diff --git a/.github/labeler.yaml b/.github/labeler.yaml
new file mode 100644
index 0000000000..4c4d371d43
--- /dev/null
+++ b/.github/labeler.yaml
@@ -0,0 +1,61 @@
+CI / testing:
+  - all:
+    - changed-files: ['.github/**']
+  - all:
+    - changed-files: ['**/test_*']
+
+car: 
+  - all:
+    - changed-files: ['selfdrive/car/**']
+
+body:
+  - all:
+    - changed-files: ['selfdrive/car/body/*']
+chrysler:
+  - all:
+    - changed-files: ['selfdrive/car/chrysler/*']
+ford: 
+  - all:
+    - changed-files: ['selfdrive/car/ford/*']
+gm: 
+  - all:
+    - changed-files: ['selfdrive/car/gm/*']
+honda: 
+  - all:
+    - changed-files: ['selfdrive/car/honda/*']
+hyundai: 
+  - all:
+    - changed-files: ['selfdrive/car/hyundai/*']
+mazda: 
+  - all:
+    - changed-files: ['selfdrive/car/mazda/*']
+nissan: 
+  - all:
+    - changed-files: ['selfdrive/car/nissan/*']
+subaru: 
+  - all:
+    - changed-files: ['selfdrive/car/subaru/*']
+tesla: 
+  - all:
+    - changed-files: ['selfdrive/car/tesla/*']
+toyota: 
+  - all:
+    - changed-files: ['selfdrive/car/toyota/*']
+volkswagen: 
+  - all:
+    - changed-files: ['selfdrive/car/volkswagen/*']
+
+simulation:
+  - all:
+    - changed-files: ['tools/sim/**']
+ui:
+  - all:
+    - changed-files: ['selfdrive/ui/**']
+tools: 
+  - all:
+    - changed-files: ['tools/**']
+
+multilanguage:
+  - all:
+    - changed-files: ['selfdrive/ui/translations/**']
+
diff --git a/.github/workflows/compile-openpilot/action.yaml b/.github/workflows/compile-openpilot/action.yaml
new file mode 100644
index 0000000000..8775c96262
--- /dev/null
+++ b/.github/workflows/compile-openpilot/action.yaml
@@ -0,0 +1,27 @@
+name: 'compile openpilot'
+
+inputs:
+  cache_key_prefix:
+    description: 'Prefix for caching key'
+    required: false
+    default: 'scons'
+
+runs:
+  using: "composite"
+  steps:
+    - shell: bash
+      name: Build openpilot with all flags
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+        ${{ env.RUN }} "release/check-dirty.sh"
+    - shell: bash
+      name: Cleanup scons cache and rebuild
+      run: |
+          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
+                          scons -j$(nproc) --cache-populate"
+    - name: Save scons cache
+      uses: actions/cache/save@v3
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: .ci_cache/scons_cache
+        key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
diff --git a/.github/workflows/labeler.yaml b/.github/workflows/labeler.yaml
new file mode 100644
index 0000000000..20f7260ef7
--- /dev/null
+++ b/.github/workflows/labeler.yaml
@@ -0,0 +1,18 @@
+name: "Pull Request Labeler"
+on:
+  pull_request_target:
+
+jobs:
+  labeler:
+    permissions:
+      contents: read
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: false
+    - uses: actions/labeler@v5.0.0-alpha.1
+      with:
+        dot: true
+        configuration-path: .github/labeler.yaml
\ No newline at end of file
diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
index 8b16ea90b9..3558d7eb7e 100644
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -5,7 +5,7 @@ on:
   workflow_dispatch:
 
 env:
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: selfdrive/test/docker_build.sh prebuilt
 
 jobs:
@@ -29,5 +29,5 @@ jobs:
         submodules: true
     - name: Build and Push docker image
       run: |
-        $DOCKER_LOGIN
+        $DOCKER_GHCR_LOGIN
         eval "$BUILD"
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index a631069726..f7aba648a4 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -16,7 +16,8 @@ env:
   CL_BASE_IMAGE: openpilot-base-cl
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
 
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  DOCKER_HUB_LOGIN: docker login -u adeebshihadeh -p ${{ secrets.DOCKER_HUB_PAT }}
   BUILD: selfdrive/test/docker_build.sh base
 
   RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
@@ -67,30 +68,27 @@ jobs:
         cd $STRIPPED_DIR
         ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
 
-  build_all:
-    name: build all
-    runs-on: ubuntu-20.04
+  build:
+    strategy:
+      matrix:
+        arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
+    # login only on arm machines, due to buildjet rate limits
+    - name: Setup docker
+      if: contains(runner.name, 'buildjet')
+      run: |
+        $DOCKER_HUB_LOGIN
     - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot with all flags
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 12 || 30) }} # allow more time when we missed the scons cache
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - name: Cleanup scons cache and rebuild
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 2 || 30) }} # allow more time when we missed the scons cache
-      run: |
-          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
-                          scons -j$(nproc) --cache-populate"
-    - name: Save scons cache
-      uses: actions/cache/save@v3
-      if: github.ref == 'refs/heads/master'
       with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        cache_key_prefix: scons_${{ matrix.arch }}
+    - uses: ./.github/workflows/compile-openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
+      with:
+        cache_key_prefix: scons_${{ matrix.arch }}
 
   build_mac:
     name: build macos
@@ -185,8 +183,10 @@ jobs:
         sudo rm -rf /Applications/ArmGNUToolchain/*/*/.fseventsd
 
   docker_push:
-    name: docker push
-    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }}
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v3
@@ -195,14 +195,39 @@ jobs:
     - name: Setup to push to repo
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        $DOCKER_LOGIN
+        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
+        $DOCKER_GHCR_LOGIN
+    # login only on arm machines, due to buildjet rate limits
+    - name: Additional setup for buildjet
+      if: contains(runner.name, 'buildjet')
+      run: |
+        $DOCKER_HUB_LOGIN
     - uses: ./.github/workflows/setup-with-retry
       with:
         git-lfs: false
     - name: Build and push CL Docker image
+      if: matrix.arch == 'x86_64'
       run: |
+        unset TARGET_ARCHITECTURE
         eval "$BUILD_CL"
 
+  docker_push_multiarch:
+    name: docker push multiarch tag
+    runs-on: ubuntu-20.04
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+    needs: [docker_push]
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: false
+    - name: Setup docker
+      run: |
+        $DOCKER_GHCR_LOGIN
+    - name: Merge x64 and arm64 tags
+      run: |
+        export PUSH_IMAGE=true
+        selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
+
   static_analysis:
     name: static analysis
     runs-on: ubuntu-20.04
@@ -249,18 +274,10 @@ jobs:
       timeout-minutes: 40
       run: |
         ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
-                        $PYTEST && \
-                        selfdrive/locationd/test/_test_locationd_lib.py && \
-                        ./system/ubloxd/tests/test_glonass_runner && \
+                        $PYTEST -n auto --dist=loadscope --timeout 30 -o cpp_files=test_* && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         ./selfdrive/ui/tests/test_translations.py && \
-                        ./common/tests/test_common && \
-                        ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
-                        ./system/loggerd/tests/test_logger &&\
-                        ./system/proclogd/tests/test_proclog && \
-                        ./tools/replay/tests/test_replay && \
-                        ./tools/cabana/tests/test_cabana && \
                         ./system/camerad/test/ae_gray_test && \
                         ./selfdrive/test/process_replay/test_fuzzy.py"
     - name: "Upload coverage to Codecov"
@@ -324,7 +341,7 @@ jobs:
         ${{ env.RUN }} "scons -j$(nproc)"
     # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
     - name: Run model replay with ONNX
-      timeout-minutes: 2
+      timeout-minutes: 3
       run: |
         ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
                            ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml
index 427b5a45ac..e4c97af3ce 100644
--- a/.github/workflows/setup-with-retry/action.yaml
+++ b/.github/workflows/setup-with-retry/action.yaml
@@ -5,9 +5,14 @@ inputs:
     description: 'Whether or not to pull the git lfs'
     required: false
     default: 'true'
-
-env:
-  SLEEP_TIME: 30 # Time to sleep between retries
+  cache_key_prefix:
+    description: 'Prefix for caching key'
+    required: false
+    default: 'scons_x86_64'
+  sleep_time:
+    description: 'Time to sleep between retries'
+    required: false
+    default: 30
 
 runs:
   using: "composite"
@@ -17,23 +22,26 @@ runs:
       continue-on-error: true
       with:
         git_lfs: ${{ inputs.git_lfs }}
+        cache_key_prefix: ${{ inputs.cache_key_prefix }}
         is_retried: true
     - if: steps.setup1.outcome == 'failure'
       shell: bash
-      run: sleep ${{ env.SLEEP_TIME }}
+      run: sleep ${{ inputs.sleep_time }}
     - id: setup2
       if: steps.setup1.outcome == 'failure'
       uses: ./.github/workflows/setup
       continue-on-error: true
       with:
         git_lfs: ${{ inputs.git_lfs }}
+        cache_key_prefix: ${{ inputs.cache_key_prefix }}
         is_retried: true
     - if: steps.setup2.outcome == 'failure'
       shell: bash
-      run: sleep ${{ env.SLEEP_TIME }}
+      run: sleep ${{ inputs.sleep_time }}
     - id: setup3
       if: steps.setup2.outcome == 'failure'
       uses: ./.github/workflows/setup
       with:
         git_lfs: ${{ inputs.git_lfs }}
-        is_retried: true
\ No newline at end of file
+        cache_key_prefix: ${{ inputs.cache_key_prefix }}
+        is_retried: true
diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
index 74b82f9158..eebc376346 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -5,6 +5,10 @@ inputs:
     description: 'Whether or not to pull the git lfs'
     required: false
     default: 'true'
+  cache_key_prefix:
+    description: 'Prefix for caching key'
+    required: false
+    default: 'scons_x86_64'
   is_retried:
     description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
     required: false
@@ -35,10 +39,10 @@ runs:
       uses: actions/cache/restore@v3
       with:
         path: .ci_cache/scons_cache
-        key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |
-          scons-${{ env.CACHE_COMMIT_DATE }}-
-          scons-
+          ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-
+          ${{ inputs.cache_key_prefix }}-
     # if we didn't get a cache hit, make the directory manually so it doesn't fail on future steps
     - id: scons-cache-setup
       shell: bash
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index c7a5f80c3b..27c362fcd6 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -13,7 +13,7 @@ concurrency:
 env:
   BASE_IMAGE: openpilot-base
   CL_BASE_IMAGE: openpilot-base-cl
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
 
   BUILD: selfdrive/test/docker_build.sh base
 
@@ -58,7 +58,7 @@ jobs:
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        $DOCKER_LOGIN
+        $DOCKER_GHCR_LOGIN
     - name: Build and push sim image
       run: |
         selfdrive/test/docker_build.sh sim
@@ -78,7 +78,7 @@ jobs:
       if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        $DOCKER_LOGIN
+        $DOCKER_GHCR_LOGIN
     - name: Build and push docs image
       run: |
         selfdrive/test/docker_build.sh docs
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 6f6e7285d1..a5da03b266 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,9 +1,89 @@
+exclude: '^(tinygrad_repo)'
 repos:
+-   repo: meta
+    hooks:
+    -   id: check-hooks-apply
+    -   id: check-useless-excludes
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+    -   id: check-ast
+        exclude: '^(third_party)/'
+    -   id: check-json
+    -   id: check-toml
+    -   id: check-xml
+    -   id: check-yaml
+    -   id: check-merge-conflict
+    -   id: check-symlinks
+    -   id: check-executables-have-shebangs
+    -   id: check-shebang-scripts-are-executable
+    -   id: check-added-large-files
+        args: ['--maxkb=100']
+-   repo: https://github.com/codespell-project/codespell
+    rev: v2.2.5
+    hooks:
+    -   id: codespell
+        exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
+        args:
+        # if you've got a short variable name that's getting flagged, add it here
+        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie
+        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
+-   repo: local
+    hooks:
+    -   id: mypy
+        name: mypy
+        entry: mypy
+        language: system
+        types: [python]
+        args: ['--explicit-package-bases']
+        exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
+-   repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.0.288
+    hooks:
+    -   id: ruff
+        exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
+-   repo: local
+    hooks:
+    -   id: cppcheck
+        name: cppcheck
+        entry: cppcheck
+        language: system
+        types: [c++]
+        exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
+        args:
+        - --error-exitcode=1
+        - --language=c++
+        - --quiet
+        - --force
+        - -j8
+-   repo: https://github.com/cpplint/cpplint
+    rev: 1.6.1
+    hooks:
+    -   id: cpplint
+        exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
+        args:
+        - --quiet
+        - --counting=total
+        - --linelength=240
+        # https://google.github.io/styleguide/cppguide.html
+        # relevant rules are whitelisted, see all options with: cpplint --filter=
+        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
+-   repo: local
+    hooks:
+    -   id: test_translations
+        name: test translations
+        entry: selfdrive/ui/tests/test_translations.py
+        language: script
+        pass_filenames: false
 -   repo: https://github.com/python-poetry/poetry
-    rev: '1.5.0'
+    rev: '1.6.0'
     hooks:
     -   id: poetry-check
     -   id: poetry-lock
         name: validate poetry lock
         args:
         - --check
+-   repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.26.3
+    hooks:
+    -   id: check-github-workflows
diff --git a/Jenkinsfile b/Jenkinsfile
index c0bdd53253..176c82bcc9 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -1,4 +1,4 @@
-def phone(String ip, String step_label, String cmd) {
+def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
 ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
@@ -51,226 +51,186 @@ END"""
   }
 }
 
-def phone_steps(String device_type, steps) {
-  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-    timeout(time: 20, unit: 'MINUTES') {
-      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
-      steps.each { item ->
-        phone(device_ip, item[0], item[1])
+def deviceStage(String stageName, String deviceType, List env, def steps) {
+  stage(stageName) {
+    if (currentBuild.result != null) {
+        return
+    }
+
+    def extra = env.collect { "export ${it}" }.join('\n');
+
+    docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
+      lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+        timeout(time: 20, unit: 'MINUTES') {
+          device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
+          steps.each { item ->
+            device(device_ip, item[0], item[1])
+          }
+        }
       }
     }
   }
 }
 
-pipeline {
-  agent none
-  environment {
-    CI = "1"
-    PYTHONWARNINGS = "error"
-    TEST_DIR = "/data/openpilot"
-    SOURCE_DIR = "/data/openpilot_source/"
-    AZURE_TOKEN = credentials('azure_token')
-    MAPBOX_TOKEN = credentials('mapbox_token')
+def pcStage(String stageName, Closure body) {
+  node {
+  stage(stageName) {
+    if (currentBuild.result != null) {
+        return
+    }
+
+    checkout scm
+
+    def dockerArgs = '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache';
+    docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .").inside(dockerArgs) {
+      timeout(time: 20, unit: 'MINUTES') {
+        try {
+          sh "git config --global --add safe.directory '*'"
+          sh "git submodule update --init --recursive"
+          sh "git lfs pull"
+          body()
+        } finally {
+          sh "rm -rf ${env.WORKSPACE}/* || true"
+          sh "rm -rf .* || true"
+        }
+      }
+    }
   }
-  options {
-    timeout(time: 3, unit: 'HOURS')
-    disableConcurrentBuilds(abortPrevious: env.BRANCH_NAME != 'master')
-  }
-
-  stages {
-    stage('build release3-staging') {
-      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-      when {
-        branch 'devel-staging'
-      }
-      steps {
-        phone_steps("tici-needs-can", [
-          ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
-        ])
-      }
-    }
-
-    stage('build nightly') {
-      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-      when {
-        branch 'master-ci'
-      }
-      steps {
-        phone_steps("tici-needs-can", [
-          ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
-        ])
-      }
-    }
-
-    stage('openpilot tests') {
-      when {
-        not {
-          anyOf {
-            branch 'master-ci'; branch 'devel'; branch 'devel-staging';
-            branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
-            branch 'testing-closet*'; branch 'hotfix-*'
-          }
-        }
-      }
-
-      parallel {
-
-        /*
-        stage('simulator') {
-          agent {
-            dockerfile {
-              filename 'Dockerfile.sim_nvidia'
-              dir 'tools/sim'
-              args '--user=root'
-            }
-          }
-          steps {
-            sh "git config --global --add safe.directory '*'"
-            sh "git submodule update --init --recursive"
-            sh "git lfs pull"
-            lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
-              sh "${WORKSPACE}/tools/sim/build_container.sh"
-              sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh"
-              sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh"
-            }
-          }
-
-          post {
-            always {
-              sh "docker kill carla_sim || true"
-              sh "rm -rf ${WORKSPACE}/* || true"
-              sh "rm -rf .* || true"
-            }
-          }
-        }
-        */
-
-        stage('PC tests') {
-          agent {
-            dockerfile {
-              filename 'Dockerfile.openpilot_base'
-              args '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache'
-            }
-          }
-          steps {
-            sh "git config --global --add safe.directory '*'"
-            sh "git submodule update --init --depth=1 --recursive"
-            sh "git lfs pull"
-            // tests that our build system's dependencies are configured properly, needs a machine with lots of cores
-            sh "scons --clean && scons --no-cache --random -j42"
-            sh "INTERNAL_SEG_CNT=500 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
-                pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py"
-            sh "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py"
-          }
-
-          post {
-            always {
-              sh "rm -rf ${WORKSPACE}/* || true"
-              sh "rm -rf .* || true"
-            }
-          }
-        }
-
-        stage('tizi-tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tizi", [
-              ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
-              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
-              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
-              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-              ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
-              ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
-              ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
-            ])
-          }
-        }
-
-        stage('build') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          environment {
-            R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
-          }
-          steps {
-            phone_steps("tici-needs-can", [
-              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"],
-              ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["check dirty", "release/check-dirty.sh"],
-              ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-              ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
-            ])
-          }
-        }
-
-        stage('loopback-tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-loopback", [
-              ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
-            ])
-          }
-        }
-
-        stage('HW + Unit Tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-common", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
-              ["test power draw", "pytest 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/sensord/tests/test_pigeond.py"],
-              ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
-              ["test nav", "pytest selfdrive/navd/tests/"],
-            ])
-          }
-        }
-
-        stage('camerad') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-ar0231", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-            ])
-            phone_steps("tici-ox03c10", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-            ])
-          }
-        }
-
-        stage('sensord') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-lsmc", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
-            ])
-            phone_steps("tici-bmx-lsm", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
-            ])
-          }
-        }
-
-        stage('replay') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-replay", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
-            ])
-          }
-        }
-
-      }
-    }
-
   }
 }
+
+def setupCredentials() {
+  withCredentials([
+    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
+    string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
+  ]) {
+    env.AZURE_TOKEN = "${AZURE_TOKEN}"
+    env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
+  }
+}
+
+node {
+  env.CI = "1"
+  env.PYTHONWARNINGS = "error"
+  env.TEST_DIR = "/data/openpilot"
+  env.SOURCE_DIR = "/data/openpilot_source/"
+  setupCredentials()
+
+  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
+  env.GIT_COMMIT = checkout(scm).GIT_COMMIT
+
+  def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
+                         'dashcam3', 'dashcam3-staging', 'testing-closet*', 'hotfix-*']
+  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
+
+  if (env.BRANCH_NAME != 'master') {
+    properties([
+        disableConcurrentBuilds(abortPrevious: true)
+    ])
+  }
+
+  try {
+    if (env.BRANCH_NAME == 'devel-staging') {
+      deviceStage("build release3-staging", "tici-needs-can", [], [
+        ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
+      ])
+    }
+
+    if (env.BRANCH_NAME == 'master-ci') {
+      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", ["SKIP_COPY=1"], [
+          ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"],
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["check dirty", "release/check-dirty.sh"],
+          ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+          ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
+        ])
+      },
+      'HW + Unit Tests': {
+        deviceStage("tici", "tici-common", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test power draw", "./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/sensord/tests/test_pigeond.py"],
+          ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
+          ["test nav", "pytest selfdrive/navd/tests/"],
+        ])
+      },
+      'loopback': {
+        deviceStage("tici", "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", "cd system/sensord/tests && pytest test_sensord.py"],
+        ])
+        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
+        ])
+      },
+      'replay': {
+        deviceStage("tici", "tici-replay", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["model replay", "cd 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 rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
+        ])
+      },
+
+      // *** PC tests ***
+      'PC tests': {
+        pcStage("PC tests") {
+          // tests that our build system's dependencies are configured properly,
+          // needs a machine with lots of cores
+          sh label: "test multi-threaded build", script: "scons --no-cache --random -j42"
+        }
+      },
+      'car tests': {
+        pcStage("car tests") {
+          sh "scons -j30"
+          sh label: "test_models.py", script: "INTERNAL_SEG_CNT=250 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
+              pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py"
+          sh label: "test_car_interfaces.py", script: "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py"
+        }
+      },
+
+    )
+    }
+  } catch (Exception e) {
+    currentBuild.result = 'FAILED'
+    throw e
+  }
+}
\ No newline at end of file
diff --git a/RELEASES.md b/RELEASES.md
index 0a7925200e..89f864dd71 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,7 +1,11 @@
-Version 0.9.5 (202X-XX-XX)
+Version 0.9.5 (2023-09-27)
 ========================
+* New driving model
+  * Improved navigate on openpilot performance using navigation instructions as an additional model input
+* Hyundai Azera 2022 support thanks to sunnyhaibin!
 * Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane!
 * Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
+* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
 * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
 * Lexus IS 2023 support thanks to L3R5!
 
diff --git a/SConstruct b/SConstruct
index f213a5e0bd..a086f8448a 100644
--- a/SConstruct
+++ b/SConstruct
@@ -244,18 +244,6 @@ def progress_function(node):
 if os.environ.get('SCONS_PROGRESS'):
   Progress(progress_function, interval=node_interval)
 
-SHARED = False
-
-# TODO: this can probably be removed
-def abspath(x):
-  if arch == 'aarch64':
-    pth = os.path.join("/data/pythonpath", x[0].path)
-    env.Depends(pth, x)
-    return File(pth)
-  else:
-    # rpath works elsewhere
-    return x[0].path.rsplit("/", 1)[1][:-3]
-
 # Cython build environment
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
@@ -337,34 +325,35 @@ if GetOption("clazy"):
   qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
   qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
 
-Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED')
+Export('env', 'qt_env', 'arch', 'real_arch')
 
+# Build common module
 SConscript(['common/SConscript'])
 Import('_common', '_gpucommon')
 
-if SHARED:
-  common, gpucommon = abspath(common), abspath(gpucommon)
-else:
-  common = [_common, 'json11']
-  gpucommon = [_gpucommon]
+common = [_common, 'json11']
+gpucommon = [_gpucommon]
 
 Export('common', 'gpucommon')
 
-# cereal and messaging are shared with the system
+# Build cereal and messaging
 SConscript(['cereal/SConscript'])
-if SHARED:
-  cereal = abspath([File('cereal/libcereal_shared.so')])
-  messaging = abspath([File('cereal/libmessaging_shared.so')])
-else:
-  cereal = [File('#cereal/libcereal.a')]
-  messaging = [File('#cereal/libmessaging.a')]
-  visionipc = [File('#cereal/libvisionipc.a')]
+
+cereal = [File('#cereal/libcereal.a')]
+messaging = [File('#cereal/libmessaging.a')]
+visionipc = [File('#cereal/libvisionipc.a')]
 messaging_python = [File('#cereal/messaging/messaging_pyx.so')]
 
 Export('cereal', 'messaging', 'messaging_python', 'visionipc')
 
-# Build rednose library and ekf models
+# Build other submodules
+SConscript([
+  'body/board/SConscript',
+  'opendbc/can/SConscript',
+  'panda/SConscript',
+])
 
+# Build rednose library and ekf models
 rednose_deps = [
   "#selfdrive/locationd/models/constants.py",
   "#selfdrive/locationd/models/gnss_helpers.py",
@@ -406,15 +395,6 @@ if arch != "Darwin":
   ])
 
 # Build openpilot
-
-# build submodules
-SConscript([
-  'body/board/SConscript',
-  'cereal/SConscript',
-  'opendbc/can/SConscript',
-  'panda/SConscript',
-])
-
 SConscript(['third_party/SConscript'])
 
 SConscript(['selfdrive/boardd/SConscript'])
diff --git a/cereal b/cereal
index fae6aed120..bf00063015 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit fae6aed120b5b1b22e21785ecfc416fe1ed959d2
+Subproject commit bf00063015ef0cfc517b762d6f901f178256f520
diff --git a/common/SConscript b/common/SConscript
index d22aca128b..97322b248d 100644
--- a/common/SConscript
+++ b/common/SConscript
@@ -1,9 +1,4 @@
-Import('env', 'envCython', 'arch', 'SHARED')
-
-if SHARED:
-  fxn = env.SharedLibrary
-else:
-  fxn = env.Library
+Import('env', 'envCython', 'arch')
 
 common_libs = [
   'params.cc',
@@ -18,13 +13,13 @@ common_libs = [
 if arch != "Darwin":
   common_libs.append('gpio.cc')
 
-_common = fxn('common', common_libs, LIBS="json11")
+_common = env.Library('common', common_libs, LIBS="json11")
 
 files = [
   'clutil.cc',
 ]
 
-_gpucommon = fxn('gpucommon', files)
+_gpucommon = env.Library('gpucommon', files)
 Export('_common', '_gpucommon')
 
 if GetOption('extras'):
diff --git a/common/params.h b/common/params.h
index 24b1bffeb1..fbe0bba6b0 100644
--- a/common/params.h
+++ b/common/params.h
@@ -15,7 +15,11 @@ enum ParamKeyType {
 
 class Params {
 public:
-  Params(const std::string &path = {});
+  explicit Params(const std::string &path = {});
+  // Not copyable.
+  Params(const Params&) = delete;
+  Params& operator=(const Params&) = delete;
+
   std::vector<std::string> allKeys() const;
   bool checkKey(const std::string &key);
   ParamKeyType getKeyType(const std::string &key);
diff --git a/common/prefix.py b/common/prefix.py
index 702b0feae4..6b7e7e2fd7 100644
--- a/common/prefix.py
+++ b/common/prefix.py
@@ -5,10 +5,11 @@ import uuid
 from typing import Optional
 
 from openpilot.common.params import Params
+from openpilot.system.hardware.hw import Paths
 
 class OpenpilotPrefix:
   def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True):
-    self.prefix = prefix if prefix else str(uuid.uuid4())
+    self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
     self.msgq_path = os.path.join('/dev/shm', self.prefix)
     self.clean_dirs_on_exit = clean_dirs_on_exit
 
@@ -18,6 +19,7 @@ class OpenpilotPrefix:
       os.mkdir(self.msgq_path)
     except FileExistsError:
       pass
+    os.makedirs(Paths.log_root(), exist_ok=True)
 
     return self
 
@@ -36,3 +38,6 @@ class OpenpilotPrefix:
       shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
       os.remove(symlink_path)
     shutil.rmtree(self.msgq_path, ignore_errors=True)
+    shutil.rmtree(Paths.log_root(), ignore_errors=True)
+    shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
+    shutil.rmtree(Paths.comma_home(), ignore_errors=True)
diff --git a/common/swaglog.cc b/common/swaglog.cc
index 923f701ab2..bcd597a257 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -20,7 +20,7 @@
 
 class SwaglogState : public LogState {
  public:
-  SwaglogState() : LogState("ipc:///tmp/logmessage") {}
+  SwaglogState() : LogState(Path::swaglog_ipc().c_str()) {}
 
   json11::Json::object ctx_j;
 
diff --git a/common/tests/test_ratekeeper.cc b/common/tests/test_ratekeeper.cc
index f5aa16a859..32c7dfe58c 100644
--- a/common/tests/test_ratekeeper.cc
+++ b/common/tests/test_ratekeeper.cc
@@ -6,11 +6,18 @@
 TEST_CASE("RateKeeper") {
   float freq = GENERATE(10, 50, 100);
   RateKeeper rk("Test RateKeeper", freq);
+
+  int lags = 0;
+  int bad_keep_times = 0;
   for (int i = 0; i < freq; ++i) {
     double begin = seconds_since_boot();
     util::sleep_for(util::random_int(0, 1000.0 / freq - 1));
     bool lagged = rk.keepTime();
-    REQUIRE(std::abs(seconds_since_boot() - begin - (1 / freq)) < 1e-3);
-    REQUIRE(lagged == false);
+    lags += lagged;
+    bad_keep_times += (seconds_since_boot() - begin - (1 / freq)) > 1e-3;
   }
+
+  // need a tolerance here due to scheduling
+  REQUIRE(lags < 5);
+  REQUIRE(bad_keep_times < 5);
 }
diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc
index 322354d730..09bc4c3795 100644
--- a/common/tests/test_swaglog.cc
+++ b/common/tests/test_swaglog.cc
@@ -9,7 +9,6 @@
 #include "system/hardware/hw.h"
 #include "third_party/json11/json11.hpp"
 
-const char *SWAGLOG_ADDR = "ipc:///tmp/logmessage";
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
 int LINE_NO = 0;
@@ -25,7 +24,7 @@ void log_thread(int thread_id, int msg_cnt) {
 void recv_log(int thread_cnt, int thread_msg_cnt) {
   void *zctx = zmq_ctx_new();
   void *sock = zmq_socket(zctx, ZMQ_PULL);
-  zmq_bind(sock, SWAGLOG_ADDR);
+  zmq_bind(sock, Path::swaglog_ipc().c_str());
   std::vector<int> thread_msgs(thread_cnt);
   int total_count = 0;
 
diff --git a/common/tests/test_util.cc b/common/tests/test_util.cc
index 68fced19c2..de87fa3e06 100644
--- a/common/tests/test_util.cc
+++ b/common/tests/test_util.cc
@@ -38,7 +38,8 @@ TEST_CASE("util::read_file") {
     std::string content = random_bytes(64 * 1024);
     write(fd, content.c_str(), content.size());
     std::string ret = util::read_file(filename);
-    REQUIRE(ret == content);
+    bool equal = (ret == content);
+    REQUIRE(equal);
     close(fd);
   }
   SECTION("read directory") {
@@ -108,7 +109,8 @@ TEST_CASE("util::safe_fwrite") {
   REQUIRE(ret == 0);
   ret = fclose(f);
   REQUIRE(ret == 0);
-  REQUIRE(dat == util::read_file(filename));
+  bool equal = (dat == util::read_file(filename));
+  REQUIRE(equal);
 }
 
 TEST_CASE("util::create_directories") {
diff --git a/common/util.h b/common/util.h
index 30f514f8dc..5c0ef7fec5 100644
--- a/common/util.h
+++ b/common/util.h
@@ -188,9 +188,9 @@ class LogState {
   void *zctx = nullptr;
   void *sock = nullptr;
   int print_level;
-  const char* endpoint;
+  std::string endpoint;
 
-  LogState(const char* _endpoint) {
+  LogState(std::string _endpoint) {
     endpoint = _endpoint;
   }
 
@@ -202,7 +202,7 @@ class LogState {
     int timeout = 100;
     zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
 
-    zmq_connect(sock, endpoint);
+    zmq_connect(sock, endpoint.c_str());
     initialized = true;
   }
 
diff --git a/docs/CARS.md b/docs/CARS.md
index e99cdcf071..8bb318c13e 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.
 
-# 260 Supported Cars
+# 262 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -71,6 +71,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
 |Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
+|Hyundai|Azera 2022|All|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 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|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 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
@@ -88,8 +89,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|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 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|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 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|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 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|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 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Palisade 2020-22|All|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 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -109,7 +110,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
 |Jeep|Grand Cherokee 2016-18|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 power v2<br>- 1 comma three<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=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Jeep|Grand Cherokee 2019-21|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 power v2<br>- 1 comma three<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=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Carnival 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Kia&model=Carnival 2023">Buy Here</a></sub></details>||
+|Kia|Carnival 2023-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Kia&model=Carnival 2023-24">Buy Here</a></sub></details>||
 |Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
 |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
 |Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|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 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
@@ -119,6 +120,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Forte 2023|Smart Cruise Control (SCC)|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 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Kia&model=Forte 2023">Buy Here</a></sub></details>||
 |Kia|K5 2021-22|Smart Cruise Control (SCC)|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 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
 |Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|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 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Kia&model=K5 Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|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 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
 |Kia|Niro EV 2019|All|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 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2020|All|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 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2021|All|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 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<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=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
diff --git a/opendbc b/opendbc
index d292afe444..ab68094723 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit d292afe444489f172ad2837c80b292fcc6aa6113
+Subproject commit ab68094723d9a615ca940eece04db2f2f755c4ff
diff --git a/panda b/panda
index be34fc4c02..329e049732 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit be34fc4c0206a8d92e4c30660cbb1193f0ebc6b8
+Subproject commit 329e049732b316c3bf1a23b1895e229a5bfbc9cd
diff --git a/poetry.lock b/poetry.lock
index b1bd2df7c6..2c134ec32d 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
@@ -314,13 +314,13 @@ files = [
 
 [[package]]
 name = "azure-core"
-version = "1.29.3"
+version = "1.29.4"
 description = "Microsoft Azure Core Library for Python"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "azure-core-1.29.3.tar.gz", hash = "sha256:c92700af982e71c8c73de9f4c20da8b3f03ce2c22d13066e4d416b4629c87903"},
-    {file = "azure_core-1.29.3-py3-none-any.whl", hash = "sha256:f8b2910f92b66293d93bd00564924ad20ad48f4a1e150577cf18d1e7d4f9263c"},
+    {file = "azure-core-1.29.4.tar.gz", hash = "sha256:500b3aa9bf2e90c5ccc88bb105d056114ca0ce7d0ce73afb8bc4d714b2fc7568"},
+    {file = "azure_core-1.29.4-py3-none-any.whl", hash = "sha256:b03261bcba22c0b9290faf9999cedd23e849ed2577feee90515694cea6bc74bf"},
 ]
 
 [package.dependencies]
@@ -813,63 +813,63 @@ test = ["pytest", "pytest-timeout"]
 
 [[package]]
 name = "coverage"
-version = "7.3.0"
+version = "7.3.1"
 description = "Code coverage measurement for Python"
 optional = false
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 ]
 
 [package.dependencies]
@@ -2231,11 +2247,12 @@ contourpy = ">=1.0.1"
 cycler = ">=0.10"
 fonttools = ">=4.22.0"
 kiwisolver = ">=1.0.1"
-numpy = ">=1.20"
+numpy = ">=1.20,<2"
 packaging = ">=20.0"
 pillow = ">=6.2.0"
-pyparsing = ">=2.3.1,<3.1"
+pyparsing = ">=2.3.1"
 python-dateutil = ">=2.7"
+setuptools_scm = ">=7"
 
 [[package]]
 name = "mdit-py-plugins"
@@ -2766,14 +2783,7 @@ files = [
 ]
 
 [package.dependencies]
-numpy = [
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-    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
-    {version = ">=1.23.5", markers = "python_version >= \"3.11\""},
-    {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
-    {version = ">=1.17.0", markers = "python_version >= \"3.7\""},
-    {version = ">=1.17.3", markers = "python_version >= \"3.8\""},
-]
+numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
 
 [[package]]
 name = "opencv-python-headless"
@@ -2792,14 +2802,7 @@ files = [
 ]
 
 [package.dependencies]
-numpy = [
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-    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
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-    {version = ">=1.17.0", markers = "python_version >= \"3.7\""},
-    {version = ">=1.17.3", markers = "python_version >= \"3.8\""},
-]
+numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
 
 [[package]]
 name = "packaging"
@@ -3194,24 +3197,24 @@ files = [
 
 [[package]]
 name = "protobuf"
-version = "4.24.2"
+version = "4.24.3"
 description = ""
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [[package]]
@@ -3623,13 +3626,13 @@ test = ["flaky", "pretend", "pytest (>=3.0.1)"]
 
 [[package]]
 name = "pyparsing"
-version = "3.0.9"
+version = "3.1.1"
 description = "pyparsing module - Classes and methods to define and execute parsing grammars"
 optional = false
 python-versions = ">=3.6.8"
 files = [
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+    {file = "pyparsing-3.1.1-py3-none-any.whl", hash = "sha256:32c7c0b711493c72ff18a981d24f28aaf9c1fb7ed5e9667c9e84e3db623bdbfb"},
+    {file = "pyparsing-3.1.1.tar.gz", hash = "sha256:ede28a1a32462f5a9705e07aea48001a08f7cf81a021585011deba701581a0db"},
 ]
 
 [package.extras]
@@ -3759,13 +3762,13 @@ cp2110 = ["hidapi"]
 
 [[package]]
 name = "pytest"
-version = "7.4.1"
+version = "7.4.2"
 description = "pytest: simple powerful testing with Python"
 optional = false
 python-versions = ">=3.7"
 files = [
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+    {file = "pytest-7.4.2-py3-none-any.whl", hash = "sha256:1d881c6124e08ff0a1bb75ba3ec0bfd8b5354a01c194ddd5a0a870a48d99b002"},
+    {file = "pytest-7.4.2.tar.gz", hash = "sha256:a766259cfab564a2ad52cb1aae1b881a75c3eb7e34ca3779697c23ed47c47069"},
 ]
 
 [package.dependencies]
@@ -3795,6 +3798,21 @@ pytest = ">=4.6"
 [package.extras]
 testing = ["fields", "hunter", "process-tests", "pytest-xdist", "six", "virtualenv"]
 
