diff --git a/.devcontainer/.gitignore b/.devcontainer/.gitignore
index 1f8ec242b8..5682fe1190 100644
--- a/.devcontainer/.gitignore
+++ b/.devcontainer/.gitignore
@@ -1 +1,3 @@
-.Xauthority
\ No newline at end of file
+.Xauthority
+.env
+.host/
\ No newline at end of file
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index e72704bfd0..a24c524047 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,6 +1,15 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 
-# remove gitconfig if exists, since its gonna be replaced by host one
-RUN rm -f /root/.gitconfig
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa
 RUN pip install ipython jupyter jupyterlab
+
+RUN cd /tmp && \
+    ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
+    curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
+    dpkg -i virtualgl.deb
+
+USER batman
+
+RUN cd $HOME && \
+    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \
+    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.vimrc
diff --git a/.devcontainer/container_post_create.sh b/.devcontainer/container_post_create.sh
new file mode 100755
index 0000000000..dee1c61101
--- /dev/null
+++ b/.devcontainer/container_post_create.sh
@@ -0,0 +1,38 @@
+#!/usr/bin/env bash
+
+TARGET_USER=batman
+source .devcontainer/.host/.env
+
+# override display flag for mac hosts
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up DISPLAY override for macOS..."
+  cat <<EOF >> /home/$TARGET_USER/.bashrc
+source .devcontainer/.host/.env
+if [ -n "\$HOST_DISPLAY" ]; then
+  DISPLAY_NUM=\$(echo "\$HOST_DISPLAY" | awk -F: '{print \$NF}')
+  export DISPLAY=host.docker.internal:\$DISPLAY_NUM
+fi
+EOF
+fi
+
+# setup virtualgl for mac hosts
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up virtualgl for macOS..."
+  cat <<EOF >> /home/$TARGET_USER/.bashrc
+if [ -n "\$HOST_DISPLAY" ]; then
+  export VGL_PORT=10000
+  export VGL_CLIENT=host.docker.internal
+  export VGL_COMPRESS=rgb
+  export VGL_DISPLAY=:99
+  export VGL_FPS=60
+  # prevent vglrun from running exec
+  alias exec=:; source vglrun :; unalias exec
+fi
+EOF
+fi
+
+# These lines are temporary, to remain backwards compatible with old devcontainers
+# that were running as root and therefore had their caches written as root
+sudo chown -R $TARGET_USER: /tmp/scons_cache
+sudo chown -R $TARGET_USER: /tmp/comma_download_cache
+sudo chown -R $TARGET_USER: /home/batman/.comma
diff --git a/.devcontainer/container_post_start.sh b/.devcontainer/container_post_start.sh
new file mode 100755
index 0000000000..1521b9c3fb
--- /dev/null
+++ b/.devcontainer/container_post_start.sh
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+
+source .devcontainer/.host/.env
+
+# setup safe directories for submodules
+SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
+for DIR in $SUBMODULE_DIRS; do 
+  git config --global --add safe.directory "$PWD/$DIR"
+done
+
+# virtual display for virtualgl
+if [[ "$HOST_OS" == "darwin" ]] && [[ -n "$HOST_DISPLAY" ]]; then
+  echo "Starting virtual display at :99 ..."
+  tmux new-session -d -s fakedisplay Xvfb :99 -screen 0 1920x1080x24
+fi
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 2dfe46b4f0..a0ff582e68 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -3,23 +3,37 @@
   "build": {
     "dockerfile": "Dockerfile"
   },
-  "postCreateCommand": "bash -c 'if [[ $DISPLAY == *xquartz* ]]; then echo \"export DISPLAY=host.docker.internal:0\" >> /root/.bashrc; fi'",
-  "postStartCommand": "git config --file .gitmodules --get-regexp path | awk '{ print $2 }' | xargs -I{} git config --global --add safe.directory \"$PWD/{}\"",
-  "initializeCommand": ".devcontainer/setup_host.sh",
+  "postCreateCommand": ".devcontainer/container_post_create.sh",
+  "postStartCommand": ".devcontainer/container_post_start.sh",
+  "initializeCommand": [".devcontainer/host_setup"],
   "privileged": true,
   "containerEnv": {
     "DISPLAY": "${localEnv:DISPLAY}",
     "PYTHONPATH": "${containerWorkspaceFolder}",
+    "TERM": "xterm-256color",
+    "CARLA_HOST": "host.docker.internal",
     "force_color_prompt": "1"
   },
   "runArgs": [
     "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
-    "--volume=${localWorkspaceFolder}/.devcontainer/.Xauthority:/root/.Xauthority",
-    "--volume=${localEnv:HOME}/.comma:/root/.comma",
+    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
+    "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
     "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
     "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache",
-    "--shm-size=1G"
+    "--shm-size=1G",
+    "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
+    "--publish=0.0.0.0:8070-8079:8070-8079"  // body ZMQ services
   ],
+  "features": {
+    "ghcr.io/devcontainers/features/common-utils:2": {
+      "installZsh": false,
+      "installOhMyZsh": false,
+      "upgradePackages": false,
+      "username": "batman"
+    }
+  },
+  "containerUser": "batman",
+  "remoteUser": "batman",
   "customizations": {
     "vscode": {
       "extensions": [
diff --git a/.devcontainer/host_setup b/.devcontainer/host_setup
new file mode 100755
index 0000000000..8ff81ebe42
--- /dev/null
+++ b/.devcontainer/host_setup
@@ -0,0 +1,47 @@
+#!/usr/bin/env bash
+
+# pull base image
+if [[ -z $USE_LOCAL_IMAGE ]]; then
+  echo "Updating openpilot_base image if needed..."
+  docker pull ghcr.io/commaai/openpilot-base:latest
+fi
+
+# setup .host dir
+mkdir -p .devcontainer/.host
+
+# setup links to Xauthority
+XAUTHORITY_LINK=".devcontainer/.host/.Xauthority"
+rm -f $XAUTHORITY_LINK
+if [[ -z $XAUTHORITY ]]; then
+  echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
+  if ! [[ -f $HOME/.Xauthority ]]; then
+    echo "~/.XAuthority file does not exist. GUI tools may not work properly."
+    touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
+  else
+    ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
+  fi
+else
+    ln -sf $XAUTHORITY $XAUTHORITY_LINK
+fi
+
+# setup host env file
+HOST_INFO_FILE=".devcontainer/.host/.env"
+SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
+echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE
+echo "HOST_DISPLAY=\"$DISPLAY\"" >> $HOST_INFO_FILE
+
+# run virtualgl if macos
+if [[ $SYSTEM == "darwin" ]]; then
+  echo
+  if [[ -f /opt/VirtualGL/bin/vglclient ]]; then
+    echo "Starting VirtualGL client at port 10000..."
+    VGL_LOG_FILE=".devcontainer/.host/.vgl/vglclient.log"
+    mkdir -p "$(dirname $VGL_LOG_FILE)"
+    /opt/VirtualGL/bin/vglclient -l "$VGL_LOG_FILE" -display "$DISPLAY" -port 10000 -detach
+  else
+    echo "VirtualGL not found. GUI tools may not work properly. Some GUI tools require OpenGL to work properly. To use them with XQuartz on mac, VirtualGL needs to be installed. To install it run:"
+    echo
+    echo "  brew install --cask virtualgl"
+    echo
+  fi
+fi
diff --git a/.devcontainer/host_setup.cmd b/.devcontainer/host_setup.cmd
new file mode 100644
index 0000000000..885bd27f25
--- /dev/null
+++ b/.devcontainer/host_setup.cmd
@@ -0,0 +1,10 @@
+:: pull base image
+IF NOT DEFINED USE_LOCAL_IMAGE ^
+echo "Updating openpilot_base image if needed..." && ^
+docker pull ghcr.io/commaai/openpilot-base:latest
+
+:: setup .host dir
+mkdir .devcontainer\.host
+
+:: setup host env file
+echo "" > .devcontainer\.host\.env
\ No newline at end of file
diff --git a/.devcontainer/setup_host.sh b/.devcontainer/setup_host.sh
deleted file mode 100755
index 5c3c5e900c..0000000000
--- a/.devcontainer/setup_host.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/usr/bin/env bash
-
-# setup links to Xauthority
-XAUTHORITY_LINK=".devcontainer/.Xauthority"
-rm -f $XAUTHORITY_LINK
-if [[ -z $XAUTHORITY ]]; then
-    echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
-    if ! [[ -f $HOME/.Xauthority ]]; then
-        echo "~/.XAuthority file does not exist. GUI tools may not work properly."
-        touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
-    else
-        ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
-    fi
-else
-    ln -sf $XAUTHORITY $XAUTHORITY_LINK
-fi
diff --git a/.dir-locals.el b/.dir-locals.el
deleted file mode 100644
index 53017c9fb2..0000000000
--- a/.dir-locals.el
+++ /dev/null
@@ -1,3 +0,0 @@
-((c++-mode (flycheck-gcc-language-standard . "c++11")
-           (flycheck-clang-language-standard . "c++11")
-           ))
diff --git a/.dockerignore b/.dockerignore
index 1f261adf30..cfc34e5848 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -28,10 +28,8 @@ chffr/app2
 chffr/backend/env
 selfdrive/nav
 selfdrive/baseui
-chffr/lib/vidindex/vidindex
 selfdrive/test/simulator2
 **/cache_data
-xx/chffr/lib/vidindex/vidindex
 xx/plus
 xx/community
 xx/projects
diff --git a/.gitattributes b/.gitattributes
index 2d1df43fd3..3402105126 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1,3 +1,4 @@
 *.dlc filter=lfs diff=lfs merge=lfs -text
 *.onnx filter=lfs diff=lfs merge=lfs -text
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
+
diff --git a/.github/labeler.yaml b/.github/labeler.yaml
index 4c4d371d43..d4a17ab78c 100644
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -1,8 +1,6 @@
 CI / testing:
   - all:
-    - changed-files: ['.github/**']
-  - all:
-    - changed-files: ['**/test_*']
+    - changed-files: ['.github/**', '**/test_*', 'Jenkinsfile']
 
 car: 
   - all:
@@ -59,3 +57,9 @@ multilanguage:
   - all:
     - changed-files: ['selfdrive/ui/translations/**']
 
+research:
+  - all:
+    - changed-files: [
+        'selfdrive/modeld/models/**',
+        'selfdrive/test/process_replay/model_replay_ref_commit',
+      ]
diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
index 3558d7eb7e..8c31bcaac0 100644
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -5,7 +5,7 @@ on:
   workflow_dispatch:
 
 env:
-  DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: selfdrive/test/docker_build.sh prebuilt
 
 jobs:
@@ -27,7 +27,8 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
+    - run: git lfs pull
     - name: Build and Push docker image
       run: |
-        $DOCKER_GHCR_LOGIN
+        $DOCKER_LOGIN
         eval "$BUILD"
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index c57a17bbd2..2bb22fecb2 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -1,7 +1,7 @@
 name: release
 on:
   schedule:
-    - cron: '0 * * * *'
+    - cron: '0 10 * * *'
   workflow_dispatch:
 
 jobs:
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index f7aba648a4..c5820a5f5a 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -16,8 +16,7 @@ env:
   CL_BASE_IMAGE: openpilot-base-cl
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_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 }}
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   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 $BASE_IMAGE /bin/sh -c
@@ -39,6 +38,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
+    - run: git lfs pull
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
@@ -66,123 +66,31 @@ jobs:
         cp pyproject.toml $STRIPPED_DIR
         cp poetry.lock $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all"
 
   build:
     strategy:
       matrix:
-        arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+        arch: ${{ fromJson(
+           ((github.repository == 'commaai/openpilot') &&
+              ((github.event_name != 'pull_request') || 
+               (github.event.pull_request.head.repo.full_name == '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
       with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
         cache_key_prefix: scons_${{ 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
-    runs-on: macos-latest
-    steps:
-    - uses: actions/checkout@v3
-      with:
-        submodules: true
-    - name: Determine pre-existing Homebrew packages
-      if: steps.dependency-cache.outputs.cache-hit != 'true'
-      run: |
-        echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
-        brew list --formula -1 >> $GITHUB_ENV
-        echo 'EOF' >> $GITHUB_ENV
-    - name: Restore scons cache
-      id: scons-restore-cache
-      uses: actions/cache/restore@v3
-      with:
-        path: /tmp/scons_cache
-        key: macos_scons-${{ github.sha }}
-        restore-keys: macos_scons-
-    - name: Cache dependencies
-      id: dependency-cache
-      uses: actions/cache@v3
-      with:
-        path: |
-          .env
-          .venv
-          ~/github_brew_cache_entries.txt
-          ~/.pyenv
-          ~/Library/Caches/pypoetry
-          /usr/local/Cellar
-          /usr/local/opt
-          /usr/local/Caskroom/gcc-arm-*
-          /opt/homebrew/Cellar
-          /opt/homebrew/opt
-          /opt/homebrew/Caskroom/gcc-arm-*
-          /Applications/ArmGNUToolchain/*/*/*
-        key: macos_deps-${{ hashFiles('tools/mac_setup.sh', 'tools/install_python_dependencies.sh', 'poetry.lock') }}
-        restore-keys: macos_deps-
-    - name: Brew link restored dependencies
-      run: |
-        if [ -f ~/github_brew_cache_entries.txt ]; then
-          brew link --force --overwrite $(cat ~/github_brew_cache_entries.txt) # `--force` for keg-only packages
-          if [ -d /Applications/ArmGNUToolchain ]; then # link gcc-arm-embedded manually
-            GCC_TOOLCHAIN="$(echo /Applications/ArmGNUToolchain/**/**/bin)"
-            echo "$GCC_TOOLCHAIN" >> $GITHUB_PATH
-          fi
-        else
-          echo "Cache entries not found"
-        fi
-    - name: Install dependencies
-      if: steps.dependency-cache.outputs.cache-hit != 'true'
-      run: ./tools/mac_setup.sh
-      env:
-        # package install has DeprecationWarnings
-        PYTHONWARNINGS: default
-    - name: Build openpilot
-      run: |
-        eval "$(pyenv init --path)"
-        poetry run scons -j$(nproc)
-    - name: Run tests
-      run: |
-        eval "$(pyenv init --path)"
-        poetry run tools/plotjuggler/test_plotjuggler.py
-    - name: Pre Cache - Cleanup scons cache
-      if: github.ref == 'refs/heads/master'
-      run: |
-        rm -rf /tmp/scons_cache/*
-        eval "$(pyenv init --path)"
-        poetry run scons -j$(nproc) --cache-populate
-    - name: Save scons cache
-      id: scons-save-cache
-      uses: actions/cache/save@v3
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: /tmp/scons_cache
-        key: macos_scons-${{ github.sha }}
-    - name: Pre Cache - Remove pre-existing Homebrew packages
-      if: steps.dependency-cache.outputs.cache-hit != 'true'
-      run: |
-        new_cellar=$(brew list --formula -1)
-        exceptions="zstd lz4 xz" # caching step needs zstd
-        comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
-          if [[ " $exceptions " != *" $pkg "* ]]; then
-            rm -rf "$(brew --cellar)/$pkg"
-          fi
-        done
-        comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
-        # .fseventsd directory causes permission errors in dep caching step
-        # its used by the system to observe changes within the directory - toolchain works without it, just remove it
-        sudo rm -rf /Applications/ArmGNUToolchain/*/*/.fseventsd
-
   docker_push:
+    name: docker push
     strategy:
       matrix:
         arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
@@ -196,15 +104,10 @@ jobs:
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
         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
+        $DOCKER_LOGIN
     - uses: ./.github/workflows/setup-with-retry
       with:
-        git-lfs: false
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Build and push CL Docker image
       if: matrix.arch == 'x86_64'
       run: |
@@ -222,7 +125,7 @@ jobs:
         submodules: false
     - name: Setup docker
       run: |
-        $DOCKER_GHCR_LOGIN
+        $DOCKER_LOGIN
     - name: Merge x64 and arm64 tags
       run: |
         export PUSH_IMAGE=true
@@ -235,8 +138,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Build Docker image
-      run: eval "$BUILD"
+    - uses: ./.github/workflows/setup-with-retry
     - name: pre-commit
       timeout-minutes: 4
       run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
@@ -271,10 +173,9 @@ jobs:
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run unit tests
-      timeout-minutes: 40
+      timeout-minutes: 15
       run: |
-        ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
-                        $PYTEST -n auto --dist=loadscope --timeout 30 -o cpp_files=test_* && \
+        ${{ env.RUN }} "$PYTEST -n auto --dist=loadscope --timeout 30 -o cpp_files=test_* -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         ./selfdrive/ui/tests/test_translations.py && \
@@ -285,12 +186,16 @@ jobs:
 
   process_replay:
     name: process replay
-    runs-on: ${{ ((github.event.pull_request.head.repo.full_name == 'commaai/openpilot') || (github.repository == 'commaai/openpilot')) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }}
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') || 
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Cache test routes
       id: dependency-cache
       uses: actions/cache@v3
@@ -310,7 +215,7 @@ jobs:
       id: print-diff
       if: always()
       run: cat selfdrive/test/process_replay/diff.txt
-    - uses: actions/upload-artifact@v2
+    - uses: actions/upload-artifact@v3
       if: always()
       continue-on-error: true
       with:
@@ -323,6 +228,33 @@ jobs:
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v3
 
+  regen:
+    name: regen
+    runs-on: 'ubuntu-20.04'
+    steps: 
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Cache test routes
+      id: dependency-cache
+      uses: actions/cache@v3
+      with:
+        path: .ci_cache/comma_download_cache
+        key: regen-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_regen.py') }}
+    - name: Build base Docker image
+      run: eval "$BUILD"
+    - name: Build Docker image
+      run: eval "$BUILD_CL"
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run regen
+      timeout-minutes: 30
+      run: |
+        ${{ env.RUN_CL }} "ONNXCPU=1 $PYTEST -n auto --dist=loadscope selfdrive/test/process_replay/test_regen.py && \
+                           chmod -R 777 /tmp/comma_download_cache"
+
   test_modeld:
     name: model tests
     runs-on: ubuntu-20.04
@@ -395,6 +327,7 @@ jobs:
         with:
           submodules: true
           ref: ${{ github.event.pull_request.base.ref }}
+      - run: git lfs pull
       - uses: ./.github/workflows/setup-with-retry
       - name: Get base car info
         run: |
@@ -404,6 +337,7 @@ jobs:
         with:
           submodules: true
           path: current
+      - run: cd current && git lfs pull
       - name: Save car docs diff
         id: save_diff
         run: |
diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml
index e4c97af3ce..e0da746b44 100644
--- a/.github/workflows/setup-with-retry/action.yaml
+++ b/.github/workflows/setup-with-retry/action.yaml
@@ -1,10 +1,10 @@
 name: 'openpilot env setup, with retry on failure'
 
 inputs:
-  git_lfs:
-    description: 'Whether or not to pull the git lfs'
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
     required: false
-    default: 'true'
+    default: ''
   cache_key_prefix:
     description: 'Prefix for caching key'
     required: false
@@ -21,7 +21,7 @@ runs:
       uses: ./.github/workflows/setup
       continue-on-error: true
       with:
-        git_lfs: ${{ inputs.git_lfs }}
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
         cache_key_prefix: ${{ inputs.cache_key_prefix }}
         is_retried: true
     - if: steps.setup1.outcome == 'failure'
@@ -32,7 +32,7 @@ runs:
       uses: ./.github/workflows/setup
       continue-on-error: true
       with:
-        git_lfs: ${{ inputs.git_lfs }}
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
         cache_key_prefix: ${{ inputs.cache_key_prefix }}
         is_retried: true
     - if: steps.setup2.outcome == 'failure'
@@ -42,6 +42,6 @@ runs:
       if: steps.setup2.outcome == 'failure'
       uses: ./.github/workflows/setup
       with:
-        git_lfs: ${{ inputs.git_lfs }}
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
         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 eebc376346..8bb1ccc376 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -1,13 +1,13 @@
 name: 'openpilot env setup'
 
 inputs:
-  git_lfs:
-    description: 'Whether or not to pull the git lfs'
-    required: false
-    default: 'true'
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
+    required: true
+    default: ''
   cache_key_prefix:
     description: 'Prefix for caching key'
-    required: false
+    required: true
     default: 'scons_x86_64'
   is_retried:
     description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
@@ -26,9 +26,21 @@ runs:
 
     # do this after checkout to ensure our custom LFS config is used to pull from GitLab
     - shell: bash
-      if: ${{ inputs.git_lfs == 'true' }}
       run: git lfs pull
 
+    # on BuildJet runners, must be logged into DockerHub to avoid rate limiting
+    # https://buildjet.com/for-github-actions/docs/guides/docker
+    - shell: bash
+      if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }}
+      run: |
+        echo "Need to set the Docker Hub PAT secret as an input to this action"
+        exit 1
+    - name: Login to Docker Hub
+      if: contains(runner.name, 'buildjet')
+      shell: bash
+      run: |
+        docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }}
+
     # build cache
     - id: date
       shell: bash
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 27c362fcd6..b7dc19f6be 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_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  DOCKER_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_GHCR_LOGIN
+        $DOCKER_LOGIN
     - name: Build and push sim image
       run: |
         selfdrive/test/docker_build.sh sim
@@ -72,13 +72,11 @@ jobs:
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
-      with:
-        git_lfs: false
     - name: Setup to push to repo
       if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        $DOCKER_GHCR_LOGIN
+        $DOCKER_LOGIN
     - name: Build and push docs image
       run: |
         selfdrive/test/docker_build.sh docs
@@ -90,11 +88,22 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Use local image for testing devcontainer with latest base image
+      run: |
+        echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV"
     - name: Setup Dev Container CLI
       run: npm install -g @devcontainers/cli
     - name: Build dev container image
       run: devcontainer build --workspace-folder .
     - name: Run dev container
-      run: devcontainer up --workspace-folder .
+      run: |
+        mkdir -p /tmp/devcontainer_scons_cache/
+        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/* /tmp/devcontainer_scons_cache/
+        devcontainer up --workspace-folder .
     - name: Test environment
-      run: devcontainer exec --workspace-folder . scons --dry-run
+      run: |
+        devcontainer exec --workspace-folder . scons -j$(nproc)
+        devcontainer exec --workspace-folder . pip install pip-install-test
+        devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
+        devcontainer exec --workspace-folder . sudo touch /root/test.txt
\ No newline at end of file
diff --git a/.gitignore b/.gitignore
index a0c8df3142..afb3d5b1c3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -48,6 +48,7 @@ selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/ui/translations/alerts_generated.h
+selfdrive/ui/translations/tmp
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
 system/camerad/camerad
diff --git a/.lfsconfig b/.lfsconfig
index 42dfa2d944..2c15238545 100644
--- a/.lfsconfig
+++ b/.lfsconfig
@@ -1,4 +1,4 @@
 [lfs]
 	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
 	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
-	locksverify = false
+	locksverify = false
\ No newline at end of file
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index a5da03b266..6487cf0821 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -5,11 +5,12 @@ repos:
     -   id: check-hooks-apply
     -   id: check-useless-excludes
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v4.5.0
     hooks:
     -   id: check-ast
         exclude: '^(third_party)/'
     -   id: check-json
+        exclude: '.devcontainer/devcontainer.json' # this supports JSON with comments
     -   id: check-toml
     -   id: check-xml
     -   id: check-yaml
@@ -18,15 +19,17 @@ repos:
     -   id: check-executables-have-shebangs
     -   id: check-shebang-scripts-are-executable
     -   id: check-added-large-files
-        args: ['--maxkb=100']
+        args:
+        - --maxkb=500
+        - --enforce-all
 -   repo: https://github.com/codespell-project/codespell
-    rev: v2.2.5
+    rev: v2.2.6
     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
+        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: local
     hooks:
@@ -38,7 +41,7 @@ repos:
         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
+    rev: v0.0.292
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
@@ -79,11 +82,10 @@ repos:
     rev: '1.6.0'
     hooks:
     -   id: poetry-check
-    -   id: poetry-lock
         name: validate poetry lock
         args:
-        - --check
+        - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.26.3
+    rev: 0.27.0
     hooks:
     -   id: check-github-workflows
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index e0581bd46e..98d07ea39e 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -22,18 +22,25 @@ RUN cd /tmp && \
     rm -rf arm/ && \
     rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
+ARG USER=batman
+ARG USER_UID=1000
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+RUN usermod -aG sudo $USER
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER $USER
+
 ENV POETRY_VIRTUALENVS_CREATE=false
 ENV PYENV_VERSION=3.11.4
-ENV PYENV_ROOT="/root/.pyenv"
+ENV PYENV_ROOT="/home/$USER/pyenv"
 ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
 
-COPY pyproject.toml poetry.lock .python-version /tmp/
-COPY tools/install_python_dependencies.sh /tmp/tools/
+COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/
+COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
 
 RUN cd /tmp && \
     tools/install_python_dependencies.sh && \
     rm -rf /tmp/* && \
-    rm -rf /root/.cache && \
-    pip uninstall -y poetry
+    rm -rf /home/$USER/.cache
 
-RUN sudo git config --global --add safe.directory /tmp/openpilot
+USER root
+RUN sudo git config --global --add safe.directory /tmp/openpilot
\ No newline at end of file
diff --git a/Jenkinsfile b/Jenkinsfile
index 176c82bcc9..e748dc7dbf 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -81,10 +81,14 @@ def pcStage(String stageName, Closure body) {
 
     checkout scm
 
-    def dockerArgs = '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache';
+    def dockerArgs = '--user=batman -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 {
+          // TODO: remove these after all jenkins jobs are running as batman (merged with master)
+          sh "sudo chown -R batman:batman /tmp/scons_cache"
+          sh "sudo chown -R batman:batman /tmp/comma_download_cache"
+
           sh "git config --global --add safe.directory '*'"
           sh "git submodule update --init --recursive"
           sh "git lfs pull"
diff --git a/RELEASES.md b/RELEASES.md
index 89f864dd71..6adc58197b 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,12 +1,15 @@
-Version 0.9.5 (2023-09-27)
+Version 0.9.5 (2023-XX-XX)
 ========================
 * New driving model
   * Improved navigate on openpilot performance using navigation instructions as an additional model input
 * Hyundai Azera 2022 support thanks to sunnyhaibin!
+* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
+* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
 * 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!
+* Kia Optima Hybrid 2019 support
 * Lexus IS 2023 support thanks to L3R5!
 
 Version 0.9.4 (2023-07-27)
diff --git a/cereal b/cereal
index 318da0bb3e..67d104cb16 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 318da0bb3efd4071b4d6402b4b0afe0a6d77daa0
+Subproject commit 67d104cb16b636e057aeb965b4a12024c41f7490
diff --git a/codecov.yml b/codecov.yml
index 83427c3ee8..da57bb01cc 100644
--- a/codecov.yml
+++ b/codecov.yml
@@ -6,3 +6,5 @@ coverage:
         informational: true
     patch: off
 
+ignore:
+  - "**/test_*.py"
\ No newline at end of file
diff --git a/common/params.cc b/common/params.cc
index d5f893e84d..f5ecfae7a0 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -64,7 +64,9 @@ bool create_params_path(const std::string &param_path, const std::string &key_pa
 std::string ensure_params_path(const std::string &prefix, const std::string &path = {}) {
   std::string params_path = path.empty() ? Path::params() : path;
   if (!create_params_path(params_path, params_path + prefix)) {
-    throw std::runtime_error(util::string_format("Failed to ensure params path, errno=%d", errno));
+    throw std::runtime_error(util::string_format(
+        "Failed to ensure params path, errno=%d, path=%s, param_prefix=%s",
+        errno, params_path.c_str(), prefix.c_str()));
   }
   return params_path;
 }
@@ -86,7 +88,6 @@ private:
 std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
     {"ApiCache_Device", PERSISTENT},
-    {"ApiCache_DriveStats", PERSISTENT},
     {"ApiCache_NavDestinations", PERSISTENT},
     {"AssistNowToken", PERSISTENT},
     {"AthenadPid", PERSISTENT},
@@ -179,7 +180,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
     {"OpenpilotEnabledToggle", PERSISTENT},
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"PandaLogState", PERSISTENT},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
     {"Passive", PERSISTENT},
     {"PrimeType", PERSISTENT},
diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
index abb3199d05..de52c490b3 100644
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -14,7 +14,7 @@ cdef extern from "common/params.h":
     ALL
 
   cdef cppclass c_Params "Params":
-    c_Params(string) nogil
+    c_Params(string) except + nogil
     string get(string, bool) nogil
     bool getBool(string, bool) nogil
     int remove(string) nogil
diff --git a/common/transformations/README.md b/common/transformations/README.md
index 13878cb99c..42a060da80 100644
--- a/common/transformations/README.md
+++ b/common/transformations/README.md
@@ -11,7 +11,7 @@ by generating a rotation matrix and multiplying.
 | :-------------: |:-------------:| :-----:| :----: |
 | Geodetic | [Latitude, Longitude, Altitude] | geodetic coordinates | Sometimes used as [lon, lat, alt], avoid this frame. |
 | ECEF | [x, y, z] | meters | We use **ITRF14 (IGS14)**, NOT NAD83. <br> This is the global Mesh3D frame. |
-| NED | [North, East, Down] | meters | Relative to earth's surface, useful for vizualizing. |
+| NED | [North, East, Down] | meters | Relative to earth's surface, useful for visualizing. |
 | Device | [Forward, Right, Down] | meters | This is the Mesh3D local frame. <br> Relative to camera, **not imu.** <br> ![img](http://upload.wikimedia.org/wikipedia/commons/thumb/2/2f/RPY_angles_of_airplanes.png/440px-RPY_angles_of_airplanes.png)|
 | Calibrated | [Forward, Right, Down] | meters | This is the frame the model outputs are in. <br> More details below. <br>|
 | Car | [Forward, Right, Down] | meters | This is useful for estimating position of points on the road. <br> More details below. <br>|
diff --git a/conftest.py b/conftest.py
index e139ab8400..2cc906b919 100644
--- a/conftest.py
+++ b/conftest.py
@@ -1,10 +1,28 @@
+import os
 import pytest
 
 from openpilot.common.prefix import OpenpilotPrefix
 
 
 @pytest.fixture(scope="function", autouse=True)
-def global_setup_and_teardown():
+def openpilot_function_fixture():
+  starting_env = dict(os.environ)
+
   # setup a clean environment for each test
   with OpenpilotPrefix():
     yield
+
+  os.environ.clear()
+  os.environ.update(starting_env)
+
+
+# If you use setUpClass, the environment variables won't be cleared properly,
+# so we need to hook both the function and class pytest fixtures
+@pytest.fixture(scope="class", autouse=True)
+def openpilot_class_fixture():
+  starting_env = dict(os.environ)
+
+  yield
+
+  os.environ.clear()
+  os.environ.update(starting_env)
diff --git a/docs/CARS.md b/docs/CARS.md
index 8bb318c13e..670614c3fc 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,272 +4,275 @@
 
 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.
 
-# 262 Supported Cars
+# 265 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 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=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
-|Acura|RDX 2016-18|AcuraWatch Plus|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=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
-|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
-|Buick|LaCrosse 2017-19[<sup>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
-|Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
-|Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM 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=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM 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=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM 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=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
-|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM 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=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
-|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Chrysler|Pacifica 2017-18|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=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
-|Chrysler|Pacifica 2019-20|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=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
-|Chrysler|Pacifica 2021|All|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=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2017-18|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=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 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=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
+|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
+|Acura|RDX 2016-18|AcuraWatch Plus|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
+|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Buick|LaCrosse 2017-19[<sup>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
+|Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
+|Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
+|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
+|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Chrysler|Pacifica 2017-18|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
+|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
+|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2017-18|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
-|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
-|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 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=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
-|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 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=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
-|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 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=Ford&model=Focus 2018">Buy Here</a></sub></details>||
-|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 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=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
-|Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
-|Ford|Maverick 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023">Buy Here</a></sub></details>||
-|Genesis|G70 2018-19|All|Stock|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=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
-|Genesis|G70 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=Genesis&model=G70 2020">Buy Here</a></sub></details>||
-|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J 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=Genesis&model=G80 2017">Buy Here</a></sub></details>||
-|Genesis|G80 2018-19|All|Stock|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=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
-|Genesis|G90 2017-18|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=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
-|Genesis|GV60 (Advanced Trim) 2023[<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 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=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV60 (Performance Trim) 2023[<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 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=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L 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=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M 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=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M 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=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
-|GMC|Acadia 2018[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM 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=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.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=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 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 Honda Bosch 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=Honda&model=Civic 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
-|Honda|Civic Hatchback 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 Honda Bosch 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=Honda&model=Civic Hatchback 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|CR-V 2015-16|Touring Trim|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=CR-V 2015-16">Buy Here</a></sub></details>||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||
-|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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=Honda&model=e 2020">Buy Here</a></sub></details>||
-|Honda|Fit 2018-20|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=Fit 2018-20">Buy Here</a></sub></details>||
-|Honda|Freed 2020|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=Freed 2020">Buy Here</a></sub></details>||
-|Honda|HR-V 2019-22|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=HR-V 2019-22">Buy Here</a></sub></details>||
-|Honda|HR-V 2023|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 Honda Bosch 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=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch 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=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 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=Odyssey 2018-20">Buy Here</a></sub></details>||
-|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>||
-|Hyundai|Elantra Hybrid 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 Hybrid 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|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J 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=Genesis 2015-16">Buy Here</a></sub></details>||
-|Hyundai|i30 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=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (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 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=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[<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=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|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=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Electric 2019|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 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 Electric 2019">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Electric 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 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 Electric 2020">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Hybrid 2017-19|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 Hybrid 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Hybrid 2020-22|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 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 Hybrid 2020-22">Buy Here</a></sub></details>||
-|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)|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>|
-|Hyundai|Santa Cruz 2022-23[<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 N 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=Santa Cruz 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Santa Fe 2019-20|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 D 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=Santa Fe 2019-20">Buy Here</a></sub></details>||
-|Hyundai|Santa Fe 2021-23|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 L 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=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Fe Hybrid 2022-23|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 L 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=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Santa Fe Plug-in Hybrid 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 L 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=Santa Fe Plug-in Hybrid 2022">Buy Here</a></sub></details>||
-|Hyundai|Sonata 2018-19|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=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
-|Hyundai|Sonata 2020-23|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 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=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Sonata Hybrid 2020-23|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 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=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L 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=Tucson 2021">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2022[<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 N 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=Tucson 2022">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N 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=Tucson 2023">Buy Here</a></sub></details>||
-|Hyundai|Tucson Diesel 2019|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 L 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=Tucson Diesel 2019">Buy Here</a></sub></details>||
-|Hyundai|Tucson Hybrid 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 N 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=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
-|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 2023-24[<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>||
-|Kia|EV6 (with HDA II) 2022-23[<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 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 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L 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 (without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Kia|Forte 2019-21|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=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
-|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>|
-|Kia|Niro EV 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 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 2022">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 2023[<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 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=Niro EV 2023">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 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 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 Hybrid 2021-22">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|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=Niro Hybrid 2023">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 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=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D 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 Plug-in Hybrid 2020">Buy Here</a></sub></details>||
-|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 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=Kia&model=Optima 2017">Buy Here</a></sub></details>||
-|Kia|Optima 2019-20|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=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
-|Kia|Seltos 2021|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=Seltos 2021">Buy Here</a></sub></details>||
-|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|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=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 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=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2021-23[<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=Sorento 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Hybrid 2023[<sup>6</sup>](#footnotes)|All|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=Sorento Hybrid 2023">Buy Here</a></sub></details>||
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|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=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
-|Kia|Sportage 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 N 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=Sportage 2023">Buy Here</a></sub></details>||
-|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|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 N 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=Sportage Hybrid 2023">Buy Here</a></sub></details>||
-|Kia|Stinger 2018-20|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 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=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Stinger 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=Kia&model=Stinger 2022">Buy Here</a></sub></details>||
-|Kia|Telluride 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=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=ES 2019-22">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
-|Lexus|IS 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=IS 2023">Buy Here</a></sub></details>||
-|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
-|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
-|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>||
-|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=RC 2018-20">Buy Here</a></sub></details>||
-|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=RX 2016">Buy Here</a></sub></details>||
-|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=RX 2017-19">Buy Here</a></sub></details>||
-|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
-|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
-|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
-|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
-|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
-|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 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=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda 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=Mazda&model=CX-5 2022-23">Buy Here</a></sub></details>||
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda 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=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
-|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
-|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
-|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 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=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
-|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
-|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 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=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 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=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 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=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 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=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 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=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 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=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<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=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<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=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 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=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 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=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Kamiq 2021[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
-|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
-|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
-|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
-|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>||
-|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>||
-|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Avalon 2022">Buy Here</a></sub></details>||
-|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
-|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>||
-|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
-|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
-|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
-|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Camry Hybrid 2021-23">Buy Here</a></sub></details>||
-|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
-|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
-|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
-|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
-|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
-|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
-|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
-|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<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=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
+|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
+|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
+|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
+|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
+|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
+|Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
+|Ford|Maverick 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023">Buy Here</a></sub></details>||
+|Genesis|G70 2018-19|All|Stock|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
+|Genesis|G70 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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
+|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
+|Genesis|G80 2018-19|All|Stock|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
+|Genesis|G90 2017-18|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
+|Genesis|GV60 (Advanced Trim) 2023[<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 A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Performance Trim) 2023[<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 K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
+|GMC|Acadia 2018[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
+|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 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 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
+|Honda|Civic Hatchback 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 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|CR-V 2015-16|Touring Trim|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
+|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||
+|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
+|Honda|Fit 2018-20|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
+|Honda|Freed 2020|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
+|Honda|HR-V 2019-22|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
+|Honda|HR-V 2023|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 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
+|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
+|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
+|Hyundai|Azera Hybrid 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 K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
+|Hyundai|Custin 2023|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Elantra Hybrid 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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 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|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
+|Hyundai|i30 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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (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 Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-23[<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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Electric 2019|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 C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Electric 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 H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Hybrid 2017-19|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Hybrid 2020-22|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 H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
+|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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>|
+|Hyundai|Santa Cruz 2022-23[<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 N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe 2019-20|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 D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe 2021-23|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 L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Fe Hybrid 2022-23|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 L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe Plug-in Hybrid 2022-23|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 L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Sonata 2018-19|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
+|Hyundai|Sonata 2020-23|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 A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Sonata Hybrid 2020-23|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 A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2022[<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 N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
+|Hyundai|Tucson Diesel 2019|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 L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
+|Hyundai|Tucson Hybrid 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 N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
+|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 2023-24[<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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (with HDA II) 2022-23[<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 P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Kia|Forte 2019-21|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
+|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
+|Kia|K5 2021-24|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>||
+|Kia|K5 Hybrid 2020-22|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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>|
+|Kia|Niro EV 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 H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">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 2023[<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 A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 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 F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021-22">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
+|Kia|Optima 2019-20|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
+|Kia|Optima Hybrid 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 H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
+|Kia|Seltos 2021|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
+|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 2021-23[<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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Hybrid 2023[<sup>6</sup>](#footnotes)|All|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
+|Kia|Sportage 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 N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
+|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|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 N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Stinger 2018-20|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 C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Stinger 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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022">Buy Here</a></sub></details>||
+|Kia|Telluride 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 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
+|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
+|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
+|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
+|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
+|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
+|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>||
+|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>||
+|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>||
+|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>||
+|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
+|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
+|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
+|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
+|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
+|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
+|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
+|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
+|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Kamiq 2021[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
+|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
+|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
+|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>||
+|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>||
+|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>||
+|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
+|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>||
+|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
+|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
+|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
+|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
+|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
+|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
+|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
+|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
+|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
+|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
+|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
+|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
+|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
+|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
+|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
+|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
@@ -277,12 +280,12 @@ A supported vehicle is one that just works when you install a comma device. All
 <sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>4</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>6</sup>Requires a comma 3X or <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
+<sup>6</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
 <sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
 <sup>8</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
 <sup>9</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
 <sup>10</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>11</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma three functionality. <br />
+<sup>11</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
 <sup>12</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
 <sup>13</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
diff --git a/poetry.lock b/poetry.lock
index 2c134ec32d..28b588606e 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,99 +1,99 @@
-# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
-version = "3.8.5"
+version = "3.8.6"
 description = "Async http client/server framework (asyncio)"
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "aiohttp-3.8.5-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:a94159871304770da4dd371f4291b20cac04e8c94f11bdea1c3478e557fbe0d8"},
-    {file = "aiohttp-3.8.5-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:13bf85afc99ce6f9ee3567b04501f18f9f8dbbb2ea11ed1a2e079670403a7c84"},
-    {file = "aiohttp-3.8.5-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:2ce2ac5708501afc4847221a521f7e4b245abf5178cf5ddae9d5b3856ddb2f3a"},
-    {file = "aiohttp-3.8.5-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:96943e5dcc37a6529d18766597c491798b7eb7a61d48878611298afc1fca946c"},
-    {file = "aiohttp-3.8.5-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:2ad5c3c4590bb3cc28b4382f031f3783f25ec223557124c68754a2231d989e2b"},
-    {file = "aiohttp-3.8.5-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:0c413c633d0512df4dc7fd2373ec06cc6a815b7b6d6c2f208ada7e9e93a5061d"},
-    {file = "aiohttp-3.8.5-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:df72ac063b97837a80d80dec8d54c241af059cc9bb42c4de68bd5b61ceb37caa"},
-    {file = "aiohttp-3.8.5-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c48c5c0271149cfe467c0ff8eb941279fd6e3f65c9a388c984e0e6cf57538e14"},
-    {file = "aiohttp-3.8.5-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:368a42363c4d70ab52c2c6420a57f190ed3dfaca6a1b19afda8165ee16416a82"},
-    {file = "aiohttp-3.8.5-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:7607ec3ce4993464368505888af5beb446845a014bc676d349efec0e05085905"},
-    {file = "aiohttp-3.8.5-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:0d21c684808288a98914e5aaf2a7c6a3179d4df11d249799c32d1808e79503b5"},
-    {file = "aiohttp-3.8.5-cp310-cp310-musllinux_1_1_s390x.whl", hash = "sha256:312fcfbacc7880a8da0ae8b6abc6cc7d752e9caa0051a53d217a650b25e9a691"},
-    {file = "aiohttp-3.8.5-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:ad093e823df03bb3fd37e7dec9d4670c34f9e24aeace76808fc20a507cace825"},
-    {file = "aiohttp-3.8.5-cp310-cp310-win32.whl", hash = "sha256:33279701c04351a2914e1100b62b2a7fdb9a25995c4a104259f9a5ead7ed4802"},
-    {file = "aiohttp-3.8.5-cp310-cp310-win_amd64.whl", hash = "sha256:6e4a280e4b975a2e7745573e3fc9c9ba0d1194a3738ce1cbaa80626cc9b4f4df"},
-    {file = "aiohttp-3.8.5-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:ae871a964e1987a943d83d6709d20ec6103ca1eaf52f7e0d36ee1b5bebb8b9b9"},
-    {file = "aiohttp-3.8.5-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:461908b2578955045efde733719d62f2b649c404189a09a632d245b445c9c975"},
-    {file = "aiohttp-3.8.5-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:72a860c215e26192379f57cae5ab12b168b75db8271f111019509a1196dfc780"},
-    {file = "aiohttp-3.8.5-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cc14be025665dba6202b6a71cfcdb53210cc498e50068bc088076624471f8bb9"},
-    {file = "aiohttp-3.8.5-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:8af740fc2711ad85f1a5c034a435782fbd5b5f8314c9a3ef071424a8158d7f6b"},
-    {file = "aiohttp-3.8.5-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:841cd8233cbd2111a0ef0a522ce016357c5e3aff8a8ce92bcfa14cef890d698f"},
-    {file = "aiohttp-3.8.5-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5ed1c46fb119f1b59304b5ec89f834f07124cd23ae5b74288e364477641060ff"},
-    {file = "aiohttp-3.8.5-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:84f8ae3e09a34f35c18fa57f015cc394bd1389bce02503fb30c394d04ee6b938"},
-    {file = "aiohttp-3.8.5-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:62360cb771707cb70a6fd114b9871d20d7dd2163a0feafe43fd115cfe4fe845e"},
-    {file = "aiohttp-3.8.5-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:23fb25a9f0a1ca1f24c0a371523546366bb642397c94ab45ad3aedf2941cec6a"},
-    {file = "aiohttp-3.8.5-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:b0ba0d15164eae3d878260d4c4df859bbdc6466e9e6689c344a13334f988bb53"},
-    {file = "aiohttp-3.8.5-cp311-cp311-musllinux_1_1_s390x.whl", hash = "sha256:5d20003b635fc6ae3f96d7260281dfaf1894fc3aa24d1888a9b2628e97c241e5"},
-    {file = "aiohttp-3.8.5-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:0175d745d9e85c40dcc51c8f88c74bfbaef9e7afeeeb9d03c37977270303064c"},
-    {file = "aiohttp-3.8.5-cp311-cp311-win32.whl", hash = "sha256:2e1b1e51b0774408f091d268648e3d57f7260c1682e7d3a63cb00d22d71bb945"},
-    {file = "aiohttp-3.8.5-cp311-cp311-win_amd64.whl", hash = "sha256:043d2299f6dfdc92f0ac5e995dfc56668e1587cea7f9aa9d8a78a1b6554e5755"},
-    {file = "aiohttp-3.8.5-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:cae533195e8122584ec87531d6df000ad07737eaa3c81209e85c928854d2195c"},
-    {file = "aiohttp-3.8.5-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4f21e83f355643c345177a5d1d8079f9f28b5133bcd154193b799d380331d5d3"},
-    {file = "aiohttp-3.8.5-cp36-cp36m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:a7a75ef35f2df54ad55dbf4b73fe1da96f370e51b10c91f08b19603c64004acc"},
-    {file = "aiohttp-3.8.5-cp36-cp36m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:2e2e9839e14dd5308ee773c97115f1e0a1cb1d75cbeeee9f33824fa5144c7634"},
-    {file = "aiohttp-3.8.5-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c44e65da1de4403d0576473e2344828ef9c4c6244d65cf4b75549bb46d40b8dd"},
-    {file = "aiohttp-3.8.5-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:78d847e4cde6ecc19125ccbc9bfac4a7ab37c234dd88fbb3c5c524e8e14da543"},
-    {file = "aiohttp-3.8.5-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:c7a815258e5895d8900aec4454f38dca9aed71085f227537208057853f9d13f2"},
-    {file = "aiohttp-3.8.5-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:8b929b9bd7cd7c3939f8bcfffa92fae7480bd1aa425279d51a89327d600c704d"},
-    {file = "aiohttp-3.8.5-cp36-cp36m-musllinux_1_1_ppc64le.whl", hash = "sha256:5db3a5b833764280ed7618393832e0853e40f3d3e9aa128ac0ba0f8278d08649"},
-    {file = "aiohttp-3.8.5-cp36-cp36m-musllinux_1_1_s390x.whl", hash = "sha256:a0215ce6041d501f3155dc219712bc41252d0ab76474615b9700d63d4d9292af"},
-    {file = "aiohttp-3.8.5-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:fd1ed388ea7fbed22c4968dd64bab0198de60750a25fe8c0c9d4bef5abe13824"},
-    {file = "aiohttp-3.8.5-cp36-cp36m-win32.whl", hash = "sha256:6e6783bcc45f397fdebc118d772103d751b54cddf5b60fbcc958382d7dd64f3e"},
-    {file = "aiohttp-3.8.5-cp36-cp36m-win_amd64.whl", hash = "sha256:b5411d82cddd212644cf9360879eb5080f0d5f7d809d03262c50dad02f01421a"},
-    {file = "aiohttp-3.8.5-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:01d4c0c874aa4ddfb8098e85d10b5e875a70adc63db91f1ae65a4b04d3344cda"},
-    {file = "aiohttp-3.8.5-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e5980a746d547a6ba173fd5ee85ce9077e72d118758db05d229044b469d9029a"},
-    {file = "aiohttp-3.8.5-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:2a482e6da906d5e6e653be079b29bc173a48e381600161c9932d89dfae5942ef"},
-    {file = "aiohttp-3.8.5-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:80bd372b8d0715c66c974cf57fe363621a02f359f1ec81cba97366948c7fc873"},
-    {file = "aiohttp-3.8.5-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c1161b345c0a444ebcf46bf0a740ba5dcf50612fd3d0528883fdc0eff578006a"},
-    {file = "aiohttp-3.8.5-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:cd56db019015b6acfaaf92e1ac40eb8434847d9bf88b4be4efe5bfd260aee692"},
-    {file = "aiohttp-3.8.5-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:153c2549f6c004d2754cc60603d4668899c9895b8a89397444a9c4efa282aaf4"},
-    {file = "aiohttp-3.8.5-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:4a01951fabc4ce26ab791da5f3f24dca6d9a6f24121746eb19756416ff2d881b"},
-    {file = "aiohttp-3.8.5-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:bfb9162dcf01f615462b995a516ba03e769de0789de1cadc0f916265c257e5d8"},
-    {file = "aiohttp-3.8.5-cp37-cp37m-musllinux_1_1_s390x.whl", hash = "sha256:7dde0009408969a43b04c16cbbe252c4f5ef4574ac226bc8815cd7342d2028b6"},
-    {file = "aiohttp-3.8.5-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:4149d34c32f9638f38f544b3977a4c24052042affa895352d3636fa8bffd030a"},
-    {file = "aiohttp-3.8.5-cp37-cp37m-win32.whl", hash = "sha256:68c5a82c8779bdfc6367c967a4a1b2aa52cd3595388bf5961a62158ee8a59e22"},
-    {file = "aiohttp-3.8.5-cp37-cp37m-win_amd64.whl", hash = "sha256:2cf57fb50be5f52bda004b8893e63b48530ed9f0d6c96c84620dc92fe3cd9b9d"},
-    {file = "aiohttp-3.8.5-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:eca4bf3734c541dc4f374ad6010a68ff6c6748f00451707f39857f429ca36ced"},
-    {file = "aiohttp-3.8.5-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:1274477e4c71ce8cfe6c1ec2f806d57c015ebf84d83373676036e256bc55d690"},
-    {file = "aiohttp-3.8.5-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:28c543e54710d6158fc6f439296c7865b29e0b616629767e685a7185fab4a6b9"},
-    {file = "aiohttp-3.8.5-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:910bec0c49637d213f5d9877105d26e0c4a4de2f8b1b29405ff37e9fc0ad52b8"},
-    {file = "aiohttp-3.8.5-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:5443910d662db951b2e58eb70b0fbe6b6e2ae613477129a5805d0b66c54b6cb7"},
-    {file = "aiohttp-3.8.5-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:2e460be6978fc24e3df83193dc0cc4de46c9909ed92dd47d349a452ef49325b7"},
-    {file = "aiohttp-3.8.5-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fb1558def481d84f03b45888473fc5a1f35747b5f334ef4e7a571bc0dfcb11f8"},
-    {file = "aiohttp-3.8.5-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:34dd0c107799dcbbf7d48b53be761a013c0adf5571bf50c4ecad5643fe9cfcd0"},
-    {file = "aiohttp-3.8.5-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:aa1990247f02a54185dc0dff92a6904521172a22664c863a03ff64c42f9b5410"},
-    {file = "aiohttp-3.8.5-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:0e584a10f204a617d71d359fe383406305a4b595b333721fa50b867b4a0a1548"},
-    {file = "aiohttp-3.8.5-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:a3cf433f127efa43fee6b90ea4c6edf6c4a17109d1d037d1a52abec84d8f2e42"},
-    {file = "aiohttp-3.8.5-cp38-cp38-musllinux_1_1_s390x.whl", hash = "sha256:c11f5b099adafb18e65c2c997d57108b5bbeaa9eeee64a84302c0978b1ec948b"},
-    {file = "aiohttp-3.8.5-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:84de26ddf621d7ac4c975dbea4c945860e08cccde492269db4e1538a6a6f3c35"},
-    {file = "aiohttp-3.8.5-cp38-cp38-win32.whl", hash = "sha256:ab88bafedc57dd0aab55fa728ea10c1911f7e4d8b43e1d838a1739f33712921c"},
-    {file = "aiohttp-3.8.5-cp38-cp38-win_amd64.whl", hash = "sha256:5798a9aad1879f626589f3df0f8b79b3608a92e9beab10e5fda02c8a2c60db2e"},
-    {file = "aiohttp-3.8.5-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:a6ce61195c6a19c785df04e71a4537e29eaa2c50fe745b732aa937c0c77169f3"},
-    {file = "aiohttp-3.8.5-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:773dd01706d4db536335fcfae6ea2440a70ceb03dd3e7378f3e815b03c97ab51"},
-    {file = "aiohttp-3.8.5-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:f83a552443a526ea38d064588613aca983d0ee0038801bc93c0c916428310c28"},
-    {file = "aiohttp-3.8.5-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1f7372f7341fcc16f57b2caded43e81ddd18df53320b6f9f042acad41f8e049a"},
-    {file = "aiohttp-3.8.5-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:ea353162f249c8097ea63c2169dd1aa55de1e8fecbe63412a9bc50816e87b761"},
-    {file = "aiohttp-3.8.5-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:e5d47ae48db0b2dcf70bc8a3bc72b3de86e2a590fc299fdbbb15af320d2659de"},
-    {file = "aiohttp-3.8.5-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d827176898a2b0b09694fbd1088c7a31836d1a505c243811c87ae53a3f6273c1"},
-    {file = "aiohttp-3.8.5-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3562b06567c06439d8b447037bb655ef69786c590b1de86c7ab81efe1c9c15d8"},
-    {file = "aiohttp-3.8.5-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:4e874cbf8caf8959d2adf572a78bba17cb0e9d7e51bb83d86a3697b686a0ab4d"},
-    {file = "aiohttp-3.8.5-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:6809a00deaf3810e38c628e9a33271892f815b853605a936e2e9e5129762356c"},
-    {file = "aiohttp-3.8.5-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:33776e945d89b29251b33a7e7d006ce86447b2cfd66db5e5ded4e5cd0340585c"},
-    {file = "aiohttp-3.8.5-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:eaeed7abfb5d64c539e2db173f63631455f1196c37d9d8d873fc316470dfbacd"},
-    {file = "aiohttp-3.8.5-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:e91d635961bec2d8f19dfeb41a539eb94bd073f075ca6dae6c8dc0ee89ad6f91"},
-    {file = "aiohttp-3.8.5-cp39-cp39-win32.whl", hash = "sha256:00ad4b6f185ec67f3e6562e8a1d2b69660be43070bd0ef6fcec5211154c7df67"},
-    {file = "aiohttp-3.8.5-cp39-cp39-win_amd64.whl", hash = "sha256:c0a9034379a37ae42dea7ac1e048352d96286626251862e448933c0f59cbd79c"},
-    {file = "aiohttp-3.8.5.tar.gz", hash = "sha256:b9552ec52cc147dbf1944ac7ac98af7602e51ea2dcd076ed194ca3c0d1c7d0bc"},
+    {file = "aiohttp-3.8.6-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:41d55fc043954cddbbd82503d9cc3f4814a40bcef30b3569bc7b5e34130718c1"},
+    {file = "aiohttp-3.8.6-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:1d84166673694841d8953f0a8d0c90e1087739d24632fe86b1a08819168b4566"},
+    {file = "aiohttp-3.8.6-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:253bf92b744b3170eb4c4ca2fa58f9c4b87aeb1df42f71d4e78815e6e8b73c9e"},
+    {file = "aiohttp-3.8.6-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3fd194939b1f764d6bb05490987bfe104287bbf51b8d862261ccf66f48fb4096"},
+    {file = "aiohttp-3.8.6-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:6c5f938d199a6fdbdc10bbb9447496561c3a9a565b43be564648d81e1102ac22"},
+    {file = "aiohttp-3.8.6-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:2817b2f66ca82ee699acd90e05c95e79bbf1dc986abb62b61ec8aaf851e81c93"},
+    {file = "aiohttp-3.8.6-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0fa375b3d34e71ccccf172cab401cd94a72de7a8cc01847a7b3386204093bb47"},
+    {file = "aiohttp-3.8.6-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:9de50a199b7710fa2904be5a4a9b51af587ab24c8e540a7243ab737b45844543"},
+    {file = "aiohttp-3.8.6-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:e1d8cb0b56b3587c5c01de3bf2f600f186da7e7b5f7353d1bf26a8ddca57f965"},
+    {file = "aiohttp-3.8.6-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:8e31e9db1bee8b4f407b77fd2507337a0a80665ad7b6c749d08df595d88f1cf5"},
+    {file = "aiohttp-3.8.6-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:7bc88fc494b1f0311d67f29fee6fd636606f4697e8cc793a2d912ac5b19aa38d"},
+    {file = "aiohttp-3.8.6-cp310-cp310-musllinux_1_1_s390x.whl", hash = "sha256:ec00c3305788e04bf6d29d42e504560e159ccaf0be30c09203b468a6c1ccd3b2"},
+    {file = "aiohttp-3.8.6-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:ad1407db8f2f49329729564f71685557157bfa42b48f4b93e53721a16eb813ed"},
+    {file = "aiohttp-3.8.6-cp310-cp310-win32.whl", hash = "sha256:ccc360e87341ad47c777f5723f68adbb52b37ab450c8bc3ca9ca1f3e849e5fe2"},
+    {file = "aiohttp-3.8.6-cp310-cp310-win_amd64.whl", hash = "sha256:93c15c8e48e5e7b89d5cb4613479d144fda8344e2d886cf694fd36db4cc86865"},
+    {file = "aiohttp-3.8.6-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:6e2f9cc8e5328f829f6e1fb74a0a3a939b14e67e80832975e01929e320386b34"},
+    {file = "aiohttp-3.8.6-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:e6a00ffcc173e765e200ceefb06399ba09c06db97f401f920513a10c803604ca"},
+    {file = "aiohttp-3.8.6-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:41bdc2ba359032e36c0e9de5a3bd00d6fb7ea558a6ce6b70acedf0da86458321"},
+    {file = "aiohttp-3.8.6-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:14cd52ccf40006c7a6cd34a0f8663734e5363fd981807173faf3a017e202fec9"},
+    {file = "aiohttp-3.8.6-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:2d5b785c792802e7b275c420d84f3397668e9d49ab1cb52bd916b3b3ffcf09ad"},
+    {file = "aiohttp-3.8.6-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:1bed815f3dc3d915c5c1e556c397c8667826fbc1b935d95b0ad680787896a358"},
+    {file = "aiohttp-3.8.6-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:96603a562b546632441926cd1293cfcb5b69f0b4159e6077f7c7dbdfb686af4d"},
+    {file = "aiohttp-3.8.6-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d76e8b13161a202d14c9584590c4df4d068c9567c99506497bdd67eaedf36403"},
+    {file = "aiohttp-3.8.6-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:e3f1e3f1a1751bb62b4a1b7f4e435afcdade6c17a4fd9b9d43607cebd242924a"},
+    {file = "aiohttp-3.8.6-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:76b36b3124f0223903609944a3c8bf28a599b2cc0ce0be60b45211c8e9be97f8"},
+    {file = "aiohttp-3.8.6-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:a2ece4af1f3c967a4390c284797ab595a9f1bc1130ef8b01828915a05a6ae684"},
+    {file = "aiohttp-3.8.6-cp311-cp311-musllinux_1_1_s390x.whl", hash = "sha256:16d330b3b9db87c3883e565340d292638a878236418b23cc8b9b11a054aaa887"},
+    {file = "aiohttp-3.8.6-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:42c89579f82e49db436b69c938ab3e1559e5a4409eb8639eb4143989bc390f2f"},
+    {file = "aiohttp-3.8.6-cp311-cp311-win32.whl", hash = "sha256:efd2fcf7e7b9d7ab16e6b7d54205beded0a9c8566cb30f09c1abe42b4e22bdcb"},
+    {file = "aiohttp-3.8.6-cp311-cp311-win_amd64.whl", hash = "sha256:3b2ab182fc28e7a81f6c70bfbd829045d9480063f5ab06f6e601a3eddbbd49a0"},
+    {file = "aiohttp-3.8.6-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:fdee8405931b0615220e5ddf8cd7edd8592c606a8e4ca2a00704883c396e4479"},
+    {file = "aiohttp-3.8.6-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d25036d161c4fe2225d1abff2bd52c34ed0b1099f02c208cd34d8c05729882f0"},
+    {file = "aiohttp-3.8.6-cp36-cp36m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:5d791245a894be071d5ab04bbb4850534261a7d4fd363b094a7b9963e8cdbd31"},
+    {file = "aiohttp-3.8.6-cp36-cp36m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:0cccd1de239afa866e4ce5c789b3032442f19c261c7d8a01183fd956b1935349"},
+    {file = "aiohttp-3.8.6-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1f13f60d78224f0dace220d8ab4ef1dbc37115eeeab8c06804fec11bec2bbd07"},
+    {file = "aiohttp-3.8.6-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8a9b5a0606faca4f6cc0d338359d6fa137104c337f489cd135bb7fbdbccb1e39"},
+    {file = "aiohttp-3.8.6-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:13da35c9ceb847732bf5c6c5781dcf4780e14392e5d3b3c689f6d22f8e15ae31"},
+    {file = "aiohttp-3.8.6-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:4d4cbe4ffa9d05f46a28252efc5941e0462792930caa370a6efaf491f412bc66"},
+    {file = "aiohttp-3.8.6-cp36-cp36m-musllinux_1_1_ppc64le.whl", hash = "sha256:229852e147f44da0241954fc6cb910ba074e597f06789c867cb7fb0621e0ba7a"},
+    {file = "aiohttp-3.8.6-cp36-cp36m-musllinux_1_1_s390x.whl", hash = "sha256:713103a8bdde61d13490adf47171a1039fd880113981e55401a0f7b42c37d071"},
+    {file = "aiohttp-3.8.6-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:45ad816b2c8e3b60b510f30dbd37fe74fd4a772248a52bb021f6fd65dff809b6"},
+    {file = "aiohttp-3.8.6-cp36-cp36m-win32.whl", hash = "sha256:2b8d4e166e600dcfbff51919c7a3789ff6ca8b3ecce16e1d9c96d95dd569eb4c"},
+    {file = "aiohttp-3.8.6-cp36-cp36m-win_amd64.whl", hash = "sha256:0912ed87fee967940aacc5306d3aa8ba3a459fcd12add0b407081fbefc931e53"},
+    {file = "aiohttp-3.8.6-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:e2a988a0c673c2e12084f5e6ba3392d76c75ddb8ebc6c7e9ead68248101cd446"},
+    {file = "aiohttp-3.8.6-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ebf3fd9f141700b510d4b190094db0ce37ac6361a6806c153c161dc6c041ccda"},
+    {file = "aiohttp-3.8.6-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:3161ce82ab85acd267c8f4b14aa226047a6bee1e4e6adb74b798bd42c6ae1f80"},
+    {file = "aiohttp-3.8.6-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:d95fc1bf33a9a81469aa760617b5971331cdd74370d1214f0b3109272c0e1e3c"},
+    {file = "aiohttp-3.8.6-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6c43ecfef7deaf0617cee936836518e7424ee12cb709883f2c9a1adda63cc460"},
+    {file = "aiohttp-3.8.6-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ca80e1b90a05a4f476547f904992ae81eda5c2c85c66ee4195bb8f9c5fb47f28"},
+    {file = "aiohttp-3.8.6-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:90c72ebb7cb3a08a7f40061079817133f502a160561d0675b0a6adf231382c92"},
+    {file = "aiohttp-3.8.6-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:bb54c54510e47a8c7c8e63454a6acc817519337b2b78606c4e840871a3e15349"},
+    {file = "aiohttp-3.8.6-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:de6a1c9f6803b90e20869e6b99c2c18cef5cc691363954c93cb9adeb26d9f3ae"},
+    {file = "aiohttp-3.8.6-cp37-cp37m-musllinux_1_1_s390x.whl", hash = "sha256:a3628b6c7b880b181a3ae0a0683698513874df63783fd89de99b7b7539e3e8a8"},
+    {file = "aiohttp-3.8.6-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:fc37e9aef10a696a5a4474802930079ccfc14d9f9c10b4662169671ff034b7df"},
+    {file = "aiohttp-3.8.6-cp37-cp37m-win32.whl", hash = "sha256:f8ef51e459eb2ad8e7a66c1d6440c808485840ad55ecc3cafefadea47d1b1ba2"},
+    {file = "aiohttp-3.8.6-cp37-cp37m-win_amd64.whl", hash = "sha256:b2fe42e523be344124c6c8ef32a011444e869dc5f883c591ed87f84339de5976"},
+    {file = "aiohttp-3.8.6-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:9e2ee0ac5a1f5c7dd3197de309adfb99ac4617ff02b0603fd1e65b07dc772e4b"},
+    {file = "aiohttp-3.8.6-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:01770d8c04bd8db568abb636c1fdd4f7140b284b8b3e0b4584f070180c1e5c62"},
+    {file = "aiohttp-3.8.6-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:3c68330a59506254b556b99a91857428cab98b2f84061260a67865f7f52899f5"},
+    {file = "aiohttp-3.8.6-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:89341b2c19fb5eac30c341133ae2cc3544d40d9b1892749cdd25892bbc6ac951"},
+    {file = "aiohttp-3.8.6-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:71783b0b6455ac8f34b5ec99d83e686892c50498d5d00b8e56d47f41b38fbe04"},
+    {file = "aiohttp-3.8.6-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:f628dbf3c91e12f4d6c8b3f092069567d8eb17814aebba3d7d60c149391aee3a"},
+    {file = "aiohttp-3.8.6-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b04691bc6601ef47c88f0255043df6f570ada1a9ebef99c34bd0b72866c217ae"},
+    {file = "aiohttp-3.8.6-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7ee912f7e78287516df155f69da575a0ba33b02dd7c1d6614dbc9463f43066e3"},
+    {file = "aiohttp-3.8.6-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:9c19b26acdd08dd239e0d3669a3dddafd600902e37881f13fbd8a53943079dbc"},
+    {file = "aiohttp-3.8.6-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:99c5ac4ad492b4a19fc132306cd57075c28446ec2ed970973bbf036bcda1bcc6"},
+    {file = "aiohttp-3.8.6-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:f0f03211fd14a6a0aed2997d4b1c013d49fb7b50eeb9ffdf5e51f23cfe2c77fa"},
+    {file = "aiohttp-3.8.6-cp38-cp38-musllinux_1_1_s390x.whl", hash = "sha256:8d399dade330c53b4106160f75f55407e9ae7505263ea86f2ccca6bfcbdb4921"},
+    {file = "aiohttp-3.8.6-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:ec4fd86658c6a8964d75426517dc01cbf840bbf32d055ce64a9e63a40fd7b771"},
+    {file = "aiohttp-3.8.6-cp38-cp38-win32.whl", hash = "sha256:33164093be11fcef3ce2571a0dccd9041c9a93fa3bde86569d7b03120d276c6f"},
+    {file = "aiohttp-3.8.6-cp38-cp38-win_amd64.whl", hash = "sha256:bdf70bfe5a1414ba9afb9d49f0c912dc524cf60141102f3a11143ba3d291870f"},
+    {file = "aiohttp-3.8.6-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:d52d5dc7c6682b720280f9d9db41d36ebe4791622c842e258c9206232251ab2b"},
+    {file = "aiohttp-3.8.6-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:4ac39027011414dbd3d87f7edb31680e1f430834c8cef029f11c66dad0670aa5"},
+    {file = "aiohttp-3.8.6-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:3f5c7ce535a1d2429a634310e308fb7d718905487257060e5d4598e29dc17f0b"},
+    {file = "aiohttp-3.8.6-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b30e963f9e0d52c28f284d554a9469af073030030cef8693106d918b2ca92f54"},
+    {file = "aiohttp-3.8.6-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:918810ef188f84152af6b938254911055a72e0f935b5fbc4c1a4ed0b0584aed1"},
+    {file = "aiohttp-3.8.6-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:002f23e6ea8d3dd8d149e569fd580c999232b5fbc601c48d55398fbc2e582e8c"},
+    {file = "aiohttp-3.8.6-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4fcf3eabd3fd1a5e6092d1242295fa37d0354b2eb2077e6eb670accad78e40e1"},
+    {file = "aiohttp-3.8.6-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:255ba9d6d5ff1a382bb9a578cd563605aa69bec845680e21c44afc2670607a95"},
+    {file = "aiohttp-3.8.6-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:d67f8baed00870aa390ea2590798766256f31dc5ed3ecc737debb6e97e2ede78"},
+    {file = "aiohttp-3.8.6-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:86f20cee0f0a317c76573b627b954c412ea766d6ada1a9fcf1b805763ae7feeb"},
+    {file = "aiohttp-3.8.6-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:39a312d0e991690ccc1a61f1e9e42daa519dcc34ad03eb6f826d94c1190190dd"},
+    {file = "aiohttp-3.8.6-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:e827d48cf802de06d9c935088c2924e3c7e7533377d66b6f31ed175c1620e05e"},
+    {file = "aiohttp-3.8.6-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:bd111d7fc5591ddf377a408ed9067045259ff2770f37e2d94e6478d0f3fc0c17"},
+    {file = "aiohttp-3.8.6-cp39-cp39-win32.whl", hash = "sha256:caf486ac1e689dda3502567eb89ffe02876546599bbf915ec94b1fa424eeffd4"},
+    {file = "aiohttp-3.8.6-cp39-cp39-win_amd64.whl", hash = "sha256:3f0e27e5b733803333bb2371249f41cf42bae8884863e8e8965ec69bebe53132"},
+    {file = "aiohttp-3.8.6.tar.gz", hash = "sha256:b0cf2a4501bff9330a8a5248b4ce951851e415bdcce9dc158e76cfd55e15085c"},
 ]
 
 [package.dependencies]
@@ -333,13 +333,13 @@ aio = ["aiohttp (>=3.0)"]
 
 [[package]]
 name = "azure-identity"
-version = "1.14.0"
+version = "1.14.1"
 description = "Microsoft Azure Identity Library for Python"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "azure-identity-1.14.0.zip", hash = "sha256:72441799f8c5c89bfe21026965e266672a7c5d050c2c65119ef899dd5362e2b1"},
-    {file = "azure_identity-1.14.0-py3-none-any.whl", hash = "sha256:edabf0e010eb85760e1dd19424d5e8f97ba2c9caff73a16e7b30ccbdbcce369b"},
+    {file = "azure-identity-1.14.1.zip", hash = "sha256:48e2a9dbdc59b4f095f841d867d9a8cbe4c1cdbbad8251e055561afd47b4a9b8"},
+    {file = "azure_identity-1.14.1-py3-none-any.whl", hash = "sha256:3a5bef8e9c3281e864e869739be8d67424bff616cddae96b546ca2a5168d863d"},
 ]
 
 [package.dependencies]
@@ -350,13 +350,13 @@ msal-extensions = ">=0.3.0,<2.0.0"
 
 [[package]]
 name = "azure-storage-blob"
-version = "12.17.0"
+version = "12.18.2"
 description = "Microsoft Azure Blob Storage Client Library for Python"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "azure-storage-blob-12.17.0.zip", hash = "sha256:c14b785a17050b30fc326a315bdae6bc4a078855f4f94a4c303ad74a48dc8c63"},
-    {file = "azure_storage_blob-12.17.0-py3-none-any.whl", hash = "sha256:0016e0c549a80282d7b4920c03f2f4ba35c53e6e3c7dbcd2a4a8c8eb3882c1e7"},
+    {file = "azure-storage-blob-12.18.2.tar.gz", hash = "sha256:e11935348981ffc005b848b55db25c04f2d1f90e1ee33000659906b763cf14c8"},
+    {file = "azure_storage_blob-12.18.2-py3-none-any.whl", hash = "sha256:ffd864bf9abf33dfc72c6ef37899a19bd9d585a946a2c61e288b4420c035df3a"},
 ]
 
 [package.dependencies]
@@ -370,15 +370,18 @@ aio = ["azure-core[aio] (>=1.28.0,<2.0.0)"]
 
 [[package]]
 name = "babel"
-version = "2.12.1"
+version = "2.13.0"
 description = "Internationalization utilities"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "Babel-2.12.1-py3-none-any.whl", hash = "sha256:b4246fb7677d3b98f501a39d43396d3cafdc8eadb045f4a31be01863f655c610"},
-    {file = "Babel-2.12.1.tar.gz", hash = "sha256:cc2d99999cd01d44420ae725a21c9e3711b3aadc7976d6147f622d8581963455"},
+    {file = "Babel-2.13.0-py3-none-any.whl", hash = "sha256:fbfcae1575ff78e26c7449136f1abbefc3c13ce542eeb13d43d50d8b047216ec"},
+    {file = "Babel-2.13.0.tar.gz", hash = "sha256:04c3e2d28d2b7681644508f836be388ae49e0cfe91465095340395b60d00f210"},
 ]
 
+[package.extras]
+dev = ["freezegun (>=1.0,<2.0)", "pytest (>=6.0)", "pytest-cov"]
+
 [[package]]
 name = "breathe"
 version = "4.35.0"
@@ -476,75 +479,63 @@ files = [
 
 [[package]]
 name = "cffi"
-version = "1.15.1"
+version = "1.16.0"
 description = "Foreign Function Interface for Python calling C code."
 optional = false
-python-versions = "*"
+python-versions = ">=3.8"
 files = [
-    {file = "cffi-1.15.1-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:a66d3508133af6e8548451b25058d5812812ec3798c886bf38ed24a98216fab2"},
-    {file = "cffi-1.15.1-cp27-cp27m-manylinux1_i686.whl", hash = "sha256:470c103ae716238bbe698d67ad020e1db9d9dba34fa5a899b5e21577e6d52ed2"},
-    {file = "cffi-1.15.1-cp27-cp27m-manylinux1_x86_64.whl", hash = "sha256:9ad5db27f9cabae298d151c85cf2bad1d359a1b9c686a275df03385758e2f914"},
-    {file = "cffi-1.15.1-cp27-cp27m-win32.whl", hash = "sha256:b3bbeb01c2b273cca1e1e0c5df57f12dce9a4dd331b4fa1635b8bec26350bde3"},
-    {file = "cffi-1.15.1-cp27-cp27m-win_amd64.whl", hash = "sha256:e00b098126fd45523dd056d2efba6c5a63b71ffe9f2bbe1a4fe1716e1d0c331e"},
-    {file = "cffi-1.15.1-cp27-cp27mu-manylinux1_i686.whl", hash = "sha256:d61f4695e6c866a23a21acab0509af1cdfd2c013cf256bbf5b6b5e2695827162"},
-    {file = "cffi-1.15.1-cp27-cp27mu-manylinux1_x86_64.whl", hash = "sha256:ed9cb427ba5504c1dc15ede7d516b84757c3e3d7868ccc85121d9310d27eed0b"},
-    {file = "cffi-1.15.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:39d39875251ca8f612b6f33e6b1195af86d1b3e60086068be9cc053aa4376e21"},
-    {file = "cffi-1.15.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:285d29981935eb726a4399badae8f0ffdff4f5050eaa6d0cfc3f64b857b77185"},
-    {file = "cffi-1.15.1-cp310-cp310-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3eb6971dcff08619f8d91607cfc726518b6fa2a9eba42856be181c6d0d9515fd"},
-    {file = "cffi-1.15.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:21157295583fe8943475029ed5abdcf71eb3911894724e360acff1d61c1d54bc"},
-    {file = "cffi-1.15.1-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:5635bd9cb9731e6d4a1132a498dd34f764034a8ce60cef4f5319c0541159392f"},
-    {file = "cffi-1.15.1-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:2012c72d854c2d03e45d06ae57f40d78e5770d252f195b93f581acf3ba44496e"},
-    {file = "cffi-1.15.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:dd86c085fae2efd48ac91dd7ccffcfc0571387fe1193d33b6394db7ef31fe2a4"},
-    {file = "cffi-1.15.1-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:fa6693661a4c91757f4412306191b6dc88c1703f780c8234035eac011922bc01"},
-    {file = "cffi-1.15.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:59c0b02d0a6c384d453fece7566d1c7e6b7bae4fc5874ef2ef46d56776d61c9e"},
-    {file = "cffi-1.15.1-cp310-cp310-win32.whl", hash = "sha256:cba9d6b9a7d64d4bd46167096fc9d2f835e25d7e4c121fb2ddfc6528fb0413b2"},
-    {file = "cffi-1.15.1-cp310-cp310-win_amd64.whl", hash = "sha256:ce4bcc037df4fc5e3d184794f27bdaab018943698f4ca31630bc7f84a7b69c6d"},
-    {file = "cffi-1.15.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:3d08afd128ddaa624a48cf2b859afef385b720bb4b43df214f85616922e6a5ac"},
-    {file = "cffi-1.15.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:3799aecf2e17cf585d977b780ce79ff0dc9b78d799fc694221ce814c2c19db83"},
-    {file = "cffi-1.15.1-cp311-cp311-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a591fe9e525846e4d154205572a029f653ada1a78b93697f3b5a8f1f2bc055b9"},
-    {file = "cffi-1.15.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3548db281cd7d2561c9ad9984681c95f7b0e38881201e157833a2342c30d5e8c"},
-    {file = "cffi-1.15.1-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:91fc98adde3d7881af9b59ed0294046f3806221863722ba7d8d120c575314325"},
-    {file = "cffi-1.15.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:94411f22c3985acaec6f83c6df553f2dbe17b698cc7f8ae751ff2237d96b9e3c"},
-    {file = "cffi-1.15.1-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:03425bdae262c76aad70202debd780501fabeaca237cdfddc008987c0e0f59ef"},
-    {file = "cffi-1.15.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:cc4d65aeeaa04136a12677d3dd0b1c0c94dc43abac5860ab33cceb42b801c1e8"},
-    {file = "cffi-1.15.1-cp311-cp311-win32.whl", hash = "sha256:a0f100c8912c114ff53e1202d0078b425bee3649ae34d7b070e9697f93c5d52d"},
-    {file = "cffi-1.15.1-cp311-cp311-win_amd64.whl", hash = "sha256:04ed324bda3cda42b9b695d51bb7d54b680b9719cfab04227cdd1e04e5de3104"},
-    {file = "cffi-1.15.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:50a74364d85fd319352182ef59c5c790484a336f6db772c1a9231f1c3ed0cbd7"},
-    {file = "cffi-1.15.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e263d77ee3dd201c3a142934a086a4450861778baaeeb45db4591ef65550b0a6"},
-    {file = "cffi-1.15.1-cp36-cp36m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:cec7d9412a9102bdc577382c3929b337320c4c4c4849f2c5cdd14d7368c5562d"},
-    {file = "cffi-1.15.1-cp36-cp36m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:4289fc34b2f5316fbb762d75362931e351941fa95fa18789191b33fc4cf9504a"},
-    {file = "cffi-1.15.1-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:173379135477dc8cac4bc58f45db08ab45d228b3363adb7af79436135d028405"},
-    {file = "cffi-1.15.1-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:6975a3fac6bc83c4a65c9f9fcab9e47019a11d3d2cf7f3c0d03431bf145a941e"},
-    {file = "cffi-1.15.1-cp36-cp36m-win32.whl", hash = "sha256:2470043b93ff09bf8fb1d46d1cb756ce6132c54826661a32d4e4d132e1977adf"},
-    {file = "cffi-1.15.1-cp36-cp36m-win_amd64.whl", hash = "sha256:30d78fbc8ebf9c92c9b7823ee18eb92f2e6ef79b45ac84db507f52fbe3ec4497"},
-    {file = "cffi-1.15.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:198caafb44239b60e252492445da556afafc7d1e3ab7a1fb3f0584ef6d742375"},
-    {file = "cffi-1.15.1-cp37-cp37m-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:5ef34d190326c3b1f822a5b7a45f6c4535e2f47ed06fec77d3d799c450b2651e"},
-    {file = "cffi-1.15.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8102eaf27e1e448db915d08afa8b41d6c7ca7a04b7d73af6514df10a3e74bd82"},
-    {file = "cffi-1.15.1-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:5df2768244d19ab7f60546d0c7c63ce1581f7af8b5de3eb3004b9b6fc8a9f84b"},
-    {file = "cffi-1.15.1-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:a8c4917bd7ad33e8eb21e9a5bbba979b49d9a97acb3a803092cbc1133e20343c"},
-    {file = "cffi-1.15.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0e2642fe3142e4cc4af0799748233ad6da94c62a8bec3a6648bf8ee68b1c7426"},
-    {file = "cffi-1.15.1-cp37-cp37m-win32.whl", hash = "sha256:e229a521186c75c8ad9490854fd8bbdd9a0c9aa3a524326b55be83b54d4e0ad9"},
-    {file = "cffi-1.15.1-cp37-cp37m-win_amd64.whl", hash = "sha256:a0b71b1b8fbf2b96e41c4d990244165e2c9be83d54962a9a1d118fd8657d2045"},
-    {file = "cffi-1.15.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:320dab6e7cb2eacdf0e658569d2575c4dad258c0fcc794f46215e1e39f90f2c3"},
-    {file = "cffi-1.15.1-cp38-cp38-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1e74c6b51a9ed6589199c787bf5f9875612ca4a8a0785fb2d4a84429badaf22a"},
-    {file = "cffi-1.15.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a5c84c68147988265e60416b57fc83425a78058853509c1b0629c180094904a5"},
-    {file = "cffi-1.15.1-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:3b926aa83d1edb5aa5b427b4053dc420ec295a08e40911296b9eb1b6170f6cca"},
-    {file = "cffi-1.15.1-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:87c450779d0914f2861b8526e035c5e6da0a3199d8f1add1a665e1cbc6fc6d02"},
-    {file = "cffi-1.15.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4f2c9f67e9821cad2e5f480bc8d83b8742896f1242dba247911072d4fa94c192"},
-    {file = "cffi-1.15.1-cp38-cp38-win32.whl", hash = "sha256:8b7ee99e510d7b66cdb6c593f21c043c248537a32e0bedf02e01e9553a172314"},
-    {file = "cffi-1.15.1-cp38-cp38-win_amd64.whl", hash = "sha256:00a9ed42e88df81ffae7a8ab6d9356b371399b91dbdf0c3cb1e84c03a13aceb5"},
-    {file = "cffi-1.15.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:54a2db7b78338edd780e7ef7f9f6c442500fb0d41a5a4ea24fff1c929d5af585"},
-    {file = "cffi-1.15.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:fcd131dd944808b5bdb38e6f5b53013c5aa4f334c5cad0c72742f6eba4b73db0"},
-    {file = "cffi-1.15.1-cp39-cp39-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7473e861101c9e72452f9bf8acb984947aa1661a7704553a9f6e4baa5ba64415"},
-    {file = "cffi-1.15.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6c9a799e985904922a4d207a94eae35c78ebae90e128f0c4e521ce339396be9d"},
-    {file = "cffi-1.15.1-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:3bcde07039e586f91b45c88f8583ea7cf7a0770df3a1649627bf598332cb6984"},
-    {file = "cffi-1.15.1-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:33ab79603146aace82c2427da5ca6e58f2b3f2fb5da893ceac0c42218a40be35"},
-    {file = "cffi-1.15.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5d598b938678ebf3c67377cdd45e09d431369c3b1a5b331058c338e201f12b27"},
-    {file = "cffi-1.15.1-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:db0fbb9c62743ce59a9ff687eb5f4afbe77e5e8403d6697f7446e5f609976f76"},
-    {file = "cffi-1.15.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:98d85c6a2bef81588d9227dde12db8a7f47f639f4a17c9ae08e773aa9c697bf3"},
-    {file = "cffi-1.15.1-cp39-cp39-win32.whl", hash = "sha256:40f4774f5a9d4f5e344f31a32b5096977b5d48560c5592e2f3d2c4374bd543ee"},
-    {file = "cffi-1.15.1-cp39-cp39-win_amd64.whl", hash = "sha256:70df4e3b545a17496c9b3f41f5115e69a4f2e77e94e1d2a8e1070bc0c38c8a3c"},
-    {file = "cffi-1.15.1.tar.gz", hash = "sha256:d400bfb9a37b1351253cb402671cea7e89bdecc294e8016a707f6d1d8ac934f9"},
+    {file = "cffi-1.16.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:6b3d6606d369fc1da4fd8c357d026317fbb9c9b75d36dc16e90e84c26854b088"},
+    {file = "cffi-1.16.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:ac0f5edd2360eea2f1daa9e26a41db02dd4b0451b48f7c318e217ee092a213e9"},
+    {file = "cffi-1.16.0-cp310-cp310-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7e61e3e4fa664a8588aa25c883eab612a188c725755afff6289454d6362b9673"},
+    {file = "cffi-1.16.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a72e8961a86d19bdb45851d8f1f08b041ea37d2bd8d4fd19903bc3083d80c896"},
+    {file = "cffi-1.16.0-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:5b50bf3f55561dac5438f8e70bfcdfd74543fd60df5fa5f62d94e5867deca684"},
+    {file = "cffi-1.16.0-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:7651c50c8c5ef7bdb41108b7b8c5a83013bfaa8a935590c5d74627c047a583c7"},
+    {file = "cffi-1.16.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e4108df7fe9b707191e55f33efbcb2d81928e10cea45527879a4749cbe472614"},
+    {file = "cffi-1.16.0-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:32c68ef735dbe5857c810328cb2481e24722a59a2003018885514d4c09af9743"},
+    {file = "cffi-1.16.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:673739cb539f8cdaa07d92d02efa93c9ccf87e345b9a0b556e3ecc666718468d"},
+    {file = "cffi-1.16.0-cp310-cp310-win32.whl", hash = "sha256:9f90389693731ff1f659e55c7d1640e2ec43ff725cc61b04b2f9c6d8d017df6a"},
+    {file = "cffi-1.16.0-cp310-cp310-win_amd64.whl", hash = "sha256:e6024675e67af929088fda399b2094574609396b1decb609c55fa58b028a32a1"},
+    {file = "cffi-1.16.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:b84834d0cf97e7d27dd5b7f3aca7b6e9263c56308ab9dc8aae9784abb774d404"},
+    {file = "cffi-1.16.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:1b8ebc27c014c59692bb2664c7d13ce7a6e9a629be20e54e7271fa696ff2b417"},
+    {file = "cffi-1.16.0-cp311-cp311-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ee07e47c12890ef248766a6e55bd38ebfb2bb8edd4142d56db91b21ea68b7627"},
+    {file = "cffi-1.16.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d8a9d3ebe49f084ad71f9269834ceccbf398253c9fac910c4fd7053ff1386936"},
+    {file = "cffi-1.16.0-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e70f54f1796669ef691ca07d046cd81a29cb4deb1e5f942003f401c0c4a2695d"},
+    {file = "cffi-1.16.0-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:5bf44d66cdf9e893637896c7faa22298baebcd18d1ddb6d2626a6e39793a1d56"},
+    {file = "cffi-1.16.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7b78010e7b97fef4bee1e896df8a4bbb6712b7f05b7ef630f9d1da00f6444d2e"},
+    {file = "cffi-1.16.0-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:c6a164aa47843fb1b01e941d385aab7215563bb8816d80ff3a363a9f8448a8dc"},
+    {file = "cffi-1.16.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:e09f3ff613345df5e8c3667da1d918f9149bd623cd9070c983c013792a9a62eb"},
+    {file = "cffi-1.16.0-cp311-cp311-win32.whl", hash = "sha256:2c56b361916f390cd758a57f2e16233eb4f64bcbeee88a4881ea90fca14dc6ab"},
+    {file = "cffi-1.16.0-cp311-cp311-win_amd64.whl", hash = "sha256:db8e577c19c0fda0beb7e0d4e09e0ba74b1e4c092e0e40bfa12fe05b6f6d75ba"},
+    {file = "cffi-1.16.0-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:fa3a0128b152627161ce47201262d3140edb5a5c3da88d73a1b790a959126956"},
+    {file = "cffi-1.16.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:68e7c44931cc171c54ccb702482e9fc723192e88d25a0e133edd7aff8fcd1f6e"},
+    {file = "cffi-1.16.0-cp312-cp312-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:abd808f9c129ba2beda4cfc53bde801e5bcf9d6e0f22f095e45327c038bfe68e"},
+    {file = "cffi-1.16.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:88e2b3c14bdb32e440be531ade29d3c50a1a59cd4e51b1dd8b0865c54ea5d2e2"},
+    {file = "cffi-1.16.0-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:fcc8eb6d5902bb1cf6dc4f187ee3ea80a1eba0a89aba40a5cb20a5087d961357"},
+    {file = "cffi-1.16.0-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:b7be2d771cdba2942e13215c4e340bfd76398e9227ad10402a8767ab1865d2e6"},
+    {file = "cffi-1.16.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e715596e683d2ce000574bae5d07bd522c781a822866c20495e52520564f0969"},
+    {file = "cffi-1.16.0-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:2d92b25dbf6cae33f65005baf472d2c245c050b1ce709cc4588cdcdd5495b520"},
+    {file = "cffi-1.16.0-cp312-cp312-win32.whl", hash = "sha256:b2ca4e77f9f47c55c194982e10f058db063937845bb2b7a86c84a6cfe0aefa8b"},
+    {file = "cffi-1.16.0-cp312-cp312-win_amd64.whl", hash = "sha256:68678abf380b42ce21a5f2abde8efee05c114c2fdb2e9eef2efdb0257fba1235"},
+    {file = "cffi-1.16.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:0c9ef6ff37e974b73c25eecc13952c55bceed9112be2d9d938ded8e856138bcc"},
+    {file = "cffi-1.16.0-cp38-cp38-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a09582f178759ee8128d9270cd1344154fd473bb77d94ce0aeb2a93ebf0feaf0"},
+    {file = "cffi-1.16.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e760191dd42581e023a68b758769e2da259b5d52e3103c6060ddc02c9edb8d7b"},
+    {file = "cffi-1.16.0-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:80876338e19c951fdfed6198e70bc88f1c9758b94578d5a7c4c91a87af3cf31c"},
+    {file = "cffi-1.16.0-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:a6a14b17d7e17fa0d207ac08642c8820f84f25ce17a442fd15e27ea18d67c59b"},
+    {file = "cffi-1.16.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6602bc8dc6f3a9e02b6c22c4fc1e47aa50f8f8e6d3f78a5e16ac33ef5fefa324"},
+    {file = "cffi-1.16.0-cp38-cp38-win32.whl", hash = "sha256:131fd094d1065b19540c3d72594260f118b231090295d8c34e19a7bbcf2e860a"},
+    {file = "cffi-1.16.0-cp38-cp38-win_amd64.whl", hash = "sha256:31d13b0f99e0836b7ff893d37af07366ebc90b678b6664c955b54561fc36ef36"},
+    {file = "cffi-1.16.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:582215a0e9adbe0e379761260553ba11c58943e4bbe9c36430c4ca6ac74b15ed"},
+    {file = "cffi-1.16.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:b29ebffcf550f9da55bec9e02ad430c992a87e5f512cd63388abb76f1036d8d2"},
+    {file = "cffi-1.16.0-cp39-cp39-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:dc9b18bf40cc75f66f40a7379f6a9513244fe33c0e8aa72e2d56b0196a7ef872"},
+    {file = "cffi-1.16.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9cb4a35b3642fc5c005a6755a5d17c6c8b6bcb6981baf81cea8bfbc8903e8ba8"},
+    {file = "cffi-1.16.0-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:b86851a328eedc692acf81fb05444bdf1891747c25af7529e39ddafaf68a4f3f"},
+    {file = "cffi-1.16.0-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:c0f31130ebc2d37cdd8e44605fb5fa7ad59049298b3f745c74fa74c62fbfcfc4"},
+    {file = "cffi-1.16.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8f8e709127c6c77446a8c0a8c8bf3c8ee706a06cd44b1e827c3e6a2ee6b8c098"},
+    {file = "cffi-1.16.0-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:748dcd1e3d3d7cd5443ef03ce8685043294ad6bd7c02a38d1bd367cfd968e000"},
+    {file = "cffi-1.16.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:8895613bcc094d4a1b2dbe179d88d7fb4a15cee43c052e8885783fac397d91fe"},
+    {file = "cffi-1.16.0-cp39-cp39-win32.whl", hash = "sha256:ed86a35631f7bfbb28e108dd96773b9d5a6ce4811cf6ea468bb6a359b256b1e4"},
+    {file = "cffi-1.16.0-cp39-cp39-win_amd64.whl", hash = "sha256:3686dffb02459559c74dd3d81748269ffb0eb027c39a6fc99502de37d501faa8"},
+    {file = "cffi-1.16.0.tar.gz", hash = "sha256:bcb3ef43e58665bbda2fb198698fcae6776483e0c4a631aa5647806c25e02cc0"},
 ]
 
