation completed successfully.")
-      except subprocess.CalledProcessError as e:
-        print(f"Installation failed with return code {e.returncode}.")
-  # Get a route
-  if len(sys.argv) == 1:
-    route_name = "a2a0ccea32023010|2023-07-27--13-01-19"
-    print("No route was provided, using demo route")
-  else:
-    route_name = sys.argv[1]
-  # Get logs for a route
-  print("Getting route log paths")
-  route = Route(route_name)
-  logPaths = route.log_paths()
-  # Start mcap writer
-  with open(OUT_MCAP_FILE_NAME, "wb") as stream:
-    writer = Writer(stream, compression=CompressionType.NONE)
-    writer.start()
-    createMcap(logPaths)
-    writer.finish()
-    print(f"File {OUT_MCAP_FILE_NAME} has been successfully created. Please import it into foxglove studio to continue.")
diff --git a/tools/foxglove/install_foxglove.sh b/tools/foxglove/install_foxglove.sh
deleted file mode 100755
index 0f401549a2..0000000000
--- a/tools/foxglove/install_foxglove.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-#!/bin/bash
-echo "Installing foxglvoe studio..."
-sudo snap install foxglove-studio
diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc
index 9a023db6fa..9e711149c5 100644
--- a/tools/replay/camera.cc
+++ b/tools/replay/camera.cc
@@ -1,12 +1,13 @@
 #include "tools/replay/camera.h"
 
 #include <capnp/dynamic.h>
-
 #include <cassert>
 
 #include "third_party/linux/include/msm_media_info.h"
 #include "tools/replay/util.h"
 
+const int BUFFER_COUNT = 40;
+
 std::tuple<size_t, size_t, size_t> get_nv12_info(int width, int height) {
   int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
   int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height);
@@ -36,10 +37,12 @@ CameraServer::~CameraServer() {
 void CameraServer::startVipcServer() {
   vipc_server_.reset(new VisionIpcServer("camerad"));
   for (auto &cam : cameras_) {
+    cam.cached_buf.clear();
+
     if (cam.width > 0 && cam.height > 0) {
       rInfo("camera[%d] frame size %dx%d", cam.type, cam.width, cam.height);
       auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(cam.width, cam.height);
-      vipc_server_->create_buffers_with_sizes(cam.stream_type, YUV_BUFFER_COUNT, false, cam.width, cam.height,
+      vipc_server_->create_buffers_with_sizes(cam.stream_type, BUFFER_COUNT, false, cam.width, cam.height,
                                               nv12_buffer_size, nv12_width, nv12_width * nv12_height);
       if (!cam.thread.joinable()) {
         cam.thread = std::thread(&CameraServer::cameraThread, this, std::ref(cam));
@@ -50,13 +53,6 @@ void CameraServer::startVipcServer() {
 }
 
 void CameraServer::cameraThread(Camera &cam) {
-  auto read_frame = [&](FrameReader *fr, int frame_id) {
-    VisionBuf *yuv_buf = vipc_server_->get_buffer(cam.stream_type);
-    assert(yuv_buf);
-    bool ret = fr->get(frame_id, yuv_buf);
-    return ret ? yuv_buf : nullptr;
-  };
-
   while (true) {
     const auto [fr, event] = cam.queue.pop();
     if (!fr) break;
@@ -66,29 +62,41 @@ void CameraServer::cameraThread(Camera &cam) {
     auto eidx = capnp::AnyStruct::Reader(evt).getPointerSection()[0].getAs<cereal::EncodeIndex>();
     if (eidx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C) continue;
 
-    const int id = eidx.getSegmentId();
-    bool prefetched = (id == cam.cached_id && eidx.getSegmentNum() == cam.cached_seg);
-    auto yuv = prefetched ? cam.cached_buf : read_frame(fr, id);
-    if (yuv) {
+    int segment_id = eidx.getSegmentId();
+    uint32_t frame_id = eidx.getFrameId();
+    if (auto yuv = getFrame(cam, fr, segment_id, frame_id)) {
       VisionIpcBufExtra extra = {
-          .frame_id = eidx.getFrameId(),
+          .frame_id = frame_id,
           .timestamp_sof = eidx.getTimestampSof(),
           .timestamp_eof = eidx.getTimestampEof(),
       };
-      yuv->set_frame_id(eidx.getFrameId());
       vipc_server_->send(yuv, &extra);
     } else {
-      rError("camera[%d] failed to get frame: %lu", cam.type, eidx.getSegmentId());
+      rError("camera[%d] failed to get frame: %lu", cam.type, segment_id);
     }
 