+[[package]]
+name = "pytest-cpp"
+version = "2.4.0"
+description = "Use pytest's runner to discover and execute C++ tests"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "pytest-cpp-2.4.0.tar.gz", hash = "sha256:dcb8b09d4c714fc7f778dc40a7c2c47e73cc50280d7f9bba3bdd3ca98abd4685"},
+    {file = "pytest_cpp-2.4.0-py3-none-any.whl", hash = "sha256:e7c5f40b70b00cc09d672a1584e35beb9b9553512cdd4b1d1f99468747b3bc31"},
+]
+
+[package.dependencies]
+colorama = "*"
+pytest = ">=7.0"
+
 [[package]]
 name = "pytest-subtests"
 version = "0.11.0"
@@ -4333,19 +4351,39 @@ test = ["pytest"]
 
 [[package]]
 name = "setuptools"
-version = "68.1.2"
+version = "68.2.1"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
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-    {file = "setuptools-68.1.2.tar.gz", hash = "sha256:3d4dfa6d95f1b101d695a6160a7626e15583af71a5f52176efa5d39a054d475d"},
+    {file = "setuptools-68.2.1-py3-none-any.whl", hash = "sha256:eff96148eb336377ab11beee0c73ed84f1709a40c0b870298b0d058828761bae"},
+    {file = "setuptools-68.2.1.tar.gz", hash = "sha256:56ee14884fd8d0cd015411f4a13f40b4356775a0aefd9ebc1d3bfb9a1acb32f1"},
 ]
 
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5,<=7.1.2)", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (==0.8.3)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
+docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
 testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pip (>=19.1)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-ruff", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
-testing-integration = ["build[virtualenv]", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
+testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "packaging (>=23.1)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
+
+[[package]]
+name = "setuptools-scm"
+version = "7.1.0"
+description = "the blessed package to manage your versions by scm tags"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "setuptools_scm-7.1.0-py3-none-any.whl", hash = "sha256:73988b6d848709e2af142aa48c986ea29592bbcfca5375678064708205253d8e"},
+    {file = "setuptools_scm-7.1.0.tar.gz", hash = "sha256:6c508345a771aad7d56ebff0e70628bf2b0ec7573762be9960214730de278f27"},
+]
+
+[package.dependencies]
+packaging = ">=20.0"
+setuptools = "*"
+typing-extensions = "*"
+
+[package.extras]
+test = ["pytest (>=6.2)", "virtualenv (>20)"]
+toml = ["setuptools (>=42)"]
 
 [[package]]
 name = "shapely"
@@ -4894,13 +4932,13 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.24.4"
+version = "20.24.5"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.24.4-py3-none-any.whl", hash = "sha256:29c70bb9b88510f6414ac3e55c8b413a1f96239b6b789ca123437d5e892190cb"},
-    {file = "virtualenv-20.24.4.tar.gz", hash = "sha256:772b05bfda7ed3b8ecd16021ca9716273ad9f4467c801f27e83ac73430246dca"},
+    {file = "virtualenv-20.24.5-py3-none-any.whl", hash = "sha256:b80039f280f4919c77b30f1c23294ae357c4c8701042086e3fc005963e4e537b"},
+    {file = "virtualenv-20.24.5.tar.gz", hash = "sha256:e8361967f6da6fbdf1426483bfe9fca8287c242ac0bc30429905721cefbff752"},
 ]
 
 [package.dependencies]
@@ -4914,13 +4952,13 @@ test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess
 
 [[package]]
 name = "websocket-client"
-version = "1.6.2"
+version = "1.6.3"
 description = "WebSocket client for Python with low level API options"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "websocket-client-1.6.2.tar.gz", hash = "sha256:53e95c826bf800c4c465f50093a8c4ff091c7327023b10bfaff40cf1ef170eaa"},
-    {file = "websocket_client-1.6.2-py3-none-any.whl", hash = "sha256:ce54f419dfae71f4bdba69ebe65bf7f0a93fe71bc009ad3a010aacc3eebad537"},
+    {file = "websocket-client-1.6.3.tar.gz", hash = "sha256:3aad25d31284266bcfcfd1fd8a743f63282305a364b8d0948a43bd606acc652f"},
+    {file = "websocket_client-1.6.3-py3-none-any.whl", hash = "sha256:6cfc30d051ebabb73a5fa246efdcc14c8fbebbd0330f8984ac3bb6d9edd2ad03"},
 ]
 
 [package.extras]
@@ -5049,4 +5087,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "0e7f2a907e73eaa31137d70be3a56d350d6fc6dbc54811c80d6031409fddcac1"
+content-hash = "7258a24274936ccdafb930a683f4ea197e82ab187698d0723bb4683ca41e6d26"
diff --git a/pyproject.toml b/pyproject.toml
index 1c7d857652..5d4bcafa7a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,7 @@
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers"
+addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers --durations=10"
+#cpp_files = "test_*" # uncomment when agnos has pytest-cpp and remove from CI
 python_files = "test_*.py"
 #timeout = "30"  # you get this long by default
 markers = [
@@ -18,9 +19,12 @@ testpaths = [
   "selfdrive/test/longitudinal_maneuvers",
   "system/hardware/tici",
   "system/loggerd",
+  "system/proclogd",
   "system/tests",
   "system/ubloxd",
-  "tools/lib/tests"
+  "tools/lib/tests",
+  "tools/replay",
+  "tools/cabana"
 ]
 
 [tool.mypy]
@@ -142,6 +146,7 @@ pygame = "*"
 pyprof2calltree = "*"
 pytest = "*"
 pytest-cov = "*"
+pytest-cpp = "*"
 pytest-subtests = "*"
 pytest-xdist = "*"
 pytest-timeout = "*"
@@ -167,7 +172,7 @@ build-backend = "poetry.core.masonry.api"
 
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
-select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A", "B"]
+select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A", "B", "TID251"]
 ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"]
 line-length = 160
 target-version="py311"
@@ -180,3 +185,9 @@ exclude = [
   "third_party",
 ]
 flake8-implicit-str-concat.allow-multiline=false
+[tool.ruff.flake8-tidy-imports.banned-api]
+"selfdrive".msg = "Use openpilot.selfdrive"
+"common".msg = "Use openpilot.common"
+"system".msg = "Use openpilot.system"
+"third_party".msg = "Use openpilot.third_party"
+"tools".msg = "Use openpilot.tools"
\ No newline at end of file
diff --git a/release/files_common b/release/files_common
index 81623a4942..e4d77a1ef6 100644
--- a/release/files_common
+++ b/release/files_common
@@ -212,6 +212,7 @@ system/hardware/__init__.py
 system/hardware/base.h
 system/hardware/base.py
 system/hardware/hw.h
+system/hardware/hw.py
 system/hardware/tici/__init__.py
 system/hardware/tici/hardware.h
 system/hardware/tici/hardware.py
@@ -363,12 +364,10 @@ selfdrive/modeld/.gitignore
 selfdrive/modeld/__init__.py
 selfdrive/modeld/SConscript
 selfdrive/modeld/modeld.py
-selfdrive/modeld/navmodeld.cc
-selfdrive/modeld/dmonitoringmodeld.cc
+selfdrive/modeld/navmodeld.py
+selfdrive/modeld/dmonitoringmodeld.py
 selfdrive/modeld/constants.py
 selfdrive/modeld/modeld
-selfdrive/modeld/navmodeld
-selfdrive/modeld/dmonitoringmodeld
 
 selfdrive/modeld/models/__init__.py
 selfdrive/modeld/models/*.pxd
@@ -381,12 +380,8 @@ selfdrive/modeld/models/driving.cc
 selfdrive/modeld/models/driving.h
 selfdrive/modeld/models/supercombo.onnx
 
-selfdrive/modeld/models/dmonitoring.cc
-selfdrive/modeld/models/dmonitoring.h
 selfdrive/modeld/models/dmonitoring_model_q.dlc
 
-selfdrive/modeld/models/nav.cc
-selfdrive/modeld/models/nav.h
 selfdrive/modeld/models/navmodel_q.dlc
 
 selfdrive/modeld/transforms/loadyuv.cc
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index 49b214f5e9..899605d989 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -36,11 +36,11 @@ from openpilot.common.file_helpers import CallbackReader
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware import HARDWARE, PC, AGNOS
-from openpilot.system.loggerd.config import ROOT
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.selfdrive.statsd import STATS_DIR
-from openpilot.system.swaglog import SWAGLOG_DIR, cloudlog
+from openpilot.system.swaglog import cloudlog
 from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version
+from openpilot.selfdrive.hardware.hw import Paths
 
 
 # TODO: use socket constant when mypy recognizes this as a valid attribute
@@ -119,12 +119,11 @@ class AbortTransferException(Exception):
 
 
 class UploadQueueCache:
-  params = Params()
 
   @staticmethod
   def initialize(upload_queue: Queue[UploadItem]) -> None:
     try:
-      upload_queue_json = UploadQueueCache.params.get("AthenadUploadQueue")
+      upload_queue_json = Params().get("AthenadUploadQueue")
       if upload_queue_json is not None:
         for item in json.loads(upload_queue_json):
           upload_queue.put(UploadItem.from_dict(item))
@@ -136,7 +135,7 @@ class UploadQueueCache:
     try:
       queue: List[Optional[UploadItem]] = list(upload_queue.queue)
       items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
-      UploadQueueCache.params.put("AthenadUploadQueue", json.dumps(items))
+      Params().put("AthenadUploadQueue", json.dumps(items))
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
 
@@ -352,7 +351,7 @@ def scan_dir(path: str, prefix: str) -> List[str]:
   # (glob and friends traverse entire dir tree)
   with os.scandir(path) as i:
     for e in i:
-      rel_path = os.path.relpath(e.path, ROOT)
+      rel_path = os.path.relpath(e.path, Paths.log_root())
       if e.is_dir(follow_symlinks=False):
         # add trailing slash
         rel_path = os.path.join(rel_path, '')
@@ -367,7 +366,7 @@ def scan_dir(path: str, prefix: str) -> List[str]:
 
 @dispatcher.add_method
 def listDataDirectory(prefix='') -> List[str]:
-  return scan_dir(ROOT, prefix)
+  return scan_dir(Paths.log_root(), prefix)
 
 
 @dispatcher.add_method
@@ -408,7 +407,7 @@ def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlRespo
       failed.append(file.fn)
       continue
 
-    path = os.path.join(ROOT, file.fn)
+    path = os.path.join(Paths.log_root(), file.fn)
     if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)):
       failed.append(file.fn)
       continue
@@ -572,8 +571,8 @@ def get_logs_to_send_sorted() -> List[str]:
   # TODO: scan once then use inotify to detect file creation/deletion
   curr_time = int(time.time())
   logs = []
-  for log_entry in os.listdir(SWAGLOG_DIR):
-    log_path = os.path.join(SWAGLOG_DIR, log_entry)
+  for log_entry in os.listdir(Paths.swaglog_root()):
+    log_path = os.path.join(Paths.swaglog_root(), log_entry)
     time_sent = 0
     try:
       value = getxattr(log_path, LOG_ATTR_NAME)
@@ -608,7 +607,7 @@ def log_handler(end_event: threading.Event) -> None:
         cloudlog.debug(f"athena.log_handler.forward_request {log_entry}")
         try:
           curr_time = int(time.time())
-          log_path = os.path.join(SWAGLOG_DIR, log_entry)
+          log_path = os.path.join(Paths.swaglog_root(), log_entry)
           setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder))
           with open(log_path) as f:
             jsonrpc = {
@@ -635,7 +634,7 @@ def log_handler(end_event: threading.Event) -> None:
           log_success = "result" in log_resp and log_resp["result"].get("success")
           cloudlog.debug(f"athena.log_handler.forward_response {log_entry} {log_success}")
           if log_entry and log_success:
-            log_path = os.path.join(SWAGLOG_DIR, log_entry)
+            log_path = os.path.join(Paths.swaglog_root(), log_entry)
             try:
               setxattr(log_path, LOG_ATTR_NAME, LOG_ATTR_VALUE_MAX_UNIX_TIME)
             except OSError:
diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py
index e088bcf356..f4c229188e 100755
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@@ -3,7 +3,6 @@ import json
 import os
 import requests
 import shutil
-import tempfile
 import time
 import threading
 import queue
@@ -18,11 +17,11 @@ from unittest import mock
 from websocket import ABNF
 from websocket._exceptions import WebSocketConnectionClosedException
 
-from openpilot.system import swaglog
 from openpilot.selfdrive.athena import athenad
 from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
 from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
 from cereal import messaging
+from openpilot.selfdrive.hardware.hw import Paths
 
 
 class TestAthenadMethods(unittest.TestCase):
@@ -30,8 +29,6 @@ class TestAthenadMethods(unittest.TestCase):
   def setUpClass(cls):
     cls.SOCKET_PORT = 45454
     athenad.Params = MockParams
-    athenad.ROOT = tempfile.mkdtemp()
-    athenad.SWAGLOG_DIR = swaglog.SWAGLOG_DIR = tempfile.mkdtemp()
     athenad.Api = MockApi
     athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT}
 
@@ -41,8 +38,8 @@ class TestAthenadMethods(unittest.TestCase):
     athenad.cur_upload_items.clear()
     athenad.cancelled_uploads.clear()
 
-    for i in os.listdir(athenad.ROOT):
-      p = os.path.join(athenad.ROOT, i)
+    for i in os.listdir(Paths.log_root()):
+      p = os.path.join(Paths.log_root(), i)
       if os.path.isdir(p):
         shutil.rmtree(p)
       else:
@@ -61,7 +58,7 @@ class TestAthenadMethods(unittest.TestCase):
 
   @staticmethod
   def _create_file(file: str, parent: Optional[str] = None) -> str:
-    fn = os.path.join(athenad.ROOT if parent is None else parent, file)
+    fn = os.path.join(Paths.log_root() if parent is None else parent, file)
     os.makedirs(os.path.dirname(fn), exist_ok=True)
     Path(fn).touch()
     return fn
@@ -418,7 +415,7 @@ class TestAthenadMethods(unittest.TestCase):
     fl = list()
     for i in range(10):
       file = f'swaglog.{i:010}'
-      self._create_file(file, athenad.SWAGLOG_DIR)
+      self._create_file(file, Paths.swaglog_root())
       fl.append(file)
 
     # ensure the list is all logs except most recent
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index ec3d79173c..b3aabce1c2 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -99,7 +99,7 @@ class CarState(CarStateBase):
     ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
     ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
 
-    ret.parkingBrake = pt_cp.vl["VehicleIgnitionAlt"]["ParkBrake"] == 1
+    ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
     ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
     ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
     ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
@@ -136,7 +136,7 @@ class CarState(CarStateBase):
       ("PSCMStatus", 10),
       ("ESPStatus", 10),
       ("BCMDoorBeltStatus", 10),
-      ("VehicleIgnitionAlt", 10),
+      ("BCMGeneralPlatformStatus", 10),
       ("EBCMWheelSpdFront", 20),
       ("EBCMWheelSpdRear", 20),
       ("EBCMFrictionBrakeStatus", 20),
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 9fad0db7f4..2edeebff31 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -111,10 +111,12 @@ class CarState(CarStateBase):
       ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
       ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
       ret.cruiseState.standstill = False
+      ret.cruiseState.nonAdaptive = False
     else:
       ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
       ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
       ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
+      ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2.  # Shows 'Cruise Control' on dash
       ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
 
     # TODO: Find brake pressure
@@ -251,6 +253,13 @@ class CarState(CarStateBase):
       ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
       self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
 
+    # Manual Speed Limit Assist is a feature that replaces non-adaptive cruise control on EV CAN FD platforms.
+    # It limits the vehicle speed, overridable by pressing the accelerator past a certain point.
+    # The car will brake, but does not respect positive acceleration commands in this mode
+    # TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists)
+    if self.CP.carFingerprint in EV_CAR:
+      ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
+
     self.prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
     self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
@@ -363,6 +372,11 @@ class CarState(CarStateBase):
       ("DOORS_SEATBELTS", 4),
     ]
 
+    if CP.carFingerprint in EV_CAR:
+      messages += [
+        ("MANUAL_SPEED_LIMIT_ASSIST", 10),
+      ]
+
     if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
       messages += [
         ("CRUISE_BUTTONS", 50)
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index ccacb206bf..e26dbeb48b 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -37,7 +37,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
                          CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
                          CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
-                         CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED):
+                         CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
+                         CAR.AZERA_6TH_GEN):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 1cf5a4b26e..1109c52277 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -68,7 +68,11 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
+    if candidate == CAR.AZERA_6TH_GEN:
+      ret.mass = 1540.  # average
+      ret.wheelbase = 2.885
+      ret.steerRatio = 14.5
+    elif candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
       ret.mass = 3982. * CV.LB_TO_KG
       ret.wheelbase = 2.766
       # Values from optimizer
@@ -215,6 +219,10 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 2087.
       ret.wheelbase = 3.09
       ret.steerRatio = 14.23
+    elif candidate == CAR.KIA_K8_HEV_1ST_GEN:
+      ret.mass = 1630.  # https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid
+      ret.wheelbase = 2.895
+      ret.steerRatio = 13.27  # guesstimate from K5 platform
 
     # Genesis
     elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py
index 39a9aaf627..11268913aa 100755
--- a/selfdrive/car/hyundai/tests/test_hyundai.py
+++ b/selfdrive/car/hyundai/tests/test_hyundai.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+from hypothesis import settings, given, strategies as st
 import unittest
 
 from cereal import car
@@ -66,6 +67,14 @@ class TestHyundaiFingerprint(unittest.TestCase):
           part = code.split(b"-")[1]
           self.assertFalse(part.startswith(b'CW'), "Car has bad part number")
 
+  @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)
+
   # Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy
   # fingerprint in the absence of full FW matches:
   def test_platform_code_ecus_available(self):
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index ce451601af..e02e4561cd 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -75,6 +75,7 @@ class HyundaiFlagsSP(IntFlag):
 
 class CAR:
   # Hyundai
+  AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
   ELANTRA = "HYUNDAI ELANTRA 2017"
   ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
   ELANTRA_2022_NON_SCC = "HYUNDAI ELANTRA SE 2022 NON-SCC"
@@ -113,6 +114,7 @@ class CAR:
   KIA_FORTE_2021_NON_SCC = "KIA FORTE LXS 2021 NON-SCC"
   KIA_K5_2021 = "KIA K5 2021"
   KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020"
+  KIA_K8_HEV_1ST_GEN = "KIA K8 HYBRID 1ST GEN"
   KIA_NIRO_EV = "KIA NIRO EV 2020"
   KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN"
   KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
@@ -162,6 +164,7 @@ class HyundaiCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
+  CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
   CAR.ELANTRA: [
     HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
     HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
@@ -183,7 +186,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
   CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
   CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
-  CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])),
+  CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
   CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo",
                                                                       car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages
   CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", car_parts=CarParts.common([CarHarness.hyundai_r])),
@@ -227,6 +230,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.KIA_K8_HEV_1ST_GEN: HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
   CAR.KIA_NIRO_EV: [
     HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
     HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
@@ -270,7 +274,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
   ],
   CAR.KIA_CARNIVAL_4TH_GEN: [
-    HyundaiCarInfo("Kia Carnival 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    HyundaiCarInfo("Kia Carnival 2023-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
     HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
   ],
 
@@ -475,6 +479,7 @@ PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z]
 # TODO: use abs, it has the platform code and part number on many platforms
 PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
 # So far we've only seen dates in fwdCamera
+# TODO: there are date codes in the ABS firmware versions in hex
 DATE_FW_ECUS = [Ecu.fwdCamera]
 
 FW_QUERY_CONFIG = FwQueryConfig(
@@ -538,6 +543,23 @@ FW_QUERY_CONFIG = FwQueryConfig(
 )
 
 FW_VERSIONS = {
+  CAR.AZERA_6TH_GEN: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IG__ SCC F-CU-      1.00 1.00 99110-G8100         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IG  MDPS C 1.00 1.02 56310G8510\x00 4IGSC103',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00IG  MFC  AT MES LHD 1.00 1.04 99211-G8100 200511',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.HYUNDAI_GENESIS: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DH LKAS 1.1 -150210',
@@ -1478,10 +1500,7 @@ FW_VERSIONS = {
       b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010',
       b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
       b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010',
-      # TODO: these return from the MULTI request, above return from LONG
-      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xee\xff\xe0\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xffP\xf5\xff\xfd\x00\x00\x00\x00\xfc\x00\x01',
-      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xdb\x00\x00\x00\x00\xff\xb1\xff\xd9\xff\xd2\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xff\xd6\xf5\x00\x06\x00\x00\x00\x14\xfd\x00\x04',
-      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xf4\xff\xd9\x00\xc0',
+      b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00OSP LKA  AT CND LHD 1.00 1.02 99211-J9110 802',
@@ -1489,12 +1508,14 @@ FW_VERSIONS = {
       b'\xf1\x00OSP LKA  AT AUS RHD 1.00 1.04 99211-J9200 904',
       b'\xf1\x00OSP LKA  AT EUR LHD 1.00 1.04 99211-J9200 904',
       b'\xf1\x00OSP LKA  AT EUR RHD 1.00 1.04 99211-J9200 904',
+      b'\xf1\x00OSP LKA  AT USA LHD 1.00 1.04 99211-J9200 904',
     ],
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102',
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102',
     ],
     (Ecu.fwdRadar, 0x7D0, None): [
       b'\xf1\x00YB__ FCA -----      1.00 1.01 99110-K4500      \x00\x00\x00',
@@ -2005,6 +2026,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       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',
+      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.00 99210-R0100 230105',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00KA4_ SCC FHCUP      1.00 1.03 99110-R0000         ',
@@ -2020,6 +2042,14 @@ FW_VERSIONS = {
       b'\xf1\x00MQhe SCC FHCUP      1.00 1.07 99110-P4000         ',
     ],
   },
+  CAR.KIA_K8_HEV_1ST_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00GL3HMFC  AT KOR LHD 1.00 1.03 99211-L8000 210907',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00GL3_ RDR -----      1.00 1.02 99110-L8000         ',
+    ],
+  },
 }
 
 CHECKSUM = {
@@ -2042,7 +2072,7 @@ CAN_GEARS = {
 CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
              CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN,
              CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
-             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN}
+             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN}
 
 # The radar does SCC on these cars when HDA I, rather than the camera
 CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80,
@@ -2055,13 +2085,13 @@ CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
 HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ,
               CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN,
               CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN,
-              CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H}
+              CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_K8_HEV_1ST_GEN}
 
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
           CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
-LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_OPTIMA_G4,
+LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KIA_OPTIMA_G4,
                           CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022,
                           CAR.KIA_OPTIMA_H}
 
@@ -2075,6 +2105,7 @@ NON_SCC_RADAR_FCA_CAR = {CAR.GENESIS_G70_2021_NON_SCC, }
 # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
 # If no points are outputted by default it might be possible to turn it on using  selfdrive/debug/hyundai_enable_radar_points.py
 DBC = {
+  CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
   CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
   CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
   CAR.ELANTRA_2022_NON_SCC: dbc_dict('hyundai_kia_generic', None),
@@ -2139,4 +2170,5 @@ DBC = {
   CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None),
 }
diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
index d36f972a87..c7821bdb97 100755
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@@ -1,61 +1,35 @@
 #!/usr/bin/env python3
 from cereal import car
-from openpilot.system.swaglog import cloudlog
 import cereal.messaging as messaging
-from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-
-# mocked car interface to work with chffrplus
+# mocked car interface for dashcam mode
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController, CarState):
     super().__init__(CP, CarController, CarState)
 
-    cloudlog.debug("Using Mock Car Interface")
-
-    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
-
     self.speed = 0.
-    self.prev_speed = 0.
+    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
 
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "mock"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
     ret.mass = 1700.
     ret.wheelbase = 2.70
     ret.centerToFront = ret.wheelbase * 0.5
-    ret.steerRatio = 13.  # reasonable
-
+    ret.steerRatio = 13.
     return ret
 
-  # returns a car.CarState
   def _update(self, c):
     self.sm.update(0)
     gps_sock = 'gpsLocationExternal' if self.sm.rcv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
-    if self.sm.updated[gps_sock]:
-      self.prev_speed = self.speed
-      self.speed = self.sm[gps_sock].speed
 
-    # create message
     ret = car.CarState.new_message()
-
-    # speeds
-    ret.vEgo = self.speed
-    ret.vEgoRaw = self.speed
-
-    ret.aEgo = self.speed - self.prev_speed
-    ret.brakePressed = ret.aEgo < -0.5
-
-    ret.standstill = self.speed < 0.01
-    ret.wheelSpeeds.fl = self.speed
-    ret.wheelSpeeds.fr = self.speed
-    ret.wheelSpeeds.rl = self.speed
-    ret.wheelSpeeds.rr = self.speed
+    ret.vEgo = self.sm[gps_sock].speed
+    ret.vEgoRaw = self.sm[gps_sock].speed
 
     return ret
 
   def apply(self, c, now_nanos):
-    # in mock no carcontrols
     actuators = car.CarControl.Actuators.new_message()
     return actuators, []
diff --git a/selfdrive/car/mock/radar_interface.py b/selfdrive/car/mock/radar_interface.py
old mode 100755
new mode 100644
index b461fcd5f8..e654bd61fd
--- a/selfdrive/car/mock/radar_interface.py
+++ b/selfdrive/car/mock/radar_interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index 5553fda0d8..19304efdb1 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -1,8 +1,13 @@
 from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.subaru import subarucan
-from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, CarControllerParams, SubaruFlags
+from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, CanBus, CarControllerParams, SubaruFlags
+
+# FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
+# involves the total steering angle change rather than rate, but these limits work well for now
+MAX_STEER_RATE = 25  # deg/s
+MAX_STEER_RATE_FRAMES = 7  # tx control frames needed before torque can be cut
 
 
 class CarController:
@@ -12,6 +17,7 @@ class CarController:
     self.frame = 0
 
     self.cruise_button_prev = 0
+    self.steer_rate_counter = 0
 
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
@@ -38,7 +44,15 @@ class CarController:
       if self.CP.carFingerprint in PREGLOBAL_CARS:
         can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_steer, CC.latActive))
       else:
-        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, CC.latActive))
+        apply_steer_req = CC.latActive
+
+        if self.CP.carFingerprint in STEER_RATE_LIMITED:
+          # Steering rate fault prevention
+          self.steer_rate_counter, apply_steer_req = \
+            common_fault_avoidance(abs(CS.out.steeringRateDeg) > MAX_STEER_RATE, apply_steer_req,
+                                  self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
+
+        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, apply_steer_req))
 
       self.apply_steer_last = apply_steer
 
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index c3cdd7ad13..1547876008 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -710,3 +710,7 @@ LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023}
 GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023}
 PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
 HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
+
+# Cars that temporarily fault when steering angle rate is greater than some threshold.
+# Appears to be all cars that started production after 2020
+STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020}
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 8299d15d52..f7ad219f63 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -25,7 +25,6 @@ non_tested_cars = [
   HONDA.ODYSSEY_CHN,
   VOLKSWAGEN.CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
   TOYOTA.RAV4_TSS2_2023,
-  TOYOTA.RAV4H_TSS2_2023,
   SUBARU.FORESTER_HYBRID,
 ]
 
@@ -94,6 +93,7 @@ routes = [
   CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
   CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022),
 
+  CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.AZERA_6TH_GEN),
   CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
   CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12),
   CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
@@ -134,6 +134,7 @@ routes = [
   CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022),
   CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA),
   CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV),
+  CarTestRoute("f90d3cd06caeb6fa|2023-09-06--17-15-47", HYUNDAI.KONA_EV),  # openpilot longitudinal enabled
   CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11),
   CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.KONA_EV_2ND_GEN, segment=13),
   CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
@@ -145,6 +146,7 @@ routes = [
   CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
   CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
   CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
+  CarTestRoute("78ad5150de133637|2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN),
   CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
   CarTestRoute("b153671049a867b3|2023-04-05--10-00-30", HYUNDAI.KIA_NIRO_EV_2ND_GEN),
   CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV),
@@ -181,6 +183,7 @@ routes = [
   CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022),
   CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2),
   CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022),
+  CarTestRoute("49e041422a032273|2023-09-14--09-21-32", TOYOTA.RAV4H_TSS2_2023),
   CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
   CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
   CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3),
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 0c970f5c75..787b5d6316 100755
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -87,9 +87,6 @@ class TestCarInterfaces(unittest.TestCase):
         self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0)
         self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0)
 
-      elif tune.which() == 'indi':
-        self.assertTrue(len(tune.indi.outerLoopGainV))
-
     cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
     # Run car interface
     now_nanos = 0
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index 7d5bd85e99..378b68e43e 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import pytest
 import random
 import time
 import unittest
@@ -224,6 +225,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
     self._assert_timing(vin_time / self.N, vin_ref_time)
     print(f'get_vin, query time={vin_time / self.N} seconds')
 
+  @pytest.mark.timeout(60)
   def test_fw_query_timing(self):
     total_ref_time = 6.07
     brand_ref_times = {
diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
index 9de6063f3d..1fc626972f 100755
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ b/selfdrive/car/tests/test_lateral_limits.py
@@ -32,7 +32,7 @@ ABOVE_LIMITS_CARS = [
 car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict)
 
 
-@parameterized_class('car_model', [(c,) for c in CAR_MODELS])
+@parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)])
 class TestLateralLimits(unittest.TestCase):
   car_model: str
 
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 6cebdde77b..e6460d491e 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -9,6 +9,7 @@ from parameterized import parameterized_class
 
 from cereal import log, car
 from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
@@ -16,6 +17,7 @@ from openpilot.selfdrive.car.gm.values import CAR as GM
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
 from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
+from openpilot.selfdrive.controls.controlsd import Controls
 from openpilot.selfdrive.test.openpilotci import get_url
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import Route, SegmentName, RouteName
@@ -23,6 +25,7 @@ from openpilot.tools.lib.route import Route, SegmentName, RouteName
 from panda.tests.libpanda import libpanda_py
 from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR
 
+EventName = car.CarEvent.EventName
 PandaType = log.PandaState.PandaType
 SafetyModel = car.CarParams.SafetyModel
 
@@ -163,9 +166,11 @@ class TestCarModelBase(unittest.TestCase):
     del cls.can_msgs
 
   def setUp(self):
-    self.CI = self.CarInterface(self.CP, self.CarController, self.CarState)
+    self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState)
     assert self.CI
 
+    Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled)
+
     # TODO: check safetyModel is in release panda build
     self.safety = libpanda_py.libpanda
 
@@ -187,8 +192,6 @@ class TestCarModelBase(unittest.TestCase):
         self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
       elif tuning == 'torque':
         self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
-      elif tuning == 'indi':
-        self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
       else:
         raise Exception("unknown tuning")
 
@@ -317,6 +320,8 @@ class TestCarModelBase(unittest.TestCase):
     controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
     checks = defaultdict(lambda: 0)
+    controlsd = Controls(CI=self.CI)
+    controlsd.initialized = True
     for idx, can in enumerate(self.can_msgs):
       CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
       for msg in filter(lambda m: m.src in range(64), can.can):
@@ -361,7 +366,10 @@ class TestCarModelBase(unittest.TestCase):
           checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
       else:
         # Check for enable events on rising edge of controls allowed
-        button_enable = any(evt.enable for evt in CS.events)
+        controlsd.update_events(CS)
+        controlsd.CS_prev = CS
+        button_enable = (any(evt.enable for evt in CS.events) and
+                         not any(evt == EventName.pedalPressed for evt in controlsd.events.names))
         mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
         checks['controlsAllowed'] += mismatch
         controls_allowed_prev = self.safety.get_controls_allowed()
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 149ae6ee97..7ff7fad19a 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -12,10 +12,6 @@ SUBARU FORESTER 2022: [.nan, 3.0, .nan]
 SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan]
 SUBARU ASCENT 2023: [.nan, 3.0, .nan]
 
-# Toyota LTA also has torque
-TOYOTA RAV4 2023: [.nan, 3.0, .nan]
-TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan]
-
 # Tesla has high torque
 TESLA AP1 MODEL S: [.nan, 2.5, .nan]
 TESLA AP2 MODEL S: [.nan, 2.5, .nan]
@@ -60,6 +56,10 @@ KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1]
 HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1]
 HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1]
 HONDA ACCORD 4CYL 9TH GEN: [1.7, 0.35, 0.21]
+HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1]
+KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1]
+TOYOTA RAV4 2023: [2.5, 2.5, 0.1]
+TOYOTA RAV4 HYBRID 2023: [2.5, 2.5, 0.1]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index d98c1ad425..9822d8ac1b 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -28,7 +28,15 @@ class CarInterface(CarInterfaceBase):
     if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated":
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE
 
-    if candidate in ANGLE_CONTROL_CAR:
+    # Allow angle control cars with whitelisted EPSs to use torque control (made in Japan)
+    # So far only hybrid RAV4 2023 has been seen with this FW version
+    angle_car_torque_fw = any(fw.ecu == "eps" and fw.fwVersion == b'8965B42371\x00\x00\x00\x00\x00\x00' for fw in car_fw)
+    if candidate not in ANGLE_CONTROL_CAR or (angle_car_torque_fw and candidate == CAR.RAV4H_TSS2_2023):
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+      ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
+      ret.steerLimitTimer = 0.4
+    else:
       ret.dashcamOnly = True
       ret.steerControlType = SteerControlType.angle
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA
@@ -36,11 +44,6 @@ class CarInterface(CarInterfaceBase):
       # LTA control can be more delayed and winds up more often
       ret.steerActuatorDelay = 0.25
       ret.steerLimitTimer = 0.8
-    else:
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
-      ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
-      ret.steerLimitTimer = 0.4
 
     ret.stoppingControl = False  # Toyota starts braking more when it thinks you want to stop
 
@@ -122,21 +125,25 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.3
       ret.tireStiffnessFactor = 0.7933
       ret.mass = 3585. * CV.LB_TO_KG  # Average between ICE and Hybrid
-      ret.lateralTuning.init('pid')
-      ret.lateralTuning.pid.kiBP = [0.0]
-      ret.lateralTuning.pid.kpBP = [0.0]
-      ret.lateralTuning.pid.kpV = [0.6]
-      ret.lateralTuning.pid.kiV = [0.1]
-      ret.lateralTuning.pid.kf = 0.00007818594
 
-      # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
-      # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
-      for fw in car_fw:
-        if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
-          ret.lateralTuning.pid.kpV = [0.15]
-          ret.lateralTuning.pid.kiV = [0.05]
-          ret.lateralTuning.pid.kf = 0.00004
-          break
+      # Only specific EPS FW accept torque on 2023 RAV4, so they likely are all the same
+      # TODO: revisit this disparity if there is a divide for 2023
+      if candidate not in (CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023):
+        ret.lateralTuning.init('pid')
+        ret.lateralTuning.pid.kiBP = [0.0]
+        ret.lateralTuning.pid.kpBP = [0.0]
+        ret.lateralTuning.pid.kpV = [0.6]
+        ret.lateralTuning.pid.kiV = [0.1]
+        ret.lateralTuning.pid.kf = 0.00007818594
+
+        # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
+        # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
+        for fw in car_fw:
+          if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
+            ret.lateralTuning.pid.kpV = [0.15]
+            ret.lateralTuning.pid.kiV = [0.05]
+            ret.lateralTuning.pid.kf = 0.00004
+            break
 
     elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
       ret.wheelbase = 2.67  # Average between 2.70 for sedan and 2.64 for hatchback
diff --git a/selfdrive/car/toyota/tests/print_platform_codes.py b/selfdrive/car/toyota/tests/print_platform_codes.py
new file mode 100755
index 0000000000..94badc5cde
--- /dev/null
+++ b/selfdrive/car/toyota/tests/print_platform_codes.py
@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+from cereal import car
+from openpilot.selfdrive.car.toyota.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes
+
+Ecu = car.CarParams.Ecu
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+
+if __name__ == "__main__":
+  for car_model, ecus in FW_VERSIONS.items():
+    print()
+    print(car_model)
+    for ecu in sorted(ecus, key=lambda x: int(x[0])):
+      if ecu[0] not in PLATFORM_CODE_ECUS:
+        continue
+
+      platform_codes = get_platform_codes(ecus[ecu])
+      codes = {code for code, _ in platform_codes}
+      dates = {date for _, date in platform_codes if date is not None}
+      print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+      print(f'    Codes: {codes}')
+      print(f' Versions: {dates}')
diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py
index c621734e2b..0c503ebbf0 100755
--- a/selfdrive/car/toyota/tests/test_toyota.py
+++ b/selfdrive/car/toyota/tests/test_toyota.py
@@ -1,10 +1,13 @@
 #!/usr/bin/env python3
-from cereal import car
+from hypothesis import given, settings, strategies as st
 import unittest
 
-from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS
+from cereal import car
+from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS, \
+                                                  get_platform_codes
 
 Ecu = car.CarParams.Ecu
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 
 class TestToyotaInterfaces(unittest.TestCase):
@@ -39,5 +42,22 @@ class TestToyotaInterfaces(unittest.TestCase):
           self.assertIn(Ecu.eps, present_ecus)
 
 
+class TestToyotaFingerprint(unittest.TestCase):
+  @settings(max_examples=100)
+  @given(data=st.data())
+  def test_platform_codes_fuzzy_fw(self, data):
+    fw_strategy = st.lists(st.binary())
+    fws = data.draw(fw_strategy)
+    get_platform_codes(fws)
+
+  def test_fw_pattern(self):
+    """Asserts all ECUs can be parsed"""
+    for ecus in FW_VERSIONS.values():
+      for fws in ecus.values():
+        for fw in fws:
+          ret = get_platform_codes([fw])
+          self.assertTrue(len(ret))
+
+
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index b0f7a70985..fd0a54b349 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1,7 +1,8 @@
+import re
 from collections import defaultdict
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag
-from typing import Dict, List, Union
+from typing import Dict, List, Set, Tuple, Union
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
@@ -234,6 +235,71 @@ STATIC_DSU_MSGS = [
            CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
 ]
 