 [package.dependencies]
@@ -563,86 +554,101 @@ files = [
 
 [[package]]
 name = "charset-normalizer"
-version = "3.2.0"
+version = "3.3.0"
 description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
 optional = false
 python-versions = ">=3.7.0"
 files = [
-    {file = "charset-normalizer-3.2.0.tar.gz", hash = "sha256:3bb3d25a8e6c0aedd251753a79ae98a093c7e7b471faa3aa9a93a81431987ace"},
-    {file = "charset_normalizer-3.2.0-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:0b87549028f680ca955556e3bd57013ab47474c3124dc069faa0b6545b6c9710"},
-    {file = "charset_normalizer-3.2.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:7c70087bfee18a42b4040bb9ec1ca15a08242cf5867c58726530bdf3945672ed"},
-    {file = "charset_normalizer-3.2.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:a103b3a7069b62f5d4890ae1b8f0597618f628b286b03d4bc9195230b154bfa9"},
-    {file = "charset_normalizer-3.2.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:94aea8eff76ee6d1cdacb07dd2123a68283cb5569e0250feab1240058f53b623"},
-    {file = "charset_normalizer-3.2.0-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:db901e2ac34c931d73054d9797383d0f8009991e723dab15109740a63e7f902a"},
-    {file = "charset_normalizer-3.2.0-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:b0dac0ff919ba34d4df1b6131f59ce95b08b9065233446be7e459f95554c0dc8"},
-    {file = "charset_normalizer-3.2.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:193cbc708ea3aca45e7221ae58f0fd63f933753a9bfb498a3b474878f12caaad"},
-    {file = "charset_normalizer-3.2.0-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:09393e1b2a9461950b1c9a45d5fd251dc7c6f228acab64da1c9c0165d9c7765c"},
-    {file = "charset_normalizer-3.2.0-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:baacc6aee0b2ef6f3d308e197b5d7a81c0e70b06beae1f1fcacffdbd124fe0e3"},
-    {file = "charset_normalizer-3.2.0-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:bf420121d4c8dce6b889f0e8e4ec0ca34b7f40186203f06a946fa0276ba54029"},
-    {file = "charset_normalizer-3.2.0-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:c04a46716adde8d927adb9457bbe39cf473e1e2c2f5d0a16ceb837e5d841ad4f"},
-    {file = "charset_normalizer-3.2.0-cp310-cp310-musllinux_1_1_s390x.whl", hash = "sha256:aaf63899c94de41fe3cf934601b0f7ccb6b428c6e4eeb80da72c58eab077b19a"},
-    {file = "charset_normalizer-3.2.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:d62e51710986674142526ab9f78663ca2b0726066ae26b78b22e0f5e571238dd"},
-    {file = "charset_normalizer-3.2.0-cp310-cp310-win32.whl", hash = "sha256:04e57ab9fbf9607b77f7d057974694b4f6b142da9ed4a199859d9d4d5c63fe96"},
-    {file = "charset_normalizer-3.2.0-cp310-cp310-win_amd64.whl", hash = "sha256:48021783bdf96e3d6de03a6e39a1171ed5bd7e8bb93fc84cc649d11490f87cea"},
-    {file = "charset_normalizer-3.2.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:4957669ef390f0e6719db3613ab3a7631e68424604a7b448f079bee145da6e09"},
-    {file = "charset_normalizer-3.2.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:46fb8c61d794b78ec7134a715a3e564aafc8f6b5e338417cb19fe9f57a5a9bf2"},
-    {file = "charset_normalizer-3.2.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:f779d3ad205f108d14e99bb3859aa7dd8e9c68874617c72354d7ecaec2a054ac"},
-    {file = "charset_normalizer-3.2.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f25c229a6ba38a35ae6e25ca1264621cc25d4d38dca2942a7fce0b67a4efe918"},
-    {file = "charset_normalizer-3.2.0-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:2efb1bd13885392adfda4614c33d3b68dee4921fd0ac1d3988f8cbb7d589e72a"},
-    {file = "charset_normalizer-3.2.0-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:1f30b48dd7fa1474554b0b0f3fdfdd4c13b5c737a3c6284d3cdc424ec0ffff3a"},
-    {file = "charset_normalizer-3.2.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:246de67b99b6851627d945db38147d1b209a899311b1305dd84916f2b88526c6"},
-    {file = "charset_normalizer-3.2.0-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:9bd9b3b31adcb054116447ea22caa61a285d92e94d710aa5ec97992ff5eb7cf3"},
-    {file = "charset_normalizer-3.2.0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:8c2f5e83493748286002f9369f3e6607c565a6a90425a3a1fef5ae32a36d749d"},
-    {file = "charset_normalizer-3.2.0-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:3170c9399da12c9dc66366e9d14da8bf7147e1e9d9ea566067bbce7bb74bd9c2"},
-    {file = "charset_normalizer-3.2.0-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:7a4826ad2bd6b07ca615c74ab91f32f6c96d08f6fcc3902ceeedaec8cdc3bcd6"},
-    {file = "charset_normalizer-3.2.0-cp311-cp311-musllinux_1_1_s390x.whl", hash = "sha256:3b1613dd5aee995ec6d4c69f00378bbd07614702a315a2cf6c1d21461fe17c23"},
-    {file = "charset_normalizer-3.2.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:9e608aafdb55eb9f255034709e20d5a83b6d60c054df0802fa9c9883d0a937aa"},
-    {file = "charset_normalizer-3.2.0-cp311-cp311-win32.whl", hash = "sha256:f2a1d0fd4242bd8643ce6f98927cf9c04540af6efa92323e9d3124f57727bfc1"},
-    {file = "charset_normalizer-3.2.0-cp311-cp311-win_amd64.whl", hash = "sha256:681eb3d7e02e3c3655d1b16059fbfb605ac464c834a0c629048a30fad2b27489"},
-    {file = "charset_normalizer-3.2.0-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:c57921cda3a80d0f2b8aec7e25c8aa14479ea92b5b51b6876d975d925a2ea346"},
-    {file = "charset_normalizer-3.2.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:41b25eaa7d15909cf3ac4c96088c1f266a9a93ec44f87f1d13d4a0e86c81b982"},
-    {file = "charset_normalizer-3.2.0-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:f058f6963fd82eb143c692cecdc89e075fa0828db2e5b291070485390b2f1c9c"},
-    {file = "charset_normalizer-3.2.0-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:a7647ebdfb9682b7bb97e2a5e7cb6ae735b1c25008a70b906aecca294ee96cf4"},
-    {file = "charset_normalizer-3.2.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:eef9df1eefada2c09a5e7a40991b9fc6ac6ef20b1372abd48d2794a316dc0449"},
-    {file = "charset_normalizer-3.2.0-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e03b8895a6990c9ab2cdcd0f2fe44088ca1c65ae592b8f795c3294af00a461c3"},
-    {file = "charset_normalizer-3.2.0-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:ee4006268ed33370957f55bf2e6f4d263eaf4dc3cfc473d1d90baff6ed36ce4a"},
-    {file = "charset_normalizer-3.2.0-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:c4983bf937209c57240cff65906b18bb35e64ae872da6a0db937d7b4af845dd7"},
-    {file = "charset_normalizer-3.2.0-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:3bb7fda7260735efe66d5107fb7e6af6a7c04c7fce9b2514e04b7a74b06bf5dd"},
-    {file = "charset_normalizer-3.2.0-cp37-cp37m-musllinux_1_1_s390x.whl", hash = "sha256:72814c01533f51d68702802d74f77ea026b5ec52793c791e2da806a3844a46c3"},
-    {file = "charset_normalizer-3.2.0-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:70c610f6cbe4b9fce272c407dd9d07e33e6bf7b4aa1b7ffb6f6ded8e634e3592"},
-    {file = "charset_normalizer-3.2.0-cp37-cp37m-win32.whl", hash = "sha256:a401b4598e5d3f4a9a811f3daf42ee2291790c7f9d74b18d75d6e21dda98a1a1"},
-    {file = "charset_normalizer-3.2.0-cp37-cp37m-win_amd64.whl", hash = "sha256:c0b21078a4b56965e2b12f247467b234734491897e99c1d51cee628da9786959"},
-    {file = "charset_normalizer-3.2.0-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:95eb302ff792e12aba9a8b8f8474ab229a83c103d74a750ec0bd1c1eea32e669"},
-    {file = "charset_normalizer-3.2.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:1a100c6d595a7f316f1b6f01d20815d916e75ff98c27a01ae817439ea7726329"},
-    {file = "charset_normalizer-3.2.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:6339d047dab2780cc6220f46306628e04d9750f02f983ddb37439ca47ced7149"},
-    {file = "charset_normalizer-3.2.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e4b749b9cc6ee664a3300bb3a273c1ca8068c46be705b6c31cf5d276f8628a94"},
-    {file = "charset_normalizer-3.2.0-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:a38856a971c602f98472050165cea2cdc97709240373041b69030be15047691f"},
-    {file = "charset_normalizer-3.2.0-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:f87f746ee241d30d6ed93969de31e5ffd09a2961a051e60ae6bddde9ec3583aa"},
-    {file = "charset_normalizer-3.2.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:89f1b185a01fe560bc8ae5f619e924407efca2191b56ce749ec84982fc59a32a"},
-    {file = "charset_normalizer-3.2.0-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e1c8a2f4c69e08e89632defbfabec2feb8a8d99edc9f89ce33c4b9e36ab63037"},
-    {file = "charset_normalizer-3.2.0-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:2f4ac36d8e2b4cc1aa71df3dd84ff8efbe3bfb97ac41242fbcfc053c67434f46"},
-    {file = "charset_normalizer-3.2.0-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:a386ebe437176aab38c041de1260cd3ea459c6ce5263594399880bbc398225b2"},
-    {file = "charset_normalizer-3.2.0-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:ccd16eb18a849fd8dcb23e23380e2f0a354e8daa0c984b8a732d9cfaba3a776d"},
-    {file = "charset_normalizer-3.2.0-cp38-cp38-musllinux_1_1_s390x.whl", hash = "sha256:e6a5bf2cba5ae1bb80b154ed68a3cfa2fa00fde979a7f50d6598d3e17d9ac20c"},
-    {file = "charset_normalizer-3.2.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:45de3f87179c1823e6d9e32156fb14c1927fcc9aba21433f088fdfb555b77c10"},
-    {file = "charset_normalizer-3.2.0-cp38-cp38-win32.whl", hash = "sha256:1000fba1057b92a65daec275aec30586c3de2401ccdcd41f8a5c1e2c87078706"},
-    {file = "charset_normalizer-3.2.0-cp38-cp38-win_amd64.whl", hash = "sha256:8b2c760cfc7042b27ebdb4a43a4453bd829a5742503599144d54a032c5dc7e9e"},
-    {file = "charset_normalizer-3.2.0-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:855eafa5d5a2034b4621c74925d89c5efef61418570e5ef9b37717d9c796419c"},
-    {file = "charset_normalizer-3.2.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:203f0c8871d5a7987be20c72442488a0b8cfd0f43b7973771640fc593f56321f"},
-    {file = "charset_normalizer-3.2.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:e857a2232ba53ae940d3456f7533ce6ca98b81917d47adc3c7fd55dad8fab858"},
-    {file = "charset_normalizer-3.2.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5e86d77b090dbddbe78867a0275cb4df08ea195e660f1f7f13435a4649e954e5"},
-    {file = "charset_normalizer-3.2.0-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:c4fb39a81950ec280984b3a44f5bd12819953dc5fa3a7e6fa7a80db5ee853952"},
-    {file = "charset_normalizer-3.2.0-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:2dee8e57f052ef5353cf608e0b4c871aee320dd1b87d351c28764fc0ca55f9f4"},
-    {file = "charset_normalizer-3.2.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8700f06d0ce6f128de3ccdbc1acaea1ee264d2caa9ca05daaf492fde7c2a7200"},
-    {file = "charset_normalizer-3.2.0-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1920d4ff15ce893210c1f0c0e9d19bfbecb7983c76b33f046c13a8ffbd570252"},
-    {file = "charset_normalizer-3.2.0-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:c1c76a1743432b4b60ab3358c937a3fe1341c828ae6194108a94c69028247f22"},
-    {file = "charset_normalizer-3.2.0-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:f7560358a6811e52e9c4d142d497f1a6e10103d3a6881f18d04dbce3729c0e2c"},
-    {file = "charset_normalizer-3.2.0-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:c8063cf17b19661471ecbdb3df1c84f24ad2e389e326ccaf89e3fb2484d8dd7e"},
-    {file = "charset_normalizer-3.2.0-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:cd6dbe0238f7743d0efe563ab46294f54f9bc8f4b9bcf57c3c666cc5bc9d1299"},
-    {file = "charset_normalizer-3.2.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:1249cbbf3d3b04902ff081ffbb33ce3377fa6e4c7356f759f3cd076cc138d020"},
-    {file = "charset_normalizer-3.2.0-cp39-cp39-win32.whl", hash = "sha256:6c409c0deba34f147f77efaa67b8e4bb83d2f11c8806405f76397ae5b8c0d1c9"},
-    {file = "charset_normalizer-3.2.0-cp39-cp39-win_amd64.whl", hash = "sha256:7095f6fbfaa55defb6b733cfeb14efaae7a29f0b59d8cf213be4e7ca0b857b80"},
-    {file = "charset_normalizer-3.2.0-py3-none-any.whl", hash = "sha256:8e098148dd37b4ce3baca71fb394c81dc5d9c7728c95df695d2dca218edf40e6"},
+    {file = "charset-normalizer-3.3.0.tar.gz", hash = "sha256:63563193aec44bce707e0c5ca64ff69fa72ed7cf34ce6e11d5127555756fd2f6"},
+    {file = "charset_normalizer-3.3.0-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:effe5406c9bd748a871dbcaf3ac69167c38d72db8c9baf3ff954c344f31c4cbe"},
+    {file = "charset_normalizer-3.3.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:4162918ef3098851fcd8a628bf9b6a98d10c380725df9e04caf5ca6dd48c847a"},
+    {file = "charset_normalizer-3.3.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:0570d21da019941634a531444364f2482e8db0b3425fcd5ac0c36565a64142c8"},
+    {file = "charset_normalizer-3.3.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5707a746c6083a3a74b46b3a631d78d129edab06195a92a8ece755aac25a3f3d"},
+    {file = "charset_normalizer-3.3.0-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:278c296c6f96fa686d74eb449ea1697f3c03dc28b75f873b65b5201806346a69"},
+    {file = "charset_normalizer-3.3.0-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:a4b71f4d1765639372a3b32d2638197f5cd5221b19531f9245fcc9ee62d38f56"},
+    {file = "charset_normalizer-3.3.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f5969baeaea61c97efa706b9b107dcba02784b1601c74ac84f2a532ea079403e"},
+    {file = "charset_normalizer-3.3.0-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a3f93dab657839dfa61025056606600a11d0b696d79386f974e459a3fbc568ec"},
+    {file = "charset_normalizer-3.3.0-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:db756e48f9c5c607b5e33dd36b1d5872d0422e960145b08ab0ec7fd420e9d649"},
+    {file = "charset_normalizer-3.3.0-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:232ac332403e37e4a03d209a3f92ed9071f7d3dbda70e2a5e9cff1c4ba9f0678"},
+    {file = "charset_normalizer-3.3.0-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:e5c1502d4ace69a179305abb3f0bb6141cbe4714bc9b31d427329a95acfc8bdd"},
+    {file = "charset_normalizer-3.3.0-cp310-cp310-musllinux_1_1_s390x.whl", hash = "sha256:2502dd2a736c879c0f0d3e2161e74d9907231e25d35794584b1ca5284e43f596"},
+    {file = "charset_normalizer-3.3.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:23e8565ab7ff33218530bc817922fae827420f143479b753104ab801145b1d5b"},
+    {file = "charset_normalizer-3.3.0-cp310-cp310-win32.whl", hash = "sha256:1872d01ac8c618a8da634e232f24793883d6e456a66593135aeafe3784b0848d"},
+    {file = "charset_normalizer-3.3.0-cp310-cp310-win_amd64.whl", hash = "sha256:557b21a44ceac6c6b9773bc65aa1b4cc3e248a5ad2f5b914b91579a32e22204d"},
+    {file = "charset_normalizer-3.3.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:d7eff0f27edc5afa9e405f7165f85a6d782d308f3b6b9d96016c010597958e63"},
+    {file = "charset_normalizer-3.3.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:6a685067d05e46641d5d1623d7c7fdf15a357546cbb2f71b0ebde91b175ffc3e"},
+    {file = "charset_normalizer-3.3.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:0d3d5b7db9ed8a2b11a774db2bbea7ba1884430a205dbd54a32d61d7c2a190fa"},
+    {file = "charset_normalizer-3.3.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2935ffc78db9645cb2086c2f8f4cfd23d9b73cc0dc80334bc30aac6f03f68f8c"},
+    {file = "charset_normalizer-3.3.0-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:9fe359b2e3a7729010060fbca442ca225280c16e923b37db0e955ac2a2b72a05"},
+    {file = "charset_normalizer-3.3.0-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:380c4bde80bce25c6e4f77b19386f5ec9db230df9f2f2ac1e5ad7af2caa70459"},
+    {file = "charset_normalizer-3.3.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f0d1e3732768fecb052d90d62b220af62ead5748ac51ef61e7b32c266cac9293"},
+    {file = "charset_normalizer-3.3.0-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1b2919306936ac6efb3aed1fbf81039f7087ddadb3160882a57ee2ff74fd2382"},
+    {file = "charset_normalizer-3.3.0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:f8888e31e3a85943743f8fc15e71536bda1c81d5aa36d014a3c0c44481d7db6e"},
+    {file = "charset_normalizer-3.3.0-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:82eb849f085624f6a607538ee7b83a6d8126df6d2f7d3b319cb837b289123078"},
+    {file = "charset_normalizer-3.3.0-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:7b8b8bf1189b3ba9b8de5c8db4d541b406611a71a955bbbd7385bbc45fcb786c"},
+    {file = "charset_normalizer-3.3.0-cp311-cp311-musllinux_1_1_s390x.whl", hash = "sha256:5adf257bd58c1b8632046bbe43ee38c04e1038e9d37de9c57a94d6bd6ce5da34"},
+    {file = "charset_normalizer-3.3.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:c350354efb159b8767a6244c166f66e67506e06c8924ed74669b2c70bc8735b1"},
+    {file = "charset_normalizer-3.3.0-cp311-cp311-win32.whl", hash = "sha256:02af06682e3590ab952599fbadac535ede5d60d78848e555aa58d0c0abbde786"},
+    {file = "charset_normalizer-3.3.0-cp311-cp311-win_amd64.whl", hash = "sha256:86d1f65ac145e2c9ed71d8ffb1905e9bba3a91ae29ba55b4c46ae6fc31d7c0d4"},
+    {file = "charset_normalizer-3.3.0-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:3b447982ad46348c02cb90d230b75ac34e9886273df3a93eec0539308a6296d7"},
+    {file = "charset_normalizer-3.3.0-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:abf0d9f45ea5fb95051c8bfe43cb40cda383772f7e5023a83cc481ca2604d74e"},
+    {file = "charset_normalizer-3.3.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:b09719a17a2301178fac4470d54b1680b18a5048b481cb8890e1ef820cb80455"},
+    {file = "charset_normalizer-3.3.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b3d9b48ee6e3967b7901c052b670c7dda6deb812c309439adaffdec55c6d7b78"},
+    {file = "charset_normalizer-3.3.0-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:edfe077ab09442d4ef3c52cb1f9dab89bff02f4524afc0acf2d46be17dc479f5"},
+    {file = "charset_normalizer-3.3.0-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:3debd1150027933210c2fc321527c2299118aa929c2f5a0a80ab6953e3bd1908"},
+    {file = "charset_normalizer-3.3.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:86f63face3a527284f7bb8a9d4f78988e3c06823f7bea2bd6f0e0e9298ca0403"},
+    {file = "charset_normalizer-3.3.0-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:24817cb02cbef7cd499f7c9a2735286b4782bd47a5b3516a0e84c50eab44b98e"},
+    {file = "charset_normalizer-3.3.0-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:c71f16da1ed8949774ef79f4a0260d28b83b3a50c6576f8f4f0288d109777989"},
+    {file = "charset_normalizer-3.3.0-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:9cf3126b85822c4e53aa28c7ec9869b924d6fcfb76e77a45c44b83d91afd74f9"},
+    {file = "charset_normalizer-3.3.0-cp312-cp312-musllinux_1_1_ppc64le.whl", hash = "sha256:b3b2316b25644b23b54a6f6401074cebcecd1244c0b8e80111c9a3f1c8e83d65"},
+    {file = "charset_normalizer-3.3.0-cp312-cp312-musllinux_1_1_s390x.whl", hash = "sha256:03680bb39035fbcffe828eae9c3f8afc0428c91d38e7d61aa992ef7a59fb120e"},
+    {file = "charset_normalizer-3.3.0-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:4cc152c5dd831641e995764f9f0b6589519f6f5123258ccaca8c6d34572fefa8"},
+    {file = "charset_normalizer-3.3.0-cp312-cp312-win32.whl", hash = "sha256:b8f3307af845803fb0b060ab76cf6dd3a13adc15b6b451f54281d25911eb92df"},
+    {file = "charset_normalizer-3.3.0-cp312-cp312-win_amd64.whl", hash = "sha256:8eaf82f0eccd1505cf39a45a6bd0a8cf1c70dcfc30dba338207a969d91b965c0"},
+    {file = "charset_normalizer-3.3.0-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:dc45229747b67ffc441b3de2f3ae5e62877a282ea828a5bdb67883c4ee4a8810"},
+    {file = "charset_normalizer-3.3.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2f4a0033ce9a76e391542c182f0d48d084855b5fcba5010f707c8e8c34663d77"},
+    {file = "charset_normalizer-3.3.0-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:ada214c6fa40f8d800e575de6b91a40d0548139e5dc457d2ebb61470abf50186"},
+    {file = "charset_normalizer-3.3.0-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:b1121de0e9d6e6ca08289583d7491e7fcb18a439305b34a30b20d8215922d43c"},
+    {file = "charset_normalizer-3.3.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1063da2c85b95f2d1a430f1c33b55c9c17ffaf5e612e10aeaad641c55a9e2b9d"},
+    {file = "charset_normalizer-3.3.0-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:70f1d09c0d7748b73290b29219e854b3207aea922f839437870d8cc2168e31cc"},
+    {file = "charset_normalizer-3.3.0-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:250c9eb0f4600361dd80d46112213dff2286231d92d3e52af1e5a6083d10cad9"},
+    {file = "charset_normalizer-3.3.0-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:750b446b2ffce1739e8578576092179160f6d26bd5e23eb1789c4d64d5af7dc7"},
+    {file = "charset_normalizer-3.3.0-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:fc52b79d83a3fe3a360902d3f5d79073a993597d48114c29485e9431092905d8"},
+    {file = "charset_normalizer-3.3.0-cp37-cp37m-musllinux_1_1_s390x.whl", hash = "sha256:588245972aca710b5b68802c8cad9edaa98589b1b42ad2b53accd6910dad3545"},
+    {file = "charset_normalizer-3.3.0-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:e39c7eb31e3f5b1f88caff88bcff1b7f8334975b46f6ac6e9fc725d829bc35d4"},
+    {file = "charset_normalizer-3.3.0-cp37-cp37m-win32.whl", hash = "sha256:abecce40dfebbfa6abf8e324e1860092eeca6f7375c8c4e655a8afb61af58f2c"},
+    {file = "charset_normalizer-3.3.0-cp37-cp37m-win_amd64.whl", hash = "sha256:24a91a981f185721542a0b7c92e9054b7ab4fea0508a795846bc5b0abf8118d4"},
+    {file = "charset_normalizer-3.3.0-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:67b8cc9574bb518ec76dc8e705d4c39ae78bb96237cb533edac149352c1f39fe"},
+    {file = "charset_normalizer-3.3.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:ac71b2977fb90c35d41c9453116e283fac47bb9096ad917b8819ca8b943abecd"},
+    {file = "charset_normalizer-3.3.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:3ae38d325b512f63f8da31f826e6cb6c367336f95e418137286ba362925c877e"},
+    {file = "charset_normalizer-3.3.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:542da1178c1c6af8873e143910e2269add130a299c9106eef2594e15dae5e482"},
+    {file = "charset_normalizer-3.3.0-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:30a85aed0b864ac88309b7d94be09f6046c834ef60762a8833b660139cfbad13"},
+    {file = "charset_normalizer-3.3.0-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:aae32c93e0f64469f74ccc730a7cb21c7610af3a775157e50bbd38f816536b38"},
+    {file = "charset_normalizer-3.3.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:15b26ddf78d57f1d143bdf32e820fd8935d36abe8a25eb9ec0b5a71c82eb3895"},
+    {file = "charset_normalizer-3.3.0-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7f5d10bae5d78e4551b7be7a9b29643a95aded9d0f602aa2ba584f0388e7a557"},
+    {file = "charset_normalizer-3.3.0-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:249c6470a2b60935bafd1d1d13cd613f8cd8388d53461c67397ee6a0f5dce741"},
+    {file = "charset_normalizer-3.3.0-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:c5a74c359b2d47d26cdbbc7845e9662d6b08a1e915eb015d044729e92e7050b7"},
+    {file = "charset_normalizer-3.3.0-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:b5bcf60a228acae568e9911f410f9d9e0d43197d030ae5799e20dca8df588287"},
+    {file = "charset_normalizer-3.3.0-cp38-cp38-musllinux_1_1_s390x.whl", hash = "sha256:187d18082694a29005ba2944c882344b6748d5be69e3a89bf3cc9d878e548d5a"},
+    {file = "charset_normalizer-3.3.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:81bf654678e575403736b85ba3a7867e31c2c30a69bc57fe88e3ace52fb17b89"},
+    {file = "charset_normalizer-3.3.0-cp38-cp38-win32.whl", hash = "sha256:85a32721ddde63c9df9ebb0d2045b9691d9750cb139c161c80e500d210f5e26e"},
+    {file = "charset_normalizer-3.3.0-cp38-cp38-win_amd64.whl", hash = "sha256:468d2a840567b13a590e67dd276c570f8de00ed767ecc611994c301d0f8c014f"},
+    {file = "charset_normalizer-3.3.0-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:e0fc42822278451bc13a2e8626cf2218ba570f27856b536e00cfa53099724828"},
+    {file = "charset_normalizer-3.3.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:09c77f964f351a7369cc343911e0df63e762e42bac24cd7d18525961c81754f4"},
+    {file = "charset_normalizer-3.3.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:12ebea541c44fdc88ccb794a13fe861cc5e35d64ed689513a5c03d05b53b7c82"},
+    {file = "charset_normalizer-3.3.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:805dfea4ca10411a5296bcc75638017215a93ffb584c9e344731eef0dcfb026a"},
+    {file = "charset_normalizer-3.3.0-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:96c2b49eb6a72c0e4991d62406e365d87067ca14c1a729a870d22354e6f68115"},
+    {file = "charset_normalizer-3.3.0-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:aaf7b34c5bc56b38c931a54f7952f1ff0ae77a2e82496583b247f7c969eb1479"},
+    {file = "charset_normalizer-3.3.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:619d1c96099be5823db34fe89e2582b336b5b074a7f47f819d6b3a57ff7bdb86"},
+    {file = "charset_normalizer-3.3.0-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a0ac5e7015a5920cfce654c06618ec40c33e12801711da6b4258af59a8eff00a"},
+    {file = "charset_normalizer-3.3.0-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:93aa7eef6ee71c629b51ef873991d6911b906d7312c6e8e99790c0f33c576f89"},
+    {file = "charset_normalizer-3.3.0-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:7966951325782121e67c81299a031f4c115615e68046f79b85856b86ebffc4cd"},
+    {file = "charset_normalizer-3.3.0-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:02673e456dc5ab13659f85196c534dc596d4ef260e4d86e856c3b2773ce09843"},
+    {file = "charset_normalizer-3.3.0-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:c2af80fb58f0f24b3f3adcb9148e6203fa67dd3f61c4af146ecad033024dde43"},
+    {file = "charset_normalizer-3.3.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:153e7b6e724761741e0974fc4dcd406d35ba70b92bfe3fedcb497226c93b9da7"},
+    {file = "charset_normalizer-3.3.0-cp39-cp39-win32.whl", hash = "sha256:d47ecf253780c90ee181d4d871cd655a789da937454045b17b5798da9393901a"},
+    {file = "charset_normalizer-3.3.0-cp39-cp39-win_amd64.whl", hash = "sha256:d97d85fa63f315a8bdaba2af9a6a686e0eceab77b3089af45133252618e70884"},
+    {file = "charset_normalizer-3.3.0-py3-none-any.whl", hash = "sha256:e46cd37076971c1040fc8c41273a8b3e2c624ce4f2be3f5dfcb7a430c1d3acc2"},
 ]
 
 [[package]]
@@ -734,59 +740,72 @@ cron = ["capturer (>=2.4)"]
 
 [[package]]
 name = "contourpy"
-version = "1.1.0"
+version = "1.1.1"
 description = "Python library for calculating contours of 2D quadrilateral grids"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "contourpy-1.1.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:89f06eff3ce2f4b3eb24c1055a26981bffe4e7264acd86f15b97e40530b794bc"},
-    {file = "contourpy-1.1.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:dffcc2ddec1782dd2f2ce1ef16f070861af4fb78c69862ce0aab801495dda6a3"},
-    {file = "contourpy-1.1.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:25ae46595e22f93592d39a7eac3d638cda552c3e1160255258b695f7b58e5655"},
-    {file = "contourpy-1.1.0-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:17cfaf5ec9862bc93af1ec1f302457371c34e688fbd381f4035a06cd47324f48"},
-    {file = "contourpy-1.1.0-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:18a64814ae7bce73925131381603fff0116e2df25230dfc80d6d690aa6e20b37"},
-    {file = "contourpy-1.1.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:90c81f22b4f572f8a2110b0b741bb64e5a6427e0a198b2cdc1fbaf85f352a3aa"},
-    {file = "contourpy-1.1.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:53cc3a40635abedbec7f1bde60f8c189c49e84ac180c665f2cd7c162cc454baa"},
-    {file = "contourpy-1.1.0-cp310-cp310-win_amd64.whl", hash = "sha256:1f795597073b09d631782e7245016a4323cf1cf0b4e06eef7ea6627e06a37ff2"},
-    {file = "contourpy-1.1.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:0b7b04ed0961647691cfe5d82115dd072af7ce8846d31a5fac6c142dcce8b882"},
-    {file = "contourpy-1.1.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:27bc79200c742f9746d7dd51a734ee326a292d77e7d94c8af6e08d1e6c15d545"},
-    {file = "contourpy-1.1.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:052cc634bf903c604ef1a00a5aa093c54f81a2612faedaa43295809ffdde885e"},
-    {file = "contourpy-1.1.0-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:9382a1c0bc46230fb881c36229bfa23d8c303b889b788b939365578d762b5c18"},
-    {file = "contourpy-1.1.0-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:e5cec36c5090e75a9ac9dbd0ff4a8cf7cecd60f1b6dc23a374c7d980a1cd710e"},
-    {file = "contourpy-1.1.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1f0cbd657e9bde94cd0e33aa7df94fb73c1ab7799378d3b3f902eb8eb2e04a3a"},
-    {file = "contourpy-1.1.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:181cbace49874f4358e2929aaf7ba84006acb76694102e88dd15af861996c16e"},
-    {file = "contourpy-1.1.0-cp311-cp311-win_amd64.whl", hash = "sha256:fb3b7d9e6243bfa1efb93ccfe64ec610d85cfe5aec2c25f97fbbd2e58b531256"},
-    {file = "contourpy-1.1.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:bcb41692aa09aeb19c7c213411854402f29f6613845ad2453d30bf421fe68fed"},
-    {file = "contourpy-1.1.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:5d123a5bc63cd34c27ff9c7ac1cd978909e9c71da12e05be0231c608048bb2ae"},
-    {file = "contourpy-1.1.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:62013a2cf68abc80dadfd2307299bfa8f5aa0dcaec5b2954caeb5fa094171103"},
-    {file = "contourpy-1.1.0-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:0b6616375d7de55797d7a66ee7d087efe27f03d336c27cf1f32c02b8c1a5ac70"},
-    {file = "contourpy-1.1.0-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:317267d915490d1e84577924bd61ba71bf8681a30e0d6c545f577363157e5e94"},
-    {file = "contourpy-1.1.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d551f3a442655f3dcc1285723f9acd646ca5858834efeab4598d706206b09c9f"},
-    {file = "contourpy-1.1.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:e7a117ce7df5a938fe035cad481b0189049e8d92433b4b33aa7fc609344aafa1"},
-    {file = "contourpy-1.1.0-cp38-cp38-win_amd64.whl", hash = "sha256:d4f26b25b4f86087e7d75e63212756c38546e70f2a92d2be44f80114826e1cd4"},
-    {file = "contourpy-1.1.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:bc00bb4225d57bff7ebb634646c0ee2a1298402ec10a5fe7af79df9a51c1bfd9"},
-    {file = "contourpy-1.1.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:189ceb1525eb0655ab8487a9a9c41f42a73ba52d6789754788d1883fb06b2d8a"},
-    {file = "contourpy-1.1.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9f2931ed4741f98f74b410b16e5213f71dcccee67518970c42f64153ea9313b9"},
-    {file = "contourpy-1.1.0-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:30f511c05fab7f12e0b1b7730ebdc2ec8deedcfb505bc27eb570ff47c51a8f15"},
-    {file = "contourpy-1.1.0-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:143dde50520a9f90e4a2703f367cf8ec96a73042b72e68fcd184e1279962eb6f"},
-    {file = "contourpy-1.1.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e94bef2580e25b5fdb183bf98a2faa2adc5b638736b2c0a4da98691da641316a"},
-    {file = "contourpy-1.1.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:ed614aea8462735e7d70141374bd7650afd1c3f3cb0c2dbbcbe44e14331bf002"},
-    {file = "contourpy-1.1.0-cp39-cp39-win_amd64.whl", hash = "sha256:438ba416d02f82b692e371858143970ed2eb6337d9cdbbede0d8ad9f3d7dd17d"},
-    {file = "contourpy-1.1.0-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:a698c6a7a432789e587168573a864a7ea374c6be8d4f31f9d87c001d5a843493"},
-    {file = "contourpy-1.1.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:397b0ac8a12880412da3551a8cb5a187d3298a72802b45a3bd1805e204ad8439"},
-    {file = "contourpy-1.1.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:a67259c2b493b00e5a4d0f7bfae51fb4b3371395e47d079a4446e9b0f4d70e76"},
-    {file = "contourpy-1.1.0-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:2b836d22bd2c7bb2700348e4521b25e077255ebb6ab68e351ab5aa91ca27e027"},
-    {file = "contourpy-1.1.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:084eaa568400cfaf7179b847ac871582199b1b44d5699198e9602ecbbb5f6104"},
-    {file = "contourpy-1.1.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:911ff4fd53e26b019f898f32db0d4956c9d227d51338fb3b03ec72ff0084ee5f"},
-    {file = "contourpy-1.1.0.tar.gz", hash = "sha256:e53046c3863828d21d531cc3b53786e6580eb1ba02477e8681009b6aa0870b21"},
+    {file = "contourpy-1.1.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:46e24f5412c948d81736509377e255f6040e94216bf1a9b5ea1eaa9d29f6ec1b"},
+    {file = "contourpy-1.1.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:0e48694d6a9c5a26ee85b10130c77a011a4fedf50a7279fa0bdaf44bafb4299d"},
+    {file = "contourpy-1.1.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a66045af6cf00e19d02191ab578a50cb93b2028c3eefed999793698e9ea768ae"},
+    {file = "contourpy-1.1.1-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:4ebf42695f75ee1a952f98ce9775c873e4971732a87334b099dde90b6af6a916"},
+    {file = "contourpy-1.1.1-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:f6aec19457617ef468ff091669cca01fa7ea557b12b59a7908b9474bb9674cf0"},
+    {file = "contourpy-1.1.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:462c59914dc6d81e0b11f37e560b8a7c2dbab6aca4f38be31519d442d6cde1a1"},
+    {file = "contourpy-1.1.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:6d0a8efc258659edc5299f9ef32d8d81de8b53b45d67bf4bfa3067f31366764d"},
+    {file = "contourpy-1.1.1-cp310-cp310-win32.whl", hash = "sha256:d6ab42f223e58b7dac1bb0af32194a7b9311065583cc75ff59dcf301afd8a431"},
+    {file = "contourpy-1.1.1-cp310-cp310-win_amd64.whl", hash = "sha256:549174b0713d49871c6dee90a4b499d3f12f5e5f69641cd23c50a4542e2ca1eb"},
+    {file = "contourpy-1.1.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:407d864db716a067cc696d61fa1ef6637fedf03606e8417fe2aeed20a061e6b2"},
+    {file = "contourpy-1.1.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:dfe80c017973e6a4c367e037cb31601044dd55e6bfacd57370674867d15a899b"},
+    {file = "contourpy-1.1.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e30aaf2b8a2bac57eb7e1650df1b3a4130e8d0c66fc2f861039d507a11760e1b"},
+    {file = "contourpy-1.1.1-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:3de23ca4f381c3770dee6d10ead6fff524d540c0f662e763ad1530bde5112532"},
+    {file = "contourpy-1.1.1-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:566f0e41df06dfef2431defcfaa155f0acfa1ca4acbf8fd80895b1e7e2ada40e"},
+    {file = "contourpy-1.1.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b04c2f0adaf255bf756cf08ebef1be132d3c7a06fe6f9877d55640c5e60c72c5"},
+    {file = "contourpy-1.1.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:d0c188ae66b772d9d61d43c6030500344c13e3f73a00d1dc241da896f379bb62"},
+    {file = "contourpy-1.1.1-cp311-cp311-win32.whl", hash = "sha256:0683e1ae20dc038075d92e0e0148f09ffcefab120e57f6b4c9c0f477ec171f33"},
+    {file = "contourpy-1.1.1-cp311-cp311-win_amd64.whl", hash = "sha256:8636cd2fc5da0fb102a2504fa2c4bea3cbc149533b345d72cdf0e7a924decc45"},
+    {file = "contourpy-1.1.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:560f1d68a33e89c62da5da4077ba98137a5e4d3a271b29f2f195d0fba2adcb6a"},
+    {file = "contourpy-1.1.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:24216552104ae8f3b34120ef84825400b16eb6133af2e27a190fdc13529f023e"},
+    {file = "contourpy-1.1.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:56de98a2fb23025882a18b60c7f0ea2d2d70bbbcfcf878f9067234b1c4818442"},
+    {file = "contourpy-1.1.1-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:07d6f11dfaf80a84c97f1a5ba50d129d9303c5b4206f776e94037332e298dda8"},
+    {file = "contourpy-1.1.1-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:f1eaac5257a8f8a047248d60e8f9315c6cff58f7803971170d952555ef6344a7"},
+    {file = "contourpy-1.1.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:19557fa407e70f20bfaba7d55b4d97b14f9480856c4fb65812e8a05fe1c6f9bf"},
+    {file = "contourpy-1.1.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:081f3c0880712e40effc5f4c3b08feca6d064cb8cfbb372ca548105b86fd6c3d"},
+    {file = "contourpy-1.1.1-cp312-cp312-win32.whl", hash = "sha256:059c3d2a94b930f4dafe8105bcdc1b21de99b30b51b5bce74c753686de858cb6"},
+    {file = "contourpy-1.1.1-cp312-cp312-win_amd64.whl", hash = "sha256:f44d78b61740e4e8c71db1cf1fd56d9050a4747681c59ec1094750a658ceb970"},
+    {file = "contourpy-1.1.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:70e5a10f8093d228bb2b552beeb318b8928b8a94763ef03b858ef3612b29395d"},
+    {file = "contourpy-1.1.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:8394e652925a18ef0091115e3cc191fef350ab6dc3cc417f06da66bf98071ae9"},
+    {file = "contourpy-1.1.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c5bd5680f844c3ff0008523a71949a3ff5e4953eb7701b28760805bc9bcff217"},
+    {file = "contourpy-1.1.1-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:66544f853bfa85c0d07a68f6c648b2ec81dafd30f272565c37ab47a33b220684"},
+    {file = "contourpy-1.1.1-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:e0c02b75acfea5cab07585d25069207e478d12309557f90a61b5a3b4f77f46ce"},
+    {file = "contourpy-1.1.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:41339b24471c58dc1499e56783fedc1afa4bb018bcd035cfb0ee2ad2a7501ef8"},
+    {file = "contourpy-1.1.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:f29fb0b3f1217dfe9362ec55440d0743fe868497359f2cf93293f4b2701b8251"},
+    {file = "contourpy-1.1.1-cp38-cp38-win32.whl", hash = "sha256:f9dc7f933975367251c1b34da882c4f0e0b2e24bb35dc906d2f598a40b72bfc7"},
+    {file = "contourpy-1.1.1-cp38-cp38-win_amd64.whl", hash = "sha256:498e53573e8b94b1caeb9e62d7c2d053c263ebb6aa259c81050766beb50ff8d9"},
+    {file = "contourpy-1.1.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:ba42e3810999a0ddd0439e6e5dbf6d034055cdc72b7c5c839f37a7c274cb4eba"},
+    {file = "contourpy-1.1.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:6c06e4c6e234fcc65435223c7b2a90f286b7f1b2733058bdf1345d218cc59e34"},
+    {file = "contourpy-1.1.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ca6fab080484e419528e98624fb5c4282148b847e3602dc8dbe0cb0669469887"},
+    {file = "contourpy-1.1.1-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:93df44ab351119d14cd1e6b52a5063d3336f0754b72736cc63db59307dabb718"},
+    {file = "contourpy-1.1.1-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:eafbef886566dc1047d7b3d4b14db0d5b7deb99638d8e1be4e23a7c7ac59ff0f"},
+    {file = "contourpy-1.1.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:efe0fab26d598e1ec07d72cf03eaeeba8e42b4ecf6b9ccb5a356fde60ff08b85"},
+    {file = "contourpy-1.1.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:f08e469821a5e4751c97fcd34bcb586bc243c39c2e39321822060ba902eac49e"},
+    {file = "contourpy-1.1.1-cp39-cp39-win32.whl", hash = "sha256:bfc8a5e9238232a45ebc5cb3bfee71f1167064c8d382cadd6076f0d51cff1da0"},
+    {file = "contourpy-1.1.1-cp39-cp39-win_amd64.whl", hash = "sha256:c84fdf3da00c2827d634de4fcf17e3e067490c4aea82833625c4c8e6cdea0887"},
+    {file = "contourpy-1.1.1-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:229a25f68046c5cf8067d6d6351c8b99e40da11b04d8416bf8d2b1d75922521e"},
+    {file = "contourpy-1.1.1-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a10dab5ea1bd4401c9483450b5b0ba5416be799bbd50fc7a6cc5e2a15e03e8a3"},
+    {file = "contourpy-1.1.1-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:4f9147051cb8fdb29a51dc2482d792b3b23e50f8f57e3720ca2e3d438b7adf23"},
+    {file = "contourpy-1.1.1-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:a75cc163a5f4531a256f2c523bd80db509a49fc23721b36dd1ef2f60ff41c3cb"},
+    {file = "contourpy-1.1.1-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3b53d5769aa1f2d4ea407c65f2d1d08002952fac1d9e9d307aa2e1023554a163"},
+    {file = "contourpy-1.1.1-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:11b836b7dbfb74e049c302bbf74b4b8f6cb9d0b6ca1bf86cfa8ba144aedadd9c"},
+    {file = "contourpy-1.1.1.tar.gz", hash = "sha256:96ba37c2e24b7212a77da85004c38e7c4d155d3e72a45eeaf22c1f03f607e8ab"},
 ]
 
 [package.dependencies]
-numpy = ">=1.16"
+numpy = {version = ">=1.16,<2.0", markers = "python_version <= \"3.11\""}
 
 [package.extras]
 bokeh = ["bokeh", "selenium"]
-docs = ["furo", "sphinx-copybutton"]
-mypy = ["contourpy[bokeh,docs]", "docutils-stubs", "mypy (==1.2.0)", "types-Pillow"]
+docs = ["furo", "sphinx (>=7.2)", "sphinx-copybutton"]
+mypy = ["contourpy[bokeh,docs]", "docutils-stubs", "mypy (==1.4.1)", "types-Pillow"]
 test = ["Pillow", "contourpy[test-no-images]", "matplotlib"]
 test-no-images = ["pytest", "pytest-cov", "wurlitzer"]
 
@@ -813,63 +832,63 @@ test = ["pytest", "pytest-timeout"]
 
 [[package]]
 name = "coverage"
-version = "7.3.1"
+version = "7.3.2"
 description = "Code coverage measurement for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "coverage-7.3.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:cd0f7429ecfd1ff597389907045ff209c8fdb5b013d38cfa7c60728cb484b6e3"},
-    {file = "coverage-7.3.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:966f10df9b2b2115da87f50f6a248e313c72a668248be1b9060ce935c871f276"},
-    {file = "coverage-7.3.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0575c37e207bb9b98b6cf72fdaaa18ac909fb3d153083400c2d48e2e6d28bd8e"},
-    {file = "coverage-7.3.1-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:245c5a99254e83875c7fed8b8b2536f040997a9b76ac4c1da5bff398c06e860f"},
-    {file = "coverage-7.3.1-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4c96dd7798d83b960afc6c1feb9e5af537fc4908852ef025600374ff1a017392"},
-    {file = "coverage-7.3.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:de30c1aa80f30af0f6b2058a91505ea6e36d6535d437520067f525f7df123887"},
-    {file = "coverage-7.3.1-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:50dd1e2dd13dbbd856ffef69196781edff26c800a74f070d3b3e3389cab2600d"},
-    {file = "coverage-7.3.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:b9c0c19f70d30219113b18fe07e372b244fb2a773d4afde29d5a2f7930765136"},
-    {file = "coverage-7.3.1-cp310-cp310-win32.whl", hash = "sha256:770f143980cc16eb601ccfd571846e89a5fe4c03b4193f2e485268f224ab602f"},
-    {file = "coverage-7.3.1-cp310-cp310-win_amd64.whl", hash = "sha256:cdd088c00c39a27cfa5329349cc763a48761fdc785879220d54eb785c8a38520"},
-    {file = "coverage-7.3.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:74bb470399dc1989b535cb41f5ca7ab2af561e40def22d7e188e0a445e7639e3"},
-    {file = "coverage-7.3.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:025ded371f1ca280c035d91b43252adbb04d2aea4c7105252d3cbc227f03b375"},
-    {file = "coverage-7.3.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a6191b3a6ad3e09b6cfd75b45c6aeeffe7e3b0ad46b268345d159b8df8d835f9"},
-    {file = "coverage-7.3.1-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7eb0b188f30e41ddd659a529e385470aa6782f3b412f860ce22b2491c89b8593"},
-    {file = "coverage-7.3.1-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:75c8f0df9dfd8ff745bccff75867d63ef336e57cc22b2908ee725cc552689ec8"},
-    {file = "coverage-7.3.1-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:7eb3cd48d54b9bd0e73026dedce44773214064be93611deab0b6a43158c3d5a0"},
-    {file = "coverage-7.3.1-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:ac3c5b7e75acac31e490b7851595212ed951889918d398b7afa12736c85e13ce"},
-    {file = "coverage-7.3.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:5b4ee7080878077af0afa7238df1b967f00dc10763f6e1b66f5cced4abebb0a3"},
-    {file = "coverage-7.3.1-cp311-cp311-win32.whl", hash = "sha256:229c0dd2ccf956bf5aeede7e3131ca48b65beacde2029f0361b54bf93d36f45a"},
-    {file = "coverage-7.3.1-cp311-cp311-win_amd64.whl", hash = "sha256:c6f55d38818ca9596dc9019eae19a47410d5322408140d9a0076001a3dcb938c"},
-    {file = "coverage-7.3.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:5289490dd1c3bb86de4730a92261ae66ea8d44b79ed3cc26464f4c2cde581fbc"},
-    {file = "coverage-7.3.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:ca833941ec701fda15414be400c3259479bfde7ae6d806b69e63b3dc423b1832"},
-    {file = "coverage-7.3.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cd694e19c031733e446c8024dedd12a00cda87e1c10bd7b8539a87963685e969"},
-    {file = "coverage-7.3.1-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:aab8e9464c00da5cb9c536150b7fbcd8850d376d1151741dd0d16dfe1ba4fd26"},
-    {file = "coverage-7.3.1-cp312-cp312-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:87d38444efffd5b056fcc026c1e8d862191881143c3aa80bb11fcf9dca9ae204"},
-    {file = "coverage-7.3.1-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:8a07b692129b8a14ad7a37941a3029c291254feb7a4237f245cfae2de78de037"},
-    {file = "coverage-7.3.1-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:2829c65c8faaf55b868ed7af3c7477b76b1c6ebeee99a28f59a2cb5907a45760"},
-    {file = "coverage-7.3.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:1f111a7d85658ea52ffad7084088277135ec5f368457275fc57f11cebb15607f"},
-    {file = "coverage-7.3.1-cp312-cp312-win32.whl", hash = "sha256:c397c70cd20f6df7d2a52283857af622d5f23300c4ca8e5bd8c7a543825baa5a"},
-    {file = "coverage-7.3.1-cp312-cp312-win_amd64.whl", hash = "sha256:5ae4c6da8b3d123500f9525b50bf0168023313963e0e2e814badf9000dd6ef92"},
-    {file = "coverage-7.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:ca70466ca3a17460e8fc9cea7123c8cbef5ada4be3140a1ef8f7b63f2f37108f"},
-    {file = "coverage-7.3.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:f2781fd3cabc28278dc982a352f50c81c09a1a500cc2086dc4249853ea96b981"},
-    {file = "coverage-7.3.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6407424621f40205bbe6325686417e5e552f6b2dba3535dd1f90afc88a61d465"},
-    {file = "coverage-7.3.1-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:04312b036580ec505f2b77cbbdfb15137d5efdfade09156961f5277149f5e344"},
-    {file = "coverage-7.3.1-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ac9ad38204887349853d7c313f53a7b1c210ce138c73859e925bc4e5d8fc18e7"},
-    {file = "coverage-7.3.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:53669b79f3d599da95a0afbef039ac0fadbb236532feb042c534fbb81b1a4e40"},
-    {file = "coverage-7.3.1-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:614f1f98b84eb256e4f35e726bfe5ca82349f8dfa576faabf8a49ca09e630086"},
-    {file = "coverage-7.3.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:f1a317fdf5c122ad642db8a97964733ab7c3cf6009e1a8ae8821089993f175ff"},
-    {file = "coverage-7.3.1-cp38-cp38-win32.whl", hash = "sha256:defbbb51121189722420a208957e26e49809feafca6afeef325df66c39c4fdb3"},
-    {file = "coverage-7.3.1-cp38-cp38-win_amd64.whl", hash = "sha256:f4f456590eefb6e1b3c9ea6328c1e9fa0f1006e7481179d749b3376fc793478e"},
-    {file = "coverage-7.3.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:f12d8b11a54f32688b165fd1a788c408f927b0960984b899be7e4c190ae758f1"},
-    {file = "coverage-7.3.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:f09195dda68d94a53123883de75bb97b0e35f5f6f9f3aa5bf6e496da718f0cb6"},
-    {file = "coverage-7.3.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c6601a60318f9c3945be6ea0f2a80571f4299b6801716f8a6e4846892737ebe4"},
-    {file = "coverage-7.3.1-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:07d156269718670d00a3b06db2288b48527fc5f36859425ff7cec07c6b367745"},
-    {file = "coverage-7.3.1-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:636a8ac0b044cfeccae76a36f3b18264edcc810a76a49884b96dd744613ec0b7"},
-    {file = "coverage-7.3.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:5d991e13ad2ed3aced177f524e4d670f304c8233edad3210e02c465351f785a0"},
-    {file = "coverage-7.3.1-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:586649ada7cf139445da386ab6f8ef00e6172f11a939fc3b2b7e7c9082052fa0"},
-    {file = "coverage-7.3.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:4aba512a15a3e1e4fdbfed2f5392ec221434a614cc68100ca99dcad7af29f3f8"},
-    {file = "coverage-7.3.1-cp39-cp39-win32.whl", hash = "sha256:6bc6f3f4692d806831c136c5acad5ccedd0262aa44c087c46b7101c77e139140"},
-    {file = "coverage-7.3.1-cp39-cp39-win_amd64.whl", hash = "sha256:553d7094cb27db58ea91332e8b5681bac107e7242c23f7629ab1316ee73c4981"},
-    {file = "coverage-7.3.1-pp38.pp39.pp310-none-any.whl", hash = "sha256:220eb51f5fb38dfdb7e5d54284ca4d0cd70ddac047d750111a68ab1798945194"},
-    {file = "coverage-7.3.1.tar.gz", hash = "sha256:6cb7fe1581deb67b782c153136541e20901aa312ceedaf1467dcb35255787952"},
+    {file = "coverage-7.3.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:d872145f3a3231a5f20fd48500274d7df222e291d90baa2026cc5152b7ce86bf"},
+    {file = "coverage-7.3.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:310b3bb9c91ea66d59c53fa4989f57d2436e08f18fb2f421a1b0b6b8cc7fffda"},
+    {file = "coverage-7.3.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f47d39359e2c3779c5331fc740cf4bce6d9d680a7b4b4ead97056a0ae07cb49a"},
+    {file = "coverage-7.3.2-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:aa72dbaf2c2068404b9870d93436e6d23addd8bbe9295f49cbca83f6e278179c"},
+    {file = "coverage-7.3.2-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:beaa5c1b4777f03fc63dfd2a6bd820f73f036bfb10e925fce067b00a340d0f3f"},
+    {file = "coverage-7.3.2-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:dbc1b46b92186cc8074fee9d9fbb97a9dd06c6cbbef391c2f59d80eabdf0faa6"},
+    {file = "coverage-7.3.2-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:315a989e861031334d7bee1f9113c8770472db2ac484e5b8c3173428360a9148"},
+    {file = "coverage-7.3.2-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:d1bc430677773397f64a5c88cb522ea43175ff16f8bfcc89d467d974cb2274f9"},
+    {file = "coverage-7.3.2-cp310-cp310-win32.whl", hash = "sha256:a889ae02f43aa45032afe364c8ae84ad3c54828c2faa44f3bfcafecb5c96b02f"},
+    {file = "coverage-7.3.2-cp310-cp310-win_amd64.whl", hash = "sha256:c0ba320de3fb8c6ec16e0be17ee1d3d69adcda99406c43c0409cb5c41788a611"},
+    {file = "coverage-7.3.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:ac8c802fa29843a72d32ec56d0ca792ad15a302b28ca6203389afe21f8fa062c"},
+    {file = "coverage-7.3.2-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:89a937174104339e3a3ffcf9f446c00e3a806c28b1841c63edb2b369310fd074"},
+    {file = "coverage-7.3.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e267e9e2b574a176ddb983399dec325a80dbe161f1a32715c780b5d14b5f583a"},
+    {file = "coverage-7.3.2-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2443cbda35df0d35dcfb9bf8f3c02c57c1d6111169e3c85fc1fcc05e0c9f39a3"},
+    {file = "coverage-7.3.2-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4175e10cc8dda0265653e8714b3174430b07c1dca8957f4966cbd6c2b1b8065a"},
+    {file = "coverage-7.3.2-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:0cbf38419fb1a347aaf63481c00f0bdc86889d9fbf3f25109cf96c26b403fda1"},
+    {file = "coverage-7.3.2-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:5c913b556a116b8d5f6ef834038ba983834d887d82187c8f73dec21049abd65c"},
+    {file = "coverage-7.3.2-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:1981f785239e4e39e6444c63a98da3a1db8e971cb9ceb50a945ba6296b43f312"},
+    {file = "coverage-7.3.2-cp311-cp311-win32.whl", hash = "sha256:43668cabd5ca8258f5954f27a3aaf78757e6acf13c17604d89648ecc0cc66640"},
+    {file = "coverage-7.3.2-cp311-cp311-win_amd64.whl", hash = "sha256:e10c39c0452bf6e694511c901426d6b5ac005acc0f78ff265dbe36bf81f808a2"},
+    {file = "coverage-7.3.2-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:4cbae1051ab791debecc4a5dcc4a1ff45fc27b91b9aee165c8a27514dd160836"},
+    {file = "coverage-7.3.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:12d15ab5833a997716d76f2ac1e4b4d536814fc213c85ca72756c19e5a6b3d63"},
+    {file = "coverage-7.3.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3c7bba973ebee5e56fe9251300c00f1579652587a9f4a5ed8404b15a0471f216"},
+    {file = "coverage-7.3.2-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:fe494faa90ce6381770746077243231e0b83ff3f17069d748f645617cefe19d4"},
+    {file = "coverage-7.3.2-cp312-cp312-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f6e9589bd04d0461a417562649522575d8752904d35c12907d8c9dfeba588faf"},
+    {file = "coverage-7.3.2-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:d51ac2a26f71da1b57f2dc81d0e108b6ab177e7d30e774db90675467c847bbdf"},
+    {file = "coverage-7.3.2-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:99b89d9f76070237975b315b3d5f4d6956ae354a4c92ac2388a5695516e47c84"},
+    {file = "coverage-7.3.2-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:fa28e909776dc69efb6ed975a63691bc8172b64ff357e663a1bb06ff3c9b589a"},
+    {file = "coverage-7.3.2-cp312-cp312-win32.whl", hash = "sha256:289fe43bf45a575e3ab10b26d7b6f2ddb9ee2dba447499f5401cfb5ecb8196bb"},
+    {file = "coverage-7.3.2-cp312-cp312-win_amd64.whl", hash = "sha256:7dbc3ed60e8659bc59b6b304b43ff9c3ed858da2839c78b804973f613d3e92ed"},
+    {file = "coverage-7.3.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:f94b734214ea6a36fe16e96a70d941af80ff3bfd716c141300d95ebc85339738"},
+    {file = "coverage-7.3.2-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:af3d828d2c1cbae52d34bdbb22fcd94d1ce715d95f1a012354a75e5913f1bda2"},
+    {file = "coverage-7.3.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:630b13e3036e13c7adc480ca42fa7afc2a5d938081d28e20903cf7fd687872e2"},
+    {file = "coverage-7.3.2-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c9eacf273e885b02a0273bb3a2170f30e2d53a6d53b72dbe02d6701b5296101c"},
+    {file = "coverage-7.3.2-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d8f17966e861ff97305e0801134e69db33b143bbfb36436efb9cfff6ec7b2fd9"},
+    {file = "coverage-7.3.2-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:b4275802d16882cf9c8b3d057a0839acb07ee9379fa2749eca54efbce1535b82"},
+    {file = "coverage-7.3.2-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:72c0cfa5250f483181e677ebc97133ea1ab3eb68645e494775deb6a7f6f83901"},
+    {file = "coverage-7.3.2-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:cb536f0dcd14149425996821a168f6e269d7dcd2c273a8bff8201e79f5104e76"},
+    {file = "coverage-7.3.2-cp38-cp38-win32.whl", hash = "sha256:307adb8bd3abe389a471e649038a71b4eb13bfd6b7dd9a129fa856f5c695cf92"},
+    {file = "coverage-7.3.2-cp38-cp38-win_amd64.whl", hash = "sha256:88ed2c30a49ea81ea3b7f172e0269c182a44c236eb394718f976239892c0a27a"},
+    {file = "coverage-7.3.2-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:b631c92dfe601adf8f5ebc7fc13ced6bb6e9609b19d9a8cd59fa47c4186ad1ce"},
+    {file = "coverage-7.3.2-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:d3d9df4051c4a7d13036524b66ecf7a7537d14c18a384043f30a303b146164e9"},
+    {file = "coverage-7.3.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5f7363d3b6a1119ef05015959ca24a9afc0ea8a02c687fe7e2d557705375c01f"},
+    {file = "coverage-7.3.2-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2f11cc3c967a09d3695d2a6f03fb3e6236622b93be7a4b5dc09166a861be6d25"},
+    {file = "coverage-7.3.2-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:149de1d2401ae4655c436a3dced6dd153f4c3309f599c3d4bd97ab172eaf02d9"},
+    {file = "coverage-7.3.2-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:3a4006916aa6fee7cd38db3bfc95aa9c54ebb4ffbfc47c677c8bba949ceba0a6"},
+    {file = "coverage-7.3.2-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:9028a3871280110d6e1aa2df1afd5ef003bab5fb1ef421d6dc748ae1c8ef2ebc"},
+    {file = "coverage-7.3.2-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:9f805d62aec8eb92bab5b61c0f07329275b6f41c97d80e847b03eb894f38d083"},
+    {file = "coverage-7.3.2-cp39-cp39-win32.whl", hash = "sha256:d1c88ec1a7ff4ebca0219f5b1ef863451d828cccf889c173e1253aa84b1e07ce"},
+    {file = "coverage-7.3.2-cp39-cp39-win_amd64.whl", hash = "sha256:b4767da59464bb593c07afceaddea61b154136300881844768037fd5e859353f"},
+    {file = "coverage-7.3.2-pp38.pp39.pp310-none-any.whl", hash = "sha256:ae97af89f0fbf373400970c0a21eef5aa941ffeed90aee43650b81f7d7f47637"},
+    {file = "coverage-7.3.2.tar.gz", hash = "sha256:be32ad29341b0170e795ca590e1c07e81fc061cb5b10c74ce7203491484404ef"},
 ]
 
 [package.extras]
@@ -887,34 +906,34 @@ files = [
 
 [[package]]
 name = "cryptography"
-version = "41.0.3"
+version = "41.0.4"
 description = "cryptography is a package which provides cryptographic recipes and primitives to Python developers."
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "cryptography-41.0.3-cp37-abi3-macosx_10_12_universal2.whl", hash = "sha256:652627a055cb52a84f8c448185922241dd5217443ca194d5739b44612c5e6507"},
-    {file = "cryptography-41.0.3-cp37-abi3-macosx_10_12_x86_64.whl", hash = "sha256:8f09daa483aedea50d249ef98ed500569841d6498aa9c9f4b0531b9964658922"},
-    {file = "cryptography-41.0.3-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4fd871184321100fb400d759ad0cddddf284c4b696568204d281c902fc7b0d81"},
-    {file = "cryptography-41.0.3-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:84537453d57f55a50a5b6835622ee405816999a7113267739a1b4581f83535bd"},
-    {file = "cryptography-41.0.3-cp37-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:3fb248989b6363906827284cd20cca63bb1a757e0a2864d4c1682a985e3dca47"},
-    {file = "cryptography-41.0.3-cp37-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:42cb413e01a5d36da9929baa9d70ca90d90b969269e5a12d39c1e0d475010116"},
-    {file = "cryptography-41.0.3-cp37-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:aeb57c421b34af8f9fe830e1955bf493a86a7996cc1338fe41b30047d16e962c"},
-    {file = "cryptography-41.0.3-cp37-abi3-musllinux_1_1_x86_64.whl", hash = "sha256:6af1c6387c531cd364b72c28daa29232162010d952ceb7e5ca8e2827526aceae"},
-    {file = "cryptography-41.0.3-cp37-abi3-win32.whl", hash = "sha256:0d09fb5356f975974dbcb595ad2d178305e5050656affb7890a1583f5e02a306"},
-    {file = "cryptography-41.0.3-cp37-abi3-win_amd64.whl", hash = "sha256:a983e441a00a9d57a4d7c91b3116a37ae602907a7618b882c8013b5762e80574"},
-    {file = "cryptography-41.0.3-pp310-pypy310_pp73-macosx_10_12_x86_64.whl", hash = "sha256:5259cb659aa43005eb55a0e4ff2c825ca111a0da1814202c64d28a985d33b087"},
-    {file = "cryptography-41.0.3-pp310-pypy310_pp73-manylinux_2_28_aarch64.whl", hash = "sha256:67e120e9a577c64fe1f611e53b30b3e69744e5910ff3b6e97e935aeb96005858"},
-    {file = "cryptography-41.0.3-pp310-pypy310_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:7efe8041897fe7a50863e51b77789b657a133c75c3b094e51b5e4b5cec7bf906"},
-    {file = "cryptography-41.0.3-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:ce785cf81a7bdade534297ef9e490ddff800d956625020ab2ec2780a556c313e"},
-    {file = "cryptography-41.0.3-pp38-pypy38_pp73-macosx_10_12_x86_64.whl", hash = "sha256:57a51b89f954f216a81c9d057bf1a24e2f36e764a1ca9a501a6964eb4a6800dd"},
-    {file = "cryptography-41.0.3-pp38-pypy38_pp73-manylinux_2_28_aarch64.whl", hash = "sha256:4c2f0d35703d61002a2bbdcf15548ebb701cfdd83cdc12471d2bae80878a4207"},
-    {file = "cryptography-41.0.3-pp38-pypy38_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:23c2d778cf829f7d0ae180600b17e9fceea3c2ef8b31a99e3c694cbbf3a24b84"},
-    {file = "cryptography-41.0.3-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:95dd7f261bb76948b52a5330ba5202b91a26fbac13ad0e9fc8a3ac04752058c7"},
-    {file = "cryptography-41.0.3-pp39-pypy39_pp73-macosx_10_12_x86_64.whl", hash = "sha256:41d7aa7cdfded09b3d73a47f429c298e80796c8e825ddfadc84c8a7f12df212d"},
-    {file = "cryptography-41.0.3-pp39-pypy39_pp73-manylinux_2_28_aarch64.whl", hash = "sha256:d0d651aa754ef58d75cec6edfbd21259d93810b73f6ec246436a21b7841908de"},
-    {file = "cryptography-41.0.3-pp39-pypy39_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:ab8de0d091acbf778f74286f4989cf3d1528336af1b59f3e5d2ebca8b5fe49e1"},
-    {file = "cryptography-41.0.3-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:a74fbcdb2a0d46fe00504f571a2a540532f4c188e6ccf26f1f178480117b33c4"},
-    {file = "cryptography-41.0.3.tar.gz", hash = "sha256:6d192741113ef5e30d89dcb5b956ef4e1578f304708701b8b73d38e3e1461f34"},
+    {file = "cryptography-41.0.4-cp37-abi3-macosx_10_12_universal2.whl", hash = "sha256:80907d3faa55dc5434a16579952ac6da800935cd98d14dbd62f6f042c7f5e839"},
+    {file = "cryptography-41.0.4-cp37-abi3-macosx_10_12_x86_64.whl", hash = "sha256:35c00f637cd0b9d5b6c6bd11b6c3359194a8eba9c46d4e875a3660e3b400005f"},
+    {file = "cryptography-41.0.4-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cecfefa17042941f94ab54f769c8ce0fe14beff2694e9ac684176a2535bf9714"},
+    {file = "cryptography-41.0.4-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e40211b4923ba5a6dc9769eab704bdb3fbb58d56c5b336d30996c24fcf12aadb"},
+    {file = "cryptography-41.0.4-cp37-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:23a25c09dfd0d9f28da2352503b23e086f8e78096b9fd585d1d14eca01613e13"},
+    {file = "cryptography-41.0.4-cp37-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:2ed09183922d66c4ec5fdaa59b4d14e105c084dd0febd27452de8f6f74704143"},
+    {file = "cryptography-41.0.4-cp37-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:5a0f09cefded00e648a127048119f77bc2b2ec61e736660b5789e638f43cc397"},
+    {file = "cryptography-41.0.4-cp37-abi3-musllinux_1_1_x86_64.whl", hash = "sha256:9eeb77214afae972a00dee47382d2591abe77bdae166bda672fb1e24702a3860"},
+    {file = "cryptography-41.0.4-cp37-abi3-win32.whl", hash = "sha256:3b224890962a2d7b57cf5eeb16ccaafba6083f7b811829f00476309bce2fe0fd"},
+    {file = "cryptography-41.0.4-cp37-abi3-win_amd64.whl", hash = "sha256:c880eba5175f4307129784eca96f4e70b88e57aa3f680aeba3bab0e980b0f37d"},
+    {file = "cryptography-41.0.4-pp310-pypy310_pp73-macosx_10_12_x86_64.whl", hash = "sha256:004b6ccc95943f6a9ad3142cfabcc769d7ee38a3f60fb0dddbfb431f818c3a67"},
+    {file = "cryptography-41.0.4-pp310-pypy310_pp73-manylinux_2_28_aarch64.whl", hash = "sha256:86defa8d248c3fa029da68ce61fe735432b047e32179883bdb1e79ed9bb8195e"},
+    {file = "cryptography-41.0.4-pp310-pypy310_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:37480760ae08065437e6573d14be973112c9e6dcaf5f11d00147ee74f37a3829"},
+    {file = "cryptography-41.0.4-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:b5f4dfe950ff0479f1f00eda09c18798d4f49b98f4e2006d644b3301682ebdca"},
+    {file = "cryptography-41.0.4-pp38-pypy38_pp73-macosx_10_12_x86_64.whl", hash = "sha256:7e53db173370dea832190870e975a1e09c86a879b613948f09eb49324218c14d"},
+    {file = "cryptography-41.0.4-pp38-pypy38_pp73-manylinux_2_28_aarch64.whl", hash = "sha256:5b72205a360f3b6176485a333256b9bcd48700fc755fef51c8e7e67c4b63e3ac"},
+    {file = "cryptography-41.0.4-pp38-pypy38_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:93530900d14c37a46ce3d6c9e6fd35dbe5f5601bf6b3a5c325c7bffc030344d9"},
+    {file = "cryptography-41.0.4-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:efc8ad4e6fc4f1752ebfb58aefece8b4e3c4cae940b0994d43649bdfce8d0d4f"},
+    {file = "cryptography-41.0.4-pp39-pypy39_pp73-macosx_10_12_x86_64.whl", hash = "sha256:c3391bd8e6de35f6f1140e50aaeb3e2b3d6a9012536ca23ab0d9c35ec18c8a91"},
+    {file = "cryptography-41.0.4-pp39-pypy39_pp73-manylinux_2_28_aarch64.whl", hash = "sha256:0d9409894f495d465fe6fda92cb70e8323e9648af912d5b9141d616df40a87b8"},
+    {file = "cryptography-41.0.4-pp39-pypy39_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:8ac4f9ead4bbd0bc8ab2d318f97d85147167a488be0e08814a37eb2f439d5cf6"},
+    {file = "cryptography-41.0.4-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:047c4603aeb4bbd8db2756e38f5b8bd7e94318c047cfe4efeb5d715e08b49311"},
+    {file = "cryptography-41.0.4.tar.gz", hash = "sha256:7febc3094125fc126a7f6fb1f420d0da639f3f32cb15c8ff0dc3997c4549f51a"},
 ]
 
 [package.dependencies]
@@ -932,80 +951,84 @@ test-randomorder = ["pytest-randomly"]
 
 [[package]]
 name = "cycler"
-version = "0.11.0"
+version = "0.12.1"
 description = "Composable style cycles"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.8"
 files = [
-    {file = "cycler-0.11.0-py3-none-any.whl", hash = "sha256:3a27e95f763a428a739d2add979fa7494c912a32c17c4c38c4d5f082cad165a3"},
-    {file = "cycler-0.11.0.tar.gz", hash = "sha256:9c87405839a19696e837b3b818fed3f5f69f16f1eec1a1ad77e043dcea9c772f"},
+    {file = "cycler-0.12.1-py3-none-any.whl", hash = "sha256:85cef7cff222d8644161529808465972e51340599459b8ac3ccbac5a854e0d30"},
+    {file = "cycler-0.12.1.tar.gz", hash = "sha256:88bb128f02ba341da8ef447245a9e138fae777f6a23943da4540077d3601eb1c"},
 ]
 
+[package.extras]
+docs = ["ipython", "matplotlib", "numpydoc", "sphinx"]
+tests = ["pytest", "pytest-cov", "pytest-xdist"]
+
 [[package]]
 name = "cython"
-version = "3.0.2"
+version = "3.0.3"
 description = "The Cython compiler for writing C extensions in the Python language."
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 files = [
-    {file = "Cython-3.0.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:8ccb91d2254e34724f1541b2a6fcdfacdb88284185b0097ae84e0ddf476c7a38"},
-    {file = "Cython-3.0.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c298b1589205ecaaed0457ad05e0c8a43e7db2053607f48ed4a899cb6aa114df"},
-    {file = "Cython-3.0.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e825e682cef76d0c33384f38b56b7e87c76152482a914dfc78faed6ff66ce05a"},
-    {file = "Cython-3.0.2-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:77ec0134fc1b10aebef2013936a91c07bff2498ec283bc2eca099ee0cb94d12e"},
-    {file = "Cython-3.0.2-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:c90eeb94395315e65fd758a2f86b92904fce7b50060b4d45a878ef6767f9276e"},
-    {file = "Cython-3.0.2-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:38085523fa7a299638d051ae08144222785639882f6291bd275c0b12db1034ff"},
-    {file = "Cython-3.0.2-cp310-cp310-win32.whl", hash = "sha256:b032cb0c69082f0665b2c5fb416d041157062f1538336d0edf823b9ee500e39c"},
-    {file = "Cython-3.0.2-cp310-cp310-win_amd64.whl", hash = "sha256:067b2b9eb487bd61367b296f11b7c1c70a084b3eb7d5a572f607cd1fc5ca5586"},
-    {file = "Cython-3.0.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:213ff9f95de319e54b520bf31edd6aa7a1fa4fbf617c2beb0f92362595e6476a"},
-    {file = "Cython-3.0.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4bebbca13078125a35937966137af4bd0300a0c66fd7ae4ce36adc049b13bdf3"},
-    {file = "Cython-3.0.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d5e5587128e8c2423aefcffa4ded4ddf60d44898938fbb7c0f236636a750a94f"},
-    {file = "Cython-3.0.2-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:78e2853d484643c6b7ac3bdb48392753442da1c71b689468fa3176b619bebe54"},
-    {file = "Cython-3.0.2-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:c5e722732e9aa9bde667ed6d87525234823eb7766ca234cfb19d7e0c095a2ef4"},
-    {file = "Cython-3.0.2-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:989787fc24a95100a26918b6577d06e15a8868a3ed267009c5cfcf1a906179ac"},
-    {file = "Cython-3.0.2-cp311-cp311-win32.whl", hash = "sha256:d21801981db44b7e9f9768f121317946461d56b51de1e6eff3c42e8914048696"},
-    {file = "Cython-3.0.2-cp311-cp311-win_amd64.whl", hash = "sha256:809617cf4825b2138ce0ec827e1f28e39668743c81ac8286373f8d148c05f088"},
-    {file = "Cython-3.0.2-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:5682293d344b7dbad97ce6eceb9e887aca6e53499709db9da726ca3424e5559d"},
-    {file = "Cython-3.0.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7e08ff5da5f5b969639784b1bffcd880a0c0f048d182aed7cba9945ee8b367c2"},
-    {file = "Cython-3.0.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8850269ff59f77a1629e26d0576701925360d732011d6d3516ccdc5b2c2bc310"},
-    {file = "Cython-3.0.2-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:550b3fbe9b3c555b44ded934f4822f9fcc04dfcee512167ebcbbd370ccede20e"},
-    {file = "Cython-3.0.2-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:4db017b104f47b1185237702f6ed2651839c8124614683efa7c489f3fa4e19d9"},
-    {file = "Cython-3.0.2-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:75a2395cc7b78cff59be6e9b7f92bbb5d7b8d25203f6d3fb6f72bdb7d3f49777"},
-    {file = "Cython-3.0.2-cp312-cp312-win32.whl", hash = "sha256:786b6034a91e886116bb562fe42f8bf0f97c3e00c02e56791d02675959ed65b1"},
-    {file = "Cython-3.0.2-cp312-cp312-win_amd64.whl", hash = "sha256:cc9d173ab8b167cae674f6deed8c65ba816574797a2bd6d8aa623277d1fa81ca"},
-    {file = "Cython-3.0.2-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:8948504338d7a140ce588333177dcabf0743a68dbc83b0174f214f5b959634d5"},
-    {file = "Cython-3.0.2-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a51efba0e136b2af358e5a347bae09678b17460c35cf1eab24f0476820348991"},
-    {file = "Cython-3.0.2-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:05cb2a73810f045d328b7579cf98f550a9e601df5e282d1fea0512d8ad589011"},
-    {file = "Cython-3.0.2-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:22ba78e48bdb65977928ecb275ac8c82df7b0eefa075078a1363a5af4606b42e"},
-    {file = "Cython-3.0.2-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:302281b927409b3e0ef8cd9251eab782cf1acd2578eab305519fbae5d184b7e9"},
-    {file = "Cython-3.0.2-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:a1c3675394b81024aaf56e4f53c2b4f81d9a116c7049e9d4706f810899c9134e"},
-    {file = "Cython-3.0.2-cp36-cp36m-win32.whl", hash = "sha256:34f7b014ebce5d325c8084e396c81cdafbd8d82be56780dffe6b67b28c891f1b"},
-    {file = "Cython-3.0.2-cp36-cp36m-win_amd64.whl", hash = "sha256:477cd3549597f09a1608da7b05e16ba641e9aedd171b868533a5a07790ed886f"},
-    {file = "Cython-3.0.2-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:a49dde9f9e29ea82f29aaf3bb1a270b6eb90b75d627c7ff2f5dd3764540ae646"},
-    {file = "Cython-3.0.2-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:bc1c8013fad0933f5201186eccc5f2be223cafd6a8dcd586d3f7bb6ba84dc845"},
-    {file = "Cython-3.0.2-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6b75e9c9d7ad7c9dd85d45241d1d4e3c5f66079c1f84eec91689c26d98bc3349"},
-    {file = "Cython-3.0.2-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7f43c4d3ecd9e3b8b7afe834e519f55cf4249b1088f96d11b96f02c55cbaeff7"},
-    {file = "Cython-3.0.2-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:dab6a923e21e212aa3dc6dde9b22a190f5d7c449315a94e57ddc019ea74a979b"},
-    {file = "Cython-3.0.2-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:ae453cfa933b919c0a19d2cc5dc9fb28486268e95dc2ab7a11ab7f99cf8c3883"},
-    {file = "Cython-3.0.2-cp37-cp37m-win32.whl", hash = "sha256:b1f023d36a3829069ed11017c670128be3f135a9c17bd64c35d3b3442243b05c"},
-    {file = "Cython-3.0.2-cp37-cp37m-win_amd64.whl", hash = "sha256:011c4e0b75baee1843334562487eb4fbc0c59ddb2cc32a978b972a81eedcbdcc"},
-    {file = "Cython-3.0.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:832bbee87bca760efeae248ddf19ccd77f9a2355cb6f8a64f20cc377e56957b3"},
-    {file = "Cython-3.0.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4fe806d154b6b7f0ab746dac36c022889e2e7cf47546ff9afdc29a62cfa692d0"},
-    {file = "Cython-3.0.2-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e486331a29e7700b1ad5f4f753bef483c81412a5e64a873df46d6cb66f9a65de"},
-    {file = "Cython-3.0.2-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:54d41a1dfbaab74449873e7f8e6cd4239850fe7a50f7f784dd99a560927f3bac"},
-    {file = "Cython-3.0.2-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:4dca13c86d6cd523c7d8bbf8db1b2bbf8faedd0addedb229158d8015ad1819e1"},
-    {file = "Cython-3.0.2-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:10cbfb37f31938371a6213cc8b5459c639954aed053efeded3c012d4c5915db9"},
-    {file = "Cython-3.0.2-cp38-cp38-win32.whl", hash = "sha256:e663c237579c033deaa2cb362b74651da7712f56e441c11382510a8c4c4f2dd7"},
-    {file = "Cython-3.0.2-cp38-cp38-win_amd64.whl", hash = "sha256:2f84bd6cefa5130750c492038170c44f1cbd6f42e9ed85e168fd9cb453f85160"},
-    {file = "Cython-3.0.2-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:f37e4287f520f3748a06ad5eaae09ba4ac68f52e155d70de5f75780d83575c43"},
-    {file = "Cython-3.0.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:dd30826ca8b27b2955a63c8ffe8aacc9f0779582b4bd154cf7b441ac10dae2cb"},
-    {file = "Cython-3.0.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:08d67c7225a09eeb77e090c8d4f60677165b052ccf76e3a57d8237064e5c2de2"},
-    {file = "Cython-3.0.2-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:9e625eec8c5c9a8cb062a318b257cc469d301bed952c7daf86e38bbd3afe7c91"},
-    {file = "Cython-3.0.2-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:1b12a8f23270675b537d1c3b988f845bea4bbcc66ae0468857f5ede0526d4522"},
-    {file = "Cython-3.0.2-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:62dd78afdf748a58dae9c9b9c42a1519ae30787b28ce5f84a0e1bb54144142ca"},
-    {file = "Cython-3.0.2-cp39-cp39-win32.whl", hash = "sha256:d0d0cc4ecc05f41c5e02af14ac0083552d22efed976f79eb7bade55fed63b25d"},
-    {file = "Cython-3.0.2-cp39-cp39-win_amd64.whl", hash = "sha256:147cc1d3dda8b06de9d86df5e59cdf15f0a522620168b7349a5ec88b48104d7d"},
-    {file = "Cython-3.0.2-py2.py3-none-any.whl", hash = "sha256:8f1c9e4b8e413da211dd7942440cf410ff0eafb081309e04e81f4fafbb146bf2"},
-    {file = "Cython-3.0.2.tar.gz", hash = "sha256:9594818dca8bb22ae6580c5222da2bc5cc32334350bd2d294a00d8669bcc61b5"},
+    {file = "Cython-3.0.3-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:85073ab414ff432d2a39d36cb49c39ce69f30b53daccc7699bfad0ce3d1b539a"},
+    {file = "Cython-3.0.3-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:30c1d9bd2bcb9b1a195dd23b359771857df8ebd4a1038fb37dd155d3ea38c09c"},
+    {file = "Cython-3.0.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9296f332523d5c550ebae694483874d255264cff3281372f25ea5f2739b96651"},
+    {file = "Cython-3.0.3-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d52ed47edbf48392dd0f419135e7ff59673f6b32d27d3ffc9e61a515571c050d"},
+    {file = "Cython-3.0.3-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:6f63e959d13775472d37e731b2450d120e8db87e956e2de74475e8f17a89b1fb"},
+    {file = "Cython-3.0.3-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:22d268c3023f405e13aa0c1600389794694ab3671614f8e782d89a1055da0858"},
+    {file = "Cython-3.0.3-cp310-cp310-win32.whl", hash = "sha256:51850f277660f67171135515e45edfc8815f723ff20768e39cb9785b2671062f"},
+    {file = "Cython-3.0.3-cp310-cp310-win_amd64.whl", hash = "sha256:bff1fec968a6b2ca452ae9bff6d6d0bf8486427d4d791e85543240266b6915e0"},
+    {file = "Cython-3.0.3-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:587d664ff6bd5b03611ddc6ef320b7f8677d824c45d15553f16a69191a643843"},
+    {file = "Cython-3.0.3-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3192cd780435fca5ae5d79006b48cbf0ea674853b5a7b0055a122045bff9d84e"},
+    {file = "Cython-3.0.3-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f7578b59ffd0d9c95ae6f7ae852309918915998b7fe0ed2f8725a683de8da276"},
+    {file = "Cython-3.0.3-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6f05889eb1b5a95a7adf97303279c2d13819ff62292e10337e6c940dbf570b5d"},
+    {file = "Cython-3.0.3-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:1d3416c24a1b7bf3a2d9615a7f9f12b00fac0b94fb2e61449e0c1ecf20d6ed52"},
+    {file = "Cython-3.0.3-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:4cc0f7244da06fdc6a4a7240df788805436b6fb7f20edee777eb77777d9d2eb1"},
+    {file = "Cython-3.0.3-cp311-cp311-win32.whl", hash = "sha256:845e24ee70c204062e03f813114751387abf454b29410336797582e04abbc07b"},
+    {file = "Cython-3.0.3-cp311-cp311-win_amd64.whl", hash = "sha256:e3ad109bdf40f55318e001cad12bcc00e8119569b49f72e442c082355617b036"},
+    {file = "Cython-3.0.3-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:14b898ec2fdeea68f81bd3838b035800b173b59ed532674f65a82724bab35d3b"},
+    {file = "Cython-3.0.3-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:188705eeae094bb716bc3e3d0da4e13469f0a0de803b65dfd63fe7eb78ec6173"},
+    {file = "Cython-3.0.3-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9eb128fa40305f18eaa4d8dd0980033b92db86aada927181d3c3d561aa0634db"},
+    {file = "Cython-3.0.3-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:80bd3167e689419cdaf7ede0d20a9f126b9698a43b1f8d3e8f54b970c7a6cd07"},
+    {file = "Cython-3.0.3-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:d0c7b315f6feb75e2c949dc7816da5626cdca097fea1c0d9f4fdb20d2f4ffc2a"},
+    {file = "Cython-3.0.3-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:db9d4de4cd6cd3ad1c3f455aae877ad81a92b92b7cbb01dfb32b6306b873932b"},
+    {file = "Cython-3.0.3-cp312-cp312-win32.whl", hash = "sha256:be1a679c7ad90813f9206c9d62993f3bd0cba9330668e97bb3f70c87ae94d5f5"},
+    {file = "Cython-3.0.3-cp312-cp312-win_amd64.whl", hash = "sha256:fa08259f4d176b86561eeff6954f9924099c0b0c128fc2cbfc18343c068ad8ca"},
+    {file = "Cython-3.0.3-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:056340c49bf7861eb1eba941423e67620b7c85e264e9a5594163f1d1e8b95acc"},
+    {file = "Cython-3.0.3-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3cfbd60137f6fca9c29101d7517d4e341e0fd279ffc2489634e5e2dd592457c2"},
+    {file = "Cython-3.0.3-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:66b7e71c16cab0814945014ffb101ead2b173259098bbb1b8138e7a547da3709"},
+    {file = "Cython-3.0.3-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:42b1ff0e19fb4d1fe68b60f55d46942ed246a323f6bbeec302924b78b4c3b637"},
+    {file = "Cython-3.0.3-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:5d6af87a787d5ce063e28e508fee34755a945e438c68ecda50eb4ea34c30e13f"},
+    {file = "Cython-3.0.3-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:0147a31fb73a063bb7b6c69fd843c1a2bad18f326f58048d4ee5bdaef87c9fbf"},
+    {file = "Cython-3.0.3-cp36-cp36m-win32.whl", hash = "sha256:84084fa05cf9a67a85818fa72a741d1cae2e3096551158730730a3bafc3b2f52"},
+    {file = "Cython-3.0.3-cp36-cp36m-win_amd64.whl", hash = "sha256:8a6a9a2d98758768052e4ac1bea4ebc20fae69b4c19cb2bc5457c9174532d302"},
+    {file = "Cython-3.0.3-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:94fa403de3a413cd41b8eb4ddb4adcbd66aa0a64f9a84d1c5f696c93572c83aa"},
+    {file = "Cython-3.0.3-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e729fd633a5225570c5480b36e7c530c8a82e2ab6d2944ddbe1ddfff5bf181b1"},
+    {file = "Cython-3.0.3-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:59bf689409b0e51ef673e3dd0348727aef5b67e40f23f806be64c49cee321de0"},
+    {file = "Cython-3.0.3-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f0ac9ec822fad010248b4a59ac197975de38c95378d0f13201c181dd9b0a2624"},
+    {file = "Cython-3.0.3-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:8e78fc42a6e846941d23aba1aca587520ad38c8970255242f08f9288b0eeba85"},
+    {file = "Cython-3.0.3-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:e40ac8bd6d11355d354bb4975bb88f6e923ba30f85e38f1f1234b642634e4fc4"},
+    {file = "Cython-3.0.3-cp37-cp37m-win32.whl", hash = "sha256:77a920ae19fa1db5adb8a618cebb095ca4f56adfbf9fc32cb7008a590607b62b"},
+    {file = "Cython-3.0.3-cp37-cp37m-win_amd64.whl", hash = "sha256:0630527a8c9e8fed815c38524e418dab713f5d66f6ac9dc2151b41f3a7727304"},
+    {file = "Cython-3.0.3-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:4e956383e57d00b1fa6449b5ec03b9fa5fce2afd41ef3e518bee8e7c89f1616c"},
+    {file = "Cython-3.0.3-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1ec9e15b821ef7e3c38abe9e4df4e6dda7af159325bc358afd5a3c2d5027ccfe"},
+    {file = "Cython-3.0.3-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:18f4fb7cc6ad8e99e8f387ebbcded171a701bfbfd8cd3fd46156bf44bb4fd968"},
+    {file = "Cython-3.0.3-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b50f4f75f89e7eef2ed9c9b60746bc4ab1ba2bc0dff64587133db2b63e068f09"},
+    {file = "Cython-3.0.3-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:5545d20d7a1c0cf17559152f7f4a465c3d5caace82dd051f82e2d753ae9fd956"},
+    {file = "Cython-3.0.3-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:1571b045ec1cb15c152c3949f3bd53ee0fa66d434271ea3d225658d99b7e721a"},
+    {file = "Cython-3.0.3-cp38-cp38-win32.whl", hash = "sha256:3db04801fd15d826174f63ff45878d4b1e62aff27cf1ea96b186581052d24446"},
+    {file = "Cython-3.0.3-cp38-cp38-win_amd64.whl", hash = "sha256:75d42c8423ab299396f3c938445730600e32e4a2f0298f6f9df4d4a698fe8e16"},
+    {file = "Cython-3.0.3-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:48bae87b657009e5648c21d4a92de9f3dc6fed3e35e92957fa8a07a18cea2313"},
+    {file = "Cython-3.0.3-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6ccde14ddc4b424435cb5722aa1529c254bbf3611e1ad9baea12d25e9c049361"},
+    {file = "Cython-3.0.3-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4c8e5afcc19861c3b22faafbe906c7e1b23f0595073ac10e21a80dec9e60e7dd"},
+    {file = "Cython-3.0.3-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:0e1c9385e99eef299396b9a1e39790e81819446c6a83e249f6f0fc71a64f57a0"},
+    {file = "Cython-3.0.3-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:d49d20db27c9cfcf45bb1fbf68f777bd1e04e4b949e4e5172d9ee8c9419bc792"},
+    {file = "Cython-3.0.3-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:d12591939af93c59defea6fc5320ca099eb44e4694e3b2cbe72fb24406079b97"},
+    {file = "Cython-3.0.3-cp39-cp39-win32.whl", hash = "sha256:9f40b27545d583fd7df0d3c1b76b3bcaf8a72dbd8d83d5486af2384015660de8"},
+    {file = "Cython-3.0.3-cp39-cp39-win_amd64.whl", hash = "sha256:74ba0f11b384246b7965169f08bf67d426e4957fee5c165571340217a9b43cfc"},
+    {file = "Cython-3.0.3-py2.py3-none-any.whl", hash = "sha256:176953a8a2532e34a589625a40c934ff339088f2bf4ddaa2e5cb77b05ca0c25c"},
+    {file = "Cython-3.0.3.tar.gz", hash = "sha256:327309301b01f729f173a94511cb2280c87ba03c89ed428e88f913f778245030"},
 ]
 
 [[package]]
@@ -1093,18 +1116,19 @@ files = [
 
 [[package]]
 name = "filelock"
-version = "3.12.3"
+version = "3.12.4"
 description = "A platform independent file lock."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "filelock-3.12.3-py3-none-any.whl", hash = "sha256:f067e40ccc40f2b48395a80fcbd4728262fab54e232e090a4063ab804179efeb"},
-    {file = "filelock-3.12.3.tar.gz", hash = "sha256:0ecc1dd2ec4672a10c8550a8182f1bd0c0a5088470ecd5a125e45f49472fac3d"},
+    {file = "filelock-3.12.4-py3-none-any.whl", hash = "sha256:08c21d87ded6e2b9da6728c3dff51baf1dcecf973b768ef35bcbc3447edb9ad4"},
+    {file = "filelock-3.12.4.tar.gz", hash = "sha256:2e6f249f1f3654291606e046b09f1fd5eac39b360664c27f5aad072012f8bcbd"},
 ]
 
 [package.extras]
 docs = ["furo (>=2023.7.26)", "sphinx (>=7.1.2)", "sphinx-autodoc-typehints (>=1.24)"]
 testing = ["covdefaults (>=2.3)", "coverage (>=7.3)", "diff-cover (>=7.7)", "pytest (>=7.4)", "pytest-cov (>=4.1)", "pytest-mock (>=3.11.1)", "pytest-timeout (>=2.1)"]
+typing = ["typing-extensions (>=4.7.1)"]
 
 [[package]]
 name = "fiona"
@@ -1162,45 +1186,53 @@ files = [
 
 [[package]]
 name = "fonttools"
-version = "4.42.1"
+version = "4.43.1"
 description = "Tools to manipulate font files"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "fonttools-4.42.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:ed1a13a27f59d1fc1920394a7f596792e9d546c9ca5a044419dca70c37815d7c"},
-    {file = "fonttools-4.42.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:c9b1ce7a45978b821a06d375b83763b27a3a5e8a2e4570b3065abad240a18760"},
-    {file = "fonttools-4.42.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f720fa82a11c0f9042376fd509b5ed88dab7e3cd602eee63a1af08883b37342b"},
-    {file = "fonttools-4.42.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:db55cbaea02a20b49fefbd8e9d62bd481aaabe1f2301dabc575acc6b358874fa"},
-    {file = "fonttools-4.42.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:3a35981d90feebeaef05e46e33e6b9e5b5e618504672ca9cd0ff96b171e4bfff"},
-    {file = "fonttools-4.42.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:68a02bbe020dc22ee0540e040117535f06df9358106d3775e8817d826047f3fd"},
-    {file = "fonttools-4.42.1-cp310-cp310-win32.whl", hash = "sha256:12a7c247d1b946829bfa2f331107a629ea77dc5391dfd34fdcd78efa61f354ca"},
-    {file = "fonttools-4.42.1-cp310-cp310-win_amd64.whl", hash = "sha256:a398bdadb055f8de69f62b0fc70625f7cbdab436bbb31eef5816e28cab083ee8"},
-    {file = "fonttools-4.42.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:689508b918332fb40ce117131633647731d098b1b10d092234aa959b4251add5"},
-    {file = "fonttools-4.42.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:9e36344e48af3e3bde867a1ca54f97c308735dd8697005c2d24a86054a114a71"},
-    {file = "fonttools-4.42.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:19b7db825c8adee96fac0692e6e1ecd858cae9affb3b4812cdb9d934a898b29e"},
-    {file = "fonttools-4.42.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:113337c2d29665839b7d90b39f99b3cac731f72a0eda9306165a305c7c31d341"},
-    {file = "fonttools-4.42.1-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:37983b6bdab42c501202500a2be3a572f50d4efe3237e0686ee9d5f794d76b35"},
-    {file = "fonttools-4.42.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:6ed2662a3d9c832afa36405f8748c250be94ae5dfc5283d668308391f2102861"},
-    {file = "fonttools-4.42.1-cp311-cp311-win32.whl", hash = "sha256:179737095eb98332a2744e8f12037b2977f22948cf23ff96656928923ddf560a"},
-    {file = "fonttools-4.42.1-cp311-cp311-win_amd64.whl", hash = "sha256:f2b82f46917d8722e6b5eafeefb4fb585d23babd15d8246c664cd88a5bddd19c"},
-    {file = "fonttools-4.42.1-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:62f481ac772fd68901573956231aea3e4b1ad87b9b1089a61613a91e2b50bb9b"},
-    {file = "fonttools-4.42.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:f2f806990160d1ce42d287aa419df3ffc42dfefe60d473695fb048355fe0c6a0"},
-    {file = "fonttools-4.42.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:db372213d39fa33af667c2aa586a0c1235e88e9c850f5dd5c8e1f17515861868"},
-    {file = "fonttools-4.42.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5d18fc642fd0ac29236ff88ecfccff229ec0386090a839dd3f1162e9a7944a40"},
-    {file = "fonttools-4.42.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:8708b98c278012ad267ee8a7433baeb809948855e81922878118464b274c909d"},
-    {file = "fonttools-4.42.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:c95b0724a6deea2c8c5d3222191783ced0a2f09bd6d33f93e563f6f1a4b3b3a4"},
-    {file = "fonttools-4.42.1-cp38-cp38-win32.whl", hash = "sha256:4aa79366e442dbca6e2c8595645a3a605d9eeabdb7a094d745ed6106816bef5d"},
-    {file = "fonttools-4.42.1-cp38-cp38-win_amd64.whl", hash = "sha256:acb47f6f8680de24c1ab65ebde39dd035768e2a9b571a07c7b8da95f6c8815fd"},
-    {file = "fonttools-4.42.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:5fb289b7a815638a7613d46bcf324c9106804725b2bb8ad913c12b6958ffc4ec"},
-    {file = "fonttools-4.42.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:53eb5091ddc8b1199330bb7b4a8a2e7995ad5d43376cadce84523d8223ef3136"},
-    {file = "fonttools-4.42.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:46a0ec8adbc6ff13494eb0c9c2e643b6f009ce7320cf640de106fb614e4d4360"},
-    {file = "fonttools-4.42.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7cc7d685b8eeca7ae69dc6416833fbfea61660684b7089bca666067cb2937dcf"},
-    {file = "fonttools-4.42.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:be24fcb80493b2c94eae21df70017351851652a37de514de553435b256b2f249"},
-    {file = "fonttools-4.42.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:515607ec756d7865f23070682622c49d922901943697871fc292277cf1e71967"},
-    {file = "fonttools-4.42.1-cp39-cp39-win32.whl", hash = "sha256:0eb79a2da5eb6457a6f8ab904838454accc7d4cccdaff1fd2bd3a0679ea33d64"},
-    {file = "fonttools-4.42.1-cp39-cp39-win_amd64.whl", hash = "sha256:7286aed4ea271df9eab8d7a9b29e507094b51397812f7ce051ecd77915a6e26b"},
-    {file = "fonttools-4.42.1-py3-none-any.whl", hash = "sha256:9398f244e28e0596e2ee6024f808b06060109e33ed38dcc9bded452fd9bbb853"},
-    {file = "fonttools-4.42.1.tar.gz", hash = "sha256:c391cd5af88aacaf41dd7cfb96eeedfad297b5899a39e12f4c2c3706d0a3329d"},
+    {file = "fonttools-4.43.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:bf11e2cca121df35e295bd34b309046c29476ee739753bc6bc9d5050de319273"},
+    {file = "fonttools-4.43.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:10b3922875ffcba636674f406f9ab9a559564fdbaa253d66222019d569db869c"},
+    {file = "fonttools-4.43.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9f727c3e3d08fd25352ed76cc3cb61486f8ed3f46109edf39e5a60fc9fecf6ca"},
+    {file = "fonttools-4.43.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ad0b3f6342cfa14be996971ea2b28b125ad681c6277c4cd0fbdb50340220dfb6"},
+    {file = "fonttools-4.43.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:3b7ad05b2beeebafb86aa01982e9768d61c2232f16470f9d0d8e385798e37184"},
+    {file = "fonttools-4.43.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:4c54466f642d2116686268c3e5f35ebb10e49b0d48d41a847f0e171c785f7ac7"},
+    {file = "fonttools-4.43.1-cp310-cp310-win32.whl", hash = "sha256:1e09da7e8519e336239fbd375156488a4c4945f11c4c5792ee086dd84f784d02"},
+    {file = "fonttools-4.43.1-cp310-cp310-win_amd64.whl", hash = "sha256:1cf9e974f63b1080b1d2686180fc1fbfd3bfcfa3e1128695b5de337eb9075cef"},
+    {file = "fonttools-4.43.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:5db46659cfe4e321158de74c6f71617e65dc92e54980086823a207f1c1c0e24b"},
+    {file = "fonttools-4.43.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:1952c89a45caceedf2ab2506d9a95756e12b235c7182a7a0fff4f5e52227204f"},
+    {file = "fonttools-4.43.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9c36da88422e0270fbc7fd959dc9749d31a958506c1d000e16703c2fce43e3d0"},
+    {file = "fonttools-4.43.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7bbbf8174501285049e64d174e29f9578495e1b3b16c07c31910d55ad57683d8"},
+    {file = "fonttools-4.43.1-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:d4071bd1c183b8d0b368cc9ed3c07a0f6eb1bdfc4941c4c024c49a35429ac7cd"},
+    {file = "fonttools-4.43.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:d21099b411e2006d3c3e1f9aaf339e12037dbf7bf9337faf0e93ec915991f43b"},
+    {file = "fonttools-4.43.1-cp311-cp311-win32.whl", hash = "sha256:b84a1c00f832feb9d0585ca8432fba104c819e42ff685fcce83537e2e7e91204"},
+    {file = "fonttools-4.43.1-cp311-cp311-win_amd64.whl", hash = "sha256:9a2f0aa6ca7c9bc1058a9d0b35483d4216e0c1bbe3962bc62ce112749954c7b8"},
+    {file = "fonttools-4.43.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:4d9740e3783c748521e77d3c397dc0662062c88fd93600a3c2087d3d627cd5e5"},
+    {file = "fonttools-4.43.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:884ef38a5a2fd47b0c1291647b15f4e88b9de5338ffa24ee52c77d52b4dfd09c"},
+    {file = "fonttools-4.43.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9648518ef687ba818db3fcc5d9aae27a369253ac09a81ed25c3867e8657a0680"},
+    {file = "fonttools-4.43.1-cp312-cp312-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:95e974d70238fc2be5f444fa91f6347191d0e914d5d8ae002c9aa189572cc215"},
+    {file = "fonttools-4.43.1-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:34f713dad41aa21c637b4e04fe507c36b986a40f7179dcc86402237e2d39dcd3"},
+    {file = "fonttools-4.43.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:360201d46165fc0753229afe785900bc9596ee6974833124f4e5e9f98d0f592b"},
+    {file = "fonttools-4.43.1-cp312-cp312-win32.whl", hash = "sha256:bb6d2f8ef81ea076877d76acfb6f9534a9c5f31dc94ba70ad001267ac3a8e56f"},
+    {file = "fonttools-4.43.1-cp312-cp312-win_amd64.whl", hash = "sha256:25d3da8a01442cbc1106490eddb6d31d7dffb38c1edbfabbcc8db371b3386d72"},
+    {file = "fonttools-4.43.1-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:8da417431bfc9885a505e86ba706f03f598c85f5a9c54f67d63e84b9948ce590"},
+    {file = "fonttools-4.43.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:51669b60ee2a4ad6c7fc17539a43ffffc8ef69fd5dbed186a38a79c0ac1f5db7"},
+    {file = "fonttools-4.43.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:748015d6f28f704e7d95cd3c808b483c5fb87fd3eefe172a9da54746ad56bfb6"},
+    {file = "fonttools-4.43.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f7a58eb5e736d7cf198eee94844b81c9573102ae5989ebcaa1d1a37acd04b33d"},
+    {file = "fonttools-4.43.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:6bb5ea9076e0e39defa2c325fc086593ae582088e91c0746bee7a5a197be3da0"},
+    {file = "fonttools-4.43.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:5f37e31291bf99a63328668bb83b0669f2688f329c4c0d80643acee6e63cd933"},
+    {file = "fonttools-4.43.1-cp38-cp38-win32.whl", hash = "sha256:9c60ecfa62839f7184f741d0509b5c039d391c3aff71dc5bc57b87cc305cff3b"},
+    {file = "fonttools-4.43.1-cp38-cp38-win_amd64.whl", hash = "sha256:fe9b1ec799b6086460a7480e0f55c447b1aca0a4eecc53e444f639e967348896"},
+    {file = "fonttools-4.43.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:13a9a185259ed144def3682f74fdcf6596f2294e56fe62dfd2be736674500dba"},
+    {file = "fonttools-4.43.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:b2adca1b46d69dce4a37eecc096fe01a65d81a2f5c13b25ad54d5430ae430b13"},
+    {file = "fonttools-4.43.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:18eefac1b247049a3a44bcd6e8c8fd8b97f3cad6f728173b5d81dced12d6c477"},
+    {file = "fonttools-4.43.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2062542a7565091cea4cc14dd99feff473268b5b8afdee564f7067dd9fff5860"},
+    {file = "fonttools-4.43.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:18a2477c62a728f4d6e88c45ee9ee0229405e7267d7d79ce1f5ce0f3e9f8ab86"},
+    {file = "fonttools-4.43.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:a7a06f8d95b7496e53af80d974d63516ffb263a468e614978f3899a6df52d4b3"},
+    {file = "fonttools-4.43.1-cp39-cp39-win32.whl", hash = "sha256:10003ebd81fec0192c889e63a9c8c63f88c7d72ae0460b7ba0cd2a1db246e5ad"},
+    {file = "fonttools-4.43.1-cp39-cp39-win_amd64.whl", hash = "sha256:e117a92b07407a061cde48158c03587ab97e74e7d73cb65e6aadb17af191162a"},
+    {file = "fonttools-4.43.1-py3-none-any.whl", hash = "sha256:4f88cae635bfe4bbbdc29d479a297bb525a94889184bb69fa9560c2d4834ddb9"},
+    {file = "fonttools-4.43.1.tar.gz", hash = "sha256:17dbc2eeafb38d5d0e865dcce16e313c58265a6d2d20081c435f84dc5a9d8212"},
 ]
 
 [package.extras]
@@ -1289,40 +1321,40 @@ files = [
 
 [[package]]
 name = "ft4222"
-version = "1.8.1"
+version = "1.9.0"
 description = "Python wrapper around libFT4222."
 optional = false
 python-versions = "*"
 files = [
-    {file = "ft4222-1.8.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:32125b9462945db7b8881bba32e73d7202998572b2a8c27d738163ca4a1e5c2a"},
-    {file = "ft4222-1.8.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:791cfca70aaf2570892a637d0389fddd88f28d1474cdae810778be45024ea10a"},
-    {file = "ft4222-1.8.1-cp310-cp310-win32.whl", hash = "sha256:386b2c98cc95a889809fb509cf0144fd67889ad61d668f55d240300a1e52a9d0"},
-    {file = "ft4222-1.8.1-cp310-cp310-win_amd64.whl", hash = "sha256:e88011aa19afefeb5136bdb5af745a74d2a85981b927ee07b7925187d90e9aa2"},
-    {file = "ft4222-1.8.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:4cfe1c110e4546384dd9be635c010fa1c6a7f97d2f80b43c7cbda59fcad832cc"},
-    {file = "ft4222-1.8.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:99068ada9b2ed785abb15a50ccd78ecc947c0a2b4982e6356c6e910ee2ad9958"},
-    {file = "ft4222-1.8.1-cp311-cp311-win32.whl", hash = "sha256:387b0b7094094a52f069c00fadd58da2666570dc38c2e8b36cf2b4af56a6ab31"},
-    {file = "ft4222-1.8.1-cp311-cp311-win_amd64.whl", hash = "sha256:4d666d5b3435ece3db782970288fd7b52fb53964ad8cf07434d32c368103ae07"},
-    {file = "ft4222-1.8.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:8a21ef854ada66fbfba587f99c9db601f2643d5647bf7f4539928287cf2c566c"},
-    {file = "ft4222-1.8.1-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:e4faf61ef28d7dc48ada862da079ec15470366ece48a1b79b451bb34a4385da9"},
-    {file = "ft4222-1.8.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:87c080dc966ad666b0eb03fb06f2e0efd7abd67b1be37ce5424cd34881905aee"},
-    {file = "ft4222-1.8.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:488212b83f5eb067b93fa1cefea5d707631ed6d09396af0074e6564733972c7e"},
-    {file = "ft4222-1.8.1-cp37-cp37m-win32.whl", hash = "sha256:4c3e3aeb02376dae37d22b5a8a2453b94ee656bca0667a62086de62395c2f1af"},
-    {file = "ft4222-1.8.1-cp37-cp37m-win_amd64.whl", hash = "sha256:04e7c7d0dc0d555598cc1e608fe1cc60945406e511a7ffe4a8e7059b33a6a683"},
-    {file = "ft4222-1.8.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:fe076965d9ac110ceccfb4bad4ec73187402f5131e3f8444684755503f90db08"},
-    {file = "ft4222-1.8.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:574bce65a12dc562582c6bd221e4779f9f0ac438bc37e81201e1390022bc4435"},
-    {file = "ft4222-1.8.1-cp38-cp38-win32.whl", hash = "sha256:d6b78f6e6a6d16769d080373f6ec22cdceb411f23bf4dec366cc809d813e1d8c"},
-    {file = "ft4222-1.8.1-cp38-cp38-win_amd64.whl", hash = "sha256:7049d5726b0ff02425d7e4e88ebe77ea143cb3d249bbb6c8ff5110f0abb4d533"},
-    {file = "ft4222-1.8.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:2a604b1a79dc203f8d619153255d154da425f811f64a1c322a173f1d3fbde924"},
-    {file = "ft4222-1.8.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:653f3adc6938f0bca26363c513a80c4188c1811cac8e85e94b4b7c87f3801cd6"},
-    {file = "ft4222-1.8.1-cp39-cp39-win32.whl", hash = "sha256:7f3c9ea9cc6dded3e8d10de33170236fa32ccf826afc283116eff47565ffe86d"},
-    {file = "ft4222-1.8.1-cp39-cp39-win_amd64.whl", hash = "sha256:db17d21d0d46e550bf65f50d952a20bf75e6d153de192d4027a70eb347f07026"},
-    {file = "ft4222-1.8.1-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:1d995115e8a94a092584ac9ec10d415eb6956fe275d1ef5e549e20dc578caf20"},
-    {file = "ft4222-1.8.1-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:ef88304a306f42644a04ca6c1abe4d24b69141659bc59db9f8df6be4b347d149"},
-    {file = "ft4222-1.8.1-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:549bbe3a18a21f7585877fd3cbb14c46b45eb61b29c0b5039f1fc8655e7fbeca"},
-    {file = "ft4222-1.8.1-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:f4ceba4f7b778169c5b14028aeb1f4720295a9754f89222bd5b9a78e4c064b96"},
-    {file = "ft4222-1.8.1-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:0c30500df95075877e8e29a58e0648ceb88571cfb33e244d7a51384e42caccac"},
-    {file = "ft4222-1.8.1-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:a2e9f22bea3683f171fc0da58ccbdd827a430349d8c26113077d4de79a454a87"},
-    {file = "ft4222-1.8.1.tar.gz", hash = "sha256:6532ae1265e4b81416c51def060c2a3bf26494a83b644ec7db5cc273756e03c6"},
+    {file = "ft4222-1.9.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:f07513c6d0f1f55c198051c8a9f5a58585bfe57d5ea5f9470d9ac149d981e2b4"},
+    {file = "ft4222-1.9.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:d019dd0c170de8772bf444a0a06468a5401411aac303400949612a6636cd9533"},
+    {file = "ft4222-1.9.0-cp310-cp310-win32.whl", hash = "sha256:ed7fcc12957bc6041e6064b3cf782181703a8ded5335f85f3392d2a9cd47abaa"},
+    {file = "ft4222-1.9.0-cp310-cp310-win_amd64.whl", hash = "sha256:b23c825b1ec494c79d5276c6a34dc978695dcdd0c198dfa6b763f40d9c87a00a"},
+    {file = "ft4222-1.9.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:385b39d7b1727800161e86340067d31b58fbe3252e68c0f2aa707d85d2da1d70"},
+    {file = "ft4222-1.9.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:8e49945cde97ea5f0b4084c5a5564c5774c3c1ed3e6c31b5324740c21237494d"},
+    {file = "ft4222-1.9.0-cp311-cp311-win32.whl", hash = "sha256:7ff367ff0c769f05113a89c35df14461663f40ad6a58b5290a2fddac38d0b2af"},
+    {file = "ft4222-1.9.0-cp311-cp311-win_amd64.whl", hash = "sha256:dbed0608ae6a2cf0f9c9dafc05ca7b657bfdab991472c9b35707762058ad30db"},
+    {file = "ft4222-1.9.0-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:06222c41efa7a3ebe615ee2fece4a8a8e363335ac1f0afa5d318084d223dda7c"},
+    {file = "ft4222-1.9.0-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:5ec049a5ce706438edfadb03e21f4892464a9ec47269b62eabbfc782c0923884"},
+    {file = "ft4222-1.9.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:d47d1a06899cc5832e509246816c3b20eba549e3d02789e138dd51f7e1a28060"},
+    {file = "ft4222-1.9.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:34d9eca521648135c48058b0c6bfd3de34a0dd05783f387da79201117d8a26f8"},
+    {file = "ft4222-1.9.0-cp37-cp37m-win32.whl", hash = "sha256:0bfabe4e46aaa2e5aa88ef77bb75b755ca2f3633eb9cd34654a8a6b30a151559"},
+    {file = "ft4222-1.9.0-cp37-cp37m-win_amd64.whl", hash = "sha256:7da01c5e872fd8b82cbb159697b83f31ae5b2516f90615fc3a66026dd3aed5c0"},
+    {file = "ft4222-1.9.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:7bb3be2ac0d21e7063aad1c10615bc29369132bb9d5f800fc385ea805ef16583"},
+    {file = "ft4222-1.9.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:4c2b0c4ba7c621d7a65708fbfa981f7ed34c966e089e7965d6040f318a43221d"},
+    {file = "ft4222-1.9.0-cp38-cp38-win32.whl", hash = "sha256:0858024c615c495a015fddb81df449f3f7763a6defb44e426afb23ae80faf4d1"},
+    {file = "ft4222-1.9.0-cp38-cp38-win_amd64.whl", hash = "sha256:5375836b967b905146238b2e067936a017a5ec51a8932d950476c1c06b9da87b"},
+    {file = "ft4222-1.9.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:2381aab272200046ee61ec97d2a657d3f03eed2e8270141d5c5617c9ad7cb659"},
+    {file = "ft4222-1.9.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:b25b30f6b81afab04b763a93b604593d6f1e97b7737c40d41949fa8e61ffda17"},
+    {file = "ft4222-1.9.0-cp39-cp39-win32.whl", hash = "sha256:77fe7d5eb9b53f1d05b9a0d6f6ea1b62a55b95330b48aa24c9f6c8157220fc2f"},
+    {file = "ft4222-1.9.0-cp39-cp39-win_amd64.whl", hash = "sha256:cd291d6542a2bcb29ab35eba67291680a666ee88ece66d38ab5922dea7f41259"},
+    {file = "ft4222-1.9.0-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:80b7a7b2f7937e8442a6d73aa231676bd6b497cd82a1f02b8a5a29dd28deff8b"},
+    {file = "ft4222-1.9.0-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:d06d3ca1f5208abafaa7106854c12d142bbde6f1ca5212590b8859bf9908301a"},
+    {file = "ft4222-1.9.0-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:ea756d097863a9afde576ba8a496f702abc1584743c56b17a002d13ac2f0fe99"},
+    {file = "ft4222-1.9.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:2d795f77c2481a6565ca4726038db0abd6503f5db3ef2d0f52da74f7e1a12edd"},
+    {file = "ft4222-1.9.0-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:c41137e64fde5f43263d738c113238196ef16a42e2aa7960d1451e4bed3281f9"},
+    {file = "ft4222-1.9.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:a16ca00027dec92080994031d2a342966e618ea0f4d860c550d6b4b89d534aba"},
+    {file = "ft4222-1.9.0.tar.gz", hash = "sha256:0d9fe9bc2537b7dd62b06b45e91f362be9f550a7101f71482f954678fe2d1b0f"},
 ]
 
 [[package]]
@@ -1341,21 +1373,21 @@ rewrite = ["tokenize-rt (>=3)"]
 