-    cam.cached_id = id + 1;
-    cam.cached_seg = eidx.getSegmentNum();
-    cam.cached_buf = read_frame(fr, cam.cached_id);
+    // Prefetch the next frame
+    getFrame(cam, fr, segment_id + 1, frame_id + 1);
 
     --publishing_;
   }
 }
 
+VisionBuf *CameraServer::getFrame(Camera &cam, FrameReader *fr, int32_t segment_id, uint32_t frame_id) {
+  // Check if the frame is cached
+  auto buf_it = std::find_if(cam.cached_buf.begin(), cam.cached_buf.end(),
+                             [frame_id](VisionBuf *buf) { return buf->get_frame_id() == frame_id; });
+  if (buf_it != cam.cached_buf.end()) return *buf_it;
+
+  VisionBuf *yuv_buf = vipc_server_->get_buffer(cam.stream_type);
+  if (fr->get(segment_id, yuv_buf)) {
+    yuv_buf->set_frame_id(frame_id);
+    cam.cached_buf.insert(yuv_buf);
+    return yuv_buf;
+  }
+  return nullptr;
+}
+
 void CameraServer::pushFrame(CameraType type, FrameReader *fr, const Event *event) {
   auto &cam = cameras_[type];
   if (cam.width != fr->width || cam.height != fr->height) {
diff --git a/tools/replay/camera.h b/tools/replay/camera.h
index 436423ac72..77a6293ec6 100644
--- a/tools/replay/camera.h
+++ b/tools/replay/camera.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <memory>
+#include <set>
 #include <tuple>
 #include <utility>
 
@@ -26,12 +27,11 @@ protected:
     int height;
     std::thread thread;
     SafeQueue<std::pair<FrameReader*, const Event *>> queue;
-    int cached_id = -1;
-    int cached_seg = -1;
-    VisionBuf * cached_buf;
+    std::set<VisionBuf *> cached_buf;
   };
   void startVipcServer();
   void cameraThread(Camera &cam);
+  VisionBuf *getFrame(Camera &cam, FrameReader *fr, int32_t segment_id, uint32_t frame_id);
 
   Camera cameras_[MAX_CAMERAS] = {
       {.type = RoadCam, .stream_type = VISION_STREAM_ROAD},
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index 43aef7b881..6a159aa8e2 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -468,12 +468,15 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
      // Skip events if socket is not present
     if (!sockets_[evt.which]) continue;
 
-    int64_t time_diff = (evt.mono_time - evt_start_ts) / speed_ - (nanos_since_boot() - loop_start_ts);
-    // if time_diff is greater than 1 second, it means that an invalid segment is skipped
-    if (time_diff >= 1e9 || speed_ != prev_replay_speed) {
-      // reset event start times
+    const uint64_t current_nanos = nanos_since_boot();
+    const int64_t time_diff = (evt.mono_time - evt_start_ts) / speed_ - (current_nanos - loop_start_ts);
+
+    // Reset timestamps for potential synchronization issues:
+    // - A negative time_diff may indicate slow execution or system wake-up,
+    // - A time_diff exceeding 1 second suggests a skipped segment.
+    if ((time_diff < -1e9 || time_diff >= 1e9) || speed_ != prev_replay_speed) {
       evt_start_ts = evt.mono_time;
-      loop_start_ts = nanos_since_boot();
+      loop_start_ts = current_nanos;
       prev_replay_speed = speed_;
     } else if (time_diff > 0) {
       precise_nano_sleep(time_diff);
diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
index 3bd2f35772..46d09c7b9d 100644
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@@ -46,6 +46,7 @@ class SimulatorBridge(ABC):
     self.world: World | None = None
 
     self.past_startup_engaged = False
+    self.startup_button_prev = True
 
   def _on_shutdown(self, signal, frame):
     self.shutdown()
@@ -161,7 +162,8 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
 
         self.past_startup_engaged = True
       elif not self.past_startup_engaged and controlsState.engageable:
-        self.simulator_state.cruise_button = CruiseButtons.DECEL_SET # force engagement on startup
+        self.simulator_state.cruise_button = CruiseButtons.DECEL_SET if self.startup_button_prev else CruiseButtons.MAIN # force engagement on startup
+        self.startup_button_prev = not self.startup_button_prev
 
       throttle_out = throttle_op if self.simulator_state.is_engaged else throttle_manual
       brake_out = brake_op if self.simulator_state.is_engaged else brake_manual
diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py
index 504914c562..d9653d5cfd 100644
--- a/tools/sim/tests/test_sim_bridge.py
+++ b/tools/sim/tests/test_sim_bridge.py
@@ -62,8 +62,6 @@ class TestSimBridgeBase(unittest.TestCase):
     while time.monotonic() < start_time + max_time_per_step:
       sm.update()
 