+
+def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, bytes]]:
+  codes = set()  # (Optional[part]-platform-major_version, minor_version)
+  for fw in fw_versions:
+    # FW versions returned from UDS queries can return multiple fields/chunks of data (different ECU calibrations, different data?)
+    #  and are prefixed with a byte that describes how many chunks of data there are.
+    # But FW returned from KWP requires querying of each sub-data id and does not have a length prefix.
+
+    length_code = 1
+    length_code_match = FW_LEN_CODE.search(fw)
+    if length_code_match is not None:
+      length_code = length_code_match.group()[0]
+      fw = fw[1:]
+
+    # fw length should be multiple of 16 bytes (per chunk, even if no length code), skip parsing if unexpected length
+    if length_code * FW_CHUNK_LEN != len(fw):
+      continue
+
+    chunks = [fw[FW_CHUNK_LEN * i:FW_CHUNK_LEN * i + FW_CHUNK_LEN].strip(b'\x00 ') for i in range(length_code)]
+
+    # only first is considered for now since second is commonly shared (TODO: understand that)
+    first_chunk = chunks[0]
+    if len(first_chunk) == 8:
+      # TODO: no part number, but some short chunks have it in subsequent chunks
+      fw_match = SHORT_FW_PATTERN.search(first_chunk)
+      if fw_match is not None:
+        platform, major_version, sub_version = fw_match.groups()
+        # codes.add((platform + b'-' + major_version, sub_version))
+        codes.add((b'-'.join((platform, major_version)), sub_version))
+
+    elif len(first_chunk) == 10:
+      fw_match = MEDIUM_FW_PATTERN.search(first_chunk)
+      if fw_match is not None:
+        part, platform, major_version, sub_version = fw_match.groups()
+        codes.add((b'-'.join((part, platform, major_version)), sub_version))
+
+    elif len(first_chunk) == 12:
+      fw_match = LONG_FW_PATTERN.search(first_chunk)
+      if fw_match is not None:
+        part, platform, major_version, sub_version = fw_match.groups()
+        codes.add((b'-'.join((part, platform, major_version)), sub_version))
+
+  return codes
+
+
+# Regex patterns for parsing more general platform-specific identifiers from FW versions.
+# - Part number: Toyota part number (usually last character needs to be ignored to find a match).
+# - Platform: usually multiple codes per an openpilot platform, however this has the less variability and
+#    is usually shared across ECUs and model years signifying this describes something about the specific platform.
+# - Major version: second least variable part of the FW version. Seen splitting cars by model year such as RAV4 2022/2023 and Prius.
+#    It is important to note that these aren't always consecutive, for example:
+#    Prius TSS-P has these major versions over 16 FW: 2, 3, 4, 6, 8 while Prius TSS2 has: 5
+# - Sub version: exclusive to major version, but shared with other cars. Should only be used for further filtering,
+#    more exploration is needed.
+SHORT_FW_PATTERN = re.compile(b'(?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{2})(?P<sub_version>[A-Z0-9]{4})')
+MEDIUM_FW_PATTERN = re.compile(b'(?P<part>[A-Z0-9]{5})(?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{1})(?P<sub_version>[A-Z0-9]{2})')
+LONG_FW_PATTERN = re.compile(b'(?P<part>[A-Z0-9]{5})(?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{2})(?P<sub_version>[A-Z0-9]{3})')
+FW_LEN_CODE = re.compile(b'^[\x01-\x05]')  # 5 chunks max. highest seen is 3 chunks, 16 bytes each
+FW_CHUNK_LEN = 16
+
+# List of ECUs expected to have platform codes
+# TODO: use hybrid ECU, splits many similar ICE and hybrid variants
+PLATFORM_CODE_ECUS = [Ecu.abs, Ecu.engine, Ecu.eps, Ecu.dsu, Ecu.fwdCamera, Ecu.fwdRadar]
+
+
 # Some ECUs that use KWP2000 have their FW versions on non-standard data identifiers.
 # Toyota diagnostic software first gets the supported data ids, then queries them one by one.
 # For example, sends: 0x1a8800, receives: 0x1a8800010203, queries: 0x1a8801, 0x1a8802, 0x1a8803
@@ -2323,7 +2389,8 @@ UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC}
 # these cars have a radar which sends ACC messages instead of the camera
 RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2}
 
-# these cars use the Lane Tracing Assist (LTA) message for lateral control
+# these cars manufactured in U.S., Canada have EPSs that reject Lane Keep Assist (LKA, torque) messages and require
+# Lane Tracing Assist (LTA, angle) to steer properly. cars manufactured in Japan still work with the older LKA messages which is detected
 ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023}
 
 EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2,
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index ebb873c8be..494d59bad2 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -461,6 +461,7 @@ FW_VERSIONS = {
       b'\xf1\x878V0906259K \xf1\x890003',
       b'\xf1\x878V0906259P \xf1\x890001',
       b'\xf1\x878V0906259Q \xf1\x890002',
+      b'\xf1\x878V0906259R \xf1\x890002',
       b'\xf1\x878V0906264F \xf1\x890003',
       b'\xf1\x878V0906264L \xf1\x890002',
       b'\xf1\x878V0906264M \xf1\x890001',
@@ -502,6 +503,7 @@ FW_VERSIONS = {
       b'\xf1\x870GC300012A \xf1\x891401',
       b'\xf1\x870GC300012A \xf1\x891403',
       b'\xf1\x870GC300014B \xf1\x892401',
+      b'\xf1\x870GC300014B \xf1\x892403',
       b'\xf1\x870GC300014B \xf1\x892405',
       b'\xf1\x870GC300020G \xf1\x892401',
       b'\xf1\x870GC300020G \xf1\x892403',
@@ -521,6 +523,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2251229333463100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100',
       b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112',
       b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113',
@@ -547,6 +550,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1',
       b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1',
       b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1',
+      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A02A16A1',
       b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1',
       b'\xf1\x873QM909144  \xf1\x895072\xf1\x82\x0571A01714A1',
       b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203',
@@ -1323,6 +1327,7 @@ FW_VERSIONS = {
       b'\xf1\x8704E906027BT\xf1\x899042',
       b'\xf1\x8704L906026ET\xf1\x891343',
       b'\xf1\x8704L906026FP\xf1\x891196',
+      b'\xf1\x8704L906026KA\xf1\x896014',
       b'\xf1\x8704L906026KB\xf1\x894071',
       b'\xf1\x8704L906026KD\xf1\x894798',
       b'\xf1\x8704L906026MT\xf1\x893076',
@@ -1340,6 +1345,7 @@ FW_VERSIONS = {
       b'\xf1\x870D9300014K \xf1\x895006',
       b'\xf1\x870D9300041H \xf1\x894905',
       b'\xf1\x870D9300043F \xf1\x895202',
+      b'\xf1\x870GC300013K \xf1\x892403',
       b'\xf1\x870GC300014M \xf1\x892801',
       b'\xf1\x870GC300019G \xf1\x892803',
       b'\xf1\x870GC300043  \xf1\x892301',
@@ -1352,6 +1358,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100',
       b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100',
       b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100',
+      b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151823143319331423100',
       b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100',
       b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100',
     ],
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index ab26928d9c..d339ce226a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -381,17 +381,19 @@ class Controls:
     else:
       self.logged_comm_issue = None
 
-    if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
-      self.events.add(EventName.vehicleModelInvalid)
     if not self.sm['lateralPlan'].mpcSolutionValid:
       self.events.add(EventName.plannerError)
-    if not (self.sm['liveParameters'].sensorValid or self.sm['liveLocationKalman'].sensorsOK) and not NOSENSOR:
-      if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive all the inputs
-        self.events.add(EventName.sensorDataInvalid)
     if not self.sm['liveLocationKalman'].posenetOK:
       self.events.add(EventName.posenetInvalid)
     if not self.sm['liveLocationKalman'].deviceStable:
       self.events.add(EventName.deviceFalling)
+    if not (self.sm['liveParameters'].sensorValid or self.sm['liveLocationKalman'].sensorsOK):
+      if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive sensor inputs
+        self.events.add(EventName.sensorDataInvalid)
+    if not self.sm['liveLocationKalman'].inputsOK:
+      self.events.add(EventName.locationdTemporaryError)
+    if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
+      self.events.add(EventName.paramsdTemporaryError)
 
     if not REPLAY:
       # Check for mismatch between openpilot and car's PCM
@@ -427,8 +429,6 @@ class Controls:
 
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
-      if self.sm['liveLocationKalman'].excessiveResets:
-        self.events.add(EventName.localizerMalfunction)
 
   def data_sample(self):
     """Receive data from sockets and update carState"""
@@ -814,8 +814,6 @@ class Controls:
       controlsState.lateralControlState.pidState = lac_log
     elif lat_tuning == 'torque':
       controlsState.lateralControlState.torqueState = lac_log
-    elif lat_tuning == 'indi':
-      controlsState.lateralControlState.indiState = lac_log
 
     self.pm.send('controlsState', dat)
 
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 6d55c2875d..83609f7713 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -434,19 +434,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
 
   # ********** events only containing alerts that display while engaged **********
 
-  # openpilot tries to learn certain parameters about your car by observing
-  # how the car behaves to steering inputs from both human and openpilot driving.
-  # This includes:
-  # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle
-  # - tire stiffness: how much grip your tires have
-  # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight
-  # This alert is thrown when any of these values exceed a sanity check. This can be caused by
-  # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
-  EventName.vehicleModelInvalid: {
-    ET.NO_ENTRY: NoEntryAlert("Vehicle Parameter Identification Failed"),
-    ET.SOFT_DISABLE: soft_disable_alert("Vehicle Parameter Identification Failed"),
-  },
-
   EventName.steerTempUnavailableSilent: {
     ET.WARNING: Alert(
       "Steering Temporarily Unavailable",
@@ -606,11 +593,34 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.PERMANENT: NormalPermanentAlert("GPS Malfunction", "Likely Hardware Issue"),
   },
 
-  # When the GPS position and localizer diverge the localizer is reset to the
-  # current GPS position. This alert is thrown when the localizer is reset
-  # more often than expected.
-  EventName.localizerMalfunction: {
-    # ET.PERMANENT: NormalPermanentAlert("Sensor Malfunction", "Hardware Malfunction"),
+  EventName.locationdTemporaryError: {
+    ET.NO_ENTRY: NoEntryAlert("locationd Temporary Error"),
+    ET.SOFT_DISABLE: soft_disable_alert("locationd Temporary Error"),
+  },
+
+  EventName.locationdPermanentError: {
+    ET.NO_ENTRY: NoEntryAlert("locationd Permanent Error"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("locationd Permanent Error"),
+    ET.PERMANENT: NormalPermanentAlert("locationd Permanent Error"),
+  },
+
+  # openpilot tries to learn certain parameters about your car by observing
+  # how the car behaves to steering inputs from both human and openpilot driving.
+  # This includes:
+  # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle
+  # - tire stiffness: how much grip your tires have
+  # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight
+  # This alert is thrown when any of these values exceed a sanity check. This can be caused by
+  # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
+  EventName.paramsdTemporaryError: {
+    ET.NO_ENTRY: NoEntryAlert("paramsd Temporary Error"),
+    ET.SOFT_DISABLE: soft_disable_alert("paramsd Temporary Error"),
+  },
+
+  EventName.paramsdPermanentError: {
+    ET.NO_ENTRY: NoEntryAlert("paramsd Permanent Error"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("paramsd Permanent Error"),
+    ET.PERMANENT: NormalPermanentAlert("paramsd Permanent Error"),
   },
 
   EventName.speedLimitActive: {
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 8a21fdd8ab..ec42ae66f2 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -50,7 +50,8 @@ class KalmanParams:
 
 
 class Track:
-  def __init__(self, v_lead: float, kalman_params: KalmanParams):
+  def __init__(self, identifier: int, v_lead: float, kalman_params: KalmanParams):
+    self.identifier = identifier
     self.cnt = 0
     self.aLeadTau = _LEAD_ACCEL_TAU
     self.K_A = kalman_params.A
@@ -98,11 +99,12 @@ class Track:
       "vLead": float(self.vLead),
       "vLeadK": float(self.vLeadK),
       "aLeadK": float(self.aLeadK),
+      "aLeadTau": float(self.aLeadTau),
       "status": True,
       "fcw": self.is_potential_fcw(model_prob),
       "modelProb": model_prob,
       "radar": True,
-      "aLeadTau": float(self.aLeadTau)
+      "radarTrackId": self.identifier,
     }
 
   def potential_low_speed_lead(self, v_ego: float):
@@ -158,8 +160,9 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
     "aLeadTau": 0.3,
     "fcw": False,
     "modelProb": float(lead_msg.prob),
+    "status": True,
     "radar": False,
-    "status": True
+    "radarTrackId": -1,
   }
 
 
@@ -237,7 +240,7 @@ class RadarD:
 
       # create the track if it doesn't exist or it's a new track
       if ids not in self.tracks:
-        self.tracks[ids] = Track(v_lead, self.kalman_params)
+        self.tracks[ids] = Track(ids, v_lead, self.kalman_params)
       self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3])
 
     # *** publish radarState ***
diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py
index 1d43b49ccf..76a2222e85 100755
--- a/selfdrive/controls/tests/test_cruise_speed.py
+++ b/selfdrive/controls/tests/test_cruise_speed.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import itertools
 import numpy as np
 import unittest
 
@@ -31,21 +32,19 @@ def run_cruise_simulation(cruise, e2e, t_end=20.):
   return output[-1, 3]
 
 
+@parameterized_class(("e2e", "personality", "speed"), itertools.product(
+                      [True, False], # e2e
+                      log.LongitudinalPersonality.schema.enumerants, # personality
+                      [5,35])) # speed
 class TestCruiseSpeed(unittest.TestCase):
   def test_cruise_speed(self):
     params = Params()
-    personalities = [log.LongitudinalPersonality.relaxed,
-                     log.LongitudinalPersonality.standard,
-                     log.LongitudinalPersonality.aggressive]
-    for personality in personalities:
-      params.put("LongitudinalPersonality", str(personality))
-      for e2e in [False, True]:
-        for speed in [5,35]:
-          print(f'Testing {speed} m/s')
-          cruise_speed = float(speed)
+    params.put("LongitudinalPersonality", str(self.personality))
+    print(f'Testing {self.speed} m/s')
+    cruise_speed = float(self.speed)
 
-          simulation_steady_state = run_cruise_simulation(cruise_speed, e2e)
-          self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s')
+    simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e)
+    self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {self.speed} m/s')
 
 
 # TODO: test pcmCruise
diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py
index bd8baf096e..268d9c47a7 100755
--- a/selfdrive/controls/tests/test_leads.py
+++ b/selfdrive/controls/tests/test_leads.py
@@ -3,8 +3,8 @@ import unittest
 
 import cereal.messaging as messaging
 
-from selfdrive.test.process_replay import replay_process_with_name
-from selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.test.process_replay import replay_process_with_name
+from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
 
 
 class TestLeads(unittest.TestCase):
diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript
index 740f827a49..a6febe0170 100644
--- a/selfdrive/locationd/SConscript
+++ b/selfdrive/locationd/SConscript
@@ -7,8 +7,4 @@ locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc]
 lenv = env.Clone()
 lenv["_LIBFLAGS"] += f' {libkf[0].get_labspath()}'
 locationd = lenv.Program("locationd", locationd_sources, LIBS=loc_libs + transformations)
-lenv.Depends(locationd, libkf)
-
-if File("liblocationd.cc").exists():
-  liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations)
-  lenv.Depends(liblocationd, libkf)
\ No newline at end of file
+lenv.Depends(locationd, libkf)
\ No newline at end of file
diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 3d190fb00a..f00595618e 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -24,11 +24,11 @@ from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velf
 from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind
 from openpilot.selfdrive.locationd.models.gnss_kf import GNSSKalman
 from openpilot.selfdrive.locationd.models.gnss_kf import States as GStates
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.swaglog import cloudlog
 
 MAX_TIME_GAP = 10
 EPHEMERIS_CACHE = 'LaikadEphemerisV3'
-DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache/"
 CACHE_VERSION = 0.2
 POS_FIX_RESIDUAL_THRESHOLD = 100.0
 
@@ -83,7 +83,7 @@ class Laikad:
     save_ephemeris: If true saves and loads nav and orbit ephemeris to cache.
     """
     self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types,
-                              clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER)
+                              clear_old_ephemeris=True, cache_dir=Paths.download_cache_root())
     self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom)
 
     self.auto_fetch_navs = auto_fetch_navs
@@ -435,9 +435,9 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe
 
 
 def clear_tmp_cache():
-  if os.path.exists(DOWNLOADS_CACHE_FOLDER):
-    shutil.rmtree(DOWNLOADS_CACHE_FOLDER)
-  os.mkdir(DOWNLOADS_CACHE_FOLDER)
+  if os.path.exists(Paths.download_cache_root()):
+    shutil.rmtree(Paths.download_cache_root())
+  os.mkdir(Paths.download_cache_root())
 
 
 def main(sm=None, pm=None):
diff --git a/selfdrive/locationd/liblocationd.cc b/selfdrive/locationd/liblocationd.cc
deleted file mode 100644
index e2b85d93a1..0000000000
--- a/selfdrive/locationd/liblocationd.cc
+++ /dev/null
@@ -1,41 +0,0 @@
-#include "selfdrive/locationd/locationd.h"
-
-extern "C" {
-  typedef Localizer* Localizer_t;
-
-  Localizer *localizer_init(bool has_ublox) {
-    return new Localizer(has_ublox ? LocalizerGnssSource::UBLOX : LocalizerGnssSource::QCOM);
-  }
-
-  void localizer_get_message_bytes(Localizer *localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid,
-                                   char *buff, size_t buff_size) {
-    MessageBuilder msg_builder;
-    kj::ArrayPtr<char> arr = localizer->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, msgValid).asChars();
-    assert(buff_size >= arr.size());
-    memcpy(buff, arr.begin(), arr.size());
-  }
-
-  void localizer_handle_msg_bytes(Localizer *localizer, const char *data, size_t size) {
-    localizer->handle_msg_bytes(data, size);
-  }
-
-  void get_filter_internals(Localizer *localizer, double *state_buff, double *std_buff){
-    Eigen::VectorXd state = localizer->get_state();
-    memcpy(state_buff, state.data(), sizeof(double) * state.size());
-    Eigen::VectorXd stdev = localizer->get_stdev();
-    memcpy(std_buff, stdev.data(), sizeof(double) * stdev.size());
-  }
-
-  bool is_gps_ok(Localizer *localizer){
-    return localizer->is_gps_ok();
-  }
-
-  bool are_inputs_ok(Localizer *localizer){
-    return localizer->are_inputs_ok();
-  }
-
-  void observation_timings_invalid_reset(Localizer *localizer){
-    localizer->observation_timings_invalid_reset();
-  }
-
-}
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 401de0cfdd..600ba46853 100644
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -21,9 +21,11 @@ const double VALID_TIME_SINCE_RESET = 1.0; // s
 const double VALID_POS_STD = 50.0; // m
 const double MAX_RESET_TRACKER = 5.0;
 const double SANE_GPS_UNCERTAINTY = 1500.0; // m
-const double INPUT_INVALID_THRESHOLD = 5.0; // same as reset tracker
-const double DECAY = 0.99995; // same as reset tracker
+const double INPUT_INVALID_THRESHOLD = 0.5; // same as reset tracker
+const double RESET_TRACKER_DECAY = 0.99995;
+const double DECAY = 0.9993; // ~10 secs to resume after a bad input
 const double MAX_FILTER_REWIND_TIME = 0.8; // s
+const double YAWRATE_CROSS_ERR_CHECK_FACTOR = 30;
 
 // TODO: GPS sensor time offsets are empirically calculated
 // They should be replaced with synced time from a real clock
@@ -256,7 +258,13 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
   if (log.getSensor() == SENSOR_GYRO_UNCALIBRATED && log.getType() == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
     auto v = log.getGyroUncalibrated().getV();
     auto meas = Vector3d(-v[2], -v[1], -v[0]);
-    if (meas.norm() < ROTATION_SANITY_CHECK) {
+
+    VectorXd gyro_bias = this->kf->get_x().segment<STATE_GYRO_BIAS_LEN>(STATE_GYRO_BIAS_START);
+    float gyro_camodo_yawrate_err = std::abs((meas[2] - gyro_bias[2]) - this->camodo_yawrate_distribution[0]);
+    float gyro_camodo_yawrate_err_threshold = YAWRATE_CROSS_ERR_CHECK_FACTOR * this->camodo_yawrate_distribution[1];
+    bool gyro_valid = gyro_camodo_yawrate_err < gyro_camodo_yawrate_err_threshold;
+
+    if ((meas.norm() < ROTATION_SANITY_CHECK) && gyro_valid) {
       this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { meas });
       this->observation_values_invalid["gyroscope"] *= DECAY;
     } else {
@@ -483,6 +491,7 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry
   this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_TRANSLATION,
     { trans_device }, { trans_device_cov });
   this->observation_values_invalid["cameraOdometry"] *= DECAY;
+  this->camodo_yawrate_distribution = Vector2d(rot_device[2], rotate_std(this->device_from_calib, rot_calib_std)[2]);
 }
 
 void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log) {
@@ -538,7 +547,7 @@ void Localizer::time_check(double current_time) {
 void Localizer::update_reset_tracker() {
   // reset tracker is tuned to trigger when over 1reset/10s over 2min period
   if (this->is_gps_ok()) {
-    this->reset_tracker *= DECAY;
+    this->reset_tracker *= RESET_TRACKER_DECAY;
   } else {
     this->reset_tracker = 0.0;
   }
diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h
index f3069048cd..47c8bf5627 100644
--- a/selfdrive/locationd/locationd.h
+++ b/selfdrive/locationd/locationd.h
@@ -94,6 +94,7 @@ private:
   float gps_variance_factor;
   float gps_vertical_variance_factor;
   double gps_time_offset;
+  Eigen::VectorXd camodo_yawrate_distribution = Eigen::Vector2d(0.0, 10.0); // mean, std
 
   void configure_gnss_source(const LocalizerGnssSource &source);
 };
diff --git a/selfdrive/locationd/test/_test_locationd_lib.py b/selfdrive/locationd/test/_test_locationd_lib.py
deleted file mode 100755
index bf4fcbdbe9..0000000000
--- a/selfdrive/locationd/test/_test_locationd_lib.py
+++ /dev/null
@@ -1,109 +0,0 @@
-#!/usr/bin/env python3
-"""This test can't be run together with other locationd tests.
-cffi.dlopen breaks the list of registered filters."""
-import os
-import random
-import unittest
-
-from cffi import FFI
-
-import cereal.messaging as messaging
-from cereal import log
-
-from openpilot.common.ffi_wrapper import suffix
-
-SENSOR_DECIMATION = 1
-VISION_DECIMATION = 1
-
-LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd' + suffix()))
-
-
-class TestLocationdLib(unittest.TestCase):
-  def setUp(self):
-    header = '''typedef ...* Localizer_t;
-Localizer_t localizer_init(bool has_ublox);
-void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size);
-void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);'''
-
-    self.ffi = FFI()
-    self.ffi.cdef(header)
-    self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH)
-
-    self.localizer = self.lib.localizer_init(True) # default to ublox
-
-    self.buff_size = 2048
-    self.msg_buff = self.ffi.new(f'char[{self.buff_size}]')
-
-  def localizer_handle_msg(self, msg_builder):
-    bytstr = msg_builder.to_bytes()
-    self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr))
-
-  def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True):
-    self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size)
-    with log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8) as log_evt:
-      return log_evt
-
-  def test_liblocalizer(self):
-    msg = messaging.new_message('liveCalibration')
-    msg.liveCalibration.validBlocks = random.randint(1, 10)
-    msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)]
-
-    self.localizer_handle_msg(msg)
-    liveloc = self.localizer_get_msg()
-    self.assertTrue(liveloc is not None)
-
-  @unittest.skip("temporarily disabled due to false positives")
-  def test_device_fell(self):
-    msg = messaging.new_message('accelerometer')
-    msg.accelerometer.sensor = 1
-    msg.accelerometer.timestamp = msg.logMonoTime
-    msg.accelerometer.type = 1
-    msg.accelerometer.init('acceleration')
-    msg.accelerometer.acceleration.v = [10.0, 0.0, 0.0]  # zero with gravity
-    self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertTrue(ret.liveLocationKalman.deviceStable)
-
-    msg = messaging.new_message('accelerometer')
-    msg.accelerometer.sensor = 1
-    msg.accelerometer.timestamp = msg.logMonoTime
-    msg.accelerometer.type = 1
-    msg.accelerometer.init('acceleration')
-    msg.accelerometer.acceleration.v = [50.1, 0.0, 0.0]  # more than 40 m/s**2
-    self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertFalse(ret.liveLocationKalman.deviceStable)
-
-  def test_posenet_spike(self):
-    for _ in range(SENSOR_DECIMATION):
-      msg = messaging.new_message('carState')
-      msg.carState.vEgo = 6.0  # more than 5 m/s
-      self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertTrue(ret.liveLocationKalman.posenetOK)
-
-    for _ in range(20 * VISION_DECIMATION):  # size of hist_old
-      msg = messaging.new_message('cameraOdometry')
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [2.0, 0.1, 0.1]
-      self.localizer_handle_msg(msg)
-
-    for _ in range(20 * VISION_DECIMATION):  # size of hist_new
-      msg = messaging.new_message('cameraOdometry')
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [10.1, 0.1, 0.1]  # more than 4 times larger
-      self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertFalse(ret.liveLocationKalman.posenetOK)
-
-if __name__ == "__main__":
-  unittest.main()
-
diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py
new file mode 100755
index 0000000000..d2455ef9e0
--- /dev/null
+++ b/selfdrive/locationd/test/test_locationd_scenarios.py
@@ -0,0 +1,227 @@
+#!/usr/bin/env python3
+import unittest
+import numpy as np
+from collections import defaultdict
+from enum import Enum
+
+
+from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name
+
+TEST_ROUTE, TEST_SEG_NUM = "ff2bd20623fcaeaa|2023-09-05--10-14-54", 4
+GPS_MESSAGES = ['gpsLocationExternal', 'gpsLocation']
+SELECT_COMPARE_FIELDS = {
+  'yaw_rate': ['angularVelocityCalibrated', 'value', 2],
+  'roll': ['orientationNED', 'value', 0],
+  'gps_flag': ['gpsOK'],
+  'inputs_flag': ['inputsOK'],
+  'sensors_flag': ['sensorsOK'],
+}
+JUNK_IDX = 100
+
+
+class Scenario(Enum):
+  BASE = 'base'
+  GPS_OFF = 'gps_off'
+  GPS_OFF_MIDWAY = 'gps_off_midway'
+  GPS_ON_MIDWAY = 'gps_on_midway'
+  GPS_TUNNEL = 'gps_tunnel'
+  GYRO_OFF = 'gyro_off'
+  GYRO_SPIKE_MIDWAY = 'gyro_spike_midway'
+  ACCEL_OFF = 'accel_off'
+  ACCEL_SPIKE_MIDWAY = 'accel_spike_midway'
+
+
+def get_select_fields_data(logs):
+  def get_nested_keys(msg, keys):
+    val = None
+    for key in keys:
+      val = getattr(msg if val is None else val, key) if isinstance(key, str) else val[key]
+    return val
+  llk = [x.liveLocationKalman for x in logs if x.which() == 'liveLocationKalman']
+  data = defaultdict(list)
+  for msg in llk:
+    for key, fields in SELECT_COMPARE_FIELDS.items():
+      data[key].append(get_nested_keys(msg, fields))
+  for key in data:
+    data[key] = np.array(data[key][JUNK_IDX:], dtype=float)
+  return data
+
+
+def run_scenarios(scenario, logs):
+  if scenario == Scenario.BASE:
+    pass
+
+  elif scenario == Scenario.GPS_OFF:
+    logs = sorted([x for x in logs if x.which() not in GPS_MESSAGES], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.GPS_OFF_MIDWAY:
+    non_gps = [x for x in logs if x.which() not in GPS_MESSAGES]
+    gps = [x for x in logs if x.which() in GPS_MESSAGES]
+    logs = sorted(non_gps + gps[: len(gps) // 2], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.GPS_ON_MIDWAY:
+    non_gps = [x for x in logs if x.which() not in GPS_MESSAGES]
+    gps = [x for x in logs if x.which() in GPS_MESSAGES]
+    logs = sorted(non_gps + gps[len(gps) // 2:], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.GPS_TUNNEL:
+    non_gps = [x for x in logs if x.which() not in GPS_MESSAGES]
+    gps = [x for x in logs if x.which() in GPS_MESSAGES]
+    logs = sorted(non_gps + gps[:len(gps) // 4] + gps[-len(gps) // 4:], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.GYRO_OFF:
+    logs = sorted([x for x in logs if x.which() != 'gyroscope'], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.GYRO_SPIKE_MIDWAY:
+    non_gyro = [x for x in logs if x.which() not in 'gyroscope']
+    gyro = [x for x in logs if x.which() in 'gyroscope']
+    temp = gyro[len(gyro) // 2].as_builder()
+    temp.gyroscope.gyroUncalibrated.v[0] += 3.0
+    gyro[len(gyro) // 2] = temp.as_reader()
+    logs = sorted(non_gyro + gyro, key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.ACCEL_OFF:
+    logs = sorted([x for x in logs if x.which() != 'accelerometer'], key=lambda x: x.logMonoTime)
+
+  elif scenario == Scenario.ACCEL_SPIKE_MIDWAY:
+    non_accel = [x for x in logs if x.which() not in 'accelerometer']
+    accel = [x for x in logs if x.which() in 'accelerometer']
+    temp = accel[len(accel) // 2].as_builder()
+    temp.accelerometer.acceleration.v[0] += 10.0
+    accel[len(accel) // 2] = temp.as_reader()
+    logs = sorted(non_accel + accel, key=lambda x: x.logMonoTime)
+
+  replayed_logs = replay_process_with_name(name='locationd', lr=logs)
+  return get_select_fields_data(logs), get_select_fields_data(replayed_logs)
+
+
+class TestLocationdScenarios(unittest.TestCase):
+  """
+  Test locationd with different scenarios. In all these scenarios, we expect the following:
+    - locationd kalman filter should never go unstable (we care mostly about yaw_rate, roll, gpsOK, inputsOK, sensorsOK)
+    - faulty values should be ignored, with appropriate flags set
+  """
+
+  @classmethod
+  def setUpClass(cls):
+    cls.logs = list(LogReader(get_url(TEST_ROUTE, TEST_SEG_NUM)))
+
+  def test_base(self):
+    """
+    Test: unchanged log
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll: unchanged
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.BASE, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+
+  def test_gps_off(self):
+    """
+    Test: no GPS message for the entire segment
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll:
+      - gpsOK: False
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+    self.assertTrue(np.all(replayed_data['gps_flag'] == 0.0))
+
+  def test_gps_off_midway(self):
+    """
+    Test: no GPS message for the second half of the segment
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll:
+      - gpsOK: True for the first half, False for the second half
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF_MIDWAY, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+    self.assertTrue(np.diff(replayed_data['gps_flag'])[512] == -1.0)
+
+  def test_gps_on_midway(self):
+    """
+    Test: no GPS message for the first half of the segment
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll:
+      - gpsOK: False for the first half, True for the second half
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GPS_ON_MIDWAY, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(1.5)))
+    self.assertTrue(np.diff(replayed_data['gps_flag'])[505] == 1.0)
+
+  def test_gps_tunnel(self):
+    """
+    Test: no GPS message for the middle section of the segment
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll:
+      - gpsOK: False for the middle section, True for the rest
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GPS_TUNNEL, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+    self.assertTrue(np.diff(replayed_data['gps_flag'])[213] == -1.0)
+    self.assertTrue(np.diff(replayed_data['gps_flag'])[805] == 1.0)
+
+  def test_gyro_off(self):
+    """
+    Test: no gyroscope message for the entire segment
+    Expected Result:
+      - yaw_rate: 0
+      - roll: 0
+      - sensorsOK: False
+    """
+    _, replayed_data = run_scenarios(Scenario.GYRO_OFF, self.logs)
+    self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0))
+    self.assertTrue(np.allclose(replayed_data['roll'], 0.0))
+    self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0))
+
+  def test_gyro_spikes(self):
+    """
+    Test: a gyroscope spike in the middle of the segment
+    Expected Result:
+      - yaw_rate: unchanged
+      - roll: unchanged
+      - inputsOK: False for some time after the spike, True for the rest
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+    self.assertTrue(np.diff(replayed_data['inputs_flag'])[500] == -1.0)
+    self.assertTrue(np.diff(replayed_data['inputs_flag'])[694] == 1.0)
+
+  def test_accel_off(self):
+    """
+    Test: no accelerometer message for the entire segment
+    Expected Result:
+      - yaw_rate: 0
+      - roll: 0
+      - sensorsOK: False
+    """
+    _, replayed_data = run_scenarios(Scenario.ACCEL_OFF, self.logs)
+    self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0))
+    self.assertTrue(np.allclose(replayed_data['roll'], 0.0))
+    self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0))
+
+  def test_accel_spikes(self):
+    """
+    ToDo:
+    Test: an accelerometer spike in the middle of the segment
+    Expected Result: Right now, the kalman filter is not robust to small spikes like it is to gyroscope spikes.
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs)
+    self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
+    self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index 61bdc8fbf4..3e91aff565 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -52,13 +52,13 @@ procs = [
   PythonProcess("micd", "system.micd", iscar),
   PythonProcess("timezoned", "system.timezoned", always_run, enabled=not PC),
 
-  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)),
+  PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
   NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
-  NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], only_onroad),
+  PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad),
   NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
   NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], only_onroad),
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 03836b6593..63f3b2b97a 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -32,14 +32,8 @@ if arch == "Darwin":
 else:
   libs += ['OpenCL']
 
-# Use onnx on PC
-if arch != "larch64" and not GetOption('snpe'):
-  common_src += ['runners/onnxmodel.cc']
-  lenv['CFLAGS'].append("-DUSE_ONNX_MODEL")
-  lenv['CXXFLAGS'].append("-DUSE_ONNX_MODEL")
-
 # Set path definitions
-for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl', 'ONNXRUNNER': 'runners/onnx_runner.py'}.items():
+for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
   for xenv in (lenv, lenvCython):
     xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
 
@@ -49,31 +43,15 @@ snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
 snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
 
 cython_libs = envCython["LIBS"] + libs
-onnxmodel_lib = lenv.Library('onnxmodel', ['runners/onnxmodel.cc'])
 snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
 commonmodel_lib = lenv.Library('commonmodel', common_src)
 driving_lib = lenv.Library('driving', ['models/driving.cc'])
 
 lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
-lenvCython.Program('runners/onnxmodel_pyx.so', 'runners/onnxmodel_pyx.pyx', LIBS=[onnxmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
 lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
 lenvCython.Program('models/driving_pyx.so', 'models/driving_pyx.pyx', LIBS=[driving_lib, commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
 