 [[package]]
 name = "geopandas"
-version = "0.13.2"
+version = "0.14.0"
 description = "Geographic pandas extensions"
 optional = false
-python-versions = ">=3.8"
+python-versions = ">=3.9"
 files = [
-    {file = "geopandas-0.13.2-py3-none-any.whl", hash = "sha256:101cfd0de54bcf9e287a55b5ea17ebe0db53a5e25a28bacf100143d0507cabd9"},
-    {file = "geopandas-0.13.2.tar.gz", hash = "sha256:e5b56d9c20800c77bcc0c914db3f27447a37b23b2cd892be543f5001a694a968"},
+    {file = "geopandas-0.14.0-py3-none-any.whl", hash = "sha256:a402a565e727642cb44a500c911f226eea26c1b1247c6586827031e3d7a9403a"},
+    {file = "geopandas-0.14.0.tar.gz", hash = "sha256:ea6c031889e1e1888aecaa6e182ca620d78f63551c49b3002a998bcbb280531f"},
 ]
 
 [package.dependencies]
-fiona = ">=1.8.19"
+fiona = ">=1.8.21"
 packaging = "*"
-pandas = ">=1.1.0"
-pyproj = ">=3.0.1"
-shapely = ">=1.7.1"
+pandas = ">=1.4.0"
+pyproj = ">=3.3.0"
+shapely = ">=1.8.0"
 
 [[package]]
 name = "google-crc32c"
@@ -1564,13 +1596,13 @@ files = [
 
 [[package]]
 name = "hypothesis"
-version = "6.46.7"
+version = "6.47.5"
 description = "A library for property-based testing"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "hypothesis-6.46.7-py3-none-any.whl", hash = "sha256:2696cdb9005946bf1d2b215cc91d3fc01625e3342eb8743ddd04b667b2f1882b"},
-    {file = "hypothesis-6.46.7.tar.gz", hash = "sha256:967009fa561b3a3f8363a73d71923357271c37dc7fa27b30c2d21a1b6092b240"},
+    {file = "hypothesis-6.47.5-py3-none-any.whl", hash = "sha256:87049b781ee11ec1c7948565b889ab02e428a1e32d427ab4de8fdb3649242d06"},
+    {file = "hypothesis-6.47.5.tar.gz", hash = "sha256:e0c1e253fc97e7ecdb9e2bbff2cf815d8739e0d1d3d093d67c3af5bb6a7211b0"},
 ]
 
 [package.dependencies]
@@ -1595,13 +1627,13 @@ zoneinfo = ["backports.zoneinfo (>=0.2.1)", "tzdata (>=2022.1)"]
 
 [[package]]
 name = "identify"
-version = "2.5.28"
+version = "2.5.30"
 description = "File identification library for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "identify-2.5.28-py2.py3-none-any.whl", hash = "sha256:87816de144bf46d161bd5b3e8f5596b16cade3b80be537087334b26bc5c177f3"},
-    {file = "identify-2.5.28.tar.gz", hash = "sha256:94bb59643083ebd60dc996d043497479ee554381fbc5307763915cda49b0e78f"},
+    {file = "identify-2.5.30-py2.py3-none-any.whl", hash = "sha256:afe67f26ae29bab007ec21b03d4114f41316ab9dd15aa8736a167481e108da54"},
+    {file = "identify-2.5.30.tar.gz", hash = "sha256:f302a4256a15c849b91cfcdcec052a8ce914634b2f77ae87dad29cd749f2d88d"},
 ]
 
 [package.extras]
@@ -1661,18 +1693,18 @@ testing = ["flufl.flake8", "importlib-resources (>=1.3)", "packaging", "pyfakefs
 
 [[package]]
 name = "importlib-resources"
-version = "6.0.1"
+version = "6.1.0"
 description = "Read resources from Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "importlib_resources-6.0.1-py3-none-any.whl", hash = "sha256:134832a506243891221b88b4ae1213327eea96ceb4e407a00d790bb0626f45cf"},
-    {file = "importlib_resources-6.0.1.tar.gz", hash = "sha256:4359457e42708462b9626a04657c6208ad799ceb41e5c58c57ffa0e6a098a5d4"},
+    {file = "importlib_resources-6.1.0-py3-none-any.whl", hash = "sha256:aa50258bbfa56d4e33fbd8aa3ef48ded10d1735f11532b8df95388cc6bdb7e83"},
+    {file = "importlib_resources-6.1.0.tar.gz", hash = "sha256:9d48dcccc213325e810fd723e7fbb45ccb39f6cf5c31f00cf2b965f5f10f3cb9"},
 ]
 
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
+docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
+testing = ["pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-ruff", "zipp (>=3.17)"]
 
 [[package]]
 name = "iniconfig"
@@ -1696,16 +1728,6 @@ files = [
     {file = "inputs-0.5.tar.gz", hash = "sha256:a31d5b96a3525f1232f326be9e7ce8ccaf873c6b1fb84d9f3c9bc3d79b23eae4"},
 ]
 
-[[package]]
-name = "ioctl-opt"
-version = "1.3"
-description = "Functions to compute fnctl.ioctl's opt argument"
-optional = false
-python-versions = "*"
-files = [
-    {file = "ioctl-opt-1.3.tar.gz", hash = "sha256:5ed4f9a80d2e02e152a43d3648d7ed8821a0aac5ea88ecc5fcc14460ff7cf2f9"},
-]
-
 [[package]]
 name = "isodate"
 version = "0.6.1"
@@ -2188,58 +2210,39 @@ files = [
 
 [[package]]
 name = "matplotlib"
-version = "3.7.3"
+version = "3.8.0"
 description = "Python plotting package"
 optional = false
-python-versions = ">=3.8"
+python-versions = ">=3.9"
 files = [
-    {file = "matplotlib-3.7.3-cp310-cp310-macosx_10_12_universal2.whl", hash = "sha256:085c33b27561d9c04386789d5aa5eb4a932ddef43cfcdd0e01735f9a6e85ce0c"},
-    {file = "matplotlib-3.7.3-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:c568e80e1c17f68a727f30f591926751b97b98314d8e59804f54f86ae6fa6a22"},
-    {file = "matplotlib-3.7.3-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:7baf98c5ad59c5c4743ea884bb025cbffa52dacdfdac0da3e6021a285a90377e"},
-    {file = "matplotlib-3.7.3-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:236024f582e40dac39bca592258888b38ae47a9fed7b8de652d68d3d02d47d2b"},
-    {file = "matplotlib-3.7.3-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:12b4f6795efea037ce2d41e7c417ad8bd02d5719c6ad4a8450a0708f4a1cfb89"},
-    {file = "matplotlib-3.7.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:78b2136cc6c5415b78977e0e8c608647d597204b05b1d9089ccf513c7d913733"},
-    {file = "matplotlib-3.7.3-cp310-cp310-win32.whl", hash = "sha256:122dcbf9be0086e2a95d9e5e0632dbf3bd5b65eaa68c369363310a6c87753059"},
-    {file = "matplotlib-3.7.3-cp310-cp310-win_amd64.whl", hash = "sha256:4aab27d9e33293389e3c1d7c881d414a72bdfda0fedc3a6bf46c6fa88d9b8015"},
-    {file = "matplotlib-3.7.3-cp311-cp311-macosx_10_12_universal2.whl", hash = "sha256:d5adc743de91e8e0b13df60deb1b1c285b8effea3d66223afceb14b63c9b05de"},
-    {file = "matplotlib-3.7.3-cp311-cp311-macosx_10_12_x86_64.whl", hash = "sha256:55de4cf7cd0071b8ebf203981b53ab64f988a0a1f897a2dff300a1124e8bcd8b"},
-    {file = "matplotlib-3.7.3-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:ac03377fd908aaee2312d0b11735753e907adb6f4d1d102de5e2425249693f6c"},
-    {file = "matplotlib-3.7.3-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:755bafc10a46918ce9a39980009b54b02dd249594e5adf52f9c56acfddb5d0b7"},
-    {file = "matplotlib-3.7.3-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1a6094c6f8e8d18db631754df4fe9a34dec3caf074f6869a7db09f18f9b1d6b2"},
-    {file = "matplotlib-3.7.3-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:272dba2f1b107790ed78ebf5385b8d14b27ad9e90419de340364b49fe549a993"},
-    {file = "matplotlib-3.7.3-cp311-cp311-win32.whl", hash = "sha256:591c123bed1cb4b9996fb60b41a6d89c2ec4943244540776c5f1283fb6960a53"},
-    {file = "matplotlib-3.7.3-cp311-cp311-win_amd64.whl", hash = "sha256:3bf3a178c6504694cee8b88b353df0051583f2f6f8faa146f67115c27c856881"},
-    {file = "matplotlib-3.7.3-cp312-cp312-macosx_10_12_universal2.whl", hash = "sha256:edf54cac8ee3603f3093616b40a931e8c063969756a4d78a86e82c2fea9659f7"},
-    {file = "matplotlib-3.7.3-cp312-cp312-macosx_10_12_x86_64.whl", hash = "sha256:91e36a85ea639a1ba9f91427041eac064b04829945fe331a92617b6cb21d27e5"},
-    {file = "matplotlib-3.7.3-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:caf5eaaf7c68f8d7df269dfbcaf46f48a70ff482bfcebdcc97519671023f2a7d"},
-    {file = "matplotlib-3.7.3-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:74bf57f505efea376097e948b7cdd87191a7ce8180616390aef496639edf601f"},
-    {file = "matplotlib-3.7.3-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ee152a88a0da527840a426535514b6ed8ac4240eb856b1da92cf48124320e346"},
-    {file = "matplotlib-3.7.3-cp312-cp312-win_amd64.whl", hash = "sha256:67a410a9c9e07cbc83581eeea144bbe298870bf0ac0ee2f2e10a015ab7efee19"},
-    {file = "matplotlib-3.7.3-cp38-cp38-macosx_10_12_universal2.whl", hash = "sha256:259999c05285cb993d7f2a419cea547863fa215379eda81f7254c9e932963729"},
-    {file = "matplotlib-3.7.3-cp38-cp38-macosx_10_12_x86_64.whl", hash = "sha256:3f4e7fd5a6157e1d018ce2166ec8e531a481dd4a36f035b5c23edfe05a25419a"},
-    {file = "matplotlib-3.7.3-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:faa3d12d8811d08d14080a8b7b9caea9a457dc495350166b56df0db4b9909ef5"},
-    {file = "matplotlib-3.7.3-cp38-cp38-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:336e88900c11441e458da01c8414fc57e04e17f9d3bb94958a76faa2652bcf6b"},
-    {file = "matplotlib-3.7.3-cp38-cp38-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:12f4c0dd8aa280d796c8772ea8265a14f11a04319baa3a16daa5556065e8baea"},
-    {file = "matplotlib-3.7.3-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1990955b11e7918d256cf3b956b10997f405b7917a3f1c7d8e69c1d15c7b1930"},
-    {file = "matplotlib-3.7.3-cp38-cp38-win32.whl", hash = "sha256:e78707b751260b42b721507ad7aa60fe4026d7f51c74cca6b9cd8b123ebb633a"},
-    {file = "matplotlib-3.7.3-cp38-cp38-win_amd64.whl", hash = "sha256:e594ee43c59ea39ca5c6244667cac9d017a3527febc31f5532ad9135cf7469ec"},
-    {file = "matplotlib-3.7.3-cp39-cp39-macosx_10_12_universal2.whl", hash = "sha256:6eaa1cf0e94c936a26b78f6d756c5fbc12e0a58c8a68b7248a2a31456ce4e234"},
-    {file = "matplotlib-3.7.3-cp39-cp39-macosx_10_12_x86_64.whl", hash = "sha256:0a97af9d22e8ebedc9f00b043d9bbd29a375e9e10b656982012dded44c10fd77"},
-    {file = "matplotlib-3.7.3-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:1f9c6c16597af660433ab330b59ee2934b832ee1fabcaf5cbde7b2add840f31e"},
-    {file = "matplotlib-3.7.3-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a7240259b4b9cbc62381f6378cff4d57af539162a18e832c1e48042fabc40b6b"},
-    {file = "matplotlib-3.7.3-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:747c6191d2e88ae854809e69aa358dbf852ff1a5738401b85c1cc9012309897a"},
-    {file = "matplotlib-3.7.3-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ec726b08a5275d827aa91bb951e68234a4423adb91cf65bc0fcdc0f2777663f7"},
-    {file = "matplotlib-3.7.3-cp39-cp39-win32.whl", hash = "sha256:40e3b9b450c6534f07278310c4e34caff41c2a42377e4b9d47b0f8d3ac1083a2"},
-    {file = "matplotlib-3.7.3-cp39-cp39-win_amd64.whl", hash = "sha256:dfc118642903a23e309b1da32886bb39a4314147d013e820c86b5fb4cb2e36d0"},
-    {file = "matplotlib-3.7.3-pp38-pypy38_pp73-macosx_10_12_x86_64.whl", hash = "sha256:165c8082bf8fc0360c24aa4724a22eaadbfd8c28bf1ccf7e94d685cad48261e4"},
-    {file = "matplotlib-3.7.3-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ebd8470cc2a3594746ff0513aecbfa2c55ff6f58e6cef2efb1a54eb87c88ffa2"},
-    {file = "matplotlib-3.7.3-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7153453669c9672b52095119fd21dd032d19225d48413a2871519b17db4b0fde"},
-    {file = "matplotlib-3.7.3-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:498a08267dc69dd8f24c4b5d7423fa584d7ce0027ba71f7881df05fc09b89bb7"},
-    {file = "matplotlib-3.7.3-pp39-pypy39_pp73-macosx_10_12_x86_64.whl", hash = "sha256:d48999c4b19b5a0c058c9cd828ff6fc7748390679f6cf9a2ad653a3e802c87d3"},
-    {file = "matplotlib-3.7.3-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:22d65d18b4ee8070a5fea5761d59293f1f9e2fac37ec9ce090463b0e629432fd"},
-    {file = "matplotlib-3.7.3-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9c40cde976c36693cc0767e27cf5f443f91c23520060bd9496678364adfafe9c"},
-    {file = "matplotlib-3.7.3-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:39018a2b17592448fbfdf4b8352955e6c3905359939791d4ff429296494d1a0c"},
-    {file = "matplotlib-3.7.3.tar.gz", hash = "sha256:f09b3dd6bdeb588de91f853bbb2d6f0ff8ab693485b0c49035eaa510cb4f142e"},
+    {file = "matplotlib-3.8.0-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:c4940bad88a932ddc69734274f6fb047207e008389489f2b6f77d9ca485f0e7a"},
+    {file = "matplotlib-3.8.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:a33bd3045c7452ca1fa65676d88ba940867880e13e2546abb143035fa9072a9d"},
+    {file = "matplotlib-3.8.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2ea6886e93401c22e534bbfd39201ce8931b75502895cfb115cbdbbe2d31f287"},
+    {file = "matplotlib-3.8.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d670b9348e712ec176de225d425f150dc8e37b13010d85233c539b547da0be39"},
+    {file = "matplotlib-3.8.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:7b37b74f00c4cb6af908cb9a00779d97d294e89fd2145ad43f0cdc23f635760c"},
+    {file = "matplotlib-3.8.0-cp310-cp310-win_amd64.whl", hash = "sha256:0e723f5b96f3cd4aad99103dc93e9e3cdc4f18afdcc76951f4857b46f8e39d2d"},
+    {file = "matplotlib-3.8.0-cp311-cp311-macosx_10_12_x86_64.whl", hash = "sha256:5dc945a9cb2deb7d197ba23eb4c210e591d52d77bf0ba27c35fc82dec9fa78d4"},
+    {file = "matplotlib-3.8.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:f8b5a1bf27d078453aa7b5b27f52580e16360d02df6d3dc9504f3d2ce11f6309"},
+    {file = "matplotlib-3.8.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6f25ffb6ad972cdffa7df8e5be4b1e3cadd2f8d43fc72085feb1518006178394"},
+    {file = "matplotlib-3.8.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:eee482731c8c17d86d9ddb5194d38621f9b0f0d53c99006275a12523ab021732"},
+    {file = "matplotlib-3.8.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:36eafe2128772195b373e1242df28d1b7ec6c04c15b090b8d9e335d55a323900"},
+    {file = "matplotlib-3.8.0-cp311-cp311-win_amd64.whl", hash = "sha256:061ee58facb3580cd2d046a6d227fb77e9295599c5ec6ad069f06b5821ad1cfc"},
+    {file = "matplotlib-3.8.0-cp312-cp312-macosx_10_12_x86_64.whl", hash = "sha256:3cc3776836d0f4f22654a7f2d2ec2004618d5cf86b7185318381f73b80fd8a2d"},
+    {file = "matplotlib-3.8.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:6c49a2bd6981264bddcb8c317b6bd25febcece9e2ebfcbc34e7f4c0c867c09dc"},
+    {file = "matplotlib-3.8.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:23ed11654fc83cd6cfdf6170b453e437674a050a452133a064d47f2f1371f8d3"},
+    {file = "matplotlib-3.8.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:dae97fdd6996b3a25da8ee43e3fc734fff502f396801063c6b76c20b56683196"},
+    {file = "matplotlib-3.8.0-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:87df75f528020a6299f76a1d986c0ed4406e3b2bd44bc5e306e46bca7d45e53e"},
+    {file = "matplotlib-3.8.0-cp312-cp312-win_amd64.whl", hash = "sha256:90d74a95fe055f73a6cd737beecc1b81c26f2893b7a3751d52b53ff06ca53f36"},
+    {file = "matplotlib-3.8.0-cp39-cp39-macosx_10_12_x86_64.whl", hash = "sha256:c3499c312f5def8f362a2bf761d04fa2d452b333f3a9a3f58805273719bf20d9"},
+    {file = "matplotlib-3.8.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:31e793c8bd4ea268cc5d3a695c27b30650ec35238626961d73085d5e94b6ab68"},
+    {file = "matplotlib-3.8.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0d5ee602ef517a89d1f2c508ca189cfc395dd0b4a08284fb1b97a78eec354644"},
+    {file = "matplotlib-3.8.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5de39dc61ca35342cf409e031f70f18219f2c48380d3886c1cf5ad9f17898e06"},
+    {file = "matplotlib-3.8.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:dd386c80a98b5f51571b9484bf6c6976de383cd2a8cd972b6a9562d85c6d2087"},
+    {file = "matplotlib-3.8.0-cp39-cp39-win_amd64.whl", hash = "sha256:f691b4ef47c7384d0936b2e8ebdeb5d526c81d004ad9403dfb9d4c76b9979a93"},
+    {file = "matplotlib-3.8.0-pp39-pypy39_pp73-macosx_10_12_x86_64.whl", hash = "sha256:0b11f354aae62a2aa53ec5bb09946f5f06fc41793e351a04ff60223ea9162955"},
+    {file = "matplotlib-3.8.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7f54b9fb87ca5acbcdd0f286021bedc162e1425fa5555ebf3b3dfc167b955ad9"},
+    {file = "matplotlib-3.8.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:60a6e04dfd77c0d3bcfee61c3cd335fff1b917c2f303b32524cd1235e194ef99"},
+    {file = "matplotlib-3.8.0.tar.gz", hash = "sha256:df8505e1c19d5c2c26aff3497a7cbd3ccfc2e97043d1e4db3e76afa399164b69"},
 ]
 
 [package.dependencies]
@@ -2247,7 +2250,7 @@ contourpy = ">=1.0.1"
 cycler = ">=0.10"
 fonttools = ">=4.22.0"
 kiwisolver = ">=1.0.1"
-numpy = ">=1.20,<2"
+numpy = ">=1.21,<2"
 packaging = ">=20.0"
 pillow = ">=6.2.0"
 pyparsing = ">=2.3.1"
@@ -2326,8 +2329,8 @@ waymo = ["waymo-open-dataset-tf-2.11.0 (==1.5.0)"]
 [package.source]
 type = "git"
 url = "https://github.com/metadriverse/metadrive.git"
-reference = "51d4393f3b3574fd0e79ed04eae0081f8447ca72"
-resolved_reference = "51d4393f3b3574fd0e79ed04eae0081f8447ca72"
+reference = "72e842cd1d025bf676e4af8797a01e4aa282109f"
+resolved_reference = "72e842cd1d025bf676e4af8797a01e4aa282109f"
 
 [[package]]
 name = "mpld3"
@@ -2363,13 +2366,13 @@ tests = ["pytest (>=4.6)"]
 
 [[package]]
 name = "msal"
-version = "1.23.0"
-description = "The Microsoft Authentication Library (MSAL) for Python library enables your app to access the Microsoft Cloud by supporting authentication of users with Microsoft Azure Active Directory accounts (AAD) and Microsoft Accounts (MSA) using industry standard OAuth2 and OpenID Connect."
+version = "1.24.1"
+description = "The Microsoft Authentication Library (MSAL) for Python library"
 optional = false
-python-versions = "*"
+python-versions = ">=2.7"
 files = [
-    {file = "msal-1.23.0-py2.py3-none-any.whl", hash = "sha256:3342e0837a047007f9d479e814b559c3219767453d57920dc40a31986862048b"},
-    {file = "msal-1.23.0.tar.gz", hash = "sha256:25c9a33acf84301f93d1fdbe9f1a9c60cd38af0d5fffdbfa378138fc7bc1e86b"},
+    {file = "msal-1.24.1-py2.py3-none-any.whl", hash = "sha256:ce4320688f95c301ee74a4d0e9dbcfe029a63663a8cc61756f40d0d0d36574ad"},
+    {file = "msal-1.24.1.tar.gz", hash = "sha256:aa0972884b3c6fdec53d9a0bd15c12e5bd7b71ac1b66d746f54d128709f3f8f8"},
 ]
 
 [package.dependencies]
@@ -2742,20 +2745,61 @@ typing-extensions = ">=3.6.2.1"
 lint = ["lintrunner (>=0.10.0)", "lintrunner-adapters (>=0.3)"]
 
 [[package]]
-name = "onnxruntime-gpu"
-version = "1.15.1"
+name = "onnxruntime"
+version = "1.16.0"
 description = "ONNX Runtime is a runtime accelerator for Machine Learning models"
 optional = false
 python-versions = "*"
 files = [
-    {file = "onnxruntime_gpu-1.15.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6c0cd0d67a4402222dacd02558e261890724f38e3dfcffedacc67d4575ebcdac"},
-    {file = "onnxruntime_gpu-1.15.1-cp310-cp310-win_amd64.whl", hash = "sha256:5e48ae99d3692b71cd95f75eb0c556bf196b708cb0dd760dbbb96720d81a00a2"},
-    {file = "onnxruntime_gpu-1.15.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ba0a1af33d6539a2dae9c7a8473988a1358e036b3c9dea09ff5b61f5bc2eb603"},
-    {file = "onnxruntime_gpu-1.15.1-cp311-cp311-win_amd64.whl", hash = "sha256:53bba07b335082ff26c834bb43bd12ed772221aa69e0d454b750c0df0d0ea719"},
-    {file = "onnxruntime_gpu-1.15.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:134c83e21f02f0629a7e0b2eb400a2cc16d088ac332822e04bafc57f84bfc77c"},
-    {file = "onnxruntime_gpu-1.15.1-cp38-cp38-win_amd64.whl", hash = "sha256:faeae730818546833fb2589feed03176f5469ef6cd06a0c5e5f5b3eec7ac84ec"},
-    {file = "onnxruntime_gpu-1.15.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:58773200fbe3a840cab163fc9f196a3de376a2902d633a714ef13501910c4dfc"},
-    {file = "onnxruntime_gpu-1.15.1-cp39-cp39-win_amd64.whl", hash = "sha256:b9fb31cb7608b4a0e84ba3325860f0b5159ccea5fe43e74eecf6f360021b987f"},
+    {file = "onnxruntime-1.16.0-cp310-cp310-macosx_10_15_x86_64.whl", hash = "sha256:69c86ba3d90c166944c4a3c8a5b2a24a7bc45e68ae5997d83279af21ffd0f5f3"},
+    {file = "onnxruntime-1.16.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:604a46aa2ad6a51f2fc4df1a984ea571a43aa02424aea93464c32ce02d23b3bb"},
+    {file = "onnxruntime-1.16.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a40660516b382031279fb690fc3d068ad004173c2bd12bbdc0bd0fe01ef8b7c3"},
+    {file = "onnxruntime-1.16.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:349fd9c7875c1a76609d45b079484f8059adfb1fb87a30506934fb667ceab249"},
+    {file = "onnxruntime-1.16.0-cp310-cp310-win32.whl", hash = "sha256:22c9e2f1a1f15b41b01195cd2520c013c22228efc4795ae4118048ea4118aad2"},
+    {file = "onnxruntime-1.16.0-cp310-cp310-win_amd64.whl", hash = "sha256:b9667a131abfd226a728cc1c1ecf5cc5afa4fff37422f95a84bc22f7c175b57f"},
+    {file = "onnxruntime-1.16.0-cp311-cp311-macosx_10_15_x86_64.whl", hash = "sha256:f7b292726a1f3fa4a483d7e902da083a5889a86a860dbc3a6479988cad342578"},
+    {file = "onnxruntime-1.16.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:61eaf288a2482c5561f620fb686c80c32709e92724bbb59a5e4a0d349429e205"},
+    {file = "onnxruntime-1.16.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5fe2239d5821d5501eecccfe5c408485591b5d73eb76a61491a8f78179c2e65a"},
+    {file = "onnxruntime-1.16.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5a4924604fcdf1704b7f7e087b4c0b0e181c58367a687da55b1aec2705631943"},
+    {file = "onnxruntime-1.16.0-cp311-cp311-win32.whl", hash = "sha256:55d8456f1ab28c32aec9c478b7638ed145102b03bb9b719b79e065ffc5de9c72"},
+    {file = "onnxruntime-1.16.0-cp311-cp311-win_amd64.whl", hash = "sha256:c2a53ffd456187028c841ac7ed0d83b4c2b7e48bd2b1cf2a42d253ecf1e97cb3"},
+    {file = "onnxruntime-1.16.0-cp38-cp38-macosx_10_15_x86_64.whl", hash = "sha256:bf5769aa4095cfe2503307867fa95b5f73732909ee21b67fe24da443af445925"},
+    {file = "onnxruntime-1.16.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:c0974deadf11ddab201d915a10517be00fa9d6816def56fa374e4c1a0008985a"},
+    {file = "onnxruntime-1.16.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:99dccf1d2eba5ecd7b6c0e8e80d92d0030291f3506726c156e018a4d7a187c6f"},
+    {file = "onnxruntime-1.16.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0170ed05d3a8a7c24fe01fc262a6bc603837751f3bb273df7006a2da73f37fff"},
+    {file = "onnxruntime-1.16.0-cp38-cp38-win32.whl", hash = "sha256:5ecd38e98ccdcbbaa7e529e96852f4c1c136559802354b76378d9a19532018ee"},
+    {file = "onnxruntime-1.16.0-cp38-cp38-win_amd64.whl", hash = "sha256:1c585c60e9541a9bd4fb319ba9a3ef6122a28dcf4f3dbcdf014df44570cad6f8"},
+    {file = "onnxruntime-1.16.0-cp39-cp39-macosx_10_15_x86_64.whl", hash = "sha256:efe59c1e51ad647fb18860233f5971e309961d09ca10697170ef9b7d9fa728f4"},
+    {file = "onnxruntime-1.16.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:e3c9a9cccab8f6512a0c0207b2816dd8864f2f720f6e9df5cf01e30c4f80194f"},
+    {file = "onnxruntime-1.16.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:dcf16a252308ec6e0737db7028b63fed0ac28fbad134f86216c0dfb051a31f38"},
+    {file = "onnxruntime-1.16.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f533aa90ee7189e88b6b612d6adae7d290971090598cfd47ce034ab0d106fc9c"},
+    {file = "onnxruntime-1.16.0-cp39-cp39-win32.whl", hash = "sha256:306c7f5d8a0c24c65afb34f7deb0bc526defde2249e53538f1dce083945a2d6e"},
+    {file = "onnxruntime-1.16.0-cp39-cp39-win_amd64.whl", hash = "sha256:df8a00a7b057ba497e2822175cc68731d84b89a6d50a3a2a3ec51e98e9c91125"},
+]
+
+[package.dependencies]
+coloredlogs = "*"
+flatbuffers = "*"
+numpy = ">=1.21.6"
+packaging = "*"
+protobuf = "*"
+sympy = "*"
+
+[[package]]
+name = "onnxruntime-gpu"
+version = "1.16.0"
+description = "ONNX Runtime is a runtime accelerator for Machine Learning models"
+optional = false
+python-versions = "*"
+files = [
+    {file = "onnxruntime_gpu-1.16.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ecd816069373c94a9c2d9554932328f17da9b76b3de8ce13c24d96ddd91f02db"},
+    {file = "onnxruntime_gpu-1.16.0-cp310-cp310-win_amd64.whl", hash = "sha256:0913940593442fb92aac385ddca3b712c452a4e967d7f3aa61bfa9c2ec7502af"},
+    {file = "onnxruntime_gpu-1.16.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ea44d83424f5b03a4d0cc76b573047b8f20cdcdfe28b978746c9d76a352e75e2"},
+    {file = "onnxruntime_gpu-1.16.0-cp311-cp311-win_amd64.whl", hash = "sha256:ce97adba93c265eda50873f7fabe654429efbee1e765232afd3aca129d3d92e6"},
+    {file = "onnxruntime_gpu-1.16.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:93978ea51e97356d18c80863bc617e08d9ebea991955106e23a08406c2005331"},
+    {file = "onnxruntime_gpu-1.16.0-cp38-cp38-win_amd64.whl", hash = "sha256:2bd7762d1eed28eb965dff91429ff9d91906bc0e34b9af22c5d90e6b24c3ecc9"},
+    {file = "onnxruntime_gpu-1.16.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8987821c5d0d7c4052d4322a846ba6e6a8665863e2217a090b7ad5a24c89f08d"},
+    {file = "onnxruntime_gpu-1.16.0-cp39-cp39-win_amd64.whl", hash = "sha256:a17da3412fcda22b7ef26be4c684b6f9fe3bb79d7437fa3b386ef2af4c5f1ec3"},
 ]
 
 [package.dependencies]
@@ -2768,51 +2812,65 @@ sympy = "*"
 
 [[package]]
 name = "opencv-python"
-version = "4.8.0.76"
+version = "4.8.1.78"
 description = "Wrapper package for OpenCV python bindings."
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "opencv-python-4.8.0.76.tar.gz", hash = "sha256:56d84c43ce800938b9b1ec74b33942b2edbcef3f70c2754eb9bfe5dff1ee3ace"},
-    {file = "opencv_python-4.8.0.76-cp37-abi3-macosx_10_16_x86_64.whl", hash = "sha256:67bce4b9aad307c98a9a07c6afb7de3a4e823c1f4991d6d8e88e229e7dfeee59"},
-    {file = "opencv_python-4.8.0.76-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:48eb3121d809a873086d6677565e3ac963e6946110d13cd115533fa70e2aa2eb"},
-    {file = "opencv_python-4.8.0.76-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:93871871b1c9d6b125cddd45b0638a2fa01ee9fd37f5e428823f750e404f2f15"},
-    {file = "opencv_python-4.8.0.76-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9bcb4944211acf13742dbfd9d3a11dc4e36353ffa1746f2c7dcd6a01c32d1376"},
-    {file = "opencv_python-4.8.0.76-cp37-abi3-win32.whl", hash = "sha256:b2349dc9f97ed6c9ba163d0a7a24bcef9695a3e216cd143e92f1b9659c5d9a49"},
-    {file = "opencv_python-4.8.0.76-cp37-abi3-win_amd64.whl", hash = "sha256:ba32cfa75a806abd68249699d34420737d27b5678553387fc5768747a6492147"},
+    {file = "opencv-python-4.8.1.78.tar.gz", hash = "sha256:cc7adbbcd1112877a39274106cb2752e04984bc01a031162952e97450d6117f6"},
+    {file = "opencv_python-4.8.1.78-cp37-abi3-macosx_10_16_x86_64.whl", hash = "sha256:91d5f6f5209dc2635d496f6b8ca6573ecdad051a09e6b5de4c399b8e673c60da"},
+    {file = "opencv_python-4.8.1.78-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:bc31f47e05447da8b3089faa0a07ffe80e114c91ce0b171e6424f9badbd1c5cd"},
+    {file = "opencv_python-4.8.1.78-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9814beca408d3a0eca1bae7e3e5be68b07c17ecceb392b94170881216e09b319"},
+    {file = "opencv_python-4.8.1.78-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c4c406bdb41eb21ea51b4e90dfbc989c002786c3f601c236a99c59a54670a394"},
+    {file = "opencv_python-4.8.1.78-cp37-abi3-win32.whl", hash = "sha256:a7aac3900fbacf55b551e7b53626c3dad4c71ce85643645c43e91fcb19045e47"},
+    {file = "opencv_python-4.8.1.78-cp37-abi3-win_amd64.whl", hash = "sha256:b983197f97cfa6fcb74e1da1802c7497a6f94ed561aba6980f1f33123f904956"},
 ]
 
 [package.dependencies]
-numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
+numpy = [
+    {version = ">=1.21.2", markers = "python_version >= \"3.10\""},
+    {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\""},
+]
 
 [[package]]
 name = "opencv-python-headless"
-version = "4.8.0.76"
+version = "4.8.1.78"
 description = "Wrapper package for OpenCV python bindings."
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "opencv-python-headless-4.8.0.76.tar.gz", hash = "sha256:bc15726187dae26d8a08777faf6bc71d38f20c785c102677f58ba0e935003afb"},
-    {file = "opencv_python_headless-4.8.0.76-cp37-abi3-macosx_10_16_x86_64.whl", hash = "sha256:f85d2e3b9d952db35d31f9db8882d073c903921b72b8db1cfed8bbc75e8d3e63"},
-    {file = "opencv_python_headless-4.8.0.76-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:8ee3bf1c9086493c340c6a87899f1c7778d729de92bce8560b8c31ab8a9cdf79"},
-    {file = "opencv_python_headless-4.8.0.76-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c675b8dec6298ba6a1eec2ce24077a393b4236a043f68dfacb06bf594354ce06"},
-    {file = "opencv_python_headless-4.8.0.76-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:220d2e292fa45ef0582aab730460bbc15cfe61f2089208167a372ccf76f01e21"},
-    {file = "opencv_python_headless-4.8.0.76-cp37-abi3-win32.whl", hash = "sha256:df0608de207ae9b094ad9eaf1a475cf6e9a069fb12cd289d4a18cefdab2f8aa8"},
-    {file = "opencv_python_headless-4.8.0.76-cp37-abi3-win_amd64.whl", hash = "sha256:9c094faf6ec7bd360244647b26ebdf8f54edec1d9292cb9179fff9badcca7be8"},
+    {file = "opencv-python-headless-4.8.1.78.tar.gz", hash = "sha256:bc7197b42352f6f865c302a49140b889ec7cd957dd697e2d7fc016ad0d3f28f1"},
+    {file = "opencv_python_headless-4.8.1.78-cp37-abi3-macosx_10_16_x86_64.whl", hash = "sha256:f3a33f644249f9ce1c913eac580e4b3ef4ce7cab0a71900274708959c2feb5e3"},
+    {file = "opencv_python_headless-4.8.1.78-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:2c7d45721df9801c4dcd34683a15caa0e30f38b185263fec04a6eb274bc720f0"},
+    {file = "opencv_python_headless-4.8.1.78-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3b6bd6e1132b6f5dcb3a5bfe30fc4d341a7bfb26134da349a06c9255288ded94"},
+    {file = "opencv_python_headless-4.8.1.78-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:58e70d2f0915fe23e02c6e405588276c9397844a47d38b9c87fac5f7f9ba2dcc"},
+    {file = "opencv_python_headless-4.8.1.78-cp37-abi3-win32.whl", hash = "sha256:382f8c7a6a14f80091284eecedd52cee4812231ee0eff1118592197b538d9252"},
+    {file = "opencv_python_headless-4.8.1.78-cp37-abi3-win_amd64.whl", hash = "sha256:0a0f1e9f836f7d5bad1dd164694944c8761711cbdf4b36ebbd4815a8ef731079"},
 ]
 
 [package.dependencies]
-numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
+numpy = [
+    {version = ">=1.21.2", markers = "python_version >= \"3.10\""},
+    {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\""},
+]
 
 [[package]]
 name = "packaging"
-version = "23.1"
+version = "23.2"
 description = "Core utilities for Python packages"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "packaging-23.1-py3-none-any.whl", hash = "sha256:994793af429502c4ea2ebf6bf664629d07c1a9fe974af92966e4b8d2df7edc61"},
-    {file = "packaging-23.1.tar.gz", hash = "sha256:a392980d2b6cffa644431898be54b0045151319d1e7ec34f0cfed48767dd334f"},
+    {file = "packaging-23.2-py3-none-any.whl", hash = "sha256:8c491190033a9af7e1d931d0b5dacc2ef47509b34dd0de67ed209b5203fc88c7"},
+    {file = "packaging-23.2.tar.gz", hash = "sha256:048fb0e9405036518eaaf48a55953c750c11e1a1b68e0dd1a9d62ed0c092cfc5"},
 ]
 
 [[package]]
@@ -2934,34 +2992,40 @@ test = ["pylint (==2.4.*)", "pytest", "pytest-pylint"]
 
 [[package]]
 name = "pandas"
-version = "2.1.0"
+version = "2.1.1"
 description = "Powerful data structures for data analysis, time series, and statistics"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "pandas-2.1.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:40dd20439ff94f1b2ed55b393ecee9cb6f3b08104c2c40b0cb7186a2f0046242"},
-    {file = "pandas-2.1.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:d4f38e4fedeba580285eaac7ede4f686c6701a9e618d8a857b138a126d067f2f"},
-    {file = "pandas-2.1.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6e6a0fe052cf27ceb29be9429428b4918f3740e37ff185658f40d8702f0b3e09"},
-    {file = "pandas-2.1.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9d81e1813191070440d4c7a413cb673052b3b4a984ffd86b8dd468c45742d3cc"},
-    {file = "pandas-2.1.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:eb20252720b1cc1b7d0b2879ffc7e0542dd568f24d7c4b2347cb035206936421"},
-    {file = "pandas-2.1.0-cp310-cp310-win_amd64.whl", hash = "sha256:38f74ef7ebc0ffb43b3d633e23d74882bce7e27bfa09607f3c5d3e03ffd9a4a5"},
-    {file = "pandas-2.1.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:cda72cc8c4761c8f1d97b169661f23a86b16fdb240bdc341173aee17e4d6cedd"},
-    {file = "pandas-2.1.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:d97daeac0db8c993420b10da4f5f5b39b01fc9ca689a17844e07c0a35ac96b4b"},
-    {file = "pandas-2.1.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d8c58b1113892e0c8078f006a167cc210a92bdae23322bb4614f2f0b7a4b510f"},
-    {file = "pandas-2.1.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:629124923bcf798965b054a540f9ccdfd60f71361255c81fa1ecd94a904b9dd3"},
-    {file = "pandas-2.1.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:70cf866af3ab346a10debba8ea78077cf3a8cd14bd5e4bed3d41555a3280041c"},
-    {file = "pandas-2.1.0-cp311-cp311-win_amd64.whl", hash = "sha256:d53c8c1001f6a192ff1de1efe03b31a423d0eee2e9e855e69d004308e046e694"},
-    {file = "pandas-2.1.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:86f100b3876b8c6d1a2c66207288ead435dc71041ee4aea789e55ef0e06408cb"},
-    {file = "pandas-2.1.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:28f330845ad21c11db51e02d8d69acc9035edfd1116926ff7245c7215db57957"},
-    {file = "pandas-2.1.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b9a6ccf0963db88f9b12df6720e55f337447aea217f426a22d71f4213a3099a6"},
-    {file = "pandas-2.1.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d99e678180bc59b0c9443314297bddce4ad35727a1a2656dbe585fd78710b3b9"},
-    {file = "pandas-2.1.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:b31da36d376d50a1a492efb18097b9101bdbd8b3fbb3f49006e02d4495d4c644"},
-    {file = "pandas-2.1.0-cp39-cp39-win_amd64.whl", hash = "sha256:0164b85937707ec7f70b34a6c3a578dbf0f50787f910f21ca3b26a7fd3363437"},
-    {file = "pandas-2.1.0.tar.gz", hash = "sha256:62c24c7fc59e42b775ce0679cfa7b14a5f9bfb7643cfbe708c960699e05fb918"},
+    {file = "pandas-2.1.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:58d997dbee0d4b64f3cb881a24f918b5f25dd64ddf31f467bb9b67ae4c63a1e4"},
+    {file = "pandas-2.1.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:02304e11582c5d090e5a52aec726f31fe3f42895d6bfc1f28738f9b64b6f0614"},
+    {file = "pandas-2.1.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ffa8f0966de2c22de408d0e322db2faed6f6e74265aa0856f3824813cf124363"},
+    {file = "pandas-2.1.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c1f84c144dee086fe4f04a472b5cd51e680f061adf75c1ae4fc3a9275560f8f4"},
+    {file = "pandas-2.1.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:75ce97667d06d69396d72be074f0556698c7f662029322027c226fd7a26965cb"},
+    {file = "pandas-2.1.1-cp310-cp310-win_amd64.whl", hash = "sha256:4c3f32fd7c4dccd035f71734df39231ac1a6ff95e8bdab8d891167197b7018d2"},
+    {file = "pandas-2.1.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:9e2959720b70e106bb1d8b6eadd8ecd7c8e99ccdbe03ee03260877184bb2877d"},
+    {file = "pandas-2.1.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:25e8474a8eb258e391e30c288eecec565bfed3e026f312b0cbd709a63906b6f8"},
+    {file = "pandas-2.1.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b8bd1685556f3374520466998929bade3076aeae77c3e67ada5ed2b90b4de7f0"},
+    {file = "pandas-2.1.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:dc3657869c7902810f32bd072f0740487f9e030c1a3ab03e0af093db35a9d14e"},
+    {file = "pandas-2.1.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:05674536bd477af36aa2effd4ec8f71b92234ce0cc174de34fd21e2ee99adbc2"},
+    {file = "pandas-2.1.1-cp311-cp311-win_amd64.whl", hash = "sha256:b407381258a667df49d58a1b637be33e514b07f9285feb27769cedb3ab3d0b3a"},
+    {file = "pandas-2.1.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:c747793c4e9dcece7bb20156179529898abf505fe32cb40c4052107a3c620b49"},
+    {file = "pandas-2.1.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:3bcad1e6fb34b727b016775bea407311f7721db87e5b409e6542f4546a4951ea"},
+    {file = "pandas-2.1.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f5ec7740f9ccb90aec64edd71434711f58ee0ea7f5ed4ac48be11cfa9abf7317"},
+    {file = "pandas-2.1.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:29deb61de5a8a93bdd033df328441a79fcf8dd3c12d5ed0b41a395eef9cd76f0"},
+    {file = "pandas-2.1.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:4f99bebf19b7e03cf80a4e770a3e65eee9dd4e2679039f542d7c1ace7b7b1daa"},
+    {file = "pandas-2.1.1-cp312-cp312-win_amd64.whl", hash = "sha256:84e7e910096416adec68075dc87b986ff202920fb8704e6d9c8c9897fe7332d6"},
+    {file = "pandas-2.1.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:366da7b0e540d1b908886d4feb3d951f2f1e572e655c1160f5fde28ad4abb750"},
+    {file = "pandas-2.1.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:9e50e72b667415a816ac27dfcfe686dc5a0b02202e06196b943d54c4f9c7693e"},
+    {file = "pandas-2.1.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cc1ab6a25da197f03ebe6d8fa17273126120874386b4ac11c1d687df288542dd"},
+    {file = "pandas-2.1.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a0dbfea0dd3901ad4ce2306575c54348d98499c95be01b8d885a2737fe4d7a98"},
+    {file = "pandas-2.1.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:0489b0e6aa3d907e909aef92975edae89b1ee1654db5eafb9be633b0124abe97"},
+    {file = "pandas-2.1.1-cp39-cp39-win_amd64.whl", hash = "sha256:4cdb0fab0400c2cb46dafcf1a0fe084c8bb2480a1fa8d81e19d15e12e6d4ded2"},
+    {file = "pandas-2.1.1.tar.gz", hash = "sha256:fecb198dc389429be557cde50a2d46da8434a17fe37d7d41ff102e3987fd947b"},
 ]
 
 [package.dependencies]
-numpy = {version = ">=1.23.2", markers = "python_version >= \"3.11\""}
+numpy = {version = ">=1.23.2", markers = "python_version == \"3.11\""}
 python-dateutil = ">=2.8.2"
 pytz = ">=2020.1"
 tzdata = ">=2022.1"
@@ -3026,67 +3090,65 @@ dev = ["jinja2"]
 
 [[package]]
 name = "pillow"
-version = "10.0.0"
+version = "10.0.1"
 description = "Python Imaging Library (Fork)"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "Pillow-10.0.0-cp310-cp310-macosx_10_10_x86_64.whl", hash = "sha256:1f62406a884ae75fb2f818694469519fb685cc7eaff05d3451a9ebe55c646891"},
-    {file = "Pillow-10.0.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:d5db32e2a6ccbb3d34d87c87b432959e0db29755727afb37290e10f6e8e62614"},
-    {file = "Pillow-10.0.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:edf4392b77bdc81f36e92d3a07a5cd072f90253197f4a52a55a8cec48a12483b"},
-    {file = "Pillow-10.0.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:520f2a520dc040512699f20fa1c363eed506e94248d71f85412b625026f6142c"},
-    {file = "Pillow-10.0.0-cp310-cp310-manylinux_2_28_aarch64.whl", hash = "sha256:8c11160913e3dd06c8ffdb5f233a4f254cb449f4dfc0f8f4549eda9e542c93d1"},
-    {file = "Pillow-10.0.0-cp310-cp310-manylinux_2_28_x86_64.whl", hash = "sha256:a74ba0c356aaa3bb8e3eb79606a87669e7ec6444be352870623025d75a14a2bf"},
-    {file = "Pillow-10.0.0-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:d5d0dae4cfd56969d23d94dc8e89fb6a217be461c69090768227beb8ed28c0a3"},
-    {file = "Pillow-10.0.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:22c10cc517668d44b211717fd9775799ccec4124b9a7f7b3635fc5386e584992"},
-    {file = "Pillow-10.0.0-cp310-cp310-win_amd64.whl", hash = "sha256:dffe31a7f47b603318c609f378ebcd57f1554a3a6a8effbc59c3c69f804296de"},
-    {file = "Pillow-10.0.0-cp311-cp311-macosx_10_10_x86_64.whl", hash = "sha256:9fb218c8a12e51d7ead2a7c9e101a04982237d4855716af2e9499306728fb485"},
-    {file = "Pillow-10.0.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:d35e3c8d9b1268cbf5d3670285feb3528f6680420eafe35cccc686b73c1e330f"},
-    {file = "Pillow-10.0.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3ed64f9ca2f0a95411e88a4efbd7a29e5ce2cea36072c53dd9d26d9c76f753b3"},
-    {file = "Pillow-10.0.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0b6eb5502f45a60a3f411c63187db83a3d3107887ad0d036c13ce836f8a36f1d"},
-    {file = "Pillow-10.0.0-cp311-cp311-manylinux_2_28_aarch64.whl", hash = "sha256:c1fbe7621c167ecaa38ad29643d77a9ce7311583761abf7836e1510c580bf3dd"},
-    {file = "Pillow-10.0.0-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:cd25d2a9d2b36fcb318882481367956d2cf91329f6892fe5d385c346c0649629"},
-    {file = "Pillow-10.0.0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:3b08d4cc24f471b2c8ca24ec060abf4bebc6b144cb89cba638c720546b1cf538"},
-    {file = "Pillow-10.0.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:d737a602fbd82afd892ca746392401b634e278cb65d55c4b7a8f48e9ef8d008d"},
-    {file = "Pillow-10.0.0-cp311-cp311-win_amd64.whl", hash = "sha256:3a82c40d706d9aa9734289740ce26460a11aeec2d9c79b7af87bb35f0073c12f"},
-    {file = "Pillow-10.0.0-cp311-cp311-win_arm64.whl", hash = "sha256:bc2ec7c7b5d66b8ec9ce9f720dbb5fa4bace0f545acd34870eff4a369b44bf37"},
-    {file = "Pillow-10.0.0-cp312-cp312-macosx_10_10_x86_64.whl", hash = "sha256:d80cf684b541685fccdd84c485b31ce73fc5c9b5d7523bf1394ce134a60c6883"},
-    {file = "Pillow-10.0.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:76de421f9c326da8f43d690110f0e79fe3ad1e54be811545d7d91898b4c8493e"},
-    {file = "Pillow-10.0.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:81ff539a12457809666fef6624684c008e00ff6bf455b4b89fd00a140eecd640"},
-    {file = "Pillow-10.0.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ce543ed15570eedbb85df19b0a1a7314a9c8141a36ce089c0a894adbfccb4568"},
-    {file = "Pillow-10.0.0-cp312-cp312-manylinux_2_28_aarch64.whl", hash = "sha256:685ac03cc4ed5ebc15ad5c23bc555d68a87777586d970c2c3e216619a5476223"},
-    {file = "Pillow-10.0.0-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:d72e2ecc68a942e8cf9739619b7f408cc7b272b279b56b2c83c6123fcfa5cdff"},
-    {file = "Pillow-10.0.0-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:d50b6aec14bc737742ca96e85d6d0a5f9bfbded018264b3b70ff9d8c33485551"},
-    {file = "Pillow-10.0.0-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:00e65f5e822decd501e374b0650146063fbb30a7264b4d2744bdd7b913e0cab5"},
-    {file = "Pillow-10.0.0-cp312-cp312-win_amd64.whl", hash = "sha256:f31f9fdbfecb042d046f9d91270a0ba28368a723302786c0009ee9b9f1f60199"},
-    {file = "Pillow-10.0.0-cp312-cp312-win_arm64.whl", hash = "sha256:1ce91b6ec08d866b14413d3f0bbdea7e24dfdc8e59f562bb77bc3fe60b6144ca"},
-    {file = "Pillow-10.0.0-cp38-cp38-macosx_10_10_x86_64.whl", hash = "sha256:349930d6e9c685c089284b013478d6f76e3a534e36ddfa912cde493f235372f3"},
-    {file = "Pillow-10.0.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:3a684105f7c32488f7153905a4e3015a3b6c7182e106fe3c37fbb5ef3e6994c3"},
-    {file = "Pillow-10.0.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b4f69b3700201b80bb82c3a97d5e9254084f6dd5fb5b16fc1a7b974260f89f43"},
-    {file = "Pillow-10.0.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3f07ea8d2f827d7d2a49ecf1639ec02d75ffd1b88dcc5b3a61bbb37a8759ad8d"},
-    {file = "Pillow-10.0.0-cp38-cp38-manylinux_2_28_aarch64.whl", hash = "sha256:040586f7d37b34547153fa383f7f9aed68b738992380ac911447bb78f2abe530"},
-    {file = "Pillow-10.0.0-cp38-cp38-manylinux_2_28_x86_64.whl", hash = "sha256:f88a0b92277de8e3ca715a0d79d68dc82807457dae3ab8699c758f07c20b3c51"},
-    {file = "Pillow-10.0.0-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:c7cf14a27b0d6adfaebb3ae4153f1e516df54e47e42dcc073d7b3d76111a8d86"},
-    {file = "Pillow-10.0.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:3400aae60685b06bb96f99a21e1ada7bc7a413d5f49bce739828ecd9391bb8f7"},
-    {file = "Pillow-10.0.0-cp38-cp38-win_amd64.whl", hash = "sha256:dbc02381779d412145331789b40cc7b11fdf449e5d94f6bc0b080db0a56ea3f0"},
-    {file = "Pillow-10.0.0-cp39-cp39-macosx_10_10_x86_64.whl", hash = "sha256:9211e7ad69d7c9401cfc0e23d49b69ca65ddd898976d660a2fa5904e3d7a9baa"},
-    {file = "Pillow-10.0.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:faaf07ea35355b01a35cb442dd950d8f1bb5b040a7787791a535de13db15ed90"},
-    {file = "Pillow-10.0.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c9f72a021fbb792ce98306ffb0c348b3c9cb967dce0f12a49aa4c3d3fdefa967"},
-    {file = "Pillow-10.0.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9f7c16705f44e0504a3a2a14197c1f0b32a95731d251777dcb060aa83022cb2d"},
-    {file = "Pillow-10.0.0-cp39-cp39-manylinux_2_28_aarch64.whl", hash = "sha256:76edb0a1fa2b4745fb0c99fb9fb98f8b180a1bbceb8be49b087e0b21867e77d3"},
-    {file = "Pillow-10.0.0-cp39-cp39-manylinux_2_28_x86_64.whl", hash = "sha256:368ab3dfb5f49e312231b6f27b8820c823652b7cd29cfbd34090565a015e99ba"},
-    {file = "Pillow-10.0.0-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:608bfdee0d57cf297d32bcbb3c728dc1da0907519d1784962c5f0c68bb93e5a3"},
-    {file = "Pillow-10.0.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:5c6e3df6bdd396749bafd45314871b3d0af81ff935b2d188385e970052091017"},
-    {file = "Pillow-10.0.0-cp39-cp39-win_amd64.whl", hash = "sha256:7be600823e4c8631b74e4a0d38384c73f680e6105a7d3c6824fcf226c178c7e6"},
-    {file = "Pillow-10.0.0-pp310-pypy310_pp73-macosx_10_10_x86_64.whl", hash = "sha256:92be919bbc9f7d09f7ae343c38f5bb21c973d2576c1d45600fce4b74bafa7ac0"},
-    {file = "Pillow-10.0.0-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8f8182b523b2289f7c415f589118228d30ac8c355baa2f3194ced084dac2dbba"},
-    {file = "Pillow-10.0.0-pp310-pypy310_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:38250a349b6b390ee6047a62c086d3817ac69022c127f8a5dc058c31ccef17f3"},
-    {file = "Pillow-10.0.0-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:88af2003543cc40c80f6fca01411892ec52b11021b3dc22ec3bc9d5afd1c5334"},
-    {file = "Pillow-10.0.0-pp39-pypy39_pp73-macosx_10_10_x86_64.whl", hash = "sha256:c189af0545965fa8d3b9613cfdb0cd37f9d71349e0f7750e1fd704648d475ed2"},
-    {file = "Pillow-10.0.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ce7b031a6fc11365970e6a5686d7ba8c63e4c1cf1ea143811acbb524295eabed"},
-    {file = "Pillow-10.0.0-pp39-pypy39_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:db24668940f82321e746773a4bc617bfac06ec831e5c88b643f91f122a785684"},
-    {file = "Pillow-10.0.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:efe8c0681042536e0d06c11f48cebe759707c9e9abf880ee213541c5b46c5bf3"},
-    {file = "Pillow-10.0.0.tar.gz", hash = "sha256:9c82b5b3e043c7af0d95792d0d20ccf68f61a1fec6b3530e718b688422727396"},
+    {file = "Pillow-10.0.1-cp310-cp310-macosx_10_10_x86_64.whl", hash = "sha256:8f06be50669087250f319b706decf69ca71fdecd829091a37cc89398ca4dc17a"},
+    {file = "Pillow-10.0.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:50bd5f1ebafe9362ad622072a1d2f5850ecfa44303531ff14353a4059113b12d"},
+    {file = "Pillow-10.0.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e6a90167bcca1216606223a05e2cf991bb25b14695c518bc65639463d7db722d"},
+    {file = "Pillow-10.0.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f11c9102c56ffb9ca87134bd025a43d2aba3f1155f508eff88f694b33a9c6d19"},
+    {file = "Pillow-10.0.1-cp310-cp310-manylinux_2_28_aarch64.whl", hash = "sha256:186f7e04248103482ea6354af6d5bcedb62941ee08f7f788a1c7707bc720c66f"},
+    {file = "Pillow-10.0.1-cp310-cp310-manylinux_2_28_x86_64.whl", hash = "sha256:0462b1496505a3462d0f35dc1c4d7b54069747d65d00ef48e736acda2c8cbdff"},
+    {file = "Pillow-10.0.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:d889b53ae2f030f756e61a7bff13684dcd77e9af8b10c6048fb2c559d6ed6eaf"},
+    {file = "Pillow-10.0.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:552912dbca585b74d75279a7570dd29fa43b6d93594abb494ebb31ac19ace6bd"},
+    {file = "Pillow-10.0.1-cp310-cp310-win_amd64.whl", hash = "sha256:787bb0169d2385a798888e1122c980c6eff26bf941a8ea79747d35d8f9210ca0"},
+    {file = "Pillow-10.0.1-cp311-cp311-macosx_10_10_x86_64.whl", hash = "sha256:fd2a5403a75b54661182b75ec6132437a181209b901446ee5724b589af8edef1"},
+    {file = "Pillow-10.0.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:2d7e91b4379f7a76b31c2dda84ab9e20c6220488e50f7822e59dac36b0cd92b1"},
+    {file = "Pillow-10.0.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:19e9adb3f22d4c416e7cd79b01375b17159d6990003633ff1d8377e21b7f1b21"},
+    {file = "Pillow-10.0.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:93139acd8109edcdeffd85e3af8ae7d88b258b3a1e13a038f542b79b6d255c54"},
+    {file = "Pillow-10.0.1-cp311-cp311-manylinux_2_28_aarch64.whl", hash = "sha256:92a23b0431941a33242b1f0ce6c88a952e09feeea9af4e8be48236a68ffe2205"},
+    {file = "Pillow-10.0.1-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:cbe68deb8580462ca0d9eb56a81912f59eb4542e1ef8f987405e35a0179f4ea2"},
+    {file = "Pillow-10.0.1-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:522ff4ac3aaf839242c6f4e5b406634bfea002469656ae8358644fc6c4856a3b"},
+    {file = "Pillow-10.0.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:84efb46e8d881bb06b35d1d541aa87f574b58e87f781cbba8d200daa835b42e1"},
+    {file = "Pillow-10.0.1-cp311-cp311-win_amd64.whl", hash = "sha256:898f1d306298ff40dc1b9ca24824f0488f6f039bc0e25cfb549d3195ffa17088"},
+    {file = "Pillow-10.0.1-cp312-cp312-macosx_10_10_x86_64.whl", hash = "sha256:bcf1207e2f2385a576832af02702de104be71301c2696d0012b1b93fe34aaa5b"},
+    {file = "Pillow-10.0.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:5d6c9049c6274c1bb565021367431ad04481ebb54872edecfcd6088d27edd6ed"},
+    {file = "Pillow-10.0.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:28444cb6ad49726127d6b340217f0627abc8732f1194fd5352dec5e6a0105635"},
+    {file = "Pillow-10.0.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:de596695a75496deb3b499c8c4f8e60376e0516e1a774e7bc046f0f48cd620ad"},
+    {file = "Pillow-10.0.1-cp312-cp312-manylinux_2_28_aarch64.whl", hash = "sha256:2872f2d7846cf39b3dbff64bc1104cc48c76145854256451d33c5faa55c04d1a"},
+    {file = "Pillow-10.0.1-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:4ce90f8a24e1c15465048959f1e94309dfef93af272633e8f37361b824532e91"},
+    {file = "Pillow-10.0.1-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:ee7810cf7c83fa227ba9125de6084e5e8b08c59038a7b2c9045ef4dde61663b4"},
+    {file = "Pillow-10.0.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:b1be1c872b9b5fcc229adeadbeb51422a9633abd847c0ff87dc4ef9bb184ae08"},
+    {file = "Pillow-10.0.1-cp312-cp312-win_amd64.whl", hash = "sha256:98533fd7fa764e5f85eebe56c8e4094db912ccbe6fbf3a58778d543cadd0db08"},
+    {file = "Pillow-10.0.1-cp38-cp38-macosx_10_10_x86_64.whl", hash = "sha256:764d2c0daf9c4d40ad12fbc0abd5da3af7f8aa11daf87e4fa1b834000f4b6b0a"},
+    {file = "Pillow-10.0.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:fcb59711009b0168d6ee0bd8fb5eb259c4ab1717b2f538bbf36bacf207ef7a68"},
+    {file = "Pillow-10.0.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:697a06bdcedd473b35e50a7e7506b1d8ceb832dc238a336bd6f4f5aa91a4b500"},
+    {file = "Pillow-10.0.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9f665d1e6474af9f9da5e86c2a3a2d2d6204e04d5af9c06b9d42afa6ebde3f21"},
+    {file = "Pillow-10.0.1-cp38-cp38-manylinux_2_28_aarch64.whl", hash = "sha256:2fa6dd2661838c66f1a5473f3b49ab610c98a128fc08afbe81b91a1f0bf8c51d"},
+    {file = "Pillow-10.0.1-cp38-cp38-manylinux_2_28_x86_64.whl", hash = "sha256:3a04359f308ebee571a3127fdb1bd01f88ba6f6fb6d087f8dd2e0d9bff43f2a7"},
+    {file = "Pillow-10.0.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:723bd25051454cea9990203405fa6b74e043ea76d4968166dfd2569b0210886a"},
+    {file = "Pillow-10.0.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:71671503e3015da1b50bd18951e2f9daf5b6ffe36d16f1eb2c45711a301521a7"},
+    {file = "Pillow-10.0.1-cp38-cp38-win_amd64.whl", hash = "sha256:44e7e4587392953e5e251190a964675f61e4dae88d1e6edbe9f36d6243547ff3"},
+    {file = "Pillow-10.0.1-cp39-cp39-macosx_10_10_x86_64.whl", hash = "sha256:3855447d98cced8670aaa63683808df905e956f00348732448b5a6df67ee5849"},
+    {file = "Pillow-10.0.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:ed2d9c0704f2dc4fa980b99d565c0c9a543fe5101c25b3d60488b8ba80f0cce1"},
+    {file = "Pillow-10.0.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f5bb289bb835f9fe1a1e9300d011eef4d69661bb9b34d5e196e5e82c4cb09b37"},
+    {file = "Pillow-10.0.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3a0d3e54ab1df9df51b914b2233cf779a5a10dfd1ce339d0421748232cea9876"},
+    {file = "Pillow-10.0.1-cp39-cp39-manylinux_2_28_aarch64.whl", hash = "sha256:2cc6b86ece42a11f16f55fe8903595eff2b25e0358dec635d0a701ac9586588f"},
+    {file = "Pillow-10.0.1-cp39-cp39-manylinux_2_28_x86_64.whl", hash = "sha256:ca26ba5767888c84bf5a0c1a32f069e8204ce8c21d00a49c90dabeba00ce0145"},
+    {file = "Pillow-10.0.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:f0b4b06da13275bc02adfeb82643c4a6385bd08d26f03068c2796f60d125f6f2"},
+    {file = "Pillow-10.0.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:bc2e3069569ea9dbe88d6b8ea38f439a6aad8f6e7a6283a38edf61ddefb3a9bf"},
+    {file = "Pillow-10.0.1-cp39-cp39-win_amd64.whl", hash = "sha256:8b451d6ead6e3500b6ce5c7916a43d8d8d25ad74b9102a629baccc0808c54971"},
+    {file = "Pillow-10.0.1-pp310-pypy310_pp73-macosx_10_10_x86_64.whl", hash = "sha256:32bec7423cdf25c9038fef614a853c9d25c07590e1a870ed471f47fb80b244db"},
+    {file = "Pillow-10.0.1-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b7cf63d2c6928b51d35dfdbda6f2c1fddbe51a6bc4a9d4ee6ea0e11670dd981e"},
+    {file = "Pillow-10.0.1-pp310-pypy310_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:f6d3d4c905e26354e8f9d82548475c46d8e0889538cb0657aa9c6f0872a37aa4"},
+    {file = "Pillow-10.0.1-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:847e8d1017c741c735d3cd1883fa7b03ded4f825a6e5fcb9378fd813edee995f"},
+    {file = "Pillow-10.0.1-pp39-pypy39_pp73-macosx_10_10_x86_64.whl", hash = "sha256:7f771e7219ff04b79e231d099c0a28ed83aa82af91fd5fa9fdb28f5b8d5addaf"},
+    {file = "Pillow-10.0.1-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:459307cacdd4138edee3875bbe22a2492519e060660eaf378ba3b405d1c66317"},
+    {file = "Pillow-10.0.1-pp39-pypy39_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:b059ac2c4c7a97daafa7dc850b43b2d3667def858a4f112d1aa082e5c3d6cf7d"},
+    {file = "Pillow-10.0.1-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:d6caf3cd38449ec3cd8a68b375e0c6fe4b6fd04edb6c9766b55ef84a6e8ddf2d"},
+    {file = "Pillow-10.0.1.tar.gz", hash = "sha256:d72967b06be9300fed5cfbc8b5bafceec48bf7cdc7dab66b1d2549035287191d"},
 ]
 
 [package.extras]
@@ -3095,13 +3157,13 @@ tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "pa
 
 [[package]]
 name = "platformdirs"
-version = "3.10.0"
+version = "3.11.0"
 description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "platformdirs-3.10.0-py3-none-any.whl", hash = "sha256:d7c24979f292f916dc9cbf8648319032f551ea8c49a4c9bf2fb556a02070ec1d"},
-    {file = "platformdirs-3.10.0.tar.gz", hash = "sha256:b45696dab2d7cc691a3226759c0d3b00c47c8b6e293d96f6436f733303f77f6d"},
+    {file = "platformdirs-3.11.0-py3-none-any.whl", hash = "sha256:e9d171d00af68be50e9202731309c4e658fd8bc76f55c11c7dd760d023bda68e"},
+    {file = "platformdirs-3.11.0.tar.gz", hash = "sha256:cf8ee52a3afdb965072dcc652433e0c7e3e40cf5ea1477cd4b3b1d2eb75495b3"},
 ]
 
 [package.extras]
@@ -3125,13 +3187,13 @@ testing = ["pytest", "pytest-benchmark"]
 
 [[package]]
 name = "polyline"
-version = "2.0.0"
+version = "2.0.1"
 description = "A Python implementation of Google's Encoded Polyline Algorithm Format."
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "polyline-2.0.0-py3-none-any.whl", hash = "sha256:45c9c0e8c0814a17df78390e3196cd47f6bc69697cd8a83f00d527c72f4d2a88"},
-    {file = "polyline-2.0.0.tar.gz", hash = "sha256:1492b8fcadc2143f8aedc673d3c6d95df45131f1c62eb8d51c8183b24e771486"},
+    {file = "polyline-2.0.1-py3-none-any.whl", hash = "sha256:7b1ff647be393143c1b9268738d9efb98a327dd0b29f9c3b84552dff0e34ea3c"},
+    {file = "polyline-2.0.1.tar.gz", hash = "sha256:74cb5cea098dddf09d1a5a1f17af9184d371cbf3e9723de0194e530ec39ca1f6"},
 ]
 
 [package.extras]
@@ -3140,13 +3202,13 @@ publish = ["build (>=0.8,<1.0)", "twine (>=4.0,<5.0)"]
 
 [[package]]
 name = "portalocker"
-version = "2.7.0"
+version = "2.8.2"
 description = "Wraps the portalocker recipe for easy usage"
 optional = false
-python-versions = ">=3.5"
+python-versions = ">=3.8"
 files = [
-    {file = "portalocker-2.7.0-py2.py3-none-any.whl", hash = "sha256:a07c5b4f3985c3cf4798369631fb7011adb498e2a46d8440efc75a8f29a0f983"},
-    {file = "portalocker-2.7.0.tar.gz", hash = "sha256:032e81d534a88ec1736d03f780ba073f047a06c478b06e2937486f334e955c51"},
+    {file = "portalocker-2.8.2-py3-none-any.whl", hash = "sha256:cfb86acc09b9aa7c3b43594e19be1345b9d16af3feb08bf92f23d4dce513a28e"},
+    {file = "portalocker-2.8.2.tar.gz", hash = "sha256:2b035aa7828e46c58e9b31390ee1f169b98e1066ab10b9a6a861fe7e25ee4f33"},
 ]
 
 [package.dependencies]
@@ -3155,7 +3217,7 @@ pywin32 = {version = ">=226", markers = "platform_system == \"Windows\""}
 [package.extras]
 docs = ["sphinx (>=1.7.1)"]
 redis = ["redis"]
-tests = ["pytest (>=5.4.1)", "pytest-cov (>=2.8.1)", "pytest-mypy (>=0.8.0)", "pytest-timeout (>=2.1.0)", "redis", "sphinx (>=6.0.0)"]
+tests = ["pytest (>=5.4.1)", "pytest-cov (>=2.8.1)", "pytest-mypy (>=0.8.0)", "pytest-timeout (>=2.1.0)", "redis", "sphinx (>=6.0.0)", "types-redis"]
 
 [[package]]
 name = "pprofile"
@@ -3197,24 +3259,24 @@ files = [
 
 [[package]]
 name = "protobuf"
-version = "4.24.3"
+version = "4.24.4"
 description = ""
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "protobuf-4.24.3-cp310-abi3-win32.whl", hash = "sha256:20651f11b6adc70c0f29efbe8f4a94a74caf61b6200472a9aea6e19898f9fcf4"},
-    {file = "protobuf-4.24.3-cp310-abi3-win_amd64.whl", hash = "sha256:3d42e9e4796a811478c783ef63dc85b5a104b44aaaca85d4864d5b886e4b05e3"},
-    {file = "protobuf-4.24.3-cp37-abi3-macosx_10_9_universal2.whl", hash = "sha256:6e514e8af0045be2b56e56ae1bb14f43ce7ffa0f68b1c793670ccbe2c4fc7d2b"},
-    {file = "protobuf-4.24.3-cp37-abi3-manylinux2014_aarch64.whl", hash = "sha256:ba53c2f04798a326774f0e53b9c759eaef4f6a568ea7072ec6629851c8435959"},
-    {file = "protobuf-4.24.3-cp37-abi3-manylinux2014_x86_64.whl", hash = "sha256:f6ccbcf027761a2978c1406070c3788f6de4a4b2cc20800cc03d52df716ad675"},
-    {file = "protobuf-4.24.3-cp37-cp37m-win32.whl", hash = "sha256:1b182c7181a2891e8f7f3a1b5242e4ec54d1f42582485a896e4de81aa17540c2"},
-    {file = "protobuf-4.24.3-cp37-cp37m-win_amd64.whl", hash = "sha256:b0271a701e6782880d65a308ba42bc43874dabd1a0a0f41f72d2dac3b57f8e76"},
-    {file = "protobuf-4.24.3-cp38-cp38-win32.whl", hash = "sha256:e29d79c913f17a60cf17c626f1041e5288e9885c8579832580209de8b75f2a52"},
-    {file = "protobuf-4.24.3-cp38-cp38-win_amd64.whl", hash = "sha256:067f750169bc644da2e1ef18c785e85071b7c296f14ac53e0900e605da588719"},
-    {file = "protobuf-4.24.3-cp39-cp39-win32.whl", hash = "sha256:2da777d34b4f4f7613cdf85c70eb9a90b1fbef9d36ae4a0ccfe014b0b07906f1"},
-    {file = "protobuf-4.24.3-cp39-cp39-win_amd64.whl", hash = "sha256:f631bb982c5478e0c1c70eab383af74a84be66945ebf5dd6b06fc90079668d0b"},
-    {file = "protobuf-4.24.3-py3-none-any.whl", hash = "sha256:f6f8dc65625dadaad0c8545319c2e2f0424fede988368893ca3844261342c11a"},
-    {file = "protobuf-4.24.3.tar.gz", hash = "sha256:12e9ad2ec079b833176d2921be2cb24281fa591f0b119b208b788adc48c2561d"},
+    {file = "protobuf-4.24.4-cp310-abi3-win32.whl", hash = "sha256:ec9912d5cb6714a5710e28e592ee1093d68c5ebfeda61983b3f40331da0b1ebb"},
+    {file = "protobuf-4.24.4-cp310-abi3-win_amd64.whl", hash = "sha256:1badab72aa8a3a2b812eacfede5020472e16c6b2212d737cefd685884c191085"},
+    {file = "protobuf-4.24.4-cp37-abi3-macosx_10_9_universal2.whl", hash = "sha256:8e61a27f362369c2f33248a0ff6896c20dcd47b5d48239cb9720134bef6082e4"},
+    {file = "protobuf-4.24.4-cp37-abi3-manylinux2014_aarch64.whl", hash = "sha256:bffa46ad9612e6779d0e51ae586fde768339b791a50610d85eb162daeb23661e"},
+    {file = "protobuf-4.24.4-cp37-abi3-manylinux2014_x86_64.whl", hash = "sha256:b493cb590960ff863743b9ff1452c413c2ee12b782f48beca77c8da3e2ffe9d9"},
+    {file = "protobuf-4.24.4-cp37-cp37m-win32.whl", hash = "sha256:dbbed8a56e56cee8d9d522ce844a1379a72a70f453bde6243e3c86c30c2a3d46"},
+    {file = "protobuf-4.24.4-cp37-cp37m-win_amd64.whl", hash = "sha256:6b7d2e1c753715dcfe9d284a25a52d67818dd43c4932574307daf836f0071e37"},
+    {file = "protobuf-4.24.4-cp38-cp38-win32.whl", hash = "sha256:02212557a76cd99574775a81fefeba8738d0f668d6abd0c6b1d3adcc75503dbe"},
+    {file = "protobuf-4.24.4-cp38-cp38-win_amd64.whl", hash = "sha256:2fa3886dfaae6b4c5ed2730d3bf47c7a38a72b3a1f0acb4d4caf68e6874b947b"},
+    {file = "protobuf-4.24.4-cp39-cp39-win32.whl", hash = "sha256:b77272f3e28bb416e2071186cb39efd4abbf696d682cbb5dc731308ad37fa6dd"},
+    {file = "protobuf-4.24.4-cp39-cp39-win_amd64.whl", hash = "sha256:9fee5e8aa20ef1b84123bb9232b3f4a5114d9897ed89b4b8142d81924e05d79b"},
+    {file = "protobuf-4.24.4-py3-none-any.whl", hash = "sha256:80797ce7424f8c8d2f2547e2d42bfbb6c08230ce5832d6c099a37335c9c90a92"},
+    {file = "protobuf-4.24.4.tar.gz", hash = "sha256:5a70731910cd9104762161719c3d883c960151eea077134458503723b60e3667"},
 ]
 
 [[package]]
@@ -3319,43 +3381,43 @@ files = [
 
 [[package]]
 name = "pycryptodome"
-version = "3.18.0"
+version = "3.19.0"
 description = "Cryptographic library for Python"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 files = [
-    {file = "pycryptodome-3.18.0-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:d1497a8cd4728db0e0da3c304856cb37c0c4e3d0b36fcbabcc1600f18504fc54"},
-    {file = "pycryptodome-3.18.0-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:928078c530da78ff08e10eb6cada6e0dff386bf3d9fa9871b4bbc9fbc1efe024"},
-    {file = "pycryptodome-3.18.0-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:157c9b5ba5e21b375f052ca78152dd309a09ed04703fd3721dce3ff8ecced148"},
-    {file = "pycryptodome-3.18.0-cp27-cp27m-manylinux2014_aarch64.whl", hash = "sha256:d20082bdac9218649f6abe0b885927be25a917e29ae0502eaf2b53f1233ce0c2"},
-    {file = "pycryptodome-3.18.0-cp27-cp27m-musllinux_1_1_aarch64.whl", hash = "sha256:e8ad74044e5f5d2456c11ed4cfd3e34b8d4898c0cb201c4038fe41458a82ea27"},
-    {file = "pycryptodome-3.18.0-cp27-cp27m-win32.whl", hash = "sha256:62a1e8847fabb5213ccde38915563140a5b338f0d0a0d363f996b51e4a6165cf"},
-    {file = "pycryptodome-3.18.0-cp27-cp27m-win_amd64.whl", hash = "sha256:16bfd98dbe472c263ed2821284118d899c76968db1a6665ade0c46805e6b29a4"},
-    {file = "pycryptodome-3.18.0-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:7a3d22c8ee63de22336679e021c7f2386f7fc465477d59675caa0e5706387944"},
-    {file = "pycryptodome-3.18.0-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:78d863476e6bad2a592645072cc489bb90320972115d8995bcfbee2f8b209918"},
-    {file = "pycryptodome-3.18.0-cp27-cp27mu-manylinux2014_aarch64.whl", hash = "sha256:b6a610f8bfe67eab980d6236fdc73bfcdae23c9ed5548192bb2d530e8a92780e"},
-    {file = "pycryptodome-3.18.0-cp27-cp27mu-musllinux_1_1_aarch64.whl", hash = "sha256:422c89fd8df8a3bee09fb8d52aaa1e996120eafa565437392b781abec2a56e14"},
-    {file = "pycryptodome-3.18.0-cp35-abi3-macosx_10_9_universal2.whl", hash = "sha256:9ad6f09f670c466aac94a40798e0e8d1ef2aa04589c29faa5b9b97566611d1d1"},
-    {file = "pycryptodome-3.18.0-cp35-abi3-macosx_10_9_x86_64.whl", hash = "sha256:53aee6be8b9b6da25ccd9028caf17dcdce3604f2c7862f5167777b707fbfb6cb"},
-    {file = "pycryptodome-3.18.0-cp35-abi3-manylinux2014_aarch64.whl", hash = "sha256:10da29526a2a927c7d64b8f34592f461d92ae55fc97981aab5bbcde8cb465bb6"},
-    {file = "pycryptodome-3.18.0-cp35-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f21efb8438971aa16924790e1c3dba3a33164eb4000106a55baaed522c261acf"},
-    {file = "pycryptodome-3.18.0-cp35-abi3-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:4944defabe2ace4803f99543445c27dd1edbe86d7d4edb87b256476a91e9ffa4"},
-    {file = "pycryptodome-3.18.0-cp35-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:51eae079ddb9c5f10376b4131be9589a6554f6fd84f7f655180937f611cd99a2"},
-    {file = "pycryptodome-3.18.0-cp35-abi3-musllinux_1_1_i686.whl", hash = "sha256:83c75952dcf4a4cebaa850fa257d7a860644c70a7cd54262c237c9f2be26f76e"},
-    {file = "pycryptodome-3.18.0-cp35-abi3-musllinux_1_1_x86_64.whl", hash = "sha256:957b221d062d5752716923d14e0926f47670e95fead9d240fa4d4862214b9b2f"},
-    {file = "pycryptodome-3.18.0-cp35-abi3-win32.whl", hash = "sha256:795bd1e4258a2c689c0b1f13ce9684fa0dd4c0e08680dcf597cf9516ed6bc0f3"},
-    {file = "pycryptodome-3.18.0-cp35-abi3-win_amd64.whl", hash = "sha256:b1d9701d10303eec8d0bd33fa54d44e67b8be74ab449052a8372f12a66f93fb9"},
-    {file = "pycryptodome-3.18.0-pp27-pypy_73-manylinux2010_x86_64.whl", hash = "sha256:cb1be4d5af7f355e7d41d36d8eec156ef1382a88638e8032215c215b82a4b8ec"},
-    {file = "pycryptodome-3.18.0-pp27-pypy_73-win32.whl", hash = "sha256:fc0a73f4db1e31d4a6d71b672a48f3af458f548059aa05e83022d5f61aac9c08"},
-    {file = "pycryptodome-3.18.0-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:f022a4fd2a5263a5c483a2bb165f9cb27f2be06f2f477113783efe3fe2ad887b"},
-    {file = "pycryptodome-3.18.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:363dd6f21f848301c2dcdeb3c8ae5f0dee2286a5e952a0f04954b82076f23825"},
-    {file = "pycryptodome-3.18.0-pp38-pypy38_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:12600268763e6fec3cefe4c2dcdf79bde08d0b6dc1813887e789e495cb9f3403"},
-    {file = "pycryptodome-3.18.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:4604816adebd4faf8810782f137f8426bf45fee97d8427fa8e1e49ea78a52e2c"},
-    {file = "pycryptodome-3.18.0-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:01489bbdf709d993f3058e2996f8f40fee3f0ea4d995002e5968965fa2fe89fb"},
-    {file = "pycryptodome-3.18.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3811e31e1ac3069988f7a1c9ee7331b942e605dfc0f27330a9ea5997e965efb2"},
-    {file = "pycryptodome-3.18.0-pp39-pypy39_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6f4b967bb11baea9128ec88c3d02f55a3e338361f5e4934f5240afcb667fdaec"},
-    {file = "pycryptodome-3.18.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:9c8eda4f260072f7dbe42f473906c659dcbadd5ae6159dfb49af4da1293ae380"},
-    {file = "pycryptodome-3.18.0.tar.gz", hash = "sha256:c9adee653fc882d98956e33ca2c1fb582e23a8af7ac82fee75bd6113c55a0413"},
+    {file = "pycryptodome-3.19.0-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:3006c44c4946583b6de24fe0632091c2653d6256b99a02a3db71ca06472ea1e4"},
+    {file = "pycryptodome-3.19.0-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:7c760c8a0479a4042111a8dd2f067d3ae4573da286c53f13cf6f5c53a5c1f631"},
+    {file = "pycryptodome-3.19.0-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:08ce3558af5106c632baf6d331d261f02367a6bc3733086ae43c0f988fe042db"},
+    {file = "pycryptodome-3.19.0-cp27-cp27m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:45430dfaf1f421cf462c0dd824984378bef32b22669f2635cb809357dbaab405"},
+    {file = "pycryptodome-3.19.0-cp27-cp27m-musllinux_1_1_aarch64.whl", hash = "sha256:a9bcd5f3794879e91970f2bbd7d899780541d3ff439d8f2112441769c9f2ccea"},
+    {file = "pycryptodome-3.19.0-cp27-cp27m-win32.whl", hash = "sha256:190c53f51e988dceb60472baddce3f289fa52b0ec38fbe5fd20dd1d0f795c551"},
+    {file = "pycryptodome-3.19.0-cp27-cp27m-win_amd64.whl", hash = "sha256:22e0ae7c3a7f87dcdcf302db06ab76f20e83f09a6993c160b248d58274473bfa"},
+    {file = "pycryptodome-3.19.0-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:7822f36d683f9ad7bc2145b2c2045014afdbbd1d9922a6d4ce1cbd6add79a01e"},
+    {file = "pycryptodome-3.19.0-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:05e33267394aad6db6595c0ce9d427fe21552f5425e116a925455e099fdf759a"},
+    {file = "pycryptodome-3.19.0-cp27-cp27mu-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:829b813b8ee00d9c8aba417621b94bc0b5efd18c928923802ad5ba4cf1ec709c"},
+    {file = "pycryptodome-3.19.0-cp27-cp27mu-musllinux_1_1_aarch64.whl", hash = "sha256:fc7a79590e2b5d08530175823a242de6790abc73638cc6dc9d2684e7be2f5e49"},
+    {file = "pycryptodome-3.19.0-cp35-abi3-macosx_10_9_universal2.whl", hash = "sha256:542f99d5026ac5f0ef391ba0602f3d11beef8e65aae135fa5b762f5ebd9d3bfb"},
+    {file = "pycryptodome-3.19.0-cp35-abi3-macosx_10_9_x86_64.whl", hash = "sha256:61bb3ccbf4bf32ad9af32da8badc24e888ae5231c617947e0f5401077f8b091f"},
+    {file = "pycryptodome-3.19.0-cp35-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d49a6c715d8cceffedabb6adb7e0cbf41ae1a2ff4adaeec9432074a80627dea1"},
+    {file = "pycryptodome-3.19.0-cp35-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e249a784cc98a29c77cea9df54284a44b40cafbfae57636dd2f8775b48af2434"},
+    {file = "pycryptodome-3.19.0-cp35-abi3-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d033947e7fd3e2ba9a031cb2d267251620964705a013c5a461fa5233cc025270"},
+    {file = "pycryptodome-3.19.0-cp35-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:84c3e4fffad0c4988aef0d5591be3cad4e10aa7db264c65fadbc633318d20bde"},
+    {file = "pycryptodome-3.19.0-cp35-abi3-musllinux_1_1_i686.whl", hash = "sha256:139ae2c6161b9dd5d829c9645d781509a810ef50ea8b657e2257c25ca20efe33"},
+    {file = "pycryptodome-3.19.0-cp35-abi3-musllinux_1_1_x86_64.whl", hash = "sha256:5b1986c761258a5b4332a7f94a83f631c1ffca8747d75ab8395bf2e1b93283d9"},
+    {file = "pycryptodome-3.19.0-cp35-abi3-win32.whl", hash = "sha256:536f676963662603f1f2e6ab01080c54d8cd20f34ec333dcb195306fa7826997"},
+    {file = "pycryptodome-3.19.0-cp35-abi3-win_amd64.whl", hash = "sha256:04dd31d3b33a6b22ac4d432b3274588917dcf850cc0c51c84eca1d8ed6933810"},
+    {file = "pycryptodome-3.19.0-pp27-pypy_73-manylinux2010_x86_64.whl", hash = "sha256:8999316e57abcbd8085c91bc0ef75292c8618f41ca6d2b6132250a863a77d1e7"},
+    {file = "pycryptodome-3.19.0-pp27-pypy_73-win32.whl", hash = "sha256:a0ab84755f4539db086db9ba9e9f3868d2e3610a3948cbd2a55e332ad83b01b0"},
+    {file = "pycryptodome-3.19.0-pp310-pypy310_pp73-macosx_10_9_x86_64.whl", hash = "sha256:0101f647d11a1aae5a8ce4f5fad6644ae1b22bb65d05accc7d322943c69a74a6"},
+    {file = "pycryptodome-3.19.0-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8c1601e04d32087591d78e0b81e1e520e57a92796089864b20e5f18c9564b3fa"},
+    {file = "pycryptodome-3.19.0-pp310-pypy310_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:506c686a1eee6c00df70010be3b8e9e78f406af4f21b23162bbb6e9bdf5427bc"},
+    {file = "pycryptodome-3.19.0-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:7919ccd096584b911f2a303c593280869ce1af9bf5d36214511f5e5a1bed8c34"},
+    {file = "pycryptodome-3.19.0-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:560591c0777f74a5da86718f70dfc8d781734cf559773b64072bbdda44b3fc3e"},
+    {file = "pycryptodome-3.19.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c1cc2f2ae451a676def1a73c1ae9120cd31af25db3f381893d45f75e77be2400"},
+    {file = "pycryptodome-3.19.0-pp39-pypy39_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:17940dcf274fcae4a54ec6117a9ecfe52907ed5e2e438fe712fe7ca502672ed5"},
+    {file = "pycryptodome-3.19.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:d04f5f623a280fbd0ab1c1d8ecbd753193ab7154f09b6161b0f857a1a676c15f"},
+    {file = "pycryptodome-3.19.0.tar.gz", hash = "sha256:bc35d463222cdb4dbebd35e0784155c81e161b9284e567e7e933d722e533331e"},
 ]
 
 [[package]]
@@ -3398,66 +3460,68 @@ dev = ["black", "flake8", "flake8-black", "isort", "jupyter-console", "mkdocs",
 
 [[package]]
 name = "pygame"
-version = "2.5.1"
+version = "2.5.2"
 description = "Python Game Development"
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "pygame-2.5.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:afc3d7d125baba727785fd4a05b2a99a0ee1c0cff6db7321e65607a3f644724d"},
-    {file = "pygame-2.5.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:423168a16e89e02b4addfd3c2b68cfa9826bd675aa18141435de16da85143afe"},
-    {file = "pygame-2.5.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8722cae725c49493603509087d5c4e6b9200993ab998663a553df3279237c52d"},
-    {file = "pygame-2.5.1-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:757f74c029c6d0fbed8f778034c7fa5be77f3d1cf217e9eda48d8508b7672d14"},
-    {file = "pygame-2.5.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f597d1c57d4297b518865d95539fa70decbba77809bda66278baf0df98b6e2cf"},
-    {file = "pygame-2.5.1-cp310-cp310-win32.whl", hash = "sha256:65d1983837fd1f8a9fee3576500e666fcdd4efb20c4b8d0edab2ff6921c67aa8"},
-    {file = "pygame-2.5.1-cp310-cp310-win_amd64.whl", hash = "sha256:30fe97290f0fcc6a6f45a939a95ae44477a9b36cd89f93a7435bdad6d6a2bedd"},
-    {file = "pygame-2.5.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:8fbf01919feea464b57b505973f68386d73d2cd08cf52078c578e3bffcf03c84"},
-    {file = "pygame-2.5.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:f0b237cee5147f95bcbc98d8c1f13da4a6a637256a274021313db6a11ab8cebf"},
-    {file = "pygame-2.5.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:57bf8237fa2dcc16ddb4cd2eddaa52009e6c84f219c051b118d8863ea7f05433"},
-    {file = "pygame-2.5.1-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:93de41a54909f5622f01671d04e22c4dbc889ae8c3d1b1ee1b25d4e83077683f"},
-    {file = "pygame-2.5.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6621baf985d8aec2b1089d86dcbf7b53ed1b235d9b372b1083e385f8d6ef9ee1"},
-    {file = "pygame-2.5.1-cp311-cp311-win32.whl", hash = "sha256:1f90e3e6677cfc56bb04b13fb6c6e61e5f24d9373b27d33942ba7e4da0255c8d"},
-    {file = "pygame-2.5.1-cp311-cp311-win_amd64.whl", hash = "sha256:b06122f17e5c6ec7316c454613a34d697abfed94ed1029f26b804d20ef6ba550"},
-    {file = "pygame-2.5.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:63f7b0cd0ea631161b72056ce6d8ee0eb6af809e1a1f96c5fd338ec8b7e9eb33"},
-    {file = "pygame-2.5.1-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3b0ab1e29459f5e6d88c3c586f59113172846f8800f0a166d1605a0f459f8242"},
-    {file = "pygame-2.5.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d9c01780e8a11047c0a9f9b09db023d736c2221a292f2542b398f78a0bf15f32"},
-    {file = "pygame-2.5.1-cp312-cp312-win32.whl", hash = "sha256:643a0556b563a9ae9448ffdec459bb84d200be666e4fd197d68be15b6c2b4826"},
-    {file = "pygame-2.5.1-cp312-cp312-win_amd64.whl", hash = "sha256:2cb3d56f34147c4c6653c4dac8d58e0791a298abff762aab147679e6935e6cd0"},
-    {file = "pygame-2.5.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:2377534fe2947ae6eaec1b7469f438ae4e4f3ff22c67b80e0c580215a52654ce"},
-    {file = "pygame-2.5.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:88d2a8880200035017696783475b6f32b0e551fbb23a52f0223264b24d680949"},
-    {file = "pygame-2.5.1-cp36-cp36m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:48c6064bc879ef092194cf21ba25433500a0f8006979ef9ae145081ed1767de7"},
-    {file = "pygame-2.5.1-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f983d62e659e7b2644605b690e2b72683b2d0d1124f09274ffa2cc8658648546"},
-    {file = "pygame-2.5.1-cp36-cp36m-win32.whl", hash = "sha256:57c361a402db63224160082451721caafc138e6e27aba5f30f9268672fb8f3d1"},
-    {file = "pygame-2.5.1-cp36-cp36m-win_amd64.whl", hash = "sha256:cbcd03784a1858c2c5b91b6ba65c1905b9e30a2e150759f5a54af3241e008fbc"},
-    {file = "pygame-2.5.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:be1ec9bf870d155b978811d115363c89eb10418c78295bb58b7bbd4e679d0010"},
-    {file = "pygame-2.5.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c1b2d1fcb51e60ecacd18f2a03f2a6023453ab64298fd4f54d8c50a5b2a13bff"},
-    {file = "pygame-2.5.1-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:9212522069fca25cadf3a8044383d01f5451833b66f950cb9bc6d49406f88cee"},
-    {file = "pygame-2.5.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4276c2688b11e098bb3732e7e243f522a58d0cd662bc72008727fc7671277771"},
-    {file = "pygame-2.5.1-cp37-cp37m-win32.whl", hash = "sha256:9463b7c80994eabcb6f9460a7859241fe030c6654d041a2f26ce12366ae202f3"},
-    {file = "pygame-2.5.1-cp37-cp37m-win_amd64.whl", hash = "sha256:11cb40204cad95b7c23aee32bac048a531e3528a6f12dd3601504ec0b6000c06"},
-    {file = "pygame-2.5.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:426897ec90e91a05c3d41c44875793568d4b20065f086ac476729a9e557e8976"},
-    {file = "pygame-2.5.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:184d8e3b025ca6cbd199235faece6a7b911725566f40c71e0773058f1e189da2"},
-    {file = "pygame-2.5.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0b378ba0756173e9dc8cd7e0c40cb6ba217b122a6bef2ce3479293d543cc9777"},
-    {file = "pygame-2.5.1-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:62f09b59b9702ccf9d7a6e7c6ebb1fca5f0072c30e99b4f786c5478876433f0c"},
-    {file = "pygame-2.5.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cbcc7284369118299ce935062ef0c79d67503ad3b86bd6b02a29211279a46244"},
-    {file = "pygame-2.5.1-cp38-cp38-win32.whl", hash = "sha256:3df49bb58dcd70ed76e8da0e936a267c57245e5b057ceeaa9070340d7d49162a"},
-    {file = "pygame-2.5.1-cp38-cp38-win_amd64.whl", hash = "sha256:4c410bd1d0807820fef48f15452366d0ef100d966323835ced818f7833d16a5a"},
-    {file = "pygame-2.5.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:06c0a4f415dffa0b9d9099ee01647b1d6794f6a96b2b909997e05acff85e745c"},
-    {file = "pygame-2.5.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:a0eb2cae526a39a8e213477ce6d4947d7b7fb50757fbdb0275c9e3ee1bca22df"},
-    {file = "pygame-2.5.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5a232083d54c5936f40cb493d9cced38702a03dd7918fefd9a6b6522875714e5"},
-    {file = "pygame-2.5.1-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e234c4d58b76dfc0d32b337e46e2191fa4dad7b3b0c7110d5c97076f1bf8cbd4"},
-    {file = "pygame-2.5.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8e9816fa15aea99b6ea2e0b88ba07e83cc19a152c3724016d323823e6e713454"},
-    {file = "pygame-2.5.1-cp39-cp39-win32.whl", hash = "sha256:7613ccb5c1800234c7e2d090f5f0be9d72f5fd76e49acc458bcc33797ab0de97"},
-    {file = "pygame-2.5.1-cp39-cp39-win_amd64.whl", hash = "sha256:0618d8648e8d890a1bfc04a2ffd043a9b20dbc2e175d1347402e044729a5515b"},
-    {file = "pygame-2.5.1-pp36-pypy36_pp73-win32.whl", hash = "sha256:ea3bce8488f2bdb83a874f7799e229be9e0a1b70d2cff9c47234c19a54ab868e"},
-    {file = "pygame-2.5.1-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:581ef66dfbff883fc4a172f57395db4e8c97d3381860e81943261a5a5214fde7"},
-    {file = "pygame-2.5.1-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5e4bbe4b94cd0dbf592ee32be5561b0cad8327aff92c36e7a1a1372ed804229e"},
-    {file = "pygame-2.5.1-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:05b13f5994efd61c3de50ef0b5062fa3396e3fd851e99e215a7e3da78da49561"},
-    {file = "pygame-2.5.1-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e21a79fd5db155164ad3341f12c89e121ce53cb4ea1856527dfa9daeb3f6016d"},
-    {file = "pygame-2.5.1-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e8c5953767eb459d9a32ca52399c2f379af807a24e00163f1bcb1aacc1e81d59"},
-    {file = "pygame-2.5.1-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:84e4a4da14235d812b65081a87dbe89a4d45a101d06a4f33cf386be825e8797e"},
-    {file = "pygame-2.5.1-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:5a78eb81082bf460249f0e7267db8d2f401f37f538b673125719be1db504584c"},
-    {file = "pygame-2.5.1-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cfb90539845885c4bb7861d6c7fe84ffb19de466b6d55fc39b707e8ea261ff93"},
-    {file = "pygame-2.5.1.tar.gz", hash = "sha256:b7f88720be5c740576fd988dc0375328dc1adb070869654a245531e03df46262"},
+    {file = "pygame-2.5.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:a0769eb628c818761755eb0a0ca8216b95270ea8cbcbc82227e39ac9644643da"},
+    {file = "pygame-2.5.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:ed9a3d98adafa0805ccbaaff5d2996a2b5795381285d8437a4a5d248dbd12b4a"},
+    {file = "pygame-2.5.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f30d1618672a55e8c6669281ba264464b3ab563158e40d89e8c8b3faa0febebd"},
+    {file = "pygame-2.5.2-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:39690e9be9baf58b7359d1f3b2336e1fd6f92fedbbce42987be5df27f8d30718"},
+    {file = "pygame-2.5.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:03879ec299c9f4ba23901b2649a96b2143f0a5d787f0b6c39469989e2320caf1"},
+    {file = "pygame-2.5.2-cp310-cp310-win32.whl", hash = "sha256:74e1d6284100e294f445832e6f6343be4fe4748decc4f8a51131ae197dae8584"},
+    {file = "pygame-2.5.2-cp310-cp310-win_amd64.whl", hash = "sha256:485239c7d32265fd35b76ae8f64f34b0637ae11e69d76de15710c4b9edcc7c8d"},
+    {file = "pygame-2.5.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:34646ca20e163dc6f6cf8170f1e12a2e41726780112594ac061fa448cf7ccd75"},
+    {file = "pygame-2.5.2-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:3b8a6e351665ed26ea791f0e1fd649d3f483e8681892caef9d471f488f9ea5ee"},
+    {file = "pygame-2.5.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:dc346965847aef00013fa2364f41a64f068cd096dcc7778fc306ca3735f0eedf"},
+    {file = "pygame-2.5.2-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:35632035fd81261f2d797fa810ea8c46111bd78ceb6089d52b61ed7dc3c5d05f"},
+    {file = "pygame-2.5.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0e24d05184e4195fe5ebcdce8b18ecb086f00182b9ae460a86682d312ce8d31f"},
+    {file = "pygame-2.5.2-cp311-cp311-win32.whl", hash = "sha256:f02c1c7505af18d426d355ac9872bd5c916b27f7b0fe224749930662bea47a50"},
+    {file = "pygame-2.5.2-cp311-cp311-win_amd64.whl", hash = "sha256:6d58c8cf937815d3b7cdc0fa9590c5129cb2c9658b72d00e8a4568dea2ff1d42"},
+    {file = "pygame-2.5.2-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:1a2a43802bb5e89ce2b3b775744e78db4f9a201bf8d059b946c61722840ceea8"},
+    {file = "pygame-2.5.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:1c289f2613c44fe70a1e40769de4a49c5ab5a29b9376f1692bb1a15c9c1c9bfa"},
+    {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:074aa6c6e110c925f7f27f00c7733c6303407edc61d738882985091d1eb2ef17"},
+    {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:fe0228501ec616779a0b9c4299e837877783e18df294dd690b9ab0eed3d8aaab"},
+    {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:31648d38ecdc2335ffc0e38fb18a84b3339730521505dac68514f83a1092e3f4"},
+    {file = "pygame-2.5.2-cp312-cp312-win32.whl", hash = "sha256:224c308856334bc792f696e9278e50d099a87c116f7fc314cd6aa3ff99d21592"},
+    {file = "pygame-2.5.2-cp312-cp312-win_amd64.whl", hash = "sha256:dd2d2650faf54f9a0f5bd0db8409f79609319725f8f08af6507a0609deadcad4"},
+    {file = "pygame-2.5.2-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:9b30bc1220c457169571aac998e54b013aaeb732d2fd8744966cb1cfab1f61d1"},
+    {file = "pygame-2.5.2-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:78fcd7643358b886a44127ff7dec9041c056c212b3a98977674f83f99e9b12d3"},
+    {file = "pygame-2.5.2-cp36-cp36m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:35cf093a51cb294ede56c29d4acf41538c00f297fcf78a9b186fb7d23c0577b6"},
+    {file = "pygame-2.5.2-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6fe323acbf53a0195c8c98b1b941eba7ac24e3e2b28ae48e8cda566f15fc4945"},
+    {file = "pygame-2.5.2-cp36-cp36m-win32.whl", hash = "sha256:5697528266b4716d9cdd44a5a1d210f4d86ef801d0f64ca5da5d0816704009d9"},
+    {file = "pygame-2.5.2-cp36-cp36m-win_amd64.whl", hash = "sha256:edda1f7cff4806a4fa39e0e8ccd75f38d1d340fa5fc52d8582ade87aca247d92"},
+    {file = "pygame-2.5.2-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:9bd738fd4ecc224769d0b4a719f96900a86578e26e0105193658a32966df2aae"},
+    {file = "pygame-2.5.2-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:30a8d7cf12363b4140bf2f93b5eec4028376ca1d0fe4b550588f836279485308"},
+    {file = "pygame-2.5.2-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:bc12e4dea3e88ea8a553de6d56a37b704dbe2aed95105889f6afeb4b96e62097"},
+    {file = "pygame-2.5.2-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2b34c73cb328024f8db3cb6487a37e54000148988275d8d6e5adf99d9323c937"},
+    {file = "pygame-2.5.2-cp37-cp37m-win32.whl", hash = "sha256:7d0a2794649defa57ef50b096a99f7113d3d0c2e32d1426cafa7d618eadce4c7"},
+    {file = "pygame-2.5.2-cp37-cp37m-win_amd64.whl", hash = "sha256:41f8779f52e0f6e6e6ccb8f0b5536e432bf386ee29c721a1c22cada7767b0cef"},
+    {file = "pygame-2.5.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:677e37bc0ea7afd89dde5a88ced4458aa8656159c70a576eea68b5622ee1997b"},
+    {file = "pygame-2.5.2-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:47a8415d2bd60e6909823b5643a1d4ef5cc29417d817f2a214b255f6fa3a1e4c"},
+    {file = "pygame-2.5.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4ff21201df6278b8ca2e948fb148ffe88f5481fd03760f381dd61e45954c7dff"},
+    {file = "pygame-2.5.2-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d29a84b2e02814b9ba925357fd2e1df78efe5e1aa64dc3051eaed95d2b96eafd"},
+    {file = "pygame-2.5.2-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d78485c4d21133d6b2fbb504cd544ca655e50b6eb551d2995b3aa6035928adda"},
+    {file = "pygame-2.5.2-cp38-cp38-win32.whl", hash = "sha256:d851247239548aa357c4a6840fb67adc2d570ce7cb56988d036a723d26b48bff"},
+    {file = "pygame-2.5.2-cp38-cp38-win_amd64.whl", hash = "sha256:88d1cdacc2d3471eceab98bf0c93c14d3a8461f93e58e3d926f20d4de3a75554"},
+    {file = "pygame-2.5.2-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:4f1559e7efe4efb9dc19d2d811d702f325d9605f9f6f9ececa39ee6890c798f5"},
+    {file = "pygame-2.5.2-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:cf2191b756ceb0e8458a761d0c665b0c70b538570449e0d39b75a5ba94ac5cf0"},
+    {file = "pygame-2.5.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6cf2257447ce7f2d6de37e5fb019d2bbe32ed05a5721ace8bc78c2d9beaf3aee"},
+    {file = "pygame-2.5.2-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d75cbbfaba2b81434d62631d0b08b85fab16cf4a36e40b80298d3868927e1299"},
+    {file = "pygame-2.5.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:daca456d5b9f52e088e06a127dec182b3638a775684fb2260f25d664351cf1ae"},
+    {file = "pygame-2.5.2-cp39-cp39-win32.whl", hash = "sha256:3b3e619e33d11c297d7a57a82db40681f9c2c3ae1d5bf06003520b4fe30c435d"},
+    {file = "pygame-2.5.2-cp39-cp39-win_amd64.whl", hash = "sha256:1822d534bb7fe756804647b6da2c9ea5d7a62d8796b2e15d172d3be085de28c6"},
+    {file = "pygame-2.5.2-pp36-pypy36_pp73-win32.whl", hash = "sha256:e708fc8f709a0fe1d1876489345f2e443d47f3976d33455e2e1e937f972f8677"},
+    {file = "pygame-2.5.2-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c13edebc43c240fb0532969e914f0ccefff5ae7e50b0b788d08ad2c15ef793e4"},
+    {file = "pygame-2.5.2-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:263b4a7cbfc9fe2055abc21b0251cc17dea6dff750f0e1c598919ff350cdbffe"},
+    {file = "pygame-2.5.2-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:e58e2b0c791041e4bccafa5bd7650623ba1592b8fe62ae0a276b7d0ecb314b6c"},
+    {file = "pygame-2.5.2-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a0bd67426c02ffe6c9827fc4bcbda9442fbc451d29b17c83a3c088c56fef2c90"},
+    {file = "pygame-2.5.2-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9dcff6cbba1584cf7732ce1dbdd044406cd4f6e296d13bcb7fba963fb4aeefc9"},
+    {file = "pygame-2.5.2-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:ce4b6c0bfe44d00bb0998a6517bd0cf9455f642f30f91bc671ad41c05bf6f6ae"},
+    {file = "pygame-2.5.2-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:68c4e8e60b725ffc7a6c6ecd9bb5fcc5ed2d6e0e2a2c4a29a8454856ef16ad63"},
+    {file = "pygame-2.5.2-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1f3849f97372a3381c66955f99a0d58485ccd513c3d00c030b869094ce6997a6"},
+    {file = "pygame-2.5.2.tar.gz", hash = "sha256:c1b89eb5d539e7ac5cf75513125fb5f2f0a2d918b1fd6e981f23bf0ac1b1c24a"},
 ]
 