-      q.put("cruise_down")  # Try engaging
-
       if sm.all_alive() and sm['controlsState'].active:
         control_active += 1
 
diff --git a/tools/zookeeper/__init__.py b/tools/zookeeper/__init__.py
deleted file mode 100644
index 598e0a0587..0000000000
--- a/tools/zookeeper/__init__.py
+++ /dev/null
@@ -1,78 +0,0 @@
-import ft4222
-import ft4222.I2CMaster
-
-DEBUG = False
-
-INA231_ADDR = 0x40
-INA231_REG_CONFIG = 0x00
-INA231_REG_SHUNT_VOLTAGE = 0x01
-INA231_REG_BUS_VOLTAGE = 0x02
-INA231_REG_POWER = 0x03
-INA231_REG_CURRENT = 0x04
-INA231_REG_CALIBRATION = 0x05
-
-INA231_BUS_LSB = 1.25e-3
-INA231_SHUNT_LSB = 2.5e-6
-SHUNT_RESISTOR = 30e-3
-CURRENT_LSB = 1e-5
-
-class Zookeeper:
-  def __init__(self):
-    if ft4222.createDeviceInfoList() < 2:
-      raise Exception("No connected zookeeper found!")
-    self.dev_a = ft4222.openByDescription("FT4222 A")
-    self.dev_b = ft4222.openByDescription("FT4222 B")
-
-    if DEBUG:
-      for i in range(ft4222.createDeviceInfoList()):
-        print(f"Device {i}: {ft4222.getDeviceInfoDetail(i, False)}")
-
-    # Setup GPIO
-    self.dev_b.gpio_Init(gpio2=ft4222.Dir.OUTPUT, gpio3=ft4222.Dir.OUTPUT)
-    self.dev_b.setSuspendOut(False)
-    self.dev_b.setWakeUpInterrut(False)
-
-    # Setup I2C
-    self.dev_a.i2cMaster_Init(kbps=400)
-    self._initialize_ina()
-
-  # Helper functions
-  def _read_ina_register(self, register, length):
-    self.dev_a.i2cMaster_WriteEx(INA231_ADDR, data=register, flag=ft4222.I2CMaster.Flag.REPEATED_START)
-    return self.dev_a.i2cMaster_Read(INA231_ADDR, bytesToRead=length)
-
-  def _write_ina_register(self, register, data):
-    msg = register.to_bytes(1, byteorder="big") + data.to_bytes(2, byteorder="big")
-    self.dev_a.i2cMaster_Write(INA231_ADDR, data=msg)
-
-  def _initialize_ina(self):
-    # Config
-    self._write_ina_register(INA231_REG_CONFIG, 0x4127)
-
-    # Calibration
-    CAL_VALUE = int(0.00512 / (CURRENT_LSB * SHUNT_RESISTOR))
-    if DEBUG:
-      print(f"Calibration value: {hex(CAL_VALUE)}")
-    self._write_ina_register(INA231_REG_CALIBRATION, CAL_VALUE)
-
-  def _set_gpio(self, number, enabled):
-    self.dev_b.gpio_Write(portNum=number, value=enabled)
-
-  # Public API functions
-  def set_device_power(self, enabled):
-    self._set_gpio(2, enabled)
-
-  def set_device_ignition(self, enabled):
-    self._set_gpio(3, enabled)
-
-  def read_current(self):
-    # Returns in A
-    return int.from_bytes(self._read_ina_register(INA231_REG_CURRENT, 2), byteorder="big") * CURRENT_LSB
-
-  def read_power(self):
-    # Returns in W
-    return int.from_bytes(self._read_ina_register(INA231_REG_POWER, 2), byteorder="big") * CURRENT_LSB * 25
-
-  def read_voltage(self):
-    # Returns in V
-    return int.from_bytes(self._read_ina_register(INA231_REG_BUS_VOLTAGE, 2), byteorder="big") * INA231_BUS_LSB
diff --git a/tools/zookeeper/check_consumption.py b/tools/zookeeper/check_consumption.py
deleted file mode 100755
index dab948318f..0000000000
--- a/tools/zookeeper/check_consumption.py
+++ /dev/null
@@ -1,27 +0,0 @@
-#!/usr/bin/env python3
-
-import sys
-import time
-from openpilot.tools.zookeeper import Zookeeper
-
-# Usage: check_consumption.py <averaging_time_sec> <max_average_power_W>
-# Exit code: 0 -> passed
-#	           1 -> failed
-
-if __name__ == "__main__":
-  z = Zookeeper()
-
-  averaging_time_s = int(sys.argv[1])
-  max_average_power = float(sys.argv[2])
-
-  start_time = time.time()
-  measurements = []
-  while time.time() - start_time < averaging_time_s:
-    measurements.append(z.read_power())
-    time.sleep(0.1)
-
-  average_power = sum(measurements)/len(measurements)
-  print(f"Average power: {round(average_power, 4)}W")
-
-  if average_power > max_average_power:
-    exit(1)