-# Compile binaries
-lenv['FRAMEWORKS'] = frameworks
-common_model = lenv.Object(common_src)
-
-lenv.Program('_dmonitoringmodeld', [
-    "dmonitoringmodeld.cc",
-    "models/dmonitoring.cc",
-  ]+common_model, LIBS=libs + snpe_lib)
-
-lenv.Program('_navmodeld', [
-    "navmodeld.cc",
-    "models/nav.cc",
-  ]+common_model, LIBS=libs + snpe_lib)
-
 # Build thneed model
 if arch == "larch64" or GetOption('pc_thneed'):
   fn = File("models/supercombo").abspath
diff --git a/selfdrive/modeld/dmonitoringmodeld b/selfdrive/modeld/dmonitoringmodeld
deleted file mode 100755
index fc007470b2..0000000000
--- a/selfdrive/modeld/dmonitoringmodeld
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/usr/bin/env bash
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-if [ -f /TICI ]; then
-  export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH"
-  export ADSP_LIBRARY_PATH="/data/pythonpath/third_party/snpe/dsp/"
-else
-  export LD_LIBRARY_PATH="$DIR/../../third_party/snpe/x86_64-linux-clang:$DIR/../../openpilot/third_party/snpe/x86_64:$LD_LIBRARY_PATH"
-fi
-exec ./_dmonitoringmodeld
diff --git a/selfdrive/modeld/dmonitoringmodeld.cc b/selfdrive/modeld/dmonitoringmodeld.cc
deleted file mode 100644
index 2890b44fe0..0000000000
--- a/selfdrive/modeld/dmonitoringmodeld.cc
+++ /dev/null
@@ -1,69 +0,0 @@
-#include <sys/resource.h>
-#include <limits.h>
-
-#include <cstdio>
-#include <cstdlib>
-
-#include "cereal/visionipc/visionipc_client.h"
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "selfdrive/modeld/models/dmonitoring.h"
-
-ExitHandler do_exit;
-
-void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
-  PubMaster pm({"driverStateV2"});
-  SubMaster sm({"liveCalibration"});
-  float calib[CALIB_LEN] = {0};
-  // double last = 0;
-
-  while (!do_exit) {
-    VisionIpcBufExtra extra = {};
-    VisionBuf *buf = vipc_client.recv(&extra);
-    if (buf == nullptr) continue;
-
-    sm.update(0);
-    if (sm.updated("liveCalibration")) {
-      auto calib_msg = sm["liveCalibration"].getLiveCalibration().getRpyCalib();
-      for (int i = 0; i < CALIB_LEN; i++) {
-        calib[i] = calib_msg[i];
-      }
-    }
-
-    double t1 = millis_since_boot();
-    DMonitoringModelResult model_res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib);
-    double t2 = millis_since_boot();
-
-    // send dm packet
-    dmonitoring_publish(pm, extra.frame_id, model_res, (t2 - t1) / 1000.0, model.output);
-
-    // printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last);
-    // last = t1;
-  }
-}
-
-int main(int argc, char **argv) {
-  setpriority(PRIO_PROCESS, 0, -15);
-
-  // init the models
-  DMonitoringModelState model;
-  dmonitoring_init(&model);
-
-  Params().putBool("DmModelInitialized", true);
-
-  LOGW("connecting to driver stream");
-  VisionIpcClient vipc_client = VisionIpcClient("camerad", VISION_STREAM_DRIVER, true);
-  while (!do_exit && !vipc_client.connect(false)) {
-    util::sleep_for(100);
-  }
-
-  // run the models
-  if (vipc_client.connected) {
-    LOGW("connected with buffer size: %zu", vipc_client.buffers[0].len);
-    run_model(model, vipc_client);
-  }
-
-  dmonitoring_free(&model);
-  return 0;
-}
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
new file mode 100755
index 0000000000..53c0af0ff3
--- /dev/null
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -0,0 +1,157 @@
+#!/usr/bin/env python3
+import os
+import gc
+import math
+import time
+import ctypes
+import numpy as np
+from pathlib import Path
+from typing import Tuple, Dict
+
+from cereal import messaging
+from cereal.messaging import PubMaster, SubMaster
+from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from openpilot.system.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.common.realtime import set_realtime_priority
+from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import sigmoid
+
+CALIB_LEN = 3
+REG_SCALE = 0.25
+MODEL_WIDTH = 1440
+MODEL_HEIGHT = 960
+OUTPUT_SIZE = 84
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+MODEL_PATHS = {
+  ModelRunner.SNPE: Path(__file__).parent / 'models/dmonitoring_model_q.dlc',
+  ModelRunner.ONNX: Path(__file__).parent / 'models/dmonitoring_model.onnx'}
+
+class DriverStateResult(ctypes.Structure):
+  _fields_ = [
+    ("face_orientation", ctypes.c_float*3),
+    ("face_position", ctypes.c_float*3),
+    ("face_orientation_std", ctypes.c_float*3),
+    ("face_position_std", ctypes.c_float*3),
+    ("face_prob", ctypes.c_float),
+    ("_unused_a", ctypes.c_float*8),
+    ("left_eye_prob", ctypes.c_float),
+    ("_unused_b", ctypes.c_float*8),
+    ("right_eye_prob", ctypes.c_float),
+    ("left_blink_prob", ctypes.c_float),
+    ("right_blink_prob", ctypes.c_float),
+    ("sunglasses_prob", ctypes.c_float),
+    ("occluded_prob", ctypes.c_float),
+    ("ready_prob", ctypes.c_float*4),
+    ("not_ready_prob", ctypes.c_float*2)]
+
+class DMonitoringModelResult(ctypes.Structure):
+  _fields_ = [
+    ("driver_state_lhd", DriverStateResult),
+    ("driver_state_rhd", DriverStateResult),
+    ("poor_vision_prob", ctypes.c_float),
+    ("wheel_on_right_prob", ctypes.c_float)]
+
+class ModelState:
+  inputs: Dict[str, np.ndarray]
+  output: np.ndarray
+  model: ModelRunner
+
+  def __init__(self):
+    assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
+    self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32)
+    self.inputs = {
+      'input_img': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8),
+      'calib': np.zeros(CALIB_LEN, dtype=np.float32)}
+
+    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None)
+    self.model.addInput("input_img", None)
+    self.model.addInput("calib", self.inputs['calib'])
+
+  def run(self, buf:VisionBuf, calib:np.ndarray) -> Tuple[np.ndarray, float]:
+    self.inputs['calib'][:] = calib
+
+    v_offset = buf.height - MODEL_HEIGHT
+    h_offset = (buf.width - MODEL_WIDTH) // 2
+    buf_data = buf.data.reshape(-1, buf.stride)
+    input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH)
+    input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH]
+
+    t1 = time.perf_counter()
+    self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
+    self.model.execute()
+    t2 = time.perf_counter()
+    return self.output, t2 - t1
+
+
+def fill_driver_state(msg, ds_result: DriverStateResult):
+  msg.faceOrientation = [x * REG_SCALE for x in ds_result.face_orientation]
+  msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std]
+  msg.facePosition = [x * REG_SCALE for x in ds_result.face_position[:2]]
+  msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]]
+  msg.faceProb = sigmoid(ds_result.face_prob)
+  msg.leftEyeProb = sigmoid(ds_result.left_eye_prob)
+  msg.rightEyeProb = sigmoid(ds_result.right_eye_prob)
+  msg.leftBlinkProb = sigmoid(ds_result.left_blink_prob)
+  msg.rightBlinkProb = sigmoid(ds_result.right_blink_prob)
+  msg.sunglassesProb = sigmoid(ds_result.sunglasses_prob)
+  msg.occludedProb = sigmoid(ds_result.occluded_prob)
+  msg.readyProb = [sigmoid(x) for x in ds_result.ready_prob]
+  msg.notReadyProb = [sigmoid(x) for x in ds_result.not_ready_prob]
+
+def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float):
+  model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents
+  msg = messaging.new_message('driverStateV2')
+  ds = msg.driverStateV2
+  ds.frameId = frame_id
+  ds.modelExecutionTime = execution_time
+  ds.dspExecutionTime = dsp_execution_time
+  ds.poorVisionProb = sigmoid(model_result.poor_vision_prob)
+  ds.wheelOnRightProb = sigmoid(model_result.wheel_on_right_prob)
+  ds.rawPredictions = model_output.tobytes() if SEND_RAW_PRED else b''
+  fill_driver_state(ds.leftDriverData, model_result.driver_state_lhd)
+  fill_driver_state(ds.rightDriverData, model_result.driver_state_rhd)
+  return msg
+
+
+def main():
+  gc.disable()
+  set_realtime_priority(1)
+
+  model = ModelState()
+  cloudlog.warning("models loaded, dmonitoringmodeld starting")
+  Params().put_bool("DmModelInitialized", True)
+
+  cloudlog.warning("connecting to driver stream")
+  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True)
+  while not vipc_client.connect(False):
+    time.sleep(0.1)
+  assert vipc_client.is_connected()
+  cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
+
+  sm = SubMaster(["liveCalibration"])
+  pm = PubMaster(["driverStateV2"])
+
+  calib = np.zeros(CALIB_LEN, dtype=np.float32)
+  # last = 0
+
+  while True:
+    buf = vipc_client.recv()
+    if buf is None:
+      continue
+
+    sm.update(0)
+    if sm.updated["liveCalibration"]:
+      calib[:] = np.array(sm["liveCalibration"].rpyCalib)
+
+    t1 = time.perf_counter()
+    model_output, dsp_execution_time = model.run(buf, calib)
+    t2 = time.perf_counter()
+
+    pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time))
+    # print("dmonitoring process: %.2fms, from last %.2fms\n" % (t2 - t1, t1 - last))
+    # last = t1
+
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index ece706cfd9..3c416ce939 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -46,11 +46,11 @@ class ModelState:
     self.prev_desire = np.zeros(DESIRE_LEN, dtype=np.float32)
     self.output = np.zeros(NET_OUTPUT_SIZE, dtype=np.float32)
     self.inputs = {
-      'desire_pulse': np.zeros(DESIRE_LEN * (HISTORY_BUFFER_LEN+1), dtype=np.float32),
+      'desire': np.zeros(DESIRE_LEN * (HISTORY_BUFFER_LEN+1), dtype=np.float32),
       'traffic_convention': np.zeros(TRAFFIC_CONVENTION_LEN, dtype=np.float32),
       'nav_features': np.zeros(NAV_FEATURE_LEN, dtype=np.float32),
       'nav_instructions': np.zeros(NAV_INSTRUCTION_LEN, dtype=np.float32),
-      'feature_buffer': np.zeros(HISTORY_BUFFER_LEN * FEATURE_LEN, dtype=np.float32),
+      'features_buffer': np.zeros(HISTORY_BUFFER_LEN * FEATURE_LEN, dtype=np.float32),
     }
 
     self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context)
@@ -62,10 +62,10 @@ class ModelState:
   def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
                 inputs: Dict[str, np.ndarray], prepare_only: bool) -> Optional[np.ndarray]:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire_pulse'][0] = 0
-    self.inputs['desire_pulse'][:-DESIRE_LEN] = self.inputs['desire_pulse'][DESIRE_LEN:]
-    self.inputs['desire_pulse'][-DESIRE_LEN:] = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
-    self.prev_desire[:] = inputs['desire_pulse']
+    inputs['desire'][0] = 0
+    self.inputs['desire'][:-DESIRE_LEN] = self.inputs['desire'][DESIRE_LEN:]
+    self.inputs['desire'][-DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
+    self.prev_desire[:] = inputs['desire']
 
     self.inputs['traffic_convention'][:] = inputs['traffic_convention']
     self.inputs['nav_features'][:] = inputs['nav_features']
@@ -81,8 +81,8 @@ class ModelState:
       return None
 
     self.model.execute()
-    self.inputs['feature_buffer'][:-FEATURE_LEN] = self.inputs['feature_buffer'][FEATURE_LEN:]
-    self.inputs['feature_buffer'][-FEATURE_LEN:] = self.output[OUTPUT_SIZE:OUTPUT_SIZE+FEATURE_LEN]
+    self.inputs['features_buffer'][:-FEATURE_LEN] = self.inputs['features_buffer'][FEATURE_LEN:]
+    self.inputs['features_buffer'][-FEATURE_LEN:] = self.output[OUTPUT_SIZE:OUTPUT_SIZE+FEATURE_LEN]
     return self.output
 
 
@@ -232,7 +232,7 @@ def main():
       cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
 
     inputs:Dict[str, np.ndarray] = {
-      'desire_pulse': vec_desire,
+      'desire': vec_desire,
       'traffic_convention': traffic_convention,
       'driving_style': driving_style,
       'nav_features': nav_features,
diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc
deleted file mode 100644
index eb5239bef0..0000000000
--- a/selfdrive/modeld/models/dmonitoring.cc
+++ /dev/null
@@ -1,133 +0,0 @@
-#include <cstring>
-
-#include "common/mat.h"
-#include "common/modeldata.h"
-#include "common/params.h"
-#include "common/timing.h"
-#include "system/hardware/hw.h"
-
-#include "selfdrive/modeld/models/dmonitoring.h"
-
-constexpr int MODEL_WIDTH = 1440;
-constexpr int MODEL_HEIGHT = 960;
-
-template <class T>
-static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
-  if (buf.size() < size) buf.resize(size);
-  return buf.data();
-}
-
-void dmonitoring_init(DMonitoringModelState* s) {
-
-#ifdef USE_ONNX_MODEL
-  s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, true);
-#else
-  s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, true);
-#endif
-
-  s->m->addInput("input_imgs", NULL, 0);
-  s->m->addInput("calib", s->calib, CALIB_LEN);
-}
-
-void parse_driver_data(DriverStateResult &ds_res, const DMonitoringModelState* s, int out_idx_offset) {
-  for (int i = 0; i < 3; ++i) {
-    ds_res.face_orientation[i] = s->output[out_idx_offset+i] * REG_SCALE;
-    ds_res.face_orientation_std[i] = exp(s->output[out_idx_offset+6+i]);
-  }
-  for (int i = 0; i < 2; ++i) {
-    ds_res.face_position[i] = s->output[out_idx_offset+3+i] * REG_SCALE;
-    ds_res.face_position_std[i] = exp(s->output[out_idx_offset+9+i]);
-  }
-  for (int i = 0; i < 4; ++i) {
-    ds_res.ready_prob[i] = sigmoid(s->output[out_idx_offset+35+i]);
-  }
-  for (int i = 0; i < 2; ++i) {
-    ds_res.not_ready_prob[i] = sigmoid(s->output[out_idx_offset+39+i]);
-  }
-  ds_res.face_prob = sigmoid(s->output[out_idx_offset+12]);
-  ds_res.left_eye_prob = sigmoid(s->output[out_idx_offset+21]);
-  ds_res.right_eye_prob = sigmoid(s->output[out_idx_offset+30]);
-  ds_res.left_blink_prob = sigmoid(s->output[out_idx_offset+31]);
-  ds_res.right_blink_prob = sigmoid(s->output[out_idx_offset+32]);
-  ds_res.sunglasses_prob = sigmoid(s->output[out_idx_offset+33]);
-  ds_res.occluded_prob = sigmoid(s->output[out_idx_offset+34]);
-}
-
-void fill_driver_data(cereal::DriverStateV2::DriverData::Builder ddata, const DriverStateResult &ds_res) {
-  ddata.setFaceOrientation(ds_res.face_orientation);
-  ddata.setFaceOrientationStd(ds_res.face_orientation_std);
-  ddata.setFacePosition(ds_res.face_position);
-  ddata.setFacePositionStd(ds_res.face_position_std);
-  ddata.setFaceProb(ds_res.face_prob);
-  ddata.setLeftEyeProb(ds_res.left_eye_prob);
-  ddata.setRightEyeProb(ds_res.right_eye_prob);
-  ddata.setLeftBlinkProb(ds_res.left_blink_prob);
-  ddata.setRightBlinkProb(ds_res.right_blink_prob);
-  ddata.setSunglassesProb(ds_res.sunglasses_prob);
-  ddata.setOccludedProb(ds_res.occluded_prob);
-  ddata.setReadyProb(ds_res.ready_prob);
-  ddata.setNotReadyProb(ds_res.not_ready_prob);
-}
-
-DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) {
-  int v_off = height - MODEL_HEIGHT;
-  int h_off = (width - MODEL_WIDTH) / 2;
-  int yuv_buf_len = MODEL_WIDTH * MODEL_HEIGHT;
-
-  uint8_t *raw_buf = (uint8_t *) stream_buf;
-  // vertical crop free
-  uint8_t *raw_y_start = raw_buf + stride * v_off;
-
-  uint8_t *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len);
-
-  // here makes a uint8 copy
-  for (int r = 0; r < MODEL_HEIGHT; ++r) {
-    memcpy(net_input_buf + r * MODEL_WIDTH, raw_y_start + r * stride + h_off, MODEL_WIDTH);
-  }
-
-  // printf("preprocess completed. %d \n", yuv_buf_len);
-  // FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb");
-  // fwrite(net_input_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file);
-  // fclose(dump_yuv_file);
-
-  double t1 = millis_since_boot();
-  s->m->setInputBuffer("input_imgs", (float*)net_input_buf, yuv_buf_len / sizeof(float));
-  for (int i = 0; i < CALIB_LEN; i++) {
-    s->calib[i] = calib[i];
-  }
-  s->m->execute();
-  double t2 = millis_since_boot();
-
-  DMonitoringModelResult model_res = {0};
-  parse_driver_data(model_res.driver_state_lhd, s, 0);
-  parse_driver_data(model_res.driver_state_rhd, s, 41);
-  model_res.poor_vision_prob = sigmoid(s->output[82]);
-  model_res.wheel_on_right_prob = sigmoid(s->output[83]);
-  model_res.dsp_execution_time = (t2 - t1) / 1000.;
-
-  return model_res;
-}
-
-void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr<const float> raw_pred) {
-  // make msg
-  MessageBuilder msg;
-  auto framed = msg.initEvent().initDriverStateV2();
-  framed.setFrameId(frame_id);
-  framed.setModelExecutionTime(execution_time);
-  framed.setDspExecutionTime(model_res.dsp_execution_time);
-
-  framed.setPoorVisionProb(model_res.poor_vision_prob);
-  framed.setWheelOnRightProb(model_res.wheel_on_right_prob);
-  fill_driver_data(framed.initLeftDriverData(), model_res.driver_state_lhd);
-  fill_driver_data(framed.initRightDriverData(), model_res.driver_state_rhd);
-
-  if (send_raw_pred) {
-    framed.setRawPredictions(raw_pred.asBytes());
-  }
-
-  pm.send("driverStateV2", msg);
-}
-
-void dmonitoring_free(DMonitoringModelState* s) {
-  delete s->m;
-}
diff --git a/selfdrive/modeld/models/dmonitoring.h b/selfdrive/modeld/models/dmonitoring.h
deleted file mode 100644
index ae2bf05394..0000000000
--- a/selfdrive/modeld/models/dmonitoring.h
+++ /dev/null
@@ -1,50 +0,0 @@
-#pragma once
-
-#include <vector>
-
-#include "cereal/messaging/messaging.h"
-#include "common/util.h"
-#include "selfdrive/modeld/models/commonmodel.h"
-#include "selfdrive/modeld/runners/run.h"
-
-#define CALIB_LEN 3
-
-#define OUTPUT_SIZE 84
-#define REG_SCALE 0.25f
-
-typedef struct DriverStateResult {
-  float face_orientation[3];
-  float face_orientation_std[3];
-  float face_position[2];
-  float face_position_std[2];
-  float face_prob;
-  float left_eye_prob;
-  float right_eye_prob;
-  float left_blink_prob;
-  float right_blink_prob;
-  float sunglasses_prob;
-  float occluded_prob;
-  float ready_prob[4];
-  float not_ready_prob[2];
-} DriverStateResult;
-
-typedef struct DMonitoringModelResult {
-  DriverStateResult driver_state_lhd;
-  DriverStateResult driver_state_rhd;
-  float poor_vision_prob;
-  float wheel_on_right_prob;
-  float dsp_execution_time;
-} DMonitoringModelResult;
-
-typedef struct DMonitoringModelState {
-  RunModel *m;
-  float output[OUTPUT_SIZE];
-  std::vector<uint8_t> net_input_buf;
-  float calib[CALIB_LEN];
-} DMonitoringModelState;
-
-void dmonitoring_init(DMonitoringModelState* s);
-DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib);
-void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr<const float> raw_pred);
-void dmonitoring_free(DMonitoringModelState* s);
-
diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index f13cd155f1..de0250d212 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -6,13 +6,16 @@
 #include "cereal/messaging/messaging.h"
 #include "common/modeldata.h"
 #include "common/util.h"
-#include "selfdrive/modeld/models/nav.h"
+#include "selfdrive/modeld/models/commonmodel.h"
+#include "selfdrive/modeld/runners/run.h"
 
 constexpr int FEATURE_LEN = 128;
 constexpr int HISTORY_BUFFER_LEN = 99;
 constexpr int DESIRE_LEN = 8;
 constexpr int DESIRE_PRED_LEN = 4;
 constexpr int TRAFFIC_CONVENTION_LEN = 2;
+constexpr int NAV_FEATURE_LEN = 256;
+constexpr int NAV_INSTRUCTION_LEN = 150;
 constexpr int DRIVING_STYLE_LEN = 12;
 constexpr int MODEL_FREQ = 20;
 
diff --git a/selfdrive/modeld/models/nav.cc b/selfdrive/modeld/models/nav.cc
deleted file mode 100644
index 8208b0bfef..0000000000
--- a/selfdrive/modeld/models/nav.cc
+++ /dev/null
@@ -1,71 +0,0 @@
-#include "selfdrive/modeld/models/nav.h"
-
-#include <cstdio>
-#include <cstring>
-
-#include "common/mat.h"
-#include "common/modeldata.h"
-#include "common/timing.h"
-
-
-void navmodel_init(NavModelState* s) {
-  #ifdef USE_ONNX_MODEL
-    s->m = new ONNXModel("models/navmodel.onnx", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, true);
-  #else
-    s->m = new SNPEModel("models/navmodel_q.dlc", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, true);
-  #endif
-
-  s->m->addInput("map", NULL, 0);
-}
-
-NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf) {
-  memcpy(s->net_input_buf, buf->addr, NAV_INPUT_SIZE);
-
-  double t1 = millis_since_boot();
-  s->m->setInputBuffer("map", (float*)s->net_input_buf, NAV_INPUT_SIZE/sizeof(float));
-  s->m->execute();
-  double t2 = millis_since_boot();
-
-  NavModelResult *model_res = (NavModelResult*)&s->output;
-  model_res->dsp_execution_time = (t2 - t1) / 1000.;
-  return model_res;
-}
-
-void fill_plan(cereal::NavModelData::Builder &framed, const NavModelOutputPlan &plan) {
-  std::array<float, TRAJECTORY_SIZE> pos_x, pos_y;
-  std::array<float, TRAJECTORY_SIZE> pos_x_std, pos_y_std;
-
-  for (int i=0; i<TRAJECTORY_SIZE; i++) {
-    pos_x[i] = plan.mean[i].x;
-    pos_y[i] = plan.mean[i].y;
-    pos_x_std[i] = exp(plan.std[i].x);
-    pos_y_std[i] = exp(plan.std[i].y);
-  }
-
-  auto position = framed.initPosition();
-  position.setX(to_kj_array_ptr(pos_x));
-  position.setY(to_kj_array_ptr(pos_y));
-  position.setXStd(to_kj_array_ptr(pos_x_std));
-  position.setYStd(to_kj_array_ptr(pos_y_std));
-}
-
-void navmodel_publish(PubMaster &pm, VisionIpcBufExtra &extra, const NavModelResult &model_res, float execution_time, bool route_valid) {
-  // make msg
-  MessageBuilder msg;
-  auto evt = msg.initEvent();
-  auto framed = evt.initNavModel();
-  evt.setValid(extra.valid && route_valid);
-  framed.setFrameId(extra.frame_id);
-  framed.setLocationMonoTime(extra.timestamp_sof);
-  framed.setModelExecutionTime(execution_time);
-  framed.setDspExecutionTime(model_res.dsp_execution_time);
-  framed.setFeatures(to_kj_array_ptr(model_res.features.values));
-  framed.setDesirePrediction(to_kj_array_ptr(model_res.desire_pred.values));
-  fill_plan(framed, model_res.plan);
-
-  pm.send("navModel", msg);
-}
-
-void navmodel_free(NavModelState* s) {
-  delete s->m;
-}
diff --git a/selfdrive/modeld/models/nav.h b/selfdrive/modeld/models/nav.h
deleted file mode 100644
index 800abec252..0000000000
--- a/selfdrive/modeld/models/nav.h
+++ /dev/null
@@ -1,57 +0,0 @@
-#pragma once
-
-#include "cereal/messaging/messaging.h"
-#include "cereal/visionipc/visionipc_client.h"
-#include "common/util.h"
-#include "common/modeldata.h"
-#include "selfdrive/modeld/models/commonmodel.h"
-#include "selfdrive/modeld/runners/run.h"
-
-constexpr int NAV_INPUT_SIZE = 256*256;
-constexpr int NAV_FEATURE_LEN = 256;
-constexpr int NAV_INSTRUCTION_LEN = 150;
-constexpr int NAV_DESIRE_LEN = 32;
-
-struct NavModelOutputXY {
-  float x;
-  float y;
-};
-static_assert(sizeof(NavModelOutputXY) == sizeof(float)*2);
-
-struct NavModelOutputPlan {
-  std::array<NavModelOutputXY, TRAJECTORY_SIZE> mean;
-  std::array<NavModelOutputXY, TRAJECTORY_SIZE> std;
-};
-static_assert(sizeof(NavModelOutputPlan) == sizeof(NavModelOutputXY)*TRAJECTORY_SIZE*2);
-
-struct NavModelOutputDesirePrediction {
-  std::array<float, NAV_DESIRE_LEN> values;
-};
-static_assert(sizeof(NavModelOutputDesirePrediction) == sizeof(float)*NAV_DESIRE_LEN);
-
-struct NavModelOutputFeatures {
-  std::array<float, NAV_FEATURE_LEN> values;
-};
-static_assert(sizeof(NavModelOutputFeatures) == sizeof(float)*NAV_FEATURE_LEN);
-
-struct NavModelResult {
-  const NavModelOutputPlan plan;
-  const NavModelOutputDesirePrediction desire_pred;
-  const NavModelOutputFeatures features;
-  float dsp_execution_time;
-};
-static_assert(sizeof(NavModelResult) == sizeof(NavModelOutputPlan) + sizeof(NavModelOutputDesirePrediction) + sizeof(NavModelOutputFeatures) + sizeof(float));
-
-constexpr int NAV_OUTPUT_SIZE = sizeof(NavModelResult) / sizeof(float);
-constexpr int NAV_NET_OUTPUT_SIZE = NAV_OUTPUT_SIZE - 1;
-
-struct NavModelState {
-  RunModel *m;
-  uint8_t net_input_buf[NAV_INPUT_SIZE];
-  float output[NAV_OUTPUT_SIZE];
-};
-
-void navmodel_init(NavModelState* s);
-NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf);
-void navmodel_publish(PubMaster &pm, VisionIpcBufExtra &extra, const NavModelResult &model_res, float execution_time, bool route_valid);
-void navmodel_free(NavModelState* s);
diff --git a/selfdrive/modeld/navmodeld b/selfdrive/modeld/navmodeld
deleted file mode 100755
index 58215c2e9d..0000000000
--- a/selfdrive/modeld/navmodeld
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/usr/bin/env bash
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-if [ -f /TICI ]; then
-  export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH"
-  export ADSP_LIBRARY_PATH="/data/pythonpath/third_party/snpe/dsp/"
-else
-  export LD_LIBRARY_PATH="$DIR/../../third_party/snpe/x86_64-linux-clang:$DIR/../../openpilot/third_party/snpe/x86_64:$LD_LIBRARY_PATH"
-fi
-exec ./_navmodeld
diff --git a/selfdrive/modeld/navmodeld.cc b/selfdrive/modeld/navmodeld.cc
deleted file mode 100644
index 4610f503d1..0000000000
--- a/selfdrive/modeld/navmodeld.cc
+++ /dev/null
@@ -1,70 +0,0 @@
-#include <sys/resource.h>
-#include <limits.h>
-
-#include <cstdio>
-#include <cstdlib>
-
-#include "cereal/visionipc/visionipc_client.h"
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "selfdrive/modeld/models/nav.h"
-
-ExitHandler do_exit;
-
-void run_model(NavModelState &model, VisionIpcClient &vipc_client) {
-  SubMaster sm({"navInstruction"});
-  PubMaster pm({"navModel"});
-
-  //double last_ts = 0;
-  //uint32_t last_frame_id = 0;
-  VisionIpcBufExtra extra = {};
-
-  while (!do_exit) {
-    VisionBuf *buf = vipc_client.recv(&extra);
-    if (buf == nullptr) continue;
-
-    sm.update(0);
-
-    double t1 = millis_since_boot();
-    NavModelResult *model_res = navmodel_eval_frame(&model, buf);
-    double t2 = millis_since_boot();
-
-    // send navmodel packet
-    navmodel_publish(pm, extra, *model_res, (t2 - t1) / 1000.0, sm["navInstruction"].getValid());
-
-    //printf("navmodel process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last_ts);
-    //last_ts = t1;
-    //last_frame_id = extra.frame_id;
-  }
-}
-
-int main(int argc, char **argv) {
-  setpriority(PRIO_PROCESS, 0, -15);
-
-  // there exists a race condition when two processes try to create a
-  // SNPE model runner at the same time, wait for dmonitoringmodeld to finish
-  LOGW("waiting for dmonitoringmodeld to initialize");
-  if (!Params().getBool("DmModelInitialized", true)) {
-    return 0;
-  }
-
-  // init the models
-  NavModelState model;
-  navmodel_init(&model);
-  LOGW("models loaded, navmodeld starting");
-
-  VisionIpcClient vipc_client = VisionIpcClient("navd", VISION_STREAM_MAP, true);
-  while (!do_exit && !vipc_client.connect(false)) {
-    util::sleep_for(100);
-  }
-
-  // run the models
-  if (vipc_client.connected) {
-    LOGW("connected with buffer size: %zu", vipc_client.buffers[0].len);
-    run_model(model, vipc_client);
-  }
-
-  navmodel_free(&model);
-  return 0;
-}
diff --git a/selfdrive/modeld/navmodeld.py b/selfdrive/modeld/navmodeld.py
new file mode 100755
index 0000000000..f5dc51ed20
--- /dev/null
+++ b/selfdrive/modeld/navmodeld.py
@@ -0,0 +1,118 @@
+#!/usr/bin/env python3
+import gc
+import math
+import time
+import ctypes
+import numpy as np
+from pathlib import Path
+from typing import Tuple, Dict
+
+from cereal import messaging
+from cereal.messaging import PubMaster, SubMaster
+from cereal.visionipc import VisionIpcClient, VisionStreamType
+from openpilot.system.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.common.realtime import set_realtime_priority
+from openpilot.selfdrive.modeld.constants import IDX_N
+from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
+
+NAV_INPUT_SIZE = 256*256
+NAV_FEATURE_LEN = 256
+NAV_DESIRE_LEN = 32
+NAV_OUTPUT_SIZE = 2*2*IDX_N + NAV_DESIRE_LEN + NAV_FEATURE_LEN
+MODEL_PATHS = {
+  ModelRunner.SNPE: Path(__file__).parent / 'models/navmodel_q.dlc',
+  ModelRunner.ONNX: Path(__file__).parent / 'models/navmodel.onnx'}
+
+class NavModelOutputXY(ctypes.Structure):
+  _fields_ = [
+    ("x", ctypes.c_float),
+    ("y", ctypes.c_float)]
+
+class NavModelOutputPlan(ctypes.Structure):
+  _fields_ = [
+    ("mean", NavModelOutputXY*IDX_N),
+    ("std", NavModelOutputXY*IDX_N)]
+
+class NavModelResult(ctypes.Structure):
+  _fields_ = [
+    ("plan", NavModelOutputPlan),
+    ("desire_pred", ctypes.c_float*NAV_DESIRE_LEN),
+    ("features", ctypes.c_float*NAV_FEATURE_LEN)]
+
+class ModelState:
+  inputs: Dict[str, np.ndarray]
+  output: np.ndarray
+  model: ModelRunner
+
+  def __init__(self):
+    assert ctypes.sizeof(NavModelResult) == NAV_OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
+    self.output = np.zeros(NAV_OUTPUT_SIZE, dtype=np.float32)
+    self.inputs = {'input_img': np.zeros(NAV_INPUT_SIZE, dtype=np.uint8)}
+    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None)
+    self.model.addInput("input_img", None)
+
+  def run(self, buf:np.ndarray) -> Tuple[np.ndarray, float]:
+    self.inputs['input_img'][:] = buf
+
+    t1 = time.perf_counter()
+    self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
+    self.model.execute()
+    t2 = time.perf_counter()
+    return self.output, t2 - t1
+
+def get_navmodel_packet(model_output: np.ndarray, valid: bool, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float):
+  model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(NavModelResult)).contents
+  msg = messaging.new_message('navModel')
+  msg.valid = valid
+  msg.navModel.frameId = frame_id
+  msg.navModel.locationMonoTime = location_ts
+  msg.navModel.modelExecutionTime = execution_time
+  msg.navModel.dspExecutionTime = dsp_execution_time
+  msg.navModel.features = model_result.features[:]
+  msg.navModel.desirePrediction = model_result.desire_pred[:]
+  msg.navModel.position.x = [p.x for p in model_result.plan.mean]
+  msg.navModel.position.y = [p.y for p in model_result.plan.mean]
+  msg.navModel.position.xStd = [math.exp(p.x) for p in model_result.plan.std]
+  msg.navModel.position.yStd = [math.exp(p.y) for p in model_result.plan.std]
+  return msg
+
+
+def main():
+  gc.disable()
+  set_realtime_priority(1)
+
+  # there exists a race condition when two processes try to create a
+  # SNPE model runner at the same time, wait for dmonitoringmodeld to finish
+  cloudlog.warning("waiting for dmonitoringmodeld to initialize")
+  if not Params().get_bool("DmModelInitialized", True):
+    return
+
+  model = ModelState()
+  cloudlog.warning("models loaded, navmodeld starting")
+
+  vipc_client = VisionIpcClient("navd", VisionStreamType.VISION_STREAM_MAP, True)
+  while not vipc_client.connect(False):
+    time.sleep(0.1)
+  assert vipc_client.is_connected()
+  cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
+
+  sm = SubMaster(["navInstruction"])
+  pm = PubMaster(["navModel"])
+
+  while True:
+    buf = vipc_client.recv()
+    if buf is None:
+      continue
+
+    sm.update(0)
+    t1 = time.perf_counter()
+    model_output, dsp_execution_time = model.run(buf.data[:buf.uv_offset])
+    t2 = time.perf_counter()
+
+    valid = vipc_client.valid and sm.valid["navInstruction"]
+    pm.send("navModel", get_navmodel_packet(model_output, valid, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time))
+
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/modeld/runners/__init__.py b/selfdrive/modeld/runners/__init__.py
index 9193d63e2b..4c29bf3f1c 100644
--- a/selfdrive/modeld/runners/__init__.py
+++ b/selfdrive/modeld/runners/__init__.py
@@ -19,7 +19,7 @@ class ModelRunner(RunModel):
       from openpilot.selfdrive.modeld.runners.snpemodel_pyx import SNPEModel as Runner
       runner_type = ModelRunner.SNPE
     elif ModelRunner.ONNX in paths:
-      from openpilot.selfdrive.modeld.runners.onnxmodel_pyx import ONNXModel as Runner
+      from openpilot.selfdrive.modeld.runners.onnxmodel import ONNXModel as Runner
       runner_type = ModelRunner.ONNX
     else:
       raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path")
diff --git a/selfdrive/modeld/runners/onnx_runner.py b/selfdrive/modeld/runners/onnx_runner.py
deleted file mode 100755
index 9e53874578..0000000000
--- a/selfdrive/modeld/runners/onnx_runner.py
+++ /dev/null
@@ -1,78 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import sys
-import numpy as np
-from typing import Tuple, Dict, Union, Any
-
-os.environ["OMP_NUM_THREADS"] = "4"
-os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
-
-import onnxruntime as ort
-
-ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
-
-def read(sz, tf8=False):
-  dd = []
-  gt = 0
-  szof = 1 if tf8 else 4
-  while gt < sz * szof:
-    st = os.read(0, sz * szof - gt)
-    assert(len(st) > 0)
-    dd.append(st)
-    gt += len(st)
-  r = np.frombuffer(b''.join(dd), dtype=np.uint8 if tf8 else np.float32)
-  if tf8:
-    r = r / 255.
-  return r
-
-def write(d):
-  os.write(1, d.tobytes())
-
-def run_loop(m, tf8_input=False):
-  ishapes = [[1]+ii.shape[1:] for ii in m.get_inputs()]
-  keys = [x.name for x in m.get_inputs()]
-  itypes = [ORT_TYPES_TO_NP_TYPES[x.type] for x in m.get_inputs()]
-
-  # run once to initialize CUDA provider
-  if "CUDAExecutionProvider" in m.get_providers():
-    m.run(None, dict(zip(keys, [np.zeros(shp, dtype=itp) for shp, itp in zip(ishapes, itypes, strict=True)], strict=True)))
-
-  print("ready to run onnx model", keys, ishapes, file=sys.stderr)
-  while 1:
-    inputs = []
-    for k, shp, itp in zip(keys, ishapes, itypes, strict=True):
-      ts = np.product(shp)
-      #print("reshaping %s with offset %d" % (str(shp), offset), file=sys.stderr)
-      inputs.append(read(ts, (k=='input_img' and tf8_input)).reshape(shp).astype(itp))
-    ret = m.run(None, dict(zip(keys, inputs, strict=True)))
-    #print(ret, file=sys.stderr)
-    for r in ret:
-      write(r.astype(np.float32))
-
-
-if __name__ == "__main__":
-  print(sys.argv, file=sys.stderr)
-  print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
-  options = ort.SessionOptions()
-  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
-
-  provider: Union[str, Tuple[str, Dict[Any, Any]]]
-  if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    provider = 'OpenVINOExecutionProvider'
-  elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    options.intra_op_num_threads = 2
-    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'})
-  else:
-    options.intra_op_num_threads = 2
-    options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
-    options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
-    provider = 'CPUExecutionProvider'
-
-  try:
-    print("Onnx selected provider: ", [provider], file=sys.stderr)
-    ort_session = ort.InferenceSession(sys.argv[1], options, providers=[provider])
-    print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
-    run_loop(ort_session, tf8_input=("--use_tf8" in sys.argv))
-  except KeyboardInterrupt:
-    pass
diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc
deleted file mode 100644
index ebe6ad847c..0000000000
--- a/selfdrive/modeld/runners/onnxmodel.cc
+++ /dev/null
@@ -1,88 +0,0 @@
-#include "selfdrive/modeld/runners/onnxmodel.h"
-
-#include <csignal>
-#include <cstdio>
-#include <cstdlib>
-#include <poll.h>
-#include <unistd.h>
-
-#include "common/util.h"
-
-ONNXModel::ONNXModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) {
-  LOGD("loading model %s", path.c_str());
-
-  output = _output;
-  output_size = _output_size;
-  use_tf8 = _use_tf8;
-
-  int err = pipe(pipein);
-  assert(err == 0);
-  err = pipe(pipeout);
-  assert(err == 0);
-
-  std::string onnx_runner = ONNXRUNNER_PATH;
-  std::string tf8_arg = use_tf8 ? "--use_tf8" : "";
-
-  proc_pid = fork();
-  if (proc_pid == 0) {
-    LOGD("spawning onnx process %s", onnx_runner.c_str());
-    char *argv[] = {(char*)onnx_runner.c_str(), (char*)path.c_str(), (char*)tf8_arg.c_str(), nullptr};
-    dup2(pipein[0], 0);
-    dup2(pipeout[1], 1);
-    close(pipein[0]);
-    close(pipein[1]);
-    close(pipeout[0]);
-    close(pipeout[1]);
-    execvp(onnx_runner.c_str(), argv);
-    exit(1); // exit if the exec fails
-  }
-
-  // parent
-  close(pipein[0]);
-  close(pipeout[1]);
-}
-
-ONNXModel::~ONNXModel() {
-  close(pipein[1]);
-  close(pipeout[0]);
-  kill(proc_pid, SIGTERM);
-}
-
-void ONNXModel::pwrite(float *buf, int size) {
-  char *cbuf = (char *)buf;
-  int tw = size*sizeof(float);
-  while (tw > 0) {
-    int err = write(pipein[1], cbuf, tw);
-    //printf("host write %d\n", err);
-    assert(err >= 0);
-    cbuf += err;
-    tw -= err;
-  }
-  LOGD("host write of size %d done", size);
-}
-
-void ONNXModel::pread(float *buf, int size) {
-  char *cbuf = (char *)buf;
-  int tr = size*sizeof(float);
-  struct pollfd fds[1];
-  fds[0].fd = pipeout[0];
-  fds[0].events = POLLIN;
-  while (tr > 0) {
-    int err;
-    err = poll(fds, 1, 10000);  // 10 second timeout
-    assert(err == 1 || (err == -1 && errno == EINTR));
-    LOGD("host read remaining %d/%lu poll %d", tr, size*sizeof(float), err);
-    err = read(pipeout[0], cbuf, tr);
-    assert(err > 0 || (err == 0 && errno == EINTR));
-    cbuf += err;
-    tr -= err;
-  }
-  LOGD("host read done");
-}
-
-void ONNXModel::execute() {
-  for (auto &input : inputs) {
-    pwrite(input->buffer, input->size);
-  }
-  pread(output, output_size);
-}
diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h
deleted file mode 100644
index f9bae1a0a9..0000000000
--- a/selfdrive/modeld/runners/onnxmodel.h
+++ /dev/null
@@ -1,23 +0,0 @@
-#pragma once
-
-#include <string>
-
-#include "selfdrive/modeld/runners/runmodel.h"
-
-class ONNXModel : public RunModel {
-public:
-  ONNXModel(const std::string path, float *output, size_t output_size, int runtime, bool _use_tf8 = false, cl_context context = NULL);
-  ~ONNXModel();
-  void execute();
-private:
-  int proc_pid;
-  float *output;
-  size_t output_size;
-  bool use_tf8;
-
-  // pipe to communicate to onnx_runner subprocess
-  void pread(float *buf, int size);
-  void pwrite(float *buf, int size);
-  int pipein[2];
-  int pipeout[2];
-};
diff --git a/selfdrive/modeld/runners/onnxmodel.pxd b/selfdrive/modeld/runners/onnxmodel.pxd
deleted file mode 100644
index 165f043da8..0000000000
--- a/selfdrive/modeld/runners/onnxmodel.pxd
+++ /dev/null
@@ -1,9 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-from cereal.visionipc.visionipc cimport cl_context
-
-cdef extern from "selfdrive/modeld/runners/onnxmodel.h":
-  cdef cppclass ONNXModel:
-    ONNXModel(string, float*, size_t, int, bool, cl_context)
diff --git a/selfdrive/modeld/runners/onnxmodel.py b/selfdrive/modeld/runners/onnxmodel.py
new file mode 100644
index 0000000000..3c20a39760
--- /dev/null
+++ b/selfdrive/modeld/runners/onnxmodel.py
@@ -0,0 +1,70 @@
+import os
+import sys
+import numpy as np
+from typing import Tuple, Dict, Union, Any
+
+from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel
+
+ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
+
+def create_ort_session(path):
+  os.environ["OMP_NUM_THREADS"] = "4"
+  os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
+
+  import onnxruntime as ort
+  print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
+  options = ort.SessionOptions()
+  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
+
+  provider: Union[str, Tuple[str, Dict[Any, Any]]]
+  if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
+    provider = 'OpenVINOExecutionProvider'
+  elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
+    options.intra_op_num_threads = 2
+    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'})
+  else:
+    options.intra_op_num_threads = 2
+    options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
+    options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
+    provider = 'CPUExecutionProvider'
+
+  print("Onnx selected provider: ", [provider], file=sys.stderr)
+  ort_session = ort.InferenceSession(path, options, providers=[provider])
+  print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
+  return ort_session
+
+
+class ONNXModel(RunModel):
+  def __init__(self, path, output, runtime, use_tf8, cl_context):
+    self.inputs = {}
+    self.output = output
+    self.use_tf8 = use_tf8
+
+    self.session = create_ort_session(path)
+    self.input_names = [x.name for x in self.session.get_inputs()]
+    self.input_shapes = {x.name: [1, *x.shape[1:]] for x in self.session.get_inputs()}
+    self.input_dtypes = {x.name: ORT_TYPES_TO_NP_TYPES[x.type] for x in self.session.get_inputs()}
+
+    # run once to initialize CUDA provider
+    if "CUDAExecutionProvider" in self.session.get_providers():
+      self.session.run(None, {k: np.zeros(self.input_shapes[k], dtype=self.input_dtypes[k]) for k in self.input_names})
+    print("ready to run onnx model", self.input_shapes, file=sys.stderr)
+
+  def addInput(self, name, buffer):
+    assert name in self.input_names
+    self.inputs[name] = buffer
+
+  def setInputBuffer(self, name, buffer):
+    assert name in self.inputs
+    self.inputs[name] = buffer
+
+  def getCLBuffer(self, name):
+    return None
+
+  def execute(self):
+    inputs = {k: (v.view(np.uint8) / 255. if self.use_tf8 and k == 'input_img' else v) for k,v in self.inputs.items()}
+    inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()}
+    outputs = self.session.run(None, inputs)
+    assert len(outputs) == 1, "Only single model outputs are supported"
+    self.output[:] = outputs[0]
+    return self.output
diff --git a/selfdrive/modeld/runners/onnxmodel_pyx.pyx b/selfdrive/modeld/runners/onnxmodel_pyx.pyx
deleted file mode 100644
index 27aa22d1c6..0000000000
--- a/selfdrive/modeld/runners/onnxmodel_pyx.pyx
+++ /dev/null
@@ -1,14 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii
-
-from libcpp cimport bool
-from libcpp.string cimport string
-
-from .onnxmodel cimport ONNXModel as cppONNXModel
-from selfdrive.modeld.models.commonmodel_pyx cimport CLContext
-from selfdrive.modeld.runners.runmodel_pyx cimport RunModel
-from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel
-
-cdef class ONNXModel(RunModel):
-  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
-    self.model = <cppRunModel *> new cppONNXModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/selfdrive/modeld/runners/run.h b/selfdrive/modeld/runners/run.h
index cae2f5b27a..36ad262a5b 100644
--- a/selfdrive/modeld/runners/run.h
+++ b/selfdrive/modeld/runners/run.h
@@ -2,7 +2,3 @@
 