 [[package]]
@@ -3558,42 +3622,46 @@ cffi = ">=1.0.0"
 
 [[package]]
 name = "pyopencl"
-version = "2023.1.2"
+version = "2023.1.3"
 description = "Python wrapper for OpenCL"
 optional = false
 python-versions = "~=3.8"
 files = [
-    {file = "pyopencl-2023.1.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:8c69c7595e1bab949e4702dfdaad9ae97005cc071dc42eb67c2b0c3aed1cbaac"},
-    {file = "pyopencl-2023.1.2-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:9cd95634f772c45b8cf48c2c3b1c5018e7e5aee35f7f3a3d3c514d92b19c13ae"},
-    {file = "pyopencl-2023.1.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c34f4a912525819a2427bf0dca3b1b540b69321bd48c578c0fdfd0ff4ac98c94"},
-    {file = "pyopencl-2023.1.2-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:be7fbeee10b6f5de54043efda430d6b940efcd3976c14beea7740c0b6d2679ea"},
-    {file = "pyopencl-2023.1.2-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:ded99985c2169142f3ad6fd97ff2b173ab0755f8c83796d8182d89953a47622b"},
-    {file = "pyopencl-2023.1.2-cp310-cp310-win_amd64.whl", hash = "sha256:f36c9e4ca6f82f3d4d514ab256405595ded7a9d3a9615002ca270dd0e9690a04"},
-    {file = "pyopencl-2023.1.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:9d5633e9081d4a08f7b93a0e79eae003c5deb48d30504ce33304090050ba2d54"},
-    {file = "pyopencl-2023.1.2-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:deee455f432a95b8c649e1bc8f5c8228aaa94d359aa31416830521c6d7a0a264"},
-    {file = "pyopencl-2023.1.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8834cedaf9b0fbef1bb0bdbe24d24262c61c4ee23f4363bb1aef5dd0753152af"},
-    {file = "pyopencl-2023.1.2-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:77196615fc3b0c69ee9468e5e8132b1e0e8b727d709e3a193fd1c7f8944f2d34"},
-    {file = "pyopencl-2023.1.2-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:6917dc9cf7420df5d52280e2c6d5d95f3008c5c2f1e13842b825bbf4bf2a462e"},
-    {file = "pyopencl-2023.1.2-cp311-cp311-win_amd64.whl", hash = "sha256:056e5753ce48e8f5e3ac421c845b068afa8f11877098beab5093ad48fe7f7e27"},
-    {file = "pyopencl-2023.1.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:d6e822f2f91b9c6876ed672139ba531c7d8e530d10dd19961b0c7335890bbd74"},
-    {file = "pyopencl-2023.1.2-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:367fa10516ed80c308f02efd75ec5f60604543710ea06cb1c0e3553574513602"},
-    {file = "pyopencl-2023.1.2-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9756e06ce74919679b7c4c4b9e58a9e57928d47d77112a5bd2598b840dd49ccb"},
-    {file = "pyopencl-2023.1.2-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:a09ad6fddef2cb8179ddfdee3a041141912c0eef9677440ac84dff8a06d0b1ea"},
-    {file = "pyopencl-2023.1.2-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:b96c23353214cd12761963d5c866f2ff617ff746653ea36060f3a911bf7a020c"},
-    {file = "pyopencl-2023.1.2-cp38-cp38-win_amd64.whl", hash = "sha256:503e5d4a3c6bf7c258e0619eb30835e0e7e42565237e2f6e21a68d34d9d350ac"},
-    {file = "pyopencl-2023.1.2-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:458272e79c74c9d12bbb3ae2b9ab97f5109f60ab97f2e99c6e492007ce01b9ed"},
-    {file = "pyopencl-2023.1.2-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:bbd7a49ad050807ebbc1fa64815c9cf22fbd73b5f7638852fe68d9b9dde075be"},
-    {file = "pyopencl-2023.1.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2ea121d1307419c89ecb766e416228fc831b4dc1c936329d870e6e55cfd26f13"},
-    {file = "pyopencl-2023.1.2-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:6a168d96b2e0c5ddb414a74d4d045b82b2f3d0630527a7922c03ac7739eb3632"},
-    {file = "pyopencl-2023.1.2-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:3631eefd30966ad35b07b6ceeb2c59ac8cee2e823534b1d3fa97acbb91a41399"},
-    {file = "pyopencl-2023.1.2-cp39-cp39-win_amd64.whl", hash = "sha256:9f11ede4c039c8a472f23be6f8e62704986cba019e8a13a8a5af4d8b606a783c"},
-    {file = "pyopencl-2023.1.2-pp310-pypy310_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e01b88b873ae644e6edc05d4a6d935e9da371ae46b1a78c4022c23046401a4bb"},
-    {file = "pyopencl-2023.1.2-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:311b14ac9def1538fe7d4b01dd00d6e6e8b296fdfe6a7bacef739552bd477653"},
-    {file = "pyopencl-2023.1.2-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ffdb4cbcb795fca5a27be101f02e85aca24637471e9b53303f232e293646d72b"},
-    {file = "pyopencl-2023.1.2-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0b02ac162218cbabe5287244fb7cea906ca4d3d6716d8fc952526e1b55ad63d9"},
-    {file = "pyopencl-2023.1.2-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d67b55c92c769da5b994eb2f56e712d48cfdf4b534f8df20c6ab74346129357d"},
-    {file = "pyopencl-2023.1.2-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:068cd66ea53c98c745614697ccafd147e10bffaa761feccd3b1e90fa7cdc483c"},
-    {file = "pyopencl-2023.1.2.tar.gz", hash = "sha256:eb00cd574049d592b679dcf8bfe7ab4a36c94a39fd1acb1a6b45d6c0d7be9a68"},
+    {file = "pyopencl-2023.1.3-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:4ed6633020de23515aac7b06124316db08b9eb659be2bdb6e6eb749b4035c86a"},
+    {file = "pyopencl-2023.1.3-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:750c2b5d21aa62dea9b3231e84e54ec532c33f1f575dc8c0905edd78fbc9879a"},
+    {file = "pyopencl-2023.1.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5acf05316bc4bd303243a83ce75fbf673e0f365de92d2c05b59a36129f63af63"},
+    {file = "pyopencl-2023.1.3-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:5e4ada8769c823b94c649cfef5a810c5f57225a3a575f3b11453027e18acaee0"},
+    {file = "pyopencl-2023.1.3-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:4f275ec463bdbbda05131fb25d991421774d8a3a81713c0702c1c1921bf79c5f"},
+    {file = "pyopencl-2023.1.3-cp310-cp310-win_amd64.whl", hash = "sha256:c66d30d12bb4fd570fbb15ae4c48ae8f5c6adce9eb1778aeb9331202e5a2ebfb"},
+    {file = "pyopencl-2023.1.3-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:b52a901941ffd8edfe3193890a421d00060f1dfa6326f404acdbc75869d7d0ba"},
+    {file = "pyopencl-2023.1.3-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c59270e431f90491a5c96279bfa15a5bf400271655fa3b46c32a5730828c9d5c"},
+    {file = "pyopencl-2023.1.3-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c75dcce069343ca3d6c406866c3173212d115707ced3f4c12e41102959d809d1"},
+    {file = "pyopencl-2023.1.3-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:99c07cab0f90905a9e1b12c878401421943999f0cd6cd51bc920a9fa32bffb3c"},
+    {file = "pyopencl-2023.1.3-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:9ca11dd27d6994b915b107e988611a9a237e6a043666f973bb8eff0b55c1b7be"},
+    {file = "pyopencl-2023.1.3-cp311-cp311-win_amd64.whl", hash = "sha256:80f380922ca2bce747bec0887fd972e223a65d34c86097c7826ea9e459e86e69"},
+    {file = "pyopencl-2023.1.3-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a1936581d4e9c5dbd5afc6fc3b81efecea4fcc17b45b96bebd4927bc4bd66888"},
+    {file = "pyopencl-2023.1.3-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:45118c6732bac0c3a3d41977ad510a2dc81b797f5fe96b723adfed884f91dce6"},
+    {file = "pyopencl-2023.1.3-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:e4c6028cd7061a34111fb99c71c3fd1ad64fc183c2cec62948fd5a90ffce8c9d"},
+    {file = "pyopencl-2023.1.3-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:0301158f09957988c0f8b9ac81c3e9574090690cab724469bfb68bdeae7d4c53"},
+    {file = "pyopencl-2023.1.3-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:00f774792a7e00211c44ba3066a2704d7177b408be3043879535fbcf278b7cc6"},
+    {file = "pyopencl-2023.1.3-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:034233cb7fb5340e1e6f37a2cacee7daac08a1639f811efda185a42c25649e86"},
+    {file = "pyopencl-2023.1.3-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2e6fdd8e1e63f683e486d9db24a7c4442417cb99712fd4519eeb2763351db5af"},
+    {file = "pyopencl-2023.1.3-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:bfa34302676174f1ccc4868f2725c09e6e0c75c647c52e4ba47ebdeada9f980b"},
+    {file = "pyopencl-2023.1.3-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:7997a206a52a7072dfaf90cfa74fb77c6a7079c625f72afd099dba1be7af6abd"},
+    {file = "pyopencl-2023.1.3-cp38-cp38-win_amd64.whl", hash = "sha256:77d07800e87cb5719a4935b3ed0dd5cd2393a4a7b5725d0af3273f1664e72343"},
+    {file = "pyopencl-2023.1.3-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:ec44e1bf36ba386ab272b7a3f9390b7777278127d0e1391d484a1145e74ae69d"},
+    {file = "pyopencl-2023.1.3-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:dfa873037e081bf430ddce06e612cd5599247bb50742c2bb401cb92664591cfd"},
+    {file = "pyopencl-2023.1.3-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:26078a2863ae116ef5c1bd7c6c7e9bf2b4be2dc14181fc0b328a427f6c04fde4"},
+    {file = "pyopencl-2023.1.3-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:e01f09c443e2539769894dafe090b6d226d011cd5fb73b61a651027cf13c6ac0"},
+    {file = "pyopencl-2023.1.3-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:405002eeab47de726222ccdb68ea5034b21c52ce1139d58ef2b0582e7bb74752"},
+    {file = "pyopencl-2023.1.3-cp39-cp39-win_amd64.whl", hash = "sha256:13db9b3082731341adc8471064add8265d1755cf8e80ec8935241bfcc39ffb3c"},
+    {file = "pyopencl-2023.1.3-pp310-pypy310_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:11a3309d716ccc76b02a454315d999384278aba98c7617227d90fe025c2b209e"},
+    {file = "pyopencl-2023.1.3-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9ed9db4eabec28950faa5f1eddb6e7e1b9f83464dd942bea7532fcb2e1aa15cc"},
+    {file = "pyopencl-2023.1.3-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1df111d4d23013937be3eed2ae08744045f2e68f73a8951a03fc018b110f7de0"},
+    {file = "pyopencl-2023.1.3-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:069b37fef6e6aa95d2c1210877b86de776d6dcf893f7b2ce53bb3fb22975c3b4"},
+    {file = "pyopencl-2023.1.3-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:342b5d710a69e32f1b40be1d611ebb4d8b9a61f58514ab4c9f1bc2721f00897c"},
+    {file = "pyopencl-2023.1.3-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d46e9c63a5b80b23528f2437006732717e80b0afcca9f2f409301871317eb630"},
+    {file = "pyopencl-2023.1.3.tar.gz", hash = "sha256:b67216f5d28e7ae8573db28c0846c330e23b0e0465b6f3d8112d09f2ee294997"},
 ]
 
 [package.dependencies]
@@ -3650,36 +3718,38 @@ files = [
 
 [[package]]
 name = "pyproj"
-version = "3.6.0"
+version = "3.6.1"
 description = "Python interface to PROJ (cartographic projections and coordinate transformations library)"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "pyproj-3.6.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:e600f6a2771d3b41aeb2cc1efd96771ae9a01451013da1dd48ff272e7c6e34ef"},
-    {file = "pyproj-3.6.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:d7f6cd045df29aae960391dfe06a575c110af598f1dea5add8be6ca42332b0f5"},
-    {file = "pyproj-3.6.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:557e6592855111c84eda176ddf6b130f55d5e2b9cb1c017b8c91b69f37f474f5"},
-    {file = "pyproj-3.6.0-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:de6288b6ceabdeeac01abf627c74414822d322d8f55dc8efe4d29dedd27c5719"},
-    {file = "pyproj-3.6.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e427ccdbb1763872416549bdfa9fa1f5f169054653c4daf674e71480cc39cf11"},
-    {file = "pyproj-3.6.0-cp310-cp310-win32.whl", hash = "sha256:1283d3c1960edbb74828f5f3405b27578a9a27f7766ab6a3956f4bd851f08239"},
-    {file = "pyproj-3.6.0-cp310-cp310-win_amd64.whl", hash = "sha256:9de1aab71234bfd3fd648a1152519b5ee152c43113d7d8ea52590a0140129501"},
-    {file = "pyproj-3.6.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:00fab048596c17572fa8980014ef117dbb2a445e6f7ba3b9ddfcc683efc598e7"},
-    {file = "pyproj-3.6.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:ba5e7c8ddd6ed5a3f9fcf95ea80ba44c931913723de2ece841c94bb38b200c4a"},
-    {file = "pyproj-3.6.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:08dfc5c9533c78a97afae9d53b99b810a4a8f97c3be9eb2b8f323b726c736403"},
-    {file = "pyproj-3.6.0-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:18a8bdb87aeb41b60a2e91d32f623227de3569fb83b4c64b174c3a7c5b0ed3ae"},
-    {file = "pyproj-3.6.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:dfe392dfc0eba2248dc08c976a72f52ff9da2bddfddfd9ff5dcf18e8e88200c7"},
-    {file = "pyproj-3.6.0-cp311-cp311-win32.whl", hash = "sha256:78276c6b0c831255c97c56dff7313a3571f327a284d8ac63d6a56437a72ed0e0"},
-    {file = "pyproj-3.6.0-cp311-cp311-win_amd64.whl", hash = "sha256:8fbac2eb9a0e425d7d6b7c6f4ebacd675cf3bdef0c59887057b8b4b0374e7c12"},
-    {file = "pyproj-3.6.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:95120d65cbc5983dfd877076f28dbc18b9b329cbee38ca6e217bb7a5a043c099"},
-    {file = "pyproj-3.6.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:830e6de7cfe43853967afee5ef908dfd5aa72d1ec12af9b9e3fecc179886e346"},
-    {file = "pyproj-3.6.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e342b3010b2b20134671564ff9a8c476e5e512bf589477480aded1a5813af7c8"},
-    {file = "pyproj-3.6.0-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:23787460fab85ba2f857ee60ffb2e8e21fd9bd5db9833c51c1c05b2a6d9f0be5"},
-    {file = "pyproj-3.6.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:595376e4d3bb72b7dceeccbce0f4c43053d47561f17a1ad0224407e9980ee849"},
-    {file = "pyproj-3.6.0-cp39-cp39-win32.whl", hash = "sha256:4d8a9773503085eada59b6892c96ddf686ab8cf64cfdc18ad744d13ee76dfa6f"},
-    {file = "pyproj-3.6.0-cp39-cp39-win_amd64.whl", hash = "sha256:137a07404f937f264b11b7130cd4cfa00002dbe4333b222e8056db84849c2ea4"},
-    {file = "pyproj-3.6.0-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:2799499a4045e4fb73e44c31bdacab0593a253a7a4b6baae6fdd27d604cf9bc2"},
-    {file = "pyproj-3.6.0-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f04f6297c615c3b17f835df2556ac8fb9b4f51f281e960437eaf0cd80e7ae26a"},
-    {file = "pyproj-3.6.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3a4d2d438b007cb1f8d5f6f308d53d7ff9a2508cff8f9da6e2a93b76ffd98aaf"},
-    {file = "pyproj-3.6.0.tar.gz", hash = "sha256:a5b111865b3f0f8b77b3983f2fbe4dd6248fc09d3730295949977c8dcd988062"},
+    {file = "pyproj-3.6.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:ab7aa4d9ff3c3acf60d4b285ccec134167a948df02347585fdd934ebad8811b4"},
+    {file = "pyproj-3.6.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:4bc0472302919e59114aa140fd7213c2370d848a7249d09704f10f5b062031fe"},
+    {file = "pyproj-3.6.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5279586013b8d6582e22b6f9e30c49796966770389a9d5b85e25a4223286cd3f"},
+    {file = "pyproj-3.6.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:80fafd1f3eb421694857f254a9bdbacd1eb22fc6c24ca74b136679f376f97d35"},
+    {file = "pyproj-3.6.1-cp310-cp310-win32.whl", hash = "sha256:c41e80ddee130450dcb8829af7118f1ab69eaf8169c4bf0ee8d52b72f098dc2f"},
+    {file = "pyproj-3.6.1-cp310-cp310-win_amd64.whl", hash = "sha256:db3aedd458e7f7f21d8176f0a1d924f1ae06d725228302b872885a1c34f3119e"},
+    {file = "pyproj-3.6.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:ebfbdbd0936e178091309f6cd4fcb4decd9eab12aa513cdd9add89efa3ec2882"},
+    {file = "pyproj-3.6.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:447db19c7efad70ff161e5e46a54ab9cc2399acebb656b6ccf63e4bc4a04b97a"},
+    {file = "pyproj-3.6.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e7e13c40183884ec7f94eb8e0f622f08f1d5716150b8d7a134de48c6110fee85"},
+    {file = "pyproj-3.6.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:65ad699e0c830e2b8565afe42bd58cc972b47d829b2e0e48ad9638386d994915"},
+    {file = "pyproj-3.6.1-cp311-cp311-win32.whl", hash = "sha256:8b8acc31fb8702c54625f4d5a2a6543557bec3c28a0ef638778b7ab1d1772132"},
+    {file = "pyproj-3.6.1-cp311-cp311-win_amd64.whl", hash = "sha256:38a3361941eb72b82bd9a18f60c78b0df8408416f9340521df442cebfc4306e2"},
+    {file = "pyproj-3.6.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:1e9fbaf920f0f9b4ee62aab832be3ae3968f33f24e2e3f7fbb8c6728ef1d9746"},
+    {file = "pyproj-3.6.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:6d227a865356f225591b6732430b1d1781e946893789a609bb34f59d09b8b0f8"},
+    {file = "pyproj-3.6.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:83039e5ae04e5afc974f7d25ee0870a80a6bd6b7957c3aca5613ccbe0d3e72bf"},
+    {file = "pyproj-3.6.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fffb059ba3bced6f6725961ba758649261d85ed6ce670d3e3b0a26e81cf1aa8d"},
+    {file = "pyproj-3.6.1-cp312-cp312-win32.whl", hash = "sha256:2d6ff73cc6dbbce3766b6c0bce70ce070193105d8de17aa2470009463682a8eb"},
+    {file = "pyproj-3.6.1-cp312-cp312-win_amd64.whl", hash = "sha256:7a27151ddad8e1439ba70c9b4b2b617b290c39395fa9ddb7411ebb0eb86d6fb0"},
+    {file = "pyproj-3.6.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:4ba1f9b03d04d8cab24d6375609070580a26ce76eaed54631f03bab00a9c737b"},
+    {file = "pyproj-3.6.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:18faa54a3ca475bfe6255156f2f2874e9a1c8917b0004eee9f664b86ccc513d3"},
+    {file = "pyproj-3.6.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:fd43bd9a9b9239805f406fd82ba6b106bf4838d9ef37c167d3ed70383943ade1"},
+    {file = "pyproj-3.6.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:50100b2726a3ca946906cbaa789dd0749f213abf0cbb877e6de72ca7aa50e1ae"},
+    {file = "pyproj-3.6.1-cp39-cp39-win32.whl", hash = "sha256:9274880263256f6292ff644ca92c46d96aa7e57a75c6df3f11d636ce845a1877"},
+    {file = "pyproj-3.6.1-cp39-cp39-win_amd64.whl", hash = "sha256:36b64c2cb6ea1cc091f329c5bd34f9c01bb5da8c8e4492c709bda6a09f96808f"},
+    {file = "pyproj-3.6.1-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:fd93c1a0c6c4aedc77c0fe275a9f2aba4d59b8acf88cebfc19fe3c430cfabf4f"},
+    {file = "pyproj-3.6.1-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6420ea8e7d2a88cb148b124429fba8cd2e0fae700a2d96eab7083c0928a85110"},
+    {file = "pyproj-3.6.1.tar.gz", hash = "sha256:44aa7c704c2b7d8fb3d483bbf75af6cb2350d30a63b144279a09b75fead501bf"},
 ]
 
 [package.dependencies]
@@ -3813,6 +3883,20 @@ files = [
 colorama = "*"
 pytest = ">=7.0"
 
+[[package]]
+name = "pytest-random-order"
+version = "1.1.0"
+description = "Randomise the order in which pytest tests are run with some control over the randomness"
+optional = false
+python-versions = ">=3.5.0"
+files = [
+    {file = "pytest-random-order-1.1.0.tar.gz", hash = "sha256:dbe6debb9353a7af984cc9eddbeb3577dd4dbbcc1529a79e3d21f68ed9b45605"},
+    {file = "pytest_random_order-1.1.0-py3-none-any.whl", hash = "sha256:6cb1e59ab0f798bb0c3488c11ae0c70d7d3340306a466d28b28ccd8ef8c20b7e"},
+]
+
+[package.dependencies]
+pytest = ">=3.0.0"
+
 [[package]]
 name = "pytest-subtests"
 version = "0.11.0"
@@ -3830,13 +3914,13 @@ pytest = ">=7.0"
 
 [[package]]
 name = "pytest-timeout"
-version = "2.1.0"
+version = "2.2.0"
 description = "pytest plugin to abort hanging tests"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 files = [
-    {file = "pytest-timeout-2.1.0.tar.gz", hash = "sha256:c07ca07404c612f8abbe22294b23c368e2e5104b521c1790195561f37e1ac3d9"},
-    {file = "pytest_timeout-2.1.0-py3-none-any.whl", hash = "sha256:f6f50101443ce70ad325ceb4473c4255e9d74e3c7cd0ef827309dfa4c0d975c6"},
+    {file = "pytest-timeout-2.2.0.tar.gz", hash = "sha256:3b0b95dabf3cb50bac9ef5ca912fa0cfc286526af17afc806824df20c2f72c90"},
+    {file = "pytest_timeout-2.2.0-py3-none-any.whl", hash = "sha256:bde531e096466f49398a59f2dde76fa78429a09a12411466f88a07213e220de2"},
 ]
 
 [package.dependencies]
@@ -4125,38 +4209,64 @@ urllib3 = ">=1.21.1,<3"
 socks = ["PySocks (>=1.5.6,!=1.5.7)"]
 use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
 
+[[package]]
+name = "ruff"
+version = "0.0.292"
+description = "An extremely fast Python linter, written in Rust."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "ruff-0.0.292-py3-none-macosx_10_7_x86_64.whl", hash = "sha256:02f29db018c9d474270c704e6c6b13b18ed0ecac82761e4fcf0faa3728430c96"},
+    {file = "ruff-0.0.292-py3-none-macosx_10_9_x86_64.macosx_11_0_arm64.macosx_10_9_universal2.whl", hash = "sha256:69654e564342f507edfa09ee6897883ca76e331d4bbc3676d8a8403838e9fade"},
+    {file = "ruff-0.0.292-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6c3c91859a9b845c33778f11902e7b26440d64b9d5110edd4e4fa1726c41e0a4"},
+    {file = "ruff-0.0.292-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:f4476f1243af2d8c29da5f235c13dca52177117935e1f9393f9d90f9833f69e4"},
+    {file = "ruff-0.0.292-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:be8eb50eaf8648070b8e58ece8e69c9322d34afe367eec4210fdee9a555e4ca7"},
+    {file = "ruff-0.0.292-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:9889bac18a0c07018aac75ef6c1e6511d8411724d67cb879103b01758e110a81"},
+    {file = "ruff-0.0.292-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:6bdfabd4334684a4418b99b3118793f2c13bb67bf1540a769d7816410402a205"},
+    {file = "ruff-0.0.292-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:aa7c77c53bfcd75dbcd4d1f42d6cabf2485d2e1ee0678da850f08e1ab13081a8"},
+    {file = "ruff-0.0.292-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8e087b24d0d849c5c81516ec740bf4fd48bf363cfb104545464e0fca749b6af9"},
+    {file = "ruff-0.0.292-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:f160b5ec26be32362d0774964e218f3fcf0a7da299f7e220ef45ae9e3e67101a"},
+    {file = "ruff-0.0.292-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:ac153eee6dd4444501c4bb92bff866491d4bfb01ce26dd2fff7ca472c8df9ad0"},
+    {file = "ruff-0.0.292-py3-none-musllinux_1_2_i686.whl", hash = "sha256:87616771e72820800b8faea82edd858324b29bb99a920d6aa3d3949dd3f88fb0"},
+    {file = "ruff-0.0.292-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:b76deb3bdbea2ef97db286cf953488745dd6424c122d275f05836c53f62d4016"},
+    {file = "ruff-0.0.292-py3-none-win32.whl", hash = "sha256:e854b05408f7a8033a027e4b1c7f9889563dd2aca545d13d06711e5c39c3d003"},
+    {file = "ruff-0.0.292-py3-none-win_amd64.whl", hash = "sha256:f27282bedfd04d4c3492e5c3398360c9d86a295be00eccc63914438b4ac8a83c"},
+    {file = "ruff-0.0.292-py3-none-win_arm64.whl", hash = "sha256:7f67a69c8f12fbc8daf6ae6d36705037bde315abf8b82b6e1f4c9e74eb750f68"},
+    {file = "ruff-0.0.292.tar.gz", hash = "sha256:1093449e37dd1e9b813798f6ad70932b57cf614e5c2b5c51005bf67d55db33ac"},
+]
+
 [[package]]
 name = "scipy"
-version = "1.11.2"
+version = "1.11.3"
 description = "Fundamental algorithms for scientific computing in Python"
 optional = false
 python-versions = "<3.13,>=3.9"
 files = [
-    {file = "scipy-1.11.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:2b997a5369e2d30c97995dcb29d638701f8000d04df01b8e947f206e5d0ac788"},
-    {file = "scipy-1.11.2-cp310-cp310-macosx_12_0_arm64.whl", hash = "sha256:95763fbda1206bec41157582bea482f50eb3702c85fffcf6d24394b071c0e87a"},
-    {file = "scipy-1.11.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e367904a0fec76433bf3fbf3e85bf60dae8e9e585ffd21898ab1085a29a04d16"},
-    {file = "scipy-1.11.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d690e1ca993c8f7ede6d22e5637541217fc6a4d3f78b3672a6fe454dbb7eb9a7"},
-    {file = "scipy-1.11.2-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:d2b813bfbe8dec6a75164523de650bad41f4405d35b0fa24c2c28ae07fcefb20"},
-    {file = "scipy-1.11.2-cp310-cp310-win_amd64.whl", hash = "sha256:afdb0d983f6135d50770dd979df50bf1c7f58b5b33e0eb8cf5c73c70600eae1d"},
-    {file = "scipy-1.11.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:8d9886f44ef8c9e776cb7527fb01455bf4f4a46c455c4682edc2c2cc8cd78562"},
-    {file = "scipy-1.11.2-cp311-cp311-macosx_12_0_arm64.whl", hash = "sha256:1342ca385c673208f32472830c10110a9dcd053cf0c4b7d4cd7026d0335a6c1d"},
-    {file = "scipy-1.11.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b133f237bd8ba73bad51bc12eb4f2d84cbec999753bf25ba58235e9fc2096d80"},
-    {file = "scipy-1.11.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3aeb87661de987f8ec56fa6950863994cd427209158255a389fc5aea51fa7055"},
-    {file = "scipy-1.11.2-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:90d3b1364e751d8214e325c371f0ee0dd38419268bf4888b2ae1040a6b266b2a"},
-    {file = "scipy-1.11.2-cp311-cp311-win_amd64.whl", hash = "sha256:f73102f769ee06041a3aa26b5841359b1a93cc364ce45609657751795e8f4a4a"},
-    {file = "scipy-1.11.2-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:fa4909c6c20c3d91480533cddbc0e7c6d849e7d9ded692918c76ce5964997898"},
-    {file = "scipy-1.11.2-cp312-cp312-macosx_12_0_arm64.whl", hash = "sha256:ac74b1512d38718fb6a491c439aa7b3605b96b1ed3be6599c17d49d6c60fca18"},
-    {file = "scipy-1.11.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b8425fa963a32936c9773ee3ce44a765d8ff67eed5f4ac81dc1e4a819a238ee9"},
-    {file = "scipy-1.11.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:542a757e2a6ec409e71df3d8fd20127afbbacb1c07990cb23c5870c13953d899"},
-    {file = "scipy-1.11.2-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:ea932570b1c2a30edafca922345854ff2cd20d43cd9123b6dacfdecebfc1a80b"},
-    {file = "scipy-1.11.2-cp312-cp312-win_amd64.whl", hash = "sha256:4447ad057d7597476f9862ecbd9285bbf13ba9d73ce25acfa4e4b11c6801b4c9"},
-    {file = "scipy-1.11.2-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:b0620240ef445b5ddde52460e6bc3483b7c9c750275369379e5f609a1050911c"},
-    {file = "scipy-1.11.2-cp39-cp39-macosx_12_0_arm64.whl", hash = "sha256:f28f1f6cfeb48339c192efc6275749b2a25a7e49c4d8369a28b6591da02fbc9a"},
-    {file = "scipy-1.11.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:214cdf04bbae7a54784f8431f976704ed607c4bc69ba0d5d5d6a9df84374df76"},
-    {file = "scipy-1.11.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:10eb6af2f751aa3424762948e5352f707b0dece77288206f227864ddf675aca0"},
-    {file = "scipy-1.11.2-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:0f3261f14b767b316d7137c66cc4f33a80ea05841b9c87ad83a726205b901423"},
-    {file = "scipy-1.11.2-cp39-cp39-win_amd64.whl", hash = "sha256:2c91cf049ffb5575917f2a01da1da082fd24ed48120d08a6e7297dfcac771dcd"},
-    {file = "scipy-1.11.2.tar.gz", hash = "sha256:b29318a5e39bd200ca4381d80b065cdf3076c7d7281c5e36569e99273867f61d"},
+    {file = "scipy-1.11.3-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:370f569c57e1d888304052c18e58f4a927338eafdaef78613c685ca2ea0d1fa0"},
+    {file = "scipy-1.11.3-cp310-cp310-macosx_12_0_arm64.whl", hash = "sha256:9885e3e4f13b2bd44aaf2a1a6390a11add9f48d5295f7a592393ceb8991577a3"},
+    {file = "scipy-1.11.3-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e04aa19acc324a1a076abb4035dabe9b64badb19f76ad9c798bde39d41025cdc"},
+    {file = "scipy-1.11.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3e1a8a4657673bfae1e05e1e1d6e94b0cabe5ed0c7c144c8aa7b7dbb774ce5c1"},
+    {file = "scipy-1.11.3-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:7abda0e62ef00cde826d441485e2e32fe737bdddee3324e35c0e01dee65e2a88"},
+    {file = "scipy-1.11.3-cp310-cp310-win_amd64.whl", hash = "sha256:033c3fd95d55012dd1148b201b72ae854d5086d25e7c316ec9850de4fe776929"},
+    {file = "scipy-1.11.3-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:925c6f09d0053b1c0f90b2d92d03b261e889b20d1c9b08a3a51f61afc5f58165"},
+    {file = "scipy-1.11.3-cp311-cp311-macosx_12_0_arm64.whl", hash = "sha256:5664e364f90be8219283eeb844323ff8cd79d7acbd64e15eb9c46b9bc7f6a42a"},
+    {file = "scipy-1.11.3-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:00f325434b6424952fbb636506f0567898dca7b0f7654d48f1c382ea338ce9a3"},
+    {file = "scipy-1.11.3-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5f290cf561a4b4edfe8d1001ee4be6da60c1c4ea712985b58bf6bc62badee221"},
+    {file = "scipy-1.11.3-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:91770cb3b1e81ae19463b3c235bf1e0e330767dca9eb4cd73ba3ded6c4151e4d"},
+    {file = "scipy-1.11.3-cp311-cp311-win_amd64.whl", hash = "sha256:e1f97cd89c0fe1a0685f8f89d85fa305deb3067d0668151571ba50913e445820"},
+    {file = "scipy-1.11.3-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:dfcc1552add7cb7c13fb70efcb2389d0624d571aaf2c80b04117e2755a0c5d15"},
+    {file = "scipy-1.11.3-cp312-cp312-macosx_12_0_arm64.whl", hash = "sha256:0d3a136ae1ff0883fffbb1b05b0b2fea251cb1046a5077d0b435a1839b3e52b7"},
+    {file = "scipy-1.11.3-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:bae66a2d7d5768eaa33008fa5a974389f167183c87bf39160d3fefe6664f8ddc"},
+    {file = "scipy-1.11.3-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d2f6dee6cbb0e263b8142ed587bc93e3ed5e777f1f75448d24fb923d9fd4dce6"},
+    {file = "scipy-1.11.3-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:74e89dc5e00201e71dd94f5f382ab1c6a9f3ff806c7d24e4e90928bb1aafb280"},
+    {file = "scipy-1.11.3-cp312-cp312-win_amd64.whl", hash = "sha256:90271dbde4be191522b3903fc97334e3956d7cfb9cce3f0718d0ab4fd7d8bfd6"},
+    {file = "scipy-1.11.3-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:a63d1ec9cadecce838467ce0631c17c15c7197ae61e49429434ba01d618caa83"},
+    {file = "scipy-1.11.3-cp39-cp39-macosx_12_0_arm64.whl", hash = "sha256:5305792c7110e32ff155aed0df46aa60a60fc6e52cd4ee02cdeb67eaccd5356e"},
+    {file = "scipy-1.11.3-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9ea7f579182d83d00fed0e5c11a4aa5ffe01460444219dedc448a36adf0c3917"},
+    {file = "scipy-1.11.3-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c77da50c9a91e23beb63c2a711ef9e9ca9a2060442757dffee34ea41847d8156"},
+    {file = "scipy-1.11.3-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:15f237e890c24aef6891c7d008f9ff7e758c6ef39a2b5df264650eb7900403c0"},
+    {file = "scipy-1.11.3-cp39-cp39-win_amd64.whl", hash = "sha256:4b4bb134c7aa457e26cc6ea482b016fef45db71417d55cc6d8f43d799cdf9ef2"},
+    {file = "scipy-1.11.3.tar.gz", hash = "sha256:bba4d955f54edd61899776bad459bf7326e14b9fa1c552181f0479cc60a568cd"},
 ]
 
 [package.dependencies]
@@ -4204,24 +4314,24 @@ resolved_reference = "f3b0100d3a628e4d18f496815903660a99489bae"
 
 [[package]]
 name = "seaborn"
-version = "0.12.2"
+version = "0.13.0"
 description = "Statistical data visualization"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
-    {file = "seaborn-0.12.2-py3-none-any.whl", hash = "sha256:ebf15355a4dba46037dfd65b7350f014ceb1f13c05e814eda2c9f5fd731afc08"},
-    {file = "seaborn-0.12.2.tar.gz", hash = "sha256:374645f36509d0dcab895cba5b47daf0586f77bfe3b36c97c607db7da5be0139"},
+    {file = "seaborn-0.13.0-py3-none-any.whl", hash = "sha256:70d740828c48de0f402bb17234e475eda687e3c65f4383ea25d0cc4728f7772e"},
+    {file = "seaborn-0.13.0.tar.gz", hash = "sha256:0e76abd2ec291c655b516703c6a022f0fd5afed26c8e714e8baef48150f73598"},
 ]
 
 [package.dependencies]
-matplotlib = ">=3.1,<3.6.1 || >3.6.1"
-numpy = ">=1.17,<1.24.0 || >1.24.0"
-pandas = ">=0.25"
+matplotlib = ">=3.3,<3.6.1 || >3.6.1"
+numpy = ">=1.20,<1.24.0 || >1.24.0"
+pandas = ">=1.2"
 
 [package.extras]
 dev = ["flake8", "flit", "mypy", "pandas-stubs", "pre-commit", "pytest", "pytest-cov", "pytest-xdist"]
-docs = ["ipykernel", "nbconvert", "numpydoc", "pydata_sphinx_theme (==0.10.0rc2)", "pyyaml", "sphinx-copybutton", "sphinx-design", "sphinx-issues"]
-stats = ["scipy (>=1.3)", "statsmodels (>=0.10)"]
+docs = ["ipykernel", "nbconvert", "numpydoc", "pydata_sphinx_theme (==0.10.0rc2)", "pyyaml", "sphinx (<6.0.0)", "sphinx-copybutton", "sphinx-design", "sphinx-issues"]
+stats = ["scipy (>=1.7)", "statsmodels (>=0.12)"]
 
 [[package]]
 name = "sentry-sdk"
@@ -4267,83 +4377,99 @@ tornado = ["tornado (>=5)"]
 
 [[package]]
 name = "setproctitle"
-version = "1.3.2"
+version = "1.3.3"
 description = "A Python module to customize the process title"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "setproctitle-1.3.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:288943dec88e178bb2fd868adf491197cc0fc8b6810416b1c6775e686bab87fe"},
-    {file = "setproctitle-1.3.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:630f6fe5e24a619ccf970c78e084319ee8be5be253ecc9b5b216b0f474f5ef18"},
-    {file = "setproctitle-1.3.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6c877691b90026670e5a70adfbcc735460a9f4c274d35ec5e8a43ce3f8443005"},
-    {file = "setproctitle-1.3.2-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:7a55fe05f15c10e8c705038777656fe45e3bd676d49ad9ac8370b75c66dd7cd7"},
-    {file = "setproctitle-1.3.2-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ab45146c71ca6592c9cc8b354a2cc9cc4843c33efcbe1d245d7d37ce9696552d"},
-    {file = "setproctitle-1.3.2-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e00c9d5c541a2713ba0e657e0303bf96ddddc412ef4761676adc35df35d7c246"},
-    {file = "setproctitle-1.3.2-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:265ecbe2c6eafe82e104f994ddd7c811520acdd0647b73f65c24f51374cf9494"},
-    {file = "setproctitle-1.3.2-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:c2c46200656280a064073447ebd363937562debef329482fd7e570c8d498f806"},
-    {file = "setproctitle-1.3.2-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:fa2f50678f04fda7a75d0fe5dd02bbdd3b13cbe6ed4cf626e4472a7ccf47ae94"},
-    {file = "setproctitle-1.3.2-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:7f2719a398e1a2c01c2a63bf30377a34d0b6ef61946ab9cf4d550733af8f1ef1"},
-    {file = "setproctitle-1.3.2-cp310-cp310-win32.whl", hash = "sha256:e425be62524dc0c593985da794ee73eb8a17abb10fe692ee43bb39e201d7a099"},
-    {file = "setproctitle-1.3.2-cp310-cp310-win_amd64.whl", hash = "sha256:e85e50b9c67854f89635a86247412f3ad66b132a4d8534ac017547197c88f27d"},
-    {file = "setproctitle-1.3.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:2a97d51c17d438cf5be284775a322d57b7ca9505bb7e118c28b1824ecaf8aeaa"},
-    {file = "setproctitle-1.3.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:587c7d6780109fbd8a627758063d08ab0421377c0853780e5c356873cdf0f077"},
-    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d7d17c8bd073cbf8d141993db45145a70b307385b69171d6b54bcf23e5d644de"},
-    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e932089c35a396dc31a5a1fc49889dd559548d14cb2237adae260382a090382e"},
-    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8e4f8f12258a8739c565292a551c3db62cca4ed4f6b6126664e2381acb4931bf"},
-    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:570d255fd99c7f14d8f91363c3ea96bd54f8742275796bca67e1414aeca7d8c3"},
-    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:a8e0881568c5e6beff91ef73c0ec8ac2a9d3ecc9edd6bd83c31ca34f770910c4"},
-    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:4bba3be4c1fabf170595b71f3af46c6d482fbe7d9e0563999b49999a31876f77"},
-    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:37ece938110cab2bb3957e3910af8152ca15f2b6efdf4f2612e3f6b7e5459b80"},
-    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:db684d6bbb735a80bcbc3737856385b55d53f8a44ce9b46e9a5682c5133a9bf7"},
-    {file = "setproctitle-1.3.2-cp311-cp311-win32.whl", hash = "sha256:ca58cd260ea02759238d994cfae844fc8b1e206c684beb8f38877dcab8451dfc"},
-    {file = "setproctitle-1.3.2-cp311-cp311-win_amd64.whl", hash = "sha256:88486e6cce2a18a033013d17b30a594f1c5cb42520c49c19e6ade40b864bb7ff"},
-    {file = "setproctitle-1.3.2-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:92c626edc66169a1b09e9541b9c0c9f10488447d8a2b1d87c8f0672e771bc927"},
-    {file = "setproctitle-1.3.2-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:710e16fa3bade3b026907e4a5e841124983620046166f355bbb84be364bf2a02"},
-    {file = "setproctitle-1.3.2-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:1f29b75e86260b0ab59adb12661ef9f113d2f93a59951373eb6d68a852b13e83"},
-    {file = "setproctitle-1.3.2-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1c8d9650154afaa86a44ff195b7b10d683c73509d085339d174e394a22cccbb9"},
-    {file = "setproctitle-1.3.2-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f0452282258dfcc01697026a8841258dd2057c4438b43914b611bccbcd048f10"},
-    {file = "setproctitle-1.3.2-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:e49ae693306d7624015f31cb3e82708916759d592c2e5f72a35c8f4cc8aef258"},
-    {file = "setproctitle-1.3.2-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:1ff863a20d1ff6ba2c24e22436a3daa3cd80be1dfb26891aae73f61b54b04aca"},
-    {file = "setproctitle-1.3.2-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:55ce1e9925ce1765865442ede9dca0ba9bde10593fcd570b1f0fa25d3ec6b31c"},
-    {file = "setproctitle-1.3.2-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:7fe9df7aeb8c64db6c34fc3b13271a363475d77bc157d3f00275a53910cb1989"},
-    {file = "setproctitle-1.3.2-cp37-cp37m-win32.whl", hash = "sha256:e5c50e164cd2459bc5137c15288a9ef57160fd5cbf293265ea3c45efe7870865"},
-    {file = "setproctitle-1.3.2-cp37-cp37m-win_amd64.whl", hash = "sha256:a499fff50387c1520c085a07578a000123f519e5f3eee61dd68e1d301659651f"},
-    {file = "setproctitle-1.3.2-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:5b932c3041aa924163f4aab970c2f0e6b4d9d773f4d50326e0ea1cd69240e5c5"},
-    {file = "setproctitle-1.3.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:f4bfc89bd33ebb8e4c0e9846a09b1f5a4a86f5cb7a317e75cc42fee1131b4f4f"},
-    {file = "setproctitle-1.3.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:fcd3cf4286a60fdc95451d8d14e0389a6b4f5cebe02c7f2609325eb016535963"},
-    {file = "setproctitle-1.3.2-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:5fb4f769c02f63fac90989711a3fee83919f47ae9afd4758ced5d86596318c65"},
-    {file = "setproctitle-1.3.2-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:5194b4969f82ea842a4f6af2f82cd16ebdc3f1771fb2771796e6add9835c1973"},
-    {file = "setproctitle-1.3.2-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1f0cde41857a644b7353a0060b5f94f7ba7cf593ebde5a1094da1be581ac9a31"},
-    {file = "setproctitle-1.3.2-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:9124bedd8006b0e04d4e8a71a0945da9b67e7a4ab88fdad7b1440dc5b6122c42"},
-    {file = "setproctitle-1.3.2-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:c8a09d570b39517de10ee5b718730e171251ce63bbb890c430c725c8c53d4484"},
-    {file = "setproctitle-1.3.2-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:8ff3c8cb26afaed25e8bca7b9dd0c1e36de71f35a3a0706b5c0d5172587a3827"},
-    {file = "setproctitle-1.3.2-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:589be87172b238f839e19f146b9ea47c71e413e951ef0dc6db4218ddacf3c202"},
-    {file = "setproctitle-1.3.2-cp38-cp38-win32.whl", hash = "sha256:4749a2b0c9ac52f864d13cee94546606f92b981b50e46226f7f830a56a9dc8e1"},
-    {file = "setproctitle-1.3.2-cp38-cp38-win_amd64.whl", hash = "sha256:e43f315c68aa61cbdef522a2272c5a5b9b8fd03c301d3167b5e1343ef50c676c"},
-    {file = "setproctitle-1.3.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:de3a540cd1817ede31f530d20e6a4935bbc1b145fd8f8cf393903b1e02f1ae76"},
-    {file = "setproctitle-1.3.2-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:4058564195b975ddc3f0462375c533cce310ccdd41b80ac9aed641c296c3eff4"},
-    {file = "setproctitle-1.3.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1c5d5dad7c28bdd1ec4187d818e43796f58a845aa892bb4481587010dc4d362b"},
-    {file = "setproctitle-1.3.2-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:ffc61a388a5834a97953d6444a2888c24a05f2e333f9ed49f977a87bb1ad4761"},
-    {file = "setproctitle-1.3.2-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1fa1a0fbee72b47dc339c87c890d3c03a72ea65c061ade3204f285582f2da30f"},
-    {file = "setproctitle-1.3.2-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fe8a988c7220c002c45347430993830666e55bc350179d91fcee0feafe64e1d4"},
-    {file = "setproctitle-1.3.2-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:bae283e85fc084b18ffeb92e061ff7ac5af9e183c9d1345c93e178c3e5069cbe"},
-    {file = "setproctitle-1.3.2-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:fed18e44711c5af4b681c2b3b18f85e6f0f1b2370a28854c645d636d5305ccd8"},
-    {file = "setproctitle-1.3.2-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:b34baef93bfb20a8ecb930e395ccd2ae3268050d8cf4fe187de5e2bd806fd796"},
-    {file = "setproctitle-1.3.2-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:7f0bed90a216ef28b9d227d8d73e28a8c9b88c0f48a082d13ab3fa83c581488f"},
-    {file = "setproctitle-1.3.2-cp39-cp39-win32.whl", hash = "sha256:4d8938249a7cea45ab7e1e48b77685d0f2bab1ebfa9dde23e94ab97968996a7c"},
-    {file = "setproctitle-1.3.2-cp39-cp39-win_amd64.whl", hash = "sha256:a47d97a75fd2d10c37410b180f67a5835cb1d8fdea2648fd7f359d4277f180b9"},
-    {file = "setproctitle-1.3.2-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:dad42e676c5261eb50fdb16bdf3e2771cf8f99a79ef69ba88729aeb3472d8575"},
-    {file = "setproctitle-1.3.2-pp37-pypy37_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c91b9bc8985d00239f7dc08a49927a7ca1ca8a6af2c3890feec3ed9665b6f91e"},
-    {file = "setproctitle-1.3.2-pp37-pypy37_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e8579a43eafd246e285eb3a5b939e7158073d5087aacdd2308f23200eac2458b"},
-    {file = "setproctitle-1.3.2-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:2fbd8187948284293f43533c150cd69a0e4192c83c377da837dbcd29f6b83084"},
-    {file = "setproctitle-1.3.2-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:faec934cfe5fd6ac1151c02e67156c3f526e82f96b24d550b5d51efa4a5527c6"},
-    {file = "setproctitle-1.3.2-pp38-pypy38_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e1aafc91cbdacc9e5fe712c52077369168e6b6c346f3a9d51bf600b53eae56bb"},
-    {file = "setproctitle-1.3.2-pp38-pypy38_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b617f12c9be61e8f4b2857be4a4319754756845dbbbd9c3718f468bbb1e17bcb"},
-    {file = "setproctitle-1.3.2-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:b2c9cb2705fc84cb8798f1ba74194f4c080aaef19d9dae843591c09b97678e98"},
-    {file = "setproctitle-1.3.2-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:a149a5f7f2c5a065d4e63cb0d7a4b6d3b66e6e80f12e3f8827c4f63974cbf122"},
-    {file = "setproctitle-1.3.2-pp39-pypy39_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2e3ac25bfc4a0f29d2409650c7532d5ddfdbf29f16f8a256fc31c47d0dc05172"},
-    {file = "setproctitle-1.3.2-pp39-pypy39_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:65d884e22037b23fa25b2baf1a3316602ed5c5971eb3e9d771a38c3a69ce6e13"},
-    {file = "setproctitle-1.3.2-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:7aa0aac1711fadffc1d51e9d00a3bea61f68443d6ac0241a224e4d622489d665"},
-    {file = "setproctitle-1.3.2.tar.gz", hash = "sha256:b9fb97907c830d260fa0658ed58afd48a86b2b88aac521135c352ff7fd3477fd"},
+    {file = "setproctitle-1.3.3-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:897a73208da48db41e687225f355ce993167079eda1260ba5e13c4e53be7f754"},
+    {file = "setproctitle-1.3.3-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:8c331e91a14ba4076f88c29c777ad6b58639530ed5b24b5564b5ed2fd7a95452"},
+    {file = "setproctitle-1.3.3-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:bbbd6c7de0771c84b4aa30e70b409565eb1fc13627a723ca6be774ed6b9d9fa3"},
+    {file = "setproctitle-1.3.3-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:c05ac48ef16ee013b8a326c63e4610e2430dbec037ec5c5b58fcced550382b74"},
+    {file = "setproctitle-1.3.3-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1342f4fdb37f89d3e3c1c0a59d6ddbedbde838fff5c51178a7982993d238fe4f"},
+    {file = "setproctitle-1.3.3-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fc74e84fdfa96821580fb5e9c0b0777c1c4779434ce16d3d62a9c4d8c710df39"},
+    {file = "setproctitle-1.3.3-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:9617b676b95adb412bb69645d5b077d664b6882bb0d37bfdafbbb1b999568d85"},
+    {file = "setproctitle-1.3.3-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:6a249415f5bb88b5e9e8c4db47f609e0bf0e20a75e8d744ea787f3092ba1f2d0"},
+    {file = "setproctitle-1.3.3-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:38da436a0aaace9add67b999eb6abe4b84397edf4a78ec28f264e5b4c9d53cd5"},
+    {file = "setproctitle-1.3.3-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:da0d57edd4c95bf221b2ebbaa061e65b1788f1544977288bdf95831b6e44e44d"},
+    {file = "setproctitle-1.3.3-cp310-cp310-win32.whl", hash = "sha256:a1fcac43918b836ace25f69b1dca8c9395253ad8152b625064415b1d2f9be4fb"},
+    {file = "setproctitle-1.3.3-cp310-cp310-win_amd64.whl", hash = "sha256:200620c3b15388d7f3f97e0ae26599c0c378fdf07ae9ac5a13616e933cbd2086"},
+    {file = "setproctitle-1.3.3-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:334f7ed39895d692f753a443102dd5fed180c571eb6a48b2a5b7f5b3564908c8"},
+    {file = "setproctitle-1.3.3-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:950f6476d56ff7817a8fed4ab207727fc5260af83481b2a4b125f32844df513a"},
+    {file = "setproctitle-1.3.3-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:195c961f54a09eb2acabbfc90c413955cf16c6e2f8caa2adbf2237d1019c7dd8"},
+    {file = "setproctitle-1.3.3-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:f05e66746bf9fe6a3397ec246fe481096664a9c97eb3fea6004735a4daf867fd"},
+    {file = "setproctitle-1.3.3-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b5901a31012a40ec913265b64e48c2a4059278d9f4e6be628441482dd13fb8b5"},
+    {file = "setproctitle-1.3.3-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:64286f8a995f2cd934082b398fc63fca7d5ffe31f0e27e75b3ca6b4efda4e353"},
+    {file = "setproctitle-1.3.3-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:184239903bbc6b813b1a8fc86394dc6ca7d20e2ebe6f69f716bec301e4b0199d"},
+    {file = "setproctitle-1.3.3-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:664698ae0013f986118064b6676d7dcd28fefd0d7d5a5ae9497cbc10cba48fa5"},
+    {file = "setproctitle-1.3.3-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:e5119a211c2e98ff18b9908ba62a3bd0e3fabb02a29277a7232a6fb4b2560aa0"},
+    {file = "setproctitle-1.3.3-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:417de6b2e214e837827067048f61841f5d7fc27926f2e43954567094051aff18"},
+    {file = "setproctitle-1.3.3-cp311-cp311-win32.whl", hash = "sha256:6a143b31d758296dc2f440175f6c8e0b5301ced3b0f477b84ca43cdcf7f2f476"},
+    {file = "setproctitle-1.3.3-cp311-cp311-win_amd64.whl", hash = "sha256:a680d62c399fa4b44899094027ec9a1bdaf6f31c650e44183b50d4c4d0ccc085"},
+    {file = "setproctitle-1.3.3-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:d4460795a8a7a391e3567b902ec5bdf6c60a47d791c3b1d27080fc203d11c9dc"},
+    {file = "setproctitle-1.3.3-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:bdfd7254745bb737ca1384dee57e6523651892f0ea2a7344490e9caefcc35e64"},
+    {file = "setproctitle-1.3.3-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:477d3da48e216d7fc04bddab67b0dcde633e19f484a146fd2a34bb0e9dbb4a1e"},
+    {file = "setproctitle-1.3.3-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:ab2900d111e93aff5df9fddc64cf51ca4ef2c9f98702ce26524f1acc5a786ae7"},
+    {file = "setproctitle-1.3.3-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:088b9efc62d5aa5d6edf6cba1cf0c81f4488b5ce1c0342a8b67ae39d64001120"},
+    {file = "setproctitle-1.3.3-cp312-cp312-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a6d50252377db62d6a0bb82cc898089916457f2db2041e1d03ce7fadd4a07381"},
+    {file = "setproctitle-1.3.3-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:87e668f9561fd3a457ba189edfc9e37709261287b52293c115ae3487a24b92f6"},
+    {file = "setproctitle-1.3.3-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:287490eb90e7a0ddd22e74c89a92cc922389daa95babc833c08cf80c84c4df0a"},
+    {file = "setproctitle-1.3.3-cp312-cp312-musllinux_1_1_ppc64le.whl", hash = "sha256:4fe1c49486109f72d502f8be569972e27f385fe632bd8895f4730df3c87d5ac8"},
+    {file = "setproctitle-1.3.3-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:4a6ba2494a6449b1f477bd3e67935c2b7b0274f2f6dcd0f7c6aceae10c6c6ba3"},
+    {file = "setproctitle-1.3.3-cp312-cp312-win32.whl", hash = "sha256:2df2b67e4b1d7498632e18c56722851ba4db5d6a0c91aaf0fd395111e51cdcf4"},
+    {file = "setproctitle-1.3.3-cp312-cp312-win_amd64.whl", hash = "sha256:f38d48abc121263f3b62943f84cbaede05749047e428409c2c199664feb6abc7"},
+    {file = "setproctitle-1.3.3-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:816330675e3504ae4d9a2185c46b573105d2310c20b19ea2b4596a9460a4f674"},
+    {file = "setproctitle-1.3.3-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:68f960bc22d8d8e4ac886d1e2e21ccbd283adcf3c43136161c1ba0fa509088e0"},
+    {file = "setproctitle-1.3.3-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:00e6e7adff74796ef12753ff399491b8827f84f6c77659d71bd0b35870a17d8f"},
+    {file = "setproctitle-1.3.3-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:53bc0d2358507596c22b02db079618451f3bd720755d88e3cccd840bafb4c41c"},
+    {file = "setproctitle-1.3.3-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ad6d20f9541f5f6ac63df553b6d7a04f313947f550eab6a61aa758b45f0d5657"},
+    {file = "setproctitle-1.3.3-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:c1c84beab776b0becaa368254801e57692ed749d935469ac10e2b9b825dbdd8e"},
+    {file = "setproctitle-1.3.3-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:507e8dc2891021350eaea40a44ddd887c9f006e6b599af8d64a505c0f718f170"},
+    {file = "setproctitle-1.3.3-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:b1067647ac7aba0b44b591936118a22847bda3c507b0a42d74272256a7a798e9"},
+    {file = "setproctitle-1.3.3-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:2e71f6365744bf53714e8bd2522b3c9c1d83f52ffa6324bd7cbb4da707312cd8"},
+    {file = "setproctitle-1.3.3-cp37-cp37m-win32.whl", hash = "sha256:7f1d36a1e15a46e8ede4e953abb104fdbc0845a266ec0e99cc0492a4364f8c44"},
+    {file = "setproctitle-1.3.3-cp37-cp37m-win_amd64.whl", hash = "sha256:c9a402881ec269d0cc9c354b149fc29f9ec1a1939a777f1c858cdb09c7a261df"},
+    {file = "setproctitle-1.3.3-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:ff814dea1e5c492a4980e3e7d094286077054e7ea116cbeda138819db194b2cd"},
+    {file = "setproctitle-1.3.3-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:accb66d7b3ccb00d5cd11d8c6e07055a4568a24c95cf86109894dcc0c134cc89"},
+    {file = "setproctitle-1.3.3-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:554eae5a5b28f02705b83a230e9d163d645c9a08914c0ad921df363a07cf39b1"},
+    {file = "setproctitle-1.3.3-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:a911b26264dbe9e8066c7531c0591cfab27b464459c74385b276fe487ca91c12"},
+    {file = "setproctitle-1.3.3-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2982efe7640c4835f7355fdb4da313ad37fb3b40f5c69069912f8048f77b28c8"},
+    {file = "setproctitle-1.3.3-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:df3f4274b80709d8bcab2f9a862973d453b308b97a0b423a501bcd93582852e3"},
+    {file = "setproctitle-1.3.3-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:af2c67ae4c795d1674a8d3ac1988676fa306bcfa1e23fddb5e0bd5f5635309ca"},
+    {file = "setproctitle-1.3.3-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:af4061f67fd7ec01624c5e3c21f6b7af2ef0e6bab7fbb43f209e6506c9ce0092"},
+    {file = "setproctitle-1.3.3-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:37a62cbe16d4c6294e84670b59cf7adcc73faafe6af07f8cb9adaf1f0e775b19"},
+    {file = "setproctitle-1.3.3-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:a83ca086fbb017f0d87f240a8f9bbcf0809f3b754ee01cec928fff926542c450"},
+    {file = "setproctitle-1.3.3-cp38-cp38-win32.whl", hash = "sha256:059f4ce86f8cc92e5860abfc43a1dceb21137b26a02373618d88f6b4b86ba9b2"},
+    {file = "setproctitle-1.3.3-cp38-cp38-win_amd64.whl", hash = "sha256:ab92e51cd4a218208efee4c6d37db7368fdf182f6e7ff148fb295ecddf264287"},
+    {file = "setproctitle-1.3.3-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:c7951820b77abe03d88b114b998867c0f99da03859e5ab2623d94690848d3e45"},
+    {file = "setproctitle-1.3.3-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:5bc94cf128676e8fac6503b37763adb378e2b6be1249d207630f83fc325d9b11"},
+    {file = "setproctitle-1.3.3-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1f5d9027eeda64d353cf21a3ceb74bb1760bd534526c9214e19f052424b37e42"},
+    {file = "setproctitle-1.3.3-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:2e4a8104db15d3462e29d9946f26bed817a5b1d7a47eabca2d9dc2b995991503"},
+    {file = "setproctitle-1.3.3-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c32c41ace41f344d317399efff4cffb133e709cec2ef09c99e7a13e9f3b9483c"},
+    {file = "setproctitle-1.3.3-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cbf16381c7bf7f963b58fb4daaa65684e10966ee14d26f5cc90f07049bfd8c1e"},
+    {file = "setproctitle-1.3.3-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:e18b7bd0898398cc97ce2dfc83bb192a13a087ef6b2d5a8a36460311cb09e775"},
+    {file = "setproctitle-1.3.3-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:69d565d20efe527bd8a9b92e7f299ae5e73b6c0470f3719bd66f3cd821e0d5bd"},
+    {file = "setproctitle-1.3.3-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:ddedd300cd690a3b06e7eac90ed4452348b1348635777ce23d460d913b5b63c3"},
+    {file = "setproctitle-1.3.3-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:415bfcfd01d1fbf5cbd75004599ef167a533395955305f42220a585f64036081"},
+    {file = "setproctitle-1.3.3-cp39-cp39-win32.whl", hash = "sha256:21112fcd2195d48f25760f0eafa7a76510871bbb3b750219310cf88b04456ae3"},
+    {file = "setproctitle-1.3.3-cp39-cp39-win_amd64.whl", hash = "sha256:5a740f05d0968a5a17da3d676ce6afefebeeeb5ce137510901bf6306ba8ee002"},
+    {file = "setproctitle-1.3.3-pp310-pypy310_pp73-macosx_10_9_x86_64.whl", hash = "sha256:6b9e62ddb3db4b5205c0321dd69a406d8af9ee1693529d144e86bd43bcb4b6c0"},
+    {file = "setproctitle-1.3.3-pp310-pypy310_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:9e3b99b338598de0bd6b2643bf8c343cf5ff70db3627af3ca427a5e1a1a90dd9"},
+    {file = "setproctitle-1.3.3-pp310-pypy310_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:38ae9a02766dad331deb06855fb7a6ca15daea333b3967e214de12cfae8f0ef5"},
+    {file = "setproctitle-1.3.3-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:200ede6fd11233085ba9b764eb055a2a191fb4ffb950c68675ac53c874c22e20"},
+    {file = "setproctitle-1.3.3-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:0d3a953c50776751e80fe755a380a64cb14d61e8762bd43041ab3f8cc436092f"},
+    {file = "setproctitle-1.3.3-pp37-pypy37_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e5e08e232b78ba3ac6bc0d23ce9e2bee8fad2be391b7e2da834fc9a45129eb87"},
+    {file = "setproctitle-1.3.3-pp37-pypy37_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f1da82c3e11284da4fcbf54957dafbf0655d2389cd3d54e4eaba636faf6d117a"},
+    {file = "setproctitle-1.3.3-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:aeaa71fb9568ebe9b911ddb490c644fbd2006e8c940f21cb9a1e9425bd709574"},
+    {file = "setproctitle-1.3.3-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:59335d000c6250c35989394661eb6287187854e94ac79ea22315469ee4f4c244"},
+    {file = "setproctitle-1.3.3-pp38-pypy38_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c3ba57029c9c50ecaf0c92bb127224cc2ea9fda057b5d99d3f348c9ec2855ad3"},
+    {file = "setproctitle-1.3.3-pp38-pypy38_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d876d355c53d975c2ef9c4f2487c8f83dad6aeaaee1b6571453cb0ee992f55f6"},
+    {file = "setproctitle-1.3.3-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:224602f0939e6fb9d5dd881be1229d485f3257b540f8a900d4271a2c2aa4e5f4"},
+    {file = "setproctitle-1.3.3-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:d7f27e0268af2d7503386e0e6be87fb9b6657afd96f5726b733837121146750d"},
+    {file = "setproctitle-1.3.3-pp39-pypy39_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f5e7266498cd31a4572378c61920af9f6b4676a73c299fce8ba93afd694f8ae7"},
+    {file = "setproctitle-1.3.3-pp39-pypy39_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:33c5609ad51cd99d388e55651b19148ea99727516132fb44680e1f28dd0d1de9"},
+    {file = "setproctitle-1.3.3-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:eae8988e78192fd1a3245a6f4f382390b61bce6cfcc93f3809726e4c885fa68d"},
+    {file = "setproctitle-1.3.3.tar.gz", hash = "sha256:c913e151e7ea01567837ff037a23ca8740192880198b7fbb90b16d181607caae"},
 ]
 
 [package.extras]
@@ -4351,13 +4477,13 @@ test = ["pytest"]
 
 [[package]]
 name = "setuptools"
-version = "68.2.1"
+version = "68.2.2"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "setuptools-68.2.1-py3-none-any.whl", hash = "sha256:eff96148eb336377ab11beee0c73ed84f1709a40c0b870298b0d058828761bae"},
-    {file = "setuptools-68.2.1.tar.gz", hash = "sha256:56ee14884fd8d0cd015411f4a13f40b4356775a0aefd9ebc1d3bfb9a1acb32f1"},
+    {file = "setuptools-68.2.2-py3-none-any.whl", hash = "sha256:b454a35605876da60632df1a60f736524eb73cc47bbc9f3f1ef1b644de74fd2a"},
+    {file = "setuptools-68.2.2.tar.gz", hash = "sha256:4ac1475276d2f1c48684874089fefcd83bd7162ddaafb81fac866ba0db282a87"},
 ]
 
 [package.extras]
@@ -4367,23 +4493,24 @@ testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jar
 
 [[package]]
 name = "setuptools-scm"
-version = "7.1.0"
+version = "8.0.4"
 description = "the blessed package to manage your versions by scm tags"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 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"},
+    {file = "setuptools-scm-8.0.4.tar.gz", hash = "sha256:b5f43ff6800669595193fd09891564ee9d1d7dcb196cab4b2506d53a2e1c95c7"},
+    {file = "setuptools_scm-8.0.4-py3-none-any.whl", hash = "sha256:b47844cd2a84b83b3187a5782c71128c28b4c94cad8bfb871da2784a5cb54c4f"},
 ]
 
 [package.dependencies]
-packaging = ">=20.0"
+packaging = ">=20"
 setuptools = "*"
 typing-extensions = "*"
 
 [package.extras]
-test = ["pytest (>=6.2)", "virtualenv (>20)"]
-toml = ["setuptools (>=42)"]
+docs = ["entangled-cli[rich]", "mkdocs", "mkdocs-entangled-plugin", "mkdocs-material", "mkdocstrings[python]", "pygments"]
+rich = ["rich"]
+test = ["build", "pytest", "rich", "wheel"]
 
 [[package]]
 name = "shapely"
@@ -4510,13 +4637,13 @@ numpy = ["NumPy"]
 
 [[package]]
 name = "sphinx"
-version = "7.2.5"
+version = "7.2.6"
 description = "Python documentation generator"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinx-7.2.5-py3-none-any.whl", hash = "sha256:9269f9ed2821c9ebd30e4204f5c2339f5d4980e377bc89cb2cb6f9b17409c20a"},
-    {file = "sphinx-7.2.5.tar.gz", hash = "sha256:1a9290001b75c497fd087e92b0334f1bbfa1a1ae7fddc084990c4b7bd1130b88"},
+    {file = "sphinx-7.2.6-py3-none-any.whl", hash = "sha256:1e09160a40b956dc623c910118fa636da93bd3ca0b9876a7b3df90f07d691560"},
+    {file = "sphinx-7.2.6.tar.gz", hash = "sha256:9a5160e1ea90688d5963ba09a2dcd8bdd526620edbb65c328728f1b2228d5ab5"},
 ]
 
 [package.dependencies]
@@ -4704,19 +4831,6 @@ files = [
     {file = "spidev-3.6.tar.gz", hash = "sha256:14dbc37594a4aaef85403ab617985d3c3ef464d62bc9b769ef552db53701115b"},
 ]
 
-[[package]]
-name = "spidev2"
-version = "0.9.0"
-description = "Pure-python interface to Linux spidev."
-optional = false
-python-versions = "*"
-files = [
-    {file = "spidev2-0.9.0.tar.gz", hash = "sha256:152da2911a8660283ceac3a75dd869953379bcbcf079e5436af5aae736876086"},
-]
-
-[package.dependencies]
-ioctl-opt = "*"
-
 [[package]]
 name = "sympy"
 version = "1.12"
@@ -4846,28 +4960,28 @@ files = [
 
 [[package]]
 name = "types-pyyaml"
-version = "6.0.12.11"
+version = "6.0.12.12"
 description = "Typing stubs for PyYAML"
 optional = false
 python-versions = "*"
 files = [
-    {file = "types-PyYAML-6.0.12.11.tar.gz", hash = "sha256:7d340b19ca28cddfdba438ee638cd4084bde213e501a3978738543e27094775b"},
-    {file = "types_PyYAML-6.0.12.11-py3-none-any.whl", hash = "sha256:a461508f3096d1d5810ec5ab95d7eeecb651f3a15b71959999988942063bf01d"},
+    {file = "types-PyYAML-6.0.12.12.tar.gz", hash = "sha256:334373d392fde0fdf95af5c3f1661885fa10c52167b14593eb856289e1855062"},
+    {file = "types_PyYAML-6.0.12.12-py3-none-any.whl", hash = "sha256:c05bc6c158facb0676674b7f11fe3960db4f389718e19e62bd2b84d6205cfd24"},
 ]
 
 [[package]]
 name = "types-requests"
-version = "2.31.0.2"
+version = "2.31.0.8"
 description = "Typing stubs for requests"
 optional = false
-python-versions = "*"
+python-versions = ">=3.7"
 files = [
-    {file = "types-requests-2.31.0.2.tar.gz", hash = "sha256:6aa3f7faf0ea52d728bb18c0a0d1522d9bfd8c72d26ff6f61bfc3d06a411cf40"},
-    {file = "types_requests-2.31.0.2-py3-none-any.whl", hash = "sha256:56d181c85b5925cbc59f4489a57e72a8b2166f18273fd8ba7b6fe0c0b986f12a"},
+    {file = "types-requests-2.31.0.8.tar.gz", hash = "sha256:e1b325c687b3494a2f528ab06e411d7092cc546cc9245c000bacc2fca5ae96d4"},
+    {file = "types_requests-2.31.0.8-py3-none-any.whl", hash = "sha256:39894cbca3fb3d032ed8bdd02275b4273471aa5668564617cc1734b0a65ffdf8"},
 ]
 
 [package.dependencies]
-types-urllib3 = "*"
+urllib3 = ">=2"
 
 [[package]]
 name = "types-tabulate"
@@ -4880,26 +4994,15 @@ files = [
     {file = "types_tabulate-0.9.0.3-py3-none-any.whl", hash = "sha256:462d1b62e01728416e8277614d6a3eb172d53a8efaf04a04a973ff2dd45238f6"},
 ]
 
-[[package]]
-name = "types-urllib3"
-version = "1.26.25.14"
-description = "Typing stubs for urllib3"
-optional = false
-python-versions = "*"
-files = [
-    {file = "types-urllib3-1.26.25.14.tar.gz", hash = "sha256:229b7f577c951b8c1b92c1bc2b2fdb0b49847bd2af6d1cc2a2e3dd340f3bda8f"},
-    {file = "types_urllib3-1.26.25.14-py3-none-any.whl", hash = "sha256:9683bbb7fb72e32bfe9d2be6e04875fbe1b3eeec3cbb4ea231435aa7fd6b4f0e"},
-]
-
 [[package]]
 name = "typing-extensions"
-version = "4.7.1"
-description = "Backported and Experimental Type Hints for Python 3.7+"
+version = "4.8.0"
+description = "Backported and Experimental Type Hints for Python 3.8+"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
-    {file = "typing_extensions-4.7.1-py3-none-any.whl", hash = "sha256:440d5dd3af93b060174bf433bccd69b0babc3b15b1a8dca43789fd7f61514b36"},
-    {file = "typing_extensions-4.7.1.tar.gz", hash = "sha256:b75ddc264f0ba5615db7ba217daeb99701ad295353c45f9e95963337ceeeffb2"},
+    {file = "typing_extensions-4.8.0-py3-none-any.whl", hash = "sha256:8f92fc8806f9a6b641eaa5318da32b44d401efaac0f6678c9bc448ba3605faa0"},
+    {file = "typing_extensions-4.8.0.tar.gz", hash = "sha256:df8e4339e9cb77357558cbdbceca33c303714cf861d1eef15e1070055ae8b7ef"},
 ]
 
 [[package]]
@@ -4915,13 +5018,13 @@ files = [
 
 [[package]]
 name = "urllib3"
-version = "2.0.4"
+version = "2.0.6"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "urllib3-2.0.4-py3-none-any.whl", hash = "sha256:de7df1803967d2c2a98e4b11bb7d6bd9210474c46e8a0401514e3a42a75ebde4"},
-    {file = "urllib3-2.0.4.tar.gz", hash = "sha256:8d22f86aae8ef5e410d4f539fde9ce6b2113a001bb4d189e0aed70642d602b11"},
+    {file = "urllib3-2.0.6-py3-none-any.whl", hash = "sha256:7a7c7003b000adf9e7ca2a377c9688bbc54ed41b985789ed576570342a375cd2"},
+    {file = "urllib3-2.0.6.tar.gz", hash = "sha256:b19e1a85d206b56d7df1d5e683df4a7725252a964e3993648dd0fb5a1c157564"},
 ]
 
 [package.extras]
@@ -4952,13 +5055,13 @@ test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess
 
 [[package]]
 name = "websocket-client"
-version = "1.6.3"
+version = "1.6.4"
 description = "WebSocket client for Python with low level API options"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "websocket-client-1.6.3.tar.gz", hash = "sha256:3aad25d31284266bcfcfd1fd8a743f63282305a364b8d0948a43bd606acc652f"},
-    {file = "websocket_client-1.6.3-py3-none-any.whl", hash = "sha256:6cfc30d051ebabb73a5fa246efdcc14c8fbebbd0330f8984ac3bb6d9edd2ad03"},
+    {file = "websocket-client-1.6.4.tar.gz", hash = "sha256:b3324019b3c28572086c4a319f91d1dcd44e6e11cd340232978c684a7650d0df"},
+    {file = "websocket_client-1.6.4-py3-none-any.whl", hash = "sha256:084072e0a7f5f347ef2ac3d8698a5e0b4ffbfcab607628cadabc650fc9a83a24"},
 ]
 
 [package.extras]
@@ -4968,13 +5071,13 @@ test = ["websockets"]
 
 [[package]]
 name = "yapf"
-version = "0.40.1"
-description = "A formatter for Python code."
+version = "0.40.2"
+description = "A formatter for Python code"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "yapf-0.40.1-py3-none-any.whl", hash = "sha256:b8bfc1f280949153e795181768ca14ef43d7312629a06c43e7abd279323af313"},
-    {file = "yapf-0.40.1.tar.gz", hash = "sha256:958587eb5c8ec6c860119a9c25d02addf30a44f75aa152a4220d30e56a98037c"},
+    {file = "yapf-0.40.2-py3-none-any.whl", hash = "sha256:adc8b5dd02c0143108878c499284205adb258aad6db6634e5b869e7ee2bd548b"},
+    {file = "yapf-0.40.2.tar.gz", hash = "sha256:4dab8a5ed7134e26d57c1647c7483afb3f136878b579062b786c9ba16b94637b"},
 ]
 
 [package.dependencies]
@@ -5071,20 +5174,20 @@ multidict = ">=4.0"
 
 [[package]]
 name = "zipp"
-version = "3.16.2"
+version = "3.17.0"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "zipp-3.16.2-py3-none-any.whl", hash = "sha256:679e51dd4403591b2d6838a48de3d283f3d188412a9782faadf845f298736ba0"},
-    {file = "zipp-3.16.2.tar.gz", hash = "sha256:ebc15946aa78bd63458992fc81ec3b6f7b1e92d51c35e6de1c3804e73b799147"},
+    {file = "zipp-3.17.0-py3-none-any.whl", hash = "sha256:0e923e726174922dce09c53c59ad483ff7bbb8e572e00c7f7c46b88556409f31"},
+    {file = "zipp-3.17.0.tar.gz", hash = "sha256:84e64a1c28cf7e91ed2078bb8cc8c259cb19b76942096c8d7b84947690cabaf0"},
 ]
 
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
 testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
 
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "7258a24274936ccdafb930a683f4ea197e82ab187698d0723bb4683ca41e6d26"
+content-hash = "173a9329d8f42b01b7d62684fadb257e604fda7e584bfcdd4fcdf71ae6aa99f9"
diff --git a/pyproject.toml b/pyproject.toml
index 5d4bcafa7a..d61a45c9d0 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -5,7 +5,7 @@ addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda
 python_files = "test_*.py"
 #timeout = "30"  # you get this long by default
 markers = [
-  "parallel: mark tests as parallelizable (tests with no global state, so can be run in parallel)"
+  "slow: tests that take awhile to run and can be skipped with -m 'not slow'"
 ]
 testpaths = [
   "common",
@@ -88,8 +88,8 @@ json-rpc = "*"
 libusb1 = "*"
 numpy = "*"
 onnx = ">=1.14.0"
+onnxruntime = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'aarch64'" }
 onnxruntime-gpu = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
-pillow = "*"
 psutil = "*"
 pyaudio = "*"
 pycapnp = "*"
@@ -108,11 +108,9 @@ setproctitle = "*"
 smbus2 = "*"
 sounddevice = "*"
 spidev = { version = "*", platform = "linux" }
-spidev2 = { version = "*", platform = "linux" }
 sympy = "*"
 timezonefinder = "*"
 tqdm = "*"
-urllib3 = "*"
 websocket_client = "*"
 polyline = "*"
 sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"}
@@ -123,16 +121,15 @@ av = "*"
 azure-identity = "*"
 azure-storage-blob = "*"
 breathe = "*"
-carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" }
 coverage = "*"
 dictdiffer = "*"
 ft4222 = "*"
-hypothesis = "==6.46.7"
+hypothesis = "~6.47"
 inputs = "*"
 lru-dict = "*"
 markdown-it-py = "*"
 matplotlib = "*"
-metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="51d4393f3b3574fd0e79ed04eae0081f8447ca72", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="72e842cd1d025bf676e4af8797a01e4aa282109f", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"
@@ -151,6 +148,8 @@ pytest-subtests = "*"
 pytest-xdist = "*"
 pytest-timeout = "*"
 pytest-timeouts = "*"
+pytest-random-order = "*"
+ruff = "*"
 scipy = "*"
 sphinx = "*"
 sphinx-rtd-theme = "*"
@@ -165,6 +164,11 @@ types-requests = "*"
 types-tabulate = "*"
 pyqt5 = { version = "*", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux
 
+[tool.poetry.group.carla]
+optional = true
+
+[tool.poetry.group.carla.dependencies]
+carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" }
 
 [build-system]
 requires = ["poetry-core"]
@@ -172,7 +176,7 @@ 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", "TID251"]
+select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
 ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"]
 line-length = 160
 target-version="py311"
@@ -190,4 +194,4 @@ flake8-implicit-str-concat.allow-multiline=false
 "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
+"tools".msg = "Use openpilot.tools"
diff --git a/release/files_common b/release/files_common
index 7f1acd7901..557d0a077b 100644
--- a/release/files_common
+++ b/release/files_common
@@ -78,7 +78,6 @@ selfdrive/__init__.py
 selfdrive/sentry.py
 selfdrive/tombstoned.py
 selfdrive/updated.py
-selfdrive/rtshield.py
 selfdrive/statsd.py
 
 system/logmessaged.py
@@ -228,8 +227,6 @@ selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
 selfdrive/controls/lib/lateral_mpc_lib/*
 selfdrive/controls/lib/longitudinal_mpc_lib/*
 
-selfdrive/hardware
-
 system/__init__.py
 
 system/hardware/__init__.py
diff --git a/scripts/dump_pll.c b/scripts/dump_pll.c
deleted file mode 100644
index 3e2190235a..0000000000
--- a/scripts/dump_pll.c
+++ /dev/null
@@ -1,59 +0,0 @@
-#include <stdio.h>
-#include <fcntl.h>
-#include <sys/mman.h>
-
-void hexdump(uint32_t *d, int l) {
-  for (int i = 0; i < l; i++) {
-    if (i%0x10 == 0 && i != 0) printf("\n");
-    printf("%8x ", d[i]);
-  }
-  printf("\n");
-}
-
-/* Power cluster primary PLL */
-#define C0_PLL_MODE         0x0
-#define C0_PLL_L_VAL        0x4
-#define C0_PLL_ALPHA        0x8
-#define C0_PLL_USER_CTL    0x10
-#define C0_PLL_CONFIG_CTL  0x18
-#define C0_PLL_CONFIG_CTL_HI 0x1C
-#define C0_PLL_STATUS      0x28
-#define C0_PLL_TEST_CTL_LO 0x20
-#define C0_PLL_TEST_CTL_HI 0x24
-
-/* Power cluster alt PLL */
-#define C0_PLLA_MODE        0x100
-#define C0_PLLA_L_VAL       0x104
-#define C0_PLLA_ALPHA       0x108
-#define C0_PLLA_USER_CTL    0x110
-#define C0_PLLA_CONFIG_CTL  0x118
-#define C0_PLLA_STATUS      0x128
-#define C0_PLLA_TEST_CTL_LO 0x120
-
-#define APC_DIAG_OFFSET 0x48
-#define CLK_CTL_OFFSET 0x44
-#define MUX_OFFSET 0x40
-#define MDD_DROOP_CODE 0x7c
-#define SSSCTL_OFFSET 0x160
-#define PSCTL_OFFSET 0x164
-
-int main() {
-  int fd = open("/dev/mem", O_RDWR);
-  volatile uint32_t *mb = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x06400000);
-  volatile uint32_t *mc = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x06480000);
-  volatile uint32_t *md = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x09A20000);
-  while (1) {
-    printf("PLL MODE:%x L_VAL:%x ALPHA:%x USER_CTL:%x CONFIG_CTL:%x CONFIG_CTL_HI:%x STATUS:%x TEST_CTL_LO:%x TEST_CTL_HI:%x\n",
-        mb[C0_PLL_MODE/4], mb[C0_PLL_L_VAL/4], mb[C0_PLL_ALPHA/4],
-        mb[C0_PLL_USER_CTL/4], mb[C0_PLL_CONFIG_CTL/4], mb[C0_PLL_CONFIG_CTL_HI/4],
-        mb[C0_PLL_STATUS/4], mb[C0_PLL_TEST_CTL_LO/4], mb[C0_PLL_TEST_CTL_HI/4]);
-    printf("  MUX_OFFSET:%x CLK_CTL_OFFSET:%x APC_DIAG_OFFSET:%x MDD_DROOP_CODE:%x\n",
-        mb[MUX_OFFSET/4], mb[CLK_CTL_OFFSET/4], mb[APC_DIAG_OFFSET/4], mb[MDD_DROOP_CODE/4]);
-    printf("  PLLA MODE:%x L_VAL:%x ALPHA:%x USER_CTL:%x CONFIG_CTL:%x STATUS:%x TEST_CTL_LO:%x SSSCTL_OFFSET:%x PSCTL_OFFSET:%x\n",
-        mb[C0_PLLA_MODE/4], mb[C0_PLLA_L_VAL/4], mb[C0_PLLA_ALPHA/4], mb[C0_PLLA_USER_CTL/4],
-        mb[C0_PLLA_CONFIG_CTL/4], mb[C0_PLLA_STATUS/4], mb[C0_PLLA_TEST_CTL_LO/4],
-        mb[SSSCTL_OFFSET/4], mb[PSCTL_OFFSET/4]);
-    usleep(1000*100);
-  }
-}
-
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index 899605d989..70e18bbedb 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -29,7 +29,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
 
 import cereal.messaging as messaging
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.api import Api
 from openpilot.common.basedir import PERSIST
 from openpilot.common.file_helpers import CallbackReader
@@ -40,7 +40,7 @@ from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.selfdrive.statsd import STATS_DIR
 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
+from openpilot.system.hardware.hw import Paths
 
 
 # TODO: use socket constant when mypy recognizes this as a valid attribute
@@ -309,7 +309,7 @@ def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) ->
 # security: user should be able to request any message from their car
 @dispatcher.add_method
 def getMessage(service: str, timeout: int = 1000) -> dict:
-  if service is None or service not in service_list:
+  if service is None or service not in SERVICE_LIST:
     raise Exception("invalid service")
 
   socket = messaging.sub_sock(service, timeout=timeout)
diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py
index f4c229188e..27ccbdccc6 100755
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@@ -21,7 +21,7 @@ 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
+from openpilot.system.hardware.hw import Paths
 
 
 class TestAthenadMethods(unittest.TestCase):
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 70724606cd..35f8fceeee 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -472,12 +472,15 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
 
   LOGD("start panda state thread");
 
-  // run at 2hz
-  RateKeeper rk("panda_state_thread", 2);
+  // run at 10hz
+  RateKeeper rk("panda_state_thread", 10);
 
   while (!do_exit && check_all_connected(pandas)) {
-    // send out peripheralState
-    send_peripheral_state(&pm, peripheral_panda);
+    // send out peripheralState at 2Hz
+    if (sm.frame % 5 == 0) {
+      send_peripheral_state(&pm, peripheral_panda);
+    }
+
     auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
 
     if (!ignition_opt) {
diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py
index e614432fad..433de70d43 100755
--- a/selfdrive/boardd/pandad.py
+++ b/selfdrive/boardd/pandad.py
@@ -3,7 +3,6 @@
 import os
 import usb1
 import time
-import json
 import subprocess
 from typing import List, NoReturn
 from functools import cmp_to_key
@@ -24,49 +23,6 @@ def get_expected_signature(panda: Panda) -> bytes:
     cloudlog.exception("Error computing expected signature")
     return b""
 
-def read_panda_logs(panda: Panda) -> None:
-  """
-    Forward panda logs to the cloud
-  """
-
-  params = Params()
-  serial = panda.get_usb_serial()
-
-  log_state = {}
-  try:
-    l = json.loads(params.get("PandaLogState"))
-    for k, v in l.items():
-      if isinstance(k, str) and isinstance(v, int):
-        log_state[k] = v
-  except (TypeError, json.JSONDecodeError):
-    cloudlog.exception("failed to parse PandaLogState")
-
-  try:
-    if serial in log_state:
-      logs = panda.get_logs(last_id=log_state[serial])
-    else:
-      logs = panda.get_logs(get_all=True)
-
-    # truncate logs to 100 entries if needed
-    MAX_LOGS = 100
-    if len(logs) > MAX_LOGS:
-      cloudlog.warning(f"Panda {serial} has {len(logs)} logs, truncating to {MAX_LOGS}")
-      logs = logs[-MAX_LOGS:]
-
-    # update log state
-    if len(logs) > 0:
-      log_state[serial] = logs[-1]["id"]
-
-    for log in logs:
-      if log['timestamp'] is not None:
-        log['timestamp'] = log['timestamp'].isoformat()
-      cloudlog.event("panda_log", **log, serial=serial)
-
-    params.put("PandaLogState", json.dumps(log_state))
-  except Exception:
-    cloudlog.exception(f"Error getting logs for panda {serial}")
-
-
 def flash_panda(panda_serial: str) -> Panda:
   try:
     panda = Panda(panda_serial)
@@ -189,8 +145,6 @@ def main() -> NoReturn:
           params.put_bool("PandaHeartbeatLost", True)
           cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
 
-        read_panda_logs(panda)
-
         if first_run:
           if panda.is_internal():
             # update time from RTC
diff --git a/selfdrive/boardd/tests/test_boardd b/selfdrive/boardd/tests/test_boardd
deleted file mode 100755
index b4455ce67c..0000000000
Binary files a/selfdrive/boardd/tests/test_boardd and /dev/null differ
diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py
index 30a4a9b868..c1bf22f146 100755
--- a/selfdrive/boardd/tests/test_pandad.py
+++ b/selfdrive/boardd/tests/test_pandad.py
@@ -6,11 +6,9 @@ import unittest
 import cereal.messaging as messaging
 from cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init
-from openpilot.common.params import Params
 from panda import Panda, PandaDFU, PandaProtocolMismatch
-from openpilot.selfdrive.test.helpers import phone_only
 from openpilot.selfdrive.manager.process_config import managed_processes
-from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.hardware.tici.pins import GPIO
 
 HERE = os.path.dirname(os.path.realpath(__file__))
@@ -19,8 +17,11 @@ HERE = os.path.dirname(os.path.realpath(__file__))
 class TestPandad(unittest.TestCase):
 
   def setUp(self):
-    self.params = Params()
-    self.start_log_state = self.params.get("PandaLogState")
+    if PC:
+      raise unittest.SkipTest("needs a panda")
+    # ensure panda is up
+    if len(Panda.list()) == 0:
+      self._run_test(60)
 
   def tearDown(self):
     managed_processes['pandad'].stop()
@@ -39,10 +40,6 @@ class TestPandad(unittest.TestCase):
     if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
       raise Exception("boardd failed to start")
 
-    # simple check that we did something with the panda logs
-    cur_log_state = self.params.get("PandaLogState")
-    assert cur_log_state != self.start_log_state
-
   def _go_to_dfu(self):
     HARDWARE.recover_internal_panda()
     assert Panda.wait_for_dfu(None, 10)
@@ -71,19 +68,16 @@ class TestPandad(unittest.TestCase):
 
     self._run_test(45)
 
-  @phone_only
   def test_in_dfu(self):
     HARDWARE.recover_internal_panda()
     self._run_test(60)
 
-  @phone_only
   def test_in_bootstub(self):
     with Panda() as p:
       p.reset(enter_bootstub=True)
       assert p.bootstub
     self._run_test()
 
-  @phone_only
   def test_internal_panda_reset(self):
     gpio_init(GPIO.STM_RST_N, True)
     gpio_set(GPIO.STM_RST_N, 1)
@@ -93,28 +87,23 @@ class TestPandad(unittest.TestCase):
 
     assert any(Panda(s).is_internal() for s in Panda.list())
 
-  @phone_only
   def test_best_case_startup_time(self):
     # run once so we're setup
-    self._run_test()
+    self._run_test(60)
 
     # should be fast this time
     self._run_test(8)
 
-  @phone_only
   def test_protocol_version_check(self):
     if HARDWARE.get_device_type() == 'tici':
-      self.skipTest("")
-
+      raise unittest.SkipTest("SPI test")
     # flash old fw
     fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
     self._flash_bootstub_and_test(fn, expect_mismatch=True)
 
-  @phone_only
   def test_release_to_devel_bootstub(self):
     self._flash_bootstub_and_test(None)
 
-  @phone_only
   def test_recover_from_bad_bootstub(self):
     self._go_to_dfu()
     with PandaDFU(None) as pd:
@@ -127,4 +116,4 @@ class TestPandad(unittest.TestCase):
 
 
 if __name__ == "__main__":
-  unittest.main()
+  unittest.main()
\ No newline at end of file
diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py
index 56d9723818..ce811ad221 100644
--- a/selfdrive/car/body/values.py
+++ b/selfdrive/car/body/values.py
@@ -1,3 +1,4 @@
+from enum import StrEnum
 from typing import Dict
 
 from cereal import car
@@ -21,7 +22,7 @@ class CarControllerParams:
     pass
 
 
-class CAR:
+class CAR(StrEnum):
   BODY = "COMMA BODY"
 
 
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 6e3cb19a68..376b7b48d8 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -69,9 +69,8 @@ def load_interfaces(brand_names):
 def _get_interface_names() -> Dict[str, List[str]]:
   # returns a dict of brand name and its respective models
   brand_names = {}
-  for brand_name, model_names in get_interface_attr("CAR").items():
-    model_names = [getattr(model_names, c) for c in model_names.__dict__.keys() if not c.startswith("__")]
-    brand_names[brand_name] = model_names
+  for brand_name, brand_models in get_interface_attr("CAR").items():
+    brand_names[brand_name] = [model.value for model in brand_models]
 
   return brand_names
 
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 7986f8d6ab..905b46d813 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -46,7 +46,7 @@ class CarState(CarStateBase):
     # brake pedal
     ret.brake = 0
     ret.brakePressed = cp.vl["ESP_1"]['Brake_Pedal_State'] == 1  # Physical brake pedal switch
-    ret.brakeLights = bool(cp.vl["ESP_1"]["BRAKE_PRESSED_ACC"])
+    ret.brakeLightsDEPRECATED = bool(cp.vl["ESP_1"]["BRAKE_PRESSED_ACC"])
 
     # gas pedal
     ret.gas = cp.vl["ECM_5"]["Accelerator_Position"]
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index ea93342b54..4d478d2153 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -1,5 +1,5 @@
 # ruff: noqa: E501
-from enum import IntFlag
+from enum import IntFlag, StrEnum
 from dataclasses import dataclass, field
 from typing import Dict, List, Optional, Union
 
@@ -20,7 +20,7 @@ class ChryslerFlagsSP(IntFlag):
   SP_RAM_HD_PARAMSD_IGNORE = 1
 
 
-class CAR:
+class CAR(StrEnum):
   # Chrysler
   PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
   PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 60f9494708..880404feca 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -123,9 +123,9 @@ class CarHarness(EnumBase):
 
 
 class Device(EnumBase):
-  three = BasePart("comma three", parts=[Mount.mount, Cable.right_angle_obd_c_cable_1_5ft])
-  # variant of comma three with angled mounts
-  three_angled_mount = BasePart("comma three", parts=[Mount.angled_mount_8_degrees, Cable.right_angle_obd_c_cable_1_5ft])
+  threex = BasePart("comma 3X", parts=[Mount.mount, Cable.right_angle_obd_c_cable_1_5ft])
+  # variant of comma 3X with angled mounts
+  threex_angled_mount = BasePart("comma 3X", parts=[Mount.angled_mount_8_degrees, Cable.right_angle_obd_c_cable_1_5ft])
   red_panda = BasePart("red panda")
 
 
@@ -149,7 +149,7 @@ class PartType(Enum):
   tool = Tool
 
 
-DEFAULT_CAR_PARTS: List[EnumBase] = [Device.three]
+DEFAULT_CAR_PARTS: List[EnumBase] = [Device.threex]
 
 
 @dataclass
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index 67ea1d1811..cb16d7111f 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -1,6 +1,6 @@
 from collections import defaultdict
 from dataclasses import dataclass, field
-from enum import Enum
+from enum import Enum, StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
@@ -50,7 +50,7 @@ BUTTON_STATES = {
 }
 
 
-class CAR:
+class CAR(StrEnum):
   BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
   ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
   EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
@@ -88,7 +88,7 @@ class FordCarInfo(CarInfo):
 
   def init_make(self, CP: car.CarParams):
     if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1):
-      self.car_parts = CarParts([Device.three_angled_mount, CarHarness.ford_q3])
+      self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.ford_q3])
 
 
 CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
@@ -277,6 +277,7 @@ FW_VERSIONS = {
       b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PZ6A-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6A-14C204-JE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
 }
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index d12c21dc23..837d664dad 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -1,7 +1,7 @@
 # ruff: noqa: E501
 from collections import defaultdict
 from dataclasses import dataclass
-from enum import Enum
+from enum import Enum, StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
@@ -61,7 +61,7 @@ class CarControllerParams:
     self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
 
 
-class CAR:
+class CAR(StrEnum):
   HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
   VOLT = "CHEVROLET VOLT PREMIER 2017"
   CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 34fed58b3a..1c4da71a7d 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -248,11 +248,11 @@ class CarState(CarStateBase):
 
     if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH,
                                   CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
-      ret.brakeLights = bool(cp.vl["ACC_CONTROL"]['BRAKE_LIGHTS'] != 0 or ret.brake > 0.4) if not self.CP.openpilotLongitudinalControl else \
+      ret.brakeLightsDEPRECATED = bool(cp.vl["ACC_CONTROL"]['BRAKE_LIGHTS'] != 0 or ret.brake > 0.4) if not self.CP.openpilotLongitudinalControl else \
                          bool(ret.brake > 0.4)
     elif self.CP.carFingerprint in HONDA_BOSCH and self.CP.carFingerprint not in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH,
                                     CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E) and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
-      ret.brakeLights = bool(cp.vl["ACC_CONTROL"]['BRAKE_LIGHTS'] != 0 or ret.brake > 0.4) if not self.CP.openpilotLongitudinalControl else \
+      ret.brakeLightsDEPRECATED = bool(cp.vl["ACC_CONTROL"]['BRAKE_LIGHTS'] != 0 or ret.brake > 0.4) if not self.CP.openpilotLongitudinalControl else \
                          bool(ret.brake > 0.4)
 
     if self.CP.carFingerprint in HONDA_BOSCH:
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 5451f60b12..0b6ab814f3 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -1,5 +1,5 @@
 from dataclasses import dataclass
-from enum import Enum, IntFlag
+from enum import Enum, IntFlag, StrEnum
 from typing import Dict, List, Optional, Union
 
 from cereal import car
@@ -72,7 +72,7 @@ VISUAL_HUD = {
 }
 
 
-class CAR:
+class CAR(StrEnum):
   ACCORD = "HONDA ACCORD 2018"
   ACCORDH = "HONDA ACCORD HYBRID 2018"
   ACCORD_NIDEC_4CYL = "HONDA ACCORD 4CYL 9TH GEN"
@@ -1384,6 +1384,7 @@ FW_VERSIONS = {
       b'78109-T6Z-A910\x00\x00',
       b'78109-T6Z-AA10\x00\x00',
       b'78109-T6Z-C620\x00\x00',
+      b'78109-T6Z-C910\x00\x00',
       b'78109-TJZ-A510\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index fc36ce27f8..d9d9466ba0 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -134,7 +134,7 @@ class CarState(CarStateBase):
     ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0
     ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2  # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
     ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
-    ret.brakeLights = bool(cp.vl["TCS13"]["BrakeLight"])
+    ret.brakeLightsDEPRECATED = bool(cp.vl["TCS13"]["BrakeLight"])
     ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 
     if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
@@ -149,12 +149,12 @@ class CarState(CarStateBase):
 
     # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
     # as this seems to be standard over all cars, but is not the preferred method.
-    if self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
+    if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
+      gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
+    elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       gear = cp.vl["CLU15"]["CF_Clu_Gear"]
     elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
       gear = cp.vl["TCU12"]["CUR_GR"]
-    elif self.CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
-      gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
     else:
       gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
 
@@ -229,7 +229,7 @@ class CarState(CarStateBase):
     else:
       ret.gasPressed = bool(cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL_PRESSED"])
 
-    ret.brakePressed = ret.brakeLights = cp.vl["TCS"]["DriverBraking"] == 1
+    ret.brakePressed = ret.brakeLightsDEPRECATED = cp.vl["TCS"]["DriverBraking"] == 1
 
     ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR"] == 1
     ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT"] == 0
@@ -354,12 +354,12 @@ class CarState(CarStateBase):
         ("EMS16", 100),
       ]
 
-    if CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
+    if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
+      messages.append(("ELECT_GEAR", 20))
+    elif CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       pass
     elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
       messages.append(("TCU12", 100))
-    elif CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
-      messages.append(("ELECT_GEAR", 20))
     else:
       messages.append(("LVR12", 100))
 
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index 00f62df231..5d8852db8d 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -40,7 +40,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
                          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.AZERA_6TH_GEN, CAR.ELANTRA_2022_NON_SCC, CAR.GENESIS_G70_2021_NON_SCC,
-                         CAR.KIA_SELTOS_2023_NON_SCC):
+                         CAR.KIA_SELTOS_2023_NON_SCC, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_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 f95baeb336..0c91bd8db9 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -30,7 +30,7 @@ class CarInterface(CarInterfaceBase):
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    # FIXME: the Optima Hybrid uses a different SCC12 checksum
+    # FIXME: the Optima Hybrid 2017 uses a different SCC12 checksum
     ret.dashcamOnly = candidate in ({CAR.KIA_OPTIMA_H, })
 
     hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
@@ -71,8 +71,8 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate == CAR.AZERA_6TH_GEN:
-      ret.mass = 1540.  # average
+    if candidate in (CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN):
+      ret.mass = 1600. if candidate == CAR.AZERA_6TH_GEN else 1675.  # ICE is ~average of 2.5L and 3.5L
       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):
@@ -131,6 +131,11 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.385
       if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019):
         ret.minSteerSpeed = 32 * CV.MPH_TO_MS
+    elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
+      ret.mass = 1948
+      ret.wheelbase = 2.97
+      ret.steerRatio = 14.26
+      ret.tireStiffnessFactor = 0.65
     elif candidate == CAR.VELOSTER:
       ret.mass = 2917. * CV.LB_TO_KG
       ret.wheelbase = 2.80
@@ -151,6 +156,10 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 3.000
       # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
       ret.steerRatio = 14.2
+    elif candidate == CAR.CUSTIN_1ST_GEN:
+      ret.mass = 1690.  # from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0
+      ret.wheelbase = 3.055
+      ret.steerRatio = 17.0  # from learner
 
     # Kia
     elif candidate == CAR.KIA_SORENTO:
@@ -172,7 +181,7 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1700.  # weight from SX and above trims, average of FWD and AWD versions
       ret.wheelbase = 2.756
       ret.steerRatio = 13.6  # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
-    elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H):
+    elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL):
       ret.mass = 3558. * CV.LB_TO_KG
       ret.wheelbase = 2.80
       ret.steerRatio = 13.75
@@ -203,11 +212,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.9
       ret.steerRatio = 16.
       ret.tireStiffnessFactor = 0.65
-    elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
-      ret.mass = 1948
-      ret.wheelbase = 2.97
-      ret.steerRatio = 14.26
-      ret.tireStiffnessFactor = 0.65
     elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
       ret.mass = 1767.  # SX Prestige trim support only
       ret.wheelbase = 2.756
diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py
index 9c0824b185..5d7782c524 100644
--- a/selfdrive/car/hyundai/radar_interface.py
+++ b/selfdrive/car/hyundai/radar_interface.py
@@ -8,6 +8,7 @@ from openpilot.selfdrive.car.hyundai.values import DBC, HyundaiFlagsSP
 RADAR_START_ADDR = 0x500
 RADAR_MSG_COUNT = 32
 
+# POC for parsing corner radars: https://github.com/commaai/openpilot/pull/24221/
 
 def get_radar_can_parser(CP):
   if DBC[CP.carFingerprint]['radar'] is None:
diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py
index 11268913aa..5fa92624af 100755
--- a/selfdrive/car/hyundai/tests/test_hyundai.py
+++ b/selfdrive/car/hyundai/tests/test_hyundai.py
@@ -5,8 +5,9 @@ import unittest
 from cereal import car
 from openpilot.selfdrive.car.fw_versions import build_fw_dict
 from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
-                                         EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \
-                                         UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, get_platform_codes
+                                         HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \
+                                         UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
+                                         get_platform_codes
 
 Ecu = car.CarParams.Ecu
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
@@ -37,7 +38,11 @@ NO_DATES_PLATFORMS = {
 
 
 class TestHyundaiFingerprint(unittest.TestCase):
-  def test_canfd_not_in_can_features(self):
+  def test_can_features(self):
+    # Test no EV/HEV in any gear lists (should all use ELECT_GEAR)
+    self.assertEqual(set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR), set())
+
+    # Test CAN FD car not in CAN feature lists
     can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, CAMERA_SCC_CAR)
     for car_model in CANFD_CAR:
       self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list")
@@ -57,7 +62,7 @@ class TestHyundaiFingerprint(unittest.TestCase):
     # Asserts no ECUs known to be shared across platforms exist in the database.
     # Tucson having Santa Cruz camera and EPS for example
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         if car_model == CAR.SANTA_CRUZ_1ST_GEN:
           raise unittest.SkipTest("Skip checking Santa Cruz for its parts")
 
@@ -67,6 +72,20 @@ class TestHyundaiFingerprint(unittest.TestCase):
           part = code.split(b"-")[1]
           self.assertFalse(part.startswith(b'CW'), "Car has bad part number")
 
+  def test_correct_ecu_response_database(self):
+    """
+    Assert standard responses for certain ECUs, since they can
+    respond to multiple queries with different data
+    """
+    expected_fw_prefix = HYUNDAI_VERSION_REQUEST_LONG[1:]
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model.value):
+        for ecu, fws in ecus.items():
+          # TODO: enable for Ecu.fwdRadar, Ecu.abs, Ecu.eps, Ecu.transmission
+          if ecu[0] in (Ecu.fwdCamera,):
+            self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws),
+                            f"FW from unexpected request in database: {(ecu, fws)}")
+
   @settings(max_examples=100)
   @given(data=st.data())
   def test_platform_codes_fuzzy_fw(self, data):
@@ -80,11 +99,11 @@ class TestHyundaiFingerprint(unittest.TestCase):
   def test_platform_code_ecus_available(self):
     # TODO: add queries for these non-CAN FD cars to get EPS
     no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H,
-                                    CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80}
+                                    CAR.KIA_OPTIMA_H_G4_FL, CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80}
 
     # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         for platform_code_ecu in PLATFORM_CODE_ECUS:
           if platform_code_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS:
             continue
@@ -99,7 +118,7 @@ class TestHyundaiFingerprint(unittest.TestCase):
     # - expected parsing of ECU FW dates
 
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         for ecu, fws in ecus.items():
           if ecu[0] not in PLATFORM_CODE_ECUS:
             continue
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index fa0510ac5a..ba164daca8 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1,7 +1,7 @@
 # ruff: noqa: E501
 import re
 from dataclasses import dataclass
-from enum import Enum, IntFlag
+from enum import Enum, IntFlag, StrEnum
 from typing import Dict, List, Optional, Set, Tuple, Union
 
 from cereal import car
@@ -39,7 +39,7 @@ class CarControllerParams:
     # If the max stock LKAS request is <384, add your car to this list.
     elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.IONIQ,
                                CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
-                               CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO):
+                               CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO):
       self.STEER_MAX = 255
 
     # these cars have significantly more torque than most HKG; limit to 70% of max
@@ -74,9 +74,10 @@ class HyundaiFlagsSP(IntFlag):
   SP_CAMERA_SCC_LEAD = 8
 
 
-class CAR:
+class CAR(StrEnum):
   # Hyundai
   AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
+  AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN"
   ELANTRA = "HYUNDAI ELANTRA 2017"
   ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
   ELANTRA_2022_NON_SCC = "HYUNDAI ELANTRA SE 2022 NON-SCC"
@@ -108,6 +109,7 @@ class CAR:
   TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN"
   TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN"
   SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"
+  CUSTIN_1ST_GEN = "HYUNDAI CUSTIN 1ST GEN"
 
   # Kia
   KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
@@ -124,6 +126,7 @@ class CAR:
   KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN"
   KIA_OPTIMA_G4_FL = "KIA OPTIMA 4TH GEN FACELIFT"
   KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
+  KIA_OPTIMA_H_G4_FL = "KIA OPTIMA HYBRID 4TH GEN FACELIFT"
   KIA_SELTOS = "KIA SELTOS 2021"
   KIA_SELTOS_2023_NON_SCC = "KIA SELTOS 2023 NON-SCC"
   KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN"
@@ -151,9 +154,9 @@ class CAR:
 
 class Footnote(Enum):
   CANFD = CarFootnote(
-    "Requires a comma 3X or <a href=\"https://comma.ai/shop/can-fd-panda-kit\" target=\"_blank\">CAN FD panda kit</a> " +
-    "for this <a href=\"https://en.wikipedia.org/wiki/CAN_FD\" target=\"_blank\">CAN FD car</a>.",
-    Column.MODEL, shop_footnote=True)
+    "Requires a <a href=\"https://comma.ai/shop/can-fd-panda-kit\" target=\"_blank\">CAN FD panda kit</a> if not using " +
+    "comma 3X for this <a href=\"https://en.wikipedia.org/wiki/CAN_FD\" target=\"_blank\">CAN FD car</a>.",
+    Column.MODEL, shop_footnote=False)
 
 
 @dataclass
@@ -167,6 +170,7 @@ 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.AZERA_HEV_6TH_GEN: HyundaiCarInfo("Hyundai Azera Hybrid 2020", "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])),
@@ -190,15 +194,17 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
   CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022-23", 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])),
+                               car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages
+  # TODO: this is the 2024 US MY, not yet released
+  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])),
   CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
   CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
-                                                                      car_parts=CarParts.common([CarHarness.hyundai_l])),
+                                    car_parts=CarParts.common([CarHarness.hyundai_l])),
   CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-  CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+  CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
   CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
-                                                                      car_parts=CarParts.common([CarHarness.hyundai_a])),
+                             car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
   CAR.TUCSON: [
     HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
@@ -224,14 +230,15 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
   CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
+  CAR.CUSTIN_1ST_GEN: HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
 
   # Kia
   CAR.KIA_FORTE: [
     HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
     HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
   ],
-  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_K5_2021: HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020-22", 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])),
@@ -249,17 +256,16 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
-                                              car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
+                                    car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
   CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
-  CAR.KIA_OPTIMA_H: [
-    HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"),  # TODO: may support adjacent years
-    HyundaiCarInfo("Kia Optima Hybrid 2019"),
-  ],
+  # TODO: may support adjacent years. may have a non-zero minimum steering speed
+  CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])),
+  CAR.KIA_OPTIMA_H_G4_FL: HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])),
   CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
   CAR.KIA_SORENTO: [
-    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
-                    car_parts=CarParts.common([CarHarness.hyundai_c])),
+    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
+                   car_parts=CarParts.common([CarHarness.hyundai_e])),
     HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
   ],
   CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
@@ -413,8 +419,8 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
   # to distinguish between hybrid and ICE. All EVs so far are either exclusively
   # electric or specify electric in the platform code.
   # TODO: whitelist platforms that we've seen hybrid and ICE versions of that have these specifiers
-  fuzzy_platform_blacklist = set(CANFD_CAR - EV_CAR)
-  candidates = set()
+  fuzzy_platform_blacklist = {str(c) for c in set(CANFD_CAR - EV_CAR)}
+  candidates: Set[str] = set()
 
   for candidate, fws in FW_VERSIONS.items():
     # Keep track of ECUs which pass all checks (platform codes, within date range)
@@ -563,6 +569,23 @@ FW_VERSIONS = {
       b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
+  CAR.AZERA_HEV_6TH_GEN: {
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.02 99211-G8100 191029',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IG  MDPS C 1.00 1.00 56310M9600\x00 4IHSC100',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IGhe SCC FHCUP      1.00 1.00 99110-M9100         ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006T7N0_C2\x00\x006T7VA051\x00\x00TIGSH24KA1\xc7\x85\xe2`',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H590051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.HYUNDAI_GENESIS: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DH LKAS 1.1 -150210',
@@ -960,6 +983,7 @@ FW_VERSIONS = {
       b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
       b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
       b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0',
+      b'\xf1\x00TM ESC   103!\x030 58910-S1MA0',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50',
@@ -973,12 +997,15 @@ FW_VERSIONS = {
       b'\xf1\x81HM6M2_0a0_G00',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
       b'\xf1\x8739101-2STN8\xf1\x81HM6M1_0a0_M00',
+      b'\xf1\x87           \xf1\x81           ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56370-S2AA0 0B19',
       b'\xf1\x00TM  MDPS C 1.00 1.01 56310-S1AB0 4TSDC101',
+      b'\xf1\x00TM  MDPS C 1.00 1.01 56310-S1EB0 4TSDC101',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TM  MFC  AT MES LHD 1.00 1.05 99211-S1500 220126',
       b'\xf1\x00TMA MFC  AT MEX LHD 1.00 1.01 99211-S2500 210205',
       b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.00 99211-S2500 200720',
       b'\xf1\x00TM  MFC  AT EUR LHD 1.00 1.03 99211-S1500 210224',
@@ -1032,20 +1059,45 @@ FW_VERSIONS = {
   CAR.SANTA_FE_PHEV_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
+      b'\xf1\x00TMhe SCC FHCUP      1.00 1.01 99110-CL500         ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56310CLEC0\x00 4TSHC102',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.03 99211-S1500 210224',
+      b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.06 99211-S1500 220727',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe',
       b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea',
+      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x87391312MTF0',
+      b'\xf1\x87391312MTF1',
+    ],
+  },
+  CAR.CUSTIN_1ST_GEN: {
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00KU__ SCC F-CUP      1.00 1.01 99110-O3000         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00KU  MDPS C 1.00 1.01 56310/O3100 4KUCC101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00KU2 MFC  AT CHN LHD 1.00 1.02 99211-O3000 220923',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x87391212MEC0',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  U928\x00\x00\x00\x00\x00\x00SKU0T15KB2\x92U\xf9M',
     ],
   },
   CAR.KIA_STINGER: {
@@ -1387,16 +1439,22 @@ FW_VERSIONS = {
       b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
       b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2100         ',
       b'\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
+      b'\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2100         ',
+      b'\xf1\x00DL3_ SCC FHCUP      1.00 1.04 99110-L2100         ',
     ],
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x8756310-L3110\xf1\000DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101',
       b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
       b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102',
       b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
+      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L2220 4DLDC102',
+      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310L3220\x00 4DLAC102',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.03 99210-L3000 200915',
       b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.04 99210-L3000 210208',
+      b'\xf1\x00DL3 MFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
+      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.05 99210-L3000 211222',
     ],
     (Ecu.abs, 0x7D1, None): [
       b'\xf1\000DL ESC \006 101 \004\002 58910-L3200',
@@ -1404,11 +1462,15 @@ FW_VERSIONS = {
       b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800',
       b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600',
       b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800',
+      b'\xf1\x00DL ESC \x01 104 \x07\x12 58910-L2200',
+      b'\xf1\x00DL ESC \x06 103"\x08\x06 58910-L3200',
     ],
     (Ecu.engine, 0x7E0, None): [
       b'\xf1\x87391212MKT0',
       b'\xf1\x87391212MKV0',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DLDWN5TMDCXXXJ1B',
+      b'\xf1\x81HM6M2_0a0_DQ0',
+      b'\xf1\x87391212MKT3',
     ],
     (Ecu.transmission, 0x7E1, None): [
       b'\xf1\000bcsh8p54  U913\000\000\000\000\000\000TDL2T16NB1ia\v\xb8',
@@ -1417,6 +1479,8 @@ FW_VERSIONS = {
       b'\xf1\x87SCMSAA8572454GK1\x87x\x87\x88Vf\x86hgwvwvwwgvwwgT?\xfb\xff\x97fo\xffH\xb8\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
       b'\xf1\x87954A02N300\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  WDL3T25XXX730NS2b\x1f\xb8%',
       b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
+      b'\xf1\x00HT6TA261BLHT6TAB00A1SDL0C20KS0\x00\x00\x00\x00\x00\x00\\\x9f\xa5\x15',
+      b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL2T16NB2.\x13\xf6\xed',
     ],
   },
   CAR.KIA_FORTE_2019_NON_SCC: {
@@ -1459,15 +1523,18 @@ FW_VERSIONS = {
     ],
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7000 4DLHC102',
+      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.02 99210-L2000 200309',
+      b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
     ],
     (Ecu.engine, 0x7E0, None): [
       b'\xf1\x87391162JLA0',
     ],
     (Ecu.transmission, 0x7E1, None): [
       b'\xf1\x00PSBG2323  E08\x00\x00\x00\x00\x00\x00\x00TDL2H20KA2\xe3\xc6cz',
+      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TDL2H20KA5T\xf2\xc9\xc2',
     ],
   },
   CAR.KONA_EV: {
@@ -1504,6 +1571,7 @@ FW_VERSIONS = {
       b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
       b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010',
       b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010',
+      b'\xf1\x00OS IEB \x03 102"\x05\x16 58520-K4010',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00OSP LKA  AT CND LHD 1.00 1.02 99211-J9110 802',
@@ -1517,6 +1585,7 @@ FW_VERSIONS = {
       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 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',
     ],
@@ -1710,6 +1779,17 @@ FW_VERSIONS = {
       b'\xf1\x00JFP LKAS AT EUR LHD 1.00 1.03 95895-A8100 160711',
     ],
   },
+  CAR.KIA_OPTIMA_H_G4_FL: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JFhe SCC FHCUP      1.00 1.01 99110-A8500         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JFH MFC  AT KOR LHD 1.00 1.01 95895-A8200 180323',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.ELANTRA: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00PD  LKAS AT USA LHD 1.01 1.01 95740-G3100 A54',
@@ -1939,6 +2019,7 @@ FW_VERSIONS = {
       b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CE  MFC  AT EUR LHD 1.00 1.03 99211-KL000 221011',
       b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.04 99211-KL000 221213',
     ],
   },
@@ -1989,6 +2070,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662',
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663',
+      b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NQ5__               1.00 1.02 99110-P1000         ',
@@ -2056,6 +2138,7 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00KA4_ SCC FHCUP      1.00 1.03 99110-R0000         ',
       b'\xf1\x00KA4c SCC FHCUP      1.00 1.01 99110-I4000         ',
+      b'\xf1\x00KA4_ SCC FHCUP      1.00 1.00 99110-R0100         ',
     ],
   },
   CAR.KIA_SORENTO_HEV_4TH_GEN: {
@@ -2080,18 +2163,14 @@ FW_VERSIONS = {
 CHECKSUM = {
   "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021,
            CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.KIA_K5_HEV_2020,
-           CAR.ELANTRA_2022_NON_SCC, CAR.GENESIS_G70_2021_NON_SCC, CAR.KIA_SELTOS_2023_NON_SCC],
+           CAR.ELANTRA_2022_NON_SCC, CAR.GENESIS_G70_2021_NON_SCC, CAR.KIA_SELTOS_2023_NON_SCC, CAR.CUSTIN_1ST_GEN],
   "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
 }
 
 CAN_GEARS = {
-  # which message has the gear
+  # which message has the gear. hybrid and EV use ELECT_GEAR
   "use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
   "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
-  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD,
-                      CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID,
-                      CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019,
-                      CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
 }
 
 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,
@@ -2110,7 +2189,8 @@ 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_K8_HEV_1ST_GEN}
+              CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN,
+              CAR.AZERA_HEV_6TH_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}
@@ -2121,7 +2201,8 @@ LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KIA_OPTIMA_
                           CAR.KIA_OPTIMA_H}
 
 # these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
-UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL}
+UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL,
+                                                         CAR.KIA_OPTIMA_H_G4_FL}
 
 NON_SCC_CAR = {CAR.KIA_FORTE_2021_NON_SCC, CAR.ELANTRA_2022_NON_SCC, CAR.KIA_FORTE_2019_NON_SCC, CAR.GENESIS_G70_2021_NON_SCC,
                CAR.KIA_SELTOS_2023_NON_SCC}
@@ -2132,6 +2213,7 @@ NON_SCC_RADAR_FCA_CAR = {CAR.GENESIS_G70_2021_NON_SCC, }
 # 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.AZERA_HEV_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),
@@ -2159,6 +2241,7 @@ DBC = {
   CAR.KIA_OPTIMA_G4: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA_G4_FL: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_OPTIMA_H_G4_FL: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_SELTOS_2023_NON_SCC: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
@@ -2198,4 +2281,5 @@ DBC = {
   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),
+  CAR.CUSTIN_1ST_GEN: dbc_dict('hyundai_kia_generic', None),
 }
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 0ebab681cf..a03e200826 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -448,7 +448,7 @@ class CarInterfaceBase(ABC):
     cs_out.madsEnabled = CS.madsEnabled
     cs_out.accEnabled = CS.accEnabled
     cs_out.disengageByBrake = CS.disengageByBrake
-    cs_out.brakeLights |= cs_out.brakePressed or cs_out.brakeHoldActive or cs_out.parkingBrake or cs_out.regenBraking
+    cs_out.brakeLightsDEPRECATED |= cs_out.brakePressed or cs_out.brakeHoldActive or cs_out.parkingBrake or cs_out.regenBraking
 
     return cs_out, CS
 
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index eb1843e66e..18c2eabc83 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -1,4 +1,5 @@
 from dataclasses import dataclass, field
+from enum import StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
@@ -25,7 +26,7 @@ class CarControllerParams:
     pass
 
 
-class CAR:
+class CAR(StrEnum):
   CX5 = "MAZDA CX-5"
   CX9 = "MAZDA CX-9"
   MAZDA3 = "MAZDA 3"
@@ -54,7 +55,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
   CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
   CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"),
   CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"),
-  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-23"),
+  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-24"),
 }
 
 
@@ -105,6 +106,7 @@ FW_VERSIONS = {
       b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
+      b'KGWD-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [
@@ -118,6 +120,7 @@ FW_VERSIONS = {
       b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.CX5: {
diff --git a/selfdrive/car/mock/values.py b/selfdrive/car/mock/values.py
index 8426041b32..c6c96579b4 100644
--- a/selfdrive/car/mock/values.py
+++ b/selfdrive/car/mock/values.py
@@ -1,9 +1,10 @@
+from enum import StrEnum
 from typing import Dict, List, Optional, Union
 
 from openpilot.selfdrive.car.docs_definitions import CarInfo
 
 
-class CAR:
+class CAR(StrEnum):
   MOCK = 'mock'
 
 
diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py
index 979e09eb66..474cb15e7f 100644
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@@ -1,5 +1,6 @@
 # ruff: noqa: E501
 from dataclasses import dataclass, field
+from enum import StrEnum
 from typing import Dict, List, Optional, Union
 
 from cereal import car
@@ -21,7 +22,7 @@ class CarControllerParams:
     pass
 
 
-class CAR:
+class CAR(StrEnum):
   XTRAIL = "NISSAN X-TRAIL 2017"
   LEAF = "NISSAN LEAF 2018"
   # Leaf with ADAS ECU found behind instrument cluster instead of glovebox
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index aa4e8acc8f..036dcbcd49 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -36,7 +36,7 @@ class CarState(CarStateBase):
 
     brake_msg = "ES_Brake" if self.car_fingerprint in PREGLOBAL_CARS else "ES_DashStatus"
     brake_sig = "Cruise_Brake_Lights" if self.car_fingerprint in PREGLOBAL_CARS else "Brake_Lights"
-    ret.brakeLights = bool(cp_cam.vl[brake_msg][brake_sig])
+    ret.brakeLightsDEPRECATED = bool(cp_cam.vl[brake_msg][brake_sig])
 
     cp_wheels = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
     ret.wheelSpeeds = self.get_wheel_speeds(
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index be2d942a33..9ef24896c0 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -1,5 +1,5 @@
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
+from enum import Enum, IntFlag, StrEnum
 from panda import Panda
 from typing import Dict, List, Union
 
@@ -70,7 +70,7 @@ class CanBus:
   camera = 2
 
 
-class CAR:
+class CAR(StrEnum):
   # Global platform
   ASCENT = "SUBARU ASCENT LIMITED 2019"
   ASCENT_2023 = "SUBARU ASCENT 2023"
@@ -121,7 +121,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
     SubaruCarInfo("Subaru XV 2020-21"),
   ],
   # TODO: is there an XV and Impreza too?
-  CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020"),
+  CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])),
   CAR.FORESTER_HYBRID: SubaruCarInfo("Subaru Forester Hybrid 2020"),
   CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
   CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),
@@ -675,19 +675,23 @@ FW_VERSIONS = {
   },
   CAR.OUTBACK_2023: {
     (Ecu.abs, 0x7b0, None): [
+      b'\xa1 #\x14\x00',
       b'\xa1 #\x17\x00',
     ],
     (Ecu.eps, 0x746, None): [
+      b'+\xc0\x10\x11\x00',
       b'+\xc0\x12\x11\x00',
     ],
     (Ecu.fwdCamera, 0x787, None): [
       b'\t!\x08\x046\x05!\x08\x01/',
     ],
     (Ecu.engine, 0x7a2, None): [
+      b'\xed,\xa0q\x07',
       b'\xed,\xa2q\x07',
     ],
     (Ecu.transmission, 0x7a3, None): [
       b'\xa8\x8e\xf41\x00',
+      b'\xa8\xfe\xf41\x00',
     ]
   }
 }
diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py
index 15283ae4b2..548809af1b 100644
--- a/selfdrive/car/tesla/values.py
+++ b/selfdrive/car/tesla/values.py
@@ -1,5 +1,6 @@
 # ruff: noqa: E501
 from collections import namedtuple
+from enum import StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
@@ -12,7 +13,7 @@ Ecu = car.CarParams.Ecu
 Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
 
-class CAR:
+class CAR(StrEnum):
   AP1_MODELS = 'TESLA AP1 MODEL S'
   AP2_MODELS = 'TESLA AP2 MODEL S'
 
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index f7ad219f63..298e2bfec4 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -25,6 +25,7 @@ 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,
 ]
 
@@ -94,11 +95,13 @@ routes = [
   CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022),
 
   CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.AZERA_6TH_GEN),
+  CarTestRoute("66189dd8ec7b50e6|2023-09-20--07-02-12", HYUNDAI.AZERA_HEV_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),
   CarTestRoute("ca4de5b12321bd98|2022-10-18--21-15-59", HYUNDAI.GENESIS_GV70_1ST_GEN),
   CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
+  CarTestRoute("0bbe367c98fa1538|2023-09-16--00-16-49", HYUNDAI.CUSTIN_1ST_GEN),
   CarTestRoute("f0709d2bc6ca451f|2022-10-15--08-13-54", HYUNDAI.SANTA_CRUZ_1ST_GEN),
   CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.SANTA_FE),
   CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022),
@@ -110,6 +113,7 @@ routes = [
   CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4),
   CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0),
   CarTestRoute("f9716670b2481438|2023-08-23--14-49-50", HYUNDAI.KIA_OPTIMA_H),
+  CarTestRoute("6a42c1197b2a8179|2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL),
   CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
   CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_HYBRID_5TH_GEN),
   CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
@@ -176,28 +180,27 @@ routes = [
   CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRYH),
   CarTestRoute("4e45c89c38e8ec4d|2021-05-02--02-49-28", TOYOTA.COROLLA),
   CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2),
-  CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLAH_TSS2),
+  CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLA_TSS2),  # hybrid
   CarTestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.PRIUS),
   CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H),
   CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2),
   CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022),
-  CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2),
+  CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4_TSS2),  # hybrid
   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("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2),  # hybrid
   CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3),
-  CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ESH_TSS2),
   CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH),
   CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC),
   CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX),
   CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH),
   CarTestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2),
-  CarTestRoute("b74758c690a49668|2020-05-20--15-58-57", TOYOTA.LEXUS_RXH_TSS2),
-  CarTestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NXH),
+  CarTestRoute("b74758c690a49668|2020-05-20--15-58-57", TOYOTA.LEXUS_RX_TSS2),  # hybrid
   CarTestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX),
+  CarTestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NX),  # hybrid
   CarTestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2),
-  CarTestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NXH_TSS2),
+  CarTestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NX_TSS2),  # hybrid
   CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
   CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDERH_TSS2),
   CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),
@@ -208,9 +211,9 @@ routes = [
   CarTestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.PRIUS_TSS2),
   CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI),
   CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR),
+  CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHR),  # hybrid
   CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2),
   CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2),  # openpilot longitudinal, with smartDSU
-  CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH),
   CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHRH_TSS2),
   # CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHRH_TSS2),  # openpilot longitudinal, radar disabled
   CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
diff --git a/selfdrive/car/tests/test_can_fingerprint.py b/selfdrive/car/tests/test_can_fingerprint.py
index 406ccd07f0..63621b459d 100755
--- a/selfdrive/car/tests/test_can_fingerprint.py
+++ b/selfdrive/car/tests/test_can_fingerprint.py
@@ -8,7 +8,7 @@ from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
 
 
 class TestCanFingerprint(unittest.TestCase):
-  @parameterized.expand([(c, f) for c, f in FINGERPRINTS.items()])
+  @parameterized.expand(list(FINGERPRINTS.items()))
   def test_can_fingerprint(self, car_model, fingerprints):
     """Tests online fingerprinting function on offline fingerprints"""
 
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index 378b68e43e..6777aeb738 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -97,7 +97,7 @@ class TestFwFingerprint(unittest.TestCase):
 
   def test_fw_version_lists(self):
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         for ecu, ecu_fw in ecus.items():
           with self.subTest(ecu):
             duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
@@ -119,13 +119,13 @@ class TestFwFingerprint(unittest.TestCase):
     for brand, config in FW_QUERY_CONFIGS.items():
       for car_model, ecus in VERSIONS[brand].items():
         bad_ecus = set(ecus).intersection(config.extra_ecus)
-        with self.subTest(car_model=car_model):
+        with self.subTest(car_model=car_model.value):
           self.assertFalse(len(bad_ecus), f'{car_model}: Fingerprints contain ECUs added for data collection: {bad_ecus}')
 
   def test_blacklisted_ecus(self):
     blacklisted_addrs = (0x7c4, 0x7d0)  # includes A/C ecu and an unknown ecu
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         CP = interfaces[car_model][0].get_non_essential_params(car_model)
         if CP.carName == 'subaru':
           for ecu in ecus.keys():
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index e6460d491e..b9622437a0 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -2,6 +2,7 @@
 import capnp
 import os
 import importlib
+import pytest
 import unittest
 from collections import defaultdict, Counter
 from typing import List, Optional, Tuple
@@ -23,7 +24,6 @@ from openpilot.tools.lib.logreader import LogReader
 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
@@ -67,7 +67,7 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
   return test_cases
 
 
-
+@pytest.mark.slow
 class TestCarModelBase(unittest.TestCase):
   car_model: Optional[str] = None
   test_route: Optional[CarTestRoute] = None
@@ -76,7 +76,6 @@ class TestCarModelBase(unittest.TestCase):
   can_msgs: List[capnp.lib.capnp._DynamicStructReader]
   elm_frame: Optional[int]
 
-  @unittest.skipIf(SKIP_ENV_VAR in os.environ, f"Long running test skipped. Unset {SKIP_ENV_VAR} to run")
   @classmethod
   def setUpClass(cls):
     if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'):
diff --git a/selfdrive/car/tests/test_models_segs.txt b/selfdrive/car/tests/test_models_segs.txt
index 11c19685da..d838c14765 100644
--- a/selfdrive/car/tests/test_models_segs.txt
+++ b/selfdrive/car/tests/test_models_segs.txt
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b93de5a9a259934896d8573d9b0f696289b88693908968009fe144e2e10a3355
-size 127597
+oid sha256:2e57357c95937475fe92c13709ff2ee067f036643d5d455383bd9c3335525614
+size 126281
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 7ff7fad19a..b72a05f93b 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -12,6 +12,10 @@ 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]
@@ -57,9 +61,9 @@ 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]
+HYUNDAI AZERA HYBRID 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]
+HYUNDAI CUSTIN 1ST GEN: [2.5, 2.5, 0.1]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]
diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml
index d7163c9828..df529e812f 100644
--- a/selfdrive/car/torque_data/params.yaml
+++ b/selfdrive/car/torque_data/params.yaml
@@ -46,15 +46,12 @@ KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716]
 KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
 KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
 KIA STINGER GT2 2018: [2.7499043387418967, 1.849652021986449, 0.12048334239559202]
-LEXUS ES 2019: [1.935835, 2.134803912579666, 0.093439]
-LEXUS ES HYBRID 2019: [2.135678, 1.863360677810788, 0.109627]
-LEXUS NX 2018: [2.302625600642627, 2.1382378491466625, 0.14986840878892838]
+LEXUS ES 2019: [2.0357564999999997, 1.999082295195227, 0.101533]
+LEXUS NX 2018: [2.3525924753753613, 1.9731412277641067, 0.15168101064205927]
 LEXUS NX 2020: [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
-LEXUS NX HYBRID 2018: [2.4025593501080955, 1.8080446063815507, 0.15349361249519017]
 LEXUS RX 2016: [1.5876816543130423, 1.0427699298523752, 0.21334066732397142]
-LEXUS RX 2020: [1.5228812994274734, 1.431102486563665, 0.164117]
+LEXUS RX 2020: [1.5375561442049257, 1.343166476215164, 0.1931062001527557]
 LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893]
-LEXUS RX HYBRID 2020: [1.5522309889823778, 1.255230465866663, 0.2220954003055114]
 MAZDA CX-9 2021: [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
 SKODA SUPERB 3RD GEN: [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
 SUBARU FORESTER 2019: [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
@@ -70,8 +67,7 @@ TOYOTA CAMRY 2021: [2.446083, 2.3476510120007434, 0.121615]
 TOYOTA CAMRY HYBRID 2018: [1.996333, 1.7996193116697359, 0.112565]
 TOYOTA CAMRY HYBRID 2021: [2.263582, 2.3901492458927986, 0.115257]
 TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
-TOYOTA COROLLA HYBRID TSS2 2019: [1.9079729107361805, 1.8118712531729109, 0.22251440891543514]
-TOYOTA COROLLA TSS2 2019: [2.0742917676766712, 1.9258612322678952, 0.16888685704519352]
+TOYOTA COROLLA TSS2 2019: [1.991132339206426, 1.868866242720403, 0.19570063298031432]
 TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
 TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457]
 TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600]
@@ -80,13 +76,10 @@ TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
 TOYOTA PRIUS 2017: [1.60, 1.5023147650693636, 0.151515]
 TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968]
 TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
-TOYOTA RAV4 2019: [2.331293, 2.0993589721530252, 0.129822]
-TOYOTA RAV4 2019 8965: [2.5084506298290377, 2.4216520504763475, 0.11992835265067918]
-TOYOTA RAV4 2019 x02: [2.7209621987605024, 2.2148637653781593, 0.10862567142268198]
+TOYOTA RAV4 2019: [2.279239424615458, 2.087101966779332, 0.13682208413446817]
+TOYOTA RAV4 2019 8965: [2.3080951748210854, 2.1189367835820603, 0.12942102328134028]
+TOYOTA RAV4 2019 x02: [2.762293266024922, 2.243615865975329, 0.11113568178327986]
 TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
-TOYOTA RAV4 HYBRID 2019: [2.2271858492309153, 2.074844961405639, 0.14382216826893632]
-TOYOTA RAV4 HYBRID 2019 8965: [2.1077397198131336, 1.8162215166877735, 0.13891369391200137]
-TOYOTA RAV4 HYBRID 2019 x02: [2.803624333289342, 2.272367966572498, 0.11364569214387774]
 TOYOTA RAV4 HYBRID 2022: [2.241883248393209, 1.9304407208090029, 0.112174]
 TOYOTA RAV4 HYBRID 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
 TOYOTA SIENNA 2018: [1.689726, 1.3208264576110418, 0.140456]
diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
index 38fd35feb0..215bd609f8 100644
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@@ -8,13 +8,11 @@ TOYOTA ALPHARD HYBRID 2021 : TOYOTA SIENNA 2018
 TOYOTA ALPHARD 2020: TOYOTA SIENNA 2018
 TOYOTA PRIUS v 2017 : TOYOTA PRIUS 2017
 TOYOTA RAV4 2022: TOYOTA RAV4 HYBRID 2022
-TOYOTA C-HR HYBRID 2018: TOYOTA C-HR 2018
 TOYOTA C-HR HYBRID 2022: TOYOTA C-HR 2021
 LEXUS IS 2018: LEXUS NX 2018
 LEXUS CT HYBRID 2018 : LEXUS NX 2018
 LEXUS ES 2018: TOYOTA CAMRY HYBRID 2018
 LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018
-LEXUS NX HYBRID 2020: LEXUS NX 2020
 LEXUS RC 2020: LEXUS NX 2020
 TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019
 TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022
@@ -22,6 +20,7 @@ TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022
 KIA OPTIMA 4TH GEN: HYUNDAI SONATA 2020
 KIA OPTIMA 4TH GEN FACELIFT: HYUNDAI SONATA 2020
 KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020
+KIA OPTIMA HYBRID 4TH GEN FACELIFT: HYUNDAI SONATA 2020
 KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020
 KIA FORTE 2019 NON-SCC: HYUNDAI SONATA 2020
 KIA FORTE LXS 2021 NON-SCC: HYUNDAI SONATA 2020
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 88c8123229..19467fca6d 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -81,14 +81,12 @@ class CarState(CarStateBase):
 
     ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
     ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
-    ret.brakeLights = bool(cp.vl["ESP_CONTROL"]["BRAKE_LIGHTS_ACC"])
+    ret.brakeLightsDEPRECATED = bool(cp.vl["ESP_CONTROL"]["BRAKE_LIGHTS_ACC"])
     if self.CP.enableGasInterceptor:
       ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
       ret.gasPressed = ret.gas > 805
     else:
-      # TODO: find a new, common signal
-      msg = "GAS_PEDAL_HYBRID" if (self.CP.flags & ToyotaFlags.HYBRID) else "GAS_PEDAL"
-      ret.gas = cp.vl[msg]["GAS_PEDAL"]
+      # TODO: find a common gas pedal percentage signal
       ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
 
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -328,11 +326,6 @@ class CarState(CarStateBase):
       ("STEER_TORQUE_SENSOR", 50),
     ]
 
-    if CP.flags & ToyotaFlags.HYBRID:
-      messages.append(("GAS_PEDAL_HYBRID", 33))
-    else:
-      messages.append(("GAS_PEDAL", 33))
-
     if CP.carFingerprint in UNSUPPORTED_DSU_CAR:
       messages.append(("DSU_CRUISE", 5))
       messages.append(("PCM_CRUISE_ALT", 1))
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index c6bf4c8bd1..c1d324f729 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -5,7 +5,7 @@ from openpilot.common.params import Params, put_nonblocking
 from panda import Panda
 from panda.python import uds
 from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, ToyotaFlagsSP, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
-                                        MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
+                                        MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
 from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -34,15 +34,7 @@ class CarInterface(CarInterfaceBase):
     if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated":
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE
 
-    # 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:
+    if candidate in ANGLE_CONTROL_CAR:
       ret.dashcamOnly = True
       ret.steerControlType = SteerControlType.angle
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA
@@ -50,6 +42,11 @@ 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
 
       if 0x23 in fingerprint[0]:  # Detect if ZSS is present
         ret.spFlags |= ToyotaFlagsSP.SP_ZSS.value
@@ -91,7 +88,7 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.444  # not optimized yet
       ret.mass = 2860. * CV.LB_TO_KG  # mean between normal and hybrid
 
-    elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
+    elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.79
       ret.steerRatio = 16.  # 14.8 is spec end-to-end
@@ -99,7 +96,7 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.5533
       ret.mass = 4481. * CV.LB_TO_KG  # mean between min and max
 
-    elif candidate in (CAR.CHR, CAR.CHRH, CAR.CHR_TSS2, CAR.CHRH_TSS2):
+    elif candidate in (CAR.CHR, CAR.CHR_TSS2, CAR.CHRH_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.63906
       ret.steerRatio = 13.6
@@ -129,39 +126,35 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.7983
       ret.mass = 3505. * CV.LB_TO_KG  # mean between normal and hybrid
 
-    elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
+    elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2022,
                        CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023):
       ret.wheelbase = 2.68986
       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
 
-      # 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
 
-        # 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):
+    elif candidate == CAR.COROLLA_TSS2:
       ret.wheelbase = 2.67  # Average between 2.70 for sedan and 2.64 for hatchback
       ret.steerRatio = 13.9
       ret.tireStiffnessFactor = 0.444  # not optimized yet
       ret.mass = 3060. * CV.LB_TO_KG
 
-    elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2):
+    elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2):
       if candidate not in (CAR.LEXUS_ES,):  # TODO: LEXUS_ES may have sng
         stop_and_go = True
       ret.wheelbase = 2.8702
@@ -189,7 +182,7 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.517
       ret.mass = 3108 * CV.LB_TO_KG  # mean between min and max
 
-    elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2):
+    elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.66
       ret.steerRatio = 14.7
@@ -264,11 +257,6 @@ class CarInterface(CarInterfaceBase):
     if not ret.openpilotLongitudinalControl:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
 
-    # we can't use the fingerprint to detect this reliably, since
-    # the EV gas pedal signal can take a couple seconds to appear
-    if candidate in EV_HYBRID_CAR:
-      ret.flags |= ToyotaFlags.HYBRID.value
-
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter.
     ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
diff --git a/selfdrive/car/toyota/tests/print_platform_codes.py b/selfdrive/car/toyota/tests/print_platform_codes.py
index 94badc5cde..636a013242 100755
--- a/selfdrive/car/toyota/tests/print_platform_codes.py
+++ b/selfdrive/car/toyota/tests/print_platform_codes.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+from collections import defaultdict
 from cereal import car
 from openpilot.selfdrive.car.toyota.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes
 
@@ -6,6 +7,8 @@ Ecu = car.CarParams.Ecu
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 if __name__ == "__main__":
+  parts_for_ecu: dict = defaultdict(set)
+  cars_for_code: dict = defaultdict(lambda: defaultdict(set))
   for car_model, ecus in FW_VERSIONS.items():
     print()
     print(car_model)
@@ -14,8 +17,18 @@ if __name__ == "__main__":
         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}
+      parts_for_ecu[ecu] |= {code.split(b'-')[0] for code in platform_codes if code.count(b'-') > 1}
+      for code in platform_codes:
+        cars_for_code[ecu][b'-'.join(code.split(b'-')[:2])] |= {car_model}
       print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
-      print(f'    Codes: {codes}')
-      print(f' Versions: {dates}')
+      print(f'    Codes: {platform_codes}')
+
+  print('\nECU parts:')
+  for ecu, parts in parts_for_ecu.items():
+    print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}): {parts}')
+
+  print('\nCar models vs. platform codes (no major versions):')
+  for ecu, codes in cars_for_code.items():
+    print(f' (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+    for code, cars in codes.items():
+      print(f'    {code!r}: {sorted(cars)}')
diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py
index 0c503ebbf0..2a82ca5ec0 100755
--- a/selfdrive/car/toyota/tests/test_toyota.py
+++ b/selfdrive/car/toyota/tests/test_toyota.py
@@ -3,7 +3,9 @@ from hypothesis import given, settings, strategies as st
 import unittest
 
 from cereal import car
+from openpilot.selfdrive.car.fw_versions import build_fw_dict
 from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS, \
+                                                  FW_QUERY_CONFIG, PLATFORM_CODE_ECUS, FUZZY_EXCLUDED_PLATFORMS, \
                                                   get_platform_codes
 
 Ecu = car.CarParams.Ecu
@@ -26,7 +28,7 @@ class TestToyotaInterfaces(unittest.TestCase):
     # Asserts standard ECUs exist for each platform
     common_ecus = {Ecu.fwdRadar, Ecu.fwdCamera}
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         present_ecus = {ecu[0] for ecu in ecus}
         missing_ecus = common_ecus - present_ecus
         self.assertEqual(len(missing_ecus), 0)
@@ -43,6 +45,8 @@ class TestToyotaInterfaces(unittest.TestCase):
 
 
 class TestToyotaFingerprint(unittest.TestCase):
+  # Tests for part numbers, platform codes, and sub-versions which Toyota will use to fuzzy
+  # fingerprint in the absence of full FW matches:
   @settings(max_examples=100)
   @given(data=st.data())
   def test_platform_codes_fuzzy_fw(self, data):
@@ -50,13 +54,94 @@ class TestToyotaFingerprint(unittest.TestCase):
     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))
+  def test_platform_code_ecus_available(self):
+    # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model.value):
+        for platform_code_ecu in PLATFORM_CODE_ECUS:
+          if platform_code_ecu == Ecu.eps and car_model in (CAR.PRIUS_V, CAR.LEXUS_CTH,):
+            continue
+          if platform_code_ecu == Ecu.abs and car_model in (CAR.ALPHARD_TSS2,):
+            continue
+          self.assertIn(platform_code_ecu, [e[0] for e in ecus])
+
+  def test_fw_format(self):
+    # Asserts:
+    # - every supported ECU FW version returns one platform code
+    # - every supported ECU FW version has a part number
+    # - expected parsing of ECU sub-versions
+
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model.value):
+        for ecu, fws in ecus.items():
+          if ecu[0] not in PLATFORM_CODE_ECUS:
+            continue
+
+          codes = dict()
+          for fw in fws:
+            result = get_platform_codes([fw])
+            # Check only one platform code and sub-version
+            self.assertEqual(1, len(result), f"Unable to parse FW: {fw}")
+            self.assertEqual(1, len(list(result.values())[0]), f"Unable to parse FW: {fw}")
+            codes |= result
+
+          # Toyota places the ECU part number in their FW versions, assert all parsable
+          # Note that there is only one unique part number per ECU across the fleet, so this
+          # is not important for identification, just a sanity check.
+          self.assertTrue(all(code.count(b"-") > 1 for code in codes),
+                          f"FW does not have part number: {fw} {codes}")
+
+  def test_platform_codes_spot_check(self):
+    # Asserts basic platform code parsing behavior for a few cases
+    results = get_platform_codes([
+      b"F152607140\x00\x00\x00\x00\x00\x00",
+      b"F152607171\x00\x00\x00\x00\x00\x00",
+      b"F152607110\x00\x00\x00\x00\x00\x00",
+      b"F152607180\x00\x00\x00\x00\x00\x00",
+    ])
+    self.assertEqual(results, {b"F1526-07-1": {b"10", b"40", b"71", b"80"}})
+
+    results = get_platform_codes([
+      b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00",
+      b"\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00",
+    ])
+    self.assertEqual(results, {b"8646F-41-04": {b"100"}})
+
+    # Short version has no part number
+    results = get_platform_codes([
+      b"\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00",
+      b"\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00",
+    ])
+    self.assertEqual(results, {b"58-70": {b"000"}, b"58-83": {b"000"}})
+
+    results = get_platform_codes([
+      b"F152607110\x00\x00\x00\x00\x00\x00",
+      b"F152607140\x00\x00\x00\x00\x00\x00",
+      b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00",
+      b"\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00",
+    ])
+    self.assertEqual(results, {b"F1526-07-1": {b"10", b"40"}, b"8646F-41-04": {b"100"}, b"58-79": {b"000"}})
+
+  def test_fuzzy_excluded_platforms(self):
+    # Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared.
+    platforms_with_shared_codes = set()
+    for platform, fw_by_addr in FW_VERSIONS.items():
+      car_fw = []
+      for ecu, fw_versions in fw_by_addr.items():
+        ecu_name, addr, sub_addr = ecu
+        for fw in fw_versions:
+          car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr,
+                         "subAddress": 0 if sub_addr is None else sub_addr})
+
+      CP = car.CarParams.new_message(carFw=car_fw)
+      matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw))
+      if len(matches) == 1:
+        self.assertEqual(list(matches)[0], platform)
+      else:
+        # If a platform has multiple matches, add it and its matches
+        platforms_with_shared_codes |= {platform, *matches}
+
+    self.assertEqual(platforms_with_shared_codes, FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS)))
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 07def65d37..a2585090e8 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1,8 +1,8 @@
 import re
 from collections import defaultdict
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
-from typing import Dict, List, Set, Tuple, Union
+from enum import Enum, IntFlag, StrEnum
+from typing import Dict, List, Set, Union
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
@@ -50,7 +50,7 @@ class ToyotaFlagsSP(IntFlag):
   SP_ZSS = 1
 
 
-class CAR:
+class CAR(StrEnum):
   # Toyota
   ALPHARD_TSS2 = "TOYOTA ALPHARD 2020"
   ALPHARDH_TSS2 = "TOYOTA ALPHARD HYBRID 2021"
@@ -65,12 +65,10 @@ class CAR:
   CAMRYH_TSS2 = "TOYOTA CAMRY HYBRID 2021"
   CHR = "TOYOTA C-HR 2018"
   CHR_TSS2 = "TOYOTA C-HR 2021"
-  CHRH = "TOYOTA C-HR HYBRID 2018"
   CHRH_TSS2 = "TOYOTA C-HR HYBRID 2022"
   COROLLA = "TOYOTA COROLLA 2017"
-  COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
   # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid
-  COROLLAH_TSS2 = "TOYOTA COROLLA HYBRID TSS2 2019"
+  COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
   HIGHLANDER = "TOYOTA HIGHLANDER 2017"
   HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 2020"
   HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"
@@ -83,7 +81,6 @@ class CAR:
   RAV4_TSS2 = "TOYOTA RAV4 2019"
   RAV4_TSS2_2022 = "TOYOTA RAV4 2022"
   RAV4_TSS2_2023 = "TOYOTA RAV4 2023"
-  RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019"
   RAV4H_TSS2_2022 = "TOYOTA RAV4 HYBRID 2022"
   RAV4H_TSS2_2023 = "TOYOTA RAV4 HYBRID 2023"
   MIRAI = "TOYOTA MIRAI 2021"  # TSS 2.5
@@ -94,18 +91,14 @@ class CAR:
   LEXUS_ES = "LEXUS ES 2018"
   LEXUS_ESH = "LEXUS ES HYBRID 2018"
   LEXUS_ES_TSS2 = "LEXUS ES 2019"
-  LEXUS_ESH_TSS2 = "LEXUS ES HYBRID 2019"
   LEXUS_IS = "LEXUS IS 2018"
   LEXUS_IS_TSS2 = "LEXUS IS 2023"
   LEXUS_NX = "LEXUS NX 2018"
-  LEXUS_NXH = "LEXUS NX HYBRID 2018"
   LEXUS_NX_TSS2 = "LEXUS NX 2020"
-  LEXUS_NXH_TSS2 = "LEXUS NX HYBRID 2020"
   LEXUS_RC = "LEXUS RC 2020"
   LEXUS_RX = "LEXUS RX 2016"
   LEXUS_RXH = "LEXUS RX HYBRID 2017"
   LEXUS_RX_TSS2 = "LEXUS RX 2020"
-  LEXUS_RXH_TSS2 = "LEXUS RX HYBRID 2020"
 
 
 class Footnote(Enum):
@@ -135,18 +128,19 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
   CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
   CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-23", footnotes=[Footnote.CAMRY]),
-  CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-23"),
-  CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-20"),
+  CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-24"),
+  CAR.CHR: [
+    ToyotaCarInfo("Toyota C-HR 2017-20"),
+    ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"),
+  ],
   CAR.CHR_TSS2: ToyotaCarInfo("Toyota C-HR 2021"),
-  CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"),
   CAR.CHRH_TSS2: ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"),
   CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"),
   CAR.COROLLA_TSS2: [
     ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
     ToyotaCarInfo("Toyota Corolla Cross (Non-US only) 2020-23", min_enable_speed=7.5),
     ToyotaCarInfo("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
-  ],
-  CAR.COROLLAH_TSS2: [
+    # Hybrid platforms
     ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"),
     ToyotaCarInfo("Toyota Corolla Hybrid (Non-US only) 2020-23", min_enable_speed=7.5),
     ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
@@ -174,10 +168,12 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
     ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"),
     ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26")
   ],
-  CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
+  CAR.RAV4_TSS2: [
+    ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
+    ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
+  ],
   CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"),
   CAR.RAV4_TSS2_2023: ToyotaCarInfo("Toyota RAV4 2023"),
-  CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
   CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
   CAR.RAV4H_TSS2_2023: ToyotaCarInfo("Toyota RAV4 Hybrid 2023"),
   CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"),
@@ -187,14 +183,20 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"),
   CAR.LEXUS_ES: ToyotaCarInfo("Lexus ES 2017-18"),
   CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18"),
-  CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"),
-  CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
+  CAR.LEXUS_ES_TSS2: [
+    ToyotaCarInfo("Lexus ES 2019-24"),
+    ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
+  ],
   CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
-  CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2023"),
-  CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19"),
-  CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
-  CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"),
-  CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
+  CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2022-23"),
+  CAR.LEXUS_NX: [
+    ToyotaCarInfo("Lexus NX 2018-19"),
+    ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
+  ],
+  CAR.LEXUS_NX_TSS2: [
+    ToyotaCarInfo("Lexus NX 2020-21"),
+    ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
+  ],
   CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2018-20"),
   CAR.LEXUS_RX: [
     ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
@@ -204,44 +206,47 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
     ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"),
     ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
   ],
-  CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"),
-  CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-22"),
+  CAR.LEXUS_RX_TSS2: [
+    ToyotaCarInfo("Lexus RX 2020-22"),
+    ToyotaCarInfo("Lexus RX Hybrid 2020-22"),
+  ],
 }
 
 # (addr, cars, bus, 1/freq*100, vl)
 STATIC_DSU_MSGS = [
-  (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
+  (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
   (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
-  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
+  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
            CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
-  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
+  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
            CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES),
+  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES),
                                                                                                1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
   (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
+  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
            CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
   (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
   (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
   (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
+  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
            CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
-  (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
+  (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
   (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX,
            CAR.PRIUS_V), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
-  (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
+  (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
   (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V),
           0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
   (0x366, (CAR.LEXUS_ES,), 0,  20, b'\x00\x95\x07\xfe\x08\x05\x00'),
   (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
   (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
-  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON,
+  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON,
            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)
+def get_platform_codes(fw_versions: List[bytes]) -> Dict[bytes, Set[bytes]]:
+  # Returns sub versions in a dict so comparisons can be made within part-platform-major_version combos
+  codes = defaultdict(set)  # Optional[part]-platform-major_version: set of sub_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.
@@ -266,43 +271,86 @@ def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, bytes]]:
       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))
+        codes[b'-'.join((platform, major_version))].add(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))
+        codes[b'-'.join((part, platform, major_version))].add(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))
+        codes[b'-'.join((part, platform, major_version))].add(sub_version)
 
-  return codes
+  return dict(codes)
+
+
+def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
+  candidates = set()
+
+  for candidate, fws in FW_VERSIONS.items():
+    # Keep track of ECUs which pass all checks (platform codes, within sub-version range)
+    valid_found_ecus = set()
+    valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}
+    for ecu, expected_versions in fws.items():
+      addr = ecu[1:]
+      # Only check ECUs expected to have platform codes
+      if ecu[0] not in PLATFORM_CODE_ECUS:
+        continue
+
+      # Expected platform codes & versions
+      expected_platform_codes = get_platform_codes(expected_versions)
+
+      # Found platform codes & versions
+      found_platform_codes = get_platform_codes(live_fw_versions.get(addr, set()))
+
+      # Check part number + platform code + major version matches for any found versions
+      # Platform codes and major versions change for different physical parts, generation, API, etc.
+      # Sub-versions are incremented for minor recalls, do not need to be checked.
+      if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes):
+        break
+
+      valid_found_ecus.add(addr)
+
+    # If all live ECUs pass all checks for candidate, add it as a match
+    if valid_expected_ecus.issubset(valid_found_ecus):
+      candidates.add(candidate)
+
+  return {str(c) for c in (candidates - FUZZY_EXCLUDED_PLATFORMS)}
 
 
 # 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
+#    Each ECU address has just one part number.
+# - Platform: usually multiple codes per an openpilot platform, however this is the least variable 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.
+#    This describes more generational changes (TSS-P vs TSS2), or manufacture region.
+# - Major version: second least variable part of the FW version. Seen splitting cars by model year/API such as
+#    RAV4 2022/2023 and Avalon. Used to differentiate cars where API has changed slightly, but is not a generational change.
 #    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})')
+#    Avalon 2016-18's fwdCamera has these major versions: 01, 03 while 2019 has: 02
+# - Sub version: exclusive to major version, but shared with other cars. Should only be used for further filtering.
+#    Seen bumped in TSB FW updates, and describes other minor differences.
+SHORT_FW_PATTERN = re.compile(b'[A-Z0-9](?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{2})(?P<sub_version>[A-Z0-9]{3})')
 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_LEN_CODE = re.compile(b'^[\x01-\x03]')  # 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]
+# List of ECUs that are most unique across openpilot platforms
+# TODO: use hybrid ECU, splits similar ICE and hybrid variants
+# - fwdCamera: describes actual features related to ADAS. For example, on the Avalon it describes
+#    when TSS-P became standard, whether the car supports stop and go, and whether it's TSS2.
+#    On the RAV4, it describes the move to the radar doing ACC, and the use of LTA for lane keeping.
+# - abs: differentiates hybrid/ICE on most cars (Corolla TSS2 is an exception)
+# - eps: describes lateral API changes for the EPS, such as using LTA for lane keeping and rejecting LKA messages
+PLATFORM_CODE_ECUS = [Ecu.fwdCamera, Ecu.abs, Ecu.eps]
 
+# These platforms have at least one platform code for all ECUs shared with another platform.
+FUZZY_EXCLUDED_PLATFORMS = {CAR.LEXUS_ES_TSS2, CAR.LEXUS_RX_TSS2}
 
 # 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.
@@ -317,7 +365,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST_KWP],
       [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE_KWP],
       whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps, Ecu.epb, Ecu.telematics,
-                      Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway, Ecu.hvac],
+                      Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway, Ecu.hvac],
       bus=0,
     ),
     Request(
@@ -339,7 +387,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
     # FIXME: On some models, abs can sometimes be missing
     Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS],
     # On some models, the engine can show on two different addresses
-    Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC],
+    Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC,
+                 CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX_TSS2],
   },
   extra_ecus=[
     # All known ECUs on a late-model Toyota vehicle not queried here:
@@ -373,6 +422,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
     (Ecu.combinationMeter, 0x7c0, None),
     (Ecu.hvac, 0x7c4, None),
   ],
+  match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
 )
 
 FW_VERSIONS = {
@@ -586,6 +636,7 @@ FW_VERSIONS = {
       b'\x018966333X0000\x00\x00\x00\x00',
       b'\x018966333X4000\x00\x00\x00\x00',
       b'\x01896633T16000\x00\x00\x00\x00',
+      b'\x018966306L9000\x00\x00\x00\x00',
       b'\x028966306B2100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
       b'\x028966306B2300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
       b'\x028966306B2500\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
@@ -734,6 +785,13 @@ FW_VERSIONS = {
       b'\x01896631017200\x00\x00\x00\x00',
       b'\x0189663F413100\x00\x00\x00\x00',
       b'\x0189663F414100\x00\x00\x00\x00',
+      b'\x0289663F405100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896631013200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0289663F405000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0289663F418000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0289663F423000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0289663F431000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0189663F438000\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
       b'8821F0W01000    ',
@@ -744,6 +802,9 @@ FW_VERSIONS = {
       b'8821FF405100    ',
       b'8821FF406000    ',
       b'8821FF407100    ',
+      b'8821FF402300    ',
+      b'8821FF402400    ',
+      b'8821FF405000    ',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152610020\x00\x00\x00\x00\x00\x00',
@@ -754,11 +815,21 @@ FW_VERSIONS = {
       b'F1526F4073\x00\x00\x00\x00\x00\x00',
       b'F1526F4121\x00\x00\x00\x00\x00\x00',
       b'F1526F4122\x00\x00\x00\x00\x00\x00',
+      b'F152610012\x00\x00\x00\x00\x00\x00',
+      b'F152610013\x00\x00\x00\x00\x00\x00',
+      b'F152610014\x00\x00\x00\x00\x00\x00',
+      b'F152610040\x00\x00\x00\x00\x00\x00',
+      b'F152610190\x00\x00\x00\x00\x00\x00',
+      b'F152610200\x00\x00\x00\x00\x00\x00',
+      b'F152610220\x00\x00\x00\x00\x00\x00',
+      b'F152610230\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B10011\x00\x00\x00\x00\x00\x00',
       b'8965B10040\x00\x00\x00\x00\x00\x00',
       b'8965B10070\x00\x00\x00\x00\x00\x00',
+      b'8965B10020\x00\x00\x00\x00\x00\x00',
+      b'8965B10050\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\x0331024000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
@@ -778,6 +849,9 @@ FW_VERSIONS = {
       b'8821FF406000    ',
       b'8821FF407100    ',
       b'8821F0W01100    ',
+      b'8821FF402300    ',
+      b'8821FF402400    ',
+      b'8821FF405000    ',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'8646FF401700    ',
@@ -785,6 +859,8 @@ FW_VERSIONS = {
       b'8646FF404000    ',
       b'8646FF406000    ',
       b'8646FF407000    ',
+      b'8646FF402100    ',
+      b'8646FF407100    ',
     ],
   },
   CAR.CHR_TSS2: {
@@ -811,61 +887,6 @@ FW_VERSIONS = {
       b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00',
     ],
   },
-  CAR.CHRH: {
-    (Ecu.engine, 0x700, None): [
-      b'\x0289663F405100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896631013200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0289663F405000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0289663F418000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0289663F423000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0289663F431000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0189663F438000\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152610012\x00\x00\x00\x00\x00\x00',
-      b'F152610013\x00\x00\x00\x00\x00\x00',
-      b'F152610014\x00\x00\x00\x00\x00\x00',
-      b'F152610040\x00\x00\x00\x00\x00\x00',
-      b'F152610190\x00\x00\x00\x00\x00\x00',
-      b'F152610200\x00\x00\x00\x00\x00\x00',
-      b'F152610220\x00\x00\x00\x00\x00\x00',
-      b'F152610230\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'8821F0W01000    ',
-      b'8821FF402300    ',
-      b'8821FF402400    ',
-      b'8821FF404000    ',
-      b'8821FF404100    ',
-      b'8821FF405000    ',
-      b'8821FF406000    ',
-      b'8821FF407100    ',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B10011\x00\x00\x00\x00\x00\x00',
-      b'8965B10020\x00\x00\x00\x00\x00\x00',
-      b'8965B10040\x00\x00\x00\x00\x00\x00',
-      b'8965B10050\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F0W01000    ',
-      b'8821FF402300    ',
-      b'8821FF402400    ',
-      b'8821FF404000    ',
-      b'8821FF404100    ',
-      b'8821FF405000    ',
-      b'8821FF406000    ',
-      b'8821FF407100    ',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646FF401700    ',
-      b'8646FF402100    ',
-      b'8646FF404000    ',
-      b'8646FF406000    ',
-      b'8646FF407000    ',
-      b'8646FF407100    ',
-    ],
-  },
   CAR.CHRH_TSS2: {
     (Ecu.eps, 0x7a1, None): [
       b'8965B10092\x00\x00\x00\x00\x00\x00',
@@ -956,6 +977,33 @@ FW_VERSIONS = {
       b'\x018966312W3000\x00\x00\x00\x00',
       b'\x018966312W9000\x00\x00\x00\x00',
       b'\x01896637644000\x00\x00\x00\x00',
+      b'\x01896630ZJ1000\x00\x00\x00\x00',
+      b'\x01896630ZU8000\x00\x00\x00\x00',
+      b'\x01896637621000\x00\x00\x00\x00',
+      b'\x01896637623000\x00\x00\x00\x00',
+      b'\x01896637624000\x00\x00\x00\x00',
+      b'\x01896637626000\x00\x00\x00\x00',
+      b'\x01896637639000\x00\x00\x00\x00',
+      b'\x01896637648000\x00\x00\x00\x00',
+      b'\x01896637643000\x00\x00\x00\x00',
+      b'\x02896630A07000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630A21000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZJ5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZK8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZQ3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZR2000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZT8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZT9000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZZ0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312K6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312L0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312Q3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312Q3100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312Q4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x038966312L7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00',
+      b'\x038966312N1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
+      b'\x038966312T3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\x0230A10000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -987,13 +1035,18 @@ FW_VERSIONS = {
       b'8965B76012\x00\x00\x00\x00\x00\x00',
       b'\x018965B12510\x00\x00\x00\x00\x00\x00',
       b'\x018965B1256000\x00\x00\x00\x00',
+      b'8965B12451\x00\x00\x00\x00\x00\x00',
+      b'8965B16101\x00\x00\x00\x00\x00\x00',
+      b'8965B16170\x00\x00\x00\x00\x00\x00',
+      b'8965B76050\x00\x00\x00\x00\x00\x00',
+      b'8965B76091\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F152602280\x00\x00\x00\x00\x00\x00',
       b'\x01F152602560\x00\x00\x00\x00\x00\x00',
       b'\x01F152602590\x00\x00\x00\x00\x00\x00',
       b'\x01F152602650\x00\x00\x00\x00\x00\x00',
-      b"\x01F15260A010\x00\x00\x00\x00\x00\x00",
+      b'\x01F15260A010\x00\x00\x00\x00\x00\x00',
       b'\x01F15260A050\x00\x00\x00\x00\x00\x00',
       b'\x01F152612641\x00\x00\x00\x00\x00\x00',
       b'\x01F152612651\x00\x00\x00\x00\x00\x00',
@@ -1011,74 +1064,6 @@ FW_VERSIONS = {
       b'\x01F152612B91\x00\x00\x00\x00\x00\x00',
       b'\x01F15260A070\x00\x00\x00\x00\x00\x00',
       b'\x01F152676250\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301100\x00\x00\x00\x00',
-      b'\x018821F3301200\x00\x00\x00\x00',
-      b'\x018821F3301300\x00\x00\x00\x00',
-      b'\x018821F3301400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F1201100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F1201200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F1201300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F1201400\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-      b'\x028646F1202000\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-      b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-    ],
-  },
-  CAR.COROLLAH_TSS2: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630ZJ1000\x00\x00\x00\x00',
-      b'\x01896630ZU8000\x00\x00\x00\x00',
-      b'\x01896637621000\x00\x00\x00\x00',
-      b'\x01896637623000\x00\x00\x00\x00',
-      b'\x01896637624000\x00\x00\x00\x00',
-      b'\x01896637626000\x00\x00\x00\x00',
-      b'\x01896637639000\x00\x00\x00\x00',
-      b'\x01896637648000\x00\x00\x00\x00',
-      b'\x01896637643000\x00\x00\x00\x00',
-      b'\x02896630A07000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630A21000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZJ5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZK8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZQ3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZR2000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZT8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZT9000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZZ0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966312K6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966312L0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966312Q3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966312Q3100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966312Q4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x038966312L7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00',
-      b'\x038966312N1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
-      b'\x038966312T3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B12361\x00\x00\x00\x00\x00\x00',
-      b'8965B12451\x00\x00\x00\x00\x00\x00',
-      b'8965B16011\x00\x00\x00\x00\x00\x00',
-      b'8965B16101\x00\x00\x00\x00\x00\x00',
-      b'8965B16170\x00\x00\x00\x00\x00\x00',
-      b'8965B76012\x00\x00\x00\x00\x00\x00',
-      b'8965B76050\x00\x00\x00\x00\x00\x00',
-      b'8965B76091\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12350\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12470\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12490\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12500\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12510\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12520\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12530\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
       b'F152612590\x00\x00\x00\x00\x00\x00',
       b'F152612691\x00\x00\x00\x00\x00\x00',
       b'F152612692\x00\x00\x00\x00\x00\x00',
@@ -1112,14 +1097,15 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F1201100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F1201200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F1201300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F1201400\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
       b'\x028646F1202000\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
       b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F1601200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b"\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00",
       b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F7603100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
@@ -1330,17 +1316,21 @@ FW_VERSIONS = {
   CAR.LEXUS_IS_TSS2: {
     (Ecu.engine, 0x700, None): [
       b'\x018966353S1000\x00\x00\x00\x00',
+      b'\x018966353S2000\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
+      b'\x01F15265337200\x00\x00\x00\x00',
       b'\x01F15265342000\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B53450\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F6201200\x00\x00\x00\x00',
       b'\x018821F6201300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F5303300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
       b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
@@ -1570,6 +1560,24 @@ FW_VERSIONS = {
       b'\x02896634A43000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00',
       b'\x02896634A47000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00',
       b'\x028966342Z8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
+      b'\x01896634A15000\x00\x00\x00\x00',
+      b'\x018966342M5000\x00\x00\x00\x00',
+      b'\x018966342W8000\x00\x00\x00\x00',
+      b'\x018966342X5000\x00\x00\x00\x00',
+      b'\x018966342X6000\x00\x00\x00\x00',
+      b'\x01896634A25000\x00\x00\x00\x00',
+      b'\x018966342W5000\x00\x00\x00\x00',
+      b'\x018966342W7000\x00\x00\x00\x00',
+      b'\x028966342W4001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
+      b'\x02896634A13000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02896634A13001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896634A13101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896634A14001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
+      b'\x02896634A23000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02896634A23001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
+      b'\x02896634A23101\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
+      b'\x02896634A14001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896634A14101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15260R210\x00\x00\x00\x00\x00\x00',
@@ -1587,6 +1595,18 @@ FW_VERSIONS = {
       b'\x01F152642750\x00\x00\x00\x00\x00\x00',
       b'\x01F152642751\x00\x00\x00\x00\x00\x00',
       b'\x01F15260R292\x00\x00\x00\x00\x00\x00',
+      b'F152642291\x00\x00\x00\x00\x00\x00',
+      b'F152642290\x00\x00\x00\x00\x00\x00',
+      b'F152642322\x00\x00\x00\x00\x00\x00',
+      b'F152642330\x00\x00\x00\x00\x00\x00',
+      b'F152642331\x00\x00\x00\x00\x00\x00',
+      b'F152642531\x00\x00\x00\x00\x00\x00',
+      b'F152642532\x00\x00\x00\x00\x00\x00',
+      b'F152642520\x00\x00\x00\x00\x00\x00',
+      b'F152642521\x00\x00\x00\x00\x00\x00',
+      b'F152642540\x00\x00\x00\x00\x00\x00',
+      b'F152642541\x00\x00\x00\x00\x00\x00',
+      b'F152642542\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B42170\x00\x00\x00\x00\x00\x00',
@@ -1645,6 +1665,7 @@ FW_VERSIONS = {
     (Ecu.engine, 0x700, None): [
       b'\x01896634A88100\x00\x00\x00\x00',
       b'\x01896634AJ2000\x00\x00\x00\x00',
+      b'\x01896634A89100\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F0R03100\x00\x00\x00\x00',
@@ -1653,65 +1674,6 @@ FW_VERSIONS = {
       b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
     ],
   },
-  CAR.RAV4H_TSS2: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896634A15000\x00\x00\x00\x00',
-      b'\x018966342M5000\x00\x00\x00\x00',
-      b'\x018966342W8000\x00\x00\x00\x00',
-      b'\x018966342X5000\x00\x00\x00\x00',
-      b'\x018966342X6000\x00\x00\x00\x00',
-      b'\x01896634A25000\x00\x00\x00\x00',
-      b'\x018966342W5000\x00\x00\x00\x00',
-      b'\x018966342W7000\x00\x00\x00\x00',
-      b'\x028966342W4001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
-      b'\x02896634A13000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02896634A13001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-      b'\x02896634A13101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-      b'\x02896634A14001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
-      b'\x02896634A23000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02896634A23001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
-      b'\x02896634A23101\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
-      b'\x02896634A14001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-      b'\x02896634A14101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152642291\x00\x00\x00\x00\x00\x00',
-      b'F152642290\x00\x00\x00\x00\x00\x00',
-      b'F152642322\x00\x00\x00\x00\x00\x00',
-      b'F152642330\x00\x00\x00\x00\x00\x00',
-      b'F152642331\x00\x00\x00\x00\x00\x00',
-      b'F152642531\x00\x00\x00\x00\x00\x00',
-      b'F152642532\x00\x00\x00\x00\x00\x00',
-      b'F152642520\x00\x00\x00\x00\x00\x00',
-      b'F152642521\x00\x00\x00\x00\x00\x00',
-      b'F152642540\x00\x00\x00\x00\x00\x00',
-      b'F152642541\x00\x00\x00\x00\x00\x00',
-      b'F152642542\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B42170\x00\x00\x00\x00\x00\x00',
-      b'8965B42171\x00\x00\x00\x00\x00\x00',
-      b'8965B42180\x00\x00\x00\x00\x00\x00',
-      b'8965B42181\x00\x00\x00\x00\x00\x00',
-      b'\x028965B0R01200\x00\x00\x00\x008965B0R02200\x00\x00\x00\x00',
-      b'\x028965B0R01300\x00\x00\x00\x008965B0R02300\x00\x00\x00\x00',
-      b'\x028965B0R01400\x00\x00\x00\x008965B0R02400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301100\x00\x00\x00\x00',
-      b'\x018821F3301200\x00\x00\x00\x00',
-      b'\x018821F3301300\x00\x00\x00\x00',
-      b'\x018821F3301400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F4203200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F4203300\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F4203500\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F4203700\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F4203800\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-    ],
-  },
   CAR.RAV4H_TSS2_2022: {
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15264283100\x00\x00\x00\x00',
@@ -1744,6 +1706,7 @@ FW_VERSIONS = {
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15264283200\x00\x00\x00\x00',
       b'\x01F15264283300\x00\x00\x00\x00',
+      b'\x01F152642F1000\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
@@ -1754,15 +1717,17 @@ FW_VERSIONS = {
       b'\x01896634AF0000\x00\x00\x00\x00',
     ],
     (Ecu.hybrid, 0x7d2, None): [
+      b'\x02899830R39000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00',
       b'\x02899830R41000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00',
       b'\x028998342C0000\x00\x00\x00\x00899854224000\x00\x00\x00\x00',
-      b'\x02899830R39000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00',
+      b'\x028998342C6000\x00\x00\x00\x00899854224000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F0R03100\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
+      b'\x028646F0R05200\x00\x00\x00\x008646G0R02200\x00\x00\x00\x00',
     ],
   },
   CAR.SIENNA: {
@@ -1826,12 +1791,26 @@ FW_VERSIONS = {
       b'\x018966333T5100\x00\x00\x00\x00',
       b'\x018966333X6000\x00\x00\x00\x00',
       b'\x01896633T07000\x00\x00\x00\x00',
+      b'\x028966333S8000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966333W1000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00',
+      b'\x01896633T38000\x00\x00\x00\x00',
+      b'\x01896633T58000\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F152606281\x00\x00\x00\x00\x00\x00',
       b'\x01F152606340\x00\x00\x00\x00\x00\x00',
       b'\x01F152606461\x00\x00\x00\x00\x00\x00',
       b'\x01F15260E031\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260646200\x00\x00\x00\x00',
+      b'F152633423\x00\x00\x00\x00\x00\x00',
+      b'F152633680\x00\x00\x00\x00\x00\x00',
+      b'F152633681\x00\x00\x00\x00\x00\x00',
+      b'F152633F50\x00\x00\x00\x00\x00\x00',
+      b'F152633F51\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B33252\x00\x00\x00\x00\x00\x00',
@@ -1845,6 +1824,8 @@ FW_VERSIONS = {
       b'\x018821F3301200\x00\x00\x00\x00',
       b'\x018821F3301400\x00\x00\x00\x00',
       b'\x018821F6201300\x00\x00\x00\x00',
+      b'\x018821F3301300\x00\x00\x00\x00',
+      b'\x018821F6201400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F33030D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
@@ -1853,48 +1834,9 @@ FW_VERSIONS = {
       b'\x028646F3304300\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
       b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_ESH_TSS2: {
-    (Ecu.engine, 0x700, None): [
-      b'\x028966333S8000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966333W1000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00',
-      b'\x01896633T38000\x00\x00\x00\x00',
-      b'\x01896633T58000\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152633423\x00\x00\x00\x00\x00\x00',
-      b'F152633680\x00\x00\x00\x00\x00\x00',
-      b'F152633681\x00\x00\x00\x00\x00\x00',
-      b'F152633F50\x00\x00\x00\x00\x00\x00',
-      b'F152633F51\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B33252\x00\x00\x00\x00\x00\x00',
-      b'8965B33590\x00\x00\x00\x00\x00\x00',
-      b'8965B33690\x00\x00\x00\x00\x00\x00',
-      b'8965B33721\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301100\x00\x00\x00\x00',
-      b'\x018821F3301200\x00\x00\x00\x00',
-      b'\x018821F3301300\x00\x00\x00\x00',
-      b'\x018821F3301400\x00\x00\x00\x00',
-      b'\x018821F6201300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F0610000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-      b'\x028646F33030D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F3303100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F3303200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F3304100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F3304200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F3304300\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-      b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
   CAR.LEXUS_ES: {
@@ -1947,17 +1889,30 @@ FW_VERSIONS = {
       b'\x01896637854000\x00\x00\x00\x00',
       b'\x01896637878000\x00\x00\x00\x00',
     ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0237841000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0237842000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0237880000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0237882000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0237886000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
     (Ecu.abs, 0x7b0, None): [
       b'F152678130\x00\x00\x00\x00\x00\x00',
       b'F152678140\x00\x00\x00\x00\x00\x00',
+      b'F152678160\x00\x00\x00\x00\x00\x00',
+      b'F152678170\x00\x00\x00\x00\x00\x00',
+      b'F152678171\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
       b'881517803100\x00\x00\x00\x00',
       b'881517803300\x00\x00\x00\x00',
+      b'881517804300\x00\x00\x00\x00',
+      b'881517804100\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B78060\x00\x00\x00\x00\x00\x00',
       b'8965B78080\x00\x00\x00\x00\x00\x00',
+      b'8965B78100\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F4702100\x00\x00\x00\x00',
@@ -1976,9 +1931,17 @@ FW_VERSIONS = {
       b'\x018966378G2000\x00\x00\x00\x00',
       b'\x018966378G3000\x00\x00\x00\x00',
       b'\x018966378B2000\x00\x00\x00\x00',
+      b'\x018966378B3100\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02378A0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02378F4000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F152678221\x00\x00\x00\x00\x00\x00',
+      b'F152678210\x00\x00\x00\x00\x00\x00',
+      b'F152678211\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B78120\x00\x00\x00\x00\x00\x00',
@@ -1993,59 +1956,6 @@ FW_VERSIONS = {
       b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
-  CAR.LEXUS_NXH_TSS2: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02378A0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02378F4000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152678210\x00\x00\x00\x00\x00\x00',
-      b'F152678211\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B78120\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301400\x00\x00\x00\x00',
-      b'\x018821F3301300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_NXH: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0237841000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0237842000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0237880000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0237882000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0237886000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152678160\x00\x00\x00\x00\x00\x00',
-      b'F152678170\x00\x00\x00\x00\x00\x00',
-      b'F152678171\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881517804300\x00\x00\x00\x00',
-      b'881517804100\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B78060\x00\x00\x00\x00\x00\x00',
-      b'8965B78080\x00\x00\x00\x00\x00\x00',
-      b'8965B78100\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702300\x00\x00\x00\x00',
-      b'8821F4702100\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F7801300\x00\x00\x00\x00',
-      b'8646F7801100\x00\x00\x00\x00',
-    ],
-  },
   CAR.LEXUS_RC: {
     (Ecu.engine, 0x700, None): [
       b'\x01896632478200\x00\x00\x00\x00',
@@ -2191,11 +2101,26 @@ FW_VERSIONS = {
       b'\x018966348X0000\x00\x00\x00\x00',
       b'\x01896630ED5000\x00\x00\x00\x00',
     ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348X5000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348X8000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348U2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15260E031\x00\x00\x00\x00\x00\x00',
       b'\x01F15260E041\x00\x00\x00\x00\x00\x00',
       b'\x01F152648781\x00\x00\x00\x00\x00\x00',
       b'\x01F152648801\x00\x00\x00\x00\x00\x00',
+      b'F152648831\x00\x00\x00\x00\x00\x00',
+      b'F152648891\x00\x00\x00\x00\x00\x00',
+      b'F152648D00\x00\x00\x00\x00\x00\x00',
+      b'F152648D60\x00\x00\x00\x00\x00\x00',
+      b'F152648811\x00\x00\x00\x00\x00\x00',
+      b'F152648C80\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B48261\x00\x00\x00\x00\x00\x00',
@@ -2213,35 +2138,6 @@ FW_VERSIONS = {
       b'\x028646F4810400\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
-  CAR.LEXUS_RXH_TSS2: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348X5000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348X8000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152648831\x00\x00\x00\x00\x00\x00',
-      b'F152648891\x00\x00\x00\x00\x00\x00',
-      b'F152648D00\x00\x00\x00\x00\x00\x00',
-      b'F152648D60\x00\x00\x00\x00\x00\x00',
-      b'F152648811\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B48261\x00\x00\x00\x00\x00\x00',
-      b'8965B48271\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-    ],
-  },
   CAR.PRIUS_TSS2: {
     (Ecu.engine, 0x700, None): [
       b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@@ -2332,10 +2228,8 @@ DBC = {
   CAR.LEXUS_RX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.LEXUS_RXH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   CAR.CHR_TSS2: dbc_dict('toyota_nodsu_pt_generated', None),
-  CAR.CHRH: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   CAR.CHRH_TSS2: dbc_dict('toyota_nodsu_pt_generated', None),
   CAR.CAMRY: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   CAR.CAMRYH: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
@@ -2354,22 +2248,17 @@ DBC = {
   CAR.RAV4_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
   CAR.RAV4_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None),
   CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.COROLLAH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_ES: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_ESH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.SIENNA: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_IS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
-  CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.RAV4H_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
   CAR.RAV4H_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None),
-  CAR.LEXUS_NXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.LEXUS_NXH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@@ -2380,12 +2269,12 @@ DBC = {
 EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100})
 
 # Toyota/Lexus Safety Sense 2.0 and 2.5
-TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2,
-            CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2,
+TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.LEXUS_ES_TSS2,
+            CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2,
             CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, CAR.LEXUS_IS_TSS2, CAR.MIRAI, CAR.LEXUS_NX_TSS2,
-            CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2}
+            CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2}
 
-NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
+NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY, CAR.CAMRYH}
 
 # the DSU uses the AEB message for longitudinal on these cars
 UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC}
@@ -2393,14 +2282,8 @@ 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 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
+# these cars use the Lane Tracing Assist (LTA) message for lateral control
 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,
-                 CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS, CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
-                 CAR.RAV4H_TSS2_2023, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
-                 CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2}
-
 # no resume button press required
 NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH}
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 2e2cb50e79..8b6a383579 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -73,7 +73,7 @@ class CarState(CarStateBase):
     brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
     ret.brakePressed = brake_pedal_pressed or brake_pressure_detected
     ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"])  # FIXME: need to include an EPB check as well
-    ret.brakeLights = bool(pt_cp.vl["ESP_05"]['ESP_Status_Bremsdruck'])
+    ret.brakeLightsDEPRECATED = bool(pt_cp.vl["ESP_05"]['ESP_Status_Bremsdruck'])
 
     # Update gear and/or clutch position data.
     if trans_type == TransmissionType.automatic:
@@ -201,7 +201,7 @@ class CarState(CarStateBase):
     ret.brake = pt_cp.vl["Bremse_5"]["Bremsdruck"] / 250.0  # FIXME: this is pressure in Bar, not sure what OP expects
     ret.brakePressed = bool(pt_cp.vl["Motor_2"]["Bremslichtschalter"])
     ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])
-    ret.brakeLights = bool(pt_cp.vl["Motor_2"]['Bremstestschalter'])
+    ret.brakeLightsDEPRECATED = bool(pt_cp.vl["Motor_2"]['Bremstestschalter'])
 
     # Update gear and/or clutch position data.
     if trans_type == TransmissionType.automatic:
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 891e92c15f..daca717e8f 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -1,6 +1,6 @@
 from collections import defaultdict, namedtuple
 from dataclasses import dataclass, field
-from enum import Enum
+from enum import Enum, StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
@@ -124,7 +124,7 @@ BUTTON_STATES = {
 # FW_VERSIONS for that existing CAR.
 # Exception: SEAT Leon and SEAT Ateca share a chassis code
 
-class CAR:
+class CAR(StrEnum):
   ARTEON_MK1 = "VOLKSWAGEN ARTEON 1ST GEN"          # Chassis AN, Mk1 VW Arteon and variants
   ATLAS_MK1 = "VOLKSWAGEN ATLAS 1ST GEN"            # Chassis CA, Mk1 VW Atlas and Atlas Cross Sport
   CRAFTER_MK2 = "VOLKSWAGEN CRAFTER 2ND GEN"        # Chassis SY/SZ, Mk2 VW Crafter, VW Grand California, MAN TGE
@@ -171,7 +171,7 @@ class Footnote(Enum):
     Column.MODEL)
   SKODA_HEATED_WINDSHIELD = CarFootnote(
     "Some Škoda vehicles are equipped with heated windshields, which are known " +
-    "to block GPS signal needed for some comma three functionality.",
+    "to block GPS signal needed for some comma 3X functionality.",
     Column.MODEL)
   VW_EXP_LONG = CarFootnote(
     "Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness " +
@@ -194,7 +194,7 @@ class VWCarInfo(CarInfo):
       self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)
 
     if CP.carFingerprint in (CAR.CRAFTER_MK2, CAR.TRANSPORTER_T61):
-      self.car_parts = CarParts([Device.three_angled_mount, CarHarness.j533])
+      self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533])
 
 
 CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
@@ -255,7 +255,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
   CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2016-23"),
   CAR.TRANSPORTER_T61: [
     VWCarInfo("Volkswagen Caravelle 2020"),
-    VWCarInfo("Volkswagen California 2021"),
+    VWCarInfo("Volkswagen California 2021-23"),
   ],
   CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_MQB_A0]),
   CAR.AUDI_A3_MK3: [
@@ -406,6 +406,7 @@ FW_VERSIONS = {
   },
   CAR.CRAFTER_MK2: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906056BP\xf1\x894729',
       b'\xf1\x8704L906056EK\xf1\x896391',
       b'\xf1\x8705L906023BC\xf1\x892688',
     ],
@@ -413,15 +414,18 @@ FW_VERSIONS = {
     #(Ecu.transmission, 0x7e1, None): [
     #],
     (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100',
       b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900',
       b'\xf1\x875QF959655AS\xf1\x890755\xf1\x82\x1315140015150011111100050200--1311120749',
     ],
     (Ecu.eps, 0x712, None): [
+      b'\xf1\x872N0909143D\x00\xf1\x897010\xf1\x82\x05183AZ306A2',
       b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2',
       b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572J \xf1\x890156',
       b'\xf1\x872Q0907572M \xf1\x890233',
     ],
   },
@@ -780,15 +784,18 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906027NJ\xf1\x891445',
       b'\xf1\x8704E906027NP\xf1\x891286',
+      b'\xf1\x8705E906013BD\xf1\x892496',
       b'\xf1\x8705E906013E \xf1\x891624',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158EM\xf1\x893812',
       b'\xf1\x8709S927158BL\xf1\x893791',
+      b'\xf1\x8709S927158DN\xf1\x893946',
       b'\xf1\x8709S927158FF\xf1\x893876',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1311111111333500314646021450149333613100',
+      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1312111111333500314646021550159333613100',
       b'\xf1\x875Q0959655CE\xf1\x890421\xf1\x82\x1311110011333300314240021350139333613100',
     ],
     (Ecu.eps, 0x712, None): [
@@ -828,11 +835,13 @@ FW_VERSIONS = {
       b'\xf1\x875NA906259H \xf1\x890002',
       b'\xf1\x875NA907115E \xf1\x890003',
       b'\xf1\x875NA907115E \xf1\x890005',
+      b'\xf1\x875NA907115J \xf1\x890002',
       b'\xf1\x8783A907115B \xf1\x890005',
       b'\xf1\x8783A907115F \xf1\x890002',
       b'\xf1\x8783A907115G \xf1\x890001',
       b'\xf1\x8783A907115K \xf1\x890001',
       b'\xf1\x8704E906024AP\xf1\x891461',
+      b'\xf1\x8783A907115  \xf1\x890007',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158DT\xf1\x893698',
@@ -850,12 +859,14 @@ FW_VERSIONS = {
       b'\xf1\x870DL300013G \xf1\x892120',
       b'\xf1\x870DL300014C \xf1\x893703',
       b'\xf1\x870DD300046K \xf1\x892302',
+      b'\xf1\x870GC300013P \xf1\x892401',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100',
       b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
       b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100',
       b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100',
+      b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1312110031333300314240013750379333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140013750379333423100',
@@ -863,6 +874,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100',
       b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x1331310031333300314240024050409333613100',
       b'\xf1\x875Q0959655CD\xf1\x890421\xf1\x82\x13123112313333003145406F6154619333613100',
+      b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603',
@@ -877,6 +889,7 @@ FW_VERSIONS = {
       b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1',
       b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
+      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60804A1',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572AA\xf1\x890396',
@@ -916,12 +929,14 @@ FW_VERSIONS = {
       b'\xf1\x8704L906057AP\xf1\x891186',
       b'\xf1\x8704L906057N \xf1\x890413',
       b'\xf1\x8705L906023E \xf1\x891352',
+      b'\xf1\x8705L906023MR\xf1\x892582',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870BT300012G \xf1\x893102',
       b'\xf1\x870BT300012E \xf1\x893105',
       b'\xf1\x870BT300046R \xf1\x893102',
       b'\xf1\x870DV300012B \xf1\x893701',
+      b'\xf1\x870DV300012B \xf1\x893702',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411',
@@ -1063,10 +1078,12 @@ FW_VERSIONS = {
       b'\xf1\x8705L906022M \xf1\x890901',
       b'\xf1\x8783A906259  \xf1\x890001',
       b'\xf1\x8783A906259  \xf1\x890005',
+      b'\xf1\x8783A906259C \xf1\x890002',
       b'\xf1\x8783A906259F \xf1\x890001',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158CN\xf1\x893608',
+      b'\xf1\x8709G927158FL\xf1\x893758',
       b'\xf1\x8709G927158GP\xf1\x893937',
       b'\xf1\x870GC300045D \xf1\x892802',
       b'\xf1\x870GC300046F \xf1\x892701',
@@ -1081,6 +1098,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000300',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000800',
       b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60533A1',
+      b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60733A1',
       b'\xf1\x875TA907145D \xf1\x891051\xf1\x82\x001PG60A1P7N',
     ],
     (Ecu.fwdRadar, 0x757, None): [
@@ -1334,8 +1352,10 @@ FW_VERSIONS = {
   },
   CAR.SKODA_SUPERB_MK3: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906027BS\xf1\x892887',
       b'\xf1\x8704E906027BT\xf1\x899042',
       b'\xf1\x8704L906026ET\xf1\x891343',
+      b'\xf1\x8704L906026ET\xf1\x891990',
       b'\xf1\x8704L906026FP\xf1\x891196',
       b'\xf1\x8704L906026KA\xf1\x896014',
       b'\xf1\x8704L906026KB\xf1\x894071',
@@ -1348,12 +1368,14 @@ FW_VERSIONS = {
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870CW300042H \xf1\x891601',
+      b'\xf1\x870CW300043B \xf1\x891603',
       b'\xf1\x870CW300049Q \xf1\x890906',
       b'\xf1\x870D9300011T \xf1\x894801',
       b'\xf1\x870D9300012  \xf1\x894940',
       b'\xf1\x870D9300013A \xf1\x894905',
       b'\xf1\x870D9300014K \xf1\x895006',
       b'\xf1\x870D9300041H \xf1\x894905',
+      b'\xf1\x870D9300042M \xf1\x895013',
       b'\xf1\x870D9300043F \xf1\x895202',
       b'\xf1\x870GC300013K \xf1\x892403',
       b'\xf1\x870GC300014M \xf1\x892801',
@@ -1365,6 +1387,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111',
       b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111',
       b'\xf1\x875Q0959655AS\xf1\x890317\xf1\x82\x1331310031313100313131823133319331313100',
+      b'\xf1\x875Q0959655AT\xf1\x890317\xf1\x82\x1331310031313100313131013131319331313100',
       b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100',
       b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100',
       b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100',
@@ -1377,8 +1400,10 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ050303',
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303',
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ070505',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ060505',
       b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700',
       b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070500',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700',
     ],
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index d2f25b1f0f..91850fdb24 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -37,7 +37,6 @@ LANE_DEPARTURE_THRESHOLD = 0.1
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
-NOSENSOR = "NOSENSOR" in os.environ
 IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd", "mapd", "gpxd", "gpxd_uploader", "mapd", "otisserv", "fleet_manager"}
 
 ThermalStatus = log.DeviceState.ThermalStatus
@@ -70,6 +69,7 @@ class Controls:
       self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
                                      'carControl', 'carEvents', 'carParams', 'controlsStateSP'])
 
+    self.sensor_packets = ["accelerometer", "gyroscope"]
     self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
 
     self.can_sock = can_sock
@@ -88,15 +88,16 @@ class Controls:
 
     self.sm = sm
     if self.sm is None:
-      ignore = ['testJoystick']
+      ignore = self.sensor_packets + ['testJoystick']
       if SIMULATION:
         ignore += ['driverCameraState', 'managerState']
       if self.d_camera_hardware_missing:
         ignore += ['driverMonitoringState']
       self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                      'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
-                                     'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick',
-                                     'longitudinalPlanSP', 'lateralPlanSP'] + self.camera_packets,
+                                     'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
+                                     'testJoystick',
+                                     'longitudinalPlanSP', 'lateralPlanSP'] + self.camera_packets + self.sensor_packets,
                                     ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'])
 
     if CI is None:
@@ -426,14 +427,15 @@ class Controls:
       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)
 
+    # conservative HW alert. if the data or frequency are off, locationd will throw an error
+    if any((self.sm.frame - self.sm.rcv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets):
+      self.events.add(EventName.sensorDataInvalid)
+
     if not REPLAY:
       # Check for mismatch between openpilot and car's PCM
       cruise_mismatch = CS.cruiseState.enabled and not self.enabled
@@ -461,10 +463,9 @@ class Controls:
 
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
-      if not NOSENSOR:
-        if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
-          # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
-          self.events.add(EventName.noGps)
+      if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
+        # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
+        self.events.add(EventName.noGps)
 
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
@@ -689,8 +690,8 @@ class Controls:
 
         if CC.latActive:
           steer = clip(self.sm['testJoystick'].axes[1], -1, 1)
-          # max angle is 45 for angle-based cars
-          actuators.steer, actuators.steeringAngleDeg = steer, steer * 45.
+          # max angle is 45 for angle-based cars, max curvature is 0.02
+          actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 45., steer * -0.02
 
         lac_log.active = self.active
         lac_log.steeringAngleDeg = CS.steeringAngleDeg
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 16b929b367..0783f809db 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -797,7 +797,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   EventName.sensorDataInvalid: {
     ET.PERMANENT: Alert(
       "Sensor Data Invalid",
-      "Ensure device is mounted securely",
+      "Possible Hardware Issue",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=1.),
     ET.NO_ENTRY: NoEntryAlert("Sensor Data Invalid"),
@@ -1105,7 +1105,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
 
 if __name__ == '__main__':
   # print all alerts by type and priority
-  from cereal.services import service_list
+  from cereal.services import SERVICE_LIST
   from collections import defaultdict, OrderedDict
 
   event_names = {v: k for k, v in EventName.schema.enumerants.items()}
@@ -1113,7 +1113,7 @@ if __name__ == '__main__':
 
   CP = car.CarParams.new_message()
   CS = car.CarState.new_message()
-  sm = messaging.SubMaster(list(service_list.keys()))
+  sm = messaging.SubMaster(list(SERVICE_LIST.keys()))
 
   for i, alerts in EVENTS.items():
     for et, alert in alerts.items():
diff --git a/selfdrive/debug/auto_fingerprint.py b/selfdrive/debug/auto_fingerprint.py
new file mode 100755
index 0000000000..78b109b0bd
--- /dev/null
+++ b/selfdrive/debug/auto_fingerprint.py
@@ -0,0 +1,105 @@
+#!/usr/bin/env python3
+
+import argparse
+from openpilot.common.basedir import BASEDIR
+
+from openpilot.tools.lib.logreader import MultiLogIterator
+from openpilot.tools.lib.route import Route
+from openpilot.selfdrive.car.fw_versions import match_fw_to_car
+from openpilot.selfdrive.car.interfaces import get_interface_attr
+
+
+ALL_FW_VERSIONS = get_interface_attr("FW_VERSIONS")
+ALL_CARS = get_interface_attr("CAR")
+
+PLATFORM_TO_PYTHON_CAR_NAME = {brand: {car.value: car.name for car in ALL_CARS[brand]} for brand in ALL_CARS}
+BRAND_TO_PLATFORMS = {brand: [car.value for car in ALL_CARS[brand]] for brand in ALL_CARS}
+PLATFORM_TO_BRAND = dict(sum([[(platform, brand) for platform in BRAND_TO_PLATFORMS[brand]] for brand in BRAND_TO_PLATFORMS], []))
+
+def add_fw_versions(brand, platform, new_fw_versions):
+  filename = f"{BASEDIR}/selfdrive/car/{brand}/values.py"
+  with open(filename, "r") as f:
+    values_py = f.read()
+
+  for key in new_fw_versions.keys():
+    ecu, addr, subAddr = key
+    fw_version = new_fw_versions[key]
+
+    platform_start = values_py.index(f"CAR.{PLATFORM_TO_PYTHON_CAR_NAME[brand][platform]}: {{")
+
+    start = values_py.index(f"(Ecu.{ecu}, {hex(addr)}, {subAddr}): [", platform_start)
+
+    try:
+      end_str = "],\n"
+      end = values_py.index(end_str, start)
+    except ValueError:
+      end_str = "]\n"
+      end = values_py.index(end_str, start)
+
+    values_py = values_py[:end] + f"  {fw_version},\n    " + values_py[end:]
+
+  with open(filename, "w") as f:
+    f.write(values_py)
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Auto fingerprint from a route")
+  parser.add_argument("route", help="The route name to use")
+  parser.add_argument("platform", help="The platform, or leave empty to auto-determine using fuzzy", default=None, nargs='?')
+  args = parser.parse_args()
+
+  route = Route(args.route)
+  lr = MultiLogIterator(route.qlog_paths())
+
+  carFw = None
+  carVin = None
+  carPlatform = None
+
+  for msg in lr:
+    if msg.which() == "carParams":
+      carFw = msg.carParams.carFw
+      carVin = msg.carParams.carVin
+      carPlatform = msg.carParams.carFingerprint
+      break
+
+  if carFw is None:
+    raise Exception("No fw versions in the provided route...")
+
+  if args.platform is None: # attempt to auto-determine platform with other fuzzy fingerprints
+    _, possible_platforms = match_fw_to_car(carFw, log=False)
+
+    if len(possible_platforms) != 1:
+      print(f"Unable to auto-determine platform, possible platforms: {possible_platforms}")
+
+      if carPlatform != "mock":
+        print("Using platform from route")
+        platform = carPlatform
+      else:
+        raise Exception("unable to determine platform, try manually specifying the fingerprint.")
+    else:
+      platform = list(possible_platforms)[0]
+
+  else:
+    platform = args.platform
+
+  print("Attempting to add fw version for: ", platform)
+
+  brand = PLATFORM_TO_BRAND[platform]
+
+  new_fw_versions = {}
+
+  for fw in carFw:
+    if fw.brand == brand:
+      addr = fw.address
+      subAddr = None if fw.subAddress == 0 else fw.subAddress
+      key = (fw.ecu.raw, addr, subAddr)
+
+      if key in ALL_FW_VERSIONS[brand][platform]:
+        fw_versions = set(ALL_FW_VERSIONS[brand][platform][key])
+        if fw.fwVersion not in fw_versions:
+          new_fw_versions[(fw.ecu, addr, subAddr)] = fw.fwVersion
+
+  if not new_fw_versions:
+    print("No new fw versions found...")
+
+  add_fw_versions(brand, platform, new_fw_versions)
\ No newline at end of file
diff --git a/selfdrive/debug/check_lag.py b/selfdrive/debug/check_lag.py
index 141156db91..72d11d6eda 100755
--- a/selfdrive/debug/check_lag.py
+++ b/selfdrive/debug/check_lag.py
@@ -2,7 +2,7 @@
 from typing import Dict
 
 import cereal.messaging as messaging
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 
 TO_CHECK = ['carState']
 
@@ -20,7 +20,7 @@ if __name__ == "__main__":
         t = sm.logMonoTime[s] / 1e9
 
         if s in prev_t:
-          expected = 1.0 / (service_list[s].frequency)
+          expected = 1.0 / (SERVICE_LIST[s].frequency)
           dt = t - prev_t[s]
           if dt > 10 * expected:
             print(t, s, dt)
diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py
index a8af5e6fe9..a148996d94 100755
--- a/selfdrive/debug/count_events.py
+++ b/selfdrive/debug/count_events.py
@@ -7,7 +7,7 @@ from pprint import pprint
 from tqdm import tqdm
 from typing import List, Tuple, cast
 
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.logreader import LogReader
 
@@ -17,7 +17,7 @@ if __name__ == "__main__":
   cnt_valid: Counter = Counter()
   cnt_events: Counter = Counter()
 
-  cams = [s for s in service_list if s.endswith('CameraState')]
+  cams = [s for s in SERVICE_LIST if s.endswith('CameraState')]
   cnt_cameras = dict.fromkeys(cams, 0)
 
   alerts: List[Tuple[float, str]] = []
@@ -62,7 +62,7 @@ if __name__ == "__main__":
   print("\n")
   print("Cameras")
   for k, v in cnt_cameras.items():
-    s = service_list[k]
+    s = SERVICE_LIST[k]
     expected_frames = int(s.frequency * duration / cast(float, s.decimation))
     print("  ", k.ljust(20), f"{v}, {v/expected_frames:.1%} of expected")
 
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index 6d9ea5808f..53cfef3fcc 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -25,7 +25,8 @@ def cycle_alerts(duration=200, is_metric=False):
     (EventName.buttonCancel, ET.USER_DISABLE),
     (EventName.wrongGear, ET.NO_ENTRY),
 
-    (EventName.vehicleModelInvalid, ET.SOFT_DISABLE),
+    (EventName.locationdTemporaryError, ET.SOFT_DISABLE),
+    (EventName.paramsdTemporaryError, ET.SOFT_DISABLE),
     (EventName.accFaulted, ET.IMMEDIATE_DISABLE),
 
     # DM sequence
diff --git a/selfdrive/debug/dump.py b/selfdrive/debug/dump.py
index 8436fbd0b0..db18f4c622 100755
--- a/selfdrive/debug/dump.py
+++ b/selfdrive/debug/dump.py
@@ -8,7 +8,7 @@ import cereal.messaging as messaging
 
 from hexdump import hexdump
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 
 codecs.register_error("strict", codecs.backslashreplace_errors)
 
@@ -31,7 +31,7 @@ if __name__ == "__main__":
 
   poller = messaging.Poller()
 
-  for m in args.socket if len(args.socket) > 0 else service_list:
+  for m in args.socket if len(args.socket) > 0 else SERVICE_LIST:
     messaging.sub_sock(m, poller, addr=args.addr)
 
   values = None
diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py
index ac3651bf2f..7735391f4f 100755
--- a/selfdrive/debug/hyundai_enable_radar_points.py
+++ b/selfdrive/debug/hyundai_enable_radar_points.py
@@ -62,6 +62,10 @@ SUPPORTED_FW_VERSIONS = {
   b"TM__ SCC F-CUP      1.00 1.02 99110-S2000\x18\x07\x08\x18W    ": ConfigValues(
     default_config=b"\x00\x00\x00\x01\x00\x00",
     tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  # 2021 K5 HEV
+  b"DLhe SCC FHCUP      1.00 1.02 99110-L7000 \x01 \x102    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
 }
 
 if __name__ == "__main__":
diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/internal/qlog_size.py
index 9b7f369525..b51cb3af2f 100755
--- a/selfdrive/debug/internal/qlog_size.py
+++ b/selfdrive/debug/internal/qlog_size.py
@@ -5,7 +5,7 @@ from collections import defaultdict
 
 import matplotlib.pyplot as plt
 
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import Route
 
@@ -49,7 +49,7 @@ if __name__ == "__main__":
     msgs_by_type[m.which()].append(m.as_builder().to_bytes())
 
   qlog_by_type = defaultdict(list)
-  for name, service in service_list.items():
+  for name, service in SERVICE_LIST.items():
     if service.decimation is None:
       continue
 
diff --git a/selfdrive/debug/profiling/simpleperf/bin/android/arm64/simpleperf b/selfdrive/debug/profiling/simpleperf/bin/android/arm64/simpleperf
deleted file mode 100755
index 4df1f31fcd..0000000000
Binary files a/selfdrive/debug/profiling/simpleperf/bin/android/arm64/simpleperf and /dev/null differ
diff --git a/selfdrive/debug/profiling/simpleperf/eon_perf.sh b/selfdrive/debug/profiling/simpleperf/eon_perf.sh
deleted file mode 100755
index 385af26ba3..0000000000
--- a/selfdrive/debug/profiling/simpleperf/eon_perf.sh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/bash
-set -e
-
-cd "$( dirname "${BASH_SOURCE[0]}" )"
-
-ssh "$1" '$HOME/one/external/simpleperf/bin/android/arm64/simpleperf record --call-graph fp -a --duration 10 -o /tmp/perf.data'
-scp "$1":/tmp/perf.data /tmp/perf.data
-python2 report_html.py -i /tmp/perf.data -o /tmp/report.html
diff --git a/selfdrive/debug/profiling/simpleperf/get.txt b/selfdrive/debug/profiling/simpleperf/get.txt
deleted file mode 100644
index 8e57e6e6ce..0000000000
--- a/selfdrive/debug/profiling/simpleperf/get.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-git clone https://android.googlesource.com/platform/prebuilts/simpleperf
-git reset --hard 311a9d2cd27841498fc90a0b26a755deb47e7ebd
-cp -r report_html.* simpleperf_report_lib.py utils.py inferno lib ~/one/external/simpleperf/
diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py
index 6b5ec36935..75409e3f87 100755
--- a/selfdrive/debug/vw_mqb_config.py
+++ b/selfdrive/debug/vw_mqb_config.py
@@ -144,6 +144,7 @@ if __name__ == "__main__":
       uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding)  # type: ignore
     except (NegativeResponseError, MessageTimeoutError):
       print("Writing new configuration failed!")
+      print("Make sure the comma processes are stopped: tmux kill-session -t comma")
       quit()
 
     try:
diff --git a/selfdrive/hardware b/selfdrive/hardware
deleted file mode 120000
index 02a42c502f..0000000000
--- a/selfdrive/hardware
+++ /dev/null
@@ -1 +0,0 @@
-../system/hardware/
\ No newline at end of file
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index 6469ece402..566373d7b8 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -31,7 +31,8 @@ SMOOTH_CYCLES = 10
 BLOCK_SIZE = 100
 INPUTS_NEEDED = 5   # Minimum blocks needed for valid calibration
 INPUTS_WANTED = 50   # We want a little bit more than we need for stability
-MAX_ALLOWED_SPREAD = np.radians(2)
+MAX_ALLOWED_YAW_SPREAD = np.radians(2)
+MAX_ALLOWED_PITCH_SPREAD = np.radians(4)
 RPY_INIT = np.array([0.0,0.0,0.0])
 WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0])
 HEIGHT_INIT = np.array([1.22])
@@ -156,7 +157,8 @@ class Calibrator:
     # If spread is too high, assume mounting was changed and reset to last block.
     # Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model.
     # TODO: add height spread check with smooth transition too
-    if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == log.LiveCalibrationData.Status.calibrated:
+    spread_too_high = self.calib_spread[1] > MAX_ALLOWED_PITCH_SPREAD or self.calib_spread[2] > MAX_ALLOWED_YAW_SPREAD
+    if spread_too_high and self.cal_status == log.LiveCalibrationData.Status.calibrated:
       self.reset(self.rpys[self.block_idx - 1], valid_blocks=1, smooth_from=self.rpy)
       self.cal_status = log.LiveCalibrationData.Status.recalibrating
 
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 600ba46853..80882fc951 100644
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -720,7 +720,7 @@ int Localizer::locationd_thread() {
     // 100Hz publish for notcars, 20Hz for cars
     const char* trigger_msg = sm["carParams"].getCarParams().getNotCar() ? "accelerometer" : "cameraOdometry";
     if (sm.updated(trigger_msg)) {
-      bool inputsOK = sm.allAliveAndValid() && this->are_inputs_ok();
+      bool inputsOK = sm.allValid() && this->are_inputs_ok();
       bool gpsOK = this->is_gps_ok();
       bool sensorsOK = sm.allAliveAndValid({"accelerometer", "gyroscope"});
 
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index a183c09109..45177e7c46 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -24,6 +24,8 @@ ROLL_STD_MAX = math.radians(1.5)
 LATERAL_ACC_SENSOR_THRESHOLD = 4.0
 OFFSET_MAX = 10.0
 OFFSET_LOWERED_MAX = 8.0
+MIN_ACTIVE_SPEED = 1.0
+LOW_ACTIVE_SPEED = 10.0
 
 
 class ParamsLearner:
@@ -96,7 +98,7 @@ class ParamsLearner:
       self.speed = msg.vEgo
 
       in_linear_region = abs(self.steering_angle) < 45
-      self.active = self.speed > 1 and in_linear_region
+      self.active = self.speed > MIN_ACTIVE_SPEED and in_linear_region
 
       if self.active:
         self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[math.radians(msg.steeringAngleDeg)]]))
@@ -205,8 +207,12 @@ def main(sm=None, pm=None):
                           angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA)
       roll = clip(float(x[States.ROAD_ROLL].item()), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA)
       roll_std = float(P[States.ROAD_ROLL].item())
-      # Account for the opposite signs of the yaw rates
-      sensors_valid = bool(abs(learner.speed * (x[States.YAW_RATE].item() + learner.yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD)
+      if learner.active and learner.speed > LOW_ACTIVE_SPEED:
+        # Account for the opposite signs of the yaw rates
+        # At low speeds, bumping into a curb can cause the yaw rate to be very high
+        sensors_valid = bool(abs(learner.speed * (x[States.YAW_RATE].item() + learner.yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD)
+      else:
+        sensors_valid = True
       avg_offset_valid = check_valid_with_hysteresis(avg_offset_valid, angle_offset_average, OFFSET_MAX, OFFSET_LOWERED_MAX)
       total_offset_valid = check_valid_with_hysteresis(total_offset_valid, angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX)
       roll_valid = check_valid_with_hysteresis(roll_valid, roll, ROLL_MAX, ROLL_LOWERED_MAX)
diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py
index a5eedaf99a..e2db094397 100755
--- a/selfdrive/locationd/test/test_calibrationd.py
+++ b/selfdrive/locationd/test/test_calibrationd.py
@@ -8,9 +8,29 @@ import cereal.messaging as messaging
 from cereal import log
 from openpilot.common.params import Params
 from openpilot.selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, \
-                                                         MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT
+                                                         MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT, MAX_ALLOWED_PITCH_SPREAD, MAX_ALLOWED_YAW_SPREAD
 