diff --git a/tools/zookeeper/disable.py b/tools/zookeeper/disable.py
deleted file mode 100755
index 4bea3e7ed0..0000000000
--- a/tools/zookeeper/disable.py
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env python3
-
-from openpilot.tools.zookeeper import Zookeeper
-
-if __name__ == "__main__":
-  z = Zookeeper()
-  z.set_device_power(False)
-
diff --git a/tools/zookeeper/enable_and_wait.py b/tools/zookeeper/enable_and_wait.py
deleted file mode 100755
index 51b8dc0a5c..0000000000
--- a/tools/zookeeper/enable_and_wait.py
+++ /dev/null
@@ -1,31 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import time
-from socket import gethostbyname, gaierror
-from openpilot.tools.zookeeper import Zookeeper
-
-def is_online(ip):
-  try:
-    addr = gethostbyname(ip)
-    return (os.system(f"ping -c 1 {addr} > /dev/null") == 0)
-  except gaierror:
-    return False
-
-if __name__ == "__main__":
-  z = Zookeeper()
-  z.set_device_power(True)
-
-
-  ip = str(sys.argv[1])
-  timeout = int(sys.argv[2])
-  start_time = time.time()
-  while not is_online(ip):
-    print(f"{ip} not online yet!")
-
-    if time.time() - start_time > timeout:
-      print("Timed out!")
-      raise TimeoutError()
-
-    time.sleep(1)
-
diff --git a/tools/zookeeper/ignition.py b/tools/zookeeper/ignition.py
deleted file mode 100755
index d5f01c362f..0000000000
--- a/tools/zookeeper/ignition.py
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env python3
-
-import sys
-from openpilot.tools.zookeeper import Zookeeper
-
-
-if __name__ == "__main__":
-  z = Zookeeper()
-  z.set_device_ignition(1 if int(sys.argv[1]) > 0 else 0)
-
diff --git a/tools/zookeeper/power_monitor.py b/tools/zookeeper/power_monitor.py
deleted file mode 100755
index a081baa72a..0000000000
--- a/tools/zookeeper/power_monitor.py
+++ /dev/null
@@ -1,40 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import time
-import datetime
-
-from openpilot.common.realtime import Ratekeeper
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.tools.zookeeper import Zookeeper
-
-if __name__ == "__main__":
-  z = Zookeeper()
-  z.set_device_power(True)
-  z.set_device_ignition(False)
-
-  duration = None
-  if len(sys.argv) > 1:
-    duration = int(sys.argv[1])
-
-  rate = 123
-  rk = Ratekeeper(rate, print_delay_threshold=None)
-  fltr = FirstOrderFilter(0, 5, 1. / rate, initialized=False)
-
-  measurements = []
-  start_time = time.monotonic()
-
-  try:
-    while duration is None or time.monotonic() - start_time < duration:
-      fltr.update(z.read_power())
-      if rk.frame % rate == 0:
-        measurements.append(fltr.x)
-        t = datetime.timedelta(seconds=time.monotonic() - start_time)
-        avg = sum(measurements) / len(measurements)
-        print(f"Now: {fltr.x:.2f} W, Avg: {avg:.2f} W over {t}")
-      rk.keep_time()
-  except KeyboardInterrupt:
-    pass
-
-  t = datetime.timedelta(seconds=time.monotonic() - start_time)
-  avg = sum(measurements) / len(measurements)
-  print(f"\nAverage power: {avg:.2f}W over {t}")
diff --git a/tools/zookeeper/test_zookeeper.py b/tools/zookeeper/test_zookeeper.py
deleted file mode 100755
index 89f7f28975..0000000000
--- a/tools/zookeeper/test_zookeeper.py
+++ /dev/null
@@ -1,25 +0,0 @@
-#!/usr/bin/env python3
-
-import time
-from openpilot.tools.zookeeper import Zookeeper
-
-
-if __name__ == "__main__":
-  z = Zookeeper()
-  z.set_device_power(True)
-
-  i = 0
-  ign = False
-  while 1:
-    voltage = round(z.read_voltage(), 2)
-    current = round(z.read_current(), 3)
-    power = round(z.read_power(), 2)
-    z.set_device_ignition(ign)
-    print(f"Voltage: {voltage}V, Current: {current}A, Power: {power}W, Ignition: {ign}")
-
-    if i > 200:
-      ign = not ign
-      i = 0
-
-    i += 1
-    time.sleep(0.1)