 #include "selfdrive/modeld/runners/runmodel.h"
 #include "selfdrive/modeld/runners/snpemodel.h"
-
-#if defined(USE_ONNX_MODEL)
-#include "selfdrive/modeld/runners/onnxmodel.h"
-#endif
diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh
index 3851e2b1e3..e0ba54f058 100755
--- a/selfdrive/test/docker_build.sh
+++ b/selfdrive/test/docker_build.sh
@@ -1,45 +1,26 @@
-#!/bin/bash
+#!/usr/bin/env bash
 set -e
 
 # To build sim and docs, you can run the following to mount the scons cache to the same place as in CI:
 # mkdir -p .ci_cache/scons_cache
 # sudo mount --bind /tmp/scons_cache/ .ci_cache/scons_cache
 
-if [ $1 = "base" ]; then
-  export DOCKER_IMAGE=openpilot-base
-  export DOCKER_FILE=Dockerfile.openpilot_base
-elif [ $1 = "docs" ]; then
-  export DOCKER_IMAGE=openpilot-docs
-  export DOCKER_FILE=docs/docker/Dockerfile
-elif [ $1 = "sim" ]; then
-  export DOCKER_IMAGE=openpilot-sim
-  export DOCKER_FILE=tools/sim/Dockerfile.sim
-elif [ $1 = "prebuilt" ]; then
-  export DOCKER_IMAGE=openpilot-prebuilt
-  export DOCKER_FILE=Dockerfile.openpilot
-elif [ $1 = "cl" ]; then
-  export DOCKER_IMAGE=openpilot-base-cl
-  export DOCKER_FILE=Dockerfile.openpilot_base_cl
-else
-  echo "Invalid docker build image $1"
-  exit 1
-fi
-
-export DOCKER_REGISTRY=ghcr.io/commaai
-export COMMIT_SHA=$(git rev-parse HEAD)
-
-LOCAL_TAG=$DOCKER_IMAGE
-REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
-REMOTE_SHA_TAG=$REMOTE_TAG:$COMMIT_SHA
-
 SCRIPT_DIR=$(dirname "$0")
 OPENPILOT_DIR=$SCRIPT_DIR/../../
+if [ -n "$TARGET_ARCHITECTURE" ]; then
+  PLATFORM="linux/$TARGET_ARCHITECTURE"
+  TAG_SUFFIX="-$TARGET_ARCHITECTURE"
+else
+  PLATFORM="linux/$(uname -m)"
+  TAG_SUFFIX=""
+fi
 
-DOCKER_BUILDKIT=1 docker buildx build --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
+source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX"
 
-if [[ ! -z "$PUSH_IMAGE" ]];
-then
+DOCKER_BUILDKIT=1 docker buildx build --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
+
+if [ -n "$PUSH_IMAGE" ]; then
   docker push $REMOTE_TAG
   docker tag $REMOTE_TAG $REMOTE_SHA_TAG
   docker push $REMOTE_SHA_TAG
-fi
\ No newline at end of file
+fi
diff --git a/selfdrive/test/docker_common.sh b/selfdrive/test/docker_common.sh
new file mode 100644
index 0000000000..68ea472d26
--- /dev/null
+++ b/selfdrive/test/docker_common.sh
@@ -0,0 +1,27 @@
+if [ $1 = "base" ]; then
+  export DOCKER_IMAGE=openpilot-base
+  export DOCKER_FILE=Dockerfile.openpilot_base
+elif [ $1 = "docs" ]; then
+  export DOCKER_IMAGE=openpilot-docs
+  export DOCKER_FILE=docs/docker/Dockerfile
+elif [ $1 = "sim" ]; then
+  export DOCKER_IMAGE=openpilot-sim
+  export DOCKER_FILE=tools/sim/Dockerfile.sim
+elif [ $1 = "prebuilt" ]; then
+  export DOCKER_IMAGE=openpilot-prebuilt
+  export DOCKER_FILE=Dockerfile.openpilot
+elif [ $1 = "cl" ]; then
+  export DOCKER_IMAGE=openpilot-base-cl
+  export DOCKER_FILE=Dockerfile.openpilot_base_cl
+else
+  echo "Invalid docker build image $1"
+  exit 1
+fi
+
+export DOCKER_REGISTRY=ghcr.io/commaai
+export COMMIT_SHA=$(git rev-parse HEAD)
+
+TAG_SUFFIX=$2
+LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX
+REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
+REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA
diff --git a/selfdrive/test/docker_tag_multiarch.sh b/selfdrive/test/docker_tag_multiarch.sh
new file mode 100755
index 0000000000..c1761802c7
--- /dev/null
+++ b/selfdrive/test/docker_tag_multiarch.sh
@@ -0,0 +1,25 @@
+#!/usr/bin/env bash
+set -e
+
+if [ $# -lt 2 ]; then
+  echo "Usage: $0 <base|docs|sim|prebuilt|cl> <arch1> <arch2> ..."
+  exit 1
+fi
+
+SCRIPT_DIR=$(dirname "$0")
+ARCHS=("${@:2}")
+
+source $SCRIPT_DIR/docker_common.sh $1
+
+MANIFEST_AMENDS=""
+for ARCH in ${ARCHS[@]}; do
+  MANIFEST_AMENDS="$MANIFEST_AMENDS --amend $REMOTE_TAG-$ARCH:$COMMIT_SHA"
+done
+
+docker manifest create $REMOTE_TAG $MANIFEST_AMENDS
+docker manifest create $REMOTE_SHA_TAG $MANIFEST_AMENDS
+
+if [[ -n "$PUSH_IMAGE" ]]; then
+  docker manifest push $REMOTE_TAG
+  docker manifest push $REMOTE_SHA_TAG
+fi
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index 1fbf2c4d20..eb07432c40 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -1,9 +1,6 @@
 import os
 import time
-import tempfile
-from typing import List, Union
 
-from unittest import mock
 from functools import wraps
 
 import cereal.messaging as messaging
@@ -72,46 +69,3 @@ def with_processes(processes, init_time=0, ignore_stopped=None):
 
     return wrap
   return wrapper
-
-
-def temporary_mock_dir(mock_paths_in: Union[List[str], str], kwarg: Union[str, None] = None, generator = tempfile.TemporaryDirectory):
-  """
-  mock_paths_in: string or string list representing the full path of the variable you want to mock.
-  kwarg: str or None representing the kwarg that gets passed into the test function, in case the test needs access to the temporary directory.
-  generator: a context to use to generate the temporary directory
-  """
-  def wrapper(func):
-    @wraps(func)
-    def wrap(*args, **kwargs):
-      mock_paths = mock_paths_in if isinstance(mock_paths_in, list) else [mock_paths_in]
-      with generator() as temp_dir:
-        mocks = []
-        for mock_path in mock_paths:
-          mocks.append(mock.patch(mock_path, str(temp_dir)))
-        [mock.start() for mock in mocks]
-        try:
-          if kwarg is not None:
-            kwargs[kwarg] = temp_dir
-          func(*args, **kwargs)
-        finally:
-          [mock.stop() for mock in mocks]
-
-    return wrap
-  return wrapper
-
-def string_context(context):
-  class StringContext:
-    def __enter__(self):
-      return context
-
-    def __exit__(self, *args):
-      pass
-
-  return StringContext
-
-temporary_dir = temporary_mock_dir([], "temp_dir")
-temporary_cache_dir = temporary_mock_dir("openpilot.tools.lib.url_file.CACHE_DIR")
-temporary_swaglog_dir = temporary_mock_dir("openpilot.system.swaglog.SWAGLOG_DIR", "temp_dir")
-temporary_laikad_downloads_dir = temporary_mock_dir("openpilot.selfdrive.locationd.laikad.DOWNLOADS_CACHE_FOLDER")
-temporary_swaglog_ipc = temporary_mock_dir(["openpilot.system.swaglog.SWAGLOG_IPC", "system.logmessaged.SWAGLOG_IPC"],
-                                           generator=string_context("/tmp/test_swaglog_ipc"))
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index f5e098910f..c6a2d58fec 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-649c512f95d9ad80e7c8c4d852cfa5f468a28fd5
\ No newline at end of file
+b421ff389ce720b70a36dd2b3510af54eb484b5f
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index ab51948dd0..973c16971e 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -20,8 +20,8 @@ source_segments = [
   ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.BODY
   ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.SONATA
   ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),    # HYUNDAI.KIA_EV6 (+ QCOM GPS)
-  ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS (INDI)
-  ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4  (LQR)
+  ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS
+  ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4
   ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.COROLLA_TSS2
   ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.CIVIC (NIDEC)
   ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.ACCORD (BOSCH)
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index 1b99c31038..ca458f2a79 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -56,31 +56,68 @@ sleep infinity
 EOF
 chmod +x $CONTINUE_PATH
 
+safe_checkout() {
+  # completely clean TEST_DIR
+
+  cd $SOURCE_DIR
+
+  # cleanup orphaned locks
+  find .git -type f -name "*.lock" -exec rm {} +
+
+  git reset --hard
+  git fetch --no-tags --no-recurse-submodules -j4 --verbose --depth 1 origin $GIT_COMMIT
+  find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
+  git reset --hard $GIT_COMMIT
+  git checkout $GIT_COMMIT
+  git clean -xdff
+  git submodule sync
+  git submodule update --init --recursive
+  git submodule foreach --recursive "git reset --hard && git clean -xdff"
+
+  git lfs pull
+  (ulimit -n 65535 && git lfs prune)
+
+  echo "git checkout done, t=$SECONDS"
+  du -hs $SOURCE_DIR $SOURCE_DIR/.git
+
+  if [ -z "SKIP_COPY" ]; then
+    rsync -a --delete $SOURCE_DIR $TEST_DIR
+  fi
+}
+
+unsafe_checkout() {
+  # checkout directly in test dir, leave old build products
+
+  cd $TEST_DIR
+
+  # cleanup orphaned locks
+  find .git -type f -name "*.lock" -exec rm {} +
+
+  git fetch --no-tags --no-recurse-submodules -j8 --verbose --depth 1 origin $GIT_COMMIT
+  git checkout --force --no-recurse-submodules $GIT_COMMIT
+  git reset --hard $GIT_COMMIT
+  git clean -df
+  git submodule sync
+  git submodule update --init --recursive
+  git submodule foreach --recursive "git reset --hard && git clean -df"
+
+  git lfs pull
+  (ulimit -n 65535 && git lfs prune)
+}
+
+export GIT_PACK_THREADS=8
+
 # set up environment
 if [ ! -d "$SOURCE_DIR" ]; then
   git clone https://github.com/commaai/openpilot.git $SOURCE_DIR
 fi
-cd $SOURCE_DIR
 
-# cleanup orphaned locks
-find .git -type f -name "*.lock" -exec rm {} +
-
-git reset --hard
-git fetch --no-tags --no-recurse-submodules -j4 --verbose --depth 1 origin $GIT_COMMIT
-find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
-git reset --hard $GIT_COMMIT
-git checkout $GIT_COMMIT
-git clean -xdff
-git submodule sync
-git submodule update --init --recursive
-git submodule foreach --recursive "git reset --hard && git clean -xdff"
-
-git lfs pull
-(ulimit -n 65535 && git lfs prune)
-
-echo "git checkout done, t=$SECONDS"
-du -hs $SOURCE_DIR $SOURCE_DIR/.git
-
-rsync -a --delete $SOURCE_DIR $TEST_DIR
+if [ ! -z "$UNSAFE" ]; then
+  echo "doing unsafe checkout"
+  unsafe_checkout
+else
+  echo "doing safe checkout"
+  safe_checkout
+fi
 
 echo "$TEST_DIR synced with $GIT_COMMIT, t=$SECONDS"
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 22055d8f20..553ef1afa6 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -19,8 +19,8 @@ from openpilot.common.timeout import Timeout
 from openpilot.common.params import Params
 from openpilot.selfdrive.controls.lib.events import EVENTS, ET
 from openpilot.system.hardware import HARDWARE
-from openpilot.system.loggerd.config import ROOT
 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
@@ -37,8 +37,8 @@ PROCS = {
   "./_sensord": 7.0,
   "selfdrive.controls.radard": 4.5,
   "selfdrive.modeld.modeld": 8.0,
-  "./_dmonitoringmodeld": 5.0,
-  "./_navmodeld": 1.0,
+  "selfdrive.modeld.dmonitoringmodeld": 8.0,
+  "selfdrive.modeld.navmodeld": 1.0,
   "selfdrive.thermald.thermald": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
@@ -102,7 +102,7 @@ class TestOnroad(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
     if "DEBUG" in os.environ:
-      segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir())
+      segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(Paths.log_root()).iterdir())
       segs = sorted(segs, key=lambda x: x.stat().st_mtime)
       print(segs[-3])
       cls.lr = list(LogReader(os.path.join(segs[-3], "rlog")))
@@ -115,8 +115,8 @@ class TestOnroad(unittest.TestCase):
     params.remove("CurrentRoute")
     set_params_enabled()
     os.environ['TESTING_CLOSET'] = '1'
-    if os.path.exists(ROOT):
-      shutil.rmtree(ROOT)
+    if os.path.exists(Paths.log_root()):
+      shutil.rmtree(Paths.log_root())
     os.system("rm /dev/shm/*")
 
     # Make sure athena isn't running
@@ -143,8 +143,8 @@ class TestOnroad(unittest.TestCase):
 
         while len(cls.segments) < 3:
           segs = set()
-          if Path(ROOT).exists():
-            segs = set(Path(ROOT).glob(f"{route}--*"))
+          if Path(Paths.log_root()).exists():
+            segs = set(Path(Paths.log_root()).glob(f"{route}--*"))
           cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1]))
           time.sleep(2)
 
diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py
index 3f99e16831..a1479003ee 100755
--- a/selfdrive/tombstoned.py
+++ b/selfdrive/tombstoned.py
@@ -10,8 +10,8 @@ import glob
 from typing import NoReturn
 
 from openpilot.common.file_helpers import mkdirs_exists_ok
-from openpilot.system.loggerd.config import ROOT
 import openpilot.selfdrive.sentry as sentry
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.swaglog import cloudlog
 from openpilot.system.version import get_commit
 
@@ -130,7 +130,7 @@ def report_tombstone_apport(fn):
 
   new_fn = f"{date}_{get_commit(default='nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN]
 
-  crashlog_dir = os.path.join(ROOT, "crash")
+  crashlog_dir = os.path.join(Paths.log_root(), "crash")
   mkdirs_exists_ok(crashlog_dir)
 
   # Files could be on different filesystems, copy, then delete
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index d9b02965b4..a571457021 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -278,7 +278,6 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
 ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) {
   setFixedSize(btn_size, btn_size);
 
-  params = Params();
   engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
   experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size});
   QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode);
diff --git a/system/hardware/hw.h b/system/hardware/hw.h
index 1274851787..2f6ccfffda 100644
--- a/system/hardware/hw.h
+++ b/system/hardware/hw.h
@@ -14,16 +14,37 @@
 #endif
 
 namespace Path {
-inline std::string log_root() {
-  if (const char *env = getenv("LOG_ROOT")) {
-    return env;
+  inline std::string openpilot_prefix() {
+    return util::getenv("OPENPILOT_PREFIX", "");
+  }
+
+  inline std::string comma_home() {
+    return util::getenv("HOME") + "/.comma" + Path::openpilot_prefix();
+  }
+
+  inline std::string log_root() {
+    if (const char *env = getenv("LOG_ROOT")) {
+      return env;
+    }
+    return Hardware::PC() ? Path::comma_home() + "/media/0/realdata" : "/data/media/0/realdata";
+  }
+
+  inline std::string params() {
+    return Hardware::PC() ? util::getenv("PARAMS_ROOT", Path::comma_home() + "/params") : "/data/params";
+  }
+
+  inline std::string rsa_file() {
+    return Hardware::PC() ? Path::comma_home() + "/persist/comma/id_rsa" : "/persist/comma/id_rsa";
+  }
+  
+  inline std::string swaglog_ipc() {
+    return "ipc:///tmp/logmessage" + Path::openpilot_prefix();
+  }
+
+  inline std::string download_cache_root() {
+    if (const char *env = getenv("COMMA_CACHE")) {
+      return env;
+    }
+    return "/tmp/comma_download_cache" + Path::openpilot_prefix() + "/";
   }
-  return Hardware::PC() ? util::getenv("HOME") + "/.comma/media/0/realdata" : "/data/media/0/realdata";
-}
-inline std::string params() {
-  return Hardware::PC() ? util::getenv("PARAMS_ROOT", util::getenv("HOME") + "/.comma/params") : "/data/params";
-}
-inline std::string rsa_file() {
-  return Hardware::PC() ? util::getenv("HOME") + "/.comma/persist/comma/id_rsa" : "/persist/comma/id_rsa";
-}
 }  // namespace Path
diff --git a/system/hardware/hw.py b/system/hardware/hw.py
new file mode 100644
index 0000000000..3f7eac02e9
--- /dev/null
+++ b/system/hardware/hw.py
@@ -0,0 +1,35 @@
+import os
+from pathlib import Path
+
+from openpilot.selfdrive.hardware import PC
+
+class Paths:
+  @staticmethod
+  def comma_home() -> str:
+    return os.path.join(str(Path.home()), ".comma" + os.environ.get("OPENPILOT_PREFIX", ""))
+
+  @staticmethod
+  def log_root() -> str:
+    if os.environ.get('LOG_ROOT', False):
+      return os.environ['LOG_ROOT']
+    elif PC:
+      return str(Path(Paths.comma_home()) / "media" / "0" / "realdata")
+    else:
+      return '/data/media/0/realdata/'
+
+  @staticmethod
+  def swaglog_root() -> str:
+    if PC:
+      return os.path.join(Paths.comma_home(), "log")
+    else:
+      return "/data/log/"
+
+  @staticmethod
+  def swaglog_ipc() -> str:
+    return "ipc:///tmp/logmessage" + os.environ.get("OPENPILOT_PREFIX", "")
+
+  @staticmethod
+  def download_cache_root() -> str:
+    if os.environ.get('COMMA_CACHE', False):
+      return os.environ['COMMA_CACHE']
+    return "/tmp/comma_download_cache" + os.environ.get("OPENPILOT_PREFIX", "") + "/"
diff --git a/system/loggerd/bootlog.cc b/system/loggerd/bootlog.cc
index becd293c02..771594d20c 100644
--- a/system/loggerd/bootlog.cc
+++ b/system/loggerd/bootlog.cc
@@ -50,11 +50,11 @@ static kj::Array<capnp::word> build_boot_log() {
 
 int main(int argc, char** argv) {
   const std::string timestr = logger_get_route_name();
-  const std::string path = LOG_ROOT + "/boot/" + timestr;
+  const std::string path = Path::log_root() + "/boot/" + timestr;
   LOGW("bootlog to %s", path.c_str());
 
   // Open bootlog
-  bool r = util::create_directories(LOG_ROOT + "/boot/", 0775);
+  bool r = util::create_directories(Path::log_root() + "/boot/", 0775);
   assert(r);
 
   RawFile file(path.c_str());
diff --git a/system/loggerd/config.py b/system/loggerd/config.py
index dfc117f2c1..0245585fc0 100644
--- a/system/loggerd/config.py
+++ b/system/loggerd/config.py
@@ -1,13 +1,7 @@
 import os
 from pathlib import Path
 from openpilot.system.hardware import PC
-
-if os.environ.get('LOG_ROOT', False):
-  ROOT = os.environ['LOG_ROOT']
-elif PC:
-  ROOT = str(Path.home() / ".comma" / "media" / "0" / "realdata")
-else:
-  ROOT = '/data/media/0/realdata/'
+from openpilot.selfdrive.hardware.hw import Paths
 
 
 CAMERA_FPS = 20
@@ -23,7 +17,7 @@ STATS_FLUSH_TIME_S = 60
 
 def get_available_percent(default=None):
   try:
-    statvfs = os.statvfs(ROOT)
+    statvfs = os.statvfs(Paths.log_root())
     available_percent = 100.0 * statvfs.f_bavail / statvfs.f_blocks
   except OSError:
     available_percent = default
@@ -33,7 +27,7 @@ def get_available_percent(default=None):
 
 def get_available_bytes(default=None):
   try:
-    statvfs = os.statvfs(ROOT)
+    statvfs = os.statvfs(Paths.log_root())
     available_bytes = statvfs.f_bavail * statvfs.f_frsize
   except OSError:
     available_bytes = default
diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py
index ab4a0b97c1..b060232b6e 100755
--- a/system/loggerd/deleter.py
+++ b/system/loggerd/deleter.py
@@ -3,9 +3,9 @@ import os
 import shutil
 import threading
 from typing import List
-
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.swaglog import cloudlog
-from openpilot.system.loggerd.config import ROOT, get_available_bytes, get_available_percent
+from openpilot.system.loggerd.config import get_available_bytes, get_available_percent
 from openpilot.system.loggerd.uploader import listdir_by_creation
 from openpilot.system.loggerd.xattr_cache import getxattr
 
@@ -20,7 +20,7 @@ PRESERVE_COUNT = 5
 
 
 def has_preserve_xattr(d: str) -> bool:
-  return getxattr(os.path.join(ROOT, d), PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
+  return getxattr(os.path.join(Paths.log_root(), d), PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
 
 
 def get_preserved_segments(dirs_by_creation: List[str]) -> List[str]:
@@ -51,14 +51,14 @@ def deleter_thread(exit_event):
     out_of_percent = get_available_percent(default=MIN_PERCENT + 1) < MIN_PERCENT
 
     if out_of_percent or out_of_bytes:
-      dirs = listdir_by_creation(ROOT)
+      dirs = listdir_by_creation(Paths.log_root())
 
       # skip deleting most recent N preserved segments (and their prior segment)
       preserved_dirs = get_preserved_segments(dirs)
 
       # remove the earliest directory we can
       for delete_dir in sorted(dirs, key=lambda d: (d in DELETE_LAST, d in preserved_dirs)):
-        delete_path = os.path.join(ROOT, delete_dir)
+        delete_path = os.path.join(Paths.log_root(), delete_dir)
 
         if any(name.endswith(".lock") for name in os.listdir(delete_path)):
           continue
diff --git a/system/loggerd/logger.h b/system/loggerd/logger.h
index 36db1a5a74..06b11e72f9 100644
--- a/system/loggerd/logger.h
+++ b/system/loggerd/logger.h
@@ -16,8 +16,6 @@
 #include "common/swaglog.h"
 #include "system/hardware/hw.h"
 
-const std::string LOG_ROOT = Path::log_root();
-
 #define LOGGER_MAX_HANDLES 16
 
 class RawFile {
diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc
index 84d5632d5a..adb24c913c 100644
--- a/system/loggerd/loggerd.cc
+++ b/system/loggerd/loggerd.cc
@@ -24,7 +24,7 @@ struct LoggerdState {
 
 void logger_rotate(LoggerdState *s) {
   int segment = -1;
-  int err = logger_next(&s->logger, LOG_ROOT.c_str(), s->segment_path, sizeof(s->segment_path), &segment);
+  int err = logger_next(&s->logger, Path::log_root().c_str(), s->segment_path, sizeof(s->segment_path), &segment);
   assert(err == 0);
   s->rotate_segment = segment;
   s->ready_to_rotate = 0;
diff --git a/system/loggerd/tests/fill.py b/system/loggerd/tests/fill.py
index c749f42b97..5e6f887b12 100755
--- a/system/loggerd/tests/fill.py
+++ b/system/loggerd/tests/fill.py
@@ -3,7 +3,8 @@
 
 from pathlib import Path
 
-from openpilot.system.loggerd.config import ROOT, get_available_percent
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.loggerd.config import get_available_percent
 from openpilot.system.loggerd.tests.loggerd_tests_common import create_random_file
 
 
@@ -11,7 +12,7 @@ if __name__ == "__main__":
   segment_idx = 0
   while True:
     seg_name = f"1970-01-01--00-00-00--{segment_idx}"
-    seg_path = Path(ROOT) / seg_name
+    seg_path = Path(Paths.log_root()) / seg_name
 
     print(seg_path)
 
diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py
index 89ddbd658c..8bfb571861 100644
--- a/system/loggerd/tests/loggerd_tests_common.py
+++ b/system/loggerd/tests/loggerd_tests_common.py
@@ -1,11 +1,9 @@
 import os
-import errno
-import shutil
 import random
-import tempfile
 import unittest
 from pathlib import Path
 from typing import Optional
+from openpilot.system.hardware.hw import Paths
 
 import openpilot.system.loggerd.deleter as deleter
 import openpilot.system.loggerd.uploader as uploader
@@ -87,8 +85,6 @@ class UploaderTestCase(unittest.TestCase):
     uploader.Api = MockApiIgnore
 
   def setUp(self):
-    self.root = Path(tempfile.mkdtemp())
-    uploader.ROOT = str(self.root)  # Monkey patch root dir
     uploader.Api = MockApi
     uploader.Params = MockParams
     uploader.fake_upload = True
@@ -99,16 +95,9 @@ class UploaderTestCase(unittest.TestCase):
     self.seg_format2 = "2019-05-18--11-22-33--{}"
     self.seg_dir = self.seg_format.format(self.seg_num)
 
-  def tearDown(self):
-    try:
-      shutil.rmtree(self.root)
-    except OSError as e:
-      if e.errno != errno.ENOENT:
-        raise
-
   def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False,
                           upload_xattr: Optional[bytes] = None, preserve_xattr: Optional[bytes] = None) -> Path:
-    file_path = self.root / f_dir / fn
+    file_path = Path(Paths.log_root()) / f_dir / fn
     create_random_file(file_path, size_mb, lock, upload_xattr)
 
     if preserve_xattr is not None:
diff --git a/system/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py
index 86152b05f8..e4112b7b4e 100755
--- a/system/loggerd/tests/test_deleter.py
+++ b/system/loggerd/tests/test_deleter.py
@@ -22,7 +22,6 @@ class TestDeleter(UploaderTestCase):
     super().setUp()
     self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096)
     deleter.os.statvfs = self.fake_statvfs
-    deleter.ROOT = str(self.root)
 
   def start_thread(self):
     self.end_event = threading.Event()
diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py
index 41b83c0821..bec956a316 100755
--- a/system/loggerd/tests/test_encoder.py
+++ b/system/loggerd/tests/test_encoder.py
@@ -14,9 +14,9 @@ from tqdm import trange
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.system.hardware import TICI
-from openpilot.system.loggerd.config import ROOT
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogReader
+from openpilot.selfdrive.hardware.hw import Paths
 
 SEGMENT_LENGTH = 2
 FULL_SIZE = 2507572
@@ -48,12 +48,12 @@ class TestEncoder(unittest.TestCase):
     self._clear_logs()
 
   def _clear_logs(self):
-    if os.path.exists(ROOT):
-      shutil.rmtree(ROOT)
+    if os.path.exists(Paths.log_root()):
+      shutil.rmtree(Paths.log_root())
 
   def _get_latest_segment_path(self):
-    last_route = sorted(Path(ROOT).iterdir())[-1]
-    return os.path.join(ROOT, last_route)
+    last_route = sorted(Path(Paths.log_root()).iterdir())[-1]
+    return os.path.join(Paths.log_root(), last_route)
 
   # TODO: this should run faster than real time
   @parameterized.expand([(True, ), (False, )])
@@ -146,7 +146,7 @@ class TestEncoder(unittest.TestCase):
       for i in trange(num_segments):
         # poll for next segment
         with Timeout(int(SEGMENT_LENGTH*10), error_msg=f"timed out waiting for segment {i}"):
-          while Path(f"{route_prefix_path}--{i+1}") not in Path(ROOT).iterdir():
+          while Path(f"{route_prefix_path}--{i+1}") not in Path(Paths.log_root()).iterdir():
             time.sleep(0.1)
         check_seg(i)
     finally:
diff --git a/system/loggerd/tests/test_logger.cc b/system/loggerd/tests/test_logger.cc
index 9c82299091..9f815c2189 100644
--- a/system/loggerd/tests/test_logger.cc
+++ b/system/loggerd/tests/test_logger.cc
@@ -97,7 +97,7 @@ TEST_CASE("logger") {
 
     auto logging_thread = [&]() -> void {
       LoggerHandle *lh = logger_get_handle(&logger);
-      REQUIRE(lh != nullptr);
+      assert(lh != nullptr);
       int segment = main_segment;
       int delayed_cnt = 0;
       while (!do_exit) {
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 816a4d4198..3ea29b0d82 100755
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -16,7 +16,7 @@ from cereal.services import service_list
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
-from openpilot.system.loggerd.config import ROOT
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr
 from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
 from openpilot.selfdrive.manager.process_config import managed_processes
@@ -32,8 +32,11 @@ CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in service_list
 
 
 class TestLoggerd(unittest.TestCase):
+  def setUp(self):
+    os.environ.pop("LOG_ROOT", None)
+
   def _get_latest_log_dir(self):
-    log_dirs = sorted(Path(ROOT).iterdir(), key=lambda f: f.stat().st_mtime)
+    log_dirs = sorted(Path(Paths.log_root()).iterdir(), key=lambda f: f.stat().st_mtime)
     return log_dirs[-1]
 
   def _get_log_dir(self, x):
diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py
index 6e2f86d6ca..a7349fc5e4 100755
--- a/system/loggerd/tests/test_uploader.py
+++ b/system/loggerd/tests/test_uploader.py
@@ -7,6 +7,7 @@ import logging
 import json
 from pathlib import Path
 from typing import List, Optional
+from openpilot.system.hardware.hw import Paths
 
 from openpilot.system.swaglog import cloudlog
 from openpilot.system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
@@ -84,7 +85,7 @@ class TestUploader(UploaderTestCase):
     self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload")
     self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice")
     for f_path in exp_order:
-      self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
+      self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
 
     self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order")
 
@@ -102,7 +103,7 @@ class TestUploader(UploaderTestCase):
     self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload")
     self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice")
     for f_path in exp_order:
-      self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
+      self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
 
     self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order")
 
@@ -121,7 +122,7 @@ class TestUploader(UploaderTestCase):
     self.assertFalse(len(log_handler.upload_ignored) < len(exp_order), "Some files failed to ignore")
     self.assertFalse(len(log_handler.upload_ignored) > len(exp_order), "Some files were ignored twice")
     for f_path in exp_order:
-      self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not ignored")
+      self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not ignored")
 
     self.assertTrue(log_handler.upload_ignored == exp_order, "Files ignored in wrong order")
 