 
+def process_messages(c, cam_odo_calib, cycles,
+                     cam_odo_speed=MIN_SPEED_FILTER + 1,
+                     carstate_speed=MIN_SPEED_FILTER + 1,
+                     cam_odo_yr=0.0,
+                     cam_odo_speed_std=1e-3,
+                     cam_odo_height_std=1e-3):
+  old_rpy_weight_prev = 0.0
+  for _ in range(cycles):
+    assert (old_rpy_weight_prev - c.old_rpy_weight < 1/SMOOTH_CYCLES + 1e-3)
+    old_rpy_weight_prev = c.old_rpy_weight
+    c.handle_v_ego(carstate_speed)
+    c.handle_cam_odom([cam_odo_speed,
+                       np.sin(cam_odo_calib[2]) * cam_odo_speed,
+                       -np.sin(cam_odo_calib[1]) * cam_odo_speed],
+                        [0.0, 0.0, cam_odo_yr],
+                        [0.0, 0.0, 0.0],
+                        [cam_odo_speed_std, cam_odo_speed_std, cam_odo_speed_std],
+                        [0.0, 0.0, HEIGHT_INIT.item()],
+                        [cam_odo_height_std, cam_odo_height_std, cam_odo_height_std])
+
 class TestCalibrationd(unittest.TestCase):
 
   def test_read_saved_params(self):
@@ -28,14 +48,7 @@ class TestCalibrationd(unittest.TestCase):
 
   def test_calibration_basics(self):
     c = Calibrator(param_put=False)
-    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
-      c.handle_v_ego(MIN_SPEED_FILTER + 1)
-      c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [1e-3, 1e-3, 1e-3],
-                         [0.0, 0.0, HEIGHT_INIT.item()],
-                         [1e-3, 1e-3, 1e-3])
+    process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED)
     self.assertEqual(c.valid_blocks, INPUTS_WANTED)
     np.testing.assert_allclose(c.rpy, np.zeros(3))
     np.testing.assert_allclose(c.height, HEIGHT_INIT)
@@ -44,22 +57,8 @@ class TestCalibrationd(unittest.TestCase):
 
   def test_calibration_low_speed_reject(self):
     c = Calibrator(param_put=False)
-    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
-      c.handle_v_ego(MIN_SPEED_FILTER - 1)
-      c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [1e-3, 1e-3, 1e-3],
-                         [0.0, 0.0, HEIGHT_INIT.item()],
-                         [1e-3, 1e-3, 1e-3])
-    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
-      c.handle_v_ego(MIN_SPEED_FILTER + 1)
-      c.handle_cam_odom([MIN_SPEED_FILTER - 1, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [1e-3, 1e-3, 1e-3],
-                         [0.0, 0.0, HEIGHT_INIT.item()],
-                         [1e-3, 1e-3, 1e-3])
+    process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_speed=MIN_SPEED_FILTER - 1)
+    process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, carstate_speed=MIN_SPEED_FILTER - 1)
     self.assertEqual(c.valid_blocks, 0)
     np.testing.assert_allclose(c.rpy, np.zeros(3))
     np.testing.assert_allclose(c.height, HEIGHT_INIT)
@@ -67,14 +66,7 @@ class TestCalibrationd(unittest.TestCase):
 
   def test_calibration_yaw_rate_reject(self):
     c = Calibrator(param_put=False)
-    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
-      c.handle_v_ego(MIN_SPEED_FILTER + 1)
-      c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
-                         [0.0, 0.0, MAX_YAW_RATE_FILTER ],
-                         [0.0, 0.0, 0.0],
-                         [1e-3, 1e-3, 1e-3],
-                         [0.0, 0.0, HEIGHT_INIT.item()],
-                         [1e-3, 1e-3, 1e-3])
+    process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_yr=MAX_YAW_RATE_FILTER)
     self.assertEqual(c.valid_blocks, 0)
     np.testing.assert_allclose(c.rpy, np.zeros(3))
     np.testing.assert_allclose(c.height, HEIGHT_INIT)
@@ -82,58 +74,44 @@ class TestCalibrationd(unittest.TestCase):
 
   def test_calibration_speed_std_reject(self):
     c = Calibrator(param_put=False)
-    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
-      c.handle_v_ego(MIN_SPEED_FILTER + 1)
-      c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [1e3, 1e3, 1e3],
-                         [0.0, 0.0, HEIGHT_INIT.item()],
-                         [1e-3, 1e-3, 1e-3])
+    process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_speed_std=1e3)
     self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
     np.testing.assert_allclose(c.rpy, np.zeros(3))
 
 
   def test_calibration_speed_std_height_reject(self):
     c = Calibrator(param_put=False)
-    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
-      c.handle_v_ego(MIN_SPEED_FILTER + 1)
-      c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [1e-3, 1e-3, 1e-3],
-                         [0.0, 0.0, HEIGHT_INIT.item()],
-                         [1e3, 1e3, 1e3])
+    process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_height_std=1e3)
     self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
     np.testing.assert_allclose(c.rpy, np.zeros(3))
 
 
   def test_calibration_auto_reset(self):
     c = Calibrator(param_put=False)
-    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
-      c.handle_v_ego(MIN_SPEED_FILTER + 1)
-      c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [1e-3, 1e-3, 1e-3],
-                         [0.0, 0.0, HEIGHT_INIT.item()],
-                         [1e-3, 1e-3, 1e-3])
-    self.assertEqual(c.valid_blocks, INPUTS_WANTED)
+    process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED)
+    self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
+    np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0], atol=1e-3)
+    process_messages(c, [0.0, MAX_ALLOWED_PITCH_SPREAD*0.9, MAX_ALLOWED_YAW_SPREAD*0.9], BLOCK_SIZE + 10)
+    self.assertEqual(c.valid_blocks, INPUTS_NEEDED + 1)
+    self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.calibrated)
+
+    c = Calibrator(param_put=False)
+    process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED)
+    self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
     np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0])
-    old_rpy_weight_prev = 0.0
-    for _ in range(BLOCK_SIZE + 10):
-      self.assertLess(old_rpy_weight_prev - c.old_rpy_weight, 1/SMOOTH_CYCLES + 1e-3)
-      old_rpy_weight_prev = c.old_rpy_weight
-      c.handle_v_ego(MIN_SPEED_FILTER + 1)
-      c.handle_cam_odom([MIN_SPEED_FILTER + 1, -0.05 * MIN_SPEED_FILTER, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [0.0, 0.0, 0.0],
-                         [1e-3, 1e-3, 1e-3],
-                         [0.0, 0.0, HEIGHT_INIT.item()],
-                         [1e-3, 1e-3, 1e-3])
+    process_messages(c, [0.0, MAX_ALLOWED_PITCH_SPREAD*1.1, 0.0], BLOCK_SIZE + 10)
     self.assertEqual(c.valid_blocks, 1)
     self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.recalibrating)
-    np.testing.assert_allclose(c.rpy, [0.0, 0.0, -0.05], atol=1e-2)
+    np.testing.assert_allclose(c.rpy, [0.0, MAX_ALLOWED_PITCH_SPREAD*1.1, 0.0], atol=1e-2)
+
+    c = Calibrator(param_put=False)
+    process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED)
+    self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
+    np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0])
+    process_messages(c, [0.0, 0.0, MAX_ALLOWED_YAW_SPREAD*1.1], BLOCK_SIZE + 10)
+    self.assertEqual(c.valid_blocks, 1)
+    self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.recalibrating)
+    np.testing.assert_allclose(c.rpy, [0.0, 0.0, MAX_ALLOWED_YAW_SPREAD*1.1], atol=1e-2)
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py
index 2c4a8a406d..db8802ed36 100755
--- a/selfdrive/locationd/test/test_laikad.py
+++ b/selfdrive/locationd/test/test_laikad.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-import os
+import pytest
 import time
 import unittest
 from cereal import log
@@ -19,7 +19,6 @@ from openpilot.selfdrive.test.openpilotci import get_url
 from openpilot.tools.lib.logreader import LogReader
 
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
-from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR
 
 GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12))
 UBLOX_TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
@@ -94,7 +93,7 @@ def get_measurement_mock(gpstime, sat_ephemeris):
   return meas
 
 
-@unittest.skipIf(SKIP_ENV_VAR in os.environ, f"Laika test skipped since it's long and not currently used. Unset {SKIP_ENV_VAR} to run")
+@pytest.mark.slow
 class TestLaikad(unittest.TestCase):
 
   @classmethod
diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py
index 99047c37f3..707fdd743f 100755
--- a/selfdrive/locationd/test/test_locationd.py
+++ b/selfdrive/locationd/test/test_locationd.py
@@ -6,7 +6,7 @@ import time
 import capnp
 
 import cereal.messaging as messaging
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.params import Params
 from openpilot.common.transformations.coordinates import ecef2geodetic
 
@@ -74,8 +74,8 @@ class TestLocationdProc(unittest.TestCase):
     msgs = []
     for sec in range(65):
       for name in self.LLD_MSGS:
-        for j in range(int(service_list[name].frequency)):
-          msgs.append(self.get_msg(name, int((sec + j / service_list[name].frequency) * 1e9)))
+        for j in range(int(SERVICE_LIST[name].frequency)):
+          msgs.append(self.get_msg(name, int((sec + j / SERVICE_LIST[name].frequency) * 1e9)))
 
     for msg in sorted(msgs, key=lambda x: x.logMonoTime):
       self.pm.send(msg.which(), msg)
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index b1eed3f9c6..ec43a96750 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -114,7 +114,7 @@ class TorqueEstimator:
     self.offline_friction = 0.0
     self.offline_latAccelFactor = 0.0
     self.resets = 0.0
-    self.use_params = CP.carName in ALLOWED_CARS
+    self.use_params = CP.carName in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'
 
     if CP.lateralTuning.which() == 'torque':
       self.offline_friction = CP.lateralTuning.torque.friction
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 3c416ce939..4f49398797 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -111,7 +111,7 @@ def main():
 
   while not vipc_client_main.connect(False):
     time.sleep(0.1)
-  while not vipc_client_extra.connect(False):
+  while use_extra_client and not vipc_client_extra.connect(False):
     time.sleep(0.1)
 
   cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})")
diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index de0250d212..5df172dad6 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -9,7 +9,7 @@
 #include "selfdrive/modeld/models/commonmodel.h"
 #include "selfdrive/modeld/runners/run.h"
 
-constexpr int FEATURE_LEN = 128;
+constexpr int FEATURE_LEN = 512;
 constexpr int HISTORY_BUFFER_LEN = 99;
 constexpr int DESIRE_LEN = 8;
 constexpr int DESIRE_PRED_LEN = 4;
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 88f19a7d28..fcbbb2c1f5 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c63ea3eb6c9b5a20c7420c2dc6d6d0f80a6949a39f6d8b74e574f52734154820
-size 47654714
+oid sha256:18e53fa5d0f9a185833d50fa0d777725ca715460062f3a2c050847588525d87c
+size 52272467
diff --git a/selfdrive/modeld/runners/onnxmodel.py b/selfdrive/modeld/runners/onnxmodel.py
index 3c20a39760..f86bee3878 100644
--- a/selfdrive/modeld/runners/onnxmodel.py
+++ b/selfdrive/modeld/runners/onnxmodel.py
@@ -1,3 +1,5 @@
+import onnx
+import itertools
 import os
 import sys
 import numpy as np
@@ -7,7 +9,27 @@ 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):
+def attributeproto_fp16_to_fp32(attr):
+  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
+  attr.data_type = 1
+  attr.raw_data = float32_list.astype(np.float32).tobytes()
+
+def convert_fp16_to_fp32(path):
+  model = onnx.load(path)
+  for i in model.graph.initializer:
+    if i.data_type == 10:
+      attributeproto_fp16_to_fp32(i)
+  for i in itertools.chain(model.graph.input, model.graph.output):
+    if i.type.tensor_type.elem_type == 10:
+      i.type.tensor_type.elem_type = 1
+  for i in model.graph.node:
+    for a in i.attribute:
+      if hasattr(a, 't'):
+        if a.t.data_type == 10:
+          attributeproto_fp16_to_fp32(a.t)
+  return model.SerializeToString()
+
+def create_ort_session(path, fp16_to_fp32):
   os.environ["OMP_NUM_THREADS"] = "4"
   os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
 
@@ -28,8 +50,9 @@ def create_ort_session(path):
     options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
     provider = 'CPUExecutionProvider'
 
+  model_data = convert_fp16_to_fp32(path) if fp16_to_fp32 else path
   print("Onnx selected provider: ", [provider], file=sys.stderr)
-  ort_session = ort.InferenceSession(path, options, providers=[provider])
+  ort_session = ort.InferenceSession(model_data, options, providers=[provider])
   print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
   return ort_session
 
@@ -40,7 +63,7 @@ class ONNXModel(RunModel):
     self.output = output
     self.use_tf8 = use_tf8
 
-    self.session = create_ort_session(path)
+    self.session = create_ort_session(path, fp16_to_fp32=True)
     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()}
diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py
index c3d3b3daa1..7ae6d5308f 100755
--- a/selfdrive/modeld/tests/test_modeld.py
+++ b/selfdrive/modeld/tests/test_modeld.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import time
 import unittest
 import numpy as np
 import random
@@ -27,8 +26,7 @@ class TestModeld(unittest.TestCase):
     self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration', 'lateralPlan'])
 
     managed_processes['modeld'].start()
-    time.sleep(0.2)
-    self.sm.update(1000)
+    self.pm.wait_for_readers_to_update("roadCameraState", 10)
 
   def tearDown(self):
     managed_processes['modeld'].stop()
diff --git a/selfdrive/rtshield.py b/selfdrive/rtshield.py
deleted file mode 100755
index 68dc4989cd..0000000000
--- a/selfdrive/rtshield.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-from typing import NoReturn
-
-from openpilot.common.realtime import set_core_affinity, set_realtime_priority
-
-# RT shield - ensure CPU 3 always remains available for RT processes
-#   runs as SCHED_FIFO with minimum priority to ensure kthreads don't
-#   get scheduled onto CPU 3, but it's always preemptible by realtime
-#   openpilot processes
-
-def main() -> NoReturn:
-  set_core_affinity([int(os.getenv("CORE", "3")), ])
-  set_realtime_priority(1)
-
-  while True:
-    time.sleep(0.000001)
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/sentry.py b/selfdrive/sentry.py
index 2852afa455..3056d7a4ac 100644
--- a/selfdrive/sentry.py
+++ b/selfdrive/sentry.py
@@ -77,11 +77,11 @@ def set_tag(key: str, value: str) -> None:
   sentry_sdk.set_tag(key, value)
 
 
-def init(project: SentryProject) -> None:
+def init(project: SentryProject) -> bool:
   # forks like to mess with this, so double check
   #comma_remote = is_comma_remote() and "commaai" in get_origin(default="")
   #if not comma_remote or not is_registered_device() or PC:
-  #  return
+  #  return False
 
   #env = "release" if is_tested_branch() else "master"
   env = get_branch_type()
@@ -113,3 +113,5 @@ def init(project: SentryProject) -> None:
 
   if project == SentryProject.SELFDRIVE:
     sentry_sdk.Hub.current.start_session()
+
+  return True
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index eb07432c40..552070f024 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -9,7 +9,6 @@ from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.system.hardware import PC
 from openpilot.system.version import training_version, terms_version
 
-SKIP_ENV_VAR = "SKIP_LONG_TESTS"
 
 def set_params_enabled():
   os.environ['PASSIVE'] = "0"
@@ -69,3 +68,7 @@ def with_processes(processes, init_time=0, ignore_stopped=None):
 
     return wrap
   return wrapper
+
+
+def noop(*args, **kwargs):
+  pass
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py
index 7de0a25761..ce8cd2864e 100755
--- a/selfdrive/test/process_replay/compare_logs.py
+++ b/selfdrive/test/process_replay/compare_logs.py
@@ -5,6 +5,7 @@ import capnp
 import numbers
 import dictdiffer
 from collections import Counter
+from typing import Dict
 
 from openpilot.tools.lib.logreader import LogReader
 
@@ -89,7 +90,52 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
   return diff
 
 
+def format_diff(results, log_paths, ref_commit):
+  diff1, diff2 = "", ""
+  diff2 += f"***** tested against commit {ref_commit} *****\n"
+
+  failed = False
+  for segment, result in list(results.items()):
+    diff1 += f"***** results for segment {segment} *****\n"
+    diff2 += f"***** differences for segment {segment} *****\n"
+
+    for proc, diff in list(result.items()):
+      # long diff
+      diff2 += f"*** process: {proc} ***\n"
+      diff2 += f"\tref: {log_paths[segment][proc]['ref']}\n"
+      diff2 += f"\tnew: {log_paths[segment][proc]['new']}\n\n"
+
+      # short diff
+      diff1 += f"    {proc}\n"
+      if isinstance(diff, str):
+        diff1 += f"        ref: {log_paths[segment][proc]['ref']}\n"
+        diff1 += f"        new: {log_paths[segment][proc]['new']}\n\n"
+        diff1 += f"        {diff}\n"
+        failed = True
+      elif len(diff):
+        diff1 += f"        ref: {log_paths[segment][proc]['ref']}\n"
+        diff1 += f"        new: {log_paths[segment][proc]['new']}\n\n"
+
+        cnt: Dict[str, int] = {}
+        for d in diff:
+          diff2 += f"\t{str(d)}\n"
+
+          k = str(d[1])
+          cnt[k] = 1 if k not in cnt else cnt[k] + 1
+
+        for k, v in sorted(cnt.items()):
+          diff1 += f"        {k}: {v}\n"
+        failed = True
+  return diff1, diff2, failed
+
+
 if __name__ == "__main__":
   log1 = list(LogReader(sys.argv[1]))
   log2 = list(LogReader(sys.argv[2]))
-  print(compare_logs(log1, log2, sys.argv[3:]))
+  ignore_fields = sys.argv[3:] or ["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"]
+  results = {"segment": {"proc": compare_logs(log1, log2, ignore_fields)}}
+  log_paths = {"segment": {"proc": {"ref": sys.argv[1], "new": sys.argv[2]}}}
+  diff1, diff2, failed = format_diff(results, log_paths, None)
+
+  print(diff2)
+  print(diff1)
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 4560a66b97..a445679691 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -2,17 +2,95 @@ from collections import defaultdict
 
 from cereal import messaging
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
+from openpilot.selfdrive.car.toyota.values import EPS_SCALE
+from openpilot.selfdrive.manager.process_config import managed_processes
+from panda import Panda
 
 
-def migrate_all(lr, old_logtime=False, camera_states=False):
+def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False, camera_states=False):
   msgs = migrate_sensorEvents(lr, old_logtime)
   msgs = migrate_carParams(msgs, old_logtime)
+  if manager_states:
+    msgs = migrate_managerState(msgs)
+  if panda_states:
+    msgs = migrate_pandaStates(msgs)
+    msgs = migrate_peripheralState(msgs)
   if camera_states:
     msgs = migrate_cameraStates(msgs)
 
   return msgs
 
 
+def migrate_managerState(lr):
+  all_msgs = []
+  for msg in lr:
+    if msg.which() != "managerState":
+      all_msgs.append(msg)
+      continue
+
+    new_msg = msg.as_builder()
+    new_msg.managerState.processes = [{'name': name, 'running': True} for name in managed_processes]
+    all_msgs.append(new_msg.as_reader())
+
+  return all_msgs
+
+
+def migrate_pandaStates(lr):
+  all_msgs = []
+  # TODO: safety param migration should be handled automatically
+  safety_param_migration = {
+    "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
+    "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
+    "KIA EV6 2022": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
+  }
+
+  # Migrate safety param base on carState
+  CP = next((m.carParams for m in lr if m.which() == 'carParams'), None)
+  assert CP is not None, "carParams message not found"
+  if CP.carFingerprint in safety_param_migration:
+    safety_param = safety_param_migration[CP.carFingerprint]
+  elif len(CP.safetyConfigs):
+    safety_param = CP.safetyConfigs[0].safetyParam
+    if CP.safetyConfigs[0].safetyParamDEPRECATED != 0:
+      safety_param = CP.safetyConfigs[0].safetyParamDEPRECATED
+  else:
+    safety_param = CP.safetyParamDEPRECATED
+
+  for msg in lr:
+    if msg.which() == 'pandaStateDEPRECATED':
+      new_msg = messaging.new_message('pandaStates', 1)
+      new_msg.valid = msg.valid
+      new_msg.logMonoTime = msg.logMonoTime
+      new_msg.pandaStates[0] = msg.pandaStateDEPRECATED
+      new_msg.pandaStates[0].safetyParam = safety_param
+      all_msgs.append(new_msg.as_reader())
+    elif msg.which() == 'pandaStates':
+      new_msg = msg.as_builder()
+      new_msg.pandaStates[-1].safetyParam = safety_param
+      all_msgs.append(new_msg.as_reader())
+    else:
+      all_msgs.append(msg)
+
+  return all_msgs
+
+
+def migrate_peripheralState(lr):
+  if any(msg.which() == "peripheralState" for msg in lr):
+    return lr
+
+  all_msg = []
+  for msg in lr:
+    all_msg.append(msg)
+    if msg.which() not in ["pandaStates", "pandaStateDEPRECATED"]:
+      continue
+
+    new_msg = messaging.new_message("peripheralState")
+    new_msg.logMonoTime = msg.logMonoTime
+    all_msg.append(new_msg.as_reader())
+
+  return all_msg
+
+
 def migrate_cameraStates(lr):
   all_msgs = []
   frame_to_encode_id = defaultdict(dict)
@@ -42,7 +120,11 @@ def migrate_cameraStates(lr):
     new_camera_state = getattr(new_msg, new_msg.which())
     new_camera_state.frameId = encode_id
     new_camera_state.encodeId = encode_id
-    new_camera_state.timestampSof = camera_state.timestampSof
+    # timestampSof was added later so it might be missing on some old segments
+    if camera_state.timestampSof == 0 and camera_state.timestampEof > 25000000:
+      new_camera_state.timestampSof = camera_state.timestampEof - 18000000
+    else:
+      new_camera_state.timestampSof = camera_state.timestampSof
     new_camera_state.timestampEof = camera_state.timestampEof
     new_msg.logMonoTime = msg.logMonoTime
     new_msg.valid = msg.valid
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index f576e07a40..08f86b2b5e 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -7,12 +7,10 @@ from typing import Any
 
 import cereal.messaging as messaging
 from openpilot.common.params import Params
-from openpilot.common.spinner import Spinner
 from openpilot.system.hardware import PC
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url
-from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs
-from openpilot.selfdrive.test.process_replay.test_processes import format_diff
+from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
 from openpilot.system.version import get_commit
 from openpilot.tools.lib.framereader import FrameReader
@@ -105,14 +103,6 @@ def nav_model_replay(lr):
 
 
 def model_replay(lr, frs):
-  if not PC:
-    spinner = Spinner()
-    spinner.update("starting model replay")
-  else:
-    spinner = None
-
-  log_msgs = []
-
   # modeld is using frame pairs
   modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx"})
   dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx"})
@@ -128,18 +118,9 @@ def model_replay(lr, frs):
   modeld = get_process_config("modeld")
   dmonitoringmodeld = get_process_config("dmonitoringmodeld")
 
-  try:
-    if spinner:
-      spinner.update("running model replay")
-    modeld_msgs = replay_process(modeld, modeld_logs, frs)
-    dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs)
-    log_msgs.extend([m for m in modeld_msgs if m.which() == "modelV2"])
-    log_msgs.extend([m for m in dmonitoringmodeld_msgs if m.which() == "driverStateV2"])
-  finally:
-    if spinner:
-      spinner.close()
-
-  return log_msgs
+  modeld_msgs = replay_process(modeld, modeld_logs, frs)
+  dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs)
+  return modeld_msgs + dmonitoringmodeld_msgs
 
 
 if __name__ == "__main__":
@@ -196,8 +177,8 @@ if __name__ == "__main__":
       cmp_log = []
 
       # logs are ordered based on type: modelV2, driverStateV2, nav messages (navThumbnail, mapRenderState, navModel)
-      model_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "modelV2")
-      cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES]
+      model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "cameraOdometry"))
+      cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*2]
       dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
       cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES]
       if not NO_NAV:
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index e80315133f..06099f65d7 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-4f59f5945633f7a6e54e6f0fcd8ecf0baafa28cd
+ed2d58ec217fafb7b6b8f5e27ec622acd9e734f4
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index eb49d0dedb..22a150a2ea 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -14,7 +14,7 @@ import capnp
 
 import cereal.messaging as messaging
 from cereal import car
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from cereal.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
@@ -204,7 +204,7 @@ class ProcessContainer:
   def _setup_vision_ipc(self, all_msgs):
     assert len(self.cfg.vision_pubs) != 0
 
-    device_type = next(msg.initData.deviceType for msg in all_msgs if msg.which() == "initData")
+    device_type = next(str(msg.initData.deviceType) for msg in all_msgs if msg.which() == "initData")
 
     vipc_server = VisionIpcServer("camerad")
     streams_metas = available_streams(all_msgs)
@@ -214,6 +214,7 @@ class ProcessContainer:
     vipc_server.start_listener()
 
     self.vipc_server = vipc_server
+    self.cfg.vision_pubs = [meta.camera_state for meta in streams_metas if meta.camera_state in self.cfg.vision_pubs]
 
   def _start_process(self):
     if self.capture is not None:
@@ -364,7 +365,7 @@ def controlsd_rcv_callback(msg, cfg, frame):
 
   socks = [
     s for s in cfg.subs if
-    frame % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0
+    frame % int(SERVICE_LIST[msg.which()].frequency / SERVICE_LIST[s].frequency) == 0
   ]
   if "sendcan" in socks and (frame - 1) < 2000:
     socks.remove("sendcan")
@@ -393,9 +394,8 @@ class ModeldCameraSyncRcvCallback:
     self.is_dual_camera = True
 
   def __call__(self, msg, cfg, frame):
-    if msg.which() == "initData":
-      self.is_dual_camera = msg.initData.deviceType in ["tici", "tizi"]
-    elif msg.which() == "roadCameraState":
+    self.is_dual_camera = len(cfg.vision_pubs) == 2
+    if msg.which() == "roadCameraState":
       self.road_present = True
     elif msg.which() == "wideRoadCameraState":
       self.wide_road_present = True
@@ -428,7 +428,7 @@ class FrequencyBasedRcvCallback:
 
     resp_sockets = [
       s for s in cfg.subs
-      if frame % max(1, int(service_list[msg.which()].frequency / service_list[s].frequency)) == 0
+      if frame % max(1, int(SERVICE_LIST[msg.which()].frequency / SERVICE_LIST[s].frequency)) == 0
     ]
     return bool(len(resp_sockets))
 
@@ -472,7 +472,7 @@ CONFIGS = [
       "can", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
       "longitudinalPlan", "lateralPlan", "liveLocationKalman", "liveParameters", "radarState",
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
-      "testJoystick", "liveTorqueParameters"
+      "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope"
     ],
     subs=["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
     ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"],
@@ -653,7 +653,10 @@ def replay_process(
   else:
     cfgs = [cfg]
 
-  all_msgs = migrate_all(lr, old_logtime=True, camera_states=any(len(cfg.vision_pubs) != 0 for cfg in cfgs))
+  all_msgs = migrate_all(lr, old_logtime=True,
+                         manager_states=True,
+                         panda_states=any("pandaStates" in cfg.pubs for cfg in cfgs),
+                         camera_states=any(len(cfg.vision_pubs) != 0 for cfg in cfgs))
   process_logs = _replay_multi_process(cfgs, all_msgs, frs, fingerprint, custom_params, captured_output_store, disable_progress)
 
   if return_all_logs:
@@ -681,14 +684,13 @@ def _replay_multi_process(
     env_config = generate_environ_config(CP=CP)
 
   # validate frs and vision pubs
-  for cfg in cfgs:
-    if len(cfg.vision_pubs) == 0:
-      continue
-
+  all_vision_pubs = [pub for cfg in cfgs for pub in cfg.vision_pubs]
+  if len(all_vision_pubs) != 0:
     assert frs is not None, "frs must be provided when replaying process using vision streams"
-    assert all(meta_from_camera_state(st) is not None for st in cfg.vision_pubs),\
-                                                     f"undefined vision stream spotted, probably misconfigured process: {cfg.vision_pubs}"
-    assert all(st in frs for st in cfg.vision_pubs), f"frs for this process must contain following vision streams: {cfg.vision_pubs}"
+    assert all(meta_from_camera_state(st) is not None for st in all_vision_pubs), \
+                                                          f"undefined vision stream spotted, probably misconfigured process: (vision pubs: {all_vision_pubs})"
+    required_vision_pubs = {m.camera_state for m in available_streams(lr)} & set(all_vision_pubs)
+    assert all(st in frs for st in required_vision_pubs), f"frs for this process must contain following vision streams: {required_vision_pubs}"
 
   all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
   log_msgs = []
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index c6a2d58fec..7f484d2658 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-b421ff389ce720b70a36dd2b3510af54eb484b5f
\ No newline at end of file
+d05b67ec66630521e8cedb90981002d57d738f6d
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index 81f27b7d0e..51182bf8af 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -6,8 +6,8 @@ import capnp
 
 from typing import Union, Iterable, Optional, List, Any, Dict, Tuple
 
-from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, replay_process, get_process_config, \
-                                                        check_openpilot_enabled, get_custom_params_from_lr
+from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
+                                                                   check_openpilot_enabled, get_custom_params_from_lr
 from openpilot.selfdrive.test.update_ci_routes import upload_route
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.framereader import FrameReader
@@ -17,62 +17,68 @@ from openpilot.tools.lib.helpers import save_log
 
 def regen_segment(
   lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None,
-  daemons: Union[str, Iterable[str]] = "all", disable_tqdm: bool = False
+  processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False
 ) -> List[capnp._DynamicStructReader]:
-  if not isinstance(daemons, str) and not hasattr(daemons, "__iter__"):
-    raise ValueError("whitelist_proc must be a string or iterable")
-
   all_msgs = sorted(lr, key=lambda m: m.logMonoTime)
   custom_params = get_custom_params_from_lr(all_msgs)
 
-  if daemons != "all":
-    if isinstance(daemons, str):
-      raise ValueError(f"Invalid value for daemons: {daemons}")
-
-    replayed_processes = []
-    for d in daemons:
-      cfg = get_process_config(d)
-      replayed_processes.append(cfg)
-  else:
-    replayed_processes = CONFIGS
-
-  print("Replayed processes:", [p.proc_name for p in replayed_processes])
+  print("Replayed processes:", [p.proc_name for p in processes])
   print("\n\n", "*"*30, "\n\n", sep="")
 
-  output_logs = replay_process(replayed_processes, all_msgs, frs, return_all_logs=True, custom_params=custom_params, disable_progress=disable_tqdm)
+  output_logs = replay_process(processes, all_msgs, frs, return_all_logs=True, custom_params=custom_params, disable_progress=disable_tqdm)
 
   return output_logs
 
 
-def setup_data_readers(route: str, sidx: int, use_route_meta: bool) -> Tuple[LogReader, Dict[str, Any]]:
+def setup_data_readers(
+    route: str, sidx: int, use_route_meta: bool, needs_driver_cam: bool = True, needs_road_cam: bool = True
+) -> Tuple[LogReader, Dict[str, Any]]:
   if use_route_meta:
     r = Route(route)
     lr = LogReader(r.log_paths()[sidx])
     frs = {}
-    if len(r.camera_paths()) > sidx and r.camera_paths()[sidx] is not None:
+    if needs_road_cam and len(r.camera_paths()) > sidx and r.camera_paths()[sidx] is not None:
       frs['roadCameraState'] = FrameReader(r.camera_paths()[sidx])
-    if len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None:
-      frs['wideCameraState'] = FrameReader(r.ecamera_paths()[sidx])
-    if len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
+    if needs_road_cam and  len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None:
+      frs['wideRoadCameraState'] = FrameReader(r.ecamera_paths()[sidx])
+    if needs_driver_cam and len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
       frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
   else:
     lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2")
-    frs = {
-      'roadCameraState': FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc"),
-      'driverCameraState': FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc"),
-    }
-    if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
-      frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc")
+    frs = {}
+    if needs_road_cam:
+      frs['roadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc")
+      if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
+        frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc")
+    if needs_driver_cam:
+      frs['driverCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc")
 
   return lr, frs
 
 
 def regen_and_save(
-  route: str, sidx: int, daemons: Union[str, Iterable[str]] = "all", outdir: str = FAKEDATA,
+  route: str, sidx: int, processes: Union[str, Iterable[str]] = "all", outdir: str = FAKEDATA,
   upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False
 ) -> str:
-  lr, frs = setup_data_readers(route, sidx, use_route_meta)
-  output_logs = regen_segment(lr, frs, daemons, disable_tqdm=disable_tqdm)
+  if not isinstance(processes, str) and not hasattr(processes, "__iter__"):
+    raise ValueError("whitelist_proc must be a string or iterable")
+
+  if processes != "all":
+    if isinstance(processes, str):
+      raise ValueError(f"Invalid value for processes: {processes}")
+
+    replayed_processes = []
+    for d in processes:
+      cfg = get_process_config(d)
+      replayed_processes.append(cfg)
+  else:
+    replayed_processes = CONFIGS
+
+  all_vision_pubs = {pub for cfg in replayed_processes for pub in cfg.vision_pubs}
+  lr, frs = setup_data_readers(route, sidx, use_route_meta,
+                               needs_driver_cam="driverCameraState" in all_vision_pubs,
+                               needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs)
+  output_logs = regen_segment(lr, frs, replayed_processes, disable_tqdm=disable_tqdm)
 
   log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime()))
   rel_log_dir = os.path.relpath(log_dir)
@@ -110,5 +116,5 @@ if __name__ == "__main__":
   args = parser.parse_args()
 
   blacklist_set = set(args.blacklist_procs)
-  daemons = [p for p in args.whitelist_procs if p not in blacklist_set]
-  regen_and_save(args.route, args.seg, daemons=daemons, upload=args.upload, outdir=args.outdir)
+  processes = [p for p in args.whitelist_procs if p not in blacklist_set]
+  regen_and_save(args.route, args.seg, processes=processes, upload=args.upload, outdir=args.outdir)
diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py
index df7c76a14d..b797b9b0da 100755
--- a/selfdrive/test/process_replay/regen_all.py
+++ b/selfdrive/test/process_replay/regen_all.py
@@ -29,15 +29,25 @@ def regen_job(segment, upload, disable_tqdm):
 
 
 if __name__ == "__main__":
+  all_cars = {car for car, _ in segments}
+
   parser = argparse.ArgumentParser(description="Generate new segments from old ones")
   parser.add_argument("-j", "--jobs", type=int, default=1)
   parser.add_argument("--no-upload", action="store_true")
+  parser.add_argument("--whitelist-cars", type=str, nargs="*", default=all_cars,
+                      help="Whitelist given cars from the test (e.g. HONDA)")
+  parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[],
+                      help="Blacklist given cars from the test (e.g. HONDA)")
   args = parser.parse_args()
 
+  tested_cars = set(args.whitelist_cars) - set(args.blacklist_cars)
+  tested_cars = {c.upper() for c in tested_cars}
+  tested_segments = [(car, segment) for car, segment in segments if car in tested_cars]
+
   with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
-    p = pool.map(regen_job, segments, [not args.no_upload] * len(segments), [args.jobs > 1] * len(segments))
+    p = pool.map(regen_job, tested_segments, [not args.no_upload] * len(tested_segments), [args.jobs > 1] * len(tested_segments))
     msg = "Copy these new segments into test_processes.py:"
-    for seg in tqdm(p, desc="Generating segments", total=len(segments)):
+    for seg in tqdm(p, desc="Generating segments", total=len(tested_segments)):
       msg += "\n" + str(seg)
     print()
     print()
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 973c16971e..e36548d7e5 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -9,7 +9,7 @@ from typing import Any, DefaultDict, Dict
 
 from openpilot.selfdrive.car.car_helpers import interface_names
 from openpilot.selfdrive.test.openpilotci import get_url, upload_file
-from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs
+from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process
 from openpilot.system.version import get_commit
 from openpilot.tools.lib.filereader import FileReader
@@ -115,45 +115,6 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
     return str(e), log_msgs
 
 
-def format_diff(results, log_paths, ref_commit):
-  diff1, diff2 = "", ""
-  diff2 += f"***** tested against commit {ref_commit} *****\n"
-
-  failed = False
-  for segment, result in list(results.items()):
-    diff1 += f"***** results for segment {segment} *****\n"
-    diff2 += f"***** differences for segment {segment} *****\n"
-
-    for proc, diff in list(result.items()):
-      # long diff
-      diff2 += f"*** process: {proc} ***\n"
-      diff2 += f"\tref: {log_paths[segment][proc]['ref']}\n"
-      diff2 += f"\tnew: {log_paths[segment][proc]['new']}\n\n"
-
-      # short diff
-      diff1 += f"    {proc}\n"
-      if isinstance(diff, str):
-        diff1 += f"        ref: {log_paths[segment][proc]['ref']}\n"
-        diff1 += f"        new: {log_paths[segment][proc]['new']}\n\n"
-        diff1 += f"        {diff}\n"
-        failed = True
-      elif len(diff):
-        diff1 += f"        ref: {log_paths[segment][proc]['ref']}\n"
-        diff1 += f"        new: {log_paths[segment][proc]['new']}\n\n"
-
-        cnt: Dict[str, int] = {}
-        for d in diff:
-          diff2 += f"\t{str(d)}\n"
-
-          k = str(d[1])
-          cnt[k] = 1 if k not in cnt else cnt[k] + 1
-
-        for k, v in sorted(cnt.items()):
-          diff1 += f"        {k}: {v}\n"
-        failed = True
-  return diff1, diff2, failed
-
-
 if __name__ == "__main__":
   all_cars = {car for car, _ in segments}
   all_procs = {cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS}
diff --git a/selfdrive/test/process_replay/test_regen.py b/selfdrive/test/process_replay/test_regen.py
new file mode 100755
index 0000000000..ec1277a76c
--- /dev/null
+++ b/selfdrive/test/process_replay/test_regen.py
@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+
+import unittest
+
+from parameterized import parameterized
+
+from openpilot.selfdrive.test.process_replay.regen import regen_segment
+from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled, CONFIGS
+from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.framereader import FrameReader
+
+EXCLUDED_PROCESSES = {"dmonitoringd", "dmonitoringmodeld"}
+TESTED_SEGMENTS = [
+  ("PRIUS_C2", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA PRIUS 2017:     NEO, pandaStateDEPRECATED, no peripheralState, sensorEventsDEPRECATED
+  # Enable these once regen on CI becomes faster or use them for different tests running controlsd in isolation
+  # ("MAZDA_C3", "bd6a637565e91581|2021-10-30--15-14-53--4"),  # MAZDA.CX9_2021:        TICI, incomplete managerState
+  # ("FORD_C3", "54827bf84c38b14f|2023-01-26--21-59-07--4"),   # FORD.BRONCO_SPORT_MK1: TICI
+]
+
+
+def ci_setup_data_readers(route, sidx):
+  lr = LogReader(get_url(route, sidx, "rlog"))
+  # dm disabled
+  frs = {
+    'roadCameraState': FrameReader(get_url(route, sidx, "fcamera")),
+  }
+  if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
+    frs["wideRoadCameraState"] = FrameReader(get_url(route, sidx, "ecamera"))
+
+  return lr, frs
+
+
+class TestRegen(unittest.TestCase):
+  @parameterized.expand(TESTED_SEGMENTS)
+  def test_engaged(self, case_name, segment):
+    tested_procs = [p for p in CONFIGS if p.proc_name not in EXCLUDED_PROCESSES]
+
+    route, sidx = segment.rsplit("--", 1)
+    lr, frs = ci_setup_data_readers(route, sidx)
+    output_logs = regen_segment(lr, frs, processes=tested_procs, disable_tqdm=True)
+
+    engaged = check_openpilot_enabled(output_logs)
+    self.assertTrue(engaged, f"openpilot not engaged in {case_name}")
+
+
+if __name__=='__main__':
+  unittest.main()
diff --git a/selfdrive/test/process_replay/vision_meta.py b/selfdrive/test/process_replay/vision_meta.py
index 2994b77452..b3c3dc0c9c 100644
--- a/selfdrive/test/process_replay/vision_meta.py
+++ b/selfdrive/test/process_replay/vision_meta.py
@@ -4,9 +4,9 @@ from openpilot.common.realtime import DT_MDL, DT_DMON
 from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size, eon_f_frame_size, eon_d_frame_size
 
 VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"])
-ROAD_CAMERA_FRAME_SIZES = {"tici": tici_f_frame_size, "tizi": tici_f_frame_size, "eon": eon_f_frame_size}
+ROAD_CAMERA_FRAME_SIZES = {"tici": tici_f_frame_size, "tizi": tici_f_frame_size, "neo": eon_f_frame_size}
 WIDE_ROAD_CAMERA_FRAME_SIZES = {"tici": tici_e_frame_size, "tizi": tici_e_frame_size}
-DRIVER_FRAME_SIZES = {"tici": tici_d_frame_size, "tizi": tici_d_frame_size, "eon": eon_d_frame_size}
+DRIVER_FRAME_SIZES = {"tici": tici_d_frame_size, "tizi": tici_d_frame_size, "neo": eon_d_frame_size}
 VIPC_STREAM_METADATA = [
   # metadata: (state_msg_type, encode_msg_type, stream_type, dt, frame_sizes)
   ("roadCameraState", "roadEncodeIdx", VisionStreamType.VISION_STREAM_ROAD, DT_MDL, ROAD_CAMERA_FRAME_SIZES),
diff --git a/selfdrive/test/profiling/lib.py b/selfdrive/test/profiling/lib.py
index 843bf52211..7f3b0126ff 100644
--- a/selfdrive/test/profiling/lib.py
+++ b/selfdrive/test/profiling/lib.py
@@ -1,5 +1,5 @@
 from collections import defaultdict, deque
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 import cereal.messaging as messaging
 import capnp
 
@@ -67,7 +67,7 @@ class SubMaster(messaging.SubMaster):
     self.msgs = list(reversed(self.msgs))
 
     for s in services:
-      self.freq[s] = service_list[s].frequency
+      self.freq[s] = SERVICE_LIST[s].frequency
       try:
         data = messaging.new_message(s)
       except capnp.lib.capnp.KjException:
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 553ef1afa6..894ab15c12 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -13,7 +13,7 @@ from pathlib import Path
 
 from cereal import car
 import cereal.messaging as messaging
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.timeout import Timeout
 from openpilot.common.params import Params
@@ -179,7 +179,7 @@ class TestOnroad(unittest.TestCase):
         continue
 
       with self.subTest(service=s):
-        assert len(msgs) >= math.floor(service_list[s].frequency*55)
+        assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*55)
 
   def test_cloudlog_size(self):
     msgs = [m for m in self.lr if m.which() == 'logMessage']
@@ -356,7 +356,7 @@ class TestOnroad(unittest.TestCase):
         raise Exception(f"missing {s}")
 
       ts = np.diff(msgs) / 1e9
-      dt = 1 / service_list[s].frequency
+      dt = 1 / SERVICE_LIST[s].frequency
 
       try:
         np.testing.assert_allclose(np.mean(ts), dt, rtol=0.03, err_msg=f"{s} - failed mean timing check")
diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py
index 429feca344..501ce16b64 100755
--- a/selfdrive/test/test_time_to_onroad.py
+++ b/selfdrive/test/test_time_to_onroad.py
@@ -16,7 +16,7 @@ def test_time_to_onroad():
   proc = subprocess.Popen(["python", manager_path])
 
   start_time = time.monotonic()
-  sm = messaging.SubMaster(['controlsState', 'deviceState'])
+  sm = messaging.SubMaster(['controlsState', 'deviceState', 'carEvents'])
   try:
     # wait for onroad
     with Timeout(20, "timed out waiting to go onroad"):
@@ -38,7 +38,7 @@ def test_time_to_onroad():
     # once we're enageable, must be for the next few seconds
     for _ in range(500):
       sm.update(100)
-      assert sm['controlsState'].engageable
+      assert sm['controlsState'].engageable, f"events: {sm['carEvents']}"
   finally:
     proc.terminate()
     if proc.wait(60) is None:
diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py
index c3a890f068..f8d43737cd 100755
--- a/selfdrive/thermald/tests/test_power_monitoring.py
+++ b/selfdrive/thermald/tests/test_power_monitoring.py
@@ -3,6 +3,7 @@ import unittest
 from unittest.mock import patch
 
 from openpilot.common.params import Params
+from openpilot.selfdrive.test.helpers import noop
 from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
                                                 CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S
 
@@ -25,6 +26,7 @@ def pm_patch(name, value, constant=False):
 
 
 @patch("time.monotonic", new=mock_time_monotonic)
+@patch("openpilot.selfdrive.thermald.power_monitoring.put_nonblocking", new=noop) # TODO: Remove this once nonblocking params are safer
 class TestPowerMonitoring(unittest.TestCase):
   def setUp(self):
     self.params = Params()
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 256db7d061..90388bcebf 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -13,6 +13,7 @@ import psutil
 
 import cereal.messaging as messaging
 from cereal import log
+from cereal.services import SERVICE_LIST
 from openpilot.common.dict_helpers import strip_deprecated_keys
 from openpilot.common.time import MIN_DATE
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -33,7 +34,7 @@ NetworkStrength = log.DeviceState.NetworkStrength
 CURRENT_TAU = 15.   # 15s time constant
 TEMP_TAU = 5.   # 5s time constant
 DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect so you get an alert
-PANDA_STATES_TIMEOUT = int(1000 * 1.5 * DT_TRML)  # 1.5x the expected pandaState frequency
+PANDA_STATES_TIMEOUT = round(1000 / SERVICE_LIST['pandaStates'].frequency * 1.5)  # 1.5x the expected pandaState frequency
 
 ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
 HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats',
@@ -212,6 +213,10 @@ def thermald_thread(end_event, hw_queue) -> None:
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
 
+    # Run at 2Hz
+    if sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_TRML) != 0:
+      continue
+
     pandaStates = sm['pandaStates']
     peripheralState = sm['peripheralState']
     peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown
diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py
index a1479003ee..3f2fb28d23 100755
--- a/selfdrive/tombstoned.py
+++ b/selfdrive/tombstoned.py
@@ -46,19 +46,16 @@ def get_apport_stacktrace(fn):
 
 
 def get_tombstones():
-  """Returns list of (filename, ctime) for all tombstones in /data/tombstones
-  and apport crashlogs in /var/crash"""
+  """Returns list of (filename, ctime) for all crashlogs"""
   files = []
-  for folder in [TOMBSTONE_DIR, APPORT_DIR]:
-    if os.path.exists(folder):
-      with os.scandir(folder) as d:
-
-        # Loop over first 1000 directory entries
-        for _, f in zip(range(1000), d, strict=False):
-          if f.name.startswith("tombstone"):
-            files.append((f.path, int(f.stat().st_ctime)))
-          elif f.name.endswith(".crash") and f.stat().st_mode == 0o100640:
-            files.append((f.path, int(f.stat().st_ctime)))
+  if os.path.exists(APPORT_DIR):
+    with os.scandir(APPORT_DIR) as d:
+      # Loop over first 1000 directory entries
+      for _, f in zip(range(1000), d, strict=False):
+        if f.name.startswith("tombstone"):
+          files.append((f.path, int(f.stat().st_ctime)))
+        elif f.name.endswith(".crash") and f.stat().st_mode == 0o100640:
+          files.append((f.path, int(f.stat().st_ctime)))
   return files
 
 
@@ -143,7 +140,7 @@ def report_tombstone_apport(fn):
 
 
 def main() -> NoReturn:
-  sentry.init(sentry.SentryProject.SELFDRIVE_NATIVE)
+  should_report = sentry.init(sentry.SentryProject.SELFDRIVE_NATIVE)
 
   # Clear apport folder on start, otherwise duplicate crashes won't register
   clear_apport_folder()
@@ -153,6 +150,14 @@ def main() -> NoReturn:
     now_tombstones = set(get_tombstones())
 
     for fn, _ in (now_tombstones - initial_tombstones):
+      # clear logs if we're not interested in them
+      if not should_report:
+        try:
+          os.remove(fn)
+        except Exception:
+          pass
+        continue
+
       try:
         cloudlog.info(f"reporting new tombstone {fn}")
         if fn.endswith(".crash"):
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 1274c8b60d..a274b342fc 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -21,7 +21,7 @@ if arch == "Darwin":
   qt_env['FRAMEWORKS'] += ['OpenCL']
 
 qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs)
-widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", "qt/widgets/wifi.cc",
+widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/wifi.cc",
                "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
                "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
                "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index fcb7626430..48de10a79c 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -11,8 +11,6 @@
 
 #ifdef ENABLE_MAPS
 #include "selfdrive/ui/qt/maps/map_settings.h"
-#else
-#include "selfdrive/ui/qt/widgets/drive_stats.h"
 #endif
 
 // HomeWindow: the container for the offroad and onroad UIs
@@ -170,7 +168,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
 #ifdef ENABLE_MAPS
     left_widget->addWidget(new MapSettings);
 #else
-    left_widget->addWidget(new DriveStats);
+    left_widget->addWidget(new QWidget);
 #endif
     custom_mapbox = QString::fromStdString(params.get("CustomMapboxTokenSk")) != "";
     if (!custom_mapbox) {
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 58f48a45e0..ea03b8a98f 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -26,7 +26,6 @@
 #include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/widgets/input.h"
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // param, title, desc, icon
@@ -404,7 +403,7 @@ void DevicePanel::refreshPin() {
 void DevicePanel::updateCalibDescription() {
   QString desc =
       tr("sunnypilot requires the device to be mounted within 4° left or right and "
-         "within 5° up or 8° down. sunnypilot is continuously calibrating, resetting is rarely required.");
+         "within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.");
   std::string calib_bytes = params.get("CalibrationParams");
   if (!calib_bytes.empty()) {
     try {
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 5a8f133c66..927991b841 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -5,6 +5,7 @@
 #include <chrono>
 #include <map>
 #include <memory>
+#include <sstream>
 
 #include <QDebug>
 #include <QMouseEvent>
@@ -560,7 +561,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   latActive = car_control.getLatActive();
   madsEnabled = car_state.getMadsEnabled();
 
-  brakeLights = car_state.getBrakeLights() && s.scene.visual_brake_lights;
+  brakeLights = car_state.getBrakeLightsDEPRECATED() && s.scene.visual_brake_lights;
 
   standStillTimer = s.scene.stand_still_timer;
   standStill = car_state.getStandstill();
@@ -733,7 +734,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
     }
   }
 
-  if ((car_state.getCruiseState().getEnabled() || car_state.getBrakeLights()) && !car_state.getGasPressed() && car_state.getStandstill()) {
+  if ((car_state.getCruiseState().getEnabled() || car_state.getBrakeLightsDEPRECATED()) && !car_state.getGasPressed() && car_state.getStandstill()) {
     if (e2eLStatus == 2 && !radar_state.getLeadOne().getStatus()) {
       if (chime_sent) {
         chime_count = 0;
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index 67eeb81f54..3a8853dd1e 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -41,8 +41,6 @@ const char frame_fragment_shader[] =
   "out vec4 colorOut;\n"
   "void main() {\n"
   "  colorOut = texture(uTexture, vTexCoord);\n"
-  // gamma to improve worst case visibility when dark
-  "  colorOut.rgb = pow(colorOut.rgb, vec3(1.0/1.28));\n"
   "}\n";
 #else
 const char frame_fragment_shader[] =
diff --git a/selfdrive/ui/qt/widgets/drive_stats.cc b/selfdrive/ui/qt/widgets/drive_stats.cc
deleted file mode 100644
index 31009f03ca..0000000000
--- a/selfdrive/ui/qt/widgets/drive_stats.cc
+++ /dev/null
@@ -1,97 +0,0 @@
-#include "selfdrive/ui/qt/widgets/drive_stats.h"
-
-#include <QDebug>
-#include <QGridLayout>
-#include <QJsonObject>
-#include <QVBoxLayout>
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/request_repeater.h"
-#include "selfdrive/ui/qt/util.h"
-
-static QLabel* newLabel(const QString& text, const QString &type) {
-  QLabel* label = new QLabel(text);
-  label->setProperty("type", type);
-  return label;
-}
-
-DriveStats::DriveStats(QWidget* parent) : QFrame(parent) {
-  metric_ = Params().getBool("IsMetric");
-
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(50, 50, 50, 60);
-
-  auto add_stats_layouts = [=](const QString &title, StatsLabels& labels) {
-    QGridLayout* grid_layout = new QGridLayout;
-    grid_layout->setVerticalSpacing(10);
-    grid_layout->setContentsMargins(0, 10, 0, 10);
-
-    int row = 0;
-    grid_layout->addWidget(newLabel(title, "title"), row++, 0, 1, 3);
-    grid_layout->addItem(new QSpacerItem(0, 50), row++, 0, 1, 1);
-
-    grid_layout->addWidget(labels.routes = newLabel("0", "number"), row, 0, Qt::AlignLeft);
-    grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft);
-    grid_layout->addWidget(labels.hours = newLabel("0", "number"), row, 2, Qt::AlignLeft);
-
-    grid_layout->addWidget(newLabel((tr("Drives")), "unit"), row + 1, 0, Qt::AlignLeft);
-    grid_layout->addWidget(labels.distance_unit = newLabel(getDistanceUnit(), "unit"), row + 1, 1, Qt::AlignLeft);
-    grid_layout->addWidget(newLabel(tr("Hours"), "unit"), row + 1, 2, Qt::AlignLeft);
-
-    main_layout->addLayout(grid_layout);
-  };
-
-  add_stats_layouts(tr("ALL TIME"), all_);
-  main_layout->addStretch();
-  add_stats_layouts(tr("PAST WEEK"), week_);
-
-  if (auto dongleId = getDongleId()) {
-    QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/stats";
-    RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_DriveStats", 30);
-    QObject::connect(repeater, &RequestRepeater::requestDone, this, &DriveStats::parseResponse);
-  }
-
-  setStyleSheet(R"(
-    DriveStats {
-      background-color: #333333;
-      border-radius: 10px;
-    }
-
-    QLabel[type="title"] { font-size: 51px; font-weight: 500; }
-    QLabel[type="number"] { font-size: 78px; font-weight: 500; }
-    QLabel[type="unit"] { font-size: 51px; font-weight: 300; color: #A0A0A0; }
-  )");
-}
-
-void DriveStats::updateStats() {
-  auto update = [=](const QJsonObject& obj, StatsLabels& labels) {
-    labels.routes->setText(QString::number((int)obj["routes"].toDouble()));
-    labels.distance->setText(QString::number(int(obj["distance"].toDouble() * (metric_ ? MILE_TO_KM : 1))));
-    labels.distance_unit->setText(getDistanceUnit());
-    labels.hours->setText(QString::number((int)(obj["minutes"].toDouble() / 60)));
-  };
-
-  QJsonObject json = stats_.object();
-  update(json["all"].toObject(), all_);
-  update(json["week"].toObject(), week_);
-}
-
-void DriveStats::parseResponse(const QString& response, bool success) {
-  if (!success) return;
-
-  QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8());
-  if (doc.isNull()) {
-    qDebug() << "JSON Parse failed on getting past drives statistics";
-    return;
-  }
-  stats_ = doc;
-  updateStats();
-}
-
-void DriveStats::showEvent(QShowEvent* event) {
-  bool metric = Params().getBool("IsMetric");
-  if (metric_ != metric) {
-    metric_ = metric;
-    updateStats();
-  }
-}
diff --git a/selfdrive/ui/qt/widgets/drive_stats.h b/selfdrive/ui/qt/widgets/drive_stats.h
deleted file mode 100644
index 5e2d96b240..0000000000
--- a/selfdrive/ui/qt/widgets/drive_stats.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#pragma once
-
-#include <QJsonDocument>
-#include <QLabel>
-
-class DriveStats : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit DriveStats(QWidget* parent = 0);
-
-private:
-  void showEvent(QShowEvent *event) override;
-  void updateStats();
-  inline QString getDistanceUnit() const { return metric_ ? tr("KM") : tr("Miles"); }
-
-  bool metric_;
-  QJsonDocument stats_;
-  struct StatsLabels {
-    QLabel *routes, *distance, *distance_unit, *hours;
-  } all_, week_;
-
-private slots:
-  void parseResponse(const QString &response, bool success);
-};
diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h
index 917ea21b57..089e54e4a0 100644
--- a/selfdrive/ui/qt/widgets/input.h
+++ b/selfdrive/ui/qt/widgets/input.h
@@ -26,7 +26,7 @@ class InputDialog : public DialogBase {
 
 public:
   explicit InputDialog(const QString &title, QWidget *parent, const QString &subtitle = "", bool secret = false);
-  static QString getText(const QString &title, QWidget *parent, const QString &substitle = "",
+  static QString getText(const QString &title, QWidget *parent, const QString &subtitle = "",
                          bool secret = false, int minLength = -1, const QString &defaultText = "");
   QString text();
   void setMessage(const QString &message, bool clearInputField = true);
diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
index 1ff203b97d..622d198f7d 100755
--- a/selfdrive/ui/tests/test_translations.py
+++ b/selfdrive/ui/tests/test_translations.py
@@ -114,6 +114,13 @@ class TestTranslations(unittest.TestCase):
           self.assertFalse(line.strip().startswith(LOCATION_TAG),
                            f"Line contains location tag: {line.strip()}, remove all line numbers.")
 