@@ -146,7 +147,7 @@ class TestUploader(UploaderTestCase):
     self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload")
     self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice")
     for f_path in exp_order:
-      self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
+      self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
 
     self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order")
 
diff --git a/system/loggerd/tools/mark_all_uploaded.py b/system/loggerd/tools/mark_all_uploaded.py
index 84b9c20d78..0502184380 100644
--- a/system/loggerd/tools/mark_all_uploaded.py
+++ b/system/loggerd/tools/mark_all_uploaded.py
@@ -1,8 +1,8 @@
 import os
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
 
-from openpilot.system.loggerd.config import ROOT
-for folder in os.walk(ROOT):
+for folder in os.walk(Paths.log_root()):
   for file1 in folder[2]:
     full_path = os.path.join(folder[0], file1)
     os.setxattr(full_path, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE)
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index 2d4505dc28..b520adc94c 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -17,8 +17,8 @@ from openpilot.common.api import Api
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware import TICI
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
-from openpilot.system.loggerd.config import ROOT
 from openpilot.system.swaglog import cloudlog
 
 NetworkType = log.DeviceState.NetworkType
@@ -244,7 +244,7 @@ def uploader_fn(exit_event: threading.Event) -> None:
   except Exception:
     cloudlog.exception("failed to set core affinity")
 
-  clear_locks(ROOT)
+  clear_locks(Paths.log_root())
 
   params = Params()
   dongle_id = params.get("DongleId", encoding='utf8')
@@ -262,7 +262,7 @@ def uploader_fn(exit_event: threading.Event) -> None:
 
   sm = messaging.SubMaster(['deviceState'])
   pm = messaging.PubMaster(['uploaderState'])
-  uploader = Uploader(dongle_id, ROOT)
+  uploader = Uploader(dongle_id, Paths.log_root())
 
   backoff = 0.1
   while not exit_event.is_set():
diff --git a/system/logmessaged.py b/system/logmessaged.py
index 4799348990..c53e20e483 100755
--- a/system/logmessaged.py
+++ b/system/logmessaged.py
@@ -4,8 +4,8 @@ from typing import NoReturn
 
 import cereal.messaging as messaging
 from openpilot.common.logging_extra import SwagLogFileFormatter
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.swaglog import get_file_handler
-from system.swaglog import SWAGLOG_IPC
 
 
 def main() -> NoReturn:
@@ -15,7 +15,7 @@ def main() -> NoReturn:
 
   ctx = zmq.Context.instance()
   sock = ctx.socket(zmq.PULL)
-  sock.bind(f"ipc://{SWAGLOG_IPC}")
+  sock.bind(Paths.swaglog_ipc())
 
   # and we publish them
   log_message_sock = messaging.pub_sock('logMessage')
diff --git a/system/proclogd/tests/test_proclog.cc b/system/proclogd/tests/test_proclog.cc
index affde2f320..33fccd4f30 100644
--- a/system/proclogd/tests/test_proclog.cc
+++ b/system/proclogd/tests/test_proclog.cc
@@ -140,7 +140,6 @@ TEST_CASE("buildProcLogerMessage") {
       REQUIRE(p.getName() == "test_proclog");
       REQUIRE(p.getState() == 'R');
       REQUIRE_THAT(p.getExe().cStr(), Catch::Matchers::Contains("test_proclog"));
-      REQUIRE(p.getCmdline().size() == 1);
       REQUIRE_THAT(p.getCmdline()[0], Catch::Matchers::Contains("test_proclog"));
     } else {
       std::string cmd_path = "/proc/" + std::to_string(p.getPid()) + "/cmdline";
diff --git a/system/swaglog.py b/system/swaglog.py
index 6ccd0d9791..ba81318234 100644
--- a/system/swaglog.py
+++ b/system/swaglog.py
@@ -8,18 +8,12 @@ from logging.handlers import BaseRotatingHandler
 import zmq
 
 from openpilot.common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter
-from openpilot.system.hardware import PC
+from openpilot.system.hardware.hw import Paths
 
-if PC:
-  SWAGLOG_DIR = os.path.join(str(Path.home()), ".comma", "log")
-else:
-  SWAGLOG_DIR = "/data/log/"
-
-SWAGLOG_IPC = "/tmp/logmessage"
 
 def get_file_handler():
-  Path(SWAGLOG_DIR).mkdir(parents=True, exist_ok=True)
-  base_filename = os.path.join(SWAGLOG_DIR, "swaglog")
+  Path(Paths.swaglog_root()).mkdir(parents=True, exist_ok=True)
+  base_filename = os.path.join(Paths.swaglog_root(), "swaglog")
   handler = SwaglogRotatingFileHandler(base_filename)
   return handler
 
@@ -91,7 +85,7 @@ class UnixDomainSocketHandler(logging.Handler):
     self.zctx = zmq.Context()
     self.sock = self.zctx.socket(zmq.PUSH)
     self.sock.setsockopt(zmq.LINGER, 10)
-    self.sock.connect(f"ipc://{SWAGLOG_IPC}")
+    self.sock.connect(Paths.swaglog_ipc())
     self.pid = os.getpid()
 
   def emit(self, record):
diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py
index 0b70774bbb..5d0e1bfc82 100755
--- a/system/tests/test_logmessaged.py
+++ b/system/tests/test_logmessaged.py
@@ -6,23 +6,22 @@ import unittest
 
 import cereal.messaging as messaging
 from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.swaglog import cloudlog, ipchandler
-from openpilot.selfdrive.test.helpers import temporary_swaglog_dir, temporary_swaglog_ipc
 
 
 class TestLogmessaged(unittest.TestCase):
-  def _setup(self, temp_dir):
+  def setUp(self):
     # clear the IPC buffer in case some other tests used cloudlog and filled it
     ipchandler.close()
     ipchandler.connect()
 
-    self.temp_dir = temp_dir
     managed_processes['logmessaged'].start()
     self.sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False)
     self.error_sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False)
 
     # ensure sockets are connected
-    time.sleep(0.2)
+    time.sleep(1)
     messaging.drain_sock(self.sock)
     messaging.drain_sock(self.error_sock)
 
@@ -32,12 +31,9 @@ class TestLogmessaged(unittest.TestCase):
     managed_processes['logmessaged'].stop(block=True)
 
   def _get_log_files(self):
-    return list(glob.glob(os.path.join(self.temp_dir, "swaglog.*")))
+    return list(glob.glob(os.path.join(Paths.swaglog_root(), "swaglog.*")))
 
-  @temporary_swaglog_dir
-  @temporary_swaglog_ipc
-  def test_simple_log(self, temp_dir):
-    self._setup(temp_dir)
+  def test_simple_log(self):
     msgs = [f"abc {i}" for i in range(10)]
     for m in msgs:
       cloudlog.error(m)
@@ -46,10 +42,7 @@ class TestLogmessaged(unittest.TestCase):
     assert len(m) == len(msgs)
     assert len(self._get_log_files()) >= 1
 
-  @temporary_swaglog_dir
-  @temporary_swaglog_ipc
-  def test_big_log(self, temp_dir):
-    self._setup(temp_dir)
+  def test_big_log(self):
     n = 10
     msg = "a"*3*1024*1024
     for _ in range(n):
diff --git a/system/ubloxd/tests/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py
index 01be79f0d4..311604881a 100755
--- a/system/ubloxd/tests/test_ublox_processing.py
+++ b/system/ubloxd/tests/test_ublox_processing.py
@@ -8,9 +8,9 @@ from laika.helpers import ConstellationId
 from laika.raw_gnss import correct_measurements, process_measurements, read_raw_ublox
 from laika.opt import calc_pos_fix
 from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.system.hardware.hw import Paths
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.selfdrive.test.helpers import with_processes
-from openpilot.selfdrive.test.helpers import temporary_dir
 import cereal.messaging as messaging
 
 def get_gnss_measurements(log_reader):
@@ -56,9 +56,8 @@ class TestUbloxProcessing(unittest.TestCase):
     self.assertEqual(count_gps, 5036)
     self.assertEqual(count_glonass, 3651)
 
-  @temporary_dir
-  def test_get_fix(self, temp_dir):
-    dog = AstroDog(cache_dir=temp_dir)
+  def test_get_fix(self):
+    dog = AstroDog(cache_dir=Paths.download_cache_root())
     position_fix_found = 0
     count_processed_measurements = 0
     count_corrected_measurements = 0
@@ -100,7 +99,7 @@ class TestUbloxProcessing(unittest.TestCase):
       rcv_msgs = []
       for msg in self.ublox_raw:
         ur_pm.send(msg.which(), msg.as_builder())
-        time.sleep(0.01)
+        time.sleep(0.001)
         rcv_msgs += messaging.drain_sock(ugs)
 
       time.sleep(0.1)
diff --git a/system/ubloxd/tests/ublox.py b/system/ubloxd/tests/ublox.py
deleted file mode 100755
index 3243500e74..0000000000
--- a/system/ubloxd/tests/ublox.py
+++ /dev/null
@@ -1,938 +0,0 @@
-#!/usr/bin/env python3
-'''
-UBlox binary protocol handling
-
-Copyright Andrew Tridgell, October 2012
-Released under GNU GPL version 3 or later
-
-WARNING: This code has originally intended for
-ublox version 7, it has been adapted to work
-for ublox version 8, not all functions may work.
-'''
-
-
-import struct
-import time
-
-# protocol constants
-PREAMBLE1 = 0xb5
-PREAMBLE2 = 0x62
-
-# message classes
-CLASS_NAV = 0x01
-CLASS_RXM = 0x02
-CLASS_INF = 0x04
-CLASS_ACK = 0x05
-CLASS_CFG = 0x06
-CLASS_MON = 0x0A
-CLASS_AID = 0x0B
-CLASS_TIM = 0x0D
-CLASS_ESF = 0x10
-
-# ACK messages
-MSG_ACK_NACK = 0x00
-MSG_ACK_ACK = 0x01
-
-# NAV messages
-MSG_NAV_POSECEF = 0x1
-MSG_NAV_POSLLH = 0x2
-MSG_NAV_STATUS = 0x3
-MSG_NAV_DOP = 0x4
-MSG_NAV_SOL = 0x6
-MSG_NAV_PVT = 0x7
-MSG_NAV_POSUTM = 0x8
-MSG_NAV_VELNED = 0x12
-MSG_NAV_VELECEF = 0x11
-MSG_NAV_TIMEGPS = 0x20
-MSG_NAV_TIMEUTC = 0x21
-MSG_NAV_CLOCK = 0x22
-MSG_NAV_SVINFO = 0x30
-MSG_NAV_SAT = 0x35
-MSG_NAV_AOPSTATUS = 0x60
-MSG_NAV_DGPS = 0x31
-MSG_NAV_DOP = 0x04
-MSG_NAV_EKFSTATUS = 0x40
-MSG_NAV_SBAS = 0x32
-MSG_NAV_SOL = 0x06
-MSG_NAV_SAT = 0x35
-
-# RXM messages
-MSG_RXM_RAW = 0x15
-MSG_RXM_SFRB = 0x11
-MSG_RXM_SFRBX = 0x13
-MSG_RXM_SVSI = 0x20
-MSG_RXM_EPH = 0x31
-MSG_RXM_ALM = 0x30
-MSG_RXM_PMREQ = 0x41
-
-# AID messages
-MSG_AID_ALM = 0x30
-MSG_AID_EPH = 0x31
-MSG_AID_ALPSRV = 0x32
-MSG_AID_AOP = 0x33
-MSG_AID_DATA = 0x10
-MSG_AID_ALP = 0x50
-MSG_AID_DATA = 0x10
-MSG_AID_HUI = 0x02
-MSG_AID_INI = 0x01
-MSG_AID_REQ = 0x00
-
-# CFG messages
-MSG_CFG_PRT = 0x00
-MSG_CFG_ANT = 0x13
-MSG_CFG_DAT = 0x06
-MSG_CFG_EKF = 0x12
-MSG_CFG_ESFGWT = 0x29
-MSG_CFG_CFG = 0x09
-MSG_CFG_USB = 0x1b
-MSG_CFG_RATE = 0x08
-MSG_CFG_SET_RATE = 0x01
-MSG_CFG_NAV5 = 0x24
-MSG_CFG_FXN = 0x0E
-MSG_CFG_INF = 0x02
-MSG_CFG_ITFM = 0x39
-MSG_CFG_MSG = 0x01
-MSG_CFG_NAVX5 = 0x23
-MSG_CFG_NMEA = 0x17
-MSG_CFG_NVS = 0x22
-MSG_CFG_PM2 = 0x3B
-MSG_CFG_PM = 0x32
-MSG_CFG_ITMF = 0x39
-MSG_CFG_RINV = 0x34
-MSG_CFG_RST = 0x04
-MSG_CFG_RXM = 0x11
-MSG_CFG_SBAS = 0x16
-MSG_CFG_TMODE2 = 0x3D
-MSG_CFG_TMODE = 0x1D
-MSG_CFG_TPS = 0x31
-MSG_CFG_TP = 0x07
-MSG_CFG_GNSS = 0x3E
-MSG_CFG_ODO = 0x1E
-
-# ESF messages
-MSG_ESF_MEAS = 0x02
-MSG_ESF_STATUS = 0x10
-
-# INF messages
-MSG_INF_DEBUG = 0x04
-MSG_INF_ERROR = 0x00
-MSG_INF_NOTICE = 0x02
-MSG_INF_TEST = 0x03
-MSG_INF_WARNING = 0x01
-
-# MON messages
-MSG_MON_SCHD = 0x01
-MSG_MON_HW = 0x09
-MSG_MON_HW2 = 0x0B
-MSG_MON_IO = 0x02
-MSG_MON_MSGPP = 0x06
-MSG_MON_RXBUF = 0x07
-MSG_MON_RXR = 0x21
-MSG_MON_TXBUF = 0x08
-MSG_MON_VER = 0x04
-
-# TIM messages
-MSG_TIM_TP = 0x01
-MSG_TIM_TM2 = 0x03
-MSG_TIM_SVIN = 0x04
-MSG_TIM_VRFY = 0x06
-
-# port IDs
-PORT_DDC = 0
-PORT_SERIAL1 = 1
-PORT_SERIAL2 = 2
-PORT_USB = 3
-PORT_SPI = 4
-
-# dynamic models
-DYNAMIC_MODEL_PORTABLE = 0
-DYNAMIC_MODEL_STATIONARY = 2
-DYNAMIC_MODEL_PEDESTRIAN = 3
-DYNAMIC_MODEL_AUTOMOTIVE = 4
-DYNAMIC_MODEL_SEA = 5
-DYNAMIC_MODEL_AIRBORNE1G = 6
-DYNAMIC_MODEL_AIRBORNE2G = 7
-DYNAMIC_MODEL_AIRBORNE4G = 8
-
-#reset items
-RESET_HOT = 0
-RESET_WARM = 1
-RESET_COLD = 0xFFFF
-
-RESET_HW = 0
-RESET_SW = 1
-RESET_SW_GPS = 2
-RESET_HW_GRACEFUL = 4
-RESET_GPS_STOP = 8
-RESET_GPS_START = 9
-
-
-class UBloxError(Exception):
-  '''Ublox error class'''
-
-  def __init__(self, msg):
-    Exception.__init__(self, msg)
-    self.message = msg
-
-
-class UBloxAttrDict(dict):
-  '''allow dictionary members as attributes'''
-
-  def __init__(self):
-    dict.__init__(self)
-
-  def __getattr__(self, name):
-    try:
-      return self.__getitem__(name)
-    except KeyError as e:
-      raise RuntimeError(f"ublock invalid attr: {name}") from e
-
-  def __setattr__(self, name, value):
-    if name in self.__dict__:
-      # allow set on normal attributes
-      dict.__setattr__(self, name, value)
-    else:
-      self.__setitem__(name, value)
-
-
-def ArrayParse(field):
-  '''parse an array descriptor'''
-  arridx = field.find('[')
-  if arridx == -1:
-    return (field, -1)
-  alen = int(field[arridx + 1:-1])
-  fieldname = field[:arridx]
-  return (fieldname, alen)
-
-
-class UBloxDescriptor:
-  '''class used to describe the layout of a UBlox message'''
-
-  def __init__(self,
-               name,
-               msg_format,
-               fields=None,
-               count_field=None,
-               format2=None,
-               fields2=None):
-    if fields is None:
-      fields = []
-
-    self.name = name
-    self.msg_format = msg_format
-    self.fields = fields
-    self.count_field = count_field
-    self.format2 = format2
-    self.fields2 = fields2
-
-  def unpack(self, msg):
-    '''unpack a UBloxMessage, creating the .fields and ._recs attributes in msg'''
-    msg._fields = {}
-
-    # unpack main message blocks. A comm
-    formats = self.msg_format.split(',')
-    buf = msg._buf[6:-2]
-    count = 0
-    msg._recs = []
-    fields = self.fields[:]
-
-    for fmt in formats:
-      size1 = struct.calcsize(fmt)
-      if size1 > len(buf):
-        raise UBloxError("%s INVALID_SIZE1=%u" % (self.name, len(buf)))
-      f1 = list(struct.unpack(fmt, buf[:size1]))
-      i = 0
-      while i < len(f1):
-        field = fields.pop(0)
-        (fieldname, alen) = ArrayParse(field)
-        if alen == -1:
-          msg._fields[fieldname] = f1[i]
-          if self.count_field == fieldname:
-            count = int(f1[i])
-          i += 1
-        else:
-          msg._fields[fieldname] = [0] * alen
-          for a in range(alen):
-            msg._fields[fieldname][a] = f1[i]
-            i += 1
-      buf = buf[size1:]
-      if len(buf) == 0:
-        break
-
-    if self.count_field == '_remaining':
-      count = len(buf) // struct.calcsize(self.format2)
-
-    if count == 0:
-      msg._unpacked = True
-      if len(buf) != 0:
-        raise UBloxError("EXTRA_BYTES=%u" % len(buf))
-      return
-
-    size2 = struct.calcsize(self.format2)
-    for _ in range(count):
-      r = UBloxAttrDict()
-      if size2 > len(buf):
-        raise UBloxError("INVALID_SIZE=%u, " % len(buf))
-      f2 = list(struct.unpack(self.format2, buf[:size2]))
-      for i in range(len(self.fields2)):
-        r[self.fields2[i]] = f2[i]
-      buf = buf[size2:]
-      msg._recs.append(r)
-    if len(buf) != 0:
-      raise UBloxError("EXTRA_BYTES=%u" % len(buf))
-    msg._unpacked = True
-
-  def pack(self, msg, msg_class=None, msg_id=None):
-    '''pack a UBloxMessage from the .fields and ._recs attributes in msg'''
-    f1 = []
-    if msg_class is None:
-      msg_class = msg.msg_class()
-    if msg_id is None:
-      msg_id = msg.msg_id()
-    msg._buf = ''
-
-    fields = self.fields[:]
-    for f in fields:
-      (fieldname, alen) = ArrayParse(f)
-      if fieldname not in msg._fields:
-        break
-      if alen == -1:
-        f1.append(msg._fields[fieldname])
-      else:
-        for a in range(alen):
-          f1.append(msg._fields[fieldname][a])
-    try:
-      # try full length message
-      fmt = self.msg_format.replace(',', '')
-      msg._buf = struct.pack(fmt, *tuple(f1))
-    except Exception:
-      # try without optional part
-      fmt = self.msg_format.split(',')[0]
-      msg._buf = struct.pack(fmt, *tuple(f1))
-
-    length = len(msg._buf)
-    if msg._recs:
-      length += len(msg._recs) * struct.calcsize(self.format2)
-    header = struct.pack('<BBBBH', PREAMBLE1, PREAMBLE2, msg_class, msg_id, length)
-    msg._buf = header + msg._buf
-
-    for r in msg._recs:
-      f2 = []
-      for f in self.fields2:
-        f2.append(r[f])
-      msg._buf += struct.pack(self.format2, *tuple(f2))
-    msg._buf += struct.pack('<BB', *msg.checksum(data=msg._buf[2:]))
-
-  def format_json(self, msg):
-    '''return a formatted string for a message'''
-    if not msg._unpacked:
-      self.unpack(msg)
-    ret = self.name + ': '
-    for f in self.fields:
-      (fieldname, alen) = ArrayParse(f)
-      if fieldname not in msg._fields:
-        continue
-      v = msg._fields[fieldname]
-      if isinstance(v, list):
-        ret += '%s=[' % fieldname
-        for a in range(alen):
-          ret += '%s, ' % v[a]
-        ret = ret[:-2] + '], '
-      elif isinstance(v, str):
-        ret += '{}="{}", '.format(f, v.rstrip(' \0'))
-      else:
-        ret += '%s=%s, ' % (f, v)
-    for r in msg._recs:
-      ret += '[ '
-      for f in self.fields2:
-        v = r[f]
-        ret += '%s=%s, ' % (f, v)
-      ret = ret[:-2] + ' ], '
-    return ret[:-2]
-
-
-# list of supported message types.
-msg_types = {
-  (CLASS_ACK, MSG_ACK_ACK):
-  UBloxDescriptor('ACK_ACK', '<BB', ['clsID', 'msgID']),
-  (CLASS_ACK, MSG_ACK_NACK):
-  UBloxDescriptor('ACK_NACK', '<BB', ['clsID', 'msgID']),
-  (CLASS_CFG, MSG_CFG_USB):
-  UBloxDescriptor('CFG_USB', '<HHHHHH32s32s32s', [
-    'vendorID', 'productID', 'reserved1', 'reserved2', 'powerConsumption', 'flags',
-    'vendorString', 'productString', 'serialNumber'
-  ]),
-  (CLASS_CFG, MSG_CFG_PRT):
-  UBloxDescriptor('CFG_PRT', '<BBHIIHHHH', [
-    'portID', 'reserved0', 'txReady', 'mode', 'baudRate', 'inProtoMask', 'outProtoMask',
-    'reserved4', 'reserved5'
-  ]),
-  (CLASS_CFG, MSG_CFG_ITMF):
-  UBloxDescriptor('CFG_ITMF', '<II', [
-    'config', 'config2'
-  ]),
-  (CLASS_CFG, MSG_CFG_CFG):
-  UBloxDescriptor('CFG_CFG', '<III,B',
-                  ['clearMask', 'saveMask', 'loadMask', 'deviceMask']),
-  (CLASS_CFG, MSG_CFG_RXM):
-  UBloxDescriptor('CFG_RXM', '<BB',
-                  ['reserved1', 'lpMode']),
-  (CLASS_CFG, MSG_CFG_RST):
-  UBloxDescriptor('CFG_RST', '<HBB', ['navBbrMask ', 'resetMode', 'reserved1']),
-  (CLASS_CFG, MSG_CFG_SBAS):
-  UBloxDescriptor('CFG_SBAS', '<BBBBI',
-                  ['mode', 'usage', 'maxSBAS', 'scanmode2', 'scanmode1']),
-  (CLASS_CFG, MSG_CFG_GNSS):
-  UBloxDescriptor('CFG_GNSS', '<BBBB',
-                  ['msgVer', 'numTrkChHw', 'numTrkChUse',
-                   'numConfigBlocks'], 'numConfigBlocks', '<BBBBI',
-                  ['gnssId', 'resTrkCh', 'maxTrkCh', 'reserved1', 'flags']),
-  (CLASS_CFG, MSG_CFG_RATE):
-  UBloxDescriptor('CFG_RATE', '<HHH', ['measRate', 'navRate', 'timeRef']),
-  (CLASS_CFG, MSG_CFG_MSG):
-  UBloxDescriptor('CFG_MSG', '<BB6B', ['msgClass', 'msgId', 'rates[6]']),
-  (CLASS_NAV, MSG_NAV_POSLLH):
-  UBloxDescriptor('NAV_POSLLH', '<IiiiiII',
-                  ['iTOW', 'Longitude', 'Latitude', 'height', 'hMSL', 'hAcc', 'vAcc']),
-  (CLASS_NAV, MSG_NAV_VELNED):
-  UBloxDescriptor('NAV_VELNED', '<IiiiIIiII', [
-    'iTOW', 'velN', 'velE', 'velD', 'speed', 'gSpeed', 'heading', 'sAcc', 'cAcc'
-  ]),
-  (CLASS_NAV, MSG_NAV_DOP):
-  UBloxDescriptor('NAV_DOP', '<IHHHHHHH',
-                  ['iTOW', 'gDOP', 'pDOP', 'tDOP', 'vDOP', 'hDOP', 'nDOP', 'eDOP']),
-  (CLASS_NAV, MSG_NAV_STATUS):
-  UBloxDescriptor('NAV_STATUS', '<IBBBBII',
-                  ['iTOW', 'gpsFix', 'flags', 'fixStat', 'flags2', 'ttff', 'msss']),
-  (CLASS_NAV, MSG_NAV_SOL):
-  UBloxDescriptor('NAV_SOL', '<IihBBiiiIiiiIHBBI', [
-    'iTOW', 'fTOW', 'week', 'gpsFix', 'flags', 'ecefX', 'ecefY', 'ecefZ', 'pAcc',
-    'ecefVX', 'ecefVY', 'ecefVZ', 'sAcc', 'pDOP', 'reserved1', 'numSV', 'reserved2'
-  ]),
-  (CLASS_NAV, MSG_NAV_PVT):
-  UBloxDescriptor('NAV_PVT', '<IHBBBBBBIiBBBBiiiiIIiiiiiIIH6BihH', [
-    'iTOW', 'year', 'month', 'day', 'hour', 'min', 'sec', 'valid', 'tAcc', 'nano',
-    'fixType', 'flags', 'flags2', 'numSV', 'lon', 'lat', 'height', 'hMSL', 'hAcc', 'vAcc',
-    'velN', 'velE', 'velD', 'gSpeed', 'headMot', 'sAcc', 'headAcc', 'pDOP',
-    'reserverd1[6]', 'headVeh', 'magDec', 'magAcc'
-  ]),
-  (CLASS_NAV, MSG_NAV_POSUTM):
-  UBloxDescriptor('NAV_POSUTM', '<Iiiibb',
-                  ['iTOW', 'East', 'North', 'Alt', 'Zone', 'Hem']),
-  (CLASS_NAV, MSG_NAV_SBAS):
-  UBloxDescriptor('NAV_SBAS', '<IBBbBBBBB', [
-    'iTOW', 'geo', 'mode', 'sys', 'service', 'cnt', 'reserved01', 'reserved02',
-    'reserved03'
-  ], 'cnt', 'BBBBBBhHh', [
-    'svid', 'flags', 'udre', 'svSys', 'svService', 'reserved1', 'prc', 'reserved2', 'ic'
-  ]),
-  (CLASS_NAV, MSG_NAV_POSECEF):
-  UBloxDescriptor('NAV_POSECEF', '<IiiiI', ['iTOW', 'ecefX', 'ecefY', 'ecefZ', 'pAcc']),
-  (CLASS_NAV, MSG_NAV_VELECEF):
-  UBloxDescriptor('NAV_VELECEF', '<IiiiI', ['iTOW', 'ecefVX', 'ecefVY', 'ecefVZ',
-                                            'sAcc']),
-  (CLASS_NAV, MSG_NAV_TIMEGPS):
-  UBloxDescriptor('NAV_TIMEGPS', '<IihbBI',
-                  ['iTOW', 'fTOW', 'week', 'leapS', 'valid', 'tAcc']),
-  (CLASS_NAV, MSG_NAV_TIMEUTC):
-  UBloxDescriptor('NAV_TIMEUTC', '<IIiHBBBBBB', [
-    'iTOW', 'tAcc', 'nano', 'year', 'month', 'day', 'hour', 'min', 'sec', 'valid'
-  ]),
-  (CLASS_NAV, MSG_NAV_CLOCK):
-  UBloxDescriptor('NAV_CLOCK', '<IiiII', ['iTOW', 'clkB', 'clkD', 'tAcc', 'fAcc']),
-  (CLASS_NAV, MSG_NAV_DGPS):
-  UBloxDescriptor('NAV_DGPS', '<IihhBBH',
-                  ['iTOW', 'age', 'baseId', 'baseHealth', 'numCh', 'status', 'reserved1'],
-                  'numCh', '<BBHff', ['svid', 'flags', 'ageC', 'prc', 'prrc']),
-  (CLASS_NAV, MSG_NAV_SVINFO):
-  UBloxDescriptor('NAV_SVINFO', '<IBBH', ['iTOW', 'numCh', 'globalFlags',
-                                          'reserved2'], 'numCh', '<BBBBBbhi',
-                  ['chn', 'svid', 'flags', 'quality', 'cno', 'elev', 'azim', 'prRes']),
-  (CLASS_RXM, MSG_RXM_SVSI):
-  UBloxDescriptor('RXM_SVSI', '<IhBB', ['iTOW', 'week', 'numVis', 'numSV'], 'numSV',
-                  '<BBhbB', ['svid', 'svFlag', 'azim', 'elev', 'age']),
-  (CLASS_RXM, MSG_RXM_EPH):
-  UBloxDescriptor('RXM_EPH', '<II , 8I 8I 8I',
-                  ['svid', 'how', 'sf1d[8]', 'sf2d[8]', 'sf3d[8]']),
-  (CLASS_AID, MSG_AID_EPH):
-  UBloxDescriptor('AID_EPH', '<II , 8I 8I 8I',
-                  ['svid', 'how', 'sf1d[8]', 'sf2d[8]', 'sf3d[8]']),
-  (CLASS_AID, MSG_AID_HUI):
-  UBloxDescriptor('AID_HUI', '<Iddi 6h 8f I',
-                  ['health', 'utcA0', 'utcA1', 'utcTOW', 'utcWNT', 'utcLS', 'utcWNF',
-                   'utcDN', 'utcLSF', 'utcSpare', 'klobA0', 'klobA1', 'klobA2', 'klobA3',
-                   'klobB0', 'klobB1', 'klobB2', 'klobB3', 'flags']),
-  (CLASS_AID, MSG_AID_AOP):
-  UBloxDescriptor('AID_AOP', '<B47B , 48B 48B 48B',
-                  ['svid', 'data[47]', 'optional0[48]', 'optional1[48]',
-                   'optional1[48]']),
-  (CLASS_RXM, MSG_RXM_RAW):
-  UBloxDescriptor('RXM_RAW', '<dHbBB3B', [
-    'rcvTow', 'week', 'leapS', 'numMeas', 'recStat', 'reserved1[3]'
-  ], 'numMeas', '<ddfBBBBHBBBBBB', [
-    'prMes', 'cpMes', 'doMes', 'gnssId', 'svId', 'sigId', 'freqId', 'locktime', 'cno',
-    'prStdev', 'cpStdev', 'doStdev', 'trkStat', 'reserved3'
-  ]),
-  (CLASS_RXM, MSG_RXM_SFRB):
-  UBloxDescriptor('RXM_SFRB', '<BB10I', ['chn', 'svid', 'dwrd[10]']),
-  (CLASS_RXM, MSG_RXM_SFRBX):
-  UBloxDescriptor('RXM_SFRBX', '<8B', ['gnssId', 'svid', 'reserved1', 'freqId', 'numWords',
-      'reserved2', 'version', 'reserved3'], 'numWords', 'I', ['dwrd']),
-  (CLASS_AID, MSG_AID_ALM):
-  UBloxDescriptor('AID_ALM', '<II', '_remaining', 'I', ['dwrd']),
-  (CLASS_RXM, MSG_RXM_ALM):
-  UBloxDescriptor('RXM_ALM', '<II , 8I', ['svid', 'week', 'dwrd[8]']),
-  (CLASS_CFG, MSG_CFG_ANT):
-  UBloxDescriptor('CFG_ANT', '<HH', ['flags', 'pins']),
-  (CLASS_CFG, MSG_CFG_ODO):
-  UBloxDescriptor('CFG_ODO', '<B3BBB6BBB2BBB2B', [
-    'version', 'reserved1[3]', 'flags', 'odoCfg', 'reserverd2[6]', 'cogMaxSpeed',
-    'cogMaxPosAcc', 'reserved3[2]', 'velLpGain', 'cogLpGain', 'reserved[2]'
-  ]),
-  (CLASS_CFG, MSG_CFG_NAV5):
-  UBloxDescriptor('CFG_NAV5', '<HBBiIbBHHHHBBIII', [
-    'mask', 'dynModel', 'fixMode', 'fixedAlt', 'fixedAltVar', 'minElev', 'drLimit',
-    'pDop', 'tDop', 'pAcc', 'tAcc', 'staticHoldThresh', 'dgpsTimeOut', 'reserved2',
-    'reserved3', 'reserved4'
-  ]),
-  (CLASS_CFG, MSG_CFG_NAVX5):
-  UBloxDescriptor('CFG_NAVX5', '<HHIBBBBBBBBBBHIBBBBBBHII', [
-    'version', 'mask1', 'reserved0', 'reserved1', 'reserved2', 'minSVs', 'maxSVs',
-    'minCNO', 'reserved5', 'iniFix3D', 'reserved6', 'reserved7', 'reserved8',
-    'wknRollover', 'reserved9', 'reserved10', 'reserved11', 'usePPP', 'useAOP',
-    'reserved12', 'reserved13', 'aopOrbMaxErr', 'reserved3', 'reserved4'
-  ]),
-  (CLASS_MON, MSG_MON_HW):
-  UBloxDescriptor('MON_HW', '<IIIIHHBBBBIB17BHIII', [
-    'pinSel', 'pinBank', 'pinDir', 'pinVal', 'noisePerMS', 'agcCnt', 'aStatus', 'aPower',
-    'flags', 'reserved1', 'usedMask', 'VP[17]', 'jamInd', 'reserved3', 'pinInq', 'pullH',
-    'pullL'
-  ]),
-  (CLASS_MON, MSG_MON_HW2):
-  UBloxDescriptor('MON_HW2', '<bBbBB3BI8BI4B', [
-    'ofsI', 'magI', 'ofsQ', 'magQ', 'cfgSource', 'reserved1[3]', 'lowLevCfg',
-    'reserved2[8]', 'postStatus', 'reserved3[4]'
-  ]),
-  (CLASS_MON, MSG_MON_SCHD):
-  UBloxDescriptor('MON_SCHD', '<IIIIHHHBB', [
-    'tskRun', 'tskSchd', 'tskOvrr', 'tskReg', 'stack', 'stackSize', 'CPUIdle', 'flySly',
-    'ptlSly'
-  ]),
-  (CLASS_MON, MSG_MON_VER):
-  UBloxDescriptor('MON_VER', '<30s10s,30s', ['swVersion', 'hwVersion', 'romVersion'],
-                  '_remaining', '30s', ['extension']),
-  (CLASS_TIM, MSG_TIM_TP):
-  UBloxDescriptor('TIM_TP', '<IIiHBB',
-                  ['towMS', 'towSubMS', 'qErr', 'week', 'flags', 'reserved1']),
-  (CLASS_TIM, MSG_TIM_TM2):
-  UBloxDescriptor('TIM_TM2', '<BBHHHIIIII', [
-    'ch', 'flags', 'count', 'wnR', 'wnF', 'towMsR', 'towSubMsR', 'towMsF', 'towSubMsF',
-    'accEst'
-  ]),
-  (CLASS_TIM, MSG_TIM_SVIN):
-  UBloxDescriptor('TIM_SVIN', '<IiiiIIBBH', [
-    'dur', 'meanX', 'meanY', 'meanZ', 'meanV', 'obs', 'valid', 'active', 'reserved1'
-  ]),
-  (CLASS_INF, MSG_INF_ERROR):
-  UBloxDescriptor('INF_ERR', '<18s', ['str']),
-  (CLASS_INF, MSG_INF_DEBUG):
-  UBloxDescriptor('INF_DEBUG', '<18s', ['str'])
-}
-
-
-class UBloxMessage:
-  '''UBlox message class - holds a UBX binary message'''
-
-  def __init__(self):
-    self._buf = b""
-    self._fields = {}
-    self._recs = []
-    self._unpacked = False
-    self.debug_level = 1
-
-  def __str__(self):
-    '''format a message as a string'''
-    if not self.valid():
-      return 'UBloxMessage(INVALID)'
-    msg_type = self.msg_type()
-    if msg_type in msg_types:
-      return msg_types[msg_type].format(self)
-    return 'UBloxMessage(UNKNOWN %s, %u)' % (str(msg_type), self.msg_length())
-
-  def as_dict(self):
-    '''format a message as a string'''
-    if not self.valid():
-      return 'UBloxMessage(INVALID)'
-    msg_type = self.msg_type()
-    if msg_type in msg_types:
-      return msg_types[msg_type].format(self)
-    return 'UBloxMessage(UNKNOWN %s, %u)' % (str(msg_type), self.msg_length())
-
-  def __getattr__(self, name):
-    '''allow access to message fields'''
-    try:
-      return self._fields[name]
-    except KeyError as e:
-      if name == 'recs':
-        return self._recs
-      raise AttributeError(name) from e
-
-  def __setattr__(self, name, value):
-    '''allow access to message fields'''
-    if name.startswith('_'):
-      self.__dict__[name] = value
-    else:
-      self._fields[name] = value
-
-  def have_field(self, name):
-    '''return True if a message contains the given field'''
-    return name in self._fields
-
-  def debug(self, level, msg):
-    '''write a debug message'''
-    if self.debug_level >= level:
-      print(msg)
-
-  def unpack(self):
-    '''unpack a message'''
-    if not self.valid():
-      raise UBloxError('INVALID MESSAGE')
-    msg_type = self.msg_type()
-    if msg_type not in msg_types:
-      raise UBloxError('Unknown message %s length=%u' % (str(msg_type), len(self._buf)))
-    msg_types[msg_type].unpack(self)
-    return self._fields, self._recs
-
-  def pack(self):
-    '''pack a message'''
-    if not self.valid():
-      raise UBloxError('INVALID MESSAGE')
-    msg_type = self.msg_type()
-    if msg_type not in msg_types:
-      raise UBloxError('Unknown message %s' % str(msg_type))
-    msg_types[msg_type].pack(self)
-
-  def name(self):
-    '''return the short string name for a message'''
-    if not self.valid():
-      raise UBloxError('INVALID MESSAGE')
-    msg_type = self.msg_type()
-    if msg_type not in msg_types:
-      raise UBloxError('Unknown message %s length=%u' % (str(msg_types), len(self._buf)))
-    return msg_types[msg_type].name
-
-  def msg_class(self):
-    '''return the message class'''
-    return self._buf[2]
-
-  def msg_id(self):
-    '''return the message id within the class'''
-    return self._buf[3]
-
-  def msg_type(self):
-    '''return the message type tuple (class, id)'''
-    return (self.msg_class(), self.msg_id())
-
-  def msg_length(self):
-    '''return the payload length'''
-    (payload_length, ) = struct.unpack('<H', self._buf[4:6])
-    return payload_length
-
-  def valid_so_far(self):
-    '''check if the message is valid so far'''
-    if len(self._buf) > 0 and self._buf[0] != PREAMBLE1:
-      return False
-    if len(self._buf) > 1 and self._buf[1] != PREAMBLE2:
-      self.debug(1, "bad pre2")
-      return False
-    if self.needed_bytes() == 0 and not self.valid():
-      if len(self._buf) > 8:
-        self.debug(1, "bad checksum len=%u needed=%u" % (len(self._buf),
-                                                         self.needed_bytes()))
-      else:
-        self.debug(1, "bad len len=%u needed=%u" % (len(self._buf), self.needed_bytes()))
-      return False
-    return True
-
-  def add(self, data):
-    '''add some bytes to a message'''
-    self._buf += data
-    while not self.valid_so_far() and len(self._buf) > 0:
-      '''handle corrupted streams'''
-      self._buf = self._buf[1:]
-    if self.needed_bytes() < 0:
-      self._buf = ""
-
-  def checksum(self, data=None):
-    '''return a checksum tuple for a message'''
-    if data is None:
-      data = self._buf[2:-2]
-    #cs = 0
-    ck_a = 0
-    ck_b = 0
-    for i in data:
-      ck_a = (ck_a + i) & 0xFF
-      ck_b = (ck_b + ck_a) & 0xFF
-    return (ck_a, ck_b)
-
-  def valid_checksum(self):
-    '''check if the checksum is OK'''
-    (ck_a, ck_b) = self.checksum()
-    #d = self._buf[2:-2]
-    (ck_a2, ck_b2) = struct.unpack('<BB', self._buf[-2:])
-    return ck_a == ck_a2 and ck_b == ck_b2
-
-  def needed_bytes(self):
-    '''return number of bytes still needed'''
-    if len(self._buf) < 6:
-      return 8 - len(self._buf)
-    return self.msg_length() + 8 - len(self._buf)
-
-  def valid(self):
-    '''check if a message is valid'''
-    return len(self._buf) >= 8 and self.needed_bytes() == 0 and self.valid_checksum()
-
-
-class UBlox:
-  def __init__(self, dev, baudrate):
-    self.dev = dev
-    self.baudrate = baudrate
-
-    self.use_sendrecv = False
-    self.read_only = False
-    self.debug_level = 0
-
-    self.logfile = None
-    self.log = None
-    self.preferred_dynamic_model = None
-    self.preferred_usePPP = None
-    self.preferred_dgps_timeout = None
-
-  def close(self):
-    '''close the device'''
-    self.dev.close()
-    self.dev = None
-
-  def set_debug(self, debug_level):
-    '''set debug level'''
-    self.debug_level = debug_level
-
-  def debug(self, level, msg):
-    '''write a debug message'''
-    if self.debug_level >= level:
-      print(msg)
-
-  def set_logfile(self, logfile, append=False):
-    '''setup logging to a file'''
-    if self.log is not None:
-      self.log.close()
-      self.log = None
-    self.logfile = logfile
-    if self.logfile is not None:
-      if append:
-        mode = 'ab'
-      else:
-        mode = 'wb'
-      self.log = open(self.logfile, mode=mode)
-
-  def set_preferred_dynamic_model(self, model):
-    '''set the preferred dynamic model for receiver'''
-    self.preferred_dynamic_model = model
-    if model is not None:
-      self.configure_poll(CLASS_CFG, MSG_CFG_NAV5)
-
-  def set_preferred_dgps_timeout(self, timeout):
-    '''set the preferred DGPS timeout for receiver'''
-    self.preferred_dgps_timeout = timeout
-    if timeout is not None:
-      self.configure_poll(CLASS_CFG, MSG_CFG_NAV5)
-
-  def set_preferred_usePPP(self, usePPP):
-    '''set the preferred usePPP setting for the receiver'''
-    if usePPP is None:
-      self.preferred_usePPP = None
-      return
-    self.preferred_usePPP = int(usePPP)
-    self.configure_poll(CLASS_CFG, MSG_CFG_NAVX5)
-
-  def nmea_checksum(self, msg):
-    d = msg[1:]
-    cs = 0
-    for i in d:
-      cs ^= ord(i)
-    return cs
-
-  def write(self, buf):
-    '''write some bytes'''
-    if not self.read_only:
-      if self.use_sendrecv:
-        return self.dev.send(buf)
-      if isinstance(buf, str):
-        return self.dev.write(str.encode(buf))
-      else:
-        return self.dev.write(buf)
-
-  def read(self, n):
-    '''read some bytes'''
-    if self.use_sendrecv:
-      try:
-        return self.dev.recv(n)
-      except OSError:
-        return ''
-    return self.dev.read(n)
-
-  def send_nmea(self, msg):
-    if not self.read_only:
-      s = msg + "*%02X" % self.nmea_checksum(msg) + "\r\n"
-      self.write(s)
-
-  def set_binary(self):
-    '''put a UBlox into binary mode using a NMEA string'''
-    if not self.read_only:
-      print("try set binary at %u" % self.baudrate)
-      self.send_nmea("$PUBX,41,0,0007,0001,%u,0" % self.baudrate)
-      self.send_nmea("$PUBX,41,1,0007,0001,%u,0" % self.baudrate)
-      self.send_nmea("$PUBX,41,2,0007,0001,%u,0" % self.baudrate)
-      self.send_nmea("$PUBX,41,3,0007,0001,%u,0" % self.baudrate)
-      self.send_nmea("$PUBX,41,4,0007,0001,%u,0" % self.baudrate)
-      self.send_nmea("$PUBX,41,5,0007,0001,%u,0" % self.baudrate)
-
-  def disable_nmea(self):
-    ''' stop sending all types of nmea messages '''
-    self.send_nmea("$PUBX,40,GSV,1,1,1,1,1,0")
-    self.send_nmea("$PUBX,40,GGA,0,0,0,0,0,0")
-    self.send_nmea("$PUBX,40,GSA,0,0,0,0,0,0")
-    self.send_nmea("$PUBX,40,VTG,0,0,0,0,0,0")
-    self.send_nmea("$PUBX,40,TXT,0,0,0,0,0,0")
-    self.send_nmea("$PUBX,40,RMC,0,0,0,0,0,0")
-
-  def seek_percent(self, pct):
-    '''seek to the given percentage of a file'''
-    self.dev.seek(0, 2)
-    filesize = self.dev.tell()
-    self.dev.seek(pct * 0.01 * filesize)
-
-  def special_handling(self, msg):
-    '''handle automatic configuration changes'''
-    if msg.name() == 'CFG_NAV5':
-      msg.unpack()
-      sendit = False
-      pollit = False
-      if self.preferred_dynamic_model is not None and msg.dynModel != self.preferred_dynamic_model:
-        msg.dynModel = self.preferred_dynamic_model
-        sendit = True
-        pollit = True
-      if self.preferred_dgps_timeout is not None and msg.dgpsTimeOut != self.preferred_dgps_timeout:
-        msg.dgpsTimeOut = self.preferred_dgps_timeout
-        self.debug(2, "Setting dgpsTimeOut=%u" % msg.dgpsTimeOut)
-        sendit = True
-        # we don't re-poll for this one, as some receivers refuse to set it
-      if sendit:
-        msg.pack()
-        self.send(msg)
-        if pollit:
-          self.configure_poll(CLASS_CFG, MSG_CFG_NAV5)
-    if msg.name() == 'CFG_NAVX5' and self.preferred_usePPP is not None:
-      msg.unpack()
-      if msg.usePPP != self.preferred_usePPP:
-        msg.usePPP = self.preferred_usePPP
-        msg.mask = 1 << 13
-        msg.pack()
-        self.send(msg)
-        self.configure_poll(CLASS_CFG, MSG_CFG_NAVX5)
-
-  def receive_message(self, ignore_eof=False):
-    '''blocking receive of one ublox message'''
-    msg = UBloxMessage()
-    while True:
-      n = msg.needed_bytes()
-      b = self.read(n)
-      if not b:
-        if ignore_eof:
-          time.sleep(0.01)
-          continue
-        if len(msg._buf) > 0:
-          self.debug(1, "dropping %d bytes" % len(msg._buf))
-        return None
-      msg.add(b)
-      if self.log is not None:
-        self.log.write(b)
-        self.log.flush()
-      if msg.valid():
-        self.special_handling(msg)
-        return msg
-
-  def receive_message_noerror(self, ignore_eof=False):
-    '''blocking receive of one ublox message, ignoring errors'''
-    try:
-      return self.receive_message(ignore_eof=ignore_eof)
-    except UBloxError as e:
-      print(e)
-      return None
-    except OSError as e:
-      # Occasionally we get hit with 'resource temporarily unavailable'
-      # messages here on the serial device, catch them too.
-      print(e)
-      return None
-
-  def send(self, msg):
-    '''send a preformatted ublox message'''
-    if not msg.valid():
-      self.debug(1, "invalid send")
-      return
-    if not self.read_only:
-      self.write(msg._buf)
-
-  def send_message(self, msg_class, msg_id, payload):
-    '''send a ublox message with class, id and payload'''
-    msg = UBloxMessage()
-    msg._buf = struct.pack('<BBBBH', 0xb5, 0x62, msg_class, msg_id, len(payload))
-    msg._buf += payload
-    (ck_a, ck_b) = msg.checksum(msg._buf[2:])
-    msg._buf += struct.pack('<BB', ck_a, ck_b)
-    self.send(msg)
-
-  def configure_solution_rate(self, rate_ms=200, nav_rate=1, timeref=0):
-    '''configure the solution rate in milliseconds'''
-    payload = struct.pack('<HHH', rate_ms, nav_rate, timeref)
-    self.send_message(CLASS_CFG, MSG_CFG_RATE, payload)
-
-  def configure_message_rate(self, msg_class, msg_id, rate):
-    '''configure the message rate for a given message'''
-    payload = struct.pack('<BBB', msg_class, msg_id, rate)
-    self.send_message(CLASS_CFG, MSG_CFG_SET_RATE, payload)
-
-  def configure_port(self, port=1, inMask=3, outMask=3, mode=2240, baudrate=None):
-    '''configure a IO port'''
-    if baudrate is None:
-      baudrate = self.baudrate
-    payload = struct.pack('<BBH8BHHBBBB', port, 0xff, 0, 0, 0, 0, 0, 0, 0, 0, 0, inMask,
-                          outMask, 0, 0, 0, 0)
-    self.send_message(CLASS_CFG, MSG_CFG_PRT, payload)
-
-  def configure_loadsave(self, clearMask=0, saveMask=0, loadMask=0, deviceMask=0):
-    '''configure configuration load/save'''
-    payload = struct.pack('<IIIB', clearMask, saveMask, loadMask, deviceMask)
-    self.send_message(CLASS_CFG, MSG_CFG_CFG, payload)
-
-  def configure_poll(self, msg_class, msg_id, payload=b''):
-    '''poll a configuration message'''
-    self.send_message(msg_class, msg_id, payload)
-
-  def configure_poll_port(self, portID=None):
-    '''poll a port configuration'''
-    if portID is None:
-      self.configure_poll(CLASS_CFG, MSG_CFG_PRT)
-    else:
-      self.configure_poll(CLASS_CFG, MSG_CFG_PRT, struct.pack('<B', portID))
-
-  def configure_min_max_sats(self, min_sats=4, max_sats=32):
-    '''Set the minimum/maximum number of satellites for a solution in the NAVX5 message'''
-    payload = struct.pack('<HHIBBBBBBBBBBHIBBBBBBHII', 0, 4, 0, 0, 0, min_sats, max_sats,
-                          0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
-    self.send_message(CLASS_CFG, MSG_CFG_NAVX5, payload)
-
-  def module_reset(self, reset, mode):
-    ''' Reset the module for hot/warm/cold start'''
-    payload = struct.pack('<HBB', reset, mode, 0)
-    self.send_message(CLASS_CFG, MSG_CFG_RST, payload)
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index f1a7581870..46958f14e5 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -42,4 +42,4 @@ output_json_file = 'tools/cabana/dbc/car_fingerprint_to_dbc.json'
 generate_dbc = cabana_env.Command('#' + output_json_file,
                                   ['dbc/generate_dbc_json.py'],
                                   "python3 tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file)
-cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/boardd", "#opendbc", "#cereal"])
+cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/boardd", '#opendbc', "#cereal", Glob("#opendbc/*.dbc")])
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index bd43c337bd..e7edc0ecb9 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -280,7 +280,7 @@ void BinaryViewModel::refresh() {
   updateState();
 }
 
-void BinaryViewModel::updateItem(int row, int col, const QString &val, const QColor &color) {
+void BinaryViewModel::updateItem(int row, int col, uint8_t val, const QColor &color) {
   auto &item = items[row * column_count + col];
   if (item.val != val || item.bg_color != color) {
     item.val = val;
@@ -307,7 +307,7 @@ void BinaryViewModel::updateState() {
   for (int i = 0; i < binary.size(); ++i) {
     for (int j = 0; j < 8; ++j) {
       auto &item = items[i * column_count + j];
-      QString val = ((binary[i] >> (7 - j)) & 1) != 0 ? "1" : "0";
+      int val = ((binary[i] >> (7 - j)) & 1) != 0 ? 1 : 0;
       // Bit update frequency based highlighting
       double offset = !item.sigs.empty() ? 50 : 0;
       auto n = last_msg.bit_change_counts[i][7 - j];
@@ -317,7 +317,7 @@ void BinaryViewModel::updateState() {
       color.setAlpha(alpha);
       updateItem(i, j, val, color);
     }
-    updateItem(i, 8, toHex(binary[i]), last_msg.colors[i]);
+    updateItem(i, 8, binary[i], last_msg.colors[i]);
   }
 }
 
@@ -348,6 +348,13 @@ BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(pa
   small_font.setPixelSize(8);
   hex_font = QFontDatabase::systemFont(QFontDatabase::FixedFont);
   hex_font.setBold(true);
+
+  bin_text_table[0].setText("0");
+  bin_text_table[1].setText("1");
+  for (int i = 0; i < 256; ++i) {
+    hex_text_table[i].setText(QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper());
+    hex_text_table[i].prepare({}, hex_font);
+  }
 }
 
 bool BinaryItemDelegate::hasSignal(const QModelIndex &index, int dx, int dy, const cabana::Signal *sig) const {
@@ -392,7 +399,9 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
   } else if (!item->valid) {
     painter->fillRect(option.rect, QBrush(Qt::darkGray, Qt::BDiagPattern));
   }
-  painter->drawText(option.rect, Qt::AlignCenter, item->val);
+  if (item->valid) {
+    utils::drawStaticText(painter, option.rect, index.column() == 8 ? hex_text_table[item->val] : bin_text_table[item->val]);
+  }
   if (item->is_msb || item->is_lsb) {
     painter->setFont(small_font);
     painter->drawText(option.rect.adjusted(8, 0, -8, -3), Qt::AlignRight | Qt::AlignBottom, item->is_msb ? "M" : "L");
diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h
index 04e1d5b2af..584910dc83 100644
--- a/tools/cabana/binaryview.h
+++ b/tools/cabana/binaryview.h
@@ -19,6 +19,8 @@ public:
   void drawSignalCell(QPainter* painter, const QStyleOptionViewItem &option, const QModelIndex &index, const cabana::Signal *sig) const;
 
   QFont small_font, hex_font;
+  std::array<QStaticText, 256> hex_text_table;
+  std::array<QStaticText, 2> bin_text_table;
 };
 
 class BinaryViewModel : public QAbstractTableModel {
@@ -26,7 +28,7 @@ public:
   BinaryViewModel(QObject *parent) : QAbstractTableModel(parent) {}
   void refresh();
   void updateState();
-  void updateItem(int row, int col, const QString &val, const QColor &color);
+  void updateItem(int row, int col, uint8_t val, const QColor &color);
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
   QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
   int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; }
@@ -42,7 +44,7 @@ public:
     QColor bg_color = QColor(102, 86, 169, 255);
     bool is_msb = false;
     bool is_lsb = false;
-    QString val;
+    uint8_t val;
     QList<const cabana::Signal *> sigs;
     bool valid = false;
   };
diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc
index 33403a2bff..0ccef7d3ab 100644
--- a/tools/cabana/cabana.cc
+++ b/tools/cabana/cabana.cc
@@ -18,6 +18,8 @@ int main(int argc, char *argv[]) {
   app.setWindowIcon(QIcon(":cabana-icon.png"));
 
   UnixSignalHandler signalHandler;
+
+  settings.load();
   utils::setTheme(settings.theme);
 
   QCommandLineParser cmd_parser;
diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index 18a9adbe07..537aac1f28 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -14,9 +14,9 @@
 #include <QMimeData>
 #include <QOpenGLWidget>
 #include <QPropertyAnimation>
+#include <QRandomGenerator>
 #include <QRubberBand>
 #include <QScreen>
-#include <QtMath>
 #include <QWindow>
 
 #include "tools/cabana/chart/chartswidget.h"
@@ -25,7 +25,8 @@
 const int AXIS_X_TOP_MARGIN = 4;
 static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; }
 
-ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent) : charts_widget(parent), tip_label(this), QChartView(nullptr, parent) {
+ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent)
+    : charts_widget(parent), tip_label(this), QChartView(nullptr, parent) {
   series_type = (SeriesType)settings.chart_series_type;
   QChart *chart = new QChart();
   chart->setBackgroundVisible(false);
@@ -150,6 +151,11 @@ void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
 
 void ChartView::signalUpdated(const cabana::Signal *sig) {
   if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.sig == sig; })) {
+    for (const auto &s : sigs) {
+      if (s.sig == sig && s.series->color() != sig->color) {
+        setSeriesColor(s.series, sig->color);
+      }
+    }
     updateTitle();
     updateSeries(sig);
   }
@@ -280,15 +286,12 @@ void ChartView::updateSeries(const cabana::Signal *sig, bool clear) {
         s.step_vals.clear();
         s.last_value_mono_time = 0;
       }
-      s.series->setColor(s.sig->color);
 
       const auto &msgs = can->events(s.msg_id);
       s.vals.reserve(msgs.capacity());
       s.step_vals.reserve(msgs.capacity() * 2);
 
-      auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), s.last_value_mono_time, [](uint64_t ts, auto e) {
-        return ts < e->mono_time;
-      });
+      auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), s.last_value_mono_time, CompareCanEvent());
       const double route_start_time = can->routeStartTime();
       for (auto end = msgs.cend(); first != end; ++first) {
         const CanEvent *e = *first;
@@ -361,7 +364,7 @@ void ChartView::updateAxisY() {
     axis_y->setRange(min_y, max_y);
     axis_y->setTickCount(tick_count);
 
-    int n = qMax(int(-qFloor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1;
+    int n = std::max(int(-std::floor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1;
     int max_label_width = 0;
     QFontMetrics fm(axis_y->labelsFont());
     for (int i = 0; i < tick_count; i++) {
@@ -379,15 +382,15 @@ void ChartView::updateAxisY() {
 std::tuple<double, double, int> ChartView::getNiceAxisNumbers(qreal min, qreal max, int tick_count) {
   qreal range = niceNumber((max - min), true);  // range with ceiling
   qreal step = niceNumber(range / (tick_count - 1), false);
-  min = qFloor(min / step);
-  max = qCeil(max / step);
+  min = std::floor(min / step);
+  max = std::ceil(max / step);
   tick_count = int(max - min) + 1;
   return {min * step, max * step, tick_count};
 }
 
 // nice numbers can be expressed as form of 1*10^n, 2* 10^n or 5*10^n
 qreal ChartView::niceNumber(qreal x, bool ceiling) {
-  qreal z = qPow(10, qFloor(std::log10(x))); //find corresponding number of the form of 10^n than is smaller than x
+  qreal z = std::pow(10, std::floor(std::log10(x))); //find corresponding number of the form of 10^n than is smaller than x
   qreal q = x / z; //q<10 && q>=1;
   if (ceiling) {
     if (q <= 1.0) q = 1;
@@ -476,7 +479,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
   auto rubber = findChild<QRubberBand *>();
   if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) {
     rubber->hide();
-    QRectF rect = rubber->geometry().normalized();
+    auto rect = rubber->geometry().normalized();
     double min = chart()->mapToValue(rect.topLeft()).x();
     double max = chart()->mapToValue(rect.bottomRight()).x();
 
@@ -670,6 +673,7 @@ void ChartView::drawBackground(QPainter *painter, const QRectF &rect) {
 
 void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
   drawTimeline(painter);
+  drawSignalValue(painter);
   // draw track points
   painter->setPen(Qt::NoPen);
   qreal track_line_x = -1;
@@ -700,7 +704,10 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
     }
   }
 
-  // paint zoom range
+  drawRubberBandTimeRange(painter);
+}
+
+void ChartView::drawRubberBandTimeRange(QPainter *painter) {
   auto rubber = findChild<QRubberBand *>();
   if (rubber && rubber->isVisible() && rubber->width() > 1) {
     painter->setPen(Qt::white);
@@ -717,23 +724,24 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
 
 void ChartView::drawTimeline(QPainter *painter) {
   const auto plot_area = chart()->plotArea();
-  // draw line
+  // draw vertical time line
   qreal x = std::clamp(chart()->mapToPosition(QPointF{cur_sec, 0}).x(), plot_area.left(), plot_area.right());
   painter->setPen(QPen(chart()->titleBrush().color(), 2));
   painter->drawLine(QPointF{x, plot_area.top()}, QPointF{x, plot_area.bottom() + 1});
 
-  // draw current time
+  // draw current time under the axis-x
   QString time_str = QString::number(cur_sec, 'f', 2);
   QSize time_str_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, time_str) + QSize(8, 2);
-  QRect time_str_rect(QPoint(x - time_str_size.width() / 2, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size);
+  QRectF time_str_rect(QPointF(x - time_str_size.width() / 2.0, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size);
   QPainterPath path;
   path.addRoundedRect(time_str_rect, 3, 3);
   painter->fillPath(path, settings.theme == DARK_THEME ? Qt::darkGray : Qt::gray);
   painter->setPen(palette().color(QPalette::BrightText));
   painter->setFont(axis_x->labelsFont());
   painter->drawText(time_str_rect, Qt::AlignCenter, time_str);
+}
 
-  // draw signal value
+void ChartView::drawSignalValue(QPainter *painter) {
   auto item_group = qgraphicsitem_cast<QGraphicsItemGroup *>(chart()->legend()->childItems()[0]);
   assert(item_group != nullptr);
   auto legend_markers = item_group->childItems();
@@ -785,6 +793,7 @@ QXYSeries *ChartView::createSeries(SeriesType type, QColor color) {
 }
 
 void ChartView::addSeries(QXYSeries *series) {
+  setSeriesColor(series, series->color());
   chart()->addSeries(series);
   series->attachAxis(axis_x);
   series->attachAxis(axis_y);
@@ -797,6 +806,21 @@ void ChartView::addSeries(QXYSeries *series) {
   }
 }
 
+void ChartView::setSeriesColor(QXYSeries *series, QColor color) {
+  auto existing_series = chart()->series();
+  for (auto s : existing_series) {
+    if (s != series && std::abs(color.hueF() - qobject_cast<QXYSeries *>(s)->color().hueF()) < 0.1) {
+      // use different color to distinguish it from others.
+      auto last_color = qobject_cast<QXYSeries *>(existing_series.back())->color();
+      color.setHsvF(std::fmod(last_color.hueF() + 60 / 360.0, 1.0),
+                    QRandomGenerator::global()->bounded(35, 100) / 100.0,
+                    QRandomGenerator::global()->bounded(85, 100) / 100.0);
+      break;
+    }
+  }
+  series->setColor(color);
+}
+
 void ChartView::setSeriesType(SeriesType type) {
   if (type != series_type) {
     series_type = type;
diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h
index 2740d81b66..de2a1b4510 100644
--- a/tools/cabana/chart/chart.h
+++ b/tools/cabana/chart/chart.h
@@ -83,10 +83,13 @@ private:
   void drawForeground(QPainter *painter, const QRectF &rect) override;
   void drawBackground(QPainter *painter, const QRectF &rect) override;
   void drawDropIndicator(bool draw) { if (std::exchange(can_drop, draw) != can_drop) viewport()->update(); }
+  void drawSignalValue(QPainter *painter);
   void drawTimeline(QPainter *painter);
+  void drawRubberBandTimeRange(QPainter *painter);
   std::tuple<double, double, int> getNiceAxisNumbers(qreal min, qreal max, int tick_count);
   qreal niceNumber(qreal x, bool ceiling);
   QXYSeries *createSeries(SeriesType type, QColor color);
+  void setSeriesColor(QXYSeries *, QColor color);
   void updateSeriesPoints();
   void removeIf(std::function<bool(const SigItem &)> predicate);
   inline void clearTrackPoints() { for (auto &s : sigs) s.track_pt = {}; }
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index e852e6d206..83991d914f 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -219,7 +219,7 @@ void ChartsWidget::updateToolBar() {
   undo_zoom_action->setVisible(is_zoomed);
   redo_zoom_action->setVisible(is_zoomed);
   reset_zoom_action->setVisible(is_zoomed);
-  reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : "");
+  reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2) : "");
   remove_all_btn->setEnabled(!charts.isEmpty());
   dock_btn->setIcon(docking ? "arrow-up-right-square" : "arrow-down-left-square");
   dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
@@ -277,6 +277,10 @@ void ChartsWidget::splitChart(ChartView *src_chart) {
     for (auto it = src_chart->sigs.begin() + 1; it != src_chart->sigs.end(); /**/) {
       auto c = createChart();
       src_chart->chart()->removeSeries(it->series);
+
+      // Restore to the original color
+      it->series->setColor(it->sig->color);
+
       c->addSeries(it->series);
       c->sigs.push_back(*it);
       c->updateAxisY();
@@ -285,6 +289,7 @@ void ChartsWidget::splitChart(ChartView *src_chart) {
     }
     src_chart->updateAxisY();
     src_chart->updateTitle();
+    QTimer::singleShot(0, src_chart, &ChartView::resetChartCache);
   }
 }
 
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index 88ba4226c0..3541f8d96e 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -120,7 +120,7 @@ class ZoomCommand : public QUndoCommand {
 public:
   ZoomCommand(ChartsWidget *charts, std::pair<double, double> range) : charts(charts), range(range), QUndoCommand() {
     prev_range = charts->is_zoomed ? charts->zoomed_range : charts->display_range;
-    setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 1).arg(range.second, 0, 'f', 1));
+    setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 2).arg(range.second, 0, 'f', 2));
   }
   void undo() override { charts->setZoom(prev_range.first, prev_range.second); }
   void redo() override { charts->setZoom(range.first, range.second); }
diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc
index 4692b41e4b..1ae6a1bfe0 100644
--- a/tools/cabana/chart/sparkline.cc
+++ b/tools/cabana/chart/sparkline.cc
@@ -9,12 +9,8 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl
   const auto &msgs = can->events(msg_id);
   uint64_t ts = (last_msg_ts + can->routeStartTime()) * 1e9;
   uint64_t first_ts = (ts > range * 1e9) ? ts - range * 1e9 : 0;
-  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), first_ts, [](auto e, uint64_t ts) {
-    return e->mono_time < ts;
-  });
-  auto last = std::upper_bound(first, msgs.cend(), ts, [](uint64_t ts, auto e) {
-    return ts < e->mono_time;
-  });
+  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), first_ts, CompareCanEvent());
+  auto last = std::upper_bound(first, msgs.cend(), ts, CompareCanEvent());
 
   bool update_values = last_ts != last_msg_ts || time_range != range;
   last_ts = last_msg_ts;
diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc
index cf48abb4c9..52861723f4 100644
--- a/tools/cabana/commands.cc
+++ b/tools/cabana/commands.cc
@@ -4,11 +4,13 @@
 
 // EditMsgCommand
 
-EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &comment, QUndoCommand *parent)
-    : id(id), new_name(name), new_size(size), new_comment(comment), QUndoCommand(parent) {
+EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size,
+                               const QString &node, const QString &comment, QUndoCommand *parent)
+    : id(id), new_name(name), new_size(size), new_node(node), new_comment(comment), QUndoCommand(parent) {
   if (auto msg = dbc()->msg(id)) {
     old_name = msg->name;
     old_size = msg->size;
+    old_node = msg->transmitter;
     old_comment = msg->comment;
     setText(QObject::tr("edit message %1:%2").arg(name).arg(id.address));
   } else {
@@ -20,11 +22,11 @@ void EditMsgCommand::undo() {
   if (old_name.isEmpty())
     dbc()->removeMsg(id);
   else
-    dbc()->updateMsg(id, old_name, old_size, old_comment);
+    dbc()->updateMsg(id, old_name, old_size, old_node, old_comment);
 }
 
 void EditMsgCommand::redo() {
-  dbc()->updateMsg(id, new_name, new_size, new_comment);
+  dbc()->updateMsg(id, new_name, new_size, new_node, new_comment);
 }
 
 // RemoveMsgCommand
@@ -38,7 +40,7 @@ RemoveMsgCommand::RemoveMsgCommand(const MessageId &id, QUndoCommand *parent) :
 
 void RemoveMsgCommand::undo() {
   if (!message.name.isEmpty()) {
-    dbc()->updateMsg(id, message.name, message.size, message.comment);
+    dbc()->updateMsg(id, message.name, message.size, message.transmitter, message.comment);
     for (auto s : message.getSignals())
       dbc()->addSignal(id, *s);
   }
@@ -64,7 +66,7 @@ void AddSigCommand::undo() {
 void AddSigCommand::redo() {
   if (auto msg = dbc()->msg(id); !msg) {
     msg_created = true;
-    dbc()->updateMsg(id, dbc()->newMsgName(id), can->lastMessage(id).dat.size(), "");
+    dbc()->updateMsg(id, dbc()->newMsgName(id), can->lastMessage(id).dat.size(), "", "");
   }
   signal.name = dbc()->newSignalName(id);
   signal.max = std::pow(2, signal.size) - 1;
diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h
index c7f59c4c7f..0736d9b83f 100644
--- a/tools/cabana/commands.h
+++ b/tools/cabana/commands.h
@@ -10,13 +10,14 @@
 
 class EditMsgCommand : public QUndoCommand {
 public:
-  EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &comment, QUndoCommand *parent = nullptr);
+  EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &node,
+                 const QString &comment, QUndoCommand *parent = nullptr);
   void undo() override;
   void redo() override;
 
 private:
   const MessageId id;
-  QString old_name, new_name, old_comment, new_comment;
+  QString old_name, new_name, old_comment, new_comment, old_node, new_node;
   int old_size = 0, new_size = 0;
 };
 
diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc
index 537749e48d..a0e523d666 100644
--- a/tools/cabana/dbc/dbc.cc
+++ b/tools/cabana/dbc/dbc.cc
@@ -78,6 +78,9 @@ QString cabana::Msg::newSignalName() {
 }
 
 void cabana::Msg::update() {
+  if (transmitter.isEmpty()) {
+    transmitter = DEFAULT_NODE_NAME;
+  }
   mask.assign(size, 0x00);
   multiplexor = nullptr;
 
@@ -125,6 +128,9 @@ void cabana::Msg::update() {
 
 void cabana::Signal::update() {
   updateMsbLsb(*this);
+  if (receiver_name.isEmpty()) {
+    receiver_name = DEFAULT_NODE_NAME;
+  }
 
   float h = 19 * (float)lsb / 64.0;
   h = fmod(h, 1.0);
diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
index e44bc41abf..bfb26c2842 100644
--- a/tools/cabana/dbc/dbc.h
+++ b/tools/cabana/dbc/dbc.h
@@ -13,6 +13,7 @@
 #include "opendbc/can/common_dbc.h"
 
 const QString UNTITLED = "untitled";
+const QString DEFAULT_NODE_NAME = "XXX";
 
 struct MessageId {
   uint8_t source = 0;
diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
index 2f93c1543e..063f516ead 100644
--- a/tools/cabana/dbc/dbcfile.cc
+++ b/tools/cabana/dbc/dbcfile.cc
@@ -60,11 +60,12 @@ bool DBCFile::writeContents(const QString &fn) {
   return false;
 }
 
-void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) {
+void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) {
   auto &m = msgs[id.address];
   m.address = id.address;
   m.name = name;
   m.size = size;
+  m.transmitter = node.isEmpty() ? DEFAULT_NODE_NAME : node;
   m.comment = comment;
 }
 
@@ -198,7 +199,8 @@ void DBCFile::parse(const QString &content) {
 QString DBCFile::generateDBC() {
   QString dbc_string, signal_comment, message_comment, val_desc;
   for (const auto &[address, m] : msgs) {
-    dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(m.transmitter.isEmpty() ? "XXX" : m.transmitter);
+    const QString transmitter = m.transmitter.isEmpty() ? DEFAULT_NODE_NAME : m.transmitter;
+    dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(transmitter);
     if (!m.comment.isEmpty()) {
       message_comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(m.comment);
     }
@@ -221,7 +223,7 @@ QString DBCFile::generateDBC() {
                         .arg(doubleToString(sig->min))
                         .arg(doubleToString(sig->max))
                         .arg(sig->unit)
-                        .arg(sig->receiver_name.isEmpty() ? "XXX" : sig->receiver_name);
+                        .arg(sig->receiver_name.isEmpty() ? DEFAULT_NODE_NAME : sig->receiver_name);
       if (!sig->comment.isEmpty()) {
         signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment);
       }
diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h
index 78a73d58e4..a3ab1cebe4 100644
--- a/tools/cabana/dbc/dbcfile.h
+++ b/tools/cabana/dbc/dbcfile.h
@@ -22,7 +22,7 @@ public:
   void cleanupAutoSaveFile();
   QString generateDBC();
 
-  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment);
+  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
   inline void removeMsg(const MessageId &id) { msgs.erase(id.address); }
 
   inline const std::map<uint32_t, cabana::Msg> &getMessages() const { return msgs; }
diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc
index 5736ac1e89..459ca0111d 100644
--- a/tools/cabana/dbc/dbcmanager.cc
+++ b/tools/cabana/dbc/dbcmanager.cc
@@ -82,10 +82,10 @@ void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) {
   }
 }
 
-void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) {
+void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) {
   auto dbc_file = findDBCFile(id);
   assert(dbc_file);  // This should be impossible
-  dbc_file->updateMsg(id, name, size, comment);
+  dbc_file->updateMsg(id, name, size, node, comment);
   emit msgUpdated(id);
 }
 
diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h
index 3ac0829487..5f782fc930 100644
--- a/tools/cabana/dbc/dbcmanager.h
+++ b/tools/cabana/dbc/dbcmanager.h
@@ -28,7 +28,7 @@ public:
   void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig);
   void removeSignal(const MessageId &id, const QString &sig_name);
 
-  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment);
+  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
   void removeMsg(const MessageId &id);
 
   QString newMsgName(const MessageId &id);
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index 2f6e9cbfe8..d70aeff0c8 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -2,7 +2,6 @@
 
 #include <QFormLayout>
 #include <QMenu>
-#include <QMessageBox>
 
 #include "tools/cabana/commands.h"
 #include "tools/cabana/mainwin.h"
@@ -135,11 +134,12 @@ void DetailWidget::refresh() {
     for (auto s : binary_view->getOverlappingSignals()) {
       warnings.push_back(tr("%1 has overlapping bits.").arg(s->name));
     }
+    name_label->setText(QString("%1 (%2)").arg(msgName(msg_id), msg->transmitter));
   } else {
     warnings.push_back(tr("Drag-Select in binary view to create new signal."));
+    name_label->setText(msgName(msg_id));
   }
   remove_btn->setEnabled(msg != nullptr);
-  name_label->setText(msgName(msg_id));
 
   if (!warnings.isEmpty()) {
     warning_label->setText(warnings.join('\n'));
@@ -164,8 +164,8 @@ void DetailWidget::editMsg() {
   int size = msg ? msg->size : can->lastMessage(msg_id).dat.size();
   EditMessageDialog dlg(msg_id, msgName(msg_id), size, this);
   if (dlg.exec()) {
-    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(),
-                                       dlg.size_spin->value(), dlg.comment_edit->toPlainText().trimmed()));
+    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(), dlg.size_spin->value(),
+                                       dlg.node->text().trimmed(), dlg.comment_edit->toPlainText().trimmed()));
   }
 }
 