+  def test_entities_error(self):
+    for name, file in self.translation_files.items():
+      with self.subTest(name=name, file=file):
+        cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file)
+        matches = re.findall(r'@(\w+);', cur_translations)
+        self.assertEqual(len(matches), 0, f"The string(s) {matches} were found with '@' instead of '&'")
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
index fa659e18ba..321cdeedd2 100644
--- a/selfdrive/ui/translations/languages.json
+++ b/selfdrive/ui/translations/languages.json
@@ -4,6 +4,7 @@
   "Français": "main_fr",
   "Português": "main_pt-BR",
   "Türkçe": "main_tr",
+  "العربية": "main_ar",
   "ไทย": "main_th",
   "中文（繁體）": "main_zh-CHT",
   "中文（简体）": "main_zh-CHS",
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 07a84fca08..4159f28c31 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -5,7 +5,7 @@
     <name>AbstractAlert</name>
     <message>
         <source>Close</source>
-        <translation>أغلق</translation>
+        <translation>إغلاق</translation>
     </message>
     <message>
         <source>Snooze Update</source>
@@ -20,7 +20,7 @@
     <name>AdvancedNetworking</name>
     <message>
         <source>Back</source>
-        <translation>خلف</translation>
+        <translation>السابق</translation>
     </message>
     <message>
         <source>Enable Tethering</source>
@@ -28,7 +28,7 @@
     </message>
     <message>
         <source>Tethering Password</source>
-        <translation>كلمة مرور للربط</translation>
+        <translation>كلمة مرور الربط</translation>
     </message>
     <message>
         <source>EDIT</source>
@@ -36,7 +36,7 @@
     </message>
     <message>
         <source>Enter new tethering password</source>
-        <translation>أدخل كلمة مرور جديدة للربط</translation>
+        <translation>أدخل كلمة مرور الربط الجديدة</translation>
     </message>
     <message>
         <source>IP Address</source>
@@ -48,46 +48,46 @@
     </message>
     <message>
         <source>APN Setting</source>
-        <translation>إعداد APN</translation>
+        <translation>إعدادات APN</translation>
     </message>
     <message>
         <source>Enter APN</source>
-        <translation>أدخل APN</translation>
+        <translation>إدخال APN</translation>
     </message>
     <message>
         <source>leave blank for automatic configuration</source>
-        <translation>اتركه فارغا للتكوين التلقائي</translation>
+        <translation>اتركه فارغاً من أجل التكوين التلقائي</translation>
     </message>
     <message>
         <source>Cellular Metered</source>
-        <translation type="unfinished"></translation>
+        <translation>محدود بالاتصال الخلوي</translation>
     </message>
     <message>
         <source>Prevent large data uploads when on a metered connection</source>
-        <translation type="unfinished"></translation>
+        <translation>منع تحميل البيانات الكبيرة عندما يكون الاتصال محدوداً</translation>
     </message>
 </context>
 <context>
     <name>AnnotatedCameraWidget</name>
     <message>
         <source>km/h</source>
-        <translation>km/h</translation>
+        <translation>كم/س</translation>
     </message>
     <message>
         <source>mph</source>
-        <translation>mph</translation>
+        <translation>ميل/س</translation>
     </message>
     <message>
         <source>MAX</source>
-        <translation>الأعلى</translation>
+        <translation>MAX</translation>
     </message>
     <message>
         <source>SPEED</source>
-        <translation>سرعة</translation>
+        <translation>SPEED</translation>
     </message>
     <message>
         <source>LIMIT</source>
-        <translation>حد</translation>
+        <translation>LIMIT</translation>
     </message>
 </context>
 <context>
@@ -109,11 +109,38 @@
     </message>
     <message>
         <source>Back</source>
-        <translation>خلف</translation>
+        <translation>السابق</translation>
     </message>
     <message>
         <source>Decline, uninstall %1</source>
-        <translation>رفض ، قم بإلغاء تثبيت %1</translation>
+        <translation>رفض، إلغاء التثبيت %1</translation>
+    </message>
+</context>
+<context>
+    <name>DestinationWidget</name>
+    <message>
+        <source>Home</source>
+        <translation>المنزل</translation>
+    </message>
+    <message>
+        <source>Work</source>
+        <translation>العمل</translation>
+    </message>
+    <message>
+        <source>No destination set</source>
+        <translation>لم يتم ضبط الوجهة</translation>
+    </message>
+    <message>
+        <source>home</source>
+        <translation>المنزل</translation>
+    </message>
+    <message>
+        <source>work</source>
+        <translation>العمل</translation>
+    </message>
+    <message>
+        <source>No %1 location set</source>
+        <translation>لم يتم ضبط %1 موقع</translation>
     </message>
 </context>
 <context>
@@ -128,19 +155,19 @@
     </message>
     <message>
         <source>Serial</source>
-        <translation>التسلسلي</translation>
+        <translation>الرقم التسلسلي</translation>
     </message>
     <message>
         <source>Driver Camera</source>
-        <translation>كاميرا السائق</translation>
+        <translation>كاميرة السائق</translation>
     </message>
     <message>
         <source>PREVIEW</source>
-        <translation>لمح</translation>
+        <translation>معاينة</translation>
     </message>
     <message>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>قم بمعاينة الكاميرا المواجهة للسائق للتأكد من أن نظام مراقبة السائق يتمتع برؤية جيدة. (يجب أن تكون السيارة معطلة)</translation>
+        <translation>قم بمعاينة الكاميرا المواجهة للسائق للتأكد من أن نظام مراقبة السائق يتمتع برؤية جيدة. (يجب أن تكون السيارة متوقفة)</translation>
     </message>
     <message>
         <source>Reset Calibration</source>
@@ -148,7 +175,7 @@
     </message>
     <message>
         <source>RESET</source>
-        <translation>إعادة تعيين</translation>
+        <translation>إعادة الضبط</translation>
     </message>
     <message>
         <source>Are you sure you want to reset calibration?</source>
@@ -164,7 +191,7 @@
     </message>
     <message>
         <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>راجع القواعد والميزات والقيود الخاصة بـ openpilot</translation>
+        <translation>مراجعة الأدوار والميزات والقيود في openpilot</translation>
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
@@ -172,7 +199,7 @@
     </message>
     <message>
         <source>Regulatory</source>
-        <translation>تنظيمية</translation>
+        <translation>التنظيمية</translation>
     </message>
     <message>
         <source>VIEW</source>
@@ -192,43 +219,43 @@
     </message>
     <message>
         <source>Reboot</source>
-        <translation>اعادة التشغيل</translation>
+        <translation>إعادة التشغيل</translation>
     </message>
     <message>
         <source>Power Off</source>
-        <translation>أطفاء</translation>
+        <translation>إيقاف التشغيل</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>يتطلب openpilot أن يتم تركيب الجهاز في حدود 4 درجات يسارًا أو يمينًا و 5 درجات لأعلى أو 8 درجات لأسفل. يقوم برنامج openpilot بالمعايرة بشكل مستمر ، ونادراً ما تكون إعادة الضبط مطلوبة.</translation>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>يحتاج openpilot أن يتم ضبط الجهاز ضمن حدود 4 درجات يميناً أو يساراً و5 درجات نحو الأعلى أو 9 نحو الأسفل. يقوم openpilot بالمعايرة باستمرار، ونادراً ما يحتاج إلى عملية إعادة الضبط.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> جهازك يشير %1° %2 و %3° %4.</translation>
+        <translation> يشير جهازك إلى %1 درجة %2، و%3 درجة %4.</translation>
     </message>
     <message>
         <source>down</source>
-        <translation>لأسفل</translation>
+        <translation>نحو الأسفل</translation>
     </message>
     <message>
         <source>up</source>
-        <translation>إلى أعلى</translation>
+        <translation>نحو الأعلى</translation>
     </message>
     <message>
         <source>left</source>
-        <translation>إلى اليسار</translation>
+        <translation>نحو اليسار</translation>
     </message>
     <message>
         <source>right</source>
-        <translation>إلى اليمين</translation>
+        <translation>نحو اليمين</translation>
     </message>
     <message>
         <source>Are you sure you want to reboot?</source>
-        <translation>هل أنت متأكد أنك تريد إعادة التشغيل؟</translation>
+        <translation>هل أنت متأكد  أنك تريد إعادة التشغيل؟</translation>
     </message>
     <message>
         <source>Disengage to Reboot</source>
-        <translation>فك الارتباط لإعادة التشغيل</translation>
+        <translation>فك الارتباط من أجل إعادة التشغيل</translation>
     </message>
     <message>
         <source>Are you sure you want to power off?</source>
@@ -236,34 +263,15 @@
     </message>
     <message>
         <source>Disengage to Power Off</source>
-        <translation>فك الارتباط لإيقاف التشغيل</translation>
-    </message>
-</context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>أرقام القيادة</translation>
+        <translation>فك الارتباط من أجل إيقاف التشغيل</translation>
     </message>
     <message>
-        <source>Hours</source>
-        <translation>ساعات</translation>
+        <source>Reset</source>
+        <translation>إعادة الضبط</translation>
     </message>
     <message>
-        <source>ALL TIME</source>
-        <translation>في كل وقت</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>الأسبوع الماضي</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>كم</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>اميال</translation>
+        <source>Review</source>
+        <translation>مراجعة</translation>
     </message>
 </context>
 <context>
@@ -273,6 +281,17 @@
         <translation>بدء تشغيل الكاميرا</translation>
     </message>
 </context>
+<context>
+    <name>ExperimentalModeButton</name>
+    <message>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation>تشغيل الوضع التجريبي</translation>
+    </message>
+    <message>
+        <source>CHILL MODE ON</source>
+        <translation>تشغيل وضع الراحة</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -282,12 +301,12 @@
     <message numerus="yes">
         <source>Need at least %n character(s)!</source>
         <translation>
-            <numerusform>تحتاج على الأقل %n حرف!</numerusform>
-            <numerusform>تحتاج على الأقل %n حرف!</numerusform>
-            <numerusform>تحتاج على الأقل %n احرف!</numerusform>
-            <numerusform>تحتاج على الأقل %n احرف!</numerusform>
-            <numerusform>تحتاج على الأقل %n احرف!</numerusform>
-            <numerusform>تحتاج على الأقل %n احرف!</numerusform>
+            <numerusform>تحتاج إلى حرف %n على الأقل!</numerusform>
+            <numerusform>تحتاج إلى حرف %n على الأقل!</numerusform>
+            <numerusform>تحتاج إلى حرفين %n على الأقل!</numerusform>
+            <numerusform>تحتاج إلى %n أحرف على الأقل!</numerusform>
+            <numerusform>تحتاج إلى %n أحرف على الأقل!</numerusform>
+            <numerusform>تحتاج إلى %n حرف على الأقل!</numerusform>
         </translation>
     </message>
 </context>
@@ -295,102 +314,33 @@
     <name>Installer</name>
     <message>
         <source>Installing...</source>
-        <translation>جارٍ التثبيت ...</translation>
-    </message>
-    <message>
-        <source>Receiving objects: </source>
-        <translation>استقبال الكائنات: </translation>
-    </message>
-    <message>
-        <source>Resolving deltas: </source>
-        <translation>حل دلتا: </translation>
-    </message>
-    <message>
-        <source>Updating files: </source>
-        <translation>جارٍ تحديث الملفات: </translation>
+        <translation>جارٍ التثبيت...</translation>
     </message>
 </context>
 <context>
     <name>MapETA</name>
     <message>
         <source>eta</source>
-        <translation>eta</translation>
+        <translation>الوصول</translation>
     </message>
     <message>
         <source>min</source>
-        <translation>دق</translation>
+        <translation>د</translation>
     </message>
     <message>
         <source>hr</source>
-        <translation>سع</translation>
-    </message>
-    <message>
-        <source>km</source>
-        <translation>كم</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>مل</translation>
+        <translation>س</translation>
     </message>
 </context>
 <context>
-    <name>MapInstructions</name>
+    <name>MapSettings</name>
     <message>
-        <source> km</source>
-        <translation> كم</translation>
+        <source>NAVIGATION</source>
+        <translation>التنقل</translation>
     </message>
     <message>
-        <source> m</source>
-        <translation> م</translation>
-    </message>
-    <message>
-        <source> mi</source>
-        <translation> مل</translation>
-    </message>
-    <message>
-        <source> ft</source>
-        <translation> قد</translation>
-    </message>
-</context>
-<context>
-    <name>MapPanel</name>
-    <message>
-        <source>Current Destination</source>
-        <translation>الوجهة الحالية</translation>
-    </message>
-    <message>
-        <source>CLEAR</source>
-        <translation>مسح</translation>
-    </message>
-    <message>
-        <source>Recent Destinations</source>
-        <translation>الوجهات الأخيرة</translation>
-    </message>
-    <message>
-        <source>Try the Navigation Beta</source>
-        <translation>جرب التنقل التجريبي</translation>
-    </message>
-    <message>
-        <source>Get turn-by-turn directions displayed and more with a comma
-prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation>احصل على الاتجاهات خطوة بخطوة معروضة والمزيد باستخدام comma
-الاشتراك الرئيسي. اشترك الآن: https://connect.comma.ai</translation>
-    </message>
-    <message>
-        <source>No home
-location set</source>
-        <translation>لم يتم تعيين
-موقع المنزل</translation>
-    </message>
-    <message>
-        <source>No work
-location set</source>
-        <translation>لم يتم تعيين
-موقع العمل</translation>
-    </message>
-    <message>
-        <source>no recent destinations</source>
-        <translation>لا توجد وجهات حديثة</translation>
+        <source>Manage at connect.comma.ai</source>
+        <translation>الإدارة في connect.comma.ai</translation>
     </message>
 </context>
 <context>
@@ -401,14 +351,18 @@ location set</source>
     </message>
     <message>
         <source>Waiting for GPS</source>
-        <translation>في انتظار GPS</translation>
+        <translation>بانتظار GPS</translation>
+    </message>
+    <message>
+        <source>Waiting for route</source>
+        <translation>بانتظار الطريق</translation>
     </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
         <source>Select</source>
-        <translation>اختر</translation>
+        <translation>اختيار</translation>
     </message>
     <message>
         <source>Cancel</source>
@@ -427,13 +381,70 @@ location set</source>
     </message>
     <message>
         <source>for &quot;%1&quot;</source>
-        <translation>ل &quot;%1&quot;</translation>
+        <translation>من أجل &quot;%1&quot;</translation>
     </message>
     <message>
         <source>Wrong password</source>
         <translation>كلمة مرور خاطئة</translation>
     </message>
 </context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>درجة حرارة الجهاز مرتفعة جداً. يقوم النظام بالتبريد قبل البدء. درجة الحرارة الحالية للمكونات الداخلية: %1</translation>
+    </message>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation>اتصل فوراً بالإنترنت للتحقق من وجود تحديثات. إذا لم تكم متصلاً بالإنترنت فإن openpilot لن يساهم في %1</translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>اتصل بالإنترنت للتحقق من وجود تحديثات. لا يعمل openpilot تلقائياً إلا إذا اتصل بالإنترنت من أجل التحقق من التحديثات.</translation>
+    </message>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>غير قادر على تحميل التحديثات
+%1</translation>
+    </message>
+    <message>
+        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
+        <translation>إعدادات التاريخ والتوقيت غير صحيحة، لن يبدأ النظام. اتصل بالإنترنت من أجل ضبط الوقت.</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>التقاط لقطات كاميرا. لن يبدأ النظام حتى تنتهي هذه العملية.</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>يتم تنزيل تحديث لنظام تشغيل جهازك في الخلفية. سيطلَب منك التحديث عندما يصبح جاهزاً للتثبيت.</translation>
+    </message>
+    <message>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation>فشل تسجيل الجهاز. لن يقوم بالاتصال أو تحميل خوادم comma.ai، ولا تلقي الدعم من comma.ai. إذا كان هذا الجهاز نظامياً فيرجى زيارة الموقع https://comma.ai/support.</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>محرك NVMe غير مثبَّت.</translation>
+    </message>
+    <message>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation>تم اكتشاف محرك NVMe غير مدعوم. قد يستهلك الجهاز قدراً أكبر بكثير من الطاقة، وزيادة في ارتفاع درجة الحرارة بسبب وجود NVMe غير مدعوم.</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>لم يكن openpilot قادراً على تحديد سيارتك. إما أن تكون سيارتك غير مدعومة أو أنه لم يتم التعرف على وحدة التحكم الإلكتروني (ECUs) فيها. يرجى تقديم طلب سحب من أجل إضافة نسخ برمجيات ثابتة إلى السيارة المناسبة. هل تحتاج إلى أي مساعدة؟ لا تتردد في التواصل مع doscord.comma.ai.</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>لم يتمكن openpilot من تحديد سيارتك. تحقق من سلامة الكابلات وتأكد من تأمين جميع الوصلات، لا سيما أنه قد تم إدخال طاقة الفاصلة بالكامل في منفذ OBD-II في السيارة. هل تريد أي مساعدة؟ لا تتردد في الانضمام إلى discord.comma.ai.</translation>
+    </message>
+    <message>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>لقد اكتشف openpilot تغييراً في موقع تركيب الجهاز. تأكد من تثبيت الجهاز بشكل كامل في موقعه وتثبيته بإحكام على الزجاج الأمامي.</translation>
+    </message>
+</context>
 <context>
     <name>OffroadHome</name>
     <message>
@@ -442,7 +453,7 @@ location set</source>
     </message>
     <message>
         <source> ALERTS</source>
-        <translation> تنبيهات</translation>
+        <translation> التنبهات</translation>
     </message>
     <message>
         <source> ALERT</source>
@@ -453,46 +464,61 @@ location set</source>
     <name>PairingPopup</name>
     <message>
         <source>Pair your device to your comma account</source>
-        <translation>قم بإقران جهازك بحساب comma الخاص بك</translation>
+        <translation>اقرن جهازك مع حسابك على comma</translation>
     </message>
     <message>
         <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>اذهب إلى https://connect.comma.ai من هاتفك</translation>
+        <translation>انتقل إلى https://connect.comma.ai على جوالك</translation>
     </message>
     <message>
         <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>انقر على &quot;إضافة جهاز جديد&quot; وامسح رمز الاستجابة السريعة على اليمين</translation>
+        <translation>انقر &quot;،إضافة جهاز جديد&quot;، وامسح رمز الاستجابة السريعة (QR) على اليمين</translation>
     </message>
     <message>
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>ضع إشارة مرجعية على connect.comma.ai على شاشتك الرئيسية لاستخدامه مثل أي تطبيق</translation>
+        <translation>اجعل لـconnect.comma.ai إشارة مرجعية على شاشتك  الرئيسية من أجل استخدامه مثل أي تطبيق</translation>
+    </message>
+</context>
+<context>
+    <name>ParamControl</name>
+    <message>
+        <source>Enable</source>
+        <translation>تمكين</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>إلغاء</translation>
     </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
         <source>Upgrade Now</source>
-        <translation>قم بالترقية الآن</translation>
+        <translation>الترقية الآن</translation>
     </message>
     <message>
         <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>كن عضوًا comme prime في connect.comma.ai</translation>
+        <translation>كن عضوًا في comma prime على connect.comma.ai</translation>
     </message>
     <message>
         <source>PRIME FEATURES:</source>
-        <translation>ميزات PRIME:</translation>
+        <translation>الميزات الأساسية:</translation>
     </message>
     <message>
         <source>Remote access</source>
-        <translation>الوصول عن بعد</translation>
+        <translation>التحكم عن بعد</translation>
     </message>
     <message>
-        <source>1 year of storage</source>
-        <translation>سنة واحدة من التخزين</translation>
+        <source>24/7 LTE connectivity</source>
+        <translation>اتصال LTE على مدار الساعة 24/7</translation>
     </message>
     <message>
-        <source>Developer perks</source>
-        <translation>امتيازات المطور</translation>
+        <source>1 year of drive storage</source>
+        <translation>سنة واحدة من تخزين القرص</translation>
+    </message>
+    <message>
+        <source>Turn-by-turn navigation</source>
+        <translation>التنقل خطوة بخطوة</translation>
     </message>
 </context>
 <context>
@@ -505,24 +531,16 @@ location set</source>
         <source>comma prime</source>
         <translation>comma prime</translation>
     </message>
-    <message>
-        <source>CONNECT.COMMA.AI</source>
-        <translation>CONNECT.COMMA.AI</translation>
-    </message>
-    <message>
-        <source>COMMA POINTS</source>
-        <translation>COMMA POINTS</translation>
-    </message>
 </context>
 <context>
     <name>QObject</name>
     <message>
         <source>Reboot</source>
-        <translation>اعادة التشغيل</translation>
+        <translation>إعادة التشغيل</translation>
     </message>
     <message>
         <source>Exit</source>
-        <translation>أغلق</translation>
+        <translation>إغلاق</translation>
     </message>
     <message>
         <source>dashcam</source>
@@ -537,10 +555,10 @@ location set</source>
         <translation>
             <numerusform>منذ %n دقيقة</numerusform>
             <numerusform>منذ %n دقيقة</numerusform>
+            <numerusform>منذ دقيقتين %n</numerusform>
             <numerusform>منذ %n دقائق</numerusform>
             <numerusform>منذ %n دقائق</numerusform>
-            <numerusform>منذ %n دقائق</numerusform>
-            <numerusform>منذ %n دقائق</numerusform>
+            <numerusform>منذ %n دقيقة</numerusform>
         </translation>
     </message>
     <message numerus="yes">
@@ -548,10 +566,10 @@ location set</source>
         <translation>
             <numerusform>منذ %n ساعة</numerusform>
             <numerusform>منذ %n ساعة</numerusform>
+            <numerusform>منذ ساعتين %n</numerusform>
             <numerusform>منذ %n ساعات</numerusform>
             <numerusform>منذ %n ساعات</numerusform>
-            <numerusform>منذ %n ساعات</numerusform>
-            <numerusform>منذ %n ساعات</numerusform>
+            <numerusform>منذ %n ساعة</numerusform>
         </translation>
     </message>
     <message numerus="yes">
@@ -559,34 +577,42 @@ location set</source>
         <translation>
             <numerusform>منذ %n يوم</numerusform>
             <numerusform>منذ %n يوم</numerusform>
-            <numerusform>منذ %n ايام</numerusform>
-            <numerusform>منذ %n ايام</numerusform>
-            <numerusform>منذ %n ايام</numerusform>
-            <numerusform>منذ %n ايام</numerusform>
+            <numerusform>منذ يومين %n</numerusform>
+            <numerusform>منذ %n أيام</numerusform>
+            <numerusform>منذ %n أيام</numerusform>
+            <numerusform>منذ %n يوم</numerusform>
         </translation>
     </message>
+    <message>
+        <source>km</source>
+        <translation>كم</translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation>م</translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation>ميل</translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation>قدم</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
     <message>
         <source>Reset failed. Reboot to try again.</source>
-        <translation>فشل إعادة التعيين. أعد التشغيل للمحاولة مرة أخرى.</translation>
+        <translation>فشل إعاة الضبط. أعد التشغيل للمحاولة من جديد.</translation>
     </message>
     <message>
         <source>Are you sure you want to reset your device?</source>
         <translation>هل أنت متأكد أنك تريد إعادة ضبط جهازك؟</translation>
     </message>
-    <message>
-        <source>Resetting device...</source>
-        <translation>جارٍ إعادة ضبط الجهاز ...</translation>
-    </message>
     <message>
         <source>System Reset</source>
-        <translation>إعادة تعيين النظام</translation>
-    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>تم تشغيل إعادة تعيين النظام. اضغط على تأكيد لمسح كل المحتوى والإعدادات. اضغط على إلغاء لاستئناف التمهيد.</translation>
+        <translation>إعادة ضبط النظام</translation>
     </message>
     <message>
         <source>Cancel</source>
@@ -594,108 +620,95 @@ location set</source>
     </message>
     <message>
         <source>Reboot</source>
-        <translation>اعادة التشغيل</translation>
+        <translation>إعادة التشغيل</translation>
     </message>
     <message>
         <source>Confirm</source>
         <translation>تأكيد</translation>
     </message>
     <message>
-        <source>Unable to mount data partition. Press confirm to reset your device.</source>
-        <translation>تعذر تحميل قسم البيانات. اضغط على تأكيد لإعادة ضبط جهازك.</translation>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation>يتم إعادة ضبط الجهاز...
+قد يستغرق الأمر حوالي الدقيقة.</translation>
     </message>
-</context>
-<context>
-    <name>RichTextDialog</name>
     <message>
-        <source>Ok</source>
-        <translation>موافق</translation>
+        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>اضغط على تأكيد لمسح جميع المحتويات والإعدادات. اضغط على إلغاء لمتابعة التشغيل.</translation>
+    </message>
+    <message>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation>غير قادر على تحميل جزء البيانات. قد يكون الجزء تالفاً. اضغط على تأكيد لمسح جهازك وإعادة ضبطه.</translation>
     </message>
 </context>
 <context>
     <name>SettingsWindow</name>
     <message>
         <source>×</source>
-        <translation>x</translation>
+        <translation>×</translation>
     </message>
     <message>
         <source>Device</source>
-        <translation>جهاز</translation>
+        <translation>الجهاز</translation>
     </message>
     <message>
         <source>Network</source>
-        <translation>شبكة الاتصال</translation>
+        <translation>الشبكة</translation>
     </message>
     <message>
         <source>Toggles</source>
-        <translation>التبديل</translation>
+        <translation>المثبتتات</translation>
     </message>
     <message>
         <source>Software</source>
-        <translation>برمجة</translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation>ملاحة</translation>
+        <translation>البرنامج</translation>
     </message>
 </context>
 <context>
     <name>Setup</name>
     <message>
         <source>WARNING: Low Voltage</source>
-        <translation>تحذير: الجهد المنخفض</translation>
+        <translation>تحذير: الجهد منخفض</translation>
     </message>
     <message>
         <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>قم بتشغيل جهازك في سيارة باستخدام أداة تثبيت أو المضي قدمًا على مسؤوليتك الخاصة.</translation>
+        <translation>شغل جهازك في السيارة عن طريق شرطان التوصيل، أو تابع على مسؤوليتك.</translation>
     </message>
     <message>
         <source>Power off</source>
-        <translation>اطفئ الجهاز</translation>
+        <translation>إيقاف التشغيل</translation>
     </message>
     <message>
         <source>Continue</source>
-        <translation>أكمل</translation>
+        <translation>متابعة</translation>
     </message>
     <message>
         <source>Getting Started</source>
-        <translation>ابدء</translation>
+        <translation>البدء</translation>
     </message>
     <message>
         <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>قبل أن ننطلق على الطريق ، دعنا ننتهي من التثبيت ونغطي بعض التفاصيل.</translation>
+        <translation>قبل أن ننطلق في الطريق، دعنا ننتهي من التثبيت ونغطي بعض التفاصيل.</translation>
     </message>
     <message>
         <source>Connect to Wi-Fi</source>
-        <translation>اتصل بشبكة Wi-Fi</translation>
+        <translation>الاتصال بشبكة الواي فاي</translation>
     </message>
     <message>
         <source>Back</source>
-        <translation>خلف</translation>
+        <translation>السابق</translation>
     </message>
     <message>
         <source>Continue without Wi-Fi</source>
-        <translation>استمر بدون Wi-Fi</translation>
+        <translation>المتابعة بدون شبكة الواي فاي</translation>
     </message>
     <message>
         <source>Waiting for internet</source>
-        <translation>في انتظار الاتصال بالإنترنت</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>اختر البرنامج المراد تثبيته</translation>
-    </message>
-    <message>
-        <source>Dashcam</source>
-        <translation>Dashcam</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>برامج مخصصة</translation>
+        <translation>بانتظار الاتصال بالإنترنت</translation>
     </message>
     <message>
         <source>Enter URL</source>
-        <translation>إدخال عنوان الموقع</translation>
+        <translation>أدخل رابط URL</translation>
     </message>
     <message>
         <source>for Custom Software</source>
@@ -703,7 +716,7 @@ location set</source>
     </message>
     <message>
         <source>Downloading...</source>
-        <translation>جارى التحميل...</translation>
+        <translation>يتم الآن التنزيل...</translation>
     </message>
     <message>
         <source>Download Failed</source>
@@ -711,15 +724,27 @@ location set</source>
     </message>
     <message>
         <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>تأكد من أن عنوان موقع الويب الذي تم إدخاله صالح ، وأن اتصال الجهاز بالإنترنت جيد.</translation>
+        <translation>تأكد من أن رابط URL الذي أدخلته صالح، وأن اتصال الجهاز بالإنترنت جيد.</translation>
     </message>
     <message>
         <source>Reboot device</source>
-        <translation>إعادة تشغيل الجهاز</translation>
+        <translation>إعادة التشغيل</translation>
     </message>
     <message>
         <source>Start over</source>
-        <translation>ابدأ من جديد</translation>
+        <translation>البدء من جديد</translation>
+    </message>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation>حدث خطأ ما. أعد التشغيل الجهاز.</translation>
+    </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation>لم يتم العثور على برنامج خاص لعنوان URL ها.</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation>اختر لغة</translation>
     </message>
 </context>
 <context>
@@ -730,11 +755,11 @@ location set</source>
     </message>
     <message>
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>قم بإقران جهازك بفاصلة connect (connect.comma.ai) واطلب عرض comma prime الخاص بك.</translation>
+        <translation>اقرن جهازك بجهاز (connect.comma.ai) واحصل على عرضك من comma prime.</translation>
     </message>
     <message>
         <source>Pair device</source>
-        <translation>إقران الجهاز</translation>
+        <translation>اقتران الجهاز</translation>
     </message>
 </context>
 <context>
@@ -761,7 +786,7 @@ location set</source>
     </message>
     <message>
         <source>HIGH</source>
-        <translation>عالي</translation>
+        <translation>مرتفع</translation>
     </message>
     <message>
         <source>GOOD</source>
@@ -773,7 +798,7 @@ location set</source>
     </message>
     <message>
         <source>VEHICLE</source>
-        <translation>مركبة</translation>
+        <translation>المركبة</translation>
     </message>
     <message>
         <source>NO</source>
@@ -822,140 +847,112 @@ location set</source>
 </context>
 <context>
     <name>SoftwarePanel</name>
-    <message>
-        <source>Git Branch</source>
-        <translation type="vanished">Git Branch</translation>
-    </message>
-    <message>
-        <source>Git Commit</source>
-        <translation type="vanished">Git Commit</translation>
-    </message>
-    <message>
-        <source>OS Version</source>
-        <translation type="vanished">إصدار نظام التشغيل</translation>
-    </message>
-    <message>
-        <source>Version</source>
-        <translation type="vanished">إصدار</translation>
-    </message>
-    <message>
-        <source>Last Update Check</source>
-        <translation type="vanished">التحقق من آخر تحديث</translation>
-    </message>
-    <message>
-        <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
-        <translation type="vanished">آخر مرة نجح برنامج openpilot في التحقق من التحديث. يعمل المحدث فقط أثناء إيقاف تشغيل السيارة.</translation>
-    </message>
-    <message>
-        <source>Check for Update</source>
-        <translation type="vanished">فحص التحديثات</translation>
-    </message>
-    <message>
-        <source>CHECKING</source>
-        <translation type="vanished">تدقيق</translation>
-    </message>
-    <message>
-        <source>Switch Branch</source>
-        <translation type="vanished">تبديل الفرع</translation>
-    </message>
-    <message>
-        <source>ENTER</source>
-        <translation type="vanished">أدخل</translation>
-    </message>
-    <message>
-        <source>The new branch will be pulled the next time the updater runs.</source>
-        <translation type="vanished">سيتم سحب الفرع الجديد في المرة التالية التي يتم فيها تشغيل أداة التحديث.</translation>
-    </message>
-    <message>
-        <source>Enter branch name</source>
-        <translation type="vanished">أدخل اسم الفرع</translation>
-    </message>
     <message>
         <source>UNINSTALL</source>
-        <translation>الغاء التثبيت</translation>
+        <translation>إلغاء التثبيت</translation>
     </message>
     <message>
         <source>Uninstall %1</source>
-        <translation>الغاء التثبيت %1</translation>
+        <translation>إلغاء التثبيت %1</translation>
     </message>
     <message>
         <source>Are you sure you want to uninstall?</source>
         <translation>هل أنت متأكد أنك تريد إلغاء التثبيت؟</translation>
     </message>
-    <message>
-        <source>failed to fetch update</source>
-        <translation type="vanished">فشل في جلب التحديث</translation>
-    </message>
     <message>
         <source>CHECK</source>
-        <translation>تأكد الان</translation>
+        <translation>التحقق</translation>
     </message>
     <message>
         <source>Updates are only downloaded while the car is off.</source>
-        <translation type="unfinished"></translation>
+        <translation>يتم تحميل التحديثات فقط عندما تكون السيارة متوقفة.</translation>
     </message>
     <message>
         <source>Current Version</source>
-        <translation type="unfinished"></translation>
+        <translation>النسخة الحالية</translation>
     </message>
     <message>
         <source>Download</source>
-        <translation type="unfinished"></translation>
+        <translation>تنزيل</translation>
     </message>
     <message>
         <source>Install Update</source>
-        <translation type="unfinished"></translation>
+        <translation>تثبيت التحديث</translation>
     </message>
     <message>
         <source>INSTALL</source>
-        <translation type="unfinished"></translation>
+        <translation>تثبيت</translation>
     </message>
     <message>
         <source>Target Branch</source>
-        <translation type="unfinished"></translation>
+        <translation>فرع الهدف</translation>
     </message>
     <message>
         <source>SELECT</source>
-        <translation type="unfinished"></translation>
+        <translation>اختيار</translation>
     </message>
     <message>
         <source>Select a branch</source>
-        <translation type="unfinished"></translation>
+        <translation>اختر فرعاً</translation>
+    </message>
+    <message>
+        <source>Uninstall</source>
+        <translation>إلغاء التثبيت</translation>
+    </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>فشل التحقق من التحديث</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>تنزيل</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>يتوفر تحديث</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>إطلاقاً</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>أحدث نسخة، آخر تحقق %1</translation>
     </message>
 </context>
 <context>
     <name>SshControl</name>
     <message>
         <source>SSH Keys</source>
-        <translation>SSH Keys</translation>
+        <translation>مفاتيح SSH</translation>
     </message>
     <message>
         <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>تحذير: هذا يمنح SSH الوصول إلى جميع المفاتيح العامة في إعدادات GitHub. لا تدخل أبدًا اسم مستخدم GitHub بخلاف اسم المستخدم الخاص بك. لن يطلب منك موظف comma أبدًا إضافة اسم مستخدم GitHub الخاص به.</translation>
+        <translation>تنبيه: هذا يمنح SSH إمكانية الوصول إلى جميع المفاتيح العامة في إعدادات GitHub. لا تقم بإدخال اسم مستخدم GitHub بدلاً من اسمك. لن تطلب منك comma employee إطلاقاً أن تضيف اسم مستخدم GitHub الخاص بهم.</translation>
     </message>
     <message>
         <source>ADD</source>
-        <translation>أضف</translation>
+        <translation>إضافة</translation>
     </message>
     <message>
         <source>Enter your GitHub username</source>
-        <translation>أدخل اسم مستخدم GitHub الخاص بك</translation>
+        <translation>ادخل اسم المستخدم GitHub الخاص بك</translation>
     </message>
     <message>
         <source>LOADING</source>
-        <translation>جار التحميل</translation>
+        <translation>يتم التحميل</translation>
     </message>
     <message>
         <source>REMOVE</source>
-        <translation>نزع</translation>
+        <translation>إزالة</translation>
     </message>
     <message>
         <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>لا يحتوي اسم المستخدم &apos;%1&apos; على مفاتيح على GitHub</translation>
+        <translation>لا يحتوي اسم المستخدم &apos;%1&apos; أي مفاتيح على GitHub</translation>
     </message>
     <message>
         <source>Request timed out</source>
-        <translation>انتهت مهلة الطلب</translation>
+        <translation>انتهى وقت الطلب</translation>
     </message>
     <message>
         <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
@@ -966,18 +963,18 @@ location set</source>
     <name>SshToggle</name>
     <message>
         <source>Enable SSH</source>
-        <translation>تفعيل SSH</translation>
+        <translation>تمكين SSH</translation>
     </message>
 </context>
 <context>
     <name>TermsPage</name>
     <message>
         <source>Terms &amp; Conditions</source>
-        <translation>البنود و الظروف</translation>
+        <translation>الشروط والأحكام</translation>
     </message>
     <message>
         <source>Decline</source>
-        <translation>انحدار</translation>
+        <translation>رفض</translation>
     </message>
     <message>
         <source>Scroll to accept</source>
@@ -985,34 +982,34 @@ location set</source>
     </message>
     <message>
         <source>Agree</source>
-        <translation>موافق</translation>
+        <translation>أوافق</translation>
     </message>
 </context>
 <context>
     <name>TogglesPanel</name>
     <message>
         <source>Enable openpilot</source>
-        <translation>تمكين openpilot</translation>
+        <translation>تمكين</translation>
     </message>
     <message>
         <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>استخدم نظام الطيار المفتوح للتحكم التكيفي في ثبات السرعة والحفاظ على مساعدة السائق. انتباهك مطلوب في جميع الأوقات لاستخدام هذه الميزة. يسري تغيير هذا الإعداد عند إيقاف تشغيل السيارة.</translation>
+        <translation>استخدم نظام openpilot من أجل الضبط التكيفي للسرعة والحفاظ على مساعدة السائق للبقاء في المسار. انتباهك مطلوب في جميع الأوقات مع استخدام هذه الميزة. يعمل هذا التغيير في الإعدادات عند إيقاف تشغيل السيارة.</translation>
     </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
-        <translation>قم بتمكين تحذيرات مغادرة حارة السير</translation>
+        <translation>قم بتمكين تحذيرات مغادرة المسار</translation>
     </message>
     <message>
         <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>تلقي تنبيهات للتوجه مرة أخرى إلى الحارة عندما تنجرف سيارتك فوق خط المسار المكتشف دون تنشيط إشارة الانعطاف أثناء القيادة لمسافة تزيد عن 31 ميلاً في الساعة (50 كم / ساعة).</translation>
+        <translation>تلقي التنبيهات من أجل الالتفاف للعودة إلى المسار عندما تنحرف سيارتك فوق الخط المحدد للمسار دون تشغيل إشارة الانعطاف عند القيادة لمسافة تزيد عن 31 ميل/سا (50 كم/سا).</translation>
     </message>
     <message>
         <source>Use Metric System</source>
-        <translation>استخدم النظام المتري</translation>
+        <translation>استخدام النظام المتري</translation>
     </message>
     <message>
         <source>Display speed in km/h instead of mph.</source>
-        <translation>عرض السرعة بالكيلو متر في الساعة بدلاً من ميل في الساعة.</translation>
+        <translation>عرض السرعة بواحدات كم/سا بدلاً من ميل/سا.</translation>
     </message>
     <message>
         <source>Record and Upload Driver Camera</source>
@@ -1020,117 +1017,192 @@ location set</source>
     </message>
     <message>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>قم بتحميل البيانات من الكاميرا المواجهة للسائق وساعد في تحسين خوارزمية مراقبة السائق.</translation>
+        <translation>تحميل البيانات من الكاميرا المواجهة للسائق، والمساعدة في تحسين خوارزمية مراقبة السائق.</translation>
     </message>
     <message>
         <source>Disengage on Accelerator Pedal</source>
-        <translation>فك الارتباط على دواسة التسريع</translation>
+        <translation>فك الارتباط عن دواسة الوقود</translation>
     </message>
     <message>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>عند التمكين ، سيؤدي الضغط على دواسة الوقود إلى فصل الطيار المفتوح.</translation>
+        <translation>عند تمكين هذه الميزة، فإن الضغط على دواسة الوقود سيؤدي إلى فك ارتباط openpilot.</translation>
     </message>
     <message>
         <source>Show ETA in 24h Format</source>
-        <translation>إظهار الوقت المقدر للوصول بتنسيق 24 ساعة</translation>
+        <translation>إظهار الوقت المقدر للوصول بصيغة 24 ساعة</translation>
     </message>
     <message>
         <source>Use 24h format instead of am/pm</source>
-        <translation>استخدم تنسيق 24 ساعة بدلاً من صباحًا / مساءً</translation>
+        <translation>استخدام صيغة 24 ساعة بدلاً من صباحاً/مساء</translation>
     </message>
     <message>
         <source>Show Map on Left Side of UI</source>
-        <translation>إظهار الخريطة على الجانب الأيسر من واجهة المستخدم</translation>
+        <translation>عرض الخريطة على الجانب الأيسر من واجهة المستخدم</translation>
     </message>
     <message>
         <source>Show map on left side when in split screen view.</source>
-        <translation>إظهار الخريطة على الجانب الأيسر عندما تكون في طريقة عرض الشاشة المنقسمة.</translation>
+        <translation>عرض الخريطة عل الجانب الأيسر عندما تكون وضعية العرض بطريقة الشاشة المنقسمة.</translation>
     </message>
     <message>
-        <source>openpilot Longitudinal Control</source>
-        <translation type="vanished">openpilot التحكم الطولي</translation>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>التحكم الطولي openpilot (ألفا)</translation>
     </message>
     <message>
-        <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
-        <translation type="vanished">سوف يقوم برنامج openpilot بتعطيل رادار السيارة وسيتولى التحكم في الغاز والمكابح. تحذير: هذا يعطل AEB!</translation>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>تحذير: التحكم الطولي في openpilot في المرحلة ألفا لهذه السيارة، وسيقوم بتعطيل مكابح الطوارئ الآلية (AEB).</translation>
     </message>
     <message>
-        <source>🌮 End-to-end longitudinal (extremely alpha) 🌮</source>
-        <translation type="unfinished"></translation>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>في هذه السيارة يعمل openpilot افتراضياً بالشكل المدمج في التحكم التكيفي في السرعة بدلاً من التحكم الطولي. قم بتمكين هذا الخيار من أجل الانتقال إلى التحكم الطولي. يوصى بتمكين الوضع التجريبي عند استخدام وضع التحكم الطولي ألفا من openpilot.</translation>
     </message>
     <message>
-        <source>Experimental openpilot Longitudinal Control</source>
-        <translation type="unfinished"></translation>
+        <source>Experimental Mode</source>
+        <translation>الوضع التجريبي</translation>
     </message>
     <message>
-        <source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
-        <translation type="unfinished"></translation>
+        <source>Aggressive</source>
+        <translation>الهجومي</translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
-        <translation type="unfinished"></translation>
+        <source>Standard</source>
+        <translation>القياسي</translation>
     </message>
     <message>
-        <source>openpilot longitudinal control is not currently available for this car.</source>
-        <translation type="unfinished"></translation>
+        <source>Relaxed</source>
+        <translation>الراحة</translation>
     </message>
     <message>
-        <source>Enable experimental longitudinal control to enable this.</source>
-        <translation type="unfinished"></translation>
+        <source>Driving Personality</source>
+        <translation>شخصية القيادة</translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation>يوصى بالوضع القياسي. في الوضع الهجومي، سيتبع openpilot السيارات الرائدة بشكل أقرب، ويصبح أكثر هجومية في دواسات الوقود والمكابح. في وضعية الراحة يبقى openplot بعيداً لمسافة جيدة عن السيارة الرائدة.</translation>
+    </message>
+    <message>
+        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>يتم وضع openpilot بشكل قياسي في &lt;b&gt;وضعية الراحة&lt;/b&gt;. يمكن الوضع التجريبي &lt;b&gt;ميزات المستوى ألفا&lt;/b&gt; التي لا تكون جاهزة في وضع الراحة:</translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation>التحكم الطولي من طرف إلى طرف</translation>
+    </message>
+    <message>
+        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>دع نظام القيادة يتحكم بالوقود والمكابح. سيقوم openpilot بالقيادة كما لو أنه كائن بشري، بما في ذلك التوقف عند الإشارة الحمراء، وإشارات التوقف. وبما أن نمط القيادة يحدد سرعة القيادة، فإن السرعة المضبوطة تشكل الحد الأقصى فقط. هذه خاصية الجودة ألفا، فيجب توقع حدوث الأخطاء.</translation>
+    </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation>التنقل على openpilot</translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation>عندما يكون هناك وجهة للتنقل، فإن openpilot سيقوم بإدخال معلومات الخريطة في هذا النموذج. وهذا يقدم سياقاً مفيداً ويسمح لـopenpilot بالبقاء يساراً أو يميناً بالشكل المناسب عند المنعطفات/المخارج. يبقى سلوك تغيير المسار مفعلاً عند السائق،. هذه هي خاصية الجودة ألفا، ولذلك يجب توقع الأخطاء لا سيما عند المخارج والمنعطفات هذه الأخطاء قد تشمل العبور غير المقصود لخطوط المسارات، والتأخر في الخروج، والقيادة نحو الحواجز الفاصلة في المناطق المثلثة بين الطريق الرئيسي والمخارج، وغير ذلك من الأخطاء المشابهة.</translation>
+    </message>
+    <message>
+        <source>New Driving Visualization</source>
+        <translation>تصور القيادة الديد</translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
+        <translation>تصور القيادة سينتقل إلى الكاميرا واسعة الزاوية المواجهة للطريق في السرعات المنخفضة من أجل إظهار بعض المنعطفات بشكل أفضل. سيتم أيضاً إظهار شعار الوضع التجريبي في الزاوية العلوية اليمنى. عند تحديد وجهة التنقل، واستخدام نظام القيادة لها كوضع مدخل، سيتحول مسار القيادة على الخريطة إلى اللون الأخضر.</translation>
+    </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation>الوضع التجريبي غير متوفر حالياً في هذه السيارة نظراً لاستخدام رصيد التحكم التكيفي بالسرعة من أجل التحكم الطولي.</translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation>قد يتم الحصول على التحكم الطولي في openpilot في عمليات التحديث المستقبلية.</translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>يمكن اختبار نسخة ألفا من التحكم الطولي من openpilot، مع الوضع التجريبي، لكن على الفروع غير المطلقة.</translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>تمكين التحكم الطولي من openpilot (ألفا) للسماح بالوضع التجريبي.</translation>
     </message>
 </context>
 <context>
     <name>Updater</name>
     <message>
         <source>Update Required</source>
-        <translation>مطلوب التحديث</translation>
+        <translation>التحديث مطلوب</translation>
     </message>
     <message>
         <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>مطلوب تحديث نظام التشغيل. قم بتوصيل جهازك بشبكة Wi-Fi للحصول على أسرع تجربة تحديث. حجم التنزيل 1 غيغابايت تقريبًا.</translation>
+        <translation>تحديث نظام التشغيل مطلوب. قم بوصل جهازك بشبكة واي فاي من أجل تحديث أسرع. حجم التحميل حوالي 1 غيغا بايت تقريباً.</translation>
     </message>
     <message>
         <source>Connect to Wi-Fi</source>
-        <translation>اتصل بشبكة Wi-Fi</translation>
+        <translation>الاتصال بشبكة الواي فاي</translation>
     </message>
     <message>
         <source>Install</source>
-        <translation>ثبيت</translation>
+        <translation>تثبيت</translation>
     </message>
     <message>
         <source>Back</source>
-        <translation>خلف</translation>
+        <translation>السابق</translation>
     </message>
     <message>
         <source>Loading...</source>
-        <translation>جار التحميل...</translation>
+        <translation>يتم التحميل...</translation>
     </message>
     <message>
         <source>Reboot</source>
-        <translation>اعادة التشغيل</translation>
+        <translation>إعادة التشغيل</translation>
     </message>
     <message>
         <source>Update failed</source>
         <translation>فشل التحديث</translation>
     </message>
 </context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation>إعداد شبكة الواي فاي</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation>الاتصال بشبكة الواي فاي لتحميل بيانات القيادة والمساهمة في تحسين openpilot</translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation>فتح الإعدادات</translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation>جاهز للتحميل</translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation>سيتم سحب بيانات التدريب دورياً عندما يكون جهازك متصل بشبكة واي فاي</translation>
+    </message>
+</context>
 <context>
     <name>WifiUI</name>
     <message>
         <source>Scanning for networks...</source>
-        <translation>جارٍ البحث عن شبكات ...</translation>
+        <translation>يتم البحث عن شبكات...</translation>
     </message>
     <message>
         <source>CONNECTING...</source>
-        <translation>جارٍ الاتصال ...</translation>
+        <translation>يتم الاتصال...</translation>
     </message>
     <message>
         <source>FORGET</source>
-        <translation>نزع</translation>
+        <translation>نسيان هذه الشبكة</translation>
     </message>
     <message>
         <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>نزع شبكة اWi-Fi &quot;%1&quot;?</translation>
+        <translation>هل تريد نسيان شبكة الواي فاي &quot;%1&quot;؟</translation>
+    </message>
+    <message>
+        <source>Forget</source>
+        <translation>نسيان</translation>
     </message>
 </context>
 </TS>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index d1820fd423..e2e5771905 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -226,8 +226,8 @@
         <translation>Ausschalten</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>Damit Openpilot funktioniert, darf die Installationsposition nicht mehr als 4° nach rechts/links, 5° nach oben und 8° nach unten abweichen. Openpilot kalibriert sich durchgehend, ein Zurücksetzen ist selten notwendig.</translation>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>Damit Openpilot funktioniert, darf die Installationsposition nicht mehr als 4° nach rechts/links, 5° nach oben und 9° nach unten abweichen. Openpilot kalibriert sich durchgehend, ein Zurücksetzen ist selten notwendig.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -274,33 +274,6 @@
         <translation>Überprüfen</translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>Fahrten</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>Stunden</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>Gesamtzeit</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>Letzte Woche</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>KM</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>Meilen</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewScene</name>
     <message>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index 79c4ae5596..456efe6366 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -234,8 +234,8 @@
         <translation>Éteindre</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot nécessite que l&apos;appareil soit monté à 4° à gauche ou à droite et à 5° vers le haut ou 8° vers le bas. openpilot se calibre en continu, la réinitialisation est rarement nécessaire.</translation>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot nécessite que l&apos;appareil soit monté à 4° à gauche ou à droite et à 5° vers le haut ou 9° vers le bas. openpilot se calibre en continu, la réinitialisation est rarement nécessaire.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -274,33 +274,6 @@
         <translation>Désengager pour éteindre</translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>Trajets</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>Heures</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>DEPUIS TOUJOURS</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>CETTE SEMAINE</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>KM</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>Miles</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewScene</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 16595f8ebf..63de8f0471 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -226,8 +226,8 @@
         <translation>電源を切る</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilotの本体は、左右4°以内、上5°、下8°以内の角度で取付ける必要があります。継続してキャリブレーションを続けているので、手動でリセットを行う必要はほぼありません。</translation>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilotの本体は、左右4°以内、上5°、下9°以内の角度で取付ける必要があります。継続してキャリブレーションを続けているので、手動でリセットを行う必要はほぼありません。</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -274,33 +274,6 @@
         <translation>確認</translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>運転履歴</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>時間</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>累計</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>先週</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>マイル</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewScene</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index cbd8e668ac..bc0c5f2b0e 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -9,7 +9,7 @@
     </message>
     <message>
         <source>Snooze Update</source>
-        <translation>업데이트 일시중지</translation>
+        <translation>업데이트 일시 중지</translation>
     </message>
     <message>
         <source>Reboot and Update</source>
@@ -56,7 +56,7 @@
     </message>
     <message>
         <source>leave blank for automatic configuration</source>
-        <translation>자동설정하려면 공백으로 두세요</translation>
+        <translation>자동 설정하려면 빈 칸으로 두세요</translation>
     </message>
     <message>
         <source>Cellular Metered</source>
@@ -147,7 +147,7 @@
     <name>DevicePanel</name>
     <message>
         <source>Dongle ID</source>
-        <translation>Dongle ID</translation>
+        <translation>동글 ID</translation>
     </message>
     <message>
         <source>N/A</source>
@@ -155,7 +155,7 @@
     </message>
     <message>
         <source>Serial</source>
-        <translation>Serial</translation>
+        <translation>시리얼</translation>
     </message>
     <message>
         <source>Driver Camera</source>
@@ -167,23 +167,23 @@
     </message>
     <message>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>운전자 모니터링이 잘 되는지 확인하기 위해 카메라를 향한 운전자를 미리 봅니다. (차량연결은 해제되어있어야 합니다)</translation>
+        <translation>운전자 모니터링이 잘 되는지 확인하기 위해 후면 카메라를 미리 봅니다. (차량 시동이 꺼져 있어야 합니다)</translation>
     </message>
     <message>
         <source>Reset Calibration</source>
-        <translation>캘리브레이션</translation>
+        <translation>캘리브레이션 초기화</translation>
     </message>
     <message>
         <source>RESET</source>
-        <translation>재설정</translation>
+        <translation>초기화</translation>
     </message>
     <message>
         <source>Are you sure you want to reset calibration?</source>
-        <translation>캘리브레이션을 재설정하시겠습니까?</translation>
+        <translation>캘리브레이션을 초기화하시겠습니까?</translation>
     </message>
     <message>
         <source>Review Training Guide</source>
-        <translation>트레이닝 가이드</translation>
+        <translation>트레이닝 가이드 다시보기</translation>
     </message>
     <message>
         <source>REVIEW</source>
@@ -191,11 +191,11 @@
     </message>
     <message>
         <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>openpilot의 규칙, 기능 및 제한 다시보기</translation>
+        <translation>openpilot의 규칙, 기능 및 제한 다시 확인</translation>
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
-        <translation>트레이닝 가이드를 다시보시겠습니까?</translation>
+        <translation>트레이닝 가이드를 다시 확인하시겠습니까?</translation>
     </message>
     <message>
         <source>Regulatory</source>
@@ -223,15 +223,15 @@
     </message>
     <message>
         <source>Power Off</source>
-        <translation>전원 종료</translation>
+        <translation>전원 끄기</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot 장치는 좌우측 4° 이내, 위쪽 5° 아래쪽 8° 이내로 장착되어야 합니다. openpilot은 지속적으로 보정되며 재설정은 거의 필요하지 않습니다.</translation>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot 장치는 좌우 4°, 위로 5°, 아래로 9° 이내 각도로 장착되어야 합니다. openpilot은 지속적으로 자동 보정되며 재설정은 거의 필요하지 않습니다.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> 사용자의 장치는 %1° %2 및 %3° %4 의 위치에 장착되어 있습니다.</translation>
+        <translation> 사용자의 장치는 %2 %1° 및 %4 %3° 의 방향으로 장착되어 있습니다.</translation>
     </message>
     <message>
         <source>down</source>
@@ -251,72 +251,45 @@
     </message>
     <message>
         <source>Are you sure you want to reboot?</source>
-        <translation>재부팅 하시겠습니까?</translation>
+        <translation>재부팅하시겠습니까?</translation>
     </message>
     <message>
         <source>Disengage to Reboot</source>
-        <translation>재부팅 하려면 해제하세요</translation>
+        <translation>재부팅하려면 연결을 해제하세요</translation>
     </message>
     <message>
         <source>Are you sure you want to power off?</source>
-        <translation>전원을 종료하시겠습니까?</translation>
+        <translation>전원을 끄시겠습니까?</translation>
     </message>
     <message>
         <source>Disengage to Power Off</source>
-        <translation>전원을 종료하려면 해제하세요</translation>
+        <translation>전원을 끄려면 연결을 해제하세요</translation>
     </message>
     <message>
         <source>Reset</source>
-        <translation>리셋</translation>
+        <translation>초기화</translation>
     </message>
     <message>
         <source>Review</source>
         <translation>다시보기</translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>주행</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>시간</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>전체</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>지난주</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>Km</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>Miles</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewScene</name>
     <message>
         <source>camera starting</source>
-        <translation>카메라 시작중</translation>
+        <translation>카메라 시작 중</translation>
     </message>
 </context>
 <context>
     <name>ExperimentalModeButton</name>
     <message>
         <source>EXPERIMENTAL MODE ON</source>
-        <translation>실험적 모드 사용</translation>
+        <translation>실험 모드 사용</translation>
     </message>
     <message>
         <source>CHILL MODE ON</source>
-        <translation>안정적 모드 사용</translation>
+        <translation>안정 모드 사용</translation>
     </message>
 </context>
 <context>
@@ -328,7 +301,7 @@
     <message numerus="yes">
         <source>Need at least %n character(s)!</source>
         <translation>
-            <numerusform>최소 %n 자가 필요합니다!</numerusform>
+            <numerusform>최소 %n자 이상이어야 합니다!</numerusform>
         </translation>
     </message>
 </context>
@@ -336,7 +309,7 @@
     <name>Installer</name>
     <message>
         <source>Installing...</source>
-        <translation>설치중...</translation>
+        <translation>설치 중...</translation>
     </message>
 </context>
 <context>
@@ -362,22 +335,22 @@
     </message>
     <message>
         <source>Manage at connect.comma.ai</source>
-        <translation>connect.comma.ai에서 관리됩니다</translation>
+        <translation>connect.comma.ai에서 관리하세요</translation>
     </message>
 </context>
 <context>
     <name>MapWindow</name>
     <message>
         <source>Map Loading</source>
-        <translation>지도 로딩</translation>
+        <translation>지도 로딩 중</translation>
     </message>
     <message>
         <source>Waiting for GPS</source>
-        <translation>GPS 수신중</translation>
+        <translation>GPS 수신 중</translation>
     </message>
     <message>
         <source>Waiting for route</source>
-        <translation>경로를 기다리는중</translation>
+        <translation>경로를 기다리는 중</translation>
     </message>
 </context>
 <context>
@@ -423,7 +396,7 @@
     <message>
         <source>Unable to download updates
 %1</source>
-        <translation>업데이트를 다운로드할수 없습니다
+        <translation>업데이트를 다운로드할 수 없습니다
 %1</translation>
     </message>
     <message>
@@ -436,11 +409,11 @@
     </message>
     <message>
         <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
-        <translation>백그라운드에서 운영 체제에 대한 업데이트가 다운로드되고 있습니다. 설치준비가 완료되면 업데이트하라는 메시지가 표시됩니다.</translation>
+        <translation>백그라운드에서 운영 체제에 대한 업데이트가 다운로드되고 있습니다. 설치가 준비되면 업데이트 메시지가 표시됩니다.</translation>
     </message>
     <message>
         <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
-        <translation>장치를 등록하지 못했습니다. comma.ai 서버에 연결하거나 업로드하지 않으며 comma.ai에서 지원을 받지 않습니다. 공식 장치인경우 https://comma.ai/support 에 방문하여 문의하세요.</translation>
+        <translation>장치를 등록하지 못했습니다. comma.ai 서버에 연결하거나 데이터를 업로드하지 않으며 comma.ai에서 지원을 받지 않습니다. 공식 장치인 경우 https://comma.ai/support 에 방문하여 문의하세요.</translation>
     </message>
     <message>
         <source>NVMe drive not mounted.</source>
@@ -448,23 +421,23 @@
     </message>
     <message>
         <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
-        <translation>지원되지 않는 NVMe 드라이브가 감지되었습니다. 지원되지 않는 NVMe 드라이브로 인해 장치가 훨씬 더 많은 전력을 소비하고 과열될 수 있습니다.</translation>
+        <translation>지원되지 않는 NVMe 드라이브가 감지되었습니다. 지원되지 않는 NVMe 드라이브는 많은 전력을 소비하고 장치를 과열시킬 수 있습니다.</translation>
     </message>
     <message>
         <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>opepilot이 차량을 식별할수 없었습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요.</translation>
+        <translation>openpilot이 차량을 식별할 수 없었습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 맞는 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요.</translation>
     </message>
     <message>
         <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot이 차량을 식별할수 없었습니다. 케이블의 무결성을 점검하고 모든 연결부, 특히 comma power가 차량의 OBD-II 포트에 완전히 삽입되었는지 확인하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요.</translation>
+        <translation>openpilot이 차량을 식별할 수 없었습니다. 케이블의 무결성을 점검하고 모든 연결부, 특히 comma power가 차량의 OBD-II 포트에 제대로 삽입되었는지 확인하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요.</translation>
     </message>
     <message>
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation>openpilot 장치의 장착 위치 변경을 감지했습니다. 장치가 마운트에 완전히 장착되고 마운트가 앞유리에 단단히 고정되었는지 확인하세요. </translation>
+        <translation>openpilot 장치의 장착 위치가 변경되었습니다. 장치가 마운트에 완전히 장착되고 마운트가 앞유리에 단단히 고정되었는지 확인하세요. </translation>
     </message>
     <message>
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>장치 온도가 너무 높습니다. 시작하기 전에 장치온도를 낮춰주세요. 현재 내부 구성 요소 온도: %1</translation>
+        <translation>장치 온도가 너무 높습니다. 시작하기 전에 온도를 낮춰주세요. 현재 내부 부품 온도: %1</translation>
     </message>
 </context>
 <context>
@@ -486,7 +459,7 @@
     <name>PairingPopup</name>
     <message>
         <source>Pair your device to your comma account</source>
-        <translation>장치를 comma 계정과 페어링합니다</translation>
+        <translation>장치를 comma 계정에 페어링합니다</translation>
     </message>
     <message>
         <source>Go to https://connect.comma.ai on your phone</source>
@@ -494,11 +467,11 @@
     </message>
     <message>
         <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>&quot;새 장치 추가&quot;를 클릭하고 오른쪽 QR 코드를 검색합니다</translation>
+        <translation>&quot;새 장치 추가&quot;를 클릭하고 오른쪽 QR 코드를 스캔하세요</translation>
     </message>
     <message>
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>connect.comma.ai를 앱처럼 사용하려면 홈 화면에 바로가기를 만드세요.</translation>
+        <translation>connect.comma.ai를 앱처럼 사용하려면 홈 화면에 바로가기를 만드세요</translation>
     </message>
 </context>
 <context>
@@ -509,22 +482,22 @@
     </message>
     <message>
         <source>Enable</source>
-        <translation>사용</translation>
+        <translation>활성화</translation>
     </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
         <source>Upgrade Now</source>
-        <translation>지금 업그레이드 하세요</translation>
+        <translation>지금 업그레이드하세요</translation>
     </message>
     <message>
         <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>connect.comma.ai에 접속하여 comma prime 회원이 되세요</translation>
+        <translation>connect.comma.ai에 접속하여 comma prime 회원으로 등록하세요</translation>
     </message>
     <message>
         <source>PRIME FEATURES:</source>
-        <translation>PRIME 기능：</translation>
+        <translation>PRIME 기능:</translation>
     </message>
     <message>
         <source>Remote access</source>
@@ -540,7 +513,7 @@
     </message>
     <message>
         <source>1 year of drive storage</source>
-        <translation>1년간 저장</translation>
+        <translation>1년간 드라이브 로그 저장</translation>
     </message>
 </context>
 <context>
@@ -566,7 +539,7 @@
     </message>
     <message>
         <source>dashcam</source>
-        <translation>dashcam</translation>
+        <translation>블랙박스</translation>
     </message>
     <message>
         <source>openpilot</source>
@@ -575,19 +548,19 @@
     <message numerus="yes">
         <source>%n minute(s) ago</source>
         <translation>
-            <numerusform>%n 분전</numerusform>
+            <numerusform>%n 분 전</numerusform>
         </translation>
     </message>
     <message numerus="yes">
         <source>%n hour(s) ago</source>
         <translation>
-            <numerusform>%n 시간전</numerusform>
+            <numerusform>%n 시간 전</numerusform>
         </translation>
     </message>
     <message numerus="yes">
         <source>%n day(s) ago</source>
         <translation>
-            <numerusform>%n 일전</numerusform>
+            <numerusform>%n 일 전</numerusform>
         </translation>
     </message>
     <message>
@@ -611,11 +584,11 @@
     <name>Reset</name>
     <message>
         <source>Reset failed. Reboot to try again.</source>
-        <translation>초기화 실패. 재부팅후 다시 시도하세요.</translation>
+        <translation>초기화 실패. 재부팅 후 다시 시도하세요.</translation>
     </message>
     <message>
         <source>Are you sure you want to reset your device?</source>
-        <translation>장치를 초기화 하시겠습니까?</translation>
+        <translation>장치를 초기화하시겠습니까?</translation>
     </message>
     <message>
         <source>System Reset</source>
@@ -635,11 +608,11 @@
     </message>
     <message>
         <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation>데이터 파티션을 마운트할 수 없습니다. 파티션이 손상되었을 수 있습니다. 모든 내용을 지우고 장치를 초기화하려면 확인을 누르세요.</translation>
+        <translation>데이터 파티션을 마운트할 수 없습니다. 파티션이 손상되었을 수 있습니다. 모든 설정을 삭제하고 장치를 초기화하려면 확인을 누르세요.</translation>
     </message>
     <message>
         <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>모든 콘텐츠와 설정을 지우려면 확인을 누르세요. 부팅을 재개하려면 취소를 누르세요.</translation>
+        <translation>모든 콘텐츠와 설정을 삭제하려면 확인을 누르세요. 계속 부팅하려면 취소를 누르세요.</translation>
     </message>
     <message>
         <source>Resetting device...
@@ -679,11 +652,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>하네스 보드에 차량의 전원을 연결하세요.</translation>
+        <translation>장치를 하네스를 통해 차량 전원에 연결하세요. USB 전원에서는 예상치 못한 문제가 생길 수 있습니다.</translation>
     </message>
     <message>
         <source>Power off</source>
-        <translation>전원 종료</translation>
+        <translation>전원 끄기</translation>
     </message>
     <message>
         <source>Continue</source>
@@ -691,15 +664,15 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Getting Started</source>
-        <translation>설정 시작</translation>
+        <translation>시작하기</translation>
     </message>
     <message>
         <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>출발하기 전에 설정을 완료하고 몇 가지 세부 사항을 살펴보겠습니다.</translation>
+        <translation>출발 전 설정을 완료하고 세부 사항을 살펴봅니다.</translation>
     </message>
     <message>
         <source>Connect to Wi-Fi</source>
-        <translation>wifi 연결</translation>
+        <translation>Wi-Fi 연결</translation>
     </message>
     <message>
         <source>Back</source>
@@ -707,11 +680,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Continue without Wi-Fi</source>
-        <translation>wifi 연결없이 계속하기</translation>
+        <translation>Wi-Fi 연결 없이 진행</translation>
     </message>
     <message>
         <source>Waiting for internet</source>
-        <translation>인터넷 대기중</translation>
+        <translation>인터넷 연결 대기 중</translation>
     </message>
     <message>
         <source>Enter URL</source>
@@ -723,7 +696,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Downloading...</source>
-        <translation>다운로드중...</translation>
+        <translation>다운로드 중...</translation>
     </message>
     <message>
         <source>Download Failed</source>
@@ -731,11 +704,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>입력된 URL이 유효하고 장치의 인터넷 연결이 양호한지 확인하세요.</translation>
+        <translation>입력된 URL이 유효하고 인터넷 연결이 원활한지 확인하세요.</translation>
     </message>
     <message>
         <source>Reboot device</source>
-        <translation>재부팅</translation>
+        <translation>장치 재부팅</translation>
     </message>
     <message>
         <source>Start over</source>
@@ -762,7 +735,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>장치를 comma connect (connect.comma.ai)에서 페어링하고 comma prime 제안을 요청하세요.</translation>
+        <translation>장치를 comma connect (connect.comma.ai)에서 페어링하고 comma prime 무료 이용권을 사용하세요.</translation>
     </message>
     <message>
         <source>Pair device</source>
@@ -773,11 +746,11 @@ This may take up to a minute.</source>
     <name>Sidebar</name>
     <message>
         <source>CONNECT</source>
-        <translation>연결</translation>
+        <translation>연결됨</translation>
     </message>
     <message>
         <source>OFFLINE</source>
-        <translation>오프라인</translation>
+        <translation>연결 안됨</translation>
     </message>
     <message>
         <source>ONLINE</source>
@@ -801,7 +774,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>OK</source>
-        <translation>경고</translation>
+        <translation>OK</translation>
     </message>
     <message>
         <source>VEHICLE</source>
@@ -829,7 +802,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Wi-Fi</source>
-        <translation>wifi</translation>
+        <translation>Wi-Fi</translation>
     </message>
     <message>
         <source>ETH</source>
@@ -856,7 +829,7 @@ This may take up to a minute.</source>
     <name>SoftwarePanel</name>
     <message>
         <source>Updates are only downloaded while the car is off.</source>
-        <translation>업데이트는 차량 연결이 해제되어 있는 동안에만 다운로드됩니다.</translation>
+        <translation>업데이트는 차량 시동이 꺼졌을 때 다운로드됩니다.</translation>
     </message>
     <message>
         <source>Current Version</source>
@@ -908,11 +881,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>failed to check for update</source>
-        <translation>업데이트 확인 실패</translation>
+        <translation>업데이트를 확인하지 못했습니다</translation>
     </message>
     <message>
         <source>up to date, last checked %1</source>
-        <translation>최신 상태 입니다, %1에 마지막으로 확인</translation>
+        <translation>최신 버전입니다. 마지막 확인: %1</translation>
     </message>
     <message>
         <source>DOWNLOAD</source>
@@ -935,7 +908,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>경고: 허용으로 설정하면 GitHub 설정의 모든 공용 키에 대한 SSH 액세스 권한이 부여됩니다. GitHub 사용자 ID 이외에는 입력하지 마십시오. comma에서는 GitHub ID를 추가하라는 요청을 하지 않습니다.</translation>
+        <translation>경고: 이 설정은 GitHub에 등록된 모든 공용 키에 대해 SSH 액세스 권한을 부여합니다. 본인의 GitHub 사용자 아이디 이외에는 입력하지 마십시오. comma에서는 GitHub 아이디를 추가하라는 요청을 하지 않습니다.</translation>
     </message>
     <message>
         <source>ADD</source>
@@ -947,15 +920,15 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>LOADING</source>
-        <translation>로딩</translation>
+        <translation>로딩 중</translation>
     </message>
     <message>
         <source>REMOVE</source>
-        <translation>제거</translation>
+        <translation>삭제</translation>
     </message>
     <message>
         <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>사용자 &apos;%1&apos;의 키가 GitHub에 없습니다</translation>
+        <translation>사용자 &apos;%1&apos;의 GitHub에 키가 등록되어 있지 않습니다</translation>
     </message>
     <message>
         <source>Request timed out</source>
@@ -963,7 +936,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>사용자 &apos;%1&apos;는 GitHub에 없습니다</translation>
+        <translation>GitHub 사용자 &apos;%1&apos;를 찾지 못했습니다</translation>
     </message>
 </context>
 <context>
@@ -977,7 +950,7 @@ This may take up to a minute.</source>
     <name>TermsPage</name>
     <message>
         <source>Terms &amp; Conditions</source>
-        <translation>약관</translation>
+        <translation>이용약관</translation>
     </message>
     <message>
         <source>Decline</source>
@@ -1000,15 +973,15 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>어댑티브 크루즈 컨트롤 및 차선 유지 운전자 보조를 위해 openpilot 시스템을 사용하십시오. 이 기능을 사용하려면 항상 주의를 기울여야 합니다. 설정변경은 장치 재부팅후 적용됩니다.</translation>
+        <translation>어댑티브 크루즈 컨트롤 및 차로 유지 보조를 위해 openpilot 시스템을 사용할 수 있습니다. 이 기능을 사용할 때에는 언제나 주의를 기울여야 합니다. 설정을 변경하면 차량 시동이 꺼졌을 때 적용됩니다.</translation>
     </message>
     <message>
         <source>Enable Lane Departure Warnings</source>
-        <translation>차선 이탈 경고 사용</translation>
+        <translation>차선 이탈 경고 활성화</translation>
     </message>
     <message>
         <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향지시등이 켜지지 않은 상태에서 차량이 감지된 차선을 벗어나면 차선이탈 경고를 합니다.</translation>
+        <translation>차량이 50km/h(31mph) 이상의 속도로 주행할 때 방향지시등이 켜지지 않은 상태에서 차선을 벗어나면 경고합니다.</translation>
     </message>
     <message>
         <source>Use Metric System</source>
@@ -1024,11 +997,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다.</translation>
+        <translation>운전자 카메라의 영상 데이터를 업로드하여 운전자 모니터링 알고리즘을 개선합니다.</translation>
     </message>
     <message>
         <source>Disengage on Accelerator Pedal</source>
-        <translation>가속페달 조작시 해제</translation>
+        <translation>가속페달 조작 시 해제</translation>
     </message>
     <message>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
@@ -1036,7 +1009,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Show ETA in 24h Format</source>
-        <translation>24시간 형식으로 도착예정시간 표시</translation>
+        <translation>24시간 형식으로 도착 예정 시간 표시</translation>
     </message>
     <message>
         <source>Use 24h format instead of am/pm</source>
@@ -1052,15 +1025,15 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Experimental Mode</source>
-        <translation>실험적 모드</translation>
+        <translation>실험 모드</translation>
     </message>
     <message>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilot은 기본적으로 &lt;b&gt;안정적 모드&lt;/b&gt;로 주행합니다. 실험적 모드는 안정적 모드에 준비되지 않은 &lt;b&gt;알파 수준 기능&lt;/b&gt;을 활성화 합니다. 실험적 모드의 특징은 아래에 나열되어 있습니다</translation>
+        <translation>openpilot은 기본적으로 &lt;b&gt;안정 모드&lt;/b&gt;로 주행합니다. 실험 모드는 안정화되지 않은 &lt;b&gt;알파 수준의 기능&lt;/b&gt;을 활성화합니다. 실험 모드의 기능은 아래와 같습니다:</translation>
     </message>
     <message>
         <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>주행모델이 가속과 감속을 제어하도록 합니다. openpilot은 신호등과 정지표지판을 보고 멈추는 것을 포함하여 운전자가 생각하는것처럼 주행합니다. 주행 모델이 주행할 속도를 결정하므로 설정된 속도는 상한선으로만 작용합니다. 이것은 알파 기능이므로 사용에 주의해야 합니다.</translation>
+        <translation>openpilot의 주행모델이 가감속을 제어합니다. openpilot은 신호등과 정지 표지판을 보고 멈추는 것을 포함하여 인간이 운전하는 것처럼 생각하고 주행합니다. 주행 모델이 주행할 속도를 결정하므로 설정된 속도는 최대 주행 속도로만 기능합니다. 이 기능은 알파 수준이므로 사용에 각별히 주의해야 합니다.</translation>
     </message>
     <message>
         <source>New Driving Visualization</source>
@@ -1068,23 +1041,23 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>차량에 장착된 ACC가 롱컨트롤에 사용되기 때문에 현재 이 차량은 실험적 모드를 사용할 수 없습니다.</translation>
+        <translation>차량에 장착된 ACC로 가감속을 제어하기 때문에 현재 이 차량에서는 실험 모드를 사용할 수 없습니다.</translation>
     </message>
     <message>
         <source>openpilot longitudinal control may come in a future update.</source>
-        <translation>openpilot 롱컨트롤은 향후 업데이트에서 제공될 수 있습니다.</translation>
+        <translation>openpilot 가감속 제어는 향후 업데이트에서 지원될 수 있습니다.</translation>
     </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>openpilot 롱컨트롤 (알파)</translation>
+        <translation>openpilot 가감속 제어 (알파)</translation>
     </message>
     <message>
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>경고: openpilot 롱컨트롤은 알파 기능으로 차량의 자동긴급제동(AEB)를 비활성화합니다.</translation>
+        <translation>경고: openpilot 가감속 제어 알파 기능으로 차량의 자동긴급제동(AEB)을 비활성화합니다.</translation>
     </message>
     <message>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>이 차량은 openpilot 롱컨트롤 대신 차량의 ACC로 기본 설정됩니다. openpilot 롱컨트롤으로 전환하려면 이 기능을 활성화하세요. openpilot 롱컨트롤 알파를 활성화하는경우 실험적 모드 활성화를 권장합니다.</translation>
+        <translation>이 차량은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot의 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파를 활성화하는 경우 실험 모드 활성화를 권장합니다.</translation>
     </message>
     <message>
         <source>Aggressive</source>
@@ -1104,31 +1077,31 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation>표준 모드를 권장합니다. 공격적 모드에서는 openpilot은 앞차를 더 가까이 따라가며 가속과 감속을 더 공격적으로 사용합니다. 편안한 모드에서 openpilot은 선두 차량에서 더 멀리 떨어져 있습니다.</translation>
+        <translation>표준 모드를 권장합니다. 공격적 모드에서 openpilot은 앞 차량을 더 가까이 따라가며 적극적으로 가감속합니다. 편안한 모드에서 openpilot은 앞 차량을 더 멀리서 따라갑니다.</translation>
     </message>
     <message>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>openpilot 롱컨트롤 알파 버전은 비 릴리스 분기에서 실험적 모드와 함께 테스트할 수 있습니다.</translation>
+        <translation>openpilot 가감속 제어 알파 버전은 비 릴리즈 브랜치에서 실험 모드와 함께 테스트할 수 있습니다.</translation>
     </message>
     <message>
         <source>Navigate on openpilot</source>
-        <translation>Navigate on openpilot (NOO)</translation>
+        <translation>openpilot 내비게이트</translation>
     </message>
     <message>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>openpilot E2E 롱컨트롤 (알파) 토글을 활성화하여 실험적 모드를 허용합니다.</translation>
+        <translation>실험 모드를 사용하려면 openpilot E2E 가감속 제어 (알파) 토글을 활성화하세요.</translation>
     </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
-        <translation>E2E 롱컨트롤</translation>
+        <translation>E2E 가감속 제어</translation>
     </message>
     <message>
         <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
-        <translation>내비게이션에 목적지가 있으면 openpilot이 지도 정보를 모델에 입력합니다. 이는 모델에 유용한 컨텍스트를 제공하고 openpilot이 분기점에서 적절하게 왼쪽 또는 오른쪽을 유지할 수 있도록 합니다. 차선 변경 기능은 여전히 운전자의 조작에 의해 활성화됩니다. 이것은 알파 상태의 기능입니다. 특히 출구 분기점 주변에서 실수가 발생될수 있으며 이러한 실수에는 의도하지 않은 차선 이탈, 늦은 출구 이용, 도로 가장자리의 분리대 또는 경계석을 향해 운전하는 등이 포함될 수 있습니다.</translation>
+        <translation>내비게이션에 목적지가 설정되어 있으면 openpilot이 지도 정보를 주행 모델에 입력합니다. 이는 모델에 유용한 정보를 제공하고 openpilot이 진출입로 및 램프에서 적절하게 왼쪽 또는 오른쪽을 유지할 수 있도록 해 줍니다. 차선 변경 기능은 여전히 운전자의 조작에 의해 활성화됩니다. 이 기능은 알파 버전입니다. 특히 진출입로 및 분기점 주변에서 실수가 발생할 수 있으며 이러한 실수에는 의도하지 않은 차선 이탈, 늦은 진출, 도로 가장자리의 분리대 또는 경계석을 향해 운전하는 행동 등이 포함됩니다.</translation>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
-        <translation>주행 시각화는 저속으로 주행시 도로를 향한 광각 카메라로 전환되어 일부 회전을 더 잘 보여줍니다. 실험적 모드 로고도 우측 상단에 표시됩니다. 내비게이션 목적지가 설정되고 주행 모델에 입력되면 지도의 주행 경로가 녹색으로 바뀝니다.</translation>
+        <translation>주행 시각화는 저속으로 주행 시 도로를 향한 광각 카메라로 자동 전환되어 일부 곡선 경로를 더 잘 보여줍니다. 실험 모드 로고는 우측 상단에 표시됩니다. 내비게이션 목적지가 설정되고 주행 모델에 입력되면 지도의 주행 경로가 녹색으로 바뀝니다.</translation>
     </message>
 </context>
 <context>
@@ -1139,11 +1112,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>OS 업데이트가 필요합니다. 장치를 wifi에 연결하면 가장 빠른 업데이트 경험을 제공합니다. 다운로드 크기는 약 1GB입니다.</translation>
+        <translation>OS 업데이트가 필요합니다. 장치를 Wi-Fi에 연결하면 가장 빠르게 업데이트할 수 있습니다. 다운로드 크기는 약 1GB입니다.</translation>
     </message>
     <message>
         <source>Connect to Wi-Fi</source>
-        <translation>wifi 연결</translation>
+        <translation>Wi-Fi 연결</translation>
     </message>
     <message>
         <source>Install</source>
@@ -1155,7 +1128,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Loading...</source>
-        <translation>로딩중...</translation>
+        <translation>로딩 중...</translation>
     </message>
     <message>
         <source>Reboot</source>
@@ -1170,11 +1143,11 @@ This may take up to a minute.</source>
     <name>WiFiPromptWidget</name>
     <message>
         <source>Setup Wi-Fi</source>
-        <translation>wifi 설정</translation>
+        <translation>Wi-Fi 설정</translation>
     </message>
     <message>
         <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
-        <translation>wifi에 연결하여 주행 데이터를 업로드하고 openpilot 개선에 참여하세요.</translation>
+        <translation>Wi-Fi에 연결하여 주행 데이터를 업로드하고 openpilot 개선에 기여하세요</translation>
     </message>
     <message>
         <source>Open Settings</source>
@@ -1182,11 +1155,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Ready to upload</source>
-        <translation>업로드 준비완료</translation>
+        <translation>업로드 준비 완료</translation>
     </message>
     <message>
         <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
-        <translation>기기가 wifi에 연결되어 있는 동안 트레이닝 데이터를 주기적으로 전송합니다.</translation>
+        <translation>기기가 Wi-Fi에 연결되어 있는 동안 트레이닝 데이터를 주기적으로 전송합니다</translation>
     </message>
 </context>
 <context>
@@ -1197,19 +1170,19 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>CONNECTING...</source>
-        <translation>연결중...</translation>
+        <translation>연결 중...</translation>
     </message>
     <message>
         <source>FORGET</source>
-        <translation>저장안함</translation>
+        <translation>삭제</translation>
     </message>
     <message>
         <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>&quot;%1&quot;를 저장하지 않겠습니까?</translation>
+        <translation>Wi-Fi &quot;%1&quot;에 자동으로 연결하지 않겠습니까?</translation>
     </message>
     <message>
         <source>Forget</source>
-        <translation>저장안함</translation>
+        <translation>삭제</translation>
     </message>
 </context>
 </TS>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index a55d31034e..4cf37cc585 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -226,8 +226,8 @@
         <translation>Desligar</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>O openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 8° para baixo. O openpilot está continuamente calibrando, resetar raramente é necessário.</translation>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>O openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 9° para baixo. O openpilot está continuamente calibrando, resetar raramente é necessário.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -274,33 +274,6 @@
         <translation>Revisar</translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>Dirigidas</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>Horas</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>TOTAL</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>SEMANA PASSADA</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>KM</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>Milhas</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewScene</name>
     <message>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index abc6210956..a1748a6951 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -226,8 +226,8 @@
         <translation>ปิดเครื่อง</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot กำหนดให้ติดตั้งอุปกรณ์ โดยสามารถเอียงด้านซ้ายหรือขวาไม่เกิน 4° และเอียงขึ้นด้านบนไม่เกิน 5° หรือเอียงลงด้านล่างไม่เกิน 8° openpilot ทำการคาลิเบรทอย่างต่อเนื่อง แทบจะไม่จำเป็นต้องทำการรีเซ็ตการคาลิเบรท</translation>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot กำหนดให้ติดตั้งอุปกรณ์ โดยสามารถเอียงด้านซ้ายหรือขวาไม่เกิน 4° และเอียงขึ้นด้านบนไม่เกิน 5° หรือเอียงลงด้านล่างไม่เกิน 9° openpilot ทำการคาลิเบรทอย่างต่อเนื่อง แทบจะไม่จำเป็นต้องทำการรีเซ็ตการคาลิเบรท</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -274,33 +274,6 @@
         <translation>ทบทวน</translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>การขับขี่</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>ชั่วโมง</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>ทั้งหมด</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>สัปดาห์ที่ผ่านมา</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>กิโลเมตร</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>ไมล์</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewScene</name>
     <message>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index febded8f59..51fdddd5ce 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -226,8 +226,8 @@
         <translation>Sistemi kapat</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot, cihazın 4° sola veya 5° yukarı yada 8° aşağı bakıcak şekilde monte edilmesi gerekmektedir. openpilot sürekli kendisini kalibre edilmektedir ve nadiren sıfırlama gerebilir.</translation>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot, cihazın 4° sola veya 5° yukarı yada 9° aşağı bakıcak şekilde monte edilmesi gerekmektedir. openpilot sürekli kendisini kalibre edilmektedir ve nadiren sıfırlama gerebilir.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -274,33 +274,6 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>Sürücüler</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>Saat</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>TÜM ZAMANLAR</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>GEÇEN HAFTA</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>KM</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>Mil</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewScene</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 040dae0b30..7b682535ce 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -226,8 +226,8 @@
         <translation>关机</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下8°之间。一般来说，openpilot会持续更新校准，很少需要重置。</translation>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下9°之间。一般来说，openpilot会持续更新校准，很少需要重置。</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -274,33 +274,6 @@
         <translation>预览</translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>旅程数</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>小时</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>全部</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>过去一周</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>公里</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>英里</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewScene</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 57d9f91fec..1794cc78ac 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -171,15 +171,15 @@
     </message>
     <message>
         <source>Reset Calibration</source>
-        <translation>重置校準</translation>
+        <translation>重設校準</translation>
     </message>
     <message>
         <source>RESET</source>
-        <translation>重置</translation>
+        <translation>重設</translation>
     </message>
     <message>
         <source>Are you sure you want to reset calibration?</source>
-        <translation>您確定要重置校準嗎？</translation>
+        <translation>您確定要重設校準嗎？</translation>
     </message>
     <message>
         <source>Review Training Guide</source>
@@ -226,8 +226,8 @@
         <translation>關機</translation>
     </message>
     <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot 需要將設備固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。</translation>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot 需要將設備固定在左右偏差 4° 以內，朝上偏差 5° 以內或朝下偏差 9° 以內。鏡頭在後台會持續自動校準，很少有需要重設的情況。</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -274,33 +274,6 @@
         <translation>回顧</translation>
     </message>
 </context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>旅程</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>小時</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>總共</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>上周</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>公里</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>英里</translation>
-    </message>
-</context>
 <context>
     <name>DriverViewScene</name>
     <message>
@@ -369,7 +342,7 @@
     <name>MapWindow</name>
     <message>
         <source>Map Loading</source>
-        <translation>地圖加載中</translation>
+        <translation>地圖載入中</translation>
     </message>
     <message>
         <source>Waiting for GPS</source>
@@ -452,11 +425,11 @@
     </message>
     <message>
         <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot 無法識別您的車輛。您的車輛可能未被支援，或是其電控單元 (ECU) 未被識別。請提交一個 Pull Request 為您的車輛添加正確的固件版本。需要幫助嗎？請加入 discord.comma.ai 。</translation>
+        <translation>openpilot 無法識別您的車輛。您的車輛可能未被支援，或是其電控單元 (ECU) 未被識別。請提交一個 Pull Request 為您的車輛添加正確的韌體版本。需要幫助嗎？請加入 discord.comma.ai 。</translation>
     </message>
     <message>
         <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
-        <translation>openpilot 無法識別您的車輛。請檢查線路是否正確的安裝並確保所有的連接都牢固，特別是確保 comma power 完全插入車輛的 OBD-II 接口。需要幫助嗎？請加入 discord.comma.ai 。</translation>
+        <translation>openpilot 無法識別您的車輛。請檢查線路是否正確的安裝並確保所有的連接都牢固，特別是確保 comma power 完全插入車輛的 OBD-II 介面。需要幫助嗎？請加入 discord.comma.ai 。</translation>
     </message>
     <message>
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
@@ -498,7 +471,7 @@
     </message>
     <message>
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>將 connect.comma.ai 加入您的主屏幕，以便像手機 App 一樣使用它</translation>
+        <translation>將 connect.comma.ai 加入您的主螢幕，以便像手機 App 一樣使用它</translation>
     </message>
 </context>
 <context>
@@ -528,7 +501,7 @@
     </message>
     <message>
         <source>Remote access</source>
-        <translation>遠程訪問</translation>
+        <translation>遠端存取</translation>
     </message>
     <message>
         <source>24/7 LTE connectivity</source>
@@ -611,15 +584,15 @@
     <name>Reset</name>
     <message>
         <source>Reset failed. Reboot to try again.</source>
-        <translation>重置失敗。請重新啟動後再試。</translation>
+        <translation>重設失敗。請重新啟動後再試。</translation>
     </message>
     <message>
         <source>Are you sure you want to reset your device?</source>
-        <translation>您確定要重置你的設備嗎？</translation>
+        <translation>您確定要重設你的設備嗎？</translation>
     </message>
     <message>
         <source>System Reset</source>
-        <translation>系統重置</translation>
+        <translation>系統重設</translation>
     </message>
     <message>
         <source>Cancel</source>
@@ -644,7 +617,7 @@
     <message>
         <source>Resetting device...
 This may take up to a minute.</source>
-        <translation>設備重置中…
+        <translation>設備重設中…
 這可能需要一分鐘的時間。</translation>
     </message>
 </context>
@@ -699,7 +672,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Connect to Wi-Fi</source>
-        <translation>連接到無線網絡</translation>
+        <translation>連接到無線網路</translation>
     </message>
     <message>
         <source>Back</source>
@@ -719,7 +692,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>for Custom Software</source>
-        <translation>定制的軟體</translation>
+        <translation>訂製的軟體</translation>
     </message>
     <message>
         <source>Downloading...</source>
@@ -829,27 +802,27 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Wi-Fi</source>
-        <translation type="unfinished"></translation>
+        <translation>Wi-Fi</translation>
     </message>
     <message>
         <source>ETH</source>
-        <translation type="unfinished"></translation>
+        <translation>ETH</translation>
     </message>
     <message>
         <source>2G</source>
-        <translation type="unfinished"></translation>
+        <translation>2G</translation>
     </message>
     <message>
         <source>3G</source>
-        <translation type="unfinished"></translation>
+        <translation>3G</translation>
     </message>
     <message>
         <source>LTE</source>
-        <translation type="unfinished"></translation>
+        <translation>LTE</translation>
     </message>
     <message>
         <source>5G</source>
-        <translation type="unfinished"></translation>
+        <translation>5G</translation>
     </message>
 </context>
 <context>
@@ -931,11 +904,11 @@ This may take up to a minute.</source>
     <name>SshControl</name>
     <message>
         <source>SSH Keys</source>
-        <translation>SSH 密鑰</translation>
+        <translation>SSH 金鑰</translation>
     </message>
     <message>
         <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>警告：這將授權給 GitHub 帳號中所有公鑰 SSH 訪問權限。切勿輸入非您自己的 GitHub 用戶名。comma 員工「永遠不會」要求您添加他們的 GitHub 用戶名。</translation>
+        <translation>警告：這將授權給 GitHub 帳號中所有公鑰 SSH 訪問權限。切勿輸入非您自己的 GitHub 使用者名稱。comma 員工「永遠不會」要求您添加他們的 GitHub 使用者名稱。</translation>
     </message>
     <message>
         <source>ADD</source>
@@ -943,7 +916,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Enter your GitHub username</source>
-        <translation>請輸入您 GitHub 的用戶名</translation>
+        <translation>請輸入您 GitHub 的使用者名稱</translation>
     </message>
     <message>
         <source>LOADING</source>
@@ -955,7 +928,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>GitHub 用戶 &apos;%1&apos; 沒有設定任何密鑰</translation>
+        <translation>GitHub 用戶 &apos;%1&apos; 沒有設定任何金鑰</translation>
     </message>
     <message>
         <source>Request timed out</source>
@@ -1024,7 +997,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。</translation>
+        <translation>上傳駕駛監控的錄影來協助我們提升駕駛監控的準確率。</translation>
     </message>
     <message>
         <source>Disengage on Accelerator Pedal</source>
@@ -1080,7 +1053,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急制動（AEB）功能。</translation>
+        <translation>警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急煞車（AEB）功能。</translation>
     </message>
     <message>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
@@ -1124,11 +1097,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
-        <translation>当导航有目的地时，openpilot 将把地图信息输入模型中。这为模型提供了有用的背景信息，使 openpilot 能够在叉路/出口时适当地保持左侧或右侧行驶。车道变换行为保持不变，仍由驾驶员激活。这是一个 Alpha 版的功能；可能会出现错误，特别是在出口和分叉处。这些错误可能包括意外的车道越界、晚出口、朝着分隔栏驶向分隔带区域等。</translation>
+        <translation>當導航有目的地時，openpilot 將把地圖資訊輸入模型中。這為模型提供了有用的背景資訊，使 openpilot 能夠在叉路/出口時適當地保持左側或右側行駛。車道變換行為保持不變，仍由駕駛員啟用。這是一個 Alpha 版的功能；可能會出現錯誤，特別是在出口和分叉處。這些錯誤可能包括意外的車道越界、晚出口、朝著分隔欄駛向分隔帶區域等。</translation>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
-        <translation>行駛畫面將在低速時切換至道路朝向的廣角鏡頭，以更好地顯示一些轉彎。實驗模式圖標也將顯示在右上角。當設定了導航目的地並且行駛模型正在將其作為輸入時，地圖上的行駛路徑將變為綠色。</translation>
+        <translation>行駛畫面將在低速時切換至道路朝向的廣角鏡頭，以更好地顯示一些轉彎。實驗模式圖示也將顯示在右上角。當設定了導航目的地並且行駛模型正在將其作為輸入時，地圖上的行駛路徑將變為綠色。</translation>
     </message>
 </context>
 <context>
@@ -1143,7 +1116,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Connect to Wi-Fi</source>
-        <translation>連接到無線網絡</translation>
+        <translation>連接到無線網路</translation>
     </message>
     <message>
         <source>Install</source>
diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py
index b2aca850d1..b680c1df67 100755
--- a/system/camerad/test/test_camerad.py
+++ b/system/camerad/test/test_camerad.py
@@ -6,7 +6,7 @@ from collections import defaultdict
 
 import cereal.messaging as messaging
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.system.hardware import TICI
 
@@ -43,10 +43,10 @@ class TestCamerad(unittest.TestCase):
     for cam, msgs in cls.logs.items():
       if cls.sensor_type is None:
         cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
-      expected_frames = service_list[cam].frequency * TEST_TIMESPAN
+      expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
       assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"
 
-      dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/service_list[cam].frequency)
+      dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency)
       assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
 
       for m in msgs:
diff --git a/system/hardware/hw.py b/system/hardware/hw.py
index 3f7eac02e9..119ca48c86 100644
--- a/system/hardware/hw.py
+++ b/system/hardware/hw.py
@@ -1,7 +1,7 @@
 import os
 from pathlib import Path
 
-from openpilot.selfdrive.hardware import PC
+from openpilot.system.hardware import PC
 
 class Paths:
   @staticmethod
diff --git a/system/hardware/tici/power_draw_test.py b/system/hardware/tici/power_draw_test.py
deleted file mode 100755
index a0520638b7..0000000000
--- a/system/hardware/tici/power_draw_test.py
+++ /dev/null
@@ -1,105 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import numpy as np
-from openpilot.system.hardware.tici.hardware import Tici
-from openpilot.system.hardware.tici.pins import GPIO
-from openpilot.common.gpio import gpio_init, gpio_set, gpio_export
-
-def read_power():
-  with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/in1_input") as f:
-    voltage_total = int(f.read()) / 1000.
-
-  with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/curr1_input") as f:
-    current_total = int(f.read())
-
-  with open("/sys/class/power_supply/bms/voltage_now") as f:
-    voltage = int(f.read()) / 1e6   # volts
-
-  with open("/sys/class/power_supply/bms/current_now") as f:
-    current = int(f.read()) / 1e3   # ma
-
-  power_som = voltage*current
-  power_total = voltage_total*current_total
-
-  return power_total, power_som
-
-def read_power_avg():
-  pwrs = []
-  for _ in range(100):
-    pwrs.append(read_power())
-    time.sleep(0.01)
-  power_total, power_som = np.mean([x[0] for x in pwrs]), np.mean([x[1] for x in pwrs])
-  return "total %7.2f mW  SOM %7.2f mW" % (power_total, power_som)
-
-
-if __name__ == "__main__":
-  gpio_export(GPIO.CAM0_AVDD_EN)
-  gpio_export(GPIO.CAM0_RSTN)
-  gpio_export(GPIO.CAM1_RSTN)
-  gpio_export(GPIO.CAM2_RSTN)
-  print("hello")
-  os.system('kill $(pgrep -f "manager.py")')
-  os.system('kill $(pgrep -f "python -m selfdrive.athena.manage_athenad")')
-  os.system('kill $(pgrep -f "selfdrive.athena.athenad")')
-  # stopping weston turns off lcd3v3
-  os.system("sudo service weston stop")
-  os.system("sudo service ModemManager stop")
-  print("services stopped")
-
-  t = Tici()
-  t.initialize_hardware()
-  t.set_power_save(True)
-  t.set_screen_brightness(0)
-  gpio_init(GPIO.STM_RST_N, True)
-  gpio_init(GPIO.HUB_RST_N, True)
-  gpio_init(GPIO.GNSS_PWR_EN, True)
-  gpio_init(GPIO.LTE_RST_N, True)
-  gpio_init(GPIO.LTE_PWRKEY, True)
-  gpio_init(GPIO.CAM0_AVDD_EN, True)
-  gpio_init(GPIO.CAM0_RSTN, True)
-  gpio_init(GPIO.CAM1_RSTN, True)
-  gpio_init(GPIO.CAM2_RSTN, True)
-
-
-  os.system("sudo su -c 'echo 0 > /sys/kernel/debug/regulator/camera_rear_ldo/enable'")  # cam 1v2 off
-  gpio_set(GPIO.CAM0_AVDD_EN, False)    # cam 2v8 off
-  gpio_set(GPIO.LTE_RST_N, True)        # quectel off
-  gpio_set(GPIO.GNSS_PWR_EN, False)    # gps off
-  gpio_set(GPIO.STM_RST_N, True)        # panda off
-  gpio_set(GPIO.HUB_RST_N, False)       # hub off
-  # cameras in reset
-  gpio_set(GPIO.CAM0_RSTN, False)
-  gpio_set(GPIO.CAM1_RSTN, False)
-  gpio_set(GPIO.CAM2_RSTN, False)
-  time.sleep(8)
-
-  print("baseline: ", read_power_avg())
-  gpio_set(GPIO.CAM0_AVDD_EN, True)
-  time.sleep(2)
-  print("cam avdd: ", read_power_avg())
-  os.system("sudo su -c 'echo 1 > /sys/kernel/debug/regulator/camera_rear_ldo/enable'")
-  time.sleep(2)
-  print("cam dvdd: ", read_power_avg())
-  gpio_set(GPIO.CAM0_RSTN, True)
-  gpio_set(GPIO.CAM1_RSTN, True)
-  gpio_set(GPIO.CAM2_RSTN, True)
-  time.sleep(2)
-  print("cams up:  ", read_power_avg())
-  gpio_set(GPIO.HUB_RST_N, True)
-  time.sleep(2)
-  print("usb hub:  ", read_power_avg())
-  gpio_set(GPIO.STM_RST_N, False)
-  time.sleep(5)
-  print("panda:    ", read_power_avg())
-  gpio_set(GPIO.GNSS_PWR_EN, True)
-  time.sleep(5)
-  print("gps:      ", read_power_avg())
-  gpio_set(GPIO.LTE_RST_N, False)
-  time.sleep(1)
-  gpio_set(GPIO.LTE_PWRKEY, True)
-  time.sleep(1)
-  gpio_set(GPIO.LTE_PWRKEY, False)
-  time.sleep(5)
-  print("quectel:  ", read_power_avg())
-
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index fbca95f6f6..1409e43cfb 100755
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -8,7 +8,7 @@ from tabulate import tabulate
 from typing import List
 
 import cereal.messaging as messaging
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.system.hardware import HARDWARE, TICI
 from openpilot.system.hardware.tici.power_monitor import get_power
 from openpilot.selfdrive.manager.process_config import managed_processes
@@ -91,7 +91,7 @@ class TestPowerDraw(unittest.TestCase):
       cur = used[proc.name]
       expected = proc.power
       msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
-      msgs_expected = int(sum(SAMPLE_TIME * service_list[msg].frequency for msg in proc.msgs))
+      msgs_expected = int(sum(SAMPLE_TIME * SERVICE_LIST[msg].frequency for msg in proc.msgs))
       tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received])
       with self.subTest(proc=proc.name):
         self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol))
diff --git a/system/loggerd/config.py b/system/loggerd/config.py
index 0245585fc0..664e78b378 100644
--- a/system/loggerd/config.py
+++ b/system/loggerd/config.py
@@ -1,7 +1,7 @@
 import os
 from pathlib import Path
 from openpilot.system.hardware import PC
-from openpilot.selfdrive.hardware.hw import Paths
+from openpilot.system.hardware.hw import Paths
 
 
 CAMERA_FPS = 20
diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py
index bec956a316..c46ac31b7f 100755
--- a/system/loggerd/tests/test_encoder.py
+++ b/system/loggerd/tests/test_encoder.py
@@ -16,7 +16,7 @@ from openpilot.common.timeout import Timeout
 from openpilot.system.hardware import TICI
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogReader
-from openpilot.selfdrive.hardware.hw import Paths
+from openpilot.system.hardware.hw import Paths
 
 SEGMENT_LENGTH = 2
 FULL_SIZE = 2507572
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 3ea29b0d82..9d7d3fa7bd 100755
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -12,7 +12,7 @@ from typing import Dict, List
 
 import cereal.messaging as messaging
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
@@ -27,8 +27,8 @@ from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_fr
 
 SentinelType = log.Sentinel.SentinelType
 
-CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in service_list
-                   and service_list[f].should_log and "encode" not in f.lower()]
+CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in SERVICE_LIST
+                   and SERVICE_LIST[f].should_log and "encode" not in f.lower()]
 
 
 class TestLoggerd(unittest.TestCase):
@@ -219,8 +219,8 @@ class TestLoggerd(unittest.TestCase):
         self.assertEqual(expected_val, bootlog_val)
 
   def test_qlog(self):
-    qlog_services = [s for s in CEREAL_SERVICES if service_list[s].decimation is not None]
-    no_qlog_services = [s for s in CEREAL_SERVICES if service_list[s].decimation is None]
+    qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is not None]
+    no_qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is None]
 
     services = random.sample(qlog_services, random.randint(2, min(10, len(qlog_services)))) + \
                random.sample(no_qlog_services, random.randint(2, min(10, len(no_qlog_services))))
@@ -245,7 +245,7 @@ class TestLoggerd(unittest.TestCase):
         self.assertEqual(recv_cnt, 0, f"got {recv_cnt} {s} msgs in qlog")
       else:
         # check logged message count matches decimation
-        expected_cnt = (len(msgs) - 1) // service_list[s].decimation + 1
+        expected_cnt = (len(msgs) - 1) // SERVICE_LIST[s].decimation + 1
         self.assertEqual(recv_cnt, expected_cnt, f"expected {expected_cnt} msgs for {s}, got {recv_cnt}")
 
   def test_rlog(self):
diff --git a/system/proclogd/tests/test_proclog.cc b/system/proclogd/tests/test_proclog.cc
index 33fccd4f30..20298cd3d8 100644
--- a/system/proclogd/tests/test_proclog.cc
+++ b/system/proclogd/tests/test_proclog.cc
@@ -33,15 +33,16 @@ TEST_CASE("Parser::procStat") {
   SECTION("all processes") {
     std::vector<int> pids = Parser::pids();
     REQUIRE(pids.size() > 1);
-    int parsed_cnt = 0;
     for (int pid : pids) {
-      if (auto stat = Parser::procStat(util::read_file("/proc/" + std::to_string(pid) + "/stat"))) {
+      std::string stat_path = "/proc/" + std::to_string(pid) + "/stat";
+      INFO(stat_path);
+      if (auto stat = Parser::procStat(util::read_file(stat_path))) {
         REQUIRE(stat->pid == pid);
         REQUIRE(allowed_states.find(stat->state) != std::string::npos);
-        ++parsed_cnt;
+      } else {
+        REQUIRE(util::file_exists(stat_path) == false);
       }
     }
-    REQUIRE(parsed_cnt == pids.size());
   }
 }
 
@@ -109,8 +110,6 @@ TEST_CASE("Parser::cmdline") {
 }
 
 TEST_CASE("buildProcLogerMessage") {
-  std::vector<int> current_pids = Parser::pids();
-
   MessageBuilder msg;
   buildProcLogMessage(msg);
 
@@ -131,10 +130,7 @@ TEST_CASE("buildProcLogerMessage") {
 
   // test cereal::ProcLog::Process
   auto procs = log.getProcs();
-  REQUIRE(procs.size() == current_pids.size());
-
   for (auto p : procs) {
-    REQUIRE_THAT(current_pids, Catch::Matchers::VectorContains(p.getPid()));
     REQUIRE(allowed_states.find(p.getState()) != std::string::npos);
     if (p.getPid() == ::getpid()) {
       REQUIRE(p.getName() == "test_proclog");
@@ -147,8 +143,11 @@ TEST_CASE("buildProcLogerMessage") {
         std::ifstream stream(cmd_path);
         auto cmdline = Parser::cmdline(stream);
         REQUIRE(cmdline.size() == p.getCmdline().size());
-        for (int i = 0; i < p.getCmdline().size(); ++i) {
-          REQUIRE(cmdline[i] == p.getCmdline()[i].cStr());
+        // do not check the cmdline of pytest as it will change.
+        if (cmdline.size() > 0 && cmdline[0].find("[pytest") != 0) {
+          for (int i = 0; i < p.getCmdline().size(); ++i) {
+            REQUIRE(cmdline[i] == p.getCmdline()[i].cStr());
+          }
         }
       }
     }
diff --git a/system/sensord/pigeond.py b/system/sensord/pigeond.py
index fc5c05e64f..2e8f151d17 100755
--- a/system/sensord/pigeond.py
+++ b/system/sensord/pigeond.py
@@ -164,12 +164,12 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
       pigeon.send_with_ack(b"\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10")
 
       # UBX-CFG-NAV5 (0x06 0x24)
-      pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63") # noqa: E501
+      pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63")
 
       # UBX-CFG-ODO (0x06 0x1E)
       pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37")
       pigeon.send_with_ack(b"\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C")
-      pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24") # noqa: E501
+      pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24")
 
       # UBX-CFG-NAV5 (0x06 0x24)
       pigeon.send_with_ack(b"\xB5\x62\x06\x24\x00\x00\x2A\x84")
diff --git a/system/sensord/tests/test_pigeond.py b/system/sensord/tests/test_pigeond.py
index 90cbf06340..b23afcb07c 100755
--- a/system/sensord/tests/test_pigeond.py
+++ b/system/sensord/tests/test_pigeond.py
@@ -3,7 +3,7 @@ import time
 import unittest
 
 import cereal.messaging as messaging
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.gpio import gpio_read
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.manager.process_config import managed_processes
@@ -26,10 +26,10 @@ class TestPigeond(unittest.TestCase):
     sm = messaging.SubMaster(['ubloxRaw'])
 
     # setup time
-    for _ in range(int(5 * service_list['ubloxRaw'].frequency)):
+    for _ in range(int(5 * SERVICE_LIST['ubloxRaw'].frequency)):
       sm.update()
 
-    for _ in range(int(10 * service_list['ubloxRaw'].frequency)):
+    for _ in range(int(10 * SERVICE_LIST['ubloxRaw'].frequency)):
       sm.update()
       assert sm.all_checks()
 
diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
index ccdce3b4e5..d9743a14ea 100755
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -7,7 +7,7 @@ from collections import namedtuple, defaultdict
 
 import cereal.messaging as messaging
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.gpio import get_irqs_for_action
 from openpilot.common.timeout import Timeout
 from openpilot.system.hardware import TICI
@@ -81,7 +81,7 @@ def read_sensor_events(duration_sec):
     socks[stype] = messaging.sub_sock(stype, poller=poller, timeout=100)
 
   # wait for sensors to come up
-  with Timeout(60, "sensors didn't come up"):
+  with Timeout(int(os.environ.get("SENSOR_WAIT", "5")), "sensors didn't come up"):
     while len(poller.poll(250)) == 0:
       pass
   time.sleep(1)
@@ -172,7 +172,7 @@ class TestSensord(unittest.TestCase):
     for s, msgs in self.events.items():
       with self.subTest(sensor=s):
         freq = len(msgs) / self.sample_secs
-        ef = service_list[s].frequency
+        ef = SERVICE_LIST[s].frequency
         assert ef*0.85 <= freq <= ef*1.15
 
   def test_logmonottime_timestamp_diff(self):
diff --git a/tools/README.md b/tools/README.md
index 28f4f7ebd2..a6889b769d 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -2,55 +2,57 @@
 
 ## System Requirements
 
-openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car). We also have a CI test to verify that openpilot builds on macOS, but the tools are untested. For the best experience, stick to Ubuntu 20.04, otherwise openpilot and the tools should work with minimal to no modifications on macOS and other Linux systems.
+openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car).
 
-## Setup your PC
+Running natively on any other system is not recommended and will require modifications. On Windows you can use WSL, and on macOS or incompatible Linux systems, it is recommended to use the dev containers.
 
-First, clone openpilot:
+## Native setup on Ubuntu 20.04
+
+**1. Clone openpilot**
+
+NOTE: This repository uses Git LFS for large files. Ensure you have [Git LFS](https://git-lfs.com/) installed and set up before cloning or working with it.
+
+Either do a partial clone for faster download:
 ``` bash
-cd ~
-git clone --recurse-submodules https://github.com/commaai/openpilot.git
-
-# or do a partial clone instead for a faster clone and smaller repo size
 git clone --filter=blob:none --recurse-submodules --also-filter-submodules https://github.com/commaai/openpilot.git
-
-cd openpilot
 ```
 
-Then, run the setup script:
+or do a full clone:
+``` bash
+git clone --recurse-submodules https://github.com/commaai/openpilot.git
+```
+
+**2. Run the setup script**
 
 ``` bash
-# for Ubuntu 20.04 LTS
+cd openpilot
 tools/ubuntu_setup.sh
-
-# for macOS
-tools/mac_setup.sh
 ```
 
 Activate a shell with the Python dependencies installed:
-
 ``` bash
-cd openpilot && poetry shell
+poetry shell
 ```
 
-Build openpilot with this command:
+**3. Build openpilot**
+
 ``` bash
 scons -u -j$(nproc)
 ```
 
-### Dev Container
+## Dev Container on any Linux or macOS
 
 openpilot supports [Dev Containers](https://containers.dev/). Dev containers provide customizable and consistent development environment wrapped inside a container. This means you can develop in a designated environment matching our primary development target, regardless of your local setup.
 
-Dev containers are supported in [multiple editors and IDEs](https://containers.dev/supporting), including [Visual Studio Code](https://code.visualstudio.com/docs/devcontainers/containers).
+Dev containers are supported in [multiple editors and IDEs](https://containers.dev/supporting), including Visual Studio Code. Use the following [guide](https://code.visualstudio.com/docs/devcontainers/containers) to start using them with VSCode.
 
 #### X11 forwarding on macOS
 
 GUI apps like `ui` or `cabana` can also run inside the container by leveraging X11 forwarding. To make use of it on macOS, additional configuration steps must be taken. Follow [these](https://gist.github.com/sorny/969fe55d85c9b0035b0109a31cbcb088) steps to setup X11 forwarding on macOS.
 
-### Windows
+## WSL on Windows
 
-Neither openpilot nor any of the tools are developed or tested on Windows, but the [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.
+[Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.
 
 Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-20.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. See [these instructions](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) for running GUI apps.
 
diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index 537aac1f28..2bd6cfd6cc 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -10,7 +10,6 @@
 #include <QGraphicsDropShadowEffect>
 #include <QGraphicsItemGroup>
 #include <QGraphicsOpacityEffect>
-#include <QMenu>
 #include <QMimeData>
 #include <QOpenGLWidget>
 #include <QPropertyAnimation>
@@ -66,8 +65,8 @@ void ChartView::createToolButtons() {
   close_btn_proxy->setWidget(remove_btn);
   close_btn_proxy->setZValue(chart()->zValue() + 11);
 
+  menu = new QMenu(this);
   // series types
-  QMenu *menu = new QMenu(this);
   auto change_series_group = new QActionGroup(menu);
   change_series_group->setExclusive(true);
   QStringList types{tr("Line"), tr("Step Line"), tr("Scatter")};
@@ -90,7 +89,9 @@ void ChartView::createToolButtons() {
   manage_btn_proxy->setWidget(manage_btn);
   manage_btn_proxy->setZValue(chart()->zValue() + 11);
 
-  QObject::connect(remove_btn, &QToolButton::clicked, [this]() { charts_widget->removeChart(this); });
+  close_act = new QAction(tr("Close"), this);
+  QObject::connect(close_act, &QAction::triggered, [this] () { charts_widget->removeChart(this); });
+  QObject::connect(remove_btn, &QToolButton::clicked, close_act, &QAction::triggered);
   QObject::connect(change_series_group, &QActionGroup::triggered, [this](QAction *action) {
     setSeriesType((SeriesType)action->data().toInt());
   });
@@ -168,7 +169,7 @@ void ChartView::msgUpdated(MessageId id) {
 }
 
 void ChartView::manageSignals() {
-  SignalSelector dlg(tr("Mange Chart"), this);
+  SignalSelector dlg(tr("Manage Chart"), this);
   for (auto &s : sigs) {
     dlg.addSelected(s.msg_id, s.sig);
   }
@@ -452,6 +453,17 @@ static QPixmap getDropPixmap(const QPixmap &src) {
   return px;
 }
 
+void ChartView::contextMenuEvent(QContextMenuEvent *event) { 
+  QMenu context_menu(this);
+  context_menu.addActions(menu->actions());
+  context_menu.addSeparator();
+  context_menu.addAction(charts_widget->undo_zoom_action);
+  context_menu.addAction(charts_widget->redo_zoom_action);
+  context_menu.addSeparator();
+  context_menu.addAction(close_act);
+  context_menu.exec(event->globalPos());
+}
+
 void ChartView::mousePressEvent(QMouseEvent *event) {
   if (event->button() == Qt::LeftButton && move_icon->sceneBoundingRect().contains(event->pos())) {
     QMimeData *mimeData = new QMimeData;
diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h
index de2a1b4510..f91b81cc91 100644
--- a/tools/cabana/chart/chart.h
+++ b/tools/cabana/chart/chart.h
@@ -3,6 +3,7 @@
 #include <tuple>
 #include <utility>
 
+#include <QMenu>
 #include <QGraphicsPixmapItem>
 #include <QGraphicsProxyWidget>
 #include <QtCharts/QChartView>
@@ -65,6 +66,7 @@ private slots:
 private:
   void createToolButtons();
   void addSeries(QXYSeries *series);
+  void contextMenuEvent(QContextMenuEvent *event) override;
   void mousePressEvent(QMouseEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override;
   void mouseMoveEvent(QMouseEvent *ev) override;
@@ -98,7 +100,9 @@ private:
   int align_to = 0;
   QValueAxis *axis_x;
   QValueAxis *axis_y;
+  QMenu *menu;
   QAction *split_chart_act;
+  QAction *close_act;
   QGraphicsPixmapItem *move_icon;
   QGraphicsProxyWidget *close_btn_proxy;
   QGraphicsProxyWidget *manage_btn_proxy;
diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
index 063f516ead..c923e4d5b2 100644
--- a/tools/cabana/dbc/dbcfile.cc
+++ b/tools/cabana/dbc/dbcfile.cc
@@ -107,7 +107,8 @@ void DBCFile::parse(const QString &content) {
   int multiplexor_cnt = 0;
   while (!stream.atEnd()) {
     ++line_num;
-    line = stream.readLine().trimmed();
+    QString raw_line = stream.readLine();
+    line = raw_line.trimmed();
     if (line.startsWith("BO_ ")) {
       multiplexor_cnt = 0;
       auto match = bo_regexp.match(line);
@@ -170,7 +171,7 @@ void DBCFile::parse(const QString &content) {
       }
     } else if (line.startsWith("CM_ BO_")) {
       if (!line.endsWith("\";")) {
-        int pos = stream.pos() - line.length() - 1;
+        int pos = stream.pos() - raw_line.length() - 1;
         line = content.mid(pos, content.indexOf("\";", pos));
       }
       auto match = msg_comment_regexp.match(line);
@@ -180,7 +181,7 @@ void DBCFile::parse(const QString &content) {
       }
     } else if (line.startsWith("CM_ SG_ ")) {
       if (!line.endsWith("\";")) {
-        int pos = stream.pos() - line.length() - 1;
+        int pos = stream.pos() - raw_line.length() - 1;
         line = content.mid(pos, content.indexOf("\";", pos));
       }
       auto match = sg_comment_regexp.match(line);
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index 6a3d11cda1..1a83a0c446 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -169,6 +169,8 @@ QVariant MessageListModel::headerData(int section, Qt::Orientation orientation,
 }
 
 QVariant MessageListModel::data(const QModelIndex &index, int role) const {
+  if (!index.isValid() || index.row() >= msgs.size()) return {};
+
   const auto &id = msgs[index.row()];
   auto &can_data = can->lastMessage(id);
 
@@ -424,7 +426,7 @@ void MessageView::updateBytesSectionSize() {
 }
 
 void MessageView::headerContextMenuEvent(const QPoint &pos) {
-  QMenu *menu = new QMenu(this);
+  QMenu menu(this);
   int cur_index = header()->logicalIndexAt(pos);
 
   QAction *action;
@@ -434,9 +436,9 @@ void MessageView::headerContextMenuEvent(const QPoint &pos) {
 
     // Hide show action
     if (header()->isSectionHidden(logical_index)) {
-      action = menu->addAction(tr("  %1").arg(column_name), [=]() { header()->showSection(logical_index); });
+      action = menu.addAction(tr("  %1").arg(column_name), [=]() { header()->showSection(logical_index); });
     } else {
-      action = menu->addAction(tr("✓ %1").arg(column_name), [=]() { header()->hideSection(logical_index); });
+      action = menu.addAction(tr("✓ %1").arg(column_name), [=]() { header()->hideSection(logical_index); });
     }
 
     // Can't hide the name column
@@ -450,7 +452,7 @@ void MessageView::headerContextMenuEvent(const QPoint &pos) {
     }
   }
 
-  menu->popup(header()->mapToGlobal(pos));
+  menu.exec(header()->mapToGlobal(pos));
 }
 
 MessageViewHeader::MessageViewHeader(QWidget *parent) : QHeaderView(Qt::Horizontal, parent) {
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index b2798e9f3b..4a07e25beb 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -395,7 +395,7 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
     else e->setValidator(double_validator);
 
     if (item->type == SignalModel::Item::Name) {
-      QCompleter *completer = new QCompleter(dbc()->signalNames());
+      QCompleter *completer = new QCompleter(dbc()->signalNames(), e);
       completer->setCaseSensitivity(Qt::CaseInsensitive);
       completer->setFilterMode(Qt::MatchContains);
       e->setCompleter(completer);
diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc
index d114f72ea5..791dfd1329 100644
--- a/tools/cabana/tests/test_cabana.cc
+++ b/tools/cabana/tests/test_cabana.cc
@@ -69,7 +69,7 @@ TEST_CASE("Parse can messages") {
   }
 }
 
-TEST_CASE("Parse dbc") {
+TEST_CASE("parse_dbc") {
   QString content = R"(
 BO_ 160 message_1: 8 EON
   SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit"  XXX
@@ -83,7 +83,7 @@ VAL_ 160 signal_1 0 "disabled" 1.2 "initializing" 2 "fault";
 
 CM_ BO_ 160 "message comment" ;
 CM_ SG_ 160 signal_1 "signal comment";
-CM_ SG_ 160 signal_2 "multiple line comment
+CM_ SG_ 160 signal_2 "multiple line comment 
 1
 2
 ";)";
@@ -113,7 +113,7 @@ CM_ SG_ 160 signal_2 "multiple line comment
   REQUIRE(sig_1->val_desc[2] == std::pair<double, QString>{2, "fault"});
 
   auto &sig_2 = msg->sigs[1];
-  REQUIRE(sig_2->comment == "multiple line comment\n1\n2");
+  REQUIRE(sig_2->comment == "multiple line comment \n1\n2");
 
   // multiplexed signals
   msg = file.msg(162);
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 098f26841c..e7845bca47 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -35,13 +35,24 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   }
 
   // btn controls
+  QButtonGroup *group = new QButtonGroup(this);
+  group->setExclusive(true);
+
   QHBoxLayout *control_layout = new QHBoxLayout();
   play_btn = new QPushButton();
   play_btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
   control_layout->addWidget(play_btn);
+  if (can->liveStreaming()) {
+    control_layout->addWidget(skip_to_end_btn = new QPushButton(utils::icon("skip-end-fill"), {}));
+    skip_to_end_btn->setToolTip(tr("Skip to the end"));
+    QObject::connect(skip_to_end_btn, &QPushButton::clicked, [group]() {
+      // set speed to 1.0
+      group->buttons()[2]->click();
+      can->pause(false);
+      can->seekTo(can->totalSeconds() + 1);
+    });
+  }
 
-  QButtonGroup *group = new QButtonGroup(this);
-  group->setExclusive(true);
   for (float speed : {0.1, 0.5, 1., 2.}) {
     QPushButton *btn = new QPushButton(QString("%1x").arg(speed), this);
     btn->setCheckable(true);
@@ -121,7 +132,10 @@ void VideoWidget::setMaximumTime(double sec) {
 }
 
 void VideoWidget::updateTimeRange(double min, double max, bool is_zoomed) {
-  if (can->liveStreaming()) return;
+  if (can->liveStreaming()) {
+    skip_to_end_btn->setEnabled(!is_zoomed);
+    return;
+  }
 
   if (!is_zoomed) {
     min = 0;
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index c17dd67e2a..bece039a21 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -81,6 +81,7 @@ protected:
   QLabel *end_time_label;
   QLabel *time_label;
   QPushButton *play_btn;
+  QPushButton *skip_to_end_btn = nullptr;
   InfoLabel *alert_label;
   Slider *slider;
 };
diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py
index ac7ca2520b..c6e05a0af8 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -19,7 +19,11 @@ ENCODE_SOCKETS = {
   VisionStreamType.VISION_STREAM_DRIVER: "driverEncodeData",
 }
 
-def decoder(addr, vipc_server, vst, nvidia, debug=False):
+def decoder(addr, vst, nvidia, debug=False):
+  vipc_server = VisionIpcServer("camerad")
+  vipc_server.create_buffers(vst, 4, False, W, H)
+  vipc_server.start_listener()
+
   sock_name = ENCODE_SOCKETS[vst]
   if debug:
     print("start decoder for %s" % sock_name)
@@ -101,14 +105,9 @@ def decoder(addr, vipc_server, vst, nvidia, debug=False):
 
 class CompressedVipc:
   def __init__(self, addr, vision_streams, nvidia=False, debug=False):
-    self.vipc_server = VisionIpcServer("camerad")
-    for vst in vision_streams:
-      self.vipc_server.create_buffers(vst, 4, False, W, H)
-    self.vipc_server.start_listener()
-
     self.procs = []
     for vst in vision_streams:
-      p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, nvidia, debug))
+      p = multiprocessing.Process(target=decoder, args=(addr, vst, nvidia, debug))
       p.start()
       self.procs.append(p)
 
diff --git a/tools/joystick/README.md b/tools/joystick/README.md
index c74e51146c..65422afe80 100644
--- a/tools/joystick/README.md
+++ b/tools/joystick/README.md
@@ -61,4 +61,4 @@ Now start your car and openpilot should go into joystick mode with an alert on s
 
 Make sure the conditions are met in the panda to allow controls (e.g. cruise control engaged). You can also make a modification to the panda code to always allow controls.
 
-![](steer.gif)
+![](https://github.com/commaai/openpilot/assets/8762862/e640cbca-cb7a-4dcb-abce-b23b036ad8e7)
diff --git a/tools/joystick/steer.gif b/tools/joystick/steer.gif
deleted file mode 100644
index 8331b50de9..0000000000
Binary files a/tools/joystick/steer.gif and /dev/null differ
diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py
index 5ac23d57ec..4aec965f1a 100644
--- a/tools/lib/filereader.py
+++ b/tools/lib/filereader.py
@@ -3,9 +3,13 @@ from openpilot.tools.lib.url_file import URLFile
 
 DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/")
 
-def FileReader(fn, debug=False):
+def resolve_name(fn):
   if fn.startswith("cd:/"):
-    fn = fn.replace("cd:/", DATA_ENDPOINT)
+    return fn.replace("cd:/", DATA_ENDPOINT)
+  return fn
+
+def FileReader(fn, debug=False):
+  fn = resolve_name(fn)
   if fn.startswith(("http://", "https://")):
     return URLFile(fn, debug=debug)
   return open(fn, "rb")
diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py
index 06fee6857d..8ab9e10edc 100644
--- a/tools/lib/framereader.py
+++ b/tools/lib/framereader.py
@@ -14,9 +14,10 @@ from lru import LRU
 import _io
 from openpilot.tools.lib.cache import cache_path_for_file_path, DEFAULT_CACHE_DIR
 from openpilot.tools.lib.exceptions import DataUnreadableError
+from openpilot.tools.lib.vidindex import hevc_index
 from openpilot.common.file_helpers import atomic_write_in_dir
 
-from openpilot.tools.lib.filereader import FileReader
+from openpilot.tools.lib.filereader import FileReader, resolve_name
 
 HEVC_SLICE_B = 0
 HEVC_SLICE_P = 1
@@ -59,6 +60,7 @@ def fingerprint_video(fn):
 
 
 def ffprobe(fn, fmt=None):
+  fn = resolve_name(fn)
   cmd = ["ffprobe",
          "-v", "quiet",
          "-print_format", "json",
@@ -75,31 +77,6 @@ def ffprobe(fn, fmt=None):
   return json.loads(ffprobe_output)
 
 
-def vidindex(fn, typ):
-  vidindex_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), "vidindex")
-  vidindex = os.path.join(vidindex_dir, "vidindex")
-
-  subprocess.check_call(["make"], cwd=vidindex_dir, stdout=subprocess.DEVNULL)
-
-  with tempfile.NamedTemporaryFile() as prefix_f, \
-       tempfile.NamedTemporaryFile() as index_f:
-    try:
-      subprocess.check_call([vidindex, typ, fn, prefix_f.name, index_f.name])
-    except subprocess.CalledProcessError as e:
-      raise DataUnreadableError(f"vidindex failed on file {fn}") from e
-    with open(index_f.name, "rb") as f:
-      index = f.read()
-    with open(prefix_f.name, "rb") as f:
-      prefix = f.read()
-
-  index = np.frombuffer(index, np.uint32).reshape(-1, 2)
-
-  assert index[-1, 0] == 0xFFFFFFFF
-  assert index[-1, 1] == os.path.getsize(fn)
-
-  return index, prefix
-
-
 def cache_fn(func):
   @wraps(func)
   def cache_inner(fn, *args, **kwargs):
@@ -114,7 +91,6 @@ def cache_fn(func):
         cache_value = pickle.load(cache_file)
     else:
       cache_value = func(fn, *args, **kwargs)
-
       if cache_path:
         with atomic_write_in_dir(cache_path, mode="wb", overwrite=True) as cache_file:
           pickle.dump(cache_value, cache_file, -1)
@@ -125,13 +101,13 @@ def cache_fn(func):
 
 
 @cache_fn
-def index_stream(fn, typ):
-  assert typ in ("hevc", )
+def index_stream(fn, ft):
+  if ft != FrameType.h265_stream:
+    raise NotImplementedError("Only h265 supported")
 
-  with FileReader(fn) as f:
-    assert os.path.exists(f.name), fn
-    index, prefix = vidindex(f.name, typ)
-    probe = ffprobe(f.name, typ)
+  frame_types, dat_len, prefix = hevc_index(fn)
+  index = np.array(frame_types + [(0xFFFFFFFF, dat_len)], dtype=np.uint32)
+  probe = ffprobe(fn, "hevc")
 
   return {
     'index': index,
@@ -140,42 +116,8 @@ def index_stream(fn, typ):
   }
 
 
-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_dir)
-
-
-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
-
-  if frame_type is None:
-    frame_type = fingerprint_video(fn[0])
-
-  if frame_type == FrameType.h265_stream:
-    index_stream(fn, "hevc", cache_dir=cache_dir)
-  else:
-    raise NotImplementedError("Only h265 supported")
-
-
 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_dir)
-
-  if not os.path.exists(cache_path):
-    return None
-  with open(cache_path, "rb") as cache_file:
-    return pickle.load(cache_file)
-
+  return index_stream(fn, frame_type, cache_dir=cache_dir)
 
 def read_file_check_size(f, sz, cookie):
   buff = bytearray(sz)
diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py
index b893d9815d..73ed843869 100755
--- a/tools/lib/tests/test_caching.py
+++ b/tools/lib/tests/test_caching.py
@@ -1,6 +1,12 @@
 #!/usr/bin/env python3
 import os
 import unittest
+
+from pathlib import Path
+from parameterized import parameterized
+from unittest import mock
+
+from openpilot.system.hardware.hw import Paths
 from openpilot.tools.lib.url_file import URLFile
 
 
@@ -59,6 +65,34 @@ class TestFileDownload(unittest.TestCase):
     self.compare_loads(large_file_url, length - 100, 100)
     self.compare_loads(large_file_url)
 
+  @parameterized.expand([(True, ), (False, )])
+  def test_recover_from_missing_file(self, cache_enabled):
+    os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
+
+    file_url = "http://localhost:5001/test.png"
+
+    file_exists = False
+
+    def get_length_online_mock(self):
+      if file_exists:
+        return 4
+      return -1
+
+    patch_length = mock.patch.object(URLFile, "get_length_online", get_length_online_mock)
+    patch_length.start()
+    try:
+      length = URLFile(file_url).get_length()
+      self.assertEqual(length, -1)
+
+      file_exists = True
+      length = URLFile(file_url).get_length()
+      self.assertEqual(length, 4)
+    finally:
+      tempfile_length = Path(Paths.download_cache_root()) / "ba2119904385654cb0105a2da174875f8e7648db175f202ecae6d6428b0e838f_length"
+      if tempfile_length.exists():
+        tempfile_length.unlink()
+      patch_length.stop()
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py
index 98a52cae27..2f933e3b7f 100644
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -1,8 +1,6 @@
 import os
 import time
-import tempfile
 import threading
-import urllib.parse
 import pycurl
 from hashlib import sha256
 from io import BytesIO
@@ -37,7 +35,8 @@ class URLFile:
       self._curl = self._tlocal.curl
     except AttributeError:
       self._curl = self._tlocal.curl = pycurl.Curl()
-    mkdirs_exists_ok(Paths.download_cache_root())
+    if not self._force_download:
+      mkdirs_exists_ok(Paths.download_cache_root())
 
   def __enter__(self):
     return self
@@ -65,15 +64,16 @@ class URLFile:
   def get_length(self):
     if self._length is not None:
       return self._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:
+    if not self._force_download and os.path.exists(file_length_path):
       with open(file_length_path) as file_length:
-          content = file_length.read()
-          self._length = int(content)
-          return self._length
+        content = file_length.read()
+        self._length = int(content)
+        return self._length
 
     self._length = self.get_length_online()
-    if not self._force_download:
+    if not self._force_download and self._length != -1:
       with atomic_write_in_dir(file_length_path, mode="w") as file_length:
         file_length.write(str(self._length))
     return self._length
@@ -173,24 +173,4 @@ class URLFile:
 
   @property
   def name(self):
-    """Returns a local path to file with the URLFile's contents.
-
-       This can be used to interface with modules that require local files.
-    """
-    if self._local_file is None:
-      _, ext = os.path.splitext(urllib.parse.urlparse(self._url).path)
-      local_fd, local_path = tempfile.mkstemp(suffix=ext)
-      try:
-        os.write(local_fd, self.read())
-        local_file = open(local_path, "rb")
-      except Exception:
-        os.remove(local_path)
-        raise
-      finally:
-        os.close(local_fd)
-
-      self._local_file = local_file
-      self.read = self._local_file.read
-      self.seek = self._local_file.seek
-
-    return self._local_file.name
+    return self._url
diff --git a/tools/lib/vidindex.py b/tools/lib/vidindex.py
new file mode 100755
index 0000000000..8156faba6b
--- /dev/null
+++ b/tools/lib/vidindex.py
@@ -0,0 +1,312 @@
+#!/usr/bin/env python3
+import argparse
+import os
+import struct
+from enum import IntEnum
+from typing import Tuple
+
+from openpilot.tools.lib.filereader import FileReader
+
+DEBUG = int(os.getenv("DEBUG", "0"))
+
+# compare to ffmpeg parsing
+# ffmpeg -i <input.hevc> -c copy -bsf:v trace_headers -f null - 2>&1 | grep -B4 -A32 '] 0 '
+
+# H.265 specification
+# https://www.itu.int/rec/dologin_pub.asp?lang=e&id=T-REC-H.265-201802-S!!PDF-E&type=items
+
+NAL_UNIT_START_CODE = b"\x00\x00\x01"
+NAL_UNIT_START_CODE_SIZE = len(NAL_UNIT_START_CODE)
+NAL_UNIT_HEADER_SIZE = 2
+
+class HevcNalUnitType(IntEnum):
+  TRAIL_N = 0         # RBSP structure: slice_segment_layer_rbsp( )
+  TRAIL_R = 1         # RBSP structure: slice_segment_layer_rbsp( )
+  TSA_N = 2           # RBSP structure: slice_segment_layer_rbsp( )
+  TSA_R = 3           # RBSP structure: slice_segment_layer_rbsp( )
+  STSA_N = 4          # RBSP structure: slice_segment_layer_rbsp( )
+  STSA_R = 5          # RBSP structure: slice_segment_layer_rbsp( )
+  RADL_N = 6          # RBSP structure: slice_segment_layer_rbsp( )
+  RADL_R = 7          # RBSP structure: slice_segment_layer_rbsp( )
+  RASL_N = 8          # RBSP structure: slice_segment_layer_rbsp( )
+  RASL_R = 9          # RBSP structure: slice_segment_layer_rbsp( )
+  RSV_VCL_N10 = 10
+  RSV_VCL_R11 = 11
+  RSV_VCL_N12 = 12
+  RSV_VCL_R13 = 13
+  RSV_VCL_N14 = 14
+  RSV_VCL_R15 = 15
+  BLA_W_LP = 16       # RBSP structure: slice_segment_layer_rbsp( )
+  BLA_W_RADL = 17     # RBSP structure: slice_segment_layer_rbsp( )
+  BLA_N_LP = 18       # RBSP structure: slice_segment_layer_rbsp( )
+  IDR_W_RADL = 19     # RBSP structure: slice_segment_layer_rbsp( )
+  IDR_N_LP = 20       # RBSP structure: slice_segment_layer_rbsp( )
+  CRA_NUT = 21        # RBSP structure: slice_segment_layer_rbsp( )
+  RSV_IRAP_VCL22 = 22
+  RSV_IRAP_VCL23 = 23
+  RSV_VCL24 = 24
+  RSV_VCL25 = 25
+  RSV_VCL26 = 26
+  RSV_VCL27 = 27
+  RSV_VCL28 = 28
+  RSV_VCL29 = 29
+  RSV_VCL30 = 30
+  RSV_VCL31 = 31
+  VPS_NUT = 32        # RBSP structure: video_parameter_set_rbsp( )
+  SPS_NUT = 33        # RBSP structure: seq_parameter_set_rbsp( )
+  PPS_NUT = 34        # RBSP structure: pic_parameter_set_rbsp( )
+  AUD_NUT = 35
+  EOS_NUT = 36
+  EOB_NUT = 37
+  FD_NUT = 38
+  PREFIX_SEI_NUT = 39
+  SUFFIX_SEI_NUT = 40
+  RSV_NVCL41 = 41
+  RSV_NVCL42 = 42
+  RSV_NVCL43 = 43
+  RSV_NVCL44 = 44
+  RSV_NVCL45 = 45
+  RSV_NVCL46 = 46
+  RSV_NVCL47 = 47
+  UNSPEC48 = 48
+  UNSPEC49 = 49
+  UNSPEC50 = 50
+  UNSPEC51 = 51
+  UNSPEC52 = 52
+  UNSPEC53 = 53
+  UNSPEC54 = 54
+  UNSPEC55 = 55
+  UNSPEC56 = 56
+  UNSPEC57 = 57
+  UNSPEC58 = 58
+  UNSPEC59 = 59
+  UNSPEC60 = 60
+  UNSPEC61 = 61
+  UNSPEC62 = 62
+  UNSPEC63 = 63
+
+# B.2.2 Byte stream NAL unit semantics
+# - The nal_unit_type within the nal_unit( ) syntax structure is equal to VPS_NUT, SPS_NUT or PPS_NUT.
+# - The byte stream NAL unit syntax structure contains the first NAL unit of an access unit in decoding
+#   order, as specified in clause 7.4.2.4.4.
+HEVC_PARAMETER_SET_NAL_UNITS = (
+  HevcNalUnitType.VPS_NUT,
+  HevcNalUnitType.SPS_NUT,
+  HevcNalUnitType.PPS_NUT,
+)
+
+# 3.29 coded slice segment NAL unit: A NAL unit that has nal_unit_type in the range of TRAIL_N to RASL_R,
+# inclusive, or in the range of BLA_W_LP to RSV_IRAP_VCL23, inclusive, which indicates that the NAL unit
+# contains a coded slice segment
+HEVC_CODED_SLICE_SEGMENT_NAL_UNITS = (
+  HevcNalUnitType.TRAIL_N,
+  HevcNalUnitType.TRAIL_R,
+  HevcNalUnitType.TSA_N,
+  HevcNalUnitType.TSA_R,
+  HevcNalUnitType.STSA_N,
+  HevcNalUnitType.STSA_R,
+  HevcNalUnitType.RADL_N,
+  HevcNalUnitType.RADL_R,
+  HevcNalUnitType.RASL_N,
+  HevcNalUnitType.RASL_R,
+  HevcNalUnitType.BLA_W_LP,
+  HevcNalUnitType.BLA_W_RADL,
+  HevcNalUnitType.BLA_N_LP,
+  HevcNalUnitType.IDR_W_RADL,
+  HevcNalUnitType.IDR_N_LP,
+  HevcNalUnitType.CRA_NUT,
+)
+
+class VideoFileInvalid(Exception):
+  pass
+
+def get_ue(dat: bytes, start_idx: int, skip_bits: int) -> Tuple[int, int]:
+  prefix_val = 0
+  prefix_len = 0
+  suffix_val = 0
+  suffix_len = 0
+
+  i = start_idx
+  while i < len(dat):
+    j = 7
+    while j >= 0:
+      if skip_bits > 0:
+        skip_bits -= 1
+      elif prefix_val == 0:
+        prefix_val = (dat[i] >> j) & 1
+        prefix_len += 1
+      else:
+        suffix_val = (suffix_val << 1) | ((dat[i] >> j) & 1)
+        suffix_len += 1
+      j -= 1
+
+      if prefix_val == 1 and prefix_len - 1 == suffix_len:
+        val = 2**(prefix_len-1) - 1 + suffix_val
+        size = prefix_len + suffix_len
+        return val, size
+    i += 1
+
+  raise VideoFileInvalid("invalid exponential-golomb code")
+
+def require_nal_unit_start(dat: bytes, nal_unit_start: int) -> None:
+  if nal_unit_start < 1:
+    raise ValueError("start index must be greater than zero")
+
+  if dat[nal_unit_start:nal_unit_start + NAL_UNIT_START_CODE_SIZE] != NAL_UNIT_START_CODE:
+    raise VideoFileInvalid("data must begin with start code")
+
+def get_hevc_nal_unit_length(dat: bytes, nal_unit_start: int) -> int:
+  try:
+    pos = dat.index(NAL_UNIT_START_CODE, nal_unit_start + NAL_UNIT_START_CODE_SIZE)
+  except ValueError:
+    pos = -1
+
+  # length of NAL unit is byte count up to next NAL unit start index
+  nal_unit_len = (pos if pos != -1 else len(dat)) - nal_unit_start
+  if DEBUG:
+    print("  nal_unit_len:", nal_unit_len)
+  return nal_unit_len
+
+def get_hevc_nal_unit_type(dat: bytes, nal_unit_start: int) -> HevcNalUnitType:
+  # 7.3.1.2 NAL unit header syntax
+  # nal_unit_header( ) {    // descriptor
+  #   forbidden_zero_bit    f(1)
+  #   nal_unit_type         u(6)
+  #   nuh_layer_id          u(6)
+  #   nuh_temporal_id_plus1 u(3)
+  # }
+  header_start = nal_unit_start + NAL_UNIT_START_CODE_SIZE
+  nal_unit_header = dat[header_start:header_start + NAL_UNIT_HEADER_SIZE]
+  if len(nal_unit_header) != 2:
+    raise VideoFileInvalid("data to short to contain nal unit header")
+  nal_unit_type = HevcNalUnitType((nal_unit_header[0] >> 1) & 0x3F)
+  if DEBUG:
+    print("  nal_unit_type:", nal_unit_type.name, f"({nal_unit_type.value})")
+  return nal_unit_type
+
+def get_hevc_slice_type(dat: bytes, nal_unit_start: int, nal_unit_type: HevcNalUnitType) -> Tuple[int, bool]:
+  # 7.3.2.9 Slice segment layer RBSP syntax
+  # slice_segment_layer_rbsp( ) {
+  #   slice_segment_header( )
+  #   slice_segment_data( )
+  #   rbsp_slice_segment_trailing_bits( )
+  # }
+  # ...
+  # 7.3.6.1 General slice segment header syntax
+  # slice_segment_header( ) {                                             // descriptor
+  #   first_slice_segment_in_pic_flag                                     u(1)
+  #   if( nal_unit_type >= BLA_W_LP && nal_unit_type <= RSV_IRAP_VCL23 )
+  #     no_output_of_prior_pics_flag                                      u(1)
+  #   slice_pic_parameter_set_id                                         ue(v)
+  #   if( !first_slice_segment_in_pic_flag ) {
+  #     if( dependent_slice_segments_enabled_flag )
+  #       dependent_slice_segment_flag                                    u(1)
+  #     slice_segment_address                                             u(v)
+  #   }
+  #   if( !dependent_slice_segment_flag ) {
+  #     for( i = 0; i < num_extra_slice_header_bits; i++ )
+  #       slice_reserved_flag[ i ]                                        u(1)
+  #     slice_type                                                       ue(v)
+  # ...
+
+  rbsp_start = nal_unit_start + NAL_UNIT_START_CODE_SIZE + NAL_UNIT_HEADER_SIZE
+  skip_bits = 0
+
+  # 7.4.7.1 General slice segment header semantics
+  # first_slice_segment_in_pic_flag equal to 1 specifies that the slice segment is the first slice segment of the picture in
+  # decoding order. first_slice_segment_in_pic_flag equal to 0 specifies that the slice segment is not the first slice segment
+  # of the picture in decoding order.
+  is_first_slice = dat[rbsp_start] >> 7 & 1 == 1
+  if not is_first_slice:
+    # TODO: parse dependent_slice_segment_flag and slice_segment_address and get real slice_type
+    # for now since we don't use it return -1 for slice_type
+    return (-1, is_first_slice)
+  skip_bits += 1 # skip past first_slice_segment_in_pic_flag
+
+  if nal_unit_type >= HevcNalUnitType.BLA_W_LP and nal_unit_type <= HevcNalUnitType.RSV_IRAP_VCL23:
+    # 7.4.7.1 General slice segment header semantics
+    # no_output_of_prior_pics_flag affects the output of previously-decoded pictures in the decoded picture buffer after the
+    # decoding of an IDR or a BLA picture that is not the first picture in the bitstream as specified in Annex C.
+    skip_bits += 1 # skip past no_output_of_prior_pics_flag
+
+  # 7.4.7.1 General slice segment header semantics
+  # slice_pic_parameter_set_id specifies the value of pps_pic_parameter_set_id for the PPS in use.
+  # The value of slice_pic_parameter_set_id shall be in the range of 0 to 63, inclusive.
+  _, size = get_ue(dat, rbsp_start, skip_bits)
+  skip_bits += size # skip past slice_pic_parameter_set_id
+
+  # 7.4.3.3.1 General picture parameter set RBSP semanal_unit_lenntics
+  # num_extra_slice_header_bits specifies the number of extra slice header bits that are present in the slice header RBSP
+  # for coded pictures referring to the PPS. The value of num_extra_slice_header_bits shall be in the range of 0 to 2, inclusive,
+  # in bitstreams conforming to this version of this Specification. Other values for num_extra_slice_header_bits are reserved
+  # for future use by ITU-T | ISO/IEC. However, decoders shall allow num_extra_slice_header_bits to have any value.
+  # TODO: get from PPS_NUT pic_parameter_set_rbsp( ) for corresponding slice_pic_parameter_set_id
+  num_extra_slice_header_bits = 0
+  skip_bits += num_extra_slice_header_bits
+
+  # 7.4.7.1 General slice segment header semantics
+  # slice_type specifies the coding type of the slice according to Table 7-7.
+  # Table 7-7 - Name association to slice_type
+  # slice_type | Name of slice_type
+  #     0      | B (B slice)
+  #     1      | P (P slice)
+  #     2      | I (I slice)
+  # unsigned integer 0-th order Exp-Golomb-coded syntax element with the left bit first
+  slice_type, _ = get_ue(dat, rbsp_start, skip_bits)
+  if DEBUG:
+    print("  slice_type:", slice_type, f"(first slice: {is_first_slice})")
+  if slice_type > 2:
+    raise VideoFileInvalid("slice_type must be 0, 1, or 2")
+  return slice_type, is_first_slice
+
+def hevc_index(hevc_file_name: str, allow_corrupt: bool=False) -> Tuple[list, int, bytes]:
+  with FileReader(hevc_file_name) as f:
+    dat = f.read()
+
+  if len(dat) < NAL_UNIT_START_CODE_SIZE + 1:
+    raise VideoFileInvalid("data is too short")
+
+  if dat[0] != 0x00:
+    raise VideoFileInvalid("first byte must be 0x00")
+
+  prefix_dat = b""
+  frame_types = list()
+
+  i = 1 # skip past first byte 0x00
+  try:
+    while i < len(dat):
+      require_nal_unit_start(dat, i)
+      nal_unit_len = get_hevc_nal_unit_length(dat, i)
+      nal_unit_type = get_hevc_nal_unit_type(dat, i)
+      if nal_unit_type in HEVC_PARAMETER_SET_NAL_UNITS:
+        prefix_dat += dat[i:i+nal_unit_len]
+      elif nal_unit_type in HEVC_CODED_SLICE_SEGMENT_NAL_UNITS:
+        slice_type, is_first_slice = get_hevc_slice_type(dat, i, nal_unit_type)
+        if is_first_slice:
+          frame_types.append((slice_type, i))
+      i += nal_unit_len
+  except Exception as e:
+    if not allow_corrupt:
+      raise
+    print(f"ERROR: NAL unit skipped @ {i}\n", str(e))
+
+  return frame_types, len(dat), prefix_dat
+
+def main() -> None:
+  parser = argparse.ArgumentParser()
+  parser.add_argument("input_file", type=str)
+  parser.add_argument("output_prefix_file", type=str)
+  parser.add_argument("output_index_file", type=str)
+  args = parser.parse_args()
+
+  frame_types, dat_len, prefix_dat = hevc_index(args.input_file)
+  with open(args.output_prefix_file, "wb") as f:
+    f.write(prefix_dat)
+
+  with open(args.output_index_file, "wb") as f:
+    for ft, fp in frame_types:
+      f.write(struct.pack("<II", ft, fp))
+    f.write(struct.pack("<II", 0xFFFFFFFF, dat_len))
+
+if __name__ == "__main__":
+  main()
diff --git a/tools/lib/vidindex/.gitignore b/tools/lib/vidindex/.gitignore
deleted file mode 100644
index a77a06e97d..0000000000
--- a/tools/lib/vidindex/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-vidindex
diff --git a/tools/lib/vidindex/Makefile b/tools/lib/vidindex/Makefile
deleted file mode 100644
index f6526db212..0000000000
--- a/tools/lib/vidindex/Makefile
+++ /dev/null
@@ -1,6 +0,0 @@
-CC := gcc
-
-vidindex: bitstream.c bitstream.h vidindex.c
-	$(eval $@_TMP := $(shell mktemp))
-	$(CC) -std=c99 bitstream.c vidindex.c -o $($@_TMP)
-	mv $($@_TMP) $@
diff --git a/tools/lib/vidindex/bitstream.c b/tools/lib/vidindex/bitstream.c
deleted file mode 100644
index dc6f43f14f..0000000000
--- a/tools/lib/vidindex/bitstream.c
+++ /dev/null
@@ -1,118 +0,0 @@
-#include "./bitstream.h"
-
-#include <stdbool.h>
-#include <assert.h>
-
-static const uint32_t BS_MASKS[33] = {
-    0,           0x1L,        0x3L,       0x7L,       0xFL,       0x1FL,
-    0x3FL,       0x7FL,       0xFFL,      0x1FFL,     0x3FFL,     0x7FFL,
-    0xFFFL,      0x1FFFL,     0x3FFFL,    0x7FFFL,    0xFFFFL,    0x1FFFFL,
-    0x3FFFFL,    0x7FFFFL,    0xFFFFFL,   0x1FFFFFL,  0x3FFFFFL,  0x7FFFFFL,
-    0xFFFFFFL,   0x1FFFFFFL,  0x3FFFFFFL, 0x7FFFFFFL, 0xFFFFFFFL, 0x1FFFFFFFL,
-    0x3FFFFFFFL, 0x7FFFFFFFL, 0xFFFFFFFFL};
-
-void bs_init(struct bitstream* bs, const uint8_t* buffer, size_t input_size) {
-  bs->buffer_ptr = buffer;
-  bs->buffer_end = buffer + input_size;
-  bs->value = 0;
-  bs->pos = 0;
-  bs->shift = 8;
-  bs->size = input_size * 8;
-}
-
-uint32_t bs_get(struct bitstream* bs, int n) {
-  if (n > 32)
-    return 0;
-
-  bs->pos += n;
-  bs->shift += n;
-  while (bs->shift > 8) {
-    if (bs->buffer_ptr < bs->buffer_end) {
-      bs->value <<= 8;
-      bs->value |= *bs->buffer_ptr++;
-      bs->shift -= 8;
-    } else {
-      bs_seek(bs, bs->pos - n);
-      return 0;
-      // bs->value <<= 8;
-      // bs->shift -= 8;
-    }
-  }
-  return (bs->value >> (8 - bs->shift)) & BS_MASKS[n];
-}
-
-void bs_seek(struct bitstream* bs, size_t new_pos) {
-  bs->pos = (new_pos / 32) * 32;
-  bs->shift = 8;
-  bs->value = 0;
-  bs_get(bs, new_pos % 32);
-}
-
-uint32_t bs_peek(struct bitstream* bs, int n) {
-  struct bitstream bak = *bs;
-  return bs_get(&bak, n);
-}
-
-size_t bs_remain(struct bitstream* bs) {
-  return bs->size - bs->pos;
-}
-
-int bs_eof(struct bitstream* bs) {
-  return bs_remain(bs) == 0;
-}
-
-uint32_t bs_ue(struct bitstream* bs) {
-  static const uint8_t exp_golomb_bits[256] = {
-      8, 7, 6, 6, 5, 5, 5, 5, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3,
-      3, 3, 3, 3, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2,
-      2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1,
-      1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
-      1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
-      1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-  };
-  uint32_t bits, read = 0;
-  int bits_left;
-  uint8_t coded;
-  int done = 0;
-  bits = 0;
-  // we want to read 8 bits at a time - if we don't have 8 bits,
-  // read what's left, and shift.  The exp_golomb_bits calc remains the
-  // same.
-  while (!done) {
-    bits_left = bs_remain(bs);
-    if (bits_left < 8) {
-      read = bs_peek(bs, bits_left) << (8 - bits_left);
-      done = 1;
-    } else {
-      read = bs_peek(bs, 8);
-      if (read == 0) {
-        bs_get(bs, 8);
-        bits += 8;
-      } else {
-        done = 1;
-      }
-    }
-  }
-  coded = exp_golomb_bits[read];
-  bs_get(bs, coded);
-  bits += coded;
-
-  //  printf("ue - bits %d\n", bits);
-  return bs_get(bs, bits + 1) - 1;
-}
-
-int32_t bs_se(struct bitstream* bs) {
-  uint32_t ret;
-  ret = bs_ue(bs);
-  if ((ret & 0x1) == 0) {
-    ret >>= 1;
-    int32_t temp = 0 - ret;
-    return temp;
-  }
-  return (ret + 1) >> 1;
-}
diff --git a/tools/lib/vidindex/bitstream.h b/tools/lib/vidindex/bitstream.h
deleted file mode 100644
index 0f538a59ab..0000000000
--- a/tools/lib/vidindex/bitstream.h
+++ /dev/null
@@ -1,26 +0,0 @@
-#ifndef bitstream_H
-#define bitstream_H
-
-
-#include <stddef.h>
-#include <stdint.h>
-
-struct bitstream {
-  const uint8_t *buffer_ptr;
-  const uint8_t *buffer_end;
-  uint64_t value;
-  uint32_t pos;
-  uint32_t shift;
-  size_t size;
-};
-
-void bs_init(struct bitstream *bs, const uint8_t *buffer, size_t input_size);
-void bs_seek(struct bitstream *bs, size_t new_pos);
-uint32_t bs_get(struct bitstream *bs, int n);
-uint32_t bs_peek(struct bitstream *bs, int n);
-size_t bs_remain(struct bitstream *bs);
-int bs_eof(struct bitstream *bs);
-uint32_t bs_ue(struct bitstream *bs);
-int32_t bs_se(struct bitstream *bs);
-
-#endif
diff --git a/tools/lib/vidindex/vidindex.c b/tools/lib/vidindex/vidindex.c
deleted file mode 100644
index 1d7da2e193..0000000000
--- a/tools/lib/vidindex/vidindex.c
+++ /dev/null
@@ -1,307 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdbool.h>
-#include <string.h>
-#include <assert.h>
-
-#include <unistd.h>
-#include <fcntl.h>
-#include <sys/stat.h>
-#include <sys/mman.h>
-
-#include "./bitstream.h"
-
-#define START_CODE 0x000001
-
-static uint32_t read24be(const uint8_t* ptr) {
-    return (ptr[0] << 16) | (ptr[1] << 8) | ptr[2];
-}
-static void write32le(FILE *of, uint32_t v) {
-  uint8_t va[4] = {
-    v & 0xff, (v >> 8) & 0xff, (v >> 16) & 0xff, (v >> 24) & 0xff
-  };
-  fwrite(va, 1, sizeof(va), of);
-}
-
-// Table 7-1
-enum hevc_nal_type {
-  HEVC_NAL_TYPE_TRAIL_N = 0,
-  HEVC_NAL_TYPE_TRAIL_R = 1,
-  HEVC_NAL_TYPE_TSA_N = 2,
-  HEVC_NAL_TYPE_TSA_R = 3,
-  HEVC_NAL_TYPE_STSA_N = 4,
-  HEVC_NAL_TYPE_STSA_R = 5,
-  HEVC_NAL_TYPE_RADL_N = 6,
-  HEVC_NAL_TYPE_RADL_R = 7,
-  HEVC_NAL_TYPE_RASL_N = 8,
-  HEVC_NAL_TYPE_RASL_R = 9,
-  HEVC_NAL_TYPE_BLA_W_LP = 16,
-  HEVC_NAL_TYPE_BLA_W_RADL = 17,
-  HEVC_NAL_TYPE_BLA_N_LP = 18,
-  HEVC_NAL_TYPE_IDR_W_RADL = 19,
-  HEVC_NAL_TYPE_IDR_N_LP = 20,
-  HEVC_NAL_TYPE_CRA_NUT = 21,
-  HEVC_NAL_TYPE_RSV_IRAP_VCL23 = 23,
-  HEVC_NAL_TYPE_VPS_NUT = 32,
-  HEVC_NAL_TYPE_SPS_NUT = 33,
-  HEVC_NAL_TYPE_PPS_NUT = 34,
-  HEVC_NAL_TYPE_AUD_NUT = 35,
-  HEVC_NAL_TYPE_EOS_NUT = 36,
-  HEVC_NAL_TYPE_EOB_NUT = 37,
-  HEVC_NAL_TYPE_FD_NUT = 38,
-  HEVC_NAL_TYPE_PREFIX_SEI_NUT = 39,
-  HEVC_NAL_TYPE_SUFFIX_SEI_NUT = 40,
-};
-
-// Table 7-7
-enum hevc_slice_type {
-  HEVC_SLICE_B = 0,
-  HEVC_SLICE_P = 1,
-  HEVC_SLICE_I = 2,
-};
-
-static void hevc_index(const uint8_t *data, size_t file_size, FILE *of_prefix, FILE *of_index) {
-  const uint8_t* ptr = data;
-  const uint8_t* ptr_end = data + file_size;
-
-  assert(ptr[0] == 0);
-  ptr++;
-  assert(read24be(ptr) == START_CODE);
-
-  // pps. ignore for now
-  uint32_t num_extra_slice_header_bits = 0;
-  uint32_t dependent_slice_segments_enabled_flag = 0;
-
-  while (ptr < ptr_end) {
-    const uint8_t* next = ptr+1;
-    for (; next < ptr_end-4; next++) {
-      if (read24be(next) == START_CODE) break;
-    }
-    size_t nal_size = next - ptr;
-    if (nal_size < 6) {
-      break;
-    }
-
-    {
-      struct bitstream bs = {0};
-      bs_init(&bs, ptr, nal_size);
-
-      uint32_t start_code = bs_get(&bs, 24);
-      assert(start_code == 0x000001);
-
-      // nal_unit_header
-      uint32_t forbidden_zero_bit = bs_get(&bs, 1);
-      uint32_t nal_unit_type = bs_get(&bs, 6);
-      uint32_t nuh_layer_id = bs_get(&bs, 6);
-      uint32_t nuh_temporal_id_plus1 = bs_get(&bs, 3);
-
-      // if (nal_unit_type != 1) printf("%3d -- %3d %10d %lu\n", nal_unit_type, frame_num, (uint32_t)(ptr-data), nal_size);
-
-      switch (nal_unit_type) {
-      case HEVC_NAL_TYPE_VPS_NUT:
-      case HEVC_NAL_TYPE_SPS_NUT:
-      case HEVC_NAL_TYPE_PPS_NUT:
-        fwrite(ptr, 1, nal_size, of_prefix);
-        break;
-      case HEVC_NAL_TYPE_TRAIL_N:
-      case HEVC_NAL_TYPE_TRAIL_R:
-      case HEVC_NAL_TYPE_TSA_N:
-      case HEVC_NAL_TYPE_TSA_R:
-      case HEVC_NAL_TYPE_STSA_N:
-      case HEVC_NAL_TYPE_STSA_R:
-      case HEVC_NAL_TYPE_RADL_N:
-      case HEVC_NAL_TYPE_RADL_R:
-      case HEVC_NAL_TYPE_RASL_N:
-      case HEVC_NAL_TYPE_RASL_R:
-      case HEVC_NAL_TYPE_BLA_W_LP:
-      case HEVC_NAL_TYPE_BLA_W_RADL:
-      case HEVC_NAL_TYPE_BLA_N_LP:
-      case HEVC_NAL_TYPE_IDR_W_RADL:
-      case HEVC_NAL_TYPE_IDR_N_LP:
-      case HEVC_NAL_TYPE_CRA_NUT: {
-        // slice_segment_header
-        uint32_t first_slice_segment_in_pic_flag = bs_get(&bs, 1);
-        if (nal_unit_type >= HEVC_NAL_TYPE_BLA_W_LP && nal_unit_type <= HEVC_NAL_TYPE_RSV_IRAP_VCL23) {
-          uint32_t no_output_of_prior_pics_flag = bs_get(&bs, 1);
-        }
-        uint32_t slice_pic_parameter_set_id = bs_get(&bs, 1);
-        if (!first_slice_segment_in_pic_flag) {
-          // ...
-          break;
-        }
-
-        if (!dependent_slice_segments_enabled_flag) {
-          for (int i=0; i<num_extra_slice_header_bits; i++) {
-            bs_get(&bs, 1);
-          }
-          uint32_t slice_type = bs_ue(&bs);
-
-          // write the index
-          write32le(of_index, slice_type);
-          write32le(of_index, ptr - data);
-
-          // ...
-        }
-
-        break;
-      }
-      }
-
-      //...
-      // emulation_prevention_three_byte
-    }
-
-    ptr = next;
-  }
-
-  write32le(of_index, -1);
-  write32le(of_index, file_size);
-}
-
-// Table 7-1
-enum h264_nal_type {
-  H264_NAL_SLICE           = 1,
-  H264_NAL_DPA             = 2,
-  H264_NAL_DPB             = 3,
-  H264_NAL_DPC             = 4,
-  H264_NAL_IDR_SLICE       = 5,
-  H264_NAL_SEI             = 6,
-  H264_NAL_SPS             = 7,
-  H264_NAL_PPS             = 8,
-  H264_NAL_AUD             = 9,
-  H264_NAL_END_SEQUENCE    = 10,
-  H264_NAL_END_STREAM      = 11,
-  H264_NAL_FILLER_DATA     = 12,
-  H264_NAL_SPS_EXT         = 13,
-  H264_NAL_AUXILIARY_SLICE = 19,
-};
-
-enum h264_slice_type {
-  H264_SLICE_P = 0,
-  H264_SLICE_B = 1,
-  H264_SLICE_I = 2,
-  // ...
-};
-
-static void h264_index(const uint8_t *data, size_t file_size, FILE *of_prefix, FILE *of_index) {
-  const uint8_t* ptr = data;
-  const uint8_t* ptr_end = data + file_size;
-
-  assert(ptr[0] == 0);
-  ptr++;
-  assert(read24be(ptr) == START_CODE);
-
-
-  uint32_t sps_log2_max_frame_num_minus4;
-
-
-  int last_frame_num = -1;
-
-  while (ptr < ptr_end) {
-    const uint8_t* next = ptr+1;
-    for (; next < ptr_end-4; next++) {
-      if (read24be(next) == START_CODE) break;
-    }
-    size_t nal_size = next - ptr;
-    if (nal_size < 5) {
-      break;
-    }
-
-    {
-      struct bitstream bs = {0};
-      bs_init(&bs, ptr, nal_size);
-
-      uint32_t start_code = bs_get(&bs, 24);
-      assert(start_code == 0x000001);
-
-      // nal_unit_header
-      uint32_t forbidden_zero_bit = bs_get(&bs, 1);
-      uint32_t nal_ref_idx = bs_get(&bs, 2);
-      uint32_t nal_unit_type = bs_get(&bs, 5);
-
-      switch (nal_unit_type) {
-      case H264_NAL_SPS:
-
-        {
-          uint32_t profile_idx = bs_get(&bs, 8);
-          uint32_t constraint_sets = bs_get(&bs, 4);
-          uint32_t reserved = bs_get(&bs, 5);
-          uint32_t level_idc = bs_get(&bs, 5);
-          uint32_t seq_parameter_set_id = bs_ue(&bs);
-          sps_log2_max_frame_num_minus4 = bs_ue(&bs);
-        }
-
-        // fallthrough
-      case H264_NAL_PPS:
-        fwrite(ptr, 1, nal_size, of_prefix);
-        break;
-
-      case H264_NAL_SLICE:
-      case H264_NAL_IDR_SLICE: {
-        // slice header
-        uint32_t first_mb_in_slice = bs_ue(&bs);
-        uint32_t slice_type = bs_ue(&bs);
-        uint32_t pic_parameter_set_id = bs_ue(&bs);
-
-        uint32_t frame_num = bs_get(&bs, sps_log2_max_frame_num_minus4+4);
-
-        if (first_mb_in_slice == 0) {
-          write32le(of_index, slice_type);
-          write32le(of_index, ptr - data);
-        }
-
-        break;
-      }
-
-      }
-
-    }
-
-    ptr = next;
-  }
-
-  write32le(of_index, -1);
-  write32le(of_index, file_size);
-}
-
-int main(int argc, char** argv) {
-  if (argc != 5) {
-    fprintf(stderr, "usage: %s h264|hevc file_path out_prefix out_index\n", argv[0]);
-    exit(1);
-  }
-
-  const char* file_type = argv[1];
-  const char* file_path = argv[2];
-
-  int fd = open(file_path, O_RDONLY, 0);
-  if (fd < 0) {
-    fprintf(stderr, "error: couldn't open %s\n", file_path);
-    exit(1);
-  }
-
-  FILE *of_prefix = fopen(argv[3], "wb");
-  assert(of_prefix);
-  FILE *of_index = fopen(argv[4], "wb");
-  assert(of_index);
-
-  off_t file_size = lseek(fd, 0, SEEK_END);
-  lseek(fd, 0, SEEK_SET);
-
-  assert(file_size > 4);
-
-  const uint8_t* data = (const uint8_t*)mmap(NULL, file_size, PROT_READ, MAP_PRIVATE, fd, 0);
-  assert(data != MAP_FAILED);
-
-  if (strcmp(file_type, "hevc") == 0) {
-    hevc_index(data, file_size, of_prefix, of_index);
-  } else if (strcmp(file_type, "h264") == 0) {
-    h264_index(data, file_size, of_prefix, of_index);
-  } else {
-    assert(false);
-  }
-
-  munmap((void*)data, file_size);
-  close(fd);
-
-  return 0;
-}
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index 0c9627ca4e..9ec2097ea4 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -2,6 +2,20 @@
 