@@ -182,25 +182,24 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit
 
   form_layout->addRow("", error_label = new QLabel);
   error_label->setVisible(false);
-  name_edit = new QLineEdit(title, this);
+  form_layout->addRow(tr("Name"), name_edit = new QLineEdit(title, this));
   name_edit->setValidator(new NameValidator(name_edit));
-  form_layout->addRow(tr("Name"), name_edit);
 
-  size_spin = new QSpinBox(this);
+  form_layout->addRow(tr("Size"), size_spin = new QSpinBox(this));
   // TODO: limit the maximum?
   size_spin->setMinimum(1);
   size_spin->setValue(size);
-  form_layout->addRow(tr("Size"), size_spin);
 
+  form_layout->addRow(tr("Node"), node = new QLineEdit(this));
+  node->setValidator(new NameValidator(name_edit));
   form_layout->addRow(tr("Comment"), comment_edit = new QTextEdit(this));
+  form_layout->addRow(btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel));
+
   if (auto msg = dbc()->msg(msg_id)) {
+    node->setText(msg->transmitter);
     comment_edit->setText(msg->comment);
   }
-
-  btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
   validateName(name_edit->text());
-  form_layout->addRow(btn_box);
-
   setFixedWidth(parent->width() * 0.9);
   connect(name_edit, &QLineEdit::textEdited, this, &EditMessageDialog::validateName);
   connect(btn_box, &QDialogButtonBox::accepted, this, &QDialog::accept);
diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h
index 10c6a6c46e..ed6a865f53 100644
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@@ -21,6 +21,7 @@ public:
   QString original_name;
   QDialogButtonBox *btn_box;
   QLineEdit *name_edit;
+  QLineEdit *node;
   QTextEdit *comment_edit;
   QLabel *error_label;
   QSpinBox *size_spin;
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 7381884cf3..5330549963 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -162,9 +162,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
     return msgs;
   } else {
     assert(min_time == 0);
-    auto first = std::upper_bound(events.cbegin(), events.cend(), from_time, [](uint64_t ts, auto e) {
-      return ts < e->mono_time;
-    });
+    auto first = std::upper_bound(events.cbegin(), events.cend(), from_time, CompareCanEvent());
     auto msgs = fetchData(first, events.cend(), 0);
     if (update_colors) {
       for (auto it = msgs.begin(); it != msgs.end(); ++it) {
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index d3caf492a6..5cd5e70267 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -439,11 +439,11 @@ void MainWindow::saveFile(DBCFile *dbc_file) {
   if (!dbc_file->filename.isEmpty()) {
     dbc_file->save();
     updateLoadSaveMenus();
+    UndoStack::instance()->setClean();
+    statusBar()->showMessage(tr("File saved"), 2000);
   } else if (!dbc_file->isEmpty()) {
     saveFileAs(dbc_file);
   }
-  UndoStack::instance()->setClean();
-  statusBar()->showMessage(tr("File saved"), 2000);
 }
 
 void MainWindow::saveFileAs(DBCFile *dbc_file) {
@@ -451,6 +451,8 @@ void MainWindow::saveFileAs(DBCFile *dbc_file) {
   QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)"));
   if (!fn.isEmpty()) {
     dbc_file->saveAs(fn);
+    UndoStack::instance()->setClean();
+    statusBar()->showMessage(tr("File saved as %1").arg(fn), 2000);
     updateRecentFiles(fn);
     updateLoadSaveMenus();
   }
@@ -606,7 +608,13 @@ void MainWindow::closeEvent(QCloseEvent *event) {
     settings.video_splitter_state = video_splitter->saveState();
   }
   settings.message_header_state = messages_widget->saveHeaderState();
-  settings.save();
+
+  auto status = settings.save();
+  if (status == QSettings::AccessError) {
+    QString error = tr("Failed to write settings to [%1]: access denied").arg(Settings::filePath());
+    qDebug() << error;
+    QMessageBox::warning(this, tr("Failed to write settings"), error);
+  }
   QWidget::closeEvent(event);
 }
 
diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc
index d0cada680a..ee345c490c 100644
--- a/tools/cabana/settings.cc
+++ b/tools/cabana/settings.cc
@@ -6,19 +6,14 @@
 #include <QFileDialog>
 #include <QFormLayout>
 #include <QPushButton>
-#include <QSettings>
 #include <QStandardPaths>
 
 #include "tools/cabana/util.h"
 
 Settings settings;
 
-Settings::Settings() {
-  load();
-}
-
-void Settings::save() {
-  QSettings s("settings", QSettings::IniFormat);
+QSettings::Status Settings::save() {
+  QSettings s(filePath(), QSettings::IniFormat);
   s.setValue("fps", fps);
   s.setValue("max_cached_minutes", max_cached_minutes);
   s.setValue("chart_height", chart_height);
@@ -39,10 +34,12 @@ void Settings::save() {
   s.setValue("log_path", log_path);
   s.setValue("drag_direction", drag_direction);
   s.setValue("suppress_defined_signals", suppress_defined_signals);
+  s.sync();
+  return s.status();
 }
 
 void Settings::load() {
-  QSettings s("settings", QSettings::IniFormat);
+  QSettings s(filePath(), QSettings::IniFormat);
   fps = s.value("fps", 10).toInt();
   max_cached_minutes = s.value("max_cached_minutes", 30).toInt();
   chart_height = s.value("chart_height", 200).toInt();
diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h
index b8a3797f86..42073a72de 100644
--- a/tools/cabana/settings.h
+++ b/tools/cabana/settings.h
@@ -1,11 +1,13 @@
 #pragma once
 
+#include <QApplication>
 #include <QByteArray>
 #include <QCheckBox>
 #include <QComboBox>
 #include <QDialog>
 #include <QGroupBox>
 #include <QLineEdit>
+#include <QSettings>
 #include <QSpinBox>
 
 #define LIGHT_THEME 1
@@ -22,9 +24,10 @@ public:
     AlwaysBE,
   };
 
-  Settings();
-  void save();
+  Settings() {}
+  QSettings::Status save();
   void load();
+  inline static QString filePath() { return QApplication::applicationDirPath() + "/settings"; }
 
   int fps = 10;
   int max_cached_minutes = 30;
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 1b1c8dac22..b2798e9f3b 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -36,7 +36,7 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p
 void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) {
   Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name, .type = Item::Sig};
   parent_item->children.insert(pos, item);
-  QString titles[]{"Name", "Size", "Little Endian", "Signed", "Offset", "Factor", "Type", "Multiplex Value", "Extra Info",
+  QString titles[]{"Name", "Size", "Node", "Little Endian", "Signed", "Offset", "Factor", "Type", "Multiplex Value", "Extra Info",
                    "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Descriptions"};
   for (int i = 0; i < std::size(titles); ++i) {
     item->children.push_back(new Item{.sig = sig, .parent = item, .title = titles[i], .type = (Item::Type)(i + Item::Name)});
@@ -134,6 +134,7 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const {
           case Item::Sig: return item->sig_val;
           case Item::Name: return item->sig->name;
           case Item::Size: return item->sig->size;
+          case Item::Node: return item->sig->receiver_name;
           case Item::SignalType: return signalTypeToString(item->sig->type);
           case Item::MultiplexValue: return item->sig->multiplex_value;
           case Item::Offset: return doubleToString(item->sig->offset);
@@ -172,6 +173,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r
   switch (item->type) {
     case Item::Name: s.name = value.toString(); break;
     case Item::Size: s.size = value.toInt(); break;
+    case Item::Node: s.receiver_name = value.toString().trimmed(); break;
     case Item::SignalType: s.type = (cabana::Signal::Type)value.toInt(); break;
     case Item::MultiplexValue: s.multiplex_value = value.toInt(); break;
     case Item::Endian: s.is_little_endian = value.toBool(); break;
@@ -195,11 +197,11 @@ void SignalModel::showExtraInfo(const QModelIndex &index) {
   if (item->type == Item::ExtraInfo) {
     if (!item->parent->extra_expanded) {
       item->parent->extra_expanded = true;
-      beginInsertRows(index.parent(), 7, 13);
+      beginInsertRows(index.parent(), Item::ExtraInfo - 2, Item::Desc - 2);
       endInsertRows();
     } else {
       item->parent->extra_expanded = false;
-      beginRemoveRows(index.parent(), 7, 13);
+      beginRemoveRows(index.parent(), Item::ExtraInfo - 2, Item::Desc - 2);
       endRemoveRows();
     }
   }
@@ -267,6 +269,7 @@ void SignalModel::handleSignalRemoved(const cabana::Signal *sig) {
 
 SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(parent) {
   name_validator = new NameValidator(this);
+  node_validator = new QRegExpValidator(QRegExp("^\\w+(,\\w+)*$"), this);
   double_validator = new DoubleValidator(this);
 
   label_font.setPointSize(8);
@@ -382,12 +385,14 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
 
 QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const {
   auto item = (SignalModel::Item *)index.internalPointer();
-  if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Offset ||
+  if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Node || item->type == SignalModel::Item::Offset ||
       item->type == SignalModel::Item::Factor || item->type == SignalModel::Item::MultiplexValue ||
       item->type == SignalModel::Item::Min || item->type == SignalModel::Item::Max) {
     QLineEdit *e = new QLineEdit(parent);
     e->setFrame(false);
-    e->setValidator(item->type == SignalModel::Item::Name ? name_validator : double_validator);
+    if (item->type == SignalModel::Item::Name) e->setValidator(name_validator);
+    else if (item->type == SignalModel::Item::Node) e->setValidator(node_validator);
+    else e->setValidator(double_validator);
 
     if (item->type == SignalModel::Item::Name) {
       QCompleter *completer = new QCompleter(dbc()->signalNames());
@@ -395,7 +400,6 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
       completer->setFilterMode(Qt::MatchContains);
       e->setCompleter(completer);
     }
-
     return e;
   } else if (item->type == SignalModel::Item::Size) {
     QSpinBox *spin = new QSpinBox(parent);
diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h
index 9d8571d0b8..bcf0019bc4 100644
--- a/tools/cabana/signalview.h
+++ b/tools/cabana/signalview.h
@@ -17,7 +17,7 @@ class SignalModel : public QAbstractItemModel {
   Q_OBJECT
 public:
   struct Item {
-    enum Type {Root, Sig, Name, Size, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc };
+    enum Type {Root, Sig, Name, Size, Node, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc };
     ~Item() { qDeleteAll(children); }
     inline int row() { return parent->children.indexOf(this); }
 
@@ -87,7 +87,7 @@ public:
   void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   void setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const override;
 
-  QValidator *name_validator, *double_validator;
+  QValidator *name_validator, *double_validator, *node_validator;
   QFont label_font, minmax_font;
   const int color_label_width = 18;
   mutable QSize button_size;
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index c8945aec64..6fa479815d 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -27,6 +27,11 @@ AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
     emit StreamNotifier::instance()->changingStream();
     delete can;
     can = this;
+    // TODO: add method stop() to class AbstractStream
+    QObject::connect(qApp, &QApplication::aboutToQuit, can, []() {
+      qDebug() << "stopping stream thread";
+      can->pause(true);
+    });
     emit StreamNotifier::instance()->streamStarted();
   });
 }
@@ -157,18 +162,14 @@ void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std
     }
   }
 
-  auto compare = [](const CanEvent *l, const CanEvent *r) {
-    return l->mono_time < r->mono_time;
-  };
-
   for (auto &[id, new_e] : new_events_map) {
     auto &e = events_[id];
-    auto insert_pos = std::upper_bound(e.cbegin(), e.cend(), new_e.front(), compare);
+    auto insert_pos = std::upper_bound(e.cbegin(), e.cend(), new_e.front()->mono_time, CompareCanEvent());
     e.insert(insert_pos, new_e.cbegin(), new_e.cend());
   }
 
   if (!new_events.empty()) {
-    auto insert_pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front(), compare);
+    auto insert_pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front()->mono_time, CompareCanEvent());
     all_events_.insert(insert_pos, new_events.cbegin(), new_events.cend());
   }
 
@@ -196,15 +197,11 @@ inline QColor blend(const QColor &a, const QColor &b) {
 
 // Calculate the frequency of the past minute.
 double calc_freq(const MessageId &msg_id, double current_sec) {
-  auto compare = [](const CanEvent *e, uint64_t mono_time) {
-    return e->mono_time < mono_time;
-  };
-
   const auto &events = can->events(msg_id);
   uint64_t cur_mono_time = (can->routeStartTime() + current_sec) * 1e9;
   uint64_t first_mono_time = std::max<int64_t>(0, cur_mono_time - 59 * 1e9);
-  auto first = std::lower_bound(events.begin(), events.end(), first_mono_time, compare);
-  auto second = std::lower_bound(first, events.end(), cur_mono_time, compare);
+  auto first = std::lower_bound(events.begin(), events.end(), first_mono_time, CompareCanEvent());
+  auto second = std::lower_bound(first, events.end(), cur_mono_time, CompareCanEvent());
   if (first != events.end() && second != events.end()) {
     double duration = ((*second)->mono_time - (*first)->mono_time) / 1e9;
     uint32_t count = std::distance(first, second);
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 62ab3f2f4b..3a89d4e57d 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -30,7 +30,7 @@ struct CanData {
   std::vector<std::array<uint32_t, 8>> bit_change_counts;
   std::vector<int> last_delta;
   std::vector<int> same_delta_counter;
-  double last_freq_update_ts = seconds_since_boot();
+  double last_freq_update_ts = 0;
 };
 
 struct CanEvent {
@@ -41,6 +41,11 @@ struct CanEvent {
   uint8_t dat[];
 };
 
+struct CompareCanEvent {
+  constexpr bool operator()(const CanEvent *const e, uint64_t ts) const { return e->mono_time < ts; }
+  constexpr bool operator()(uint64_t ts, const CanEvent *const e) const { return ts < e->mono_time; }
+};
+
 struct BusConfig {
   int can_speed_kbps = 500;
   int data_speed_kbps = 2000;
diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc
index 3f8397f56c..17805a0b66 100644
--- a/tools/cabana/streams/livestream.cc
+++ b/tools/cabana/streams/livestream.cc
@@ -102,12 +102,8 @@ void LiveStream::updateEvents() {
   uint64_t last_ts = post_last_event && speed_ == 1.0
                        ? all_events_.back()->mono_time
                        : first_event_ts + (nanos_since_boot() - first_update_ts) * speed_;
-  auto first = std::upper_bound(all_events_.cbegin(), all_events_.cend(), current_event_ts, [](uint64_t ts, auto e) {
-    return ts < e->mono_time;
-  });
-  auto last = std::upper_bound(first, all_events_.cend(), last_ts, [](uint64_t ts, auto e) {
-    return ts < e->mono_time;
-  });
+  auto first = std::upper_bound(all_events_.cbegin(), all_events_.cend(), current_event_ts, CompareCanEvent());
+  auto last = std::upper_bound(first, all_events_.cend(), last_ts, CompareCanEvent());
 
   for (auto it = first; it != last; ++it) {
     const CanEvent *e = *it;
diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc
index a3d014dd2c..d114f72ea5 100644
--- a/tools/cabana/tests/test_cabana.cc
+++ b/tools/cabana/tests/test_cabana.cc
@@ -6,8 +6,7 @@
 #include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
 
-// demo route, first segment
-const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/a2a0ccea32023010/2023-07-27--13-01-19/0/rlog.bz2";
+const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
 
 TEST_CASE("DBCFile::generateDBC") {
   QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "tesla_can");
diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc
index b19babdf88..51d86f5964 100644
--- a/tools/cabana/tools/findsignal.cc
+++ b/tools/cabana/tools/findsignal.cc
@@ -37,10 +37,10 @@ void FindSignalModel::search(std::function<bool(double)> cmp) {
   filtered_signals.reserve(prev_sigs.size());
   QtConcurrent::blockingMap(prev_sigs, [&](auto &s) {
     const auto &events = can->events(s.id);
-    auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, [](uint64_t ts, auto &e) { return ts < e->mono_time; });
+    auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, CompareCanEvent());
     auto last = events.cend();
     if (last_time < std::numeric_limits<uint64_t>::max()) {
-      last = std::upper_bound(events.cbegin(), events.cend(), last_time, [](uint64_t ts, auto &e) { return ts < e->mono_time; });
+      last = std::upper_bound(events.cbegin(), events.cend(), last_time, CompareCanEvent());
     }
 
     auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); });
@@ -225,7 +225,7 @@ void FindSignalDlg::setInitialSignals() {
   for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
     if (buses.isEmpty() || buses.contains(it.key().source) && (addresses.isEmpty() || addresses.contains(it.key().address))) {
       const auto &events = can->events(it.key());
-      auto e = std::lower_bound(events.cbegin(), events.cend(), first_time, [](auto e, uint64_t ts) { return e->mono_time < ts; });
+      auto e = std::lower_bound(events.cbegin(), events.cend(), first_time, CompareCanEvent());
       if (e != events.cend()) {
         const int total_size = it.value().dat.size() * 8;
         for (int size = min_size->value(); size <= max_size->value(); ++size) {
diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc
index 951856e32d..4c21530774 100644
--- a/tools/cabana/util.cc
+++ b/tools/cabana/util.cc
@@ -1,7 +1,6 @@
 #include "tools/cabana/util.h"
 
 #include <algorithm>
-#include <array>
 #include <csignal>
 #include <limits>
 #include <memory>
@@ -56,6 +55,10 @@ std::pair<double, double> SegmentTree::get_minmax(int n, int left, int right, in
 MessageBytesDelegate::MessageBytesDelegate(QObject *parent, bool multiple_lines) : multiple_lines(multiple_lines), QStyledItemDelegate(parent) {
   fixed_font = QFontDatabase::systemFont(QFontDatabase::FixedFont);
   byte_size = QFontMetrics(fixed_font).size(Qt::TextSingleLine, "00 ") + QSize(0, 2);
+  for (int i = 0; i < 256; ++i) {
+    hex_text_table[i].setText(QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper());
+    hex_text_table[i].prepare({}, fixed_font);
+  }
 }
 
 int MessageBytesDelegate::widthForBytes(int n) const {
@@ -107,7 +110,7 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &
     } else if (option.state & QStyle::State_Selected) {
       painter->setPen(option.palette.color(QPalette::HighlightedText));
     }
-    painter->drawText(r, Qt::AlignCenter, toHex(byte_list[i]));
+    utils::drawStaticText(painter, r, hex_text_table[(uint8_t)(byte_list[i])]);
   }
   painter->setFont(old_font);
   painter->setPen(old_pen);
diff --git a/tools/cabana/util.h b/tools/cabana/util.h
index 9e93e74833..2c1bc5cf7b 100644
--- a/tools/cabana/util.h
+++ b/tools/cabana/util.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <array>
 #include <cmath>
 #include <deque>
 #include <vector>
@@ -10,8 +11,10 @@
 #include <QDateTime>
 #include <QDoubleValidator>
 #include <QFont>
+#include <QPainter>
 #include <QRegExpValidator>
 #include <QSocketNotifier>
+#include <QStaticText>
 #include <QStringBuilder>
 #include <QStyledItemDelegate>
 #include <QToolButton>
@@ -75,6 +78,7 @@ public:
   int widthForBytes(int n) const;
 
 private:
+  std::array<QStaticText, 256> hex_text_table;
   QFont fixed_font;
   QSize byte_size = {};
   bool multiple_lines = false;
@@ -102,6 +106,10 @@ void setTheme(int theme);
 inline QString formatSeconds(int seconds) {
   return QDateTime::fromSecsSinceEpoch(seconds, Qt::UTC).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss");
 }
+inline void drawStaticText(QPainter *p, const QRect &r, const QStaticText &text) {
+  auto size = (r.size() - text.size()) / 2;
+  p->drawStaticText(r.left() + size.width(), r.top() + size.height(), text);
+}
 }
 
 class ToolButton : public QToolButton {
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index f535c6b729..098f26841c 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -159,13 +159,13 @@ Slider::Slider(QWidget *parent) : thumbnail_label(parent), QSlider(Qt::Horizonta
       qlog_future = std::make_unique<QFuture<void>>(QtConcurrent::run(this, &Slider::parseQLog));
     }
   });
-}
-
-Slider::~Slider() {
-  abort_parse_qlog = true;
-  if (qlog_future) {
-    qlog_future->waitForFinished();
-  }
+  QObject::connect(qApp, &QApplication::aboutToQuit, [this]() {
+    abort_parse_qlog = true;
+    if (qlog_future && qlog_future->isRunning()) {
+      qDebug() << "stopping thumbnail thread";
+      qlog_future->waitForFinished();
+    }
+  });
 }
 
 AlertInfo Slider::alertInfo(double seconds) {
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 7ddd315e48..c17dd67e2a 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -37,7 +37,6 @@ class Slider : public QSlider {
 
 public:
   Slider(QWidget *parent);
-  ~Slider();
   double currentSecond() const { return value() / factor; }
   void setCurrentSecond(double sec) { setValue(sec * factor); }
   void setTimeRange(double min, double max);
diff --git a/tools/gpstest/rpc_server.py b/tools/gpstest/rpc_server.py
index cdedd8ea57..798237142d 100644
--- a/tools/gpstest/rpc_server.py
+++ b/tools/gpstest/rpc_server.py
@@ -3,6 +3,7 @@ import time
 import shutil
 from datetime import datetime
 from collections import defaultdict
+from openpilot.system.hardware.hw import Paths
 
 import rpyc
 from rpyc.utils.server import ThreadedServer
@@ -18,7 +19,6 @@ MATCH_NUM = 10
 REPORT_STATS = 10
 
 EPHEM_CACHE = "/data/params/d/LaikadEphemerisV3"
-DOWNLOAD_CACHE = "/tmp/comma_download_cache"
 
 SERVER_LOG_FILE = "/tmp/fuzzy_server.log"
 server_log = open(SERVER_LOG_FILE, "w+")
@@ -162,7 +162,7 @@ class RemoteCheckerService(rpyc.Service):
 
         if os.path.exists(EPHEM_CACHE):
           os.remove(EPHEM_CACHE)
-        shutil.rmtree(DOWNLOAD_CACHE, ignore_errors=True)
+        shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
 
       ret = self.run_checker(slat, slon, salt, sockets, procs, timeout)
       kill_procs(procs)
diff --git a/tools/lib/auth_config.py b/tools/lib/auth_config.py
index 8863dd57a2..bd76761043 100644
--- a/tools/lib/auth_config.py
+++ b/tools/lib/auth_config.py
@@ -13,9 +13,6 @@ if PC:
 else:
   CONFIG_DIR = "/tmp/.comma"
 
-mkdirs_exists_ok(CONFIG_DIR)
-
-
 def get_token():
   try:
     with open(os.path.join(CONFIG_DIR, 'auth.json')) as f:
@@ -26,9 +23,13 @@ def get_token():
 
 
 def set_token(token):
+  mkdirs_exists_ok(CONFIG_DIR)
   with open(os.path.join(CONFIG_DIR, 'auth.json'), 'w') as f:
     json.dump({'access_token': token}, f)
 
 
 def clear_token():
-  os.unlink(os.path.join(CONFIG_DIR, 'auth.json'))
+  try:
+    os.unlink(os.path.join(CONFIG_DIR, 'auth.json'))
+  except FileNotFoundError:
+    pass
diff --git a/tools/lib/cache.py b/tools/lib/cache.py
index d142955e59..fd214f6bb5 100644
--- a/tools/lib/cache.py
+++ b/tools/lib/cache.py
@@ -2,10 +2,10 @@ import os
 import urllib.parse
 from openpilot.common.file_helpers import mkdirs_exists_ok
 
-DEFAULT_CACHE_DIR = os.path.expanduser("~/.commacache")
+DEFAULT_CACHE_DIR = os.getenv("CACHE_ROOT", os.path.expanduser("~/.commacache"))
 
-def cache_path_for_file_path(fn, cache_prefix=None):
-  dir_ = os.path.join(DEFAULT_CACHE_DIR, "local")
+def cache_path_for_file_path(fn, cache_dir=DEFAULT_CACHE_DIR):
+  dir_ = os.path.join(cache_dir, "local")
   mkdirs_exists_ok(dir_)
   fn_parsed = urllib.parse.urlparse(fn)
   if fn_parsed.scheme == '':
diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py
index cbc9310790..06fee6857d 100644
--- a/tools/lib/framereader.py
+++ b/tools/lib/framereader.py
@@ -12,7 +12,7 @@ import numpy as np
 from lru import LRU
 
 import _io
-from openpilot.tools.lib.cache import cache_path_for_file_path
+from openpilot.tools.lib.cache import cache_path_for_file_path, DEFAULT_CACHE_DIR
 from openpilot.tools.lib.exceptions import DataUnreadableError
 from openpilot.common.file_helpers import atomic_write_in_dir
 
@@ -106,8 +106,8 @@ def cache_fn(func):
     if kwargs.pop('no_cache', None):
       cache_path = None
     else:
-      cache_prefix = kwargs.pop('cache_prefix', None)
-      cache_path = cache_path_for_file_path(fn, cache_prefix)
+      cache_dir = kwargs.pop('cache_dir', DEFAULT_CACHE_DIR)
+      cache_path = cache_path_for_file_path(fn, cache_dir)
 
     if cache_path and os.path.exists(cache_path):
       with open(cache_path, "rb") as cache_file:
@@ -140,18 +140,18 @@ def index_stream(fn, typ):
   }
 
 
-def index_videos(camera_paths, cache_prefix=None):
+def index_videos(camera_paths, cache_dir=DEFAULT_CACHE_DIR):
   """Requires that paths in camera_paths are contiguous and of the same type."""
   if len(camera_paths) < 1:
     raise ValueError("must provide at least one video to index")
 
   frame_type = fingerprint_video(camera_paths[0])
   for fn in camera_paths:
-    index_video(fn, frame_type, cache_prefix)
+    index_video(fn, frame_type, cache_dir)
 
 
-def index_video(fn, frame_type=None, cache_prefix=None):
-  cache_path = cache_path_for_file_path(fn, cache_prefix)
+def index_video(fn, frame_type=None, cache_dir=DEFAULT_CACHE_DIR):
+  cache_path = cache_path_for_file_path(fn, cache_dir)
 
   if os.path.exists(cache_path):
     return
@@ -160,16 +160,16 @@ def index_video(fn, frame_type=None, cache_prefix=None):
     frame_type = fingerprint_video(fn[0])
 
   if frame_type == FrameType.h265_stream:
-    index_stream(fn, "hevc", cache_prefix=cache_prefix)
+    index_stream(fn, "hevc", cache_dir=cache_dir)
   else:
     raise NotImplementedError("Only h265 supported")
 
 
-def get_video_index(fn, frame_type, cache_prefix=None):
-  cache_path = cache_path_for_file_path(fn, cache_prefix)
+def get_video_index(fn, frame_type, cache_dir=DEFAULT_CACHE_DIR):
+  cache_path = cache_path_for_file_path(fn, cache_dir)
 
   if not os.path.exists(cache_path):
-    index_video(fn, frame_type, cache_prefix)
+    index_video(fn, frame_type, cache_dir)
 
   if not os.path.exists(cache_path):
     return None
@@ -284,13 +284,13 @@ class BaseFrameReader:
     raise NotImplementedError
 
 
-def FrameReader(fn, cache_prefix=None, readahead=False, readbehind=False, index_data=None):
+def FrameReader(fn, cache_dir=DEFAULT_CACHE_DIR, readahead=False, readbehind=False, index_data=None):
   frame_type = fingerprint_video(fn)
   if frame_type == FrameType.raw:
     return RawFrameReader(fn)
   elif frame_type in (FrameType.h265_stream,):
     if not index_data:
-      index_data = get_video_index(fn, frame_type, cache_prefix)
+      index_data = get_video_index(fn, frame_type, cache_dir)
     return StreamFrameReader(fn, frame_type, index_data, readahead=readahead, readbehind=readbehind)
   else:
     raise NotImplementedError(frame_type)
diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py
index 7702b52e3e..b893d9815d 100755
--- a/tools/lib/tests/test_caching.py
+++ b/tools/lib/tests/test_caching.py
@@ -2,7 +2,6 @@
 import os
 import unittest
 from openpilot.tools.lib.url_file import URLFile
-from openpilot.selfdrive.test.helpers import temporary_cache_dir
 
 
 class TestFileDownload(unittest.TestCase):
@@ -31,7 +30,6 @@ class TestFileDownload(unittest.TestCase):
     self.assertEqual(file_cached.get_length(), file_downloaded.get_length())
     self.assertEqual(response_cached, response_downloaded)
 
-  @temporary_cache_dir
   def test_small_file(self):
     # Make sure we don't force cache
     os.environ["FILEREADER_CACHE"] = "0"
@@ -52,7 +50,6 @@ class TestFileDownload(unittest.TestCase):
     for i in range(length // 100):
       self.compare_loads(small_file_url, 100 * i, 100)
 
-  @temporary_cache_dir
   def test_large_file(self):
     large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2"
     #  Load the end 100 bytes of both files
diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py
index e93f8e715c..98a52cae27 100644
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -8,12 +8,11 @@ from hashlib import sha256
 from io import BytesIO
 from tenacity import retry, wait_random_exponential, stop_after_attempt
 from openpilot.common.file_helpers import mkdirs_exists_ok, atomic_write_in_dir
+from openpilot.system.hardware.hw import Paths
 #  Cache chunk size
 K = 1000
 CHUNK_SIZE = 1000 * K
 
-CACHE_DIR = os.environ.get("COMMA_CACHE", "/tmp/comma_download_cache/")
-
 
 def hash_256(link):
   hsh = str(sha256((link.split("?")[0]).encode('utf-8')).hexdigest())
@@ -38,7 +37,7 @@ class URLFile:
       self._curl = self._tlocal.curl
     except AttributeError:
       self._curl = self._tlocal.curl = pycurl.Curl()
-    mkdirs_exists_ok(CACHE_DIR)
+    mkdirs_exists_ok(Paths.download_cache_root())
 
   def __enter__(self):
     return self
@@ -66,7 +65,7 @@ class URLFile:
   def get_length(self):
     if self._length is not None:
       return self._length
-    file_length_path = os.path.join(CACHE_DIR, hash_256(self._url) + "_length")
+    file_length_path = os.path.join(Paths.download_cache_root(), hash_256(self._url) + "_length")
     if os.path.exists(file_length_path) and not self._force_download:
       with open(file_length_path) as file_length:
           content = file_length.read()
@@ -93,7 +92,7 @@ class URLFile:
       self._pos = position
       chunk_number = self._pos / CHUNK_SIZE
       file_name = hash_256(self._url) + "_" + str(chunk_number)
-      full_path = os.path.join(CACHE_DIR, str(file_name))
+      full_path = os.path.join(Paths.download_cache_root(), str(file_name))
       data = None
       #  If we don't have a file, download it
       if not os.path.exists(full_path):
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index c767131f51..0c9627ca4e 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -49,7 +49,7 @@ brew "pyenv"
 brew "pyenv-virtualenv"
 brew "qt@5"
 brew "zeromq"
-brew "gcc@12"
+brew "gcc@13"
 cask "gcc-arm-embedded"
 brew "portaudio"
 EOS
@@ -74,6 +74,27 @@ export PYCURL_SSL_LIBRARY=openssl
 $DIR/install_python_dependencies.sh
 echo "[ ] installed python dependencies t=$SECONDS"
 
+# brew does not link qt5 by default
+# check if qt5 can be linked, if not, prompt the user to link it
+QT_BIN_LOCATION="$(command -v lupdate || :)"
+if [ -n "$QT_BIN_LOCATION" ]; then
+  # if qt6 is linked, prompt the user to unlink it and link the right version
+  QT_BIN_VERSION="$(lupdate -version | awk '{print $NF}')"
+  if [[ ! "$QT_BIN_VERSION" =~ 5\.[0-9]+\.[0-9]+ ]]; then
+    echo
+    echo "lupdate/lrelease available at PATH is $QT_BIN_VERSION"
+    if [[ "$QT_BIN_LOCATION" == "$(brew --prefix)/"* ]]; then
+      echo "Run the following command to link qt5:"
+      echo "brew unlink qt@6 && brew link qt@5"
+    else
+      echo "Remove conflicting qt entries from PATH and run the following command to link qt5:"
+      echo "brew link qt@5"
+    fi
+  fi
+else
+  brew link qt@5
+fi
+
 echo
 echo "----   OPENPILOT SETUP DONE   ----"
 echo "Open a new shell or configure your active shell env by running:"
diff --git a/tools/replay/filereader.cc b/tools/replay/filereader.cc
index 88879067c9..22af7f5f86 100644
--- a/tools/replay/filereader.cc
+++ b/tools/replay/filereader.cc
@@ -3,11 +3,12 @@
 #include <fstream>
 
 #include "common/util.h"
+#include "system/hardware/hw.h"
 #include "tools/replay/util.h"
 
 std::string cacheFilePath(const std::string &url) {
   static std::string cache_path = [] {
-    const std::string comma_cache = util::getenv("COMMA_CACHE", "/tmp/comma_download_cache/");
+    const std::string comma_cache = Path::download_cache_root();
     util::create_directories(comma_cache, 0755);
     return comma_cache.back() == '/' ? comma_cache : comma_cache + "/";
   }();
diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
index 393a561c0f..05c0ca8ac4 100644
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -12,7 +12,7 @@
 const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
 const std::string TEST_RLOG_CHECKSUM = "5b966d4bb21a100a8c4e59195faeb741b975ccbe268211765efd1763d892bfb3";
 
-bool donload_to_file(const std::string &url, const std::string &local_file, int chunk_size = 5 * 1024 * 1024, int retries = 3) {
+bool download_to_file(const std::string &url, const std::string &local_file, int chunk_size = 5 * 1024 * 1024, int retries = 3) {
   do {
     if (httpDownload(url, local_file, chunk_size)) {
       return true;
@@ -29,7 +29,7 @@ TEST_CASE("httpMultiPartDownload") {
   const size_t chunk_size = 5 * 1024 * 1024;
   std::string content;
   SECTION("download to file") {
-    REQUIRE(donload_to_file(TEST_RLOG_URL, filename, chunk_size));
+    REQUIRE(download_to_file(TEST_RLOG_URL, filename, chunk_size));
     content = util::read_file(filename);
   }
   SECTION("download to buffer") {
@@ -110,23 +110,36 @@ void read_segment(int n, const SegmentFile &segment_file, uint32_t flags) {
   loop.exec();
 }
 
-TEST_CASE("Route") {
-  // Create a local route from remote for testing
-  Route remote_route(DEMO_ROUTE);
-  REQUIRE(remote_route.load());
-  char tmp_path[] = "/tmp/root_XXXXXX";
-  const std::string data_dir = mkdtemp(tmp_path);
-  const std::string route_name = DEMO_ROUTE.mid(17).toStdString();
-  for (int i = 0; i < 2; ++i) {
-    std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i);
-    util::create_directories(log_path, 0755);
-    REQUIRE(donload_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2"));
-    REQUIRE(donload_to_file(remote_route.at(i).road_cam.toStdString(), log_path + "fcamera.hevc"));
-    REQUIRE(donload_to_file(remote_route.at(i).driver_cam.toStdString(), log_path + "dcamera.hevc"));
-    REQUIRE(donload_to_file(remote_route.at(i).wide_road_cam.toStdString(), log_path + "ecamera.hevc"));
-    REQUIRE(donload_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts"));
+std::string download_demo_route() {
+  static std::string data_dir;
+
+  if (data_dir == "") {
+    char tmp_path[] = "/tmp/root_XXXXXX";
+    data_dir = mkdtemp(tmp_path);
+
+    Route remote_route(DEMO_ROUTE);
+    assert(remote_route.load());
+
+    // Create a local route from remote for testing
+    const std::string route_name = DEMO_ROUTE.mid(17).toStdString();
+    for (int i = 0; i < 2; ++i) {
+      std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i);
+      util::create_directories(log_path, 0755);
+      REQUIRE(download_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2"));
+      REQUIRE(download_to_file(remote_route.at(i).road_cam.toStdString(), log_path + "fcamera.hevc"));
+      REQUIRE(download_to_file(remote_route.at(i).driver_cam.toStdString(), log_path + "dcamera.hevc"));
+      REQUIRE(download_to_file(remote_route.at(i).wide_road_cam.toStdString(), log_path + "ecamera.hevc"));
+      REQUIRE(download_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts"));
+    }
   }
 
+  return data_dir;
+}
+
+
+TEST_CASE("Route") {
+  std::string data_dir = download_demo_route();
+
   SECTION("Local route") {
     auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
     Route route(DEMO_ROUTE, QString::fromStdString(data_dir));
diff --git a/tools/replay/util.cc b/tools/replay/util.cc
index 172d545c75..2c2de69e78 100644
--- a/tools/replay/util.cc
+++ b/tools/replay/util.cc
@@ -4,6 +4,7 @@
 #include <curl/curl.h>
 #include <openssl/sha.h>
 
+#include <cstdarg>
 #include <cstring>
 #include <cassert>
 #include <cmath>
diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh
index d5922a4819..361f7b18ea 100755
--- a/tools/sim/launch_openpilot.sh
+++ b/tools/sim/launch_openpilot.sh
@@ -12,5 +12,8 @@ if [[ "$CI" ]]; then
   export BLOCK="${BLOCK},ui"
 fi
 
+SCRIPT_DIR=$(dirname "$0")
+OPENPILOT_DIR=$SCRIPT_DIR/../../
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd ../../selfdrive/manager && exec ./manager.py
+cd $OPENPILOT_DIR/selfdrive/manager && exec ./manager.py