 set -e
 
+if [ -z "$SKIP_PROMPT" ]; then
+  echo "---------------   macOS support   ---------------"
+  echo "Running openpilot natively on macOS is not officially supported."
+  echo "It might build, some parts of it might work, but it's not fully tested, so there might be some issues."
+  echo 
+  echo "Check out devcontainers for a seamless experience (see tools/README.md)."
+  echo "-------------------------------------------------"
+  echo -n "Are you sure you want to continue? [y/N] "
+  read -r response
+  if [[ ! "$response" =~ ^([yY][eE][sS]|[yY])+$ ]]; then
+    exit 1
+  fi
+fi
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ROOT="$(cd $DIR/../ && pwd)"
 ARCH=$(uname -m)
diff --git a/tools/plotjuggler/layouts/CAN-bus-debug.xml b/tools/plotjuggler/layouts/CAN-bus-debug.xml
new file mode 100644
index 0000000000..f5b74ae71f
--- /dev/null
+++ b/tools/plotjuggler/layouts/CAN-bus-debug.xml
@@ -0,0 +1,86 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab containers="1" tab_name="tab1">
+   <Container>
+    <DockSplitter sizes="0.33362;0.33276;0.33362" count="3" orientation="-">
+     <DockArea name="CAN RX">
+      <plot style="Lines" flip_y="false" mode="TimeSeries" flip_x="false">
+       <range top="1101.875000" left="0.000000" bottom="-26.875000" right="60.526742"/>
+       <limitY/>
+       <curve name="/pandaStates/0/canState0/totalRxCnt" color="#f14cc1">
+        <transform alias="/pandaStates/0/canState0/totalRxCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+       <curve name="/pandaStates/0/canState1/totalRxCnt" color="#9467bd">
+        <transform alias="/pandaStates/0/canState1/totalRxCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+       <curve name="/pandaStates/0/canState2/totalRxCnt" color="#ff7f0e">
+        <transform alias="/pandaStates/0/canState2/totalRxCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+     <DockArea name="CAN TX">
+      <plot style="Lines" flip_y="false" mode="TimeSeries" flip_x="false">
+       <range top="455.100000" left="0.000000" bottom="-11.100000" right="60.526742"/>
+       <limitY/>
+       <curve name="/pandaStates/0/canState0/totalTxCnt" color="#17becf">
+        <transform alias="/pandaStates/0/canState0/totalTxCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+       <curve name="/pandaStates/0/canState1/totalTxCnt" color="#bcbd22">
+        <transform alias="/pandaStates/0/canState1/totalTxCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+       <curve name="/pandaStates/0/canState2/totalTxCnt" color="#1f77b4">
+        <transform alias="/pandaStates/0/canState2/totalTxCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+     <DockArea name="CAN errors">
+      <plot style="Lines" flip_y="false" mode="TimeSeries" flip_x="false">
+       <range top="2515.350000" left="0.000000" bottom="-61.350000" right="60.526742"/>
+       <limitY/>
+       <curve name="/pandaStates/0/canState0/totalErrorCnt" color="#1f77b4">
+        <transform alias="/pandaStates/0/canState0/totalErrorCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+       <curve name="/pandaStates/0/canState1/totalErrorCnt" color="#d62728">
+        <transform alias="/pandaStates/0/canState1/totalErrorCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+       <curve name="/pandaStates/0/canState2/totalErrorCnt" color="#1ac938">
+        <transform alias="/pandaStates/0/canState2/totalErrorCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="Cereal Subscriber"/>
+ </Plugins>
+ <customMathEquations/>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index d8a68a06e9..d3a32a2651 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -321,13 +321,12 @@ void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::
 void Replay::startStream(const Segment *cur_segment) {
   const auto &events = cur_segment->log->events;
 
-  // get route start time from initData
-  auto it = std::find_if(events.begin(), events.end(), [](auto e) { return e->which == cereal::Event::Which::INIT_DATA; });
-  route_start_ts_ = it != events.end() ? (*it)->mono_time : events[0]->mono_time;
-  cur_mono_time_ += route_start_ts_;
+  // each segment has an INIT_DATA
+  route_start_ts_ = events.front()->mono_time;
+  cur_mono_time_ += route_start_ts_ - 1;
 
   // write CarParams
-  it = std::find_if(events.begin(), events.end(), [](auto e) { return e->which == cereal::Event::Which::CAR_PARAMS; });
+  auto it = std::find_if(events.begin(), events.end(), [](auto e) { return e->which == cereal::Event::Which::CAR_PARAMS; });
   if (it != events.end()) {
     car_fingerprint_ = (*it)->event.getCarParams().getCarFingerprint();
     capnp::MallocMessageBuilder builder;
@@ -434,7 +433,7 @@ void Replay::stream() {
         long etime = (cur_mono_time_ - evt_start_ts) / speed_;
         long rtime = nanos_since_boot() - loop_start_ts;
         long behind_ns = etime - rtime;
-        // if behind_ns is greater than 1 second, it means that an invalid segemnt is skipped by seeking/replaying
+        // if behind_ns is greater than 1 second, it means that an invalid segment is skipped by seeking/replaying
         if (behind_ns >= 1 * 1e9 || speed_ != prev_replay_speed) {
           // reset event start times
           evt_start_ts = cur_mono_time_;
diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
index 05c0ca8ac4..d0b6a9db97 100644
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -126,7 +126,6 @@ std::string download_demo_route() {
       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"));
@@ -137,27 +136,26 @@ std::string download_demo_route() {
 }
 
 
-TEST_CASE("Route") {
+TEST_CASE("Local 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));
-    REQUIRE(route.load());
-    REQUIRE(route.segments().size() == 2);
-    for (int i = 0; i < route.segments().size(); ++i) {
-      read_segment(i, route.at(i), flags);
-    }
-  };
-  SECTION("Remote route") {
-    auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
-    Route route(DEMO_ROUTE);
-    REQUIRE(route.load());
-    REQUIRE(route.segments().size() == 13);
-    for (int i = 0; i < 2; ++i) {
-      read_segment(i, route.at(i), flags);
-    }
-  };
+  auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
+  Route route(DEMO_ROUTE, QString::fromStdString(data_dir));
+  REQUIRE(route.load());
+  REQUIRE(route.segments().size() == 2);
+  for (int i = 0; i < route.segments().size(); ++i) {
+    read_segment(i, route.at(i), flags);
+  }
+}
+
+TEST_CASE("Remote route") {
+  auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
+  Route route(DEMO_ROUTE);
+  REQUIRE(route.load());
+  REQUIRE(route.segments().size() == 13);
+  for (int i = 0; i < 2; ++i) {
+    read_segment(i, route.at(i), flags);
+  }
 }
 
 // helper class for unit tests
diff --git a/tools/scripts/fetch_image_from_route.py b/tools/scripts/fetch_image_from_route.py
index 471db7ee3e..b59e7c895e 100755
--- a/tools/scripts/fetch_image_from_route.py
+++ b/tools/scripts/fetch_image_from_route.py
@@ -2,10 +2,16 @@
 import sys
 
 if len(sys.argv) < 4:
-  print(f"{sys.argv[0]} <route> <segment> <frame number>")
-  print('example: ./fetch_image_from_route.py "02c45f73a2e5c6e9|2020-06-01--18-03-08" 3 500')
+  print(f"{sys.argv[0]} <route> <segment> <frame number> [front|wide|driver]")
+  print('example: ./fetch_image_from_route.py "02c45f73a2e5c6e9|2020-06-01--18-03-08" 3 500 driver')
   exit(0)
 
+cameras = {
+  "front": "cameras",
+  "wide": "ecameras",
+  "driver": "dcameras"
+}
+
 import requests
 from PIL import Image
 from openpilot.tools.lib.auth_config import get_token
@@ -16,22 +22,22 @@ jwt = get_token()
 route = sys.argv[1]
 segment = int(sys.argv[2])
 frame = int(sys.argv[3])
+camera = cameras[sys.argv[4]] if len(sys.argv) > 4 and sys.argv[4] in cameras else "cameras"
 
-url = 'https://api.commadotai.com/v1/route/'+sys.argv[1]+"/files"
-r = requests.get(url, headers={"Authorization": "JWT "+jwt}, timeout=10)
+url = f'https://api.commadotai.com/v1/route/{route}/files'
+r = requests.get(url, headers={"Authorization": f"JWT {jwt}"}, timeout=10)
 assert r.status_code == 200
 print("got api response")
 
-cameras = r.json()['cameras']
-if segment >= len(cameras):
-  raise Exception("segment %d not found, got %d segments" % (segment, len(cameras)))
+segments = r.json()[camera]
+if segment >= len(segments):
+  raise Exception("segment %d not found, got %d segments" % (segment, len(segments)))
 
-fr = FrameReader(cameras[segment])
+fr = FrameReader(segments[segment])
 if frame >= fr.frame_count:
   raise Exception("frame %d not found, got %d frames" % (frame, fr.frame_count))
 
 im = Image.fromarray(fr.get(frame, count=1, pix_fmt="rgb24")[0])
-fn = "uxxx_"+route.replace("|", "_")+"_%d_%d.png" % (segment, frame)
+fn = f"uxxx_{route.replace('|', '_')}_{segment}_{frame}.png"
 im.save(fn)
 print(f"saved {fn}")
-
diff --git a/tools/sim/README.md b/tools/sim/README.md
index 69a89aefab..0892e77736 100644
--- a/tools/sim/README.md
+++ b/tools/sim/README.md
@@ -1,59 +1,83 @@
 openpilot in simulator
 =====================
 
-openpilot implements a [bridge](bridge.py) that allows it to run in the [CARLA simulator](https://carla.org/).
+openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive) or [CARLA simulator](https://carla.org/).
 
-## System Requirements
+## Launching openpilot
+First, start openpilot.
+``` bash
+# Run locally
+./tools/sim/launch_openpilot.sh
+```
+
+## Bridge usage
+```
+$ ./run_bridge.py -h
+usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR] [--town TOWN] [--spawn_point NUM_SELECTED_SPAWN_POINT] [--host HOST] [--port PORT]
+
+Bridge between the simulator and openpilot.
+
+options:
+  -h, --help            show this help message and exit
+  --joystick
+  --high_quality
+  --dual_camera
+  --simulator SIMULATOR
+  --town TOWN
+  --spawn_point NUM_SELECTED_SPAWN_POINT
+  --host HOST
+  --port PORT
+```
+
+#### Bridge Controls:
+- To engage openpilot press 2, then press 1 to increase the speed and 2 to decrease.
+- To disengage, press "S" (simulates a user brake)
+
+#### All inputs:
+
+```
+| key  |   functionality       |
+|------|-----------------------|
+|  1   | Cruise Resume / Accel |
+|  2   | Cruise Set    / Decel |
+|  3   | Cruise Cancel         |
+|  r   | Reset Simulation      |
+|  i   | Toggle Ignition       |
+|  q   | Exit all              |
+| wasd | Control manually      |
+```
+
+## MetaDrive
+
+### Launching Metadrive
+Start bridge processes located in tools/sim:
+``` bash
+./run_bridge.py --simulator metadrive
+```
+
+## Carla
+
+CARLA is also partially supported, though the performance is not great. It needs to be manually installed with:
+
+```bash
+poetry install --with=carla
+```
 
 openpilot doesn't have any extreme hardware requirements, however CARLA requires an NVIDIA graphics card and is very resource-intensive and may not run smoothly on your system.
 For this case, we have the simulator in low quality by default.
 
 You can also check out the [CARLA python documentation](https://carla.readthedocs.io/en/latest/python_api/) to find more parameters to tune that might increase performance on your system.
 
-## Running the simulator
-Start Carla simulator, openpilot and bridge processes located in tools/sim:
+### Launching Carla
+Start Carla simulator and bridge processes located in tools/sim:
 ``` bash
 # Terminal 1
 ./start_carla.sh
 
-# Terminal 2 - Run openpilot and bridge in one Docker:
-./start_openpilot_docker.sh
-
-# Running the latest local code execute
-    # Terminal 2:
-    ./launch_openpilot.sh
-    # Terminal 3
-    ./bridge.py
+# Terminal 2
+./run_bridge.py --simulator carla
 ```
 
-### Bridge usage
-_Same commands hold for start_openpilot_docker_
-```
-$ ./bridge.py -h
-Usage: bridge.py [options]
-Bridge between CARLA and openpilot.
-
-Options:
-  -h, --help            show this help message and exit
-  --joystick            Use joystick input to control the car
-  --high_quality        Set simulator to higher quality (requires good GPU)
-  --town TOWN           Select map to drive in
-  --spawn_point NUM     Number of the spawn point to start in
-  --host HOST           Host address of Carla client (127.0.0.1 as default)
-  --port PORT           Port of Carla client (2000 as default)
-```
-
-To engage openpilot press 1 a few times while focused on bridge.py to increase the cruise speed.
-All inputs:
-
-| key  |   functionality   |
-|:----:|:-----------------:|
-|  1   |  Cruise up 1 mph  |
-|  2   | Cruise down 1 mph |
-|  3   |   Cruise cancel   |
-|  q   |     Exit all      |
-| wasd | Control manually  |
-
 ## Further Reading
 
 The following resources contain more details and troubleshooting tips.
diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py
deleted file mode 100755
index 33fb2c020e..0000000000
--- a/tools/sim/bridge.py
+++ /dev/null
@@ -1,561 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import math
-import os
-import signal
-import threading
-import time
-from multiprocessing import Process, Queue
-from typing import Any
-
-import carla
-import numpy as np
-import pyopencl as cl
-import pyopencl.array as cl_array
-
-import cereal.messaging as messaging
-from cereal import log
-from cereal.visionipc import VisionIpcServer, VisionStreamType
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.numpy_fast import clip
-from openpilot.common.params import Params
-from openpilot.common.realtime import DT_DMON, Ratekeeper
-from openpilot.selfdrive.car.honda.values import CruiseButtons
-from openpilot.selfdrive.test.helpers import set_params_enabled
-from openpilot.tools.sim.lib.can import can_function
-
-W, H = 1928, 1208
-REPEAT_COUNTER = 5
-PRINT_DECIMATION = 100
-STEER_RATIO = 15.
-
-pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'accelerometer', 'gyroscope', 'can', "gpsLocationExternal"])
-sm = messaging.SubMaster(['carControl', 'controlsState'])
-
-def parse_args(add_args=None):
-  parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.')
-  parser.add_argument('--joystick', action='store_true')
-  parser.add_argument('--high_quality', action='store_true')
-  parser.add_argument('--dual_camera', action='store_true')
-  parser.add_argument('--town', type=str, default='Town04_Opt')
-  parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16)
-  parser.add_argument('--host', dest='host', type=str, default='127.0.0.1')
-  parser.add_argument('--port', dest='port', type=int, default=2000)
-
-  return parser.parse_args(add_args)
-
-
-class VehicleState:
-  def __init__(self):
-    self.speed = 0.0
-    self.angle = 0.0
-    self.bearing_deg = 0.0
-    self.vel = carla.Vector3D()
-    self.cruise_button = 0
-    self.is_engaged = False
-    self.ignition = True
-
-
-def steer_rate_limit(old, new):
-  # Rate limiting to 0.5 degrees per step
-  limit = 0.5
-  if new > old + limit:
-    return old + limit
-  elif new < old - limit:
-    return old - limit
-  else:
-    return new
-
-
-class Camerad:
-  def __init__(self, dual_camera):
-    self.frame_road_id = 0
-    self.frame_wide_id = 0
-    self.vipc_server = VisionIpcServer("camerad")
-
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, False, W, H)
-    if dual_camera:
-      self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H)
-    self.vipc_server.start_listener()
-
-    # set up for pyopencl rgb to yuv conversion
-    self.ctx = cl.create_some_context()
-    self.queue = cl.CommandQueue(self.ctx)
-    cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W * 3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG "
-
-    kernel_fn = os.path.join(BASEDIR, "tools/sim/rgb_to_nv12.cl")
-    with open(kernel_fn) as f:
-      prg = cl.Program(self.ctx, f.read()).build(cl_arg)
-      self.krnl = prg.rgb_to_nv12
-    self.Wdiv4 = W // 4 if (W % 4 == 0) else (W + (4 - W % 4)) // 4
-    self.Hdiv4 = H // 4 if (H % 4 == 0) else (H + (4 - H % 4)) // 4
-
-  def cam_callback_road(self, image):
-    self._cam_callback(image, self.frame_road_id, 'roadCameraState', VisionStreamType.VISION_STREAM_ROAD)
-    self.frame_road_id += 1
-
-  def cam_callback_wide_road(self, image):
-    self._cam_callback(image, self.frame_wide_id, 'wideRoadCameraState', VisionStreamType.VISION_STREAM_WIDE_ROAD)
-    self.frame_wide_id += 1
-
-  def _cam_callback(self, image, frame_id, pub_type, yuv_type):
-    img = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
-    img = np.reshape(img, (H, W, 4))
-    img = img[:, :, [0, 1, 2]].copy()
-
-    # convert RGB frame to YUV
-    rgb = np.reshape(img, (H, W * 3))
-    rgb_cl = cl_array.to_device(self.queue, rgb)
-    yuv_cl = cl_array.empty_like(rgb_cl)
-    self.krnl(self.queue, (np.int32(self.Wdiv4), np.int32(self.Hdiv4)), None, rgb_cl.data, yuv_cl.data).wait()
-    yuv = np.resize(yuv_cl.get(), rgb.size // 2)
-    eof = int(frame_id * 0.05 * 1e9)
-
-    self.vipc_server.send(yuv_type, yuv.data.tobytes(), frame_id, eof, eof)
-
-    dat = messaging.new_message(pub_type)
-    msg = {
-      "frameId": frame_id,
-      "transform": [1.0, 0.0, 0.0,
-                    0.0, 1.0, 0.0,
-                    0.0, 0.0, 1.0]
-    }
-    setattr(dat, pub_type, msg)
-    pm.send(pub_type, dat)
-
-def imu_callback(imu, vehicle_state):
-  # send 5x since 'sensor_tick' doesn't seem to work. limited by the world tick?
-  for _ in range(5):
-    vehicle_state.bearing_deg = math.degrees(imu.compass)
-    dat = messaging.new_message('accelerometer')
-    dat.accelerometer.sensor = 4
-    dat.accelerometer.type = 0x10
-    dat.accelerometer.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
-    dat.accelerometer.init('acceleration')
-    dat.accelerometer.acceleration.v = [imu.accelerometer.x, imu.accelerometer.y, imu.accelerometer.z]
-    pm.send('accelerometer', dat)
-
-    # copied these numbers from locationd
-    dat = messaging.new_message('gyroscope')
-    dat.gyroscope.sensor = 5
-    dat.gyroscope.type = 0x10
-    dat.gyroscope.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
-    dat.gyroscope.init('gyroUncalibrated')
-    dat.gyroscope.gyroUncalibrated.v = [imu.gyroscope.x, imu.gyroscope.y, imu.gyroscope.z]
-    pm.send('gyroscope', dat)
-    time.sleep(0.01)
-
-
-def panda_state_function(vs: VehicleState, exit_event: threading.Event):
-  pm = messaging.PubMaster(['pandaStates'])
-  while not exit_event.is_set():
-    dat = messaging.new_message('pandaStates', 1)
-    dat.valid = True
-    dat.pandaStates[0] = {
-      'ignitionLine': vs.ignition,
-      'pandaType': "blackPanda",
-      'controlsAllowed': True,
-      'safetyModel': 'hondaNidec'
-    }
-    pm.send('pandaStates', dat)
-    time.sleep(0.5)
-
-
-def peripheral_state_function(exit_event: threading.Event):
-  pm = messaging.PubMaster(['peripheralState'])
-  while not exit_event.is_set():
-    dat = messaging.new_message('peripheralState')
-    dat.valid = True
-    # fake peripheral state data
-    dat.peripheralState = {
-      'pandaType': log.PandaState.PandaType.blackPanda,
-      'voltage': 12000,
-      'current': 5678,
-      'fanSpeedRpm': 1000
-    }
-    pm.send('peripheralState', dat)
-    time.sleep(0.5)
-
-
-def gps_callback(gps, vehicle_state):
-  dat = messaging.new_message('gpsLocationExternal')
-
-  # transform vel from carla to NED
-  # north is -Y in CARLA
-  velNED = [
-    -vehicle_state.vel.y,  # north/south component of NED is negative when moving south
-    vehicle_state.vel.x,  # positive when moving east, which is x in carla
-    vehicle_state.vel.z,
-  ]
-
-  dat.gpsLocationExternal = {
-    "unixTimestampMillis": int(time.time() * 1000),
-    "flags": 1,  # valid fix
-    "accuracy": 1.0,
-    "verticalAccuracy": 1.0,
-    "speedAccuracy": 0.1,
-    "bearingAccuracyDeg": 0.1,
-    "vNED": velNED,
-    "bearingDeg": vehicle_state.bearing_deg,
-    "latitude": gps.latitude,
-    "longitude": gps.longitude,
-    "altitude": gps.altitude,
-    "speed": vehicle_state.speed,
-    "source": log.GpsLocationData.SensorSource.ublox,
-  }
-
-  pm.send('gpsLocationExternal', dat)
-
-
-def fake_driver_monitoring(exit_event: threading.Event):
-  pm = messaging.PubMaster(['driverStateV2', 'driverMonitoringState'])
-  while not exit_event.is_set():
-    # dmonitoringmodeld output
-    dat = messaging.new_message('driverStateV2')
-    dat.driverStateV2.leftDriverData.faceOrientation = [0., 0., 0.]
-    dat.driverStateV2.leftDriverData.faceProb = 1.0
-    dat.driverStateV2.rightDriverData.faceOrientation = [0., 0., 0.]
-    dat.driverStateV2.rightDriverData.faceProb = 1.0
-    pm.send('driverStateV2', dat)
-
-    # dmonitoringd output
-    dat = messaging.new_message('driverMonitoringState')
-    dat.driverMonitoringState = {
-      "faceDetected": True,
-      "isDistracted": False,
-      "awarenessStatus": 1.,
-    }
-    pm.send('driverMonitoringState', dat)
-
-    time.sleep(DT_DMON)
-
-
-def can_function_runner(vs: VehicleState, exit_event: threading.Event):
-  i = 0
-  while not exit_event.is_set():
-    can_function(pm, vs.speed, vs.angle, i, vs.cruise_button, vs.is_engaged)
-    time.sleep(0.01)
-    i += 1
-
-
-def connect_carla_client(host: str, port: int):
-  client = carla.Client(host, port)
-  client.set_timeout(5)
-  return client
-
-
-class CarlaBridge:
-
-  def __init__(self, arguments):
-    set_params_enabled()
-
-    self.params = Params()
-
-    msg = messaging.new_message('liveCalibration')
-    msg.liveCalibration.validBlocks = 20
-    msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
-    self.params.put("CalibrationParams", msg.to_bytes())
-    self.params.put_bool("DisengageOnAccelerator", True)
-
-    self._args = arguments
-    self._carla_objects = []
-    self._camerad = None
-    self._exit_event = threading.Event()
-    self._threads = []
-    self._keep_alive = True
-    self.started = False
-    signal.signal(signal.SIGTERM, self._on_shutdown)
-    self._exit = threading.Event()
-
-  def _on_shutdown(self, signal, frame):
-    self._keep_alive = False
-
-  def bridge_keep_alive(self, q: Queue, retries: int):
-    try:
-      while self._keep_alive:
-        try:
-          self._run(q)
-          break
-        except RuntimeError as e:
-          self.close()
-          if retries == 0:
-            raise
-
-          # Reset for another try
-          self._carla_objects = []
-          self._threads = []
-          self._exit_event = threading.Event()
-
-          retries -= 1
-          if retries <= -1:
-            print(f"Restarting bridge. Error: {e} ")
-          else:
-            print(f"Restarting bridge. Retries left {retries}. Error: {e} ")
-    finally:
-      # Clean up resources in the opposite order they were created.
-      self.close()
-
-  def _run(self, q: Queue):
-    client = connect_carla_client(self._args.host, self._args.port)
-    world = client.load_world(self._args.town)
-
-    settings = world.get_settings()
-    settings.synchronous_mode = True  # Enables synchronous mode
-    settings.fixed_delta_seconds = 0.05
-    world.apply_settings(settings)
-
-    world.set_weather(carla.WeatherParameters.ClearSunset)
-
-    if not self._args.high_quality:
-      world.unload_map_layer(carla.MapLayer.Foliage)
-      world.unload_map_layer(carla.MapLayer.Buildings)
-      world.unload_map_layer(carla.MapLayer.ParkedVehicles)
-      world.unload_map_layer(carla.MapLayer.Props)
-      world.unload_map_layer(carla.MapLayer.StreetLights)
-      world.unload_map_layer(carla.MapLayer.Particles)
-
-    blueprint_library = world.get_blueprint_library()
-
-    world_map = world.get_map()
-
-    vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1]
-    vehicle_bp.set_attribute('role_name', 'hero')
-    spawn_points = world_map.get_spawn_points()
-    assert len(spawn_points) > self._args.num_selected_spawn_point, f'''No spawn point {self._args.num_selected_spawn_point}, try a value between 0 and
-      {len(spawn_points)} for this town.'''
-    spawn_point = spawn_points[self._args.num_selected_spawn_point]
-    vehicle = world.spawn_actor(vehicle_bp, spawn_point)
-    self._carla_objects.append(vehicle)
-    max_steer_angle = vehicle.get_physics_control().wheels[0].max_steer_angle
-
-    # make tires less slippery
-    # wheel_control = carla.WheelPhysicsControl(tire_friction=5)
-    physics_control = vehicle.get_physics_control()
-    physics_control.mass = 2326
-    # physics_control.wheels = [wheel_control]*4
-    physics_control.torque_curve = [[20.0, 500.0], [5000.0, 500.0]]
-    physics_control.gear_switch_time = 0.0
-    vehicle.apply_physics_control(physics_control)
-
-    transform = carla.Transform(carla.Location(x=0.8, z=1.13))
-
-    def create_camera(fov, callback):
-      blueprint = blueprint_library.find('sensor.camera.rgb')
-      blueprint.set_attribute('image_size_x', str(W))
-      blueprint.set_attribute('image_size_y', str(H))
-      blueprint.set_attribute('fov', str(fov))
-      if not self._args.high_quality:
-        blueprint.set_attribute('enable_postprocess_effects', 'False')
-      camera = world.spawn_actor(blueprint, transform, attach_to=vehicle)
-      camera.listen(callback)
-      return camera
-
-    self._camerad = Camerad(self._args.dual_camera)
-
-    if self._args.dual_camera:
-      road_wide_camera = create_camera(fov=120, callback=self._camerad.cam_callback_wide_road)  # fov bigger than 120 shows unwanted artifacts
-      self._carla_objects.append(road_wide_camera)
-    road_camera = create_camera(fov=40, callback=self._camerad.cam_callback_road)
-    self._carla_objects.append(road_camera)
-
-    vehicle_state = VehicleState()
-
-    # re-enable IMU
-    imu_bp = blueprint_library.find('sensor.other.imu')
-    imu_bp.set_attribute('sensor_tick', '0.01')
-    imu = world.spawn_actor(imu_bp, transform, attach_to=vehicle)
-    imu.listen(lambda imu: imu_callback(imu, vehicle_state))
-
-    gps_bp = blueprint_library.find('sensor.other.gnss')
-    gps = world.spawn_actor(gps_bp, transform, attach_to=vehicle)
-    gps.listen(lambda gps: gps_callback(gps, vehicle_state))
-    self.params.put_bool("UbloxAvailable", True)
-
-    self._carla_objects.extend([imu, gps])
-    # launch fake car threads
-    self._threads.append(threading.Thread(target=panda_state_function, args=(vehicle_state, self._exit_event,)))
-    self._threads.append(threading.Thread(target=peripheral_state_function, args=(self._exit_event,)))
-    self._threads.append(threading.Thread(target=fake_driver_monitoring, args=(self._exit_event,)))
-    self._threads.append(threading.Thread(target=can_function_runner, args=(vehicle_state, self._exit_event,)))
-    for t in self._threads:
-      t.start()
-
-    # init
-    throttle_ease_out_counter = REPEAT_COUNTER
-    brake_ease_out_counter = REPEAT_COUNTER
-    steer_ease_out_counter = REPEAT_COUNTER
-
-    vc = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)
-
-    is_openpilot_engaged = False
-    throttle_out = steer_out = brake_out = 0.
-    throttle_op = steer_op = brake_op = 0.
-    throttle_manual = steer_manual = brake_manual = 0.
-
-    old_steer = old_brake = old_throttle = 0.
-    throttle_manual_multiplier = 0.7  # keyboard signal is always 1
-    brake_manual_multiplier = 0.7  # keyboard signal is always 1
-    steer_manual_multiplier = 45 * STEER_RATIO  # keyboard signal is always 1
-
-    # Simulation tends to be slow in the initial steps. This prevents lagging later
-    for _ in range(20):
-      world.tick()
-
-    # loop
-    rk = Ratekeeper(100, print_delay_threshold=0.05)
-
-    while self._keep_alive:
-      # 1. Read the throttle, steer and brake from op or manual controls
-      # 2. Set instructions in Carla
-      # 3. Send current carstate to op via can
-
-      cruise_button = 0
-      throttle_out = steer_out = brake_out = 0.0
-      throttle_op = steer_op = brake_op = 0.0
-      throttle_manual = steer_manual = brake_manual = 0.0
-
-      # --------------Step 1-------------------------------
-      if not q.empty():
-        message = q.get()
-        m = message.split('_')
-        if m[0] == "steer":
-          steer_manual = float(m[1])
-          is_openpilot_engaged = False
-        elif m[0] == "throttle":
-          throttle_manual = float(m[1])
-          is_openpilot_engaged = False
-        elif m[0] == "brake":
-          brake_manual = float(m[1])
-          is_openpilot_engaged = False
-        elif m[0] == "reverse":
-          cruise_button = CruiseButtons.CANCEL
-          is_openpilot_engaged = False
-        elif m[0] == "cruise":
-          if m[1] == "down":
-            cruise_button = CruiseButtons.DECEL_SET
-            is_openpilot_engaged = True
-          elif m[1] == "up":
-            cruise_button = CruiseButtons.RES_ACCEL
-            is_openpilot_engaged = True
-          elif m[1] == "cancel":
-            cruise_button = CruiseButtons.CANCEL
-            is_openpilot_engaged = False
-        elif m[0] == "ignition":
-          vehicle_state.ignition = not vehicle_state.ignition
-        elif m[0] == "quit":
-          break
-
-        throttle_out = throttle_manual * throttle_manual_multiplier
-        steer_out = steer_manual * steer_manual_multiplier
-        brake_out = brake_manual * brake_manual_multiplier
-
-        old_steer = steer_out
-        old_throttle = throttle_out
-        old_brake = brake_out
-
-      if is_openpilot_engaged:
-        sm.update(0)
-
-        # TODO gas and brake is deprecated
-        throttle_op = clip(sm['carControl'].actuators.accel / 1.6, 0.0, 1.0)
-        brake_op = clip(-sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
-        steer_op = sm['carControl'].actuators.steeringAngleDeg
-
-        throttle_out = throttle_op
-        steer_out = steer_op
-        brake_out = brake_op
-
-        steer_out = steer_rate_limit(old_steer, steer_out)
-        old_steer = steer_out
-
-      else:
-        if throttle_out == 0 and old_throttle > 0:
-          if throttle_ease_out_counter > 0:
-            throttle_out = old_throttle
-            throttle_ease_out_counter += -1
-          else:
-            throttle_ease_out_counter = REPEAT_COUNTER
-            old_throttle = 0
-
-        if brake_out == 0 and old_brake > 0:
-          if brake_ease_out_counter > 0:
-            brake_out = old_brake
-            brake_ease_out_counter += -1
-          else:
-            brake_ease_out_counter = REPEAT_COUNTER
-            old_brake = 0
-
-        if steer_out == 0 and old_steer != 0:
-          if steer_ease_out_counter > 0:
-            steer_out = old_steer
-            steer_ease_out_counter += -1
-          else:
-            steer_ease_out_counter = REPEAT_COUNTER
-            old_steer = 0
-
-      # --------------Step 2-------------------------------
-      steer_carla = steer_out / (max_steer_angle * STEER_RATIO * -1)
-
-      steer_carla = np.clip(steer_carla, -1, 1)
-      steer_out = steer_carla * (max_steer_angle * STEER_RATIO * -1)
-      old_steer = steer_carla * (max_steer_angle * STEER_RATIO * -1)
-
-      vc.throttle = throttle_out / 0.6
-      vc.steer = steer_carla
-      vc.brake = brake_out
-      vehicle.apply_control(vc)
-
-      # --------------Step 3-------------------------------
-      vel = vehicle.get_velocity()
-      speed = math.sqrt(vel.x ** 2 + vel.y ** 2 + vel.z ** 2)  # in m/s
-      vehicle_state.speed = speed
-      vehicle_state.vel = vel
-      vehicle_state.angle = steer_out
-      vehicle_state.cruise_button = cruise_button
-      vehicle_state.is_engaged = is_openpilot_engaged
-
-      if rk.frame % PRINT_DECIMATION == 0:
-        print("frame: ", "engaged:", is_openpilot_engaged, "; throttle: ", round(vc.throttle, 3), "; steer(c/deg): ",
-              round(vc.steer, 3), round(steer_out, 3), "; brake: ", round(vc.brake, 3))
-
-      if rk.frame % 5 == 0:
-        world.tick()
-      rk.keep_time()
-      self.started = True
-
-  def close(self):
-    self.started = False
-    self._exit_event.set()
-
-    for s in self._carla_objects:
-      try:
-        s.destroy()
-      except Exception as e:
-        print("Failed to destroy carla object", e)
-    for t in reversed(self._threads):
-      t.join()
-
-  def run(self, queue, retries=-1):
-    bridge_p = Process(target=self.bridge_keep_alive, args=(queue, retries), daemon=True)
-    bridge_p.start()
-    return bridge_p
-
-
-if __name__ == "__main__":
-  q: Any = Queue()
-  args = parse_args()
-
-  carla_bridge = CarlaBridge(args)
-  p = carla_bridge.run(q)
-
-  if args.joystick:
-    # start input poll for joystick
-    from openpilot.tools.sim.lib.manual_ctrl import wheel_poll_thread
-
-    wheel_poll_thread(q)
-  else:
-    # start input poll for keyboard
-    from openpilot.tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
-
-    keyboard_poll_thread(q)
-  p.join()
diff --git a/tools/sim/bridge/__init__.py b/tools/sim/bridge/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/tools/sim/bridge/carla/carla_bridge.py b/tools/sim/bridge/carla/carla_bridge.py
new file mode 100644
index 0000000000..dc2377df30
--- /dev/null
+++ b/tools/sim/bridge/carla/carla_bridge.py
@@ -0,0 +1,22 @@
+from openpilot.tools.sim.bridge.common import SimulatorBridge
+from openpilot.tools.sim.bridge.carla.carla_world import CarlaWorld
+
+
+class CarlaBridge(SimulatorBridge):
+  TICKS_PER_FRAME = 5
+
+  def __init__(self, arguments):
+    super().__init__(arguments)
+    self.host = arguments.host
+    self.port = arguments.port
+    self.town = arguments.town
+    self.num_selected_spawn_point = arguments.num_selected_spawn_point
+
+  def spawn_world(self):
+    import carla
+
+    client = carla.Client(self.host, self.port)
+    client.set_timeout(5)
+
+    return CarlaWorld(client, high_quality=self.high_quality, dual_camera=self.dual_camera,
+                      num_selected_spawn_point=self.num_selected_spawn_point, town=self.town)
\ No newline at end of file
diff --git a/tools/sim/bridge/carla/carla_world.py b/tools/sim/bridge/carla/carla_world.py
new file mode 100644
index 0000000000..14b300ed7b
--- /dev/null
+++ b/tools/sim/bridge/carla/carla_world.py
@@ -0,0 +1,145 @@
+import numpy as np
+
+from openpilot.common.params import Params
+from openpilot.tools.sim.lib.common import SimulatorState, vec3
+from openpilot.tools.sim.bridge.common import World
+from openpilot.tools.sim.lib.camerad import W, H
+
+
+class CarlaWorld(World):
+  def __init__(self, client, high_quality, dual_camera, num_selected_spawn_point, town):
+    super().__init__(dual_camera)
+    import carla
+
+    low_quality_layers = carla.MapLayer(carla.MapLayer.Ground | carla.MapLayer.Walls | carla.MapLayer.Decals)
+
+    layers = carla.MapLayer.All if high_quality else low_quality_layers
+
+    world = client.load_world(town, map_layers=layers)
+
+    settings = world.get_settings()
+    settings.fixed_delta_seconds = 0.01
+    world.apply_settings(settings)
+
+    world.set_weather(carla.WeatherParameters.ClearSunset)
+
+    self.world = world
+    world_map = world.get_map()
+
+    blueprint_library = world.get_blueprint_library()
+
+    vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1]
+    vehicle_bp.set_attribute('role_name', 'hero')
+    spawn_points = world_map.get_spawn_points()
+    assert len(spawn_points) > num_selected_spawn_point, \
+      f'''No spawn point {num_selected_spawn_point}, try a value between 0 and {len(spawn_points)} for this town.'''
+    self.spawn_point = spawn_points[num_selected_spawn_point]
+    self.vehicle = world.spawn_actor(vehicle_bp, self.spawn_point)
+
+    physics_control = self.vehicle.get_physics_control()
+    physics_control.mass = 2326
+    physics_control.torque_curve = [[20.0, 500.0], [5000.0, 500.0]]
+    physics_control.gear_switch_time = 0.0
+    self.vehicle.apply_physics_control(physics_control)
+
+    self.vc: carla.VehicleControl = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)
+    self.max_steer_angle: float = self.vehicle.get_physics_control().wheels[0].max_steer_angle
+    self.params = Params()
+
+    self.steer_ratio = 15
+
+    self.carla_objects = []
+
+    transform = carla.Transform(carla.Location(x=0.8, z=1.13))
+
+    def create_camera(fov, callback):
+      blueprint = blueprint_library.find('sensor.camera.rgb')
+      blueprint.set_attribute('image_size_x', str(W))
+      blueprint.set_attribute('image_size_y', str(H))
+      blueprint.set_attribute('fov', str(fov))
+      blueprint.set_attribute('sensor_tick', str(1/20))
+      if not high_quality:
+        blueprint.set_attribute('enable_postprocess_effects', 'False')
+      camera = world.spawn_actor(blueprint, transform, attach_to=self.vehicle)
+      camera.listen(callback)
+      return camera
+
+    self.road_camera = create_camera(fov=40, callback=self.cam_callback_road)
+    if dual_camera:
+      self.road_wide_camera = create_camera(fov=120, callback=self.cam_callback_wide_road)  # fov bigger than 120 shows unwanted artifacts
+    else:
+      self.road_wide_camera = None
+
+    # re-enable IMU
+    imu_bp = blueprint_library.find('sensor.other.imu')
+    imu_bp.set_attribute('sensor_tick', '0.01')
+    self.imu = world.spawn_actor(imu_bp, transform, attach_to=self.vehicle)
+
+    gps_bp = blueprint_library.find('sensor.other.gnss')
+    self.gps = world.spawn_actor(gps_bp, transform, attach_to=self.vehicle)
+    self.params.put_bool("UbloxAvailable", True)
+
+    self.carla_objects = [self.imu, self.gps, self.road_camera, self.road_wide_camera, self.vehicle]
+
+  def close(self):
+    for s in self.carla_objects:
+      if s is not None:
+        try:
+          s.destroy()
+        except Exception as e:
+          print("Failed to destroy carla object", e)
+
+  def carla_image_to_rgb(self, image):
+    rgb = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
+    rgb = np.reshape(rgb, (H, W, 4))
+    return np.ascontiguousarray(rgb[:, :, [0, 1, 2]])
+
+  def cam_callback_road(self, image):
+    with self.image_lock:
+      self.road_image = self.carla_image_to_rgb(image)
+
+  def cam_callback_wide_road(self, image):
+    with self.image_lock:
+      self.wide_road_image = self.carla_image_to_rgb(image)
+
+  def apply_controls(self, steer_angle, throttle_out, brake_out):
+    self.vc.throttle = throttle_out
+
+    steer_carla = steer_angle * -1 / (self.max_steer_angle * self.steer_ratio)
+    steer_carla = np.clip(steer_carla, -1, 1)
+
+    self.vc.steer = steer_carla
+    self.vc.brake = brake_out
+    self.vehicle.apply_control(self.vc)
+
+  def read_sensors(self, simulator_state: SimulatorState):
+    simulator_state.imu.bearing = self.imu.get_transform().rotation.yaw
+
+    simulator_state.imu.accelerometer = vec3(
+      self.imu.get_acceleration().x,
+      self.imu.get_acceleration().y,
+      self.imu.get_acceleration().z
+    )
+
+    simulator_state.imu.gyroscope = vec3(
+      self.imu.get_angular_velocity().x,
+      self.imu.get_angular_velocity().y,
+      self.imu.get_angular_velocity().z
+    )
+
+    simulator_state.gps.from_xy([self.vehicle.get_location().x, self.vehicle.get_location().y])
+
+    simulator_state.velocity = self.vehicle.get_velocity()
+    simulator_state.valid = True
+    simulator_state.steering_angle = self.vc.steer * self.max_steer_angle
+
+  def read_cameras(self):
+    pass # cameras are read within a callback for carla
+
+  def tick(self):
+    self.world.tick()
+
+  def reset(self):
+    import carla
+    self.vehicle.set_transform(self.spawn_point)
+    self.vehicle.set_target_velocity(carla.Vector3D())
diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
new file mode 100644
index 0000000000..a0e6538b2c
--- /dev/null
+++ b/tools/sim/bridge/common.py
@@ -0,0 +1,186 @@
+import signal
+import threading
+import functools
+
+from multiprocessing import Process, Queue
+from abc import ABC, abstractmethod
+from typing import Optional
+
+from openpilot.common.params import Params
+from openpilot.common.numpy_fast import clip
+from openpilot.common.realtime import Ratekeeper
+from openpilot.selfdrive.test.helpers import set_params_enabled
+from openpilot.selfdrive.car.honda.values import CruiseButtons
+from openpilot.tools.sim.lib.common import SimulatorState, World
+from openpilot.tools.sim.lib.simulated_car import SimulatedCar
+from openpilot.tools.sim.lib.simulated_sensors import SimulatedSensors
+from openpilot.tools.sim.lib.keyboard_ctrl import KEYBOARD_HELP
+
+
+def rk_loop(function, hz, exit_event: threading.Event):
+  rk = Ratekeeper(hz, None)
+  while not exit_event.is_set():
+    function()
+    rk.keep_time()
+
+
+class SimulatorBridge(ABC):
+  TICKS_PER_FRAME = 5
+
+  def __init__(self, arguments):
+    set_params_enabled()
+    self.params = Params()
+
+    self.rk = Ratekeeper(100, None)
+
+    self.dual_camera = arguments.dual_camera
+    self.high_quality = arguments.high_quality
+
+    self._exit_event = threading.Event()
+    self._threads = []
+    self._keep_alive = True
+    self.started = False
+    signal.signal(signal.SIGTERM, self._on_shutdown)
+    self._exit = threading.Event()
+    self.simulator_state = SimulatorState()
+
+    self.world: Optional[World] = None
+
+    self.past_startup_engaged = False
+
+  def _on_shutdown(self, signal, frame):
+    self.shutdown()
+
+  def shutdown(self):
+    self._keep_alive = False
+
+  def bridge_keep_alive(self, q: Queue, retries: int):
+    try:
+      self._run(q)
+    finally:
+      self.close()
+
+  def close(self):
+    self.started = False
+    self._exit_event.set()
+
+    if self.world is not None:
+      self.world.close()
+
+  def run(self, queue, retries=-1):
+    bridge_p = Process(name="bridge", target=self.bridge_keep_alive, args=(queue, retries))
+    bridge_p.start()
+    return bridge_p
+
+  def print_status(self):
+    print(
+    f"""
+Keyboard Commands:
+{KEYBOARD_HELP}
+
+State:
+Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_engaged}
+    """)
+
+  @abstractmethod
+  def spawn_world(self) -> World:
+    pass
+
+  def _run(self, q: Queue):
+    self.world = self.spawn_world()
+
+    self.simulated_car = SimulatedCar()
+    self.simulated_sensors = SimulatedSensors(self.dual_camera)
+
+    self.simulated_car_thread = threading.Thread(target=rk_loop, args=(functools.partial(self.simulated_car.update, self.simulator_state),
+                                                                        100, self._exit_event))
+    self.simulated_car_thread.start()
+
+    self.simulated_camera_thread = threading.Thread(target=rk_loop, args=(functools.partial(self.simulated_sensors.send_camera_images, self.world),
+                                                                        20, self._exit_event))
+    self.simulated_camera_thread.start()
+
+    # Simulation tends to be slow in the initial steps. This prevents lagging later
+    for _ in range(20):
+      self.world.tick()
+
+    while self._keep_alive:
+      throttle_out = steer_out = brake_out = 0.0
+      throttle_op = steer_op = brake_op = 0.0
+
+      self.simulator_state.cruise_button = 0
+      self.simulator_state.left_blinker = False
+      self.simulator_state.right_blinker = False
+
+      throttle_manual = steer_manual = brake_manual = 0.
+
+      # Read manual controls
+      if not q.empty():
+        message = q.get()
+        m = message.split('_')
+        if m[0] == "steer":
+          steer_manual = float(m[1])
+        elif m[0] == "throttle":
+          throttle_manual = float(m[1])
+        elif m[0] == "brake":
+          brake_manual = float(m[1])
+        elif m[0] == "cruise":
+          if m[1] == "down":
+            self.simulator_state.cruise_button = CruiseButtons.DECEL_SET
+          elif m[1] == "up":
+            self.simulator_state.cruise_button = CruiseButtons.RES_ACCEL
+          elif m[1] == "cancel":
+            self.simulator_state.cruise_button = CruiseButtons.CANCEL
+          elif m[1] == "main":
+            self.simulator_state.cruise_button = CruiseButtons.MAIN
+        elif m[0] == "blinker":
+          if m[1] == "left":
+            self.simulator_state.left_blinker = True
+          elif m[1] == "right":
+            self.simulator_state.right_blinker = True
+        elif m[0] == "ignition":
+          self.simulator_state.ignition = not self.simulator_state.ignition
+        elif m[0] == "reset":
+          self.world.reset()
+        elif m[0] == "quit":
+          break
+
+      self.simulator_state.user_brake = brake_manual
+      self.simulator_state.user_gas = throttle_manual
+      self.simulator_state.user_torque = steer_manual * 10000
+
+      steer_manual = steer_manual * -40
+
+      # Update openpilot on current sensor state
+      self.simulated_sensors.update(self.simulator_state, self.world)
+
+      self.simulated_car.sm.update(0)
+      controlsState = self.simulated_car.sm['controlsState']
+      self.simulator_state.is_engaged = controlsState.active
+
+      if self.simulator_state.is_engaged:
+        throttle_op = clip(self.simulated_car.sm['carControl'].actuators.accel / 1.6, 0.0, 1.0)
+        brake_op = clip(-self.simulated_car.sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
+        steer_op = self.simulated_car.sm['carControl'].actuators.steeringAngleDeg
+
+        self.past_startup_engaged = True
+      elif not self.past_startup_engaged and controlsState.engageable:
+        self.simulator_state.cruise_button = CruiseButtons.DECEL_SET # force engagement on startup
+
+      throttle_out = throttle_op if self.simulator_state.is_engaged else throttle_manual
+      brake_out = brake_op if self.simulator_state.is_engaged else brake_manual
+      steer_out = steer_op if self.simulator_state.is_engaged else steer_manual
+
+      self.world.apply_controls(steer_out, throttle_out, brake_out)
+      self.world.read_sensors(self.simulator_state)
+
+      if self.rk.frame % self.TICKS_PER_FRAME == 0:
+        self.world.tick()
+        self.world.read_cameras()
+
+      if self.rk.frame % 25 == 0:
+        self.print_status()
+
+      self.started = True
+
+      self.rk.keep_time()
diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py
new file mode 100644
index 0000000000..fa946e11e3
--- /dev/null
+++ b/tools/sim/bridge/metadrive/metadrive_bridge.py
@@ -0,0 +1,119 @@
+import numpy as np
+
+from metadrive.component.sensors.rgb_camera import RGBCamera
+from metadrive.component.sensors.base_camera import _cuda_enable
+from metadrive.component.map.pg_map import MapGenerateMethod
+from panda3d.core import Vec3, Texture, GraphicsOutput
+
+from openpilot.tools.sim.bridge.common import SimulatorBridge
+from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld
+from openpilot.tools.sim.lib.camerad import W, H
+
+
+C3_POSITION = Vec3(0, 0, 1)
+
+
+class CopyRamRGBCamera(RGBCamera):
+  """Camera which copies its content into RAM during the render process, for faster image grabbing."""
+  def __init__(self, *args, **kwargs):
+    super().__init__(*args, **kwargs)
+    self.cpu_texture = Texture()
+    self.buffer.addRenderTexture(self.cpu_texture, GraphicsOutput.RTMCopyRam)
+
+  def get_rgb_array_cpu(self):
+    origin_img = self.cpu_texture
+    img = np.frombuffer(origin_img.getRamImage().getData(), dtype=np.uint8)
+    img = img.reshape((origin_img.getYSize(), origin_img.getXSize(), -1))
+    img = img[:,:,:3] # RGBA to RGB
+    # img = np.swapaxes(img, 1, 0)
+    img = img[::-1] # Flip on vertical axis
+    return img
+
+
+class RGBCameraWide(CopyRamRGBCamera):
+  def __init__(self, *args, **kwargs):
+    super(RGBCameraWide, self).__init__(*args, **kwargs)
+    cam = self.get_cam()
+    cam.setPos(C3_POSITION)
+    lens = self.get_lens()
+    lens.setFov(160)
+
+class RGBCameraRoad(CopyRamRGBCamera):
+  def __init__(self, *args, **kwargs):
+    super(RGBCameraRoad, self).__init__(*args, **kwargs)
+    cam = self.get_cam()
+    cam.setPos(C3_POSITION)
+    lens = self.get_lens()
+    lens.setFov(40)
+
+
+def straight_block(length):
+  return {
+    "id": "S",
+    "pre_block_socket_index": 0,
+    "length": length
+  }
+
+def curve_block(length, angle=45, direction=0):
+  return {
+    "id": "C",
+    "pre_block_socket_index": 0,
+    "length": length,
+    "radius": length,
+    "angle": angle,
+    "dir": direction
+  }
+
+
+class MetaDriveBridge(SimulatorBridge):
+  TICKS_PER_FRAME = 5
+
+  def __init__(self, args):
+    self.should_render = False
+
+    super(MetaDriveBridge, self).__init__(args)
+
+  def spawn_world(self):
+    sensors = {
+      "rgb_road": (RGBCameraRoad, W, H, )
+    }
+
+    if self.dual_camera:
+      sensors["rgb_wide"] = (RGBCameraWide, W, H)
+
+    config = dict(
+      use_render=self.should_render,
+      vehicle_config=dict(
+        enable_reverse=False,
+        image_source="rgb_road",
+        spawn_longitude=15
+      ),
+      sensors=sensors,
+      image_on_cuda=_cuda_enable,
+      image_observation=True,
+      interface_panel=[],
+      out_of_route_done=False,
+      on_continuous_line_done=False,
+      crash_vehicle_done=False,
+      crash_object_done=False,
+      traffic_density=0.0, # traffic is incredibly expensive
+      map_config=dict(
+        type=MapGenerateMethod.PG_MAP_FILE,
+        config=[
+          None,
+          straight_block(120),
+          curve_block(240, 90),
+          straight_block(120),
+          curve_block(240, 90),
+          straight_block(120),
+          curve_block(240, 90),
+          straight_block(120),
+          curve_block(240, 90),
+        ]
+      ),
+      decision_repeat=1,
+      physics_world_step_size=self.TICKS_PER_FRAME/100,
+      preload_models=False
+    )
+
+    return MetaDriveWorld(config)
diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py
new file mode 100644
index 0000000000..3d21c0e508
--- /dev/null
+++ b/tools/sim/bridge/metadrive/metadrive_process.py
@@ -0,0 +1,99 @@
+import math
+import numpy as np
+
+from collections import namedtuple
+from multiprocessing.connection import Connection
+
+from metadrive.engine.core.engine_core import EngineCore
+from metadrive.engine.core.image_buffer import ImageBuffer
+from metadrive.envs.metadrive_env import MetaDriveEnv
+from metadrive.obs.image_obs import ImageObservation
+
+from openpilot.common.realtime import Ratekeeper
+from openpilot.tools.sim.lib.common import vec3
+from openpilot.tools.sim.lib.camerad import W, H
+
+
+metadrive_state = namedtuple("metadrive_state", ["velocity", "position", "bearing", "steering_angle"])
+
+def apply_metadrive_patches():
+  # By default, metadrive won't try to use cuda images unless it's used as a sensor for vehicles, so patch that in
+  def add_image_sensor_patched(self, name: str, cls, args):
+    if self.global_config["image_on_cuda"]:# and name == self.global_config["vehicle_config"]["image_source"]:
+        sensor = cls(*args, self, cuda=True)
+    else:
+        sensor = cls(*args, self, cuda=False)
+    assert isinstance(sensor, ImageBuffer), "This API is for adding image sensor"
+    self.sensors[name] = sensor
+
+  EngineCore.add_image_sensor = add_image_sensor_patched
+
+  # we aren't going to use the built-in observation stack, so disable it to save time
+  def observe_patched(self, vehicle):
+    return self.state
+
+  ImageObservation.observe = observe_patched
+
+  def arrive_destination_patch(self, vehicle):
+    return False
+
+  MetaDriveEnv._is_arrive_destination = arrive_destination_patch
+
+def metadrive_process(dual_camera: bool, config: dict, camera_array, controls_recv: Connection, state_send: Connection, exit_event):
+  apply_metadrive_patches()
+
+  road_image = np.frombuffer(camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
+
+  env = MetaDriveEnv(config)
+
+  def reset():
+    env.reset()
+    env.vehicle.config["max_speed_km_h"] = 1000
+
+  reset()
+
+  def get_cam_as_rgb(cam):
+    cam = env.engine.sensors[cam]
+    img = cam.perceive(env.vehicle, clip=False)
+    if type(img) != np.ndarray:
+      img = img.get() # convert cupy array to numpy
+    return img
+
+  rk = Ratekeeper(100, None)
+
+  steer_ratio = 15
+  vc = [0,0]
+
+  while not exit_event.is_set():
+    state = metadrive_state(
+      velocity=vec3(x=float(env.vehicle.velocity[0]), y=float(env.vehicle.velocity[1]), z=0),
+      position=env.vehicle.position,
+      bearing=float(math.degrees(env.vehicle.heading_theta)),
+      steering_angle=env.vehicle.steering * env.vehicle.MAX_STEERING
+    )
+
+    state_send.send(state)
+
+    if controls_recv.poll(0):
+      while controls_recv.poll(0):
+        steer_angle, gas, should_reset = controls_recv.recv()
+
+      steer_metadrive = steer_angle * 1 / (env.vehicle.MAX_STEERING * steer_ratio)
+      steer_metadrive = np.clip(steer_metadrive, -1, 1)
+
+      vc = [steer_metadrive, gas]
+
+      if should_reset:
+        reset()
+
+    if rk.frame % 5 == 0:
+      obs, _, terminated, _, info = env.step(vc)
+
+      if terminated:
+        reset()
+
+      #if dual_camera:
+      #  wide_road_image = get_cam_as_rgb("rgb_wide")
+      road_image[...] = get_cam_as_rgb("rgb_road")
+
+    rk.keep_time()
\ No newline at end of file
diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py
new file mode 100644
index 0000000000..3705f19a97
--- /dev/null
+++ b/tools/sim/bridge/metadrive/metadrive_world.py
@@ -0,0 +1,75 @@
+import ctypes
+import functools
+import multiprocessing
+import numpy as np
+import time
+
+from multiprocessing import Pipe, Array
+from openpilot.tools.sim.bridge.metadrive.metadrive_process import metadrive_process, metadrive_state
+from openpilot.tools.sim.lib.common import SimulatorState, World
+from openpilot.tools.sim.lib.camerad import W, H
+
+
+class MetaDriveWorld(World):
+  def __init__(self, config, dual_camera = False):
+    super().__init__(dual_camera)
+    self.camera_array = Array(ctypes.c_uint8, W*H*3)
+    self.road_image = np.frombuffer(self.camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
+
+    self.controls_send, self.controls_recv = Pipe()
+    self.state_send, self.state_recv = Pipe()
+
+    self.exit_event = multiprocessing.Event()
+
+    self.metadrive_process = multiprocessing.Process(name="metadrive process", target=
+                              functools.partial(metadrive_process, dual_camera, config,
+                                                self.camera_array, self.controls_recv, self.state_send, self.exit_event))
+    self.metadrive_process.start()
+
+    print("----------------------------------------------------------")
+    print("---- Spawning Metadrive world, this might take awhile ----")
+    print("----------------------------------------------------------")
+
+    self.state_recv.recv() # wait for a state message to ensure metadrive is launched
+
+    self.steer_ratio = 15
+    self.vc = [0.0,0.0]
+    self.reset_time = 0
+    self.should_reset = False
+
+  def apply_controls(self, steer_angle, throttle_out, brake_out):
+    if (time.monotonic() - self.reset_time) > 2:
+      self.vc[0] = steer_angle
+
+      if throttle_out:
+        self.vc[1] = throttle_out
+      else:
+        self.vc[1] = -brake_out
+    else:
+      self.vc[0] = 0
+      self.vc[1] = 0
+
+    self.controls_send.send([*self.vc, self.should_reset])
+    self.should_reset = False
+
+  def read_sensors(self, state: SimulatorState):
+    while self.state_recv.poll(0):
+      md_state: metadrive_state = self.state_recv.recv()
+      state.velocity = md_state.velocity
+      state.bearing = md_state.bearing
+      state.steering_angle = md_state.steering_angle
+      state.gps.from_xy(md_state.position)
+      state.valid = True
+
+  def read_cameras(self):
+    pass
+
+  def tick(self):
+    pass
+
+  def reset(self):
+    self.should_reset = True
+
+  def close(self):
+    self.exit_event.set()
+    self.metadrive_process.join()
diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh
index 361f7b18ea..9532537283 100755
--- a/tools/sim/launch_openpilot.sh
+++ b/tools/sim/launch_openpilot.sh
@@ -6,12 +6,14 @@ export SIMULATION="1"
 export SKIP_FW_QUERY="1"
 export FINGERPRINT="HONDA CIVIC 2016"
 
-export BLOCK="camerad,loggerd,encoderd,micd,logmessaged"
+export BLOCK="${BLOCK},camerad,loggerd,encoderd,micd,logmessaged"
 if [[ "$CI" ]]; then
   # TODO: offscreen UI should work
   export BLOCK="${BLOCK},ui"
 fi
 
+python -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()"
+
 SCRIPT_DIR=$(dirname "$0")
 OPENPILOT_DIR=$SCRIPT_DIR/../../
 
diff --git a/tools/sim/lib/camerad.py b/tools/sim/lib/camerad.py
new file mode 100644
index 0000000000..4621347787
--- /dev/null
+++ b/tools/sim/lib/camerad.py
@@ -0,0 +1,70 @@
+import numpy as np
+import os
+import pyopencl as cl
+import pyopencl.array as cl_array
+
+from cereal.visionipc import VisionIpcServer, VisionStreamType
+from cereal import messaging
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.tools.sim.lib.common import W, H
+
+class Camerad:
+  """Simulates the camerad daemon"""
+  def __init__(self, dual_camera):
+    self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState'])
+
+    self.frame_road_id = 0
+    self.frame_wide_id = 0
+    self.vipc_server = VisionIpcServer("camerad")
+
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, False, W, H)
+    if dual_camera:
+      self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H)
+
+    self.vipc_server.start_listener()
+
+    # set up for pyopencl rgb to yuv conversion
+    self.ctx = cl.create_some_context()
+    self.queue = cl.CommandQueue(self.ctx)
+    cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W * 3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG "
+
+    kernel_fn = os.path.join(BASEDIR, "tools/sim/rgb_to_nv12.cl")
+    with open(kernel_fn) as f:
+      prg = cl.Program(self.ctx, f.read()).build(cl_arg)
+      self.krnl = prg.rgb_to_nv12
+    self.Wdiv4 = W // 4 if (W % 4 == 0) else (W + (4 - W % 4)) // 4
+    self.Hdiv4 = H // 4 if (H % 4 == 0) else (H + (4 - H % 4)) // 4
+
+  def cam_send_yuv_road(self, yuv):
+    self._send_yuv(yuv, self.frame_road_id, 'roadCameraState', VisionStreamType.VISION_STREAM_ROAD)
+    self.frame_road_id += 1
+
+  def cam_send_yuv_wide_road(self, yuv):
+    self._send_yuv(yuv, self.frame_wide_id, 'wideRoadCameraState', VisionStreamType.VISION_STREAM_WIDE_ROAD)
+    self.frame_wide_id += 1
+
+  # Returns: yuv bytes
+  def rgb_to_yuv(self, rgb):
+    assert rgb.shape == (H, W, 3), f"{rgb.shape}"
+    assert rgb.dtype == np.uint8
+
+    rgb_cl = cl_array.to_device(self.queue, rgb)
+    yuv_cl = cl_array.empty_like(rgb_cl)
+    self.krnl(self.queue, (self.Wdiv4, self.Hdiv4), None, rgb_cl.data, yuv_cl.data).wait()
+    yuv = np.resize(yuv_cl.get(), rgb.size // 2)
+    return yuv.data.tobytes()
+
+  def _send_yuv(self, yuv, frame_id, pub_type, yuv_type):
+    eof = int(frame_id * 0.05 * 1e9)
+    self.vipc_server.send(yuv_type, yuv, frame_id, eof, eof)
+
+    dat = messaging.new_message(pub_type)
+    msg = {
+      "frameId": frame_id,
+      "transform": [1.0, 0.0, 0.0,
+                    0.0, 1.0, 0.0,
+                    0.0, 0.0, 1.0]
+    }
+    setattr(dat, pub_type, msg)
+    self.pm.send(pub_type, dat)
\ No newline at end of file
diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py
deleted file mode 100755
index db321d3193..0000000000
--- a/tools/sim/lib/can.py
+++ /dev/null
@@ -1,94 +0,0 @@
-#!/usr/bin/env python3
-import cereal.messaging as messaging
-from opendbc.can.packer import CANPacker
-from opendbc.can.parser import CANParser
-from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
-from openpilot.selfdrive.car import crc8_pedal
-
-packer = CANPacker("honda_civic_touring_2016_can_generated")
-rpacker = CANPacker("acura_ilx_2016_nidec")
-
-
-def get_car_can_parser():
-  dbc_f = 'honda_civic_touring_2016_can_generated'
-  checks = [
-    (0xe4, 100),
-    (0x1fa, 50),
-    (0x200, 50),
-  ]
-  return CANParser(dbc_f, checks, 0)
-cp = get_car_can_parser()
-
-def can_function(pm, speed, angle, idx, cruise_button, is_engaged):
-
-  msg = []
-
-  # *** powertrain bus ***
-
-  speed = speed * 3.6 # convert m/s to kph
-  msg.append(packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}))
-  msg.append(packer.make_can_msg("WHEEL_SPEEDS", 0, {
-    "WHEEL_SPEED_FL": speed,
-    "WHEEL_SPEED_FR": speed,
-    "WHEEL_SPEED_RL": speed,
-    "WHEEL_SPEED_RR": speed
-  }))
-
-  msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": cruise_button}))
-
-  values = {"COUNTER_PEDAL": idx & 0xF}
-  checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx & 0xF})[2][:-1])
-  values["CHECKSUM_PEDAL"] = checksum
-  msg.append(packer.make_can_msg("GAS_SENSOR", 0, values))
-
-  msg.append(packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}))
-  msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {}))
-  msg.append(packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}))
-  msg.append(packer.make_can_msg("STEER_STATUS", 0, {}))
-  msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle}))
-  msg.append(packer.make_can_msg("VSA_STATUS", 0, {}))
-  msg.append(packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if speed >= 1.0 else 0}))
-  msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}))
-  msg.append(packer.make_can_msg("EPB_STATUS", 0, {}))
-  msg.append(packer.make_can_msg("DOORS_STATUS", 0, {}))
-  msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {}))
-  msg.append(packer.make_can_msg("CRUISE", 0, {}))
-  msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}))
-  msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}))
-  msg.append(packer.make_can_msg("HUD_SETTING", 0, {}))
-  msg.append(packer.make_can_msg("CAR_SPEED", 0, {}))
-
-  # *** cam bus ***
-  msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}))
-  msg.append(packer.make_can_msg("ACC_HUD", 2, {}))
-  msg.append(packer.make_can_msg("LKAS_HUD", 2, {}))
-  msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}))
-
-  # *** radar bus ***
-  if idx % 5 == 0:
-    msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}))
-    for i in range(16):
-      msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}))
-
-  pm.send('can', can_list_to_can_capnp(msg))
-
-def sendcan_function(sendcan):
-  sc = messaging.drain_sock_raw(sendcan)
-  cp.update_strings(sc, sendcan=True)
-
-  if cp.vl[0x1fa]['COMPUTER_BRAKE_REQUEST']:
-    brake = cp.vl[0x1fa]['COMPUTER_BRAKE'] / 1024.
-  else:
-    brake = 0.0
-
-  if cp.vl[0x200]['GAS_COMMAND'] > 0:
-    gas = ( cp.vl[0x200]['GAS_COMMAND'] + 83.3 ) / (0.253984064 * 2**16)
-  else:
-    gas = 0.0
-
-  if cp.vl[0xe4]['STEER_TORQUE_REQUEST']:
-    steer_torque = cp.vl[0xe4]['STEER_TORQUE']/3840
-  else:
-    steer_torque = 0.0
-
-  return gas, brake, steer_torque
diff --git a/tools/sim/lib/common.py b/tools/sim/lib/common.py
new file mode 100644
index 0000000000..b7aa66f5c5
--- /dev/null
+++ b/tools/sim/lib/common.py
@@ -0,0 +1,94 @@
+import math
+import threading
+import numpy as np
+
+from abc import ABC, abstractmethod
+from collections import namedtuple
+
+W, H = 1928, 1208
+
+
+vec3 = namedtuple("vec3", ["x", "y", "z"])
+
+class GPSState:
+  def __init__(self):
+    self.latitude = 0
+    self.longitude = 0
+    self.altitude = 0
+
+  def from_xy(self, xy):
+    """Simulates a lat/lon from an xy coordinate on a plane, for simple simlation. TODO: proper global projection?"""
+    BASE_LAT = 32.75308505188913
+    BASE_LON = -117.2095393365393
+    DEG_TO_METERS = 100000
+
+    self.latitude = float(BASE_LAT + xy[0] / DEG_TO_METERS)
+    self.longitude = float(BASE_LON + xy[1] / DEG_TO_METERS)
+    self.altitude = 0
+
+
+class IMUState:
+  def __init__(self):
+    self.accelerometer: vec3 = vec3(0,0,0)
+    self.gyroscope: vec3 = vec3(0,0,0)
+    self.bearing: float = 0
+
+
+class SimulatorState:
+  def __init__(self):
+    self.valid = False
+    self.is_engaged = False
+    self.ignition = True
+
+    self.velocity: vec3 = None
+    self.bearing: float = 0
+    self.gps = GPSState()
+    self.imu = IMUState()
+
+    self.steering_angle: float = 0
+
+    self.user_gas: float = 0
+    self.user_brake: float = 0
+    self.user_torque: float = 0
+
+    self.cruise_button = 0
+
+    self.left_blinker = False
+    self.right_blinker = False
+
+  @property
+  def speed(self):
+    return math.sqrt(self.velocity.x ** 2 + self.velocity.y ** 2 + self.velocity.z ** 2)
+
+
+class World(ABC):
+  def __init__(self, dual_camera):
+    self.dual_camera = dual_camera
+
+    self.image_lock = threading.Lock()
+    self.road_image = np.zeros((H, W, 3), dtype=np.uint8)
+    self.wide_road_image = np.zeros((H, W, 3), dtype=np.uint8)
+
+  @abstractmethod
+  def apply_controls(self, steer_sim, throttle_out, brake_out):
+    pass
+
+  @abstractmethod
+  def tick(self):
+    pass
+
+  @abstractmethod
+  def read_sensors(self, simulator_state: SimulatorState):
+    pass
+
+  @abstractmethod
+  def read_cameras(self):
+    pass
+
+  @abstractmethod
+  def close(self):
+    pass
+
+  @abstractmethod
+  def reset(self):
+    pass
\ No newline at end of file
diff --git a/tools/sim/lib/keyboard_ctrl.py b/tools/sim/lib/keyboard_ctrl.py
index 803aa091a3..c37f6ea479 100644
--- a/tools/sim/lib/keyboard_ctrl.py
+++ b/tools/sim/lib/keyboard_ctrl.py
@@ -1,6 +1,7 @@
 import sys
 import termios
 import time
+
 from termios import (BRKINT, CS8, CSIZE, ECHO, ICANON, ICRNL, IEXTEN, INPCK,
                      ISTRIP, IXON, PARENB, VMIN, VTIME)
 from typing import NoReturn
@@ -16,6 +17,20 @@ CC = 6
 
 STDIN_FD = sys.stdin.fileno()
 
+
+KEYBOARD_HELP = """
+  | key  |   functionality       |
+  |------|-----------------------|
+  |  1   | Cruise Resume / Accel |
+  |  2   | Cruise Set    / Decel |
+  |  3   | Cruise Cancel         |
+  |  r   | Reset Simulation      |
+  |  i   | Toggle Ignition       |
+  |  q   | Exit all              |
+  | wasd | Control manually      |
+"""
+
+
 def getch() -> str:
   old_settings = termios.tcgetattr(STDIN_FD)
   try:
@@ -38,7 +53,6 @@ def getch() -> str:
 def keyboard_poll_thread(q: 'Queue[str]'):
   while True:
     c = getch()
-    print("got %s" % c)
     if c == '1':
       q.put("cruise_up")
     elif c == '2':
@@ -53,8 +67,14 @@ def keyboard_poll_thread(q: 'Queue[str]'):
       q.put("brake_%f" % 1.0)
     elif c == 'd':
       q.put("steer_%f" % -0.15)
+    elif c == 'z':
+      q.put("blinker_left")
+    elif c == 'x':
+      q.put("blinker_right")
     elif c == 'i':
       q.put("ignition")
+    elif c == 'r':
+      q.put("reset")
     elif c == 'q':
       q.put("quit")
       break
diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py
new file mode 100644
index 0000000000..ab60fad8d3
--- /dev/null
+++ b/tools/sim/lib/simulated_car.py
@@ -0,0 +1,119 @@
+import cereal.messaging as messaging
+
+from opendbc.can.packer import CANPacker
+from opendbc.can.parser import CANParser
+from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
+from openpilot.selfdrive.car import crc8_pedal
+from openpilot.tools.sim.lib.common import SimulatorState
+
+
+class SimulatedCar:
+  """Simulates a honda civic 2016 (panda state + can messages) to OpenPilot"""
+  packer = CANPacker("honda_civic_touring_2016_can_generated")
+  rpacker = CANPacker("acura_ilx_2016_nidec")
+
+  def __init__(self):
+    self.pm = messaging.PubMaster(['can', 'pandaStates'])
+    self.sm = messaging.SubMaster(['carControl', 'controlsState', 'carParams'])
+    self.cp = self.get_car_can_parser()
+    self.idx = 0
+
+  @staticmethod
+  def get_car_can_parser():
+    dbc_f = 'honda_civic_touring_2016_can_generated'
+    checks = [
+      (0xe4, 100),
+      (0x1fa, 50),
+      (0x200, 50),
+    ]
+    return CANParser(dbc_f, checks, 0)
+
+  def send_can_messages(self, simulator_state: SimulatorState):
+    if not simulator_state.valid:
+      return
+
+    msg = []
+
+    # *** powertrain bus ***
+
+    speed = simulator_state.speed * 3.6 # convert m/s to kph
+    msg.append(self.packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}))
+    msg.append(self.packer.make_can_msg("WHEEL_SPEEDS", 0, {
+      "WHEEL_SPEED_FL": speed,
+      "WHEEL_SPEED_FR": speed,
+      "WHEEL_SPEED_RL": speed,
+      "WHEEL_SPEED_RR": speed
+    }))
+
+    msg.append(self.packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": simulator_state.cruise_button}))
+
+    values = {
+      "COUNTER_PEDAL": self.idx & 0xF,
+      "INTERCEPTOR_GAS": simulator_state.user_gas * 2**12,
+      "INTERCEPTOR_GAS2": simulator_state.user_gas * 2**12,
+    }
+    checksum = crc8_pedal(self.packer.make_can_msg("GAS_SENSOR", 0, values)[2][:-1])
+    values["CHECKSUM_PEDAL"] = checksum
+    msg.append(self.packer.make_can_msg("GAS_SENSOR", 0, values))
+
+    msg.append(self.packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}))
+    msg.append(self.packer.make_can_msg("GAS_PEDAL_2", 0, {}))
+    msg.append(self.packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}))
+    msg.append(self.packer.make_can_msg("STEER_STATUS", 0, {"STEER_TORQUE_SENSOR": simulator_state.user_torque}))
+    msg.append(self.packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": simulator_state.steering_angle}))
+    msg.append(self.packer.make_can_msg("VSA_STATUS", 0, {}))
+    msg.append(self.packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if simulator_state.speed >= 1.0 else 0}))
+    msg.append(self.packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}))
+    msg.append(self.packer.make_can_msg("EPB_STATUS", 0, {}))
+    msg.append(self.packer.make_can_msg("DOORS_STATUS", 0, {}))
+    msg.append(self.packer.make_can_msg("CRUISE_PARAMS", 0, {}))
+    msg.append(self.packer.make_can_msg("CRUISE", 0, {}))
+    msg.append(self.packer.make_can_msg("SCM_FEEDBACK", 0,
+                                    {
+                                      "MAIN_ON": 1,
+                                      "LEFT_BLINKER": simulator_state.left_blinker,
+                                      "RIGHT_BLINKER": simulator_state.right_blinker
+                                    }))
+    msg.append(self.packer.make_can_msg("POWERTRAIN_DATA", 0,
+                                    {
+                                    "ACC_STATUS": int(simulator_state.is_engaged),
+                                    "PEDAL_GAS": simulator_state.user_gas,
+                                    "BRAKE_PRESSED": simulator_state.user_brake > 0
+                                    }))
+    msg.append(self.packer.make_can_msg("HUD_SETTING", 0, {}))
+    msg.append(self.packer.make_can_msg("CAR_SPEED", 0, {}))
+
+    # *** cam bus ***
+    msg.append(self.packer.make_can_msg("STEERING_CONTROL", 2, {}))
+    msg.append(self.packer.make_can_msg("ACC_HUD", 2, {}))
+    msg.append(self.packer.make_can_msg("LKAS_HUD", 2, {}))
+    msg.append(self.packer.make_can_msg("BRAKE_COMMAND", 2, {}))
+
+    # *** radar bus ***
+    if self.idx % 5 == 0:
+      msg.append(self.rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}))
+      for i in range(16):
+        msg.append(self.rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}))
+
+    self.pm.send('can', can_list_to_can_capnp(msg))
+
+  def send_panda_state(self, simulator_state):
+    self.sm.update(0)
+    dat = messaging.new_message('pandaStates', 1)
+    dat.valid = True
+    dat.pandaStates[0] = {
+      'ignitionLine': simulator_state.ignition,
+      'pandaType': "blackPanda",
+      'controlsAllowed': True,
+      'safetyModel': 'hondaNidec',
+      'alternativeExperience': self.sm["carParams"].alternativeExperience
+    }
+    self.pm.send('pandaStates', dat)
+
+  def update(self, simulator_state: SimulatorState):
+    self.send_can_messages(simulator_state)
+
+    if self.idx % 50 == 0: # only send panda states at 2hz
+      self.send_panda_state(simulator_state)
+
+    self.idx += 1
\ No newline at end of file
diff --git a/tools/sim/lib/simulated_sensors.py b/tools/sim/lib/simulated_sensors.py
new file mode 100644
index 0000000000..4520ed35ae
--- /dev/null
+++ b/tools/sim/lib/simulated_sensors.py
@@ -0,0 +1,125 @@
+import time
+
+from cereal import log
+import cereal.messaging as messaging
+
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_DMON
+from openpilot.tools.sim.lib.camerad import Camerad
+
+from typing import TYPE_CHECKING
+if TYPE_CHECKING:
+  from openpilot.tools.sim.lib.common import World, SimulatorState
+
+
+class SimulatedSensors:
+  """Simulates the C3 sensors (acc, gyro, gps, peripherals, dm state, cameras) to OpenPilot"""
+
+  def __init__(self, dual_camera=False):
+    self.pm = messaging.PubMaster(['accelerometer', 'gyroscope', 'gpsLocationExternal', 'driverStateV2', 'driverMonitoringState', 'peripheralState'])
+    self.camerad = Camerad(dual_camera=dual_camera)
+    self.last_perp_update = 0
+    self.last_dmon_update = 0
+
+  def send_imu_message(self, simulator_state: 'SimulatorState'):
+    for _ in range(5):
+      dat = messaging.new_message('accelerometer')
+      dat.accelerometer.sensor = 4
+      dat.accelerometer.type = 0x10
+      dat.accelerometer.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
+      dat.accelerometer.init('acceleration')
+      dat.accelerometer.acceleration.v = [simulator_state.imu.accelerometer.x, simulator_state.imu.accelerometer.y, simulator_state.imu.accelerometer.z]
+      self.pm.send('accelerometer', dat)
+
+      # copied these numbers from locationd
+      dat = messaging.new_message('gyroscope')
+      dat.gyroscope.sensor = 5
+      dat.gyroscope.type = 0x10
+      dat.gyroscope.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
+      dat.gyroscope.init('gyroUncalibrated')
+      dat.gyroscope.gyroUncalibrated.v = [simulator_state.imu.gyroscope.x, simulator_state.imu.gyroscope.y, simulator_state.imu.gyroscope.z]
+      self.pm.send('gyroscope', dat)
+
+  def send_gps_message(self, simulator_state: 'SimulatorState'):
+    if not simulator_state.valid:
+      return
+
+    # transform vel from carla to NED
+    # north is -Y in CARLA
+    velNED = [
+      -simulator_state.velocity.y,  # north/south component of NED is negative when moving south
+      simulator_state.velocity.x,  # positive when moving east, which is x in carla
+      simulator_state.velocity.z,
+    ]
+
+    for _ in range(10):
+      dat = messaging.new_message('gpsLocationExternal')
+      dat.gpsLocationExternal = {
+        "unixTimestampMillis": int(time.time() * 1000),
+        "flags": 1,  # valid fix
+        "accuracy": 1.0,
+        "verticalAccuracy": 1.0,
+        "speedAccuracy": 0.1,
+        "bearingAccuracyDeg": 0.1,
+        "vNED": velNED,
+        "bearingDeg": simulator_state.imu.bearing,
+        "latitude": simulator_state.gps.latitude,
+        "longitude": simulator_state.gps.longitude,
+        "altitude": simulator_state.gps.altitude,
+        "speed": simulator_state.speed,
+        "source": log.GpsLocationData.SensorSource.ublox,
+      }
+
+      self.pm.send('gpsLocationExternal', dat)
+
+  def send_peripheral_state(self):
+    dat = messaging.new_message('peripheralState')
+    dat.valid = True
+    dat.peripheralState = {
+      'pandaType': log.PandaState.PandaType.blackPanda,
+      'voltage': 12000,
+      'current': 5678,
+      'fanSpeedRpm': 1000
+    }
+    Params().put_bool("ObdMultiplexingEnabled", False)
+    self.pm.send('peripheralState', dat)
+
+  def send_fake_driver_monitoring(self):
+    # dmonitoringmodeld output
+    dat = messaging.new_message('driverStateV2')
+    dat.driverStateV2.leftDriverData.faceOrientation = [0., 0., 0.]
+    dat.driverStateV2.leftDriverData.faceProb = 1.0
+    dat.driverStateV2.rightDriverData.faceOrientation = [0., 0., 0.]
+    dat.driverStateV2.rightDriverData.faceProb = 1.0
+    self.pm.send('driverStateV2', dat)
+
+    # dmonitoringd output
+    dat = messaging.new_message('driverMonitoringState')
+    dat.driverMonitoringState = {
+      "faceDetected": True,
+      "isDistracted": False,
+      "awarenessStatus": 1.,
+    }
+    self.pm.send('driverMonitoringState', dat)
+
+  def send_camera_images(self, world: 'World'):
+    with world.image_lock:
+      yuv = self.camerad.rgb_to_yuv(world.road_image)
+      self.camerad.cam_send_yuv_road(yuv)
+
+      if world.dual_camera:
+        yuv = self.camerad.rgb_to_yuv(world.wide_road_image)
+        self.camerad.cam_send_yuv_wide_road(yuv)
+
+  def update(self, simulator_state: 'SimulatorState', world: 'World'):
+    now = time.time()
+    self.send_imu_message(simulator_state)
+    self.send_gps_message(simulator_state)
+
+    if (now - self.last_dmon_update) > DT_DMON/2:
+      self.send_fake_driver_monitoring()
+      self.last_dmon_update = now
+
+    if (now - self.last_perp_update) > 0.25:
+      self.send_peripheral_state()
+      self.last_perp_update = now
\ No newline at end of file
diff --git a/tools/sim/run_bridge.py b/tools/sim/run_bridge.py
new file mode 100755
index 0000000000..99617b181e
--- /dev/null
+++ b/tools/sim/run_bridge.py
@@ -0,0 +1,54 @@
+#!/usr/bin/env python
+import argparse
+import os
+
+from typing import Any
+from multiprocessing import Queue
+
+from openpilot.tools.sim.bridge.common import SimulatorBridge
+from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge
+from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
+
+
+def parse_args(add_args=None):
+  parser = argparse.ArgumentParser(description='Bridge between the simulator and openpilot.')
+  parser.add_argument('--joystick', action='store_true')
+  parser.add_argument('--high_quality', action='store_true')
+  parser.add_argument('--dual_camera', action='store_true')
+  parser.add_argument('--simulator', dest='simulator', type=str, default='metadrive')
+
+  # Carla specific
+  parser.add_argument('--town', type=str, default='Town04_Opt')
+  parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16)
+  parser.add_argument('--host', dest='host', type=str, default=os.environ.get("CARLA_HOST", '127.0.0.1'))
+  parser.add_argument('--port', dest='port', type=int, default=2000)
+
+  return parser.parse_args(add_args)
+
+if __name__ == "__main__":
+  q: Any = Queue()
+  args = parse_args()
+
+  simulator_bridge: SimulatorBridge
+  if args.simulator == "carla":
+    simulator_bridge = CarlaBridge(args)
+  elif args.simulator == "metadrive":
+    simulator_bridge = MetaDriveBridge(args)
+  else:
+    raise AssertionError("simulator type not supported")
+  p = simulator_bridge.run(q)
+
+  if args.joystick:
+    # start input poll for joystick
+    from openpilot.tools.sim.lib.manual_ctrl import wheel_poll_thread
+
+    wheel_poll_thread(q)
+  else:
+    # start input poll for keyboard
+    from openpilot.tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
+
+    keyboard_poll_thread(q)
+
+  simulator_bridge.shutdown()
+
+  p.join()
diff --git a/tools/sim/tests/test_carla_bridge.py b/tools/sim/tests/test_carla_bridge.py
new file mode 100755
index 0000000000..dcf2b9c6e2
--- /dev/null
+++ b/tools/sim/tests/test_carla_bridge.py
@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+import subprocess
+import time
+import unittest
+
+from openpilot.selfdrive.manager.helpers import unblock_stdout
+from openpilot.tools.sim.run_bridge import parse_args
+from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge
+from openpilot.tools.sim.tests.test_sim_bridge import SIM_DIR, TestSimBridgeBase
+
+
+class TestCarlaBridge(TestSimBridgeBase):
+  """
+  Tests need Carla simulator to run
+  """
+  carla_process = None
+
+  def setUp(self):
+    super().setUp()
+
+    # We want to make sure that carla_sim docker isn't still running.
+    subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
+    self.carla_process = subprocess.Popen("./start_carla.sh", cwd=SIM_DIR)
+
+    # Too many lagging messages in bridge.py can cause a crash. This prevents it.
+    unblock_stdout()
+    # Wait 10 seconds to startup carla
+    time.sleep(10)
+
+  def create_bridge(self):
+    return CarlaBridge(parse_args([]))
+
+  def tearDown(self):
+    super().tearDown()
+
+    # Stop carla simulator by removing docker container
+    subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
+    if self.carla_process is not None:
+      self.carla_process.wait()
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py
new file mode 100755
index 0000000000..2c534656bb
--- /dev/null
+++ b/tools/sim/tests/test_metadrive_bridge.py
@@ -0,0 +1,15 @@
+#!/usr/bin/env python3
+import unittest
+
+from openpilot.tools.sim.run_bridge import parse_args
+from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
+from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase
+
+
+class TestMetaDriveBridge(TestSimBridgeBase):
+  def create_bridge(self):
+    return MetaDriveBridge(parse_args([]))
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/tools/sim/tests/test_carla_integration.py b/tools/sim/tests/test_sim_bridge.py
old mode 100755
new mode 100644
similarity index 71%
rename from tools/sim/tests/test_carla_integration.py
rename to tools/sim/tests/test_sim_bridge.py
index 65f5f4a30f..b00527b322
--- a/tools/sim/tests/test_carla_integration.py
+++ b/tools/sim/tests/test_sim_bridge.py
@@ -1,40 +1,24 @@
-#!/usr/bin/env python3
+import os
 import subprocess
 import time
 import unittest
-import os
+
 from multiprocessing import Queue
 
 from cereal import messaging
 from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.manager.helpers import unblock_stdout
-from openpilot.tools.sim import bridge
-from openpilot.tools.sim.bridge import CarlaBridge
-
-CI = "CI" in os.environ
 
 SIM_DIR = os.path.join(BASEDIR, "tools/sim")
 
-class TestCarlaIntegration(unittest.TestCase):
-  """
-  Tests need Carla simulator to run
-  """
-  processes = None
-  carla_process = None
+class TestSimBridgeBase(unittest.TestCase):
+  @classmethod
+  def setUpClass(cls):
+    if cls is TestSimBridgeBase:
+      raise unittest.SkipTest("Don't run this base class, run test_carla_bridge.py instead")
 
   def setUp(self):
     self.processes = []
 
-    if not CI:
-      # We want to make sure that carla_sim docker isn't still running.
-      subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
-      self.carla_process = subprocess.Popen("./start_carla.sh", cwd=SIM_DIR)
-
-    # Too many lagging messages in bridge.py can cause a crash. This prevents it.
-    unblock_stdout()
-    # Wait 10 seconds to startup carla
-    time.sleep(10)
-
   def test_engage(self):
     # Startup manager and bridge.py. Check processes are running, then engage and verify.
     p_manager = subprocess.Popen("./launch_openpilot.sh", cwd=SIM_DIR)
@@ -42,7 +26,7 @@ class TestCarlaIntegration(unittest.TestCase):
 
     sm = messaging.SubMaster(['controlsState', 'carEvents', 'managerState'])
     q = Queue()
-    carla_bridge = CarlaBridge(bridge.parse_args([]))
+    carla_bridge = self.create_bridge()
     p_bridge = carla_bridge.run(q, retries=10)
     self.processes.append(p_bridge)
 
@@ -99,11 +83,6 @@ class TestCarlaIntegration(unittest.TestCase):
       else:
         p.join(15)
 
-    # Stop carla simulator by removing docker container
-    subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
-    if self.carla_process is not None:
-      self.carla_process.wait()
-
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/tools/sim/tmux_script.sh b/tools/sim/tmux_script.sh
index 333fce304b..2a1e74958a 100755
--- a/tools/sim/tmux_script.sh
+++ b/tools/sim/tmux_script.sh
@@ -2,5 +2,5 @@
 tmux new -d -s carla-sim
 tmux send-keys "./launch_openpilot.sh" ENTER
 tmux neww
-tmux send-keys "./bridge.py $*" ENTER
+tmux send-keys "./run_bridge.py $*" ENTER
 tmux a -t carla-